Turning implementation method of rail motion double-vehicle differential control constant center distance

Abstract

The invention relates to a differential control constant center distance turning realization method for a rail sport car, which comprises an X-axis direction rail, a curve, a Y-axis direction rail, a group motion structure I and a group motion structure II, the device comprises a positioning code ruler, a steel wire rope I, a steel wire rope II, a hanging hook head I, a hanging hook head II, a transfer tool hanger shackle I, a transfer tool hanger shackle II, a transfer tool hanger, a material, an electricity taking device I, an electricity taking device II, a code reading head, a track, an electrical control box and a weighing sensor, wherein the track consists of an X-axis direction track, a curve and a Y-axis direction track; and the grouped movement structure I and the grouped movement structure II are mounted on the track, so that the speeds and the positions of the two moving vehicles can be mutually interlocked and corrected, the center distance of the two vehicles in the same group is ensured to be constant, the deviation is controlled within a set range, and safety accidents such as pulling or squeezing of the center distance of the two vehicles are effectively prevented.

Description

Technical Field

[0001] The invention relates to a method for realizing cornering with a constant center distance under differential speed control of a rail vehicle, and belongs to the technical field of motion control. Background Art

[0002] Tracked trolleys are widely used in logistics, warehousing, manufacturing and other fields. In the logistics industry, the trolleys can realize automated transportation and sorting, greatly improving efficiency and reducing costs; in the warehousing field, the trolleys can realize automated handling and inventory management of goods, and realize intelligent management of storage sites; in the manufacturing field, the trolleys can realize automated supply and transportation of materials, greatly improving production efficiency and quality.

[0003] In some special working conditions of transporting large objects, rail-mounted moving trolleys need to run in pairs, front and back in turn (arc track). When passing through a curve (arc track), the curve changes the physical space of the running track, and the moving trolley is converted from one-dimensional space (X-axis or Y-axis) to two-dimensional space (X-axis and Y-axis move at the same time). Due to the fixed connecting rods and hanging fixtures of a certain length in the double workshop, the speed and position of the moving double trolleys will be misaligned at this time, and the center distance of the two trolleys in the same group cannot be guaranteed to be constant, which is prone to "pulling" or "squeezing" the center distance of the two trolleys, causing safety accidents. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a method for realizing cornering with constant center distance of rail moving vehicles through differential control, which can interlock and calibrate the speeds and positions of two moving vehicles to ensure that the center distance of two vehicles in the same group is constant, and the deviation is controlled within a set range, effectively preventing safety accidents such as "pulling" or "squeezing" of the center distance of the two vehicles.

[0005] In order to achieve the above-mentioned purpose, the method for realizing the cornering with constant center distance of differential control of a rail-moving vehicle of the present invention comprises a grouped motion structure I, a grouped motion structure II, a transfer hanger, and a track. The rail-moving vehicle of the present invention is composed of at least one group of grouped motion structure I, grouped motion structure II, and a transfer hanger, wherein the grouped motion structure I and the grouped motion structure II are installed on the track, and the grouped motion structure I and the grouped motion structure II are respectively connected to the transfer hanger.

[0006] Furthermore, the track is composed of an X-axis track, a curve and a Y-axis track, and the X-axis track, the curve and the Y-axis track are welded into one.

[0007] Further, the grouped motion structure I includes a wire rope I, a hanging hook head I, and a hook ring I of the transfer tooling hanger. One end of the wire rope I is connected to the motor, the other end of the wire rope I is connected to the hanging hook head I, and the end of the hanging hook head I is fixedly installed together with the hook ring I of the transfer tooling hanger.

[0008] Further, the grouped motion structure II includes a wire rope II, a hanging hook head II, and a hook ring II of the transfer tooling hanger. One end of the wire rope II is connected to the motor, the other end of the wire rope II is connected to the hanging hook head II, and the end of the hanging hook head II is fixedly installed together with the hook ring II of the transfer tooling hanger.

[0009] Further, the transfer hanger includes a hook ring I of the transfer tooling hanger and a hook ring II of the transfer tooling hanger. The hook ring I of the transfer tooling hanger and the hook ring II of the transfer tooling hanger are fixedly installed on the surface of the transfer tooling hanger, and the transfer tooling hanger hangs and transports materials.

[0010] Further, each of the grouped motion structure I and the grouped motion structure II includes a current collector I, a current collector II, a reading dock, a track, an electrical control box, and a weighing sensor. The current collector I and the current collector II are fixedly installed on the housing of the moving trolley, the reading dock is fixedly installed above the housing of the moving trolley, the reading dock is located on one side of the track, and the electrical control box and the weighing sensor are fixedly installed on the housing of the moving trolley.

[0011] Combined with the above structure, the design theory of the present invention is as follows: According to the track design parameters, the known condition of the radian radius "r" and the standard center distance between two vehicles (the distance between two hanging rings of the tooling hanger) "L" are obtained.

[0012] In the first stage, the grouped motion structure I enters the curve and runs in the curve:

[0013] Under the condition of maintaining a constant center distance between two vehicles, the two trolleys run according to the following formula:

[0014]

[0015]

[0016]

[0017] β1 = γ1 - α1 = arccosγ1 - arctanα1

[0018] H1 = β1 * r

[0019] Calculated according to the above formula, it is known that:

[0020] In unit time, if the displacement of the grouped motion structure II is △a, then the displacement of the grouped motion structure I is calculated as △a + H1, and the speed ratio of the grouped motion structure II to the grouped motion structure I is: Let If the set speed is V0, in the first stage:

[0021] V1 = V0, V2 = V0 * V ％

[0022] In the second stage, the grouped motion structure Ⅰ exits the curve and the grouped motion structure Ⅱ has not entered the curve for operation:

[0023] While maintaining a constant center distance between the two vehicles, the two small vehicles operate according to the following formula:

[0024] When the connecting rod angle ≠ 45°:

[0025] (a1 + r) 2 +(a2 + r) 2 = L 2

[0026]

[0027] When the connecting rod angle is 45°:

[0028]

[0029]

[0030] Calculated according to the above formula, it is known that:

[0031] Within the unit time, the displacement of the grouped motion structure Ⅱ is △a,

[0032] Then the displacement of the grouped motion structure Ⅰ is calculated as: Then the speed ratio of the grouped motion structure Ⅱ to the grouped motion structure Ⅰ is: Let If the set speed is V0, in the second stage:

[0033] V1 = V0, V2 = V0 * V ％

[0034] In the third stage, the grouped motion structure Ⅰ is on the straight section and the grouped motion structure Ⅱ enters the curve for operation:

[0035] While maintaining a constant center distance between the two vehicles, the two small vehicles operate according to the following formula:

[0036]

[0037]

[0038]

[0039] β3 = γ3 - α3 = arccosγ3 - arctanα3

[0040] H3 = β3 * r

[0041] According to the above formula calculation, it is known that:

[0042] Within a unit time, if the displacement of the grouped motion structure I is △a, then the displacement of the grouped motion structure II is calculated as △a + H3. Then the speed ratio of the grouped motion structure II to the grouped motion structure I is: Let If the set speed is V0, in the third stage:

[0043] V1 = V0 * V ％ , V2 = V0.

[0044] The present invention uses a double - vehicle differential PID control algorithm to interlock and proofread the speeds and positions of the moving double - vehicles, ensuring that the center distance between two vehicles in the same group is constant, controlling the deviation within the set range, preventing safety accidents such as "pulling" or "squeezing" of the center distance between the two vehicles. The whole process includes differential adjustment algorithms in different situations such as when the leading vehicle starts to enter the curve, the leading vehicle runs in the curve, the two vehicles run with a curve in between (the leading vehicle leaves the curve and the trailing vehicle has not entered yet), and the trailing vehicle runs in the curve. It is necessary to ensure that the data deviation can be controlled during operation and also ensure that the anti - sway function is incorporated during the differential operation to ensure the stable transfer of materials. When the deviation of the center distance between the two vehicles exceeds the set value, to eliminate the "unsafe" production factors, the control algorithm also has the function of "emergency stop" for the operation of the two vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0046] Figure 1 is the structural schematic diagram of the present invention;

[0047] Figure 2 is the structural schematic diagram of the grouped motion structure I and the grouped motion structure II;

[0048] Figure 3 is the diagram of the grouped motion structure I entering the curve and running in the curve in the first stage;

[0049] Figure 4 is the diagram of the grouped motion structure I leaving the curve and the grouped motion structure II not entering the curve yet in the second stage;

[0050] Figure 5 This is the third stage. The grouped motion structure I enters the straight section, and the grouped motion structure II enters the curve operation diagram.

[0051] In the figure: 1. X-axis direction track, 2. Curve, 3. Y-axis direction track, 4. Grouped motion structure I, 5. Grouped motion structure II, 6. Positioning scale, 7. Steel wire rope I, 8. Steel wire rope II, 9. Hanging hook head I, 10. Hanging hook head II, 11. Transfer tooling hanging hook ring I, 12. Transfer tooling hanging hook ring II, 13. Transfer tooling hanger, 14. Material, 15. Moving trolley housing, 16. Current collector I, 17. Current collector II, 18. Reading dock, 19. Track, 20. Electrical control box, 21. Weighing sensor. Specific implementation manner

[0052] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0053] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, in the description of this specification, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0054] The following describes the method for realizing the cornering of a rail-mounted moving vehicle with differential control and constant center distance in combination with the drawings.

[0055] A method for realizing a cornering process with a constant center distance of a rail vehicle under differential control includes an X-axis direction track 1, a curve 2, a Y-axis direction track 3, a group motion structure I4, a group motion structure II5, a positioning yardstick 6, a steel wire rope I7, a steel wire rope II8, a hanging hook I9, a hanging hook II10, a transfer tool hanger hook ring I11, a transfer tool hanger hook ring II12, a transfer tool hanger 13, a material 14, a moving vehicle housing 15, an electric device I16, an electric device II17, and a reading dock 1 8, track 19, electrical control box 20, weighing sensor 21, the track 19 is composed of X-axis track 1, curve 2 and Y-axis track 3, grouped motion structure I4 and grouped motion structure II5 are installed on the track 19, grouped motion structure I4 includes wire rope I7, hanging hook head I9, transfer tool hanging hook ring I11, one end of wire rope I7 is connected to the motor, the other end of wire rope I7 is connected to the hanging hook head I9, the end of the hanging hook head I9 is ​​connected to the transfer tool hanging The grouped motion structure II5 includes a steel wire rope II8, a hook head II10, and a transfer tooling hanger hook ring II12. One end of the steel wire rope II8 is connected to the motor, and the other end of the steel wire rope II8 is connected to the hook head II10. The end of the hook head II10 is fixedly installed together with the transfer tooling hanger hook ring II12. The transfer tooling hanger hook ring I11 and the transfer tooling hanger hook ring II12 are fixedly installed on the surface of the transfer tooling hanger 13. The transfer tooling hanger 13 claw hanger Material 14, grouped motion structure I4 and grouped motion structure II5 each include a collector I16, a collector II17, a reader terminal 18, a track 19, an electrical control box 20, and a weighing sensor 21. The collector I16 and the collector II17 are fixedly mounted on the housing 15 of the moving trolley, the reader terminal 18 is fixedly mounted above the housing 15 of the moving trolley, the reader terminal 18 is located on one side of the track 19, and the electrical control box 20 and the weighing sensor 21 are fixedly mounted on the housing 15 of the moving trolley.

[0056] The design theory of the present invention is as follows: according to the track design parameters, the known conditions of the arc radius "r", the standard center distance between the two cars (the distance between the two hanging rings of the tooling hanger) "L" are found,

[0057] In the first stage, the group motion structure I4 enters the curve and runs in the curve:

[0058] While maintaining a constant center distance between the two vehicles, the two vehicles operate according to the following formula:

[0059]

[0060] (Law of Cosines)

[0061]

[0062] β1 = γ1 - α1 = arccosγ1 - arctanα1

[0063] H1 = β1 * r

[0064] Calculated according to the above formula, it is known that:

[0065] Within a unit time, if the displacement of the grouped motion structure II 5 is △a, then the displacement of the grouped motion structure I 4 is calculated as △a + H1. Then the speed ratio of the grouped motion structure II 5 to the grouped motion structure I 4 is: Let If the set speed is V0, in the first stage:

[0066] V1 = V0, V2 = V0 * V ％

[0067] In the second stage, the grouped motion structure I 4 drives out of the curve and the grouped motion structure II 5 has not entered the curve for operation:

[0068] While maintaining the constant center distance between the two vehicles, the two small vehicles operate according to the following formula:

[0069] When the connecting rod angle ≠ 45°:

[0070] (a1 + r) 2 +(a2 + r) 2 = L 2

[0071]

[0072] When the connecting rod angle is 45°:

[0073]

[0074]

[0075] Calculated according to the above formula, it is known that:

[0076] Within a unit time, if the displacement of the grouped motion structure II 5 is △a, then the displacement of the grouped motion structure I 4 is calculated as: Then the speed ratio of the grouped motion structure II 5 to the grouped motion structure I 4 is: Let If the set speed is V0, in the second stage:

[0077] V1 = V0, V2 = V0 * V ％

[0078] In the third stage, the grouped motion structure I 4 is on the straight section and the grouped motion structure II 5 enters the curve for operation:

[0079] With the center distance between the two vehicles kept constant, the two small vehicles operate according to the following formulas:

[0080]

[0081] (Law of Cosines)

[0082]

[0083] β3 = γ3 - α3 = arccosγ3 - arctanα3

[0084] H3 = β3 * r

[0085] Calculated according to the above formulas, it is known that:

[0086] If the displacement of the grouped motion structure I4 is △a within unit time, then the displacement of the grouped motion structure II5 is calculated as △a + H3, and the speed ratio of the grouped motion structure II5 to the grouped motion structure I4 is: Let If the set speed is V0, in the third stage:

[0087] V1 = V0 * V ％ , V2 = V0.

[0088] The above is the method for realizing the differential control of two rail - moving vehicles and turning with a constant center distance. By using the different displacements within the same unit time, the speed deviation value between the two vehicles is calculated in real - time. Through the differential PID control of the two vehicles, the speeds and positions of the two moving vehicles are interlocked and calibrated with each other to ensure that the center distance between the two vehicles in the same group is constant, control the deviation within the set range, prevent faults such as "pulling" or "squeezing" of the center distance between the two vehicles, ensure the controllable operation of the data deviation, and incorporate an anti - sway function during the differential operation process to ensure the stable transfer of materials.

[0089] In the description of this specification, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium; it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0092] Those of ordinary skill in the art should understand that: the discussion of any above embodiment is only exemplary and is not intended to imply that the scope of the present invention is limited to these examples; under the concept of the present invention, the technical features between the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity. Any omission, 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. A method for realizing a constant center distance cornering by differential control of a rail vehicle, comprising a group motion structure I (4), a group motion structure II (5), a transfer hanger (13), and a track (19), characterized in that: The rail-mounted moving vehicle of the present invention is composed of at least one group of a grouped moving structure I (4), a grouped moving structure II (5) and a transfer hanger (13), wherein the grouped moving structure I (4) and the grouped moving structure II (5) are installed on a track (19), and the grouped moving structure I (4) and the grouped moving structure II (5) are respectively connected to the transfer hanger (13).

2. The method for realizing cornering with constant center distance of differential control for a rail vehicle according to claim 1, characterized in that: The track (19) is composed of an X-axis track (1), a curved track (2) and a Y-axis track (3), and the X-axis track (1), the curved track (2) and the Y-axis track (3) are welded into one.

3. The method for realizing cornering with constant center distance of differential control for rail-mounted vehicles according to claim 1, characterized in that: The grouped motion structure I (4) comprises a steel wire rope I (7), a hanging hook head I (9), and a transfer tool hanger hook ring I (11). One end of the steel wire rope I (7) is connected to the motor, and the other end of the steel wire rope I (7) is connected to the hanging hook head I (9). The end of the hanging hook head I (9) is fixedly installed on the transfer tool hanger hook ring I (11).

4. The method for realizing a constant center distance cornering by differential control of a rail vehicle according to claim 1, characterized in that: The grouped motion structure II (5) comprises a steel wire rope II (8), a hanging hook II (10), and a transfer tool hanger hook ring II (12). One end of the steel wire rope II (8) is connected to the motor, and the other end of the steel wire rope II (8) is connected to the hanging hook II (10). The end of the hanging hook II (10) is fixedly installed on the transfer tool hanger hook ring II (12).

5. The method for realizing cornering with constant center distance of differential control for rail-mounted vehicles according to claim 1, characterized in that: The transfer tool hanger (13) comprises a transfer tool hanger hook ring I (11) and a transfer tool hanger hook ring II (12), the transfer tool hanger hook ring I (11) and the transfer tool hanger hook ring II (12) are fixedly installed on the surface of the transfer tool hanger (13), and the transfer tool hanger (13) hangs the material (14).

6. The method for realizing cornering with constant center distance of differential control for a rail vehicle according to claim 3 or 4, characterized in that: The grouped motion structure I (4) and the grouped motion structure II (5) each include a power supply I (16), a power supply II (17), a reading terminal (18), a track (19), an electrical control box (20), and a weighing sensor (21). The power supply I (16) and the power supply II (17) are fixedly mounted on the housing (15) of the motion trolley, the reading terminal (18) is fixedly mounted above the housing (15) of the motion trolley, the reading terminal (18) is located on one side of the track (19), and the electrical control box (20) and the weighing sensor (21) are fixedly mounted on the housing (15) of the motion trolley.

7. The method for realizing the constant center distance of differential control of rail vehicles according to claim 1, wherein the design theory is as follows: according to the track design parameters, the known condition arc radius "r", the standard center distance between the two vehicles (the distance between the two hanging rings of the tooling hanger) "L" are found, In the first stage, the group motion structure I (4) enters the curve and runs in the curve: While maintaining a constant center distance between the two vehicles, the two vehicles operate according to the following formula: β1=γ1-α1=arccosγ1-arctanα1 H1＝β1*r According to the above formula, we can get: In unit time, the displacement of group motion structure II (5) is △a, then the displacement of group motion structure I (4) is calculated to be △a+H1, and the velocity ratio of group motion structure II (5) to group motion structure I (4) is: make If the speed is set to V0, in the first stage: V1=V0,V2=V0*V ％ In the second stage, the group motion structure I (4) drives out of the curve and the group motion structure II (5) has not yet entered the curve: while maintaining the constant center distance between the two vehicles, the two vehicles operate according to the following formula: When the connecting rod angle ≠ 45°: (a1+r) 2 +(a2+r) 2 =L 2 When the connecting rod angle is 45°: According to the above formula, we can get: In unit time, the displacement of the group motion structure II (5) is △a, Then the displacement of the group motion structure I (4) is calculated as: Then the velocity ratio of group motion structure II (5) to group motion structure I (4) is: make If the speed is set to V0, in the second stage: V1=V0,V2=V0*V ％ In the third stage, the grouped motion structure I (4) is in the straight line segment, and the grouped motion structure II (5) is in the curve segment: While maintaining a constant center distance between the two vehicles, the two vehicles operate according to the following formula: β3=γ3-α3=arccosγ3-arctanα3 H3＝β3*r According to the above formula, we can get: In unit time, the displacement of group motion structure I (4) is △a, then the displacement of group motion structure II (5) is calculated to be △a+H3, and the velocity ratio of group motion structure II (5) to group motion structure I (4) is: make If the speed is set to V0, in the third stage: V1=V0*V ％ ,V2=V0。

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