CN113650459B - Automatic pin releasing and hanging method for material vehicle connection - Google Patents
Automatic pin releasing and hanging method for material vehicle connection Download PDFInfo
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- CN113650459B CN113650459B CN202110978936.1A CN202110978936A CN113650459B CN 113650459 B CN113650459 B CN 113650459B CN 202110978936 A CN202110978936 A CN 202110978936A CN 113650459 B CN113650459 B CN 113650459B
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- pin
- magnetic navigation
- traction device
- deviation
- electric push
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- 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 AGV unhooking pins. The device mainly comprises a first bottom plate, wherein a guide opening corresponding to a connecting pin and a detection sensor matched with the guide opening are arranged on the first bottom plate, a guide bearing is arranged on the first bottom 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 function of automatically connecting and disconnecting the material car of the traction device is realized through the connecting pin detection sensor. The automatic pin releasing device is mainly used for automatically releasing the pin from the traction type AGV and the material vehicle.
Description
Technical Field
The invention belongs to the technical field of AGV unhooking pins, and particularly relates to an automatic unhooking pin method for material vehicle connection.
Background
The traction type AGV is mainly used for dragging a plurality of material trucks, and automatic material transfer is achieved. At present, manual hanging pins are adopted in the industry to realize connection between a traction type AGV and a material vehicle. When the connection is required to be disconnected, manual intervention is also required, so that the automation efficiency is greatly reduced, and the investment of labor cost is improved. The existing traction type AGVs are generally provided with pin structures, the material vehicle is provided with hole structures, when the material vehicle is connected, pins on the traction type AGVs are lifted, then the material vehicle is moved, holes on a material vehicle connecting plate are aligned with the pins, and finally the pins are put down, so that the pin holes are matched, and 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 with the AGV, the pin returns. The manual intervention in the whole process also brings more uncertainty, even safety risk, to the control of the automated process.
Disclosure of Invention
The invention aims to solve the technical problems that: the automatic pin removing and hanging method for connecting the material trucks overcomes the defects of the prior art, and the mechanism realizes the functions of automatically connecting the material trucks and automatically disconnecting the material trucks of the traction device through the connecting pin detection sensor.
The automatic pin releasing and hanging mechanism for connecting the material vehicle comprises a first bottom plate, wherein a guide opening corresponding to a connecting pin and a detection sensor matched with the guide opening are arranged on the first bottom plate, a guide bearing is arranged on the first bottom 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 link mechanism comprises a first link and a second link, one end of the first link is hinged with the second link, the other end of the first link is hinged with the electric push rod, the other end of the second link is hinged with the first bottom plate, and the pin baffle is arranged on the second link.
Preferably, a second bottom plate is arranged below the second bottom plate, a proximity switch is arranged on the second bottom plate through a mounting 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, the buffer device further comprises a spring buffer unit, the spring buffer unit comprises a buffer plate I and a buffer plate II which are placed in parallel, more than three guide optical axes are arranged between the buffer plate I and the buffer plate II, a spring is sleeved on each guide optical axis, one end of each guide optical axis is fixedly connected with the buffer plate I, the other end of each guide optical axis penetrates through the buffer plate II, and the bottom plate I and the bottom plate II are respectively fixedly connected with the buffer plate II.
Preferably, the steering device comprises a first magnetic guide device, a second magnetic guide device and a steering angle feedback device, wherein the first magnetic guide device is fixedly connected with the first magnetic guide device, the first magnetic guide device and the second magnetic guide device are respectively arranged on the front side and the rear side of the first magnetic guide device, the steering angle feedback device is provided with the second magnetic guide device, and the steering angle feedback device comprises a steering angle detection unit.
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 a hinge shaft on the traction device through the fork seat.
The automatic pin removing and hanging method for connecting the material vehicle comprises the following steps of:
S1: when the traction device reaches a preset reversing position, the automatic stopping is realized, and meanwhile, an electric push rod on the automatic pin releasing and hanging 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 up to the position where the material vehicle is located, at the moment, the connecting pin on the material vehicle enters the guide opening, and after the traction device backs up to the designated position, the traction device automatically stops;
S2: if the detection sensor senses the connecting pin, the electric push rod starts to shrink to drive the connecting rod mechanism to act, so that the pin baffle is placed horizontally, and 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, an alarm system on the traction device is started;
s4: after the traction device reaches a preset pin-removing position, pin removal is carried out, the electric push rod extends upwards to the upper limit of the electric push rod to drive the connecting rod mechanism to act, so that the pin baffle moves upwards to be in an open state, and automatic pin removal is realized;
s5: after the pin removal is completed, the traction device moves forward by more than 300mm until reaching a designated position, and after the detection sensor cannot detect the connecting pin, the electric push rod is contracted to the lower limit of the connecting pin, so that the pin removal operation is completed.
Preferably, the second magnetic navigation cooperates with a position ring on the ground as the traction device 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:
s11, calculating the zero point position of each AGV and determining the installation position of a steering angle detection unit of each AGV;
s12, calculating the differential speed V 1' of the first control system: calculating a deviation correcting angle alpha 1 * of the driving wheel by means of a position loop PID through a real-time deviation value P 1 of the first magnetic navigation; the deviation correcting angle alpha 1 * output by the position loop PID is used as a given tracking angle of a speed loop, the driving deviation angle alpha 1 acquired by the steering angle detection unit in real time is used as a speed loop PID to calculate, and the differential speed V 1' of the driving wheel deviation correction during the first magnetic navigation deviation is obtained;
S13, calculating the differential speed V 2' of the second control system: step S12 is the same as step S, the differential speed V 2' of the driving wheel deviation correction when the third magnetic navigation deviation is calculated, and PID parameters of each position loop and speed loop are shared with the first control system;
S14, when the vehicle moves backwards, determining whether to operate the automatic pin releasing mechanism or not through third magnetic navigation; in the backward deviation rectifying process, controlling the deviation range of the first magnetic navigation within the rated deviation range, and finally obtaining V=K 1*V1'+K2*V2'＝V1+V2 according to K1+K2≈1,K1：K2＝1/(r1:r2),r1<r2,V1＝K1*V1',V2＝K2*V2',, wherein V is the differential speed of the final driving wheel deviation rectifying;
s15, debugging double closed-loop control, namely a speed loop and a current loop, in the driver to ensure the tracking performance of the driver;
S16, turning and straight running are realized by means of the speed difference of the left wheel and the right wheel, and traditional differential processing is carried out on the original target speed of the driving wheel according to the differential speed V of the final driving wheel deviation correction obtained in the step S14, so that the unidirectional differential AGV backing function is realized.
Compared with the prior art, the invention has the beneficial effects that:
1. The automatic pin releasing and hanging mechanism is additionally arranged, so that the traction device is automatically connected and disconnected with the material vehicle, and all actions are fed back through signals, so that the closed-loop control of the whole control loop is realized;
2. The connecting pin detection sensor is additionally arranged on the automatic pin releasing and hanging mechanism, so that whether the connecting pin exists or not can be detected in real time, information feedback about whether the pin is successful or not and information feedback about whether the pin is released or not in the transferring process are realized, and the safety of the automatic pin releasing and hanging function is greatly improved;
3. The automatic pin releasing and hanging mechanism is matched with the traction device, so that when the pin is successfully hung, the traction device executes a transferring task; when the hanging pin is unsuccessful, the traction device sends out an alarm signal, and the task is suspended;
4. The steering angle feedback device is additionally arranged on the traction device, so that the manufacturing and assembly are simple, the production cost is low, the angle deviation correction and the speed deviation correction of the driving wheel during the forward and backward movement are realized, the accuracy of automatically releasing the hanging pin during the backward movement 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 unidirectional differential AGV to realize accurate reversing. The control method of the invention is different from the traditional double closed loop control method in that: 1) The output driving differential speed V acts on the left and right driving wheels and then reacts to the input P 1、P3 of the position ring and alpha 1、α3, and the driving differential speed V is more accurate by taking the actual value of the magnetic navigation and the actual value of the potentiometer as the input values of the position ring and the speed ring respectively; 2) The driving differential speed V is obtained by proportionally coupling two control systems, and V=V 1+V2＝K1*V1'+K2*V2'; the purpose is that the front and back magnetic navigation is in a controllable range, so that the reversing reliability of the unidirectional differential AGV is improved.
Drawings
FIG. 1 is a schematic view of an automatic pin removal mechanism in a pin removal state;
FIG. 2 is a schematic view of the structure of the automatic pin releasing mechanism in the pin releasing state;
FIG. 3 is a reference diagram of the out-of-stock condition of the present invention;
FIG. 4 is a view of a hanging pin state reference of the present invention;
FIG. 5 is a schematic structural view of a steering angle feedback device;
FIG. 6 is a reference diagram of the state of use of the steering angle feedback device;
FIG. 7 is a top view of the traction device;
Fig. 8 is a control schematic diagram of the reverse of the traction device.
In the figure, 1, a buffer plate I; 2. a buffer plate II; 3. a spring; 4. guiding an optical axis; 5. ; 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 opening; 12. a second base plate; 13. a proximity switch; 14. an electromagnetic induction ring; 15. a second connecting rod; 16. a material vehicle; 17. a connecting pin; 18. a traction device; 19. steering angle feedback device; 20. a hinge shaft; 21. a steering angle detection unit; 22. a fork seat; 23. a connecting rod; 24. a mounting base; 25. a bearing seat; 26. a bearing; 27. a coupling; 28. a first magnetic navigation; 29. a second magnetic navigation; 30. and third magnetic navigation.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
Embodiment one: as shown in fig. 1 and 2, the automatic pin releasing and hanging mechanism for connecting a material vehicle comprises a first bottom plate 9, wherein 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 this embodiment, the direction of the guide opening 11 away from the pin baffle 8 is in an opening structure, preferably in a V-shaped structure, and the V-shaped guide opening 11 is more convenient for hanging pins.
Embodiment 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 with the second connecting rod 15, the other end of the first connecting rod 7 is hinged with a mounting plate at the top of the electric push rod 6, one end of the second connecting rod 15 is hinged with the first bottom plate 9, the pin baffle 8 is arranged on the lower end face close to the other end of the second connecting rod 15, and one side of the pin baffle 8 close to the detection sensor 10 is of a circular arc structure so as to be matched with the connecting pin 17 better.
A second base plate 12 is arranged below the first base plate 9, two proximity switches 13 are arranged on the second base plate 12 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 an electromagnetic induction ring 14 matched with the two proximity switches 13 is arranged at the bottom of the electric push rod 6.
The automatic unhooking pin mechanism further comprises a spring buffer unit, the spring buffer unit comprises a buffer plate I1 and a buffer plate II 2 which are placed in parallel, more than three guide optical axes 4 are arranged between the buffer plate I1 and the buffer plate II 2, preferably four guide optical axes 4 are arranged at four corners of the buffer plate I1 and the buffer plate II 2 respectively, a spring 3 is sleeved on the guide optical axes 4, two ends of the spring 3 are respectively abutted against the buffer plate I1 and the buffer plate II 2, one end of the guide optical axis 4 is fixedly connected with the buffer plate I1, the other end of the guide optical axis 4 penetrates through the buffer plate II 2, and a bottom plate I9 and a bottom plate II 12 are respectively fixedly connected with the buffer plate II 2.
As shown in fig. 3 and 4, the invention further comprises a traction device 18, the buffer plate 1 is fixedly connected with the traction device 18, a first magnetic navigation 28 and a third magnetic navigation 30 are respectively arranged on the front side and the rear side of the traction device 18, a steering angle feedback device 19 is arranged on the traction device 18, a second magnetic navigation 29 is arranged on the steering angle feedback device 19, and the steering angle feedback device 19 comprises 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 in cooperation 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 speed when the traction device 18 is advanced.
As shown in fig. 5 and 6, 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 coupler 27 through a bearing 26, the bearing 26 is fixedly connected with a mounting seat 24 through a bearing seat 25, the coupler 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; the other is the same as in 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, so that whether the hanging pin is successful or not is fed back.
As shown in fig. 3 and 4, the automatic unhooking pin method for the connection of the material vehicle comprises the following steps:
S1: after the traction device 18 reaches a preset reversing position, the traction device 18 is induced by an electromagnetic ring on the ground, so that the traction device 18 automatically stops, meanwhile, an electric push rod 6 on the automatic pin releasing and hanging mechanism extends out, the electric push rod 6 drives a connecting rod mechanism, the pin baffle 8 is in an open state, and after the electromagnetic induction ring 14 on the electric push rod 6 is induced by a proximity switch 13 on the upper part, the traction device 18 starts to execute a reversing program to hang pins;
When the pin is hung, the traction device 18 automatically backs up to the position of the material car 16, and as the traction device 18 backs up, the connecting pin 17 on the material car 16 enters the guide opening 11, and after the traction device 18 backs up to a specified 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 shrink to drive the link mechanism to act, so that the pin baffle plate 8 is placed horizontally, and the automatic pin hanging action is completed, and at the moment, the connecting pin 17 is positioned in the pin baffle plate 8;
s3: if the detection sensor 10 cannot sense the connecting pin 17, an alarm system on the traction device 18 is started, 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-removing position, pin removal is carried out, the electric push rod 6 extends upwards to the upper limit of the electric push rod to drive the link mechanism to act, so that the pin baffle 8 moves upwards to be in an open state, and automatic pin removal is realized;
S5: after the pin removal is completed, the traction device 18 moves forward by more than 300mm until reaching a designated position, and after the detection sensor 10 cannot detect the connecting pin 17, the electric push rod 6 is contracted to the lower limit to complete the pin removal operation.
As shown in fig. 7, as the traction device 18 advances, the second magnetic navigation 29 engages a position ring on the ground; 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. The steering angle detection unit 21 is a potentiometer.
The traction device 18 is a unidirectional differential AGV, the existing unidirectional differential AGV has no backing function, and the unidirectional differential AGV is backed up by a double-closed-loop PID control method, and the principle is as follows:
As shown in fig. 8, P 1 * is a tracking given value of the first magnetic navigation; p 1 is the actual value of the first magnetic navigation; alpha 1 * is the PID output deviation correcting angle of the first magnetic navigation position loop, and is the given input value of the speed loop; alpha 1 is the AGV driving actual angle value read by the actual potentiometer; v 1' is the calculated speed difference value of the first magnetic navigation deviation after PID calculation; p 3 * is a tracking given value of the third magnetic navigation; p 3 is the actual value of the third magnetic navigation; alpha 3 * is the PID output deviation correcting angle of the third magnetic navigation position loop, and is the given input value of the speed loop; alpha 3 is the AGV driving actual angle value read by the actual potentiometer, wherein alpha 1＝α3;V2' is the speed difference value calculated by the third magnetic navigation deviation after PID calculation.
K 1、K2 is a proportionality coefficient, where K 1+K2≈1,K1：K2 =1/(r1:r2), r1 is a distance from the first magnetic navigation center position to the driving center position, and r2 is a distance from the third magnetic navigation center position to the driving center position;
V 1 and V 2 are the actual correction values calculated from the first and third magnetic navigation, respectively, where V 1＝K1*V1',V2＝K2*V2'; v is the differential speed, i.e. the differential speed, of the differential drive wheel calculated from the two magnetic navigation, where v=v 1+V2.
The unidirectional differential AGV is characterized in that two driving wheels are respectively controlled by a driving motor, and the differential speed is regulated by the speed difference of the two wheels, so that an important factor for controlling the unidirectional differential AGV to retreat is to calculate the differential speed V between the two driving wheels.
The deviation rectifying process during the backward of the unidirectional differential AGV comprises the following steps:
s11, calculating the zero point position of each AGV and determining the installation position of a potentiometer of each AGV;
The limit of the left and right rotation of the AGV is +/-120 degrees, and when the drive encounters the left limit, the parameter of the potentiometer is A1, and the degree corresponds to-120 degrees; when the drive encounters a right limit, the parameter of the potentiometer is A2, and the degree corresponds to +120 degrees; the driving can calculate the offset angle value alpha of the driving according to the real-time value A read by the potentiometer, and the calculating steps are standardized and then scaled:
Normalized calculation formula: out= (VALUE-MIN)/(MAX-MIN),
MAX is the value A2 of the potentiometer when the drive encounters the right limit; MIN is the value A1 of the potentiometer when the drive encounters the left limit; the VALUE is the real-time VALUE A of the potentiometer; OUT is the value of the potentiometer after the real-time value is normalized;
Scaling the calculation formula: out= [ VALUE x (MAX-MIN) ] + MIN,
MAX is the angle +120° corresponding to the right limit; MIN is the angle corresponding to the left limit-120 degrees; VALUE is a normalized calculated VALUE; OUT is the actual angle value alpha driven by the current AGV;
When the offset angle value α=0, the zero point position of each AGV is obtained.
S12, calculating the differential speed V 1' of the first control system: the deviation correcting angle alpha 1 * of the driving wheel is obtained by means of the position loop PID through the real-time deviation value P 1 of the first magnetic navigation 28; the deviation correcting angle alpha 1 * output by the position loop PID is used as a given tracking angle of a speed loop, the driving deviation angle alpha 1 acquired by the steering angle detection unit 21 in real time is used as a speed loop PID to calculate, and the differential speed V 1' of the driving wheel deviation correction during the first magnetic navigation deviation is obtained;
K p1 is a position loop ratio coefficient, T i1 is a position loop integral coefficient, T d1 is a velocity loop differential coefficient, e 1 (T) is (P 1 *-P1),P1 * is a tracking given value of the first magnetic navigation, and P 1 is an actual deviation value of the first magnetic navigation;
K p2 is a speed loop ratio coefficient, T i2 is a speed loop integral coefficient, T d2 is a speed loop differential coefficient, and e 2 (T) is (. Alpha. 1 *-α1).
S13, calculating the differential speed V 2' of the second control system: and (3) calculating the differential speed V 2' of the driving wheel deviation correction when the third magnetic navigation 30 deviates in the same step as the step (S12), wherein PID parameters of each position loop and each speed loop are shared with the first control system.
S14, when the vehicle backs up, the third magnetic navigation 30 determines whether to operate the automatic pin releasing mechanism or not; during the reverse deviation correction, the deviation range of the first magnetic navigation 28 is controlled within a rated deviation range, the rated deviation range is related to the selected magnetic navigation, v=k 1*V1'+K2*V2'＝V1+V2 is finally obtained according to K1+K2≈1,K1：K2＝1/(r1:r2),r1<r2,V1＝K1*V1',V2＝K2*V2',, and V is the differential speed of the final driving wheel deviation correction.
And S15, debugging double closed-loop control, namely a speed loop and a current loop, in the driver to ensure the tracking performance of the driver.
S16, turning and straight running are realized by means of the speed difference of the left wheel and the right wheel, and traditional differential processing is carried out on the original target speed of the driving wheels according to the differential speed V of the final driving wheel correction, namely, the unidirectional differential AGV backing function is realized.
Claims (5)
1. The automatic pin removing and hanging method for the material vehicle connection comprises an automatic pin removing and hanging mechanism and is characterized in that the automatic pin removing and hanging mechanism 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;
The steering device also comprises a traction device (18), wherein 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); 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 coupler (27) through a bearing, the coupler (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);
The method also comprises the following steps:
S1: the traction device (18) automatically stops when reaching a preset reversing position, and an electric push rod on the automatic pin releasing and hanging 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 starts to be executed;
When the pin is hung, the traction device (18) automatically backs up to the position where the material vehicle (16) is located, at the moment, the connecting pin (17) on the material vehicle (16) enters the guide opening (11), and after the traction device (18) backs up to a specified 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 shrink to drive the link mechanism to act, so that the pin baffle (8) is placed horizontally, and the automatic pin hanging action is completed, 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);
S4: after the traction device (18) reaches a preset pin-removing position, pin removal is carried out, the electric push rod (6) extends upwards to the upper limit of the electric push rod, and drives the connecting rod mechanism to act, so that the pin baffle (8) moves upwards to be in an open state, and automatic pin removal is realized;
S5: after the pin removal is completed, the traction device (18) moves forward by more than 300mm until reaching a designated position, and after the detection sensor (10) cannot detect the connecting pin (17), the electric push rod (6) is contracted to the lower limit of the connecting pin, so that the pin removal operation is completed;
When the traction device (18) advances, the second magnetic navigation (29) is matched with a position ring on the ground, and when the traction device (18) retreats, 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 deviation correcting process when the traction device (18) retreats comprises the following steps:
s11, calculating the zero point position of each AGV and determining the installation position of a steering angle detection unit (21) of the AGV;
s12, calculating the differential speed V 1' of the first control system: calculating a deviation correcting angle alpha 1 * of the driving wheel by means of a position loop PID through a real-time deviation value P 1 of the first magnetic navigation (28); the deviation correcting angle alpha 1 * output by the position loop PID is used as a given tracking angle of a speed loop, the driving deviation angle alpha 1 acquired by the steering angle detection unit (21) in real time is used as a speed loop PID calculation, and the differential speed V 1' of the driving wheel deviation correction during the first magnetic navigation deviation is obtained;
S13, calculating the differential speed V 2' of the second control system: the step S12 is the same, the differential speed V 2' of the driving wheel deviation correction when the third magnetic navigation (30) deviates is calculated, and PID parameters of each position loop and speed loop are shared with the first control system;
S14, when the vehicle moves backwards, the third magnetic navigation (30) determines whether to operate the automatic pin releasing and hanging mechanism; in the backward deviation rectifying process, controlling the deviation range of the first magnetic navigation (28) within the rated deviation range, and finally obtaining V=K 1*V1'+K2*V2'＝V1+V2 according to K1+K2≈1,K1：K2＝1/(r1:r2),r1<r2,V1＝K1*V1',V2＝K2*V2',, wherein V is the differential speed of the final driving wheel deviation rectifying;
s15, debugging double closed-loop control, namely a speed loop and a current loop, in the driver to ensure the tracking performance of the driver;
s16, turning and straight running are realized by means of the speed difference of the left wheel and the right wheel, and traditional differential processing is carried out on the original target speed of the driving wheel according to the differential speed V of the final driving wheel deviation correction obtained in the step S14, so that the unidirectional differential AGV backing function is realized;
wherein K 1、K2 is a proportionality coefficient, r1 is a distance from the first magnetic navigation center position to the driving center position, r2 is a distance from the third magnetic navigation center position to the driving center position, and V 1 and V 2 are actual correction values calculated according to the first magnetic navigation and the third magnetic navigation, respectively.
2. The automatic pin removing and hanging method for connecting a material vehicle according to 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 with the second link (15), the other end of the first link (7) is hinged with the electric push rod (6), the other end of the second link (15) is hinged with the first bottom plate (9), and the pin baffle (8) is mounted on the second link (15).
3. The automatic pin removing and hanging method for connecting the material vehicle according to claim 2, wherein a second base plate (12) is arranged below the first base plate (9), a proximity switch (13) is arranged on the second base 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 removing method for connecting a material vehicle according to claim 3, wherein the detection sensor (10) is an opposite-emitting photoelectric switch, and the detection sensor (10) is fixedly connected with the first bottom plate (9).
5. The automatic pin removing method for connecting a material vehicle according to any one of claims 1 to 4, further comprising a spring buffer unit, wherein the spring buffer unit comprises a first buffer plate (1) and a second buffer plate (2) which are placed in parallel, more than three guide optical axes (4) are arranged between the first buffer plate (1) and the second buffer plate (2), springs (3) are sleeved on the guide optical axes (4), one ends of the guide optical axes (4) are fixedly connected with the first buffer plate (1), the other ends of the guide optical axes (4) penetrate through the second buffer plate (2), and a first bottom plate (9) and a second bottom plate (12) are fixedly connected with the second buffer plate (2) respectively.
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| CN115042188B (en) * | 2022-07-19 | 2024-04-30 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
| CN116081210B (en) * | 2022-12-31 | 2024-06-11 | 江苏同和智能装备有限公司 | Automatic feeding and conveying device for automotive interior trim wire material vehicle and working method of automatic feeding and conveying device |
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| DE102015203969B4 (en) * | 2014-03-07 | 2020-08-27 | Ford Global Technologies, Llc | System and method for determining an offset between a measured and a current hitch angle |
| CN106909160B (en) * | 2015-12-23 | 2023-07-07 | 广东科达洁能股份有限公司 | SD-type AGV reversing attitude angle control device based on double-closed-loop PID control |
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