Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method

A trackless vehicle and automatic guidance technology, which is applied in the fields of automatic guide train and control, automatic guide trackless vehicle and operation control, can solve the serpentine swing, increase the danger of driving out of the guide path, and run the Trajectory control, etc.

Active Publication Date: 2016-04-13
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is difficult to control the trajectory of multi-section trailers. The turning radius of traction AGVs is larger than that of other types of AGVs. During high-speed driving and braking, instability such as serpentine swings, folding, and trailer flicking will occur, incre...

Method used

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  • Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method
  • Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method
  • Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method

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Embodiment Construction

[0060] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0061] Such as figure 1 As shown, the automatically guided and configurable trackless carrier train of the present invention includes a plurality of carrier vehicles 1, each of which is connected by a push-pull device 2 with three-dimensional independent degrees of freedom. The vehicle 1 is divided into an automatic guided power vehicle 3 , a power vehicle 4 and a follow-up vehicle 5 . The automatic guided power vehicle 3 includes a vehicle frame 7 and an on-board controller 6 installed on the vehicle frame, a driving wheel device 8, a guidance sensor 9, an electronic compass and a power supply device. The vehicle-mounted controller 6 is electrically connected with the driving wheel device 8, the guiding sensor 9, and the electronic compass, and the power supply device is used to supply power to the driving wheel device 8, the guiding sensor 9, and the elect...

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Abstract

The invention discloses an automated guided railless carrying train with flexibly configured kinds of carrying trains, and belongs to the field of automation transporting equipment. The carrying train is divided into automated guided power carrying carts, power carrying carts and /or servo carrying carts. Each carrying train comprises one or more automated guided power carrying carts, every two carrying carts are connected through a three-dimensional independent freedom degree push-pull device, and the whole carrying train is pulled by the automated guided power carrying carts to travel along a guide path. According to the automated guided railless carrying train disclosed by the invention, the capacity for controlling the moving trajectory of automated guided trains can be reinforced, the steering motility of the automated guided trains is improved, and the phenomena that the automated guided trains are mutually crashed, the automated guided trains are driven out of the guide path or the carrying trains tilt to one side and turn over in the practical operation process are avoided. The invention also discloses an operation control method of the carrying train.

Description

technical field [0001] The invention relates to an automatic guided train and a control method, in particular to an automatic guided trackless transport train and an operation control method that does not require mechanical track guidance and can be flexibly configured in the type of transport vehicle, and belongs to the field of automatic transportation equipment. Background technique [0002] Automated Guided Vehicle (AGV) has a variety of load delivery and transfer methods, including push-pull AGV, forklift AGV, roller AGV, piggyback AGV, jack-up AGV and traction AGV. Different transfer methods have different operating characteristics. For example, when the push-pull AGV loads and unloads goods, the center of gravity is stable and can be loaded and unloaded on the left and right sides. The platform does not need to install a power device, but the positioning requirements for the AGV are relatively high. The height of the roller tables of the AGV is the same. Forklift-typ...

Claims

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Application Information

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IPC IPC(8): B62D12/02B62D53/00G05D1/02
CPCB62D12/02B62D53/00G05D1/021
Inventor 武星楼佩煌王龙军钱晓明赵龙孟凯李斌姚盛昕朱云飞张建鹏张海瑞张颖金鹏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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