SU1556947A1 - Automatic floor-type vehicle - Google Patents

Abstract

This invention relates to transport robots used in automated transport systems. The purpose of the invention is to increase reliability. An automatic truck contains leading 2, 3 and driven 1, 4 wheels with drives 7, 8 of turning the wheels of one and the other side, blocks 11, 12 of reading out signals of traveling marks on the sections 13, 14 of the track. 1 hp f-ly, 3 ill.

Description

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The invention relates to transport robots and can be used as a vehicle in intra shop automated transport systems, including in the shops of industrial enterprises that have constrained conditions for maneuvering.

The purpose of the invention is to increase reliability.

Figure 1 presents the structural diagram of the proposed vehicle; FIG. 2 is a block diagram of a vehicle control system; in fig. 3 is a block diagram of the unit for setting the angles of rotation of the outer side wheels.

The automatic floor vehicle (FIG. 1) comprises a platform with steerable drive wheels 1 and 2 and steerable driven wheels 3 and 4. Drive wheels

II and 2 are supplied respectively with drives 5 and 6; Wheels 1 and 3 are kinematically connected with a common drive for them.

7 wheels of one side. Wheels 2 and 4 are kinematically connected with a common drive for them 8 turning a wheel of another side, sensors 9 and 10 of wheel angles are kinematically connected with drives 7 and 8, respectively. Under the platform across the longitudinal and transverse axes of the vehicle, respectively, there are blocks 11 and 12 for reading out travel marker signals plotted in the longitudinal and transverse sections 13 and 14 of its route.

The control system (Fig. 2) contains a decoder of signals 15 of travel markings, a block of generating signals for the angles of rotation of the outer bead, a node 17 for changing modes of turning of wheels, a former of control signals for drives 5 and 6 of the decoder I5 inputs are connected to the outputs of blocks

II and 12 for reading track markings and outputs — with the first and second inputs of the node 17 for changing the wheel rotation modes; the third and fourth inputs of which are connected respectively to the outputs of sensors 9 and 10 and the unit 16 for setting the angles of rotation of the outer side wheels, the input of which is connected to one of the outputs node 17, the other outputs of which are connected with the drives 7 and 8 of rotation of the wheels, and the inputs of the former 18 are connected to the outputs of the sensor

five

0

five

0

Q $

.

five

five

9 and 10. The node 17 for changing the rotation modes of the wheels is made on analog switches 19 and 20, blocks 21 and 22 of the subtraction and separation diodes 23 and 24. The outputs of analog keys 19 and 20 are connected to one of the inputs of the blocks

21 and 22 subtract. The anode of the separation diode 23, the inverse input of the analog switch 19 and one of the inputs of the subtraction unit 2, the anode of the separation diode 24, the inverse input of the analog switch 20 and one of the inputs of the block

The 22 subtractors, the other inputs of the subtracting units 21 and 22, and the analog inputs of the keys 19 and 20 are respectively the first, second, third and fourth inputs of the node 17, the one and the other outputs of which are cathodes of the separation diodes 23 and 24, respectively, and the outputs of the blocks 21 and 22 subtraction.

Block 16 (fig.Z) contains sine 25 and cosine 26 transducers, multiplier 27, adder 28, inverter 29 characters, divider 30 and transducer 31 of the inverse trigonometric function arctgx,

The combined input of converters 25 and 26 is the input of block 16. The output of converter 25 is connected to one of the inputs of multiplier 27 and the input of inverter 29, the output of which is connected to one of the inputs of divider 30. The output of converter 26 is connected to one of the inputs of adder 28, The other input of multiplier 27 is connected to a constant signal source. The output of multiplier 27 is connected to another input of adder 28, the output of which is connected to another input of divider 30. The output of divider 30 is connected to input of converter 31, the output of which is the output of block 16.

Automated floor vehicle operates as follows.

For a base for calculating the rotation angles of the wheels, a diagonal is taken, on which, for example, wheels 3 and 4 are located, the counterclockwise deviation of the wheels from the initial longitudinal position is assumed positive, and clockwise - negative.

This arrangement of the base wheels makes it possible to receive signals of the same polarity at the outputs of the decoder 15, which, unlike

five

The location of these wheels minimizes the node for changing the rotational modes, since the inner side of the curvilinear turn is taken to be the lead, the turning angles of the base impeller are positive, and the turning angles of the base wheel of the outer (outer) side are negative (in the position shown in FIG. HR is the driver with wheels 1 and 3).

Therefore, the signal at the output of block 16 must be opposite in sign to the signal at the output of the decoder 15j for which, in block 16 and

There is no inverter 29. In principle, the sign injection elements may not be located in block 16, but in node 17. When the vehicle is moving along section 13 of the track, signals from, t of block 1 1 in the decoder 15 produce a positive signal, which appears on the output of the decoder, which is associated with the drive rotation of the wheels located on the currently leading board. The magnitude of this signal corresponds to the angle of rotation of the leading side collar required for this.

If the lead (internal) when turning is the side with wheels 1 and 3, then the driving (positive) signal from one of the outputs of the decoder 15 is fed to one of the inputs of the subtracting unit 21 and through the diode 23 to the input of the unit 16. At the same time, this signal on the inverse input of the analog key 19, locks it, the signal at the other output of the decoder

15 is absent, which ensures the preservation of the open state of the analog switch 20. In the block

16 a signal is formed

. - sin ot (oit arctg2b

cos of, + sinoi i

a

where uit, otu - the magnitude of the signals

proportional to the same angles of rotation of the wheels, respectively, leading and driven when turning the sides;

a and b are constant values proportional to the longitudinal and transverse ba respectively

zam wheels, proportional to the required angle of rotation of the wheel slave (external) when turning the side. From the output b,; of the eye 16, this signal (negative) comes through an open wedge: 20 to one of the inputs of the element 22. The feedback signals from sensors 9 and 10 go to the other inputs of blocks 21 and 22, respectively, at the outputs of which the necessary corrective signals for drives 7 and 8 are turning wheels.

If necessary, the vehicle's forward motion is from the outputs of the decoder 15 and block 16, since it ensures that the conditions of the forward motion are X, F2. When moving to the shaper 18, signals from sensors 9 and 10 about the actual angles of rotation are received the wheels of both 5 beads; In the former 18, signals are formed that are proportional to the required rotational speeds of the drives 5 and 6 of both beads, taking into account the fulfillment of the ratio

five

Yi. v,

sin c (

five

0

0

If the driver is a driver with wheels 2 and 4, then the positive signal, which appeared on the other output of the decoder 15, goes to one of the inputs of block 22, ensuring the operation of the drive 8, and through diode 24 to the input of block 16. At the same time, this signal acting on the inverted analog input, the key 20, locks it. Since there is no signal at one of the outputs of the decoder 15, the key 19 is translated

c in open state. In this case, the calculated signal from the output of block 16 goes through a key 19 to one of the inputs of block 21, ensuring the operation of drive 7. After the vehicle reaches a predetermined section 14 for transverse movement and orientation perpendicular to it of its platform, signals from block 12 in the decoder 15 are generated

Ј is the signal, the value of which corresponds to the required rotation of all the wheels at an angle of 90 ° relative to their initial position, and the polarity corresponds to the desired direction of the far

This movement. This signal appears on both outputs of the decoder .15 and is fed to one of the inputs of blocks 21 and 22,

At the same time, locking of the supply chains of the calculated signals from block 16 occurs. Feedback signals from sensors 9 and M) ensure the formation at the outputs of elements 21 and 22 of correction signals to turn the wheels of each bead at an angle of 90 in the same direction for all wheels regardless of their previous position. This avoids reversing the wheels. For the period of this change of wheel position, the drives 5 and 6 are switched off.

After all the wheels are mounted in a position perpendicular to the original, it is possible to move in the transverse direction without changing the orientation of the vehicle platform. After the vehicle returns to the longitudinal path current, a positive signal is generated by the signal from block 11 in the decoder 15, corresponding to its curvature. This signal appears at the output of the decoder, which is associated with the drive of the turn of the bead wheels, which is internal at the required turn. At the same time, the key is opened, which ensures the arrival of the calculated signal from block 16 to the drive for turning the wheels of the outer bead.

After the installation has been completed, the wheel of both sides in a position corresponding to the curvature of the section 13 of the route is allowed to move in the longitudinal direction.

Thus, the proposed vehicle is equipped with a multifunctional control system that

Claims (2)

 1. An automatic floor vehicle containing five 0 five 0 five 0 Driving and driven wheels, one of which, located along one of the sides, have a common rotational drive, one of the blocks for reading track mark signals, connected by an output to one of the decoder inputs, wheel angle sensors and driving signals of driving wheels, characterized in that, in order to increase reliability and maneuverability, it is equipped with a common drive for turning wheels located on the other side, a block for setting the angles of rotation of the driven wheels when turning the bead, a node for changing steering modes wheels and another unit for reading track mark signals, the output of the latter of which is connected to another input of the decoder, the outputs of which are connected to the first and second inputs of the node changing modes of rotation of the wheels connected to the third and fourth inputs to the outputs respectively of the angle sensors of the wheels and the block forming signals the angles of rotation of the driven wheels when turning the bead, the input of which is connected to one of the outputs of the node for changing the modes of rotation of the wheels, the other outputs of which are connected with the drives of the rotation of the wheels, are located ennyh one and the other sides, 2. Vehicle according to claim 1, characterized in that the node changing modes of rotation of the wheels is made on analog keys, isolation diodes and subtraction blocks, one of the inputs of which are connected to the outputs of the analog keys, and the anode of one of the separation diodes and one of the inputs of one from analog one of the other analog switches and subtractors, the other inputs of the subtractors, and the other inputs of the analog switches are the first, second, third, and fourth inputs of the wheel rotation mode change node, one and the other outputs of which are cathodes separating, respectively. diodes and subtraction unit outputs. FIG. 2 P Fi.Z