Control system and control method for adaptive track walking trolley

Abstract

The invention provides a technical field of industrial automatic control and more particularly relates to a control system and a control method for an adaptive track walking vehicle. The system comprises a trolley running on a track, a control box which is arranged in the trolley and is provided with a PLC control system, a detection device which is electrically connected to the PLC control systemand is used for detecting the state of the track, an adjustment device which is electrically connected to the PLC control system and is used for an adaptive track of the trolley, and a driving devicewhich is electrically connected to the PLC control system and is used for driving the trolley to travel. The PLC control system determines the track state according to a detection signal input by thedetection device and controls the adjustment device to realize the adjustment of the adaptive track of the trolley. The adjustment device comprises an auxiliary device for deforming the track and a steering device at a corner. The invention also provides a method for judging the deformation of the track and a corresponding processing method, the judgment is rapid, the positioning is accurate, manual assistance is not needed, the blocking of the trolley in going forward caused by the deformation of the track is effectively avoided, and the normal walking of the trolley is achieved.

Description

technical field [0001] The present invention relates to the technical field of industrial automatic control, and more specifically, relates to a control system and a control method of an adaptive track traveling trolley. Background technique [0002] Indoor automated breeding baiting uses a large-scale track trolley as the walking mechanism. Due to the influence of terrain and environment, the distance of the general walking guide rail is relatively long, and the track is prone to problems such as suspension and slippage due to manufacturing and installation errors. , thereby affecting the continuity of subsequent operations. At present, when the track trolley encounters track deformation, the rear wheel of the track is suspended or the grip is insufficient, causing the rear wheel to slip. At this time, it is necessary to manually push the rail trolley to assist it through the deformation, which will affect the production efficiency and increase the labor of the workers. W...

AI Technical Summary

Problems solved by technology

[0002] Indoor automated breeding baiting uses a large-scale track trolley as the walking mechanism. Due to the influence of terrain and environment, the distance of the general walking guide rail is relatively long, and the track is prone to problems such as suspension and slippage due to manufacturing and installation errors. , thus affecting the continuity of subsequent operations

At present, when the track car encounters track deformation, the rear wheel of the track is suspended or the grip is insufficient, causing the rear wheel to slip

At this time, it is necessary to manually push the track trolley to assist it through the deformation, which will affect the production efficiency and increase the labor of the workers.

Human assistance is more difficult when the trolley is on a high track

[0003] The mechanically structured self-adaptive system can assist the trolley to pass through the deformation, but the structure is not compact, the cost is high, the weight increases, and the adaptation and stability time is long

CN201110271422.9 discloses a speed control and tracking method and system for a multi-degree-of-freedom track car. The PLC control system and method solve the speed control and tracking method in the field of motor playground facilities. The difference between the set track target parameters is used to realize speed control and fast tracking, but the PLC control system and method do not solve how to judge the track deformation and the processing method, and the trolley may cause track deformation due to heavy loads, thereby causing the trolley to be blocked; CN201310557739. 8 discloses a control method for automatic speed regulation of a rail trolley, but the device and method do not provide a solution to how to judge the deformation of the suspended rail and a processing method; CN201310318476.5 discloses an intelligent control system and method for a rail trolley. The problem of motion control and track transition of the hospital internal logistics transmission track trolley on the suspended track is solved, but how to judge the track deformation and processing method is not solved; CN201710343818.7 discloses an adaptive track trolley, which solves the structural problem of the self-adaptive track trolley, But this device does not solve the control system and method of how to judge the deformation of the track and how to make corresponding control operations

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