An unmanned guided vehicle with torque distribution through a load torque observer

Abstract

The invention discloses an unmanned guided vehicle that distributes torque through a load torque observer, including an unmanned guided vehicle, the unmanned guided vehicle including a vehicle body and a torque feedback control system built into the vehicle body, the torque feedback control system including a load torque observer, a motor control unit, an integrated controller, a power converter, a wheel hub motor, a current sensor, a current sensor and a speed sensor, the load torque observer is connected to the motor control unit through a line, one end of the motor control unit is connected to the integrated controller and the other end is connected to the power converter, the power converter is connected to the wheel hub motor through a line, the wheel hub motor is connected to the current sensor, the current sensor and the speed sensor through a line, and the current sensor, the current sensor and the speed sensor are connected to the motor control unit through a line. The invention designs a torque distribution system for an unmanned guided vehicle to improve the load resistance and stability of the unmanned guided vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned guided vehicles, in particular to an unmanned guided vehicle which distributes torque through a load torque observer. Background Art

[0002] An unmanned guided vehicle is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guidance path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be set using an electromagnetic track. The electromagnetic track is attached to the floor, and the unmanned guided vehicle moves and acts according to the information brought by the electromagnetic track.

[0003] However, the existing unmanned guided vehicles have the following problems during use: (1) When the unmanned guided vehicle encounters the situation of loading and unloading goods in motion, the load of the unmanned guided vehicle changes. The change in load will cause the motor load to change, causing the unmanned guided vehicle to lose its original stable state; (2) When the unmanned transport vehicle is loading goods, the body of the unmanned transport vehicle shakes due to the sudden pressure of the goods, which sometimes causes damage to the load plate of the transport vehicle. There is a lack of a mechanism to buffer the load plate of the transport vehicle. Therefore, it is necessary to design corresponding technical solutions to solve the existing technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned guided vehicle that distributes torque through a load torque observer, thereby solving the technical problem that when the unmanned guided vehicle encounters the situation of loading and unloading goods while in motion, the load of the unmanned guided vehicle changes, and the change in load causes the change in the motor load, causing the unmanned guided vehicle to lose its original stable state.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned guided vehicle for torque distribution through a load torque observer, comprising an unmanned guided vehicle, the unmanned guided vehicle comprising a vehicle body and a torque feedback control system built into the vehicle body, the torque feedback control system comprising a load torque observer, a motor control unit, an integrated controller, a power converter, a wheel hub motor, a current sensor, a current sensor and a speed sensor, the load torque observer is connected to the motor control unit through a line, one end of the motor control unit is connected to the integrated controller and the other end is connected to the power converter, the power converter is connected to the wheel hub motor through a line, the wheel hub motor is connected to the current sensor, the current sensor and the speed sensor through a line, the current sensor, the current sensor and the speed sensor are connected to the motor control unit through a line, a carrying plate is also rotatably installed at the rear of the vehicle body, two groups of mounting openings are symmetrically opened on both sides of the carrying plate, movable baffle mechanisms are arranged in both groups of the mounting openings, a buffer groove is formed below the carrying plate, and a magnetic shock absorbing mechanism is built into the buffer groove.

[0006] As a preferred embodiment of the present invention, the movable baffle mechanism is composed of an infrared sensor, a PLC controller, a drive motor and a protective baffle. The infrared sensor is installed on the vehicle body and connected to the PLC control through a line. The PLC controller is connected to the drive motor through a line. The drive motor is installed on one side of the vehicle body and the power output end is connected to the protective baffle.

[0007] As a preferred embodiment of the present invention, the protective baffle is movably built into the installation opening and has a triangular structure, and the middle portion of the protective baffle has a convex structure.

[0008] As a preferred embodiment of the present invention, the magnetic buffer mechanism includes a buffer pad and a detector installed on one side of the buffer pad. The buffer pad is built into the buffer groove and the upper and lower surfaces are respectively connected to the inner wall of the buffer groove.

[0009] As a preferred embodiment of the present invention, the buffer pad is composed of a rubber pad, a magnetic plate, an electromagnetic plate and a battery, three groups of deformation grooves are evenly opened on the outer end of the rubber pad, the upper edge of the deformation groove is connected to the magnetic plate and the lower edge is connected to the electromagnetic plate, the electromagnetic plate is connected to the battery through a circuit, the battery is connected to the PLC controller through a circuit, and the PLC controller is connected to the detector through a circuit.

[0010] As a preferred embodiment of the present invention, the thickness of the inner end of the rubber pad is smaller than that of the outer end and the rubber pad is in an inverted table-like structure as a whole.

[0011] As a preferred embodiment of the present invention, the detector includes a column vertically inserted into the buffer tank and a pressure sensor installed on the column, and the pressure sensor is connected to the PLC controller through a line.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The present invention designs a torque distribution system for an unmanned guided vehicle, designs a load observer, observes the changes in the hub motor load in real time, then converts the observed value of the load torque into a load current, and compensates it to the control current of the motor through feedforward control. Therefore, when the load of the unmanned guided vehicle changes, the load observer and the load torque feedforward compensation control can enable the vehicle to travel in a stable state, thereby improving the load resistance and stability of the unmanned guided vehicle.

[0014] 2. The present invention is designed with a movable baffle mechanism and a magnetic shock absorbing mechanism at the rear of the transport vehicle. The movable baffle mechanism can be used to protect both sides of the goods, and the magnetic shock absorbing mechanism can be used to buffer the load-bearing plate above, thereby reducing damage to the load-bearing plate. In addition, the above-mentioned components all adopt an automated operation mode, which is convenient for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the torque feedback control system of the present invention;

[0016] Figure 2 This is a structural diagram of the vehicle body of the present invention;

[0017] Figure 3 This is a structural diagram of the magnetic shock absorbing mechanism described in the present invention.

[0018] In the figure: 1. body; 2. load-bearing plate; 3. mounting opening; 4. movable baffle mechanism; 5. buffer groove; 6. magnetic shock-absorbing mechanism; 7. infrared sensor; 8. PLC controller; 9. drive motor; 10. protective baffle; 11. buffer pad; 12. detector; 13. rubber pad; 14. magnetic plate; 15. electromagnetic plate; 16. battery; 17. deformation notch; 18. column; 19. pressure sensor. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-3The present invention provides a technical solution: an unmanned guided vehicle that distributes torque through a load torque observer, including an unmanned guided vehicle, the unmanned guided vehicle including a vehicle body 1 and a torque feedback control system built in the vehicle body 1, the torque feedback control system including a load torque observer, a motor control unit, an integrated controller, a power converter, a hub motor, a current sensor, a current sensor and a speed sensor, the load torque observer is connected to the motor control unit through a line, one end of the motor control unit is connected to the integrated controller and the other end is connected to the power converter, the power converter is connected to the hub motor through a line, the hub motor is connected to the current sensor, the current sensor and the speed sensor through a line, the current sensor, the current sensor and the speed sensor are connected to the motor control unit through a line, a carrying plate 2 is also rotatably installed at the rear of the vehicle body 1, two groups of mounting openings 3 are symmetrically opened on both sides of the carrying plate 2, and movable baffle mechanisms 4 are arranged in the two groups of mounting openings 3, a buffer groove 5 is formed below the carrying plate 2, and a magnetic shock absorbing mechanism 6 is built in the buffer groove 5.

[0021] Further improvement, such as Figure 2 As shown: the movable baffle mechanism 4 is composed of an infrared sensor 7, a PLC controller 8, a drive motor 9 and a protective baffle 10. The infrared sensor 7 is installed on the vehicle body 1 and is connected to the PLC control through a line. The PLC controller 8 is connected to the drive motor 9 through a line. The drive motor 9 is installed on one side of the vehicle body 1 and the power output end is connected to the protective baffle 10. When the goods are placed on the carrying plate 2, the infrared sensor 7 senses and transmits the signal to the PLC controller 8. The PLC controller 8 controls the drive motor 9 to drive the protective baffle 10 to flip open, thereby achieving the purpose of blocking the goods on both sides.

[0022] Further improvement, such as Figure 2 As shown: the protective baffle 10 is movably built into the installation opening 3 and has a triangular structure. The middle part of the protective baffle 10 has a convex structure. This design can achieve the purpose of blocking both sides of the bearing plate 2.

[0023] Further improvement, such as Figure 2 As shown: the magnetic shock absorbing mechanism 6 includes a buffer pad 11 and a detector 12 installed on one side of the buffer pad 11. The buffer pad 11 is built into the buffer groove 5 and the upper and lower surfaces are respectively connected to the inner wall of the buffer groove 5. The pressure is detected by the detector 12 and the signal is transmitted to the buffer pad 11 for buffering processing.

[0024] Further improvement, such as Figure 3As shown: the buffer pad 11 is composed of a rubber pad 13, a magnetic plate 14, an electromagnetic plate 15 and a battery 16. Three groups of deformation notches 17 are evenly opened at the outer end of the rubber pad 13. The upper edge of the deformation notch 17 is connected to the magnetic plate 14 and the lower edge is connected to the electromagnetic plate 15. The electromagnetic plate 15 is connected to the battery 16 through a line. The battery 16 is connected to the PLC controller 8 through a line. The PLC controller 8 is connected to the detector 12 through a line. The battery 16 energizes the electromagnetic plate 15. The electromagnetic plate 15 generates magnetism in a charged state and has the same magnetic pole as the opposite surface of the magnetic plate 14 above, generating mutual repulsion, which can achieve the purpose of buffering.

[0025] Further improvement, such as Figure 3 As shown, the inner end thickness of the rubber pad 13 is smaller than the outer end thickness and the rubber pad 13 is in an inverted table-like structure as a whole. This design makes it easy to unload the load on the bearing plate 2.

[0026] Specifically, the detector 12 includes a column 18 vertically inserted into the buffer slot 5 and a pressure sensor 19 installed on the column 18. The pressure sensor 19 is connected to the PLC controller 8 through a line. When the goods are placed on the carrying plate 2, the pressure sensor 19 is subjected to pressure and transmits the signal to the PLC controller 8. The PLC controller 8 controls the battery 16 to energize the electromagnetic plate 15. The electromagnetic plate 15 generates magnetism in the charging state and has the same magnetic pole as the opposite surface of the magnetic plate 14 above, thereby achieving the purpose of buffering.

[0027] When in use: This scheme designs a torque distribution system for an unmanned guided vehicle, designs a load observer, and observes the changes in the hub motor load in real time, then converts the observed value of the load torque into a load current, and compensates it to the control current of the motor through feedforward control, so that when the load of the unmanned guided vehicle changes, the load observer and the load torque feedforward compensation control can enable the vehicle to travel in a stable state, thereby improving the load resistance and stability of the unmanned guided vehicle. In addition, when the goods are placed on the carrying plate 2, the infrared sensor 7 senses and transmits the signal to the PLC controller 8, and the PLC controller 8 controls the drive motor 9 to drive the protective baffle 10 to flip open, thereby achieving the purpose of blocking both sides of the goods, and the pressure sensor 19 is subjected to pressure and transmits the signal to the PLC controller 8, and the PLC controller 8 controls the battery 16 to energize the electromagnetic plate 15. The electromagnetic plate 15 generates magnetism in the charging state and has the same magnetic pole as the opposite surface of the magnetic plate 14 above, which can achieve the purpose of buffering.

[0028] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An unmanned guided vehicle for torque distribution by a load torque observer, comprising an unmanned guided vehicle, characterized in that: The unmanned guided vehicle comprises a vehicle body (1) and a torque feedback control system built into the vehicle body (1), the torque feedback control system comprising a load torque observer, a motor control unit, an integrated controller, a power converter, a wheel hub motor, a current sensor, a current sensor and a speed sensor, the load torque observer being connected to the motor control unit via a line, one end of the motor control unit being connected to the integrated controller and the other end being connected to the power converter, the power converter being connected to the wheel hub motor via a line, the wheel hub motor being connected to the current sensor, the current sensor and the speed sensor via a line, the current sensor, the current sensor and the speed sensor being connected to the motor control unit via a line, and the rear of the vehicle body (1) being rotatably mounted with a bearing plate (2), the two sides of the bearing plate (2) being symmetrically provided with Two groups of mounting openings (3), both groups of mounting openings (3) are provided with movable baffle mechanisms (4), a buffer groove (5) is formed below the bearing plate (2), the buffer groove (5) is provided with a magnetic shock absorbing mechanism (6), the movable baffle mechanism (4) is composed of an infrared sensor (7), a PLC controller (8), a drive motor (9) and a protective baffle (10), the infrared sensor (7) is mounted on the vehicle body (1) and connected to the PLC controller via a line, the PLC controller (8) is connected to the drive motor (9) via a line, the drive motor (9) is mounted on one side of the vehicle body (1) and the power output end is connected to the protective baffle (10), the protective baffle (10) is movably built into the mounting opening (3) and has a triangular structure, and the middle part of the protective baffle (10) has a convex structure.

2. The unmanned guided vehicle for torque distribution by a load torque observer according to claim 1, characterized in that: The magnetic shock absorbing mechanism (6) comprises a buffer pad (11) and a detector (12) mounted on one side of the buffer pad (11); the buffer pad (11) is built into the buffer groove (5) and the upper and lower surfaces are respectively connected to the inner wall of the buffer groove (5).

3. The unmanned guided vehicle for torque distribution by a load torque observer according to claim 2, characterized in that: The buffer pad (11) is composed of a rubber pad (13), a magnetic plate (14), an electromagnetic plate (15) and a battery (16); three groups of deformation notches (17) are evenly formed at the outer end of the rubber pad (13); the upper edge of the deformation notch (17) is connected to the magnetic plate (14) and the lower edge is connected to the electromagnetic plate (15); the electromagnetic plate (15) is connected to the battery (16) via a line; the battery (16) is connected to a PLC controller (8) via a line; and the PLC controller (8) is connected to a detector (12) via a line.

4. The unmanned guided vehicle for torque distribution by a load torque observer according to claim 3, characterized in that: The thickness of the inner end of the rubber pad (13) is smaller than that of the outer end, and the rubber pad (13) is in an inverted table-like structure as a whole.

5. The unmanned guided vehicle for torque distribution by a load torque observer according to claim 3, characterized in that: The detector (12) comprises a column (18) vertically inserted into the buffer tank (5) and a pressure sensor (19) mounted on the column (18); the pressure sensor (19) is connected to the PLC controller (8) via a line.

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