CN113650459A - Automatic unhooking pin mechanism for connecting material vehicle and automatic unhooking method thereof - Google Patents
Automatic unhooking pin mechanism for connecting material vehicle and automatic unhooking method thereof Download PDFInfo
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- CN113650459A CN113650459A CN202110978936.1A CN202110978936A CN113650459A CN 113650459 A CN113650459 A CN 113650459A CN 202110978936 A CN202110978936 A CN 202110978936A CN 113650459 A CN113650459 A CN 113650459A
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- 239000000463 material Substances 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 230000003287 optical effect Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000005674 electromagnetic induction Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims 9
- 230000001419 dependent effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/246—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for actuating the hitch by powered means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/26—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for remote control, e.g. for releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic unhooking pin mechanism for connecting a material vehicle and an automatic unhooking method thereof, and belongs to the technical field of Automatic Guided Vehicle (AGV) unhooking pins. The detection device mainly comprises a first base plate, wherein a guide opening corresponding to a connecting pin and a detection sensor matched with the guide opening are arranged on the first base plate, a guide bearing is arranged on the first base plate, an electric push rod capable of moving up and down is arranged in the guide bearing, and a pin baffle is arranged at the upper end of the electric push rod through a hinged connecting rod mechanism. According to the invention, the functions of automatically connecting and disconnecting the material vehicle of the traction device are realized through the connecting pin detection sensor. The automatic unhooking pin is mainly used for automatic unhooking pins of a traction type AGV and a material vehicle.
Description
Technical Field
The invention belongs to the technical field of AGV (automatic guided vehicle) unhooking pins, and particularly relates to an automatic unhooking pin mechanism for connecting a material vehicle and an automatic unhooking method thereof.
Background
Traction type AGV mainly used pulls a plurality of material cars, realizes the automatic transfer of material. At present, manual hanging pins are mostly adopted in the industry to realize connection between the traction type AGV and the material vehicle. When the disconnection is needed, manual intervention is mostly needed, so that the automation efficiency is greatly reduced, and the labor cost investment is increased. The existing traction type AGV is generally provided with a pin structure, a material vehicle is provided with a hole structure, when in connection, a pin on the traction type AGV is lifted firstly, then the material vehicle is moved, a hole on a connecting plate of the material vehicle is aligned with the pin, and finally the pin is put down to enable a pin hole to be matched, so that the pin hanging action is completed; when the connection is disconnected, the pin on the traction type AGV is lifted, then the AGV is started, and after the material vehicle is disconnected from the AGV, the pin returns. In the whole process of manual intervention, more uncertainties and even security risks are brought to the management and control of the automatic process.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the mechanism realizes the functions of automatically connecting and disconnecting the material vehicle of the traction device through the connecting pin detection sensor.
The automatic pin detaching and hanging mechanism for material vehicle connection comprises a first base plate, wherein a guide opening corresponding to a connecting pin and a detection sensor matched with the guide opening are arranged on the first base plate, a guide bearing is arranged on the first base plate, an electric push rod capable of moving up and down is arranged in the guide bearing, and a pin baffle is arranged at the upper end of the electric push rod through a hinged connecting rod mechanism.
Preferably, the connecting rod mechanism comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the second connecting rod, the other end of the first connecting rod is hinged to the electric push rod, the other end of the second connecting rod is hinged to the first base plate, and the pin baffle is installed on the second connecting rod.
Preferably, a second bottom plate is arranged below the first bottom plate, a proximity switch is arranged on the second bottom plate through an installation frame, and an electromagnetic induction ring matched with the proximity switch is arranged at the bottom of the electric push rod.
Preferably, the detection sensor is a correlation photoelectric switch, and the detection sensor is fixedly connected with the first bottom plate.
Preferably, still include the spring buffer unit, the spring buffer unit is equipped with the direction optical axis more than three including parallel placement's buffer board one and buffer board two between buffer board one and the buffer board two, has cup jointed the spring on the direction optical axis, direction optical axis one end and buffer board one fixed connection, the direction optical axis other end runs through buffer board two, bottom plate one and bottom plate two respectively with buffer board two fixed connection.
Preferably, still include draw gear, buffer board one and draw gear fixed connection, both sides are equipped with first magnetic navigation and third magnetic navigation respectively around the draw gear, are equipped with on the draw gear to turn to angle feedback device, turn to and are equipped with second magnetic navigation on the angle feedback device, turn to angle feedback device including be equipped with and turn to angle detecting element.
Preferably, the steering angle feedback device comprises a connecting rod, a fork seat is arranged at the bottom of the connecting rod, the top of the connecting rod is connected with a coupler through a bearing, the coupler is connected with the steering angle detection unit, and the steering angle feedback device is connected with an articulated shaft on the traction device through the fork seat.
The automatic hanging pin releasing method for connecting the material trolley comprises the following steps:
s1: the traction device automatically stops after reaching a preset reversing position, and simultaneously an electric push rod on the automatic pin disengaging mechanism drives a connecting rod mechanism to enable a pin baffle to be in an open state, and after the pin baffle is opened, a reversing program is started to be executed;
when the pin is hung, the traction device automatically backs to the position of the material vehicle, at the moment, the connecting pin on the material vehicle enters the guide port, and after the traction device backs to the designated position, the traction device automatically stops;
s2: if the detection sensor senses the connecting pin, the electric push rod starts to contract to drive the connecting rod mechanism to act, so that the pin baffle is placed horizontally, the automatic pin hanging action is completed, and at the moment, the connecting pin is positioned in the pin baffle;
s3: if the detection sensor cannot sense the connecting pin, starting an alarm system on the traction device;
s4: after the traction device reaches a preset pin releasing position, pin releasing is carried out, the electric push rod extends upwards to the upper limit position of the electric push rod to drive the connecting rod mechanism to act, so that the pin baffle plate moves upwards and is in an open state, and automatic pin releasing is realized;
s5: after the pin is removed, the traction device moves forward by more than 300mm until the specified position, and after the sensor to be detected cannot detect the connecting pin, the electric push rod is contracted to the lower limit position, so that the pin removal operation is completed.
Preferably, the second magnetic navigation engages a position loop on the ground when the traction means is advanced; when the traction device retreats, the steering angle detection unit outputs the deviation angle of the driving wheel in real time, and the controller controls the first magnetic navigation and the third magnetic navigation to correct the deviation.
Preferably, the deviation rectifying process when the traction device retreats comprises the following steps:
s1, calculating the zero position of each AGV and determining the installation position of the steering angle detection unit;
s2 calculating the differential speed V of the first control system1': real-time deviation value P navigated by first magnet1The deviation-correcting angle alpha of the driving wheel is calculated by the position ring PID1 *(ii) a Deviation correcting angle alpha output by position ring PID1 *The driving deviation angle alpha acquired by the steering angle detection unit in real time is taken as a given tracking angle of the speed ring1As a speed loop PID calculation, the differential speed V of the drive wheel deviation correction during the first magnetic navigation deviation is calculated1’；
S3 calculating the differential speed V of the second control system2': calculating the differential speed V of the driving wheel deviation correction at the time of the third magnetic navigation deviation in the same manner as the step S22', the PID parameters of each position loop and speed loop are shared with the first control system;
s4, when backing, the third magnetic navigation decides whether to run the automatic off-hook pin mechanism; in the backward deviation rectifying process, the deviation range of the first magnetic navigation is controlled within the rated deviation range according to K1+K2≈1，K1：K2＝1/(r1:r2)，r1<r2，V1＝K1*V1’，V2＝K2*V2', finally obtaining V ═ K1*V1’+K2*V2’＝V1+V2V is the differential speed of the final driving wheel for deviation correction;
s5, debugging double closed-loop control, namely a speed loop and a current loop, in the driver to ensure the tracking performance of the driver;
and S6, realizing turning and straight going by means of the speed difference of the left wheel and the right wheel, and performing traditional differential processing on the original target speed of the driving wheels according to the differential speed V for final deviation correction of the driving wheels obtained in the step 4, namely realizing the backward movement function of the one-way differential AGV.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic hanging pin releasing mechanism is additionally arranged, so that the automatic connection and disconnection of the traction device and the material vehicle are realized, and all actions are fed back through signals, so that the closed-loop control of the whole control loop is realized;
2. the automatic hanging pin releasing mechanism is additionally provided with the connecting pin detection sensor, so that the existence of the connecting pin can be detected in real time, the information feedback of whether the hanging pin is successful or not and the information feedback of whether the hanging pin is released or not in the transferring process are realized, and the safety of the automatic hanging pin releasing function is greatly improved;
3. the automatic pin releasing mechanism is matched with the traction device, so that the traction device executes a transferring task when the pin is successfully hung; when the pin is not successfully hung, the traction device sends out an alarm signal, and the task is suspended;
4. the traction device is additionally provided with the steering angle feedback device, so that the traction device is simple to manufacture and assemble and low in production cost, the angle correction and the speed correction of the driving wheel during advancing and retreating are realized, the accuracy of automatic pin removal during retreating of the traction device is greatly improved, and the working efficiency is improved;
5. the invention adopts a double closed loop PID control method to control the one-way differential AGV to realize accurate backing. The control method of the invention is different from the traditional double closed-loop control in that: 1) the output driving differential speed V acts on the left and right driving wheels and further reacts to the positionInput P of the ring1、P3And alpha1、α3In the above way, the actual value of the magnetic navigation and the actual value of the potentiometer are respectively used as the input values of the position ring and the speed ring, so that the driving differential speed V is more accurate; 2) the driving differential speed V is calculated by two control systems in proportion coupling, and V is V1+V2＝K1*V1’+K2*V2'; the purpose is all in controllable range for magnetic navigation around for, thereby has improved one-way differential type AGV's reliability of backing a car.
Drawings
FIG. 1 is a schematic structural view of an automatic pin releasing and hanging mechanism in a pin releasing state;
FIG. 2 is a schematic structural view of the automatic pin releasing mechanism in a pin-hanging state;
FIG. 3 is a reference view of the present invention in a disengaged condition;
FIG. 4 is a reference view of the invention in a hitched condition;
FIG. 5 is a schematic view of a steering angle feedback device;
fig. 6 is a reference view showing a state in which the steering angle feedback device is used;
FIG. 7 is a top view of the draft gear;
fig. 8 is a control schematic diagram of the reverse of the traction device.
In the figure, 1, a first buffer plate; 2. a second buffer plate; 3. a spring; 4. guiding the optical axis; 5. (ii) a 6. An electric push rod; 7. a first connecting rod; 8. a pin baffle; 9. a first bottom plate; 10. a detection sensor; 11. a guide port; 12. a second bottom plate; 13. a proximity switch; 14. an electromagnetic induction loop; 15. a second connecting rod; 16. a material vehicle; 17. a connecting pin; 18. a traction device; 19. a steering angle feedback device; 20. hinging a shaft; 21. a steering angle detection unit; 22. a fork seat; 23. a connecting rod; 24. a mounting seat; 25. a bearing seat; 26. a bearing; 27. a coupling; 28. a first magnetic navigation; 29. a second magnetic navigation; 30. and a third magnetic navigation.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
the first embodiment is as follows: as shown in fig. 1 and 2, the automatic pin detaching and hanging mechanism for material vehicle connection comprises a first bottom plate 9, a guide opening 11 corresponding to a connecting pin 17 and a detection sensor 10 matched with the guide opening 11 are arranged on the first bottom plate 9, a guide bearing 5 is arranged on the first bottom plate 9, an electric push rod 6 capable of moving up and down is arranged in the guide bearing 5, and a pin baffle 8 is arranged at the upper end of the electric push rod 6 through a hinged connecting rod mechanism.
In the embodiment, the direction of the guide opening 11 away from the pin baffle plate 8 is in an opening structure, preferably in a V-shaped structure, and the V-shaped guide opening 11 is more convenient for hanging the pin.
Example two: the connecting rod mechanism comprises a first connecting rod 7 and a second connecting rod 15, one end of the first connecting rod 7 is hinged to the second connecting rod 15, the other end of the first connecting rod 7 is hinged to a mounting plate at the top of the electric push rod 6, one end of the second connecting rod 15 is hinged to a first bottom plate 9, the pin baffle 8 is mounted on the lower end face close to the other end of the second connecting rod 15, and one side, close to the detection sensor 10, of the pin baffle 8 is of a circular arc-shaped structure so as to be better matched with the connecting pin 17.
The lower portion of the first bottom plate 9 is provided with a second bottom plate 12, the second bottom plate 12 is provided with two proximity switches 13 through a mounting frame, the two proximity switches 13 respectively control the upper limit and the lower limit of the electric push rod 6, and the bottom of the electric push rod 6 is provided with an electromagnetic induction ring 14 matched with the two proximity switches 13.
Automatic pin mechanism of taking off hanging still includes spring buffer unit, spring buffer unit includes buffer board 1 and buffer board two 2 of parallel placement, be equipped with direction optical axis 4 more than three between buffer board 1 and the buffer board two 2, preferably four direction optical axes 4, four direction optical axes 4 set up respectively in buffer board 1 and buffer board two 2's four corners department, spring 3 has been cup jointed on the direction optical axis 4, 3 both ends of spring respectively with buffer board 1 and buffer board two 2 inconsistent, 4 one end of direction optical axis and buffer board 1 fixed connection, the 4 other ends of direction optical axis run through buffer board two 2, bottom plate 9 and bottom plate two 12 respectively with buffer board two 2 fixed connection.
As shown in fig. 3 and 4, the invention further includes a traction device 18, the first buffer plate 1 is fixedly connected with the traction device 18, the front side and the rear side of the traction device 18 are respectively provided with a first magnetic navigation 28 and a third magnetic navigation 30, the traction device 18 is provided with a steering angle feedback device 19, the steering angle feedback device 19 is provided with a second magnetic navigation 29, and the steering angle feedback device 19 includes a steering angle detection unit 21; the first magnetic navigation 28 and the third magnetic navigation 30 are mainly used for correcting the angle and the speed by matching with the steering angle detection unit 21 when the traction device 18 is reversed, and the second magnetic navigation 29 is mainly used for correcting the error when the traction device 18 advances.
As shown in fig. 5 and 6, the steering angle feedback device 19 includes a connecting rod 23, a fork seat 22 is disposed at the bottom of the connecting rod 23, the top of the connecting rod 23 is connected to a coupling 27 through a bearing 26, the bearing 26 is fixedly connected to a mounting seat 24 through a bearing seat 25, the coupling 27 is connected to a steering angle detection unit 21, and the steering angle feedback device 19 is connected to a hinge shaft 20 on the traction device 18 through the fork seat 22; the rest is the same as the first embodiment.
The detection sensor 10 of the invention adopts a correlation photoelectric switch, the detection sensor 10 is fixedly connected with the first bottom plate 9, and the detection sensor 10 is used for detecting the existence of the connecting pin 17 in real time, thereby feeding back information whether the hanging pin is successful or not.
As shown in fig. 3 and 4, the automatic unhooking pin method for material vehicle connection comprises the following steps:
s1: after the traction device 18 reaches a preset reversing position, the traction device 18 is induced with an electromagnetic ring on the ground, the traction device 18 is automatically stopped, meanwhile, an electric push rod 6 on an automatic pin releasing and hanging mechanism extends out, the electric push rod 6 drives a link mechanism, a pin baffle 8 is in an open state, and after an electromagnetic induction ring 14 on the electric push rod 6 is induced with a proximity switch 13 on the upper portion, the traction device 18 starts to execute a reversing program to hang a pin;
when the pin is hung, the traction device 18 automatically backs up to the position of the material vehicle 16, along with the backing up of the traction device 18, the connecting pin 17 on the material vehicle 16 enters the guide opening 11, and after the traction device 18 backs up to a designated position, the traction device 18 automatically stops;
s2: if the detection sensor 10 senses the connecting pin 17, the electric push rod 6 starts to contract to drive the link mechanism to act, so that the pin baffle 8 is placed horizontally to complete the automatic pin hanging action, and at the moment, the connecting pin 17 is positioned in the pin baffle 8;
s3: if the detection sensor 10 cannot sense the connecting pin 17, starting an alarm system on the traction device 18, wherein the alarm system is a self-contained system on the traction device 18, and the detection sensor 10 is electrically connected with the alarm system;
s4: after the traction device 18 reaches a preset pin releasing position, pin releasing is carried out, the electric push rod 6 extends upwards to the upper limit position of the electric push rod to drive the connecting rod mechanism to act, so that the pin baffle 8 moves upwards and is in an open state, and automatic pin releasing is realized;
s5: after the pin is removed, the traction device 18 moves forward by more than 300mm until the specified position is reached, and after the sensor 10 to be detected cannot detect the connecting pin 17, the electric push rod 6 is contracted to the lower limit position, so that the pin removal operation is completed.
As shown in fig. 7, as traction device 18 advances, second magnetic guide 29 engages the position loop on the ground; when the traction device 18 is retracted, the steering angle detection unit 21 outputs the deviation angle of the driving wheel in real time, and controls the first magnetic navigation 28 and the third magnetic navigation 30 to correct the deviation through the controller. The steering angle detection unit 21 is a potentiometer.
The traction device 18 is a one-way differential type AGV, the existing one-way differential type AGV has no backing function, the invention realizes the backing of the one-way differential type AGV by a double closed loop PID control method, and the principle is as follows:
as shown in FIG. 8, P1 *A tracking set value for the first magnetic navigation; p1Is the actual value of the first magnetic navigation; alpha is alpha1 *Outputting a deviation correction angle for the first magnetic navigation position loop PID, and giving an input value for the speed loop; alpha is alpha1The AGV driving actual angle value read out for the actual potentiometer; v1' is a speed difference value calculated after the first magnetic navigation deviation is calculated by PID; p3 *A tracking set value for the third magnetic navigation; p3Is the actual value of the third magnetic navigation; alpha is alpha3 *Outputting a deviation correction angle for the third magnetic navigation position loop PID, and giving an input value for the speed loop; alpha is alpha3Actual angle value of AGV drive read for actual potentiometer, where α1＝α3；V2' is the calculated speed difference after the third magnetic navigation deviation is calculated by PID.
K1、K2Is a proportionality coefficient, wherein K1+K2≈1，K1：K 21/(r1: r2), r1 is the distance from the first magnetic navigation center position to the driving center position, and r2 is the distance from the third magnetic navigation center position to the driving center position;
V1and V2Respectively, actual deviation correction values calculated from the first magnetic navigation and the third magnetic navigation, wherein V1＝K1*V1’，V2＝K2*V2'; v is the speed deviation of the differential drive wheel calculated from two magnetic navigations, i.e. the differential speed, where V is V1+V2。
The unidirectional differential AGV is characterized in that two driving wheels are respectively controlled by one driving motor, and the differential speed is adjusted through the speed difference of the two wheels, so that the important factor for controlling the backward movement of the unidirectional differential AGV is to calculate the differential speed V between the two driving wheels.
The deviation rectifying process during the backward movement of the unidirectional differential AGV comprises the following steps:
s1, calculating the zero position of each AGV and determining the installation position of the potentiometer;
the limit of the left and right rotation of the AGV drive is +/-120 degrees, when the drive meets the left limit, the parameter of the potentiometer is A1, and the degree corresponds to-120 degrees; when the drive hits the right limit, the parameter of the potentiometer is a2, the degree corresponds to +120 °; the driving can be based on the real-time value A read by the potentiometer, and the offset angle value alpha of the driving is calculated by the following steps of normalization and scaling:
normalized calculation formula: OUT ═ VALUE-MIN)/(MAX-MIN),
MAX is the potentiometer value A2 at which the drive hits the right limit; MIN is the potentiometer value A1 when the drive hits the left limit; VALUE is a potentiometer real-time VALUE A; OUT is a value obtained by standardizing a real-time value of the potentiometer;
scaling calculation formula: OUT [ VALUE (MAX-MIN) ] + MIN,
MAX is an angle +120 degrees corresponding to the right limit; MIN is angle-120 degree corresponding to left limit; VALUE is a normalized calculation; OUT is an actual angle value alpha of the current AGV drive;
and when the deviation angle value alpha is equal to 0, the deviation angle value alpha is the zero position of each AGV.
S2 calculating the differential speed V of the first control system1': real-time deviation value P by first magnetic navigation 281The deviation-correcting angle alpha of the driving wheel is calculated by the position ring PID1 *(ii) a Deviation correcting angle alpha output by position ring PID1 *The steering angle detection unit 21 acquires the driving deviation angle alpha in real time as a given tracking angle of the speed loop1As a speed loop PID calculation, the differential speed V of the drive wheel deviation correction during the first magnetic navigation deviation is calculated1’；
Kp1Is a position loop scale factor, Ti1As position loop integral coefficient, Td1Is a velocity ring differential coefficient, e1(t) is (P)1 *-P1)，P1 *Given value for first magnetic navigation tracking, P1An actual deviation value of the first magnetic navigation;
Kp2is a velocity loop scaling factor, Ti2Is a velocity loop integral coefficient, Td2Is a velocity ring differential coefficient, e2(t) is (. alpha.)1 *-α1)。
S3: calculating a differential speed V of the second control system2': in the same manner as in step S2, the differential speed V for the drive wheel deviation correction at the time of the deviation of the third magnetic navigation 30 is calculated2', the PID parameters of each position loop and speed loop are shared with the first control system.
S4: when backing, the third magnetic navigation 30 decides whether to operate the automatic uncoupling pin mechanism; during the backward deviation correction process, the deviation range of the first magnetic navigation 28 is controlled within the rated deviation rangeThe nominal offset range being dependent on the magnetic navigation selected and dependent on K1+K2≈1，K1∶K2＝1/(r1∶r2)，r1＜r2，V1＝K1*V1’，V2＝K2*V2', finally obtaining V ═ K1*V1’+K2*V2’＝V1+V2And V is the differential speed of the final driving wheel deviation correction.
S5: and double closed-loop control, namely a speed loop and a current loop, in the driver is debugged, so that the tracking performance of the driver is ensured.
S6: turning and straight going are realized by means of the speed difference of the left wheel and the right wheel, and according to the differential speed V for final deviation correction of the driving wheel, the traditional differential speed processing is carried out on the original target speed of the driving wheel, namely, the backward moving function of the one-way differential speed type AGV is realized.
Claims (10)
1. The utility model provides an automatic take off and hang round pin mechanism for material car is connected which characterized in that, includes bottom plate (9), is equipped with direction mouth (11) that correspond with connecting pin (17) and detection sensor (10) with direction mouth (11) complex on bottom plate (9), is equipped with guide bearing (5) on bottom plate (9), is equipped with electric putter (6) that can reciprocate in guide bearing (5), and electric putter (6) upper end is equipped with round pin baffle (8) through articulated link mechanism.
2. The automatic pin disengaging mechanism for the connection of the material vehicle as claimed in claim 1, wherein the link mechanism comprises a first link (7) and a second link (15), one end of the first link (7) is hinged to the second link (15), the other end of the first link (7) is hinged to the electric push rod (6), the other end of the second link (15) is hinged to the first base plate (9), and the pin baffle (8) is mounted on the second link (15).
3. The automatic pin disengaging mechanism for material vehicle connection according to claim 2, wherein a second bottom plate (12) is arranged below the first bottom plate (9), a proximity switch (13) is arranged on the second bottom plate (12) through a mounting frame, and an electromagnetic induction ring (14) matched with the proximity switch (13) is arranged at the bottom of the electric push rod (6).
4. The automatic pin disengaging mechanism for a material vehicle connection according to claim 3, characterized in that the detection sensor (10) is a correlation photoelectric switch, and the detection sensor (10) is fixedly connected with the first bottom plate (9).
5. The automatic pin detaching and hanging mechanism for material vehicle connection according to any one of claims 1 to 4, further comprising a spring buffering unit, wherein the spring buffering unit comprises a first buffering plate (1) and a second buffering plate (2) which are placed in parallel, more than three guiding optical axes (4) are arranged between the first buffering plate (1) and the second buffering plate (2), the springs (3) are sleeved on the guiding optical axes (4), one ends of the guiding optical axes (4) are fixedly connected with the first buffering plate (1), the other ends of the guiding optical axes (4) penetrate through the second buffering plate (2), and the first bottom plate (9) and the second bottom plate (12) are fixedly connected with the second buffering plate (2) respectively.
6. The automatic pin detaching and attaching mechanism for the material vehicle connection according to claim 5, further comprising a traction device (18), the first buffer plate (1) is fixedly connected with the traction device (18), the front side and the rear side of the traction device (18) are respectively provided with a first magnetic navigation (28) and a third magnetic navigation (30), the traction device (18) is provided with a steering angle feedback device (19), the steering angle feedback device (19) is provided with a second magnetic navigation (29), and the steering angle feedback device (19) comprises a steering angle detection unit (21).
7. The automatic pin detaching and attaching mechanism for material vehicle connection according to claim 6, characterized in that the steering angle feedback device (19) comprises a connecting rod (23), a fork seat (22) is arranged at the bottom of the connecting rod (23), the top of the connecting rod (23) is connected with a coupling (27) through a bearing, the coupling (27) is connected with a steering angle detection unit (21), and the steering angle feedback device (19) is connected with a hinge shaft (20) on the traction device (18) through the fork seat (22).
8. An automatic pin releasing and hanging method for connecting a material vehicle is characterized by comprising the following steps:
s1: the traction device (18) automatically stops after reaching a preset reversing position, and simultaneously an electric push rod on the automatic disengaging pin mechanism drives a connecting rod mechanism to enable a pin baffle to be in an open state, and after the pin baffle is opened, a reversing program is started to be executed;
when the pin is hung, the traction device (18) automatically backs to the position of the material vehicle (16), at the moment, a connecting pin (17) on the material vehicle (16) enters the guide opening (11), and after the traction device (18) backs to a designated position, the traction device (18) automatically stops;
s2: if the detection sensor (10) senses the connecting pin (17), the electric push rod (6) starts to contract to drive the connecting rod mechanism to act, so that the pin baffle (8) is placed horizontally to complete the automatic pin hanging action, and at the moment, the connecting pin (17) is positioned in the pin baffle (8);
s3: if the detection sensor (10) cannot sense the connecting pin (17), an alarm system on the traction device (18) is started;
s4: after the traction device (18) reaches a preset pin releasing position, pin releasing is carried out, the electric push rod (6) extends upwards to the upper limit position of the electric push rod to drive the connecting rod mechanism to act, so that the pin baffle (8) moves upwards and is in an open state, and automatic pin releasing is realized;
s5: after the pin removal is finished, the traction device (18) moves forward by more than 300mm until the specified position is reached, and after the sensor (10) to be detected cannot detect the connecting pin (17), the electric push rod (6) contracts to the lower limit position to finish the pin removal operation.
9. Method for automatic uncoupling of a material trolley (16) according to claim 8, characterized in that the second magnetic navigation (29) engages with a position ring on the ground when the traction means (18) are advanced; when the traction device (18) retreats, the steering angle detection unit (21) outputs the deviation angle of the driving wheel in real time, and the controller controls the first magnetic navigation (28) and the third magnetic navigation (30) to correct the deviation.
10. Method for automatic uncoupling of pin for material trolley (16) connection according to claim 9, characterized in that the deviation rectifying process when the traction means (18) are retracted comprises the following steps:
s1, calculating the zero position of each AGV and determining the installation position of the steering angle detection unit (21);
s2 calculating the differential speed V of the first control system1': real-time deviation value P by first magnetic navigation (28)1The deviation-correcting angle alpha of the driving wheel is calculated by the position ring PID1 *(ii) a Deviation correcting angle alpha output by position ring PID1 *As a given tracking angle of the velocity loop, a driving deviation angle alpha acquired in real time by a steering angle detection unit (21)1As a speed loop PID calculation, the differential speed V of the drive wheel deviation correction during the first magnetic navigation deviation is calculated1’；
S3 calculating the differential speed V of the second control system2': calculating a differential speed V for the drive wheel to correct the deviation when the third magnetic navigation (30) is deviated, in the same manner as the step S22', the PID parameters of each position loop and speed loop are shared with the first control system;
s4, when backing up, the third magnetic navigation (30) determines whether to run the automatic uncoupling pin mechanism; during the backward deviation correction process, the deviation range of the first magnetic navigation (28) is controlled within the rated deviation range according to K1+K2≈1，K1：K2＝1/(r1:r2)，r1<r2，V1＝K1*V1’，V2＝K2*V2', finally obtaining V ═ K1*V1’+K2*V2’＝V1+V2V is the differential speed of the final driving wheel for deviation correction;
s5, debugging double closed-loop control, namely a speed loop and a current loop, in the driver to ensure the tracking performance of the driver;
and S6, realizing turning and straight going by means of the speed difference of the left wheel and the right wheel, and performing traditional differential processing on the original target speed of the driving wheels according to the differential speed V for final deviation correction of the driving wheels obtained in the step 4, namely realizing the backward movement function of the one-way differential AGV.
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