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Walking carriage and system thereof

A technology of moving trolleys and variable quantities, which is applied in the direction of control/regulation systems, railway car body parts, vehicle control route devices, etc. It can solve problems such as difficult feedback control and inability to continuously detect slippage, so as to eliminate slippage and shorten The effect of moving time and increasing the number of rotations

Inactive Publication Date: 2008-06-18
MURATA MASCH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since Patent Document 1 does not study the feedback travel motor to eliminate slipping, even in the case of eliminating slipping, the scattered shielding plates cannot continuously detect the amount of slippage, so it is difficult to perform feedback control.

Method used

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  • Walking carriage and system thereof
  • Walking carriage and system thereof
  • Walking carriage and system thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0020] 1 to 5 show the traveling trolley system of the embodiment. 2 in the figure is a walking trolley, which can be a rail trolley or a trackless trolley, such as a stacking crane or a rail trolley, an unmanned vehicle, an overhead crane, etc. In addition, the walking vehicle also includes a vehicle performing motion other than horizontal walking. The traveling vehicle 2 generates a traveling speed curve from a starting point to a destination by a traveling speed curve generating unit not shown in the figure, and travels according to the speed curve. 4 is a walking path, and the walking trolley 2 rotates or reciprocates along the walking path 4. The walking trolley 2 is equipped with, for example, front and rear traveling motors 6, 7, which drive the traveling wheels 8, 9 respectively. 10 is a drive shaft, connected to the traveling motors 6, 7 And traveling wheels 8,9, encoder 11,12 is arranged along drive shaft 10, detects its rotation amount that is the driving amount of...

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Abstract

The present invention provides a running carriage and its system. A running distance is obtained from the number of rotation of running wheels of a running carriage by encoders, and an absolute position of the carriage is obtained by linear sensors. A difference between a change in an encoder value per a predetermined time and a change in a linear sensor value is obtained as slip, and a running motor is controlled through a running controller to eliminate the slip. The running carriage eliminates the slip, and reduces the delay relative to the running speed curce to prevent the longer cycle time.

Description

technical field [0001] The invention relates to a traveling trolley and its system, in particular to a system for detecting the skid of the trolley wheel and feeding back to the drive motor to reduce the skid. Background technique [0002] The traveling trolley system enables the traveling trolley to travel to the destination in a short time and improves the accuracy of stopping at the destination to determine the speed curve of the traveling trolley. However, if the wheels of the traveling trolley slip, the following of the speed curve will be delayed, and the traveling time will be prolonged. And, if the slippage cannot be eliminated before stopping to the destination, the travel time will be extended. Therefore, even if skidding occurs, it is possible to stop at the destination with a margin to determine the speed curve, increase the braking distance from deceleration to stop, and extend the travel time. Skidding makes the traveling trolley out of the speed curve as abo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61L25/02B61L3/12G01D5/245G05B11/32G05D1/02B65G35/00B66C13/22
CPCG05D1/0223G05D1/02
Inventor 久保秀树
Owner MURATA MASCH LTD
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