Automatic positioning device for transverse cutting and splicing

Abstract

The invention relates to the technical field of intelligent manufacturing and automatic logistics, and provides an automatic positioning device for transverse cutting and splicing. Comprising a walking mechanism arranged at the bottom of an RGV body, a multi-circle absolute value encoder used for collecting positions, a PLC for achieving closed-loop control, a human-computer interface HMI for human-computer interaction and a servo driver for controlling a driving motor. The walking mechanism drives the vehicle body to linearly move along the track through cooperation of a driving motor, a speed reducer and a wheel set. The encoder is mounted at a driving wheel shaft end and used for collecting the vehicle body position in real time; the PLC is connected with the encoder and the servo driver, is provided with a high-speed counting module and a nonvolatile storage unit, and is used for storing a teaching target point location and performing difference calculation on a real-time position fed back by the encoder and the target position; the HMI is used for teaching, point selection and feedback information display; the servo driver receives a PLC control signal to control the driving motor to move, and high-precision automatic alignment is achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and automated logistics technology, and in particular to an automatic positioning device for cross-cutting and receiving materials. Background Technology

[0002] In intelligent manufacturing and automated logistics systems, rail-guided vehicles (RGVs) serve as crucial material handling units, widely used in scenarios such as cross-cutting, warehousing, and production assembly. Their operational accuracy directly impacts production cycle time, equipment docking efficiency, and the overall system's automation level. Therefore, the performance of the RGV positioning system is one of the key factors restricting system efficiency improvement.

[0003] Currently, common RGV positioning technologies in the industry mainly include the following methods: One is the positioning method based on limit switches or photoelectric sensors. This involves pre-setting multiple physical trigger switches along the track. When the RGV reaches a corresponding position, the switch is triggered, and the system identifies the current position accordingly. This method is simple in structure and low in cost, but it has significant drawbacks, including low positioning accuracy (typically with an error of ±10mm or more), susceptibility to mechanical wear, significant vibration interference, difficulty in adjusting fixed positioning points, and poor system scalability. When additional positioning points are needed, corresponding switches or sensors must be added at the physical level, resulting in a large workload and poor flexibility.

[0004] The second method is based on RFID tags and readers. RFID tags are placed along the track, and the RGV (Regional Transport Vehicle) obtains its position by reading the tag information. Although this method is superior to the limit switch solution in terms of accuracy and reliability, its discrete positioning means that continuous position detection cannot be performed within the tag spacing range, failing to meet the requirements of high-precision dynamic positioning. Furthermore, the fixed RFID tag positions mean that tags must be repositioned if the positioning point needs to be changed, resulting in poor flexibility, relatively high equipment and tag costs, and long maintenance cycles.

[0005] Furthermore, regardless of the positioning method used, current systems generally suffer from a high degree of reliance on manual labor. When positional deviations occur during the initial installation, commissioning, or operation of the RGV, operators typically need to manually perform "point-to-point" adjustments, that is, manually control the movement of the trolley and fine-tune its position through visual observation and experience. This method is not only time-consuming and labor-intensive, but also highly dependent on the operator's skills, making it difficult to adapt to the needs of flexible and unmanned production lines and severely restricting the improvement of the system's intelligence level. Summary of the Invention

[0006] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0007] To address the shortcomings of existing technologies, one objective of this invention is to provide an automatic positioning device for cross-cutting and splicing materials. To achieve the above objectives, the present invention adopts the following technical solution: It provides an automatic positioning device for cross-cutting and receiving materials, comprising: a traveling mechanism, disposed at the bottom of an RGV vehicle body; the traveling mechanism includes a drive motor and a reducer fixedly mounted on the vehicle body; the output shaft of the reducer is fixedly connected to the drive wheel axle in a wheel assembly via a coupling; the wheel assembly is supported on a track and is used to drive the vehicle body to move linearly along the track; an encoder, a multi-turn absolute encoder, is mounted on the shaft end of the drive wheel axle and rigidly connected via a coupling, used to collect the number of rotations and angle signals of the wheel; and a PLC controller, fixedly mounted inside the vehicle body control cabinet, connected to the encoder signal output terminal via a cable, and equipped with... A high-speed counting module is used to acquire the position signal output by the encoder in real time; a human-machine interface (HMI) is connected to the PLC controller via an industrial communication bus to display the current position to the operator, perform point teaching operations, and issue forward commands; a servo driver is connected to the control output port of the PLC controller via a cable to receive position control commands and control the speed and direction of the drive motor; wherein, the device establishes the target point position value through teaching and stores it in the PLC's internal memory. During operation, the PLC compares the real-time acquired encoder value with the preset point value and controls the servo driver to adjust the vehicle body position according to the difference, ultimately realizing automatic alignment and material receiving of the RGV.

[0008] In one possible implementation, the wheel set includes at least two driving wheels and at least two driven wheels, the drive motor drives the driving wheels, and the encoder is connected to the driving wheel axle to ensure consistency between the travel distance and the encoder output.

[0009] In one possible implementation, the HMI interface includes a "point number input box", a "current position display box", a "teach button" and an "execute button". The HMI collects teaching instructions and transmits the instructions and the corresponding current encoder values ​​to the PLC via the MODBUS bus, and the PLC stores them as permanent points.

[0010] In one possible implementation, the signal output terminal of the multi-turn absolute encoder includes an A / B / Z phase differential signal or SSI signal output port, and the PLC controller is equipped with a matching signal input module. The two are connected by an industrial shielded cable to ensure high-precision, interference-free signal transmission.

[0011] In one possible implementation, the PLC controller has a non-volatile storage unit for point management. The storage unit stores a mapping data structure of multiple point numbers and their corresponding absolute position values. After receiving the "target point number" sent by the HMI, the PLC controller calls the corresponding absolute position value in the mapping data structure and performs difference calculation based on the current encoder feedback position value to generate a control signal for driving the servo drive system, thereby enabling the vehicle to run smoothly and accurately to the target point position.

[0012] In one possible implementation, the PLC controller is equipped with an error judgment module. The module sets a positioning error tolerance ε. When the PLC controller determines that the difference ΔL between the real-time position value fed back by the encoder and the target position value being called satisfies |ΔL| ≤ ε, it outputs a positioning completion signal and triggers the servo drive system to control the drive motor to stop, thereby achieving high-reliability positioning of the vehicle body within the set accuracy range.

[0013] In one possible implementation, the multi-turn absolute encoder is a 24-bit resolution photoelectric encoder, which is fixedly mounted on the main load-bearing structure of the RGV vehicle body via a metal flange plate and coaxially connected to the drive wheel shaft via a rigid coupling; the signal output terminal of the encoder is connected to the high-speed counting module of the PLC controller via a shielded industrial cable to provide high-precision and anti-interference position data, thereby realizing dynamic closed-loop control with high repeatability.

[0014] In one possible implementation, the PLC controller is equipped with a specification parameter management module, which stores multiple sets of specification numbers of cross-cutting rolls and their corresponding receiving target point numbers; the human-machine interface (HMI) allows the operator to select the specification number of the current roll, and the PLC controller automatically calls the matching point number based on the specification number, and further calls the target position value corresponding to the point number, thereby realizing specification-driven rapid configuration and positioning.

[0015] In one possible implementation, the association between the point number and the target position value is generated through a teaching method. When the human-machine interface receives the "teaching" operation command, it reads the current position absolute value fed back by the encoder in real time, binds it with the selected point number, and stores it in the non-volatile memory of the PLC controller. This enables rapid learning, recording, and recall of points with new specifications, improving the maintenance efficiency and application flexibility of the equipment.

[0016] In one possible implementation, the device forms the following closed-loop control link: the multi-turn absolute encoder is fixed to the RGV body frame via flange mounting, and its output shaft is coaxially connected to the drive wheel shaft via a rigid coupling; the signal output of the encoder is connected to a high-speed counting module located inside the PLC controller via an industrial shielded communication cable; the PLC controller receives and parses the absolute position signal transmitted by the encoder in real time; the PLC controller calculates the difference between the received real-time position value and the target position value retrieved from the memory, and outputs a PWM or pulse direction control signal to the servo driver via a digital control interface; the servo driver controls the operating state of the drive motor via a power cable, including acceleration, constant speed, deceleration, and braking processes; the drive motor drives the wheel set to move linearly along the track via a reducer, thereby moving the entire vehicle body; the encoder simultaneously collects the rotation state of the drive wheel shaft in real time and continuously feeds back position data to the PLC, forming a closed-loop control loop; the encoder, PLC controller, servo driver, drive motor, and wheel set are connected through coordinated electrical and structural connections.

[0017] This invention relates to an automatic positioning device for cross-cutting material receiving. By integrating a walking mechanism, a high-precision multi-turn absolute encoder, a PLC controller, an HMI (Human-Machine Interface), and a servo drive system, it constructs a real-time closed-loop position control system. The device uses the position information collected by the encoder as its core to achieve dynamic and precise positioning control of the RGV (Remotely Removable Vehicle) body. A point database is established through teaching, and the real-time position is compared with the target point during actual operation. Combined with an error judgment module, the motor start and stop are controlled, thereby ensuring the stable stopping of the vehicle body at the receiving station. This device effectively solves the problems of large positioning errors, complex debugging, and low efficiency in switching specifications during existing material receiving processes, significantly improving the automation level and positioning accuracy of material receiving operations, and meeting the needs of multi-specification cross-cutting production lines for flexible and intelligent control. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the walking mechanism of the present invention; Figure 3 This is a flowchart illustrating the process of this invention.

[0020] In the diagram: 1. Walking mechanism; 2. Vehicle body; 3. Drive motor; 4. Reducer; 5. Wheel set; 501. Drive wheel; 502. Driven wheel; 6. Track; 7. Encoder; 8. PLC controller; 9. Human-machine interface; 10. Servo controller. Detailed Implementation

[0021] To make the objectives, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0024] Example 1 Reference Figure 1 and Figure 2 This is the first embodiment of the present invention, which provides an automatic positioning device for cross-cutting material receiving. This device enables the vehicle to accurately stop at the target position to complete the material receiving operation. It includes a traveling mechanism, an encoder, a PLC controller, a human-machine interface (HMI), and a servo driver. Through the coordinated control of these components, the device achieves intelligent and high-precision automatic positioning on the track.

[0025] Specifically, the walking mechanism is located at the bottom of the RGV vehicle body and includes a drive motor and a reducer fixedly installed on the vehicle body. The output shaft of the reducer is fixedly connected to the drive wheel axle through a coupling. The drive wheel axle is part of the wheel set, which is supported on the track to form an overall drive support structure.

[0026] The encoder is a multi-turn absolute encoder, mounted on the end of the drive wheel shaft and rigidly connected to it via a coupling. It can acquire the number of wheel rotations and angles in real time and output accurate position data. The encoder's signal output is connected to the high-speed counting module of the PLC controller via a shielded industrial cable.

[0027] The PLC controller is fixedly installed inside the vehicle control cabinet and contains a high-speed counting module for acquiring encoder signals. The HMI connects to the PLC via an industrial communication bus and is used to display the current position, perform point-to-point teaching, and execute operations. The servo driver is connected to the PLC output port via a control cable and is used to adjust the speed and direction of the drive motor according to the control commands issued by the PLC.

[0028] Working principle: During initial operation, the device performs point-to-point teaching via HMI, and the PLC records the corresponding encoder value and stores it as the target point. During operation, the PLC collects the position value fed back by the encoder in real time and compares it with the target point. Based on the difference, a control signal is generated, which is used by the servo driver to adjust the working state of the drive motor, so that the vehicle moves along the track and automatically and accurately aligns with the target material receiving position.

[0029] In summary, by setting up a linkage mechanism between the encoder, PLC, high-speed counting module and servo drive system, dynamic closed-loop control and automatic positioning and material receiving functions of the RGV vehicle body are realized, improving positioning accuracy and operating efficiency, and making it suitable for multi-point flexible material receiving scenarios.

[0030] Example 2 Based on Example 1, the wheel set is further improved by including at least two driving wheels and two driven wheels. The driving wheels are driven by a drive motor, and the encoder is installed on the output shaft of the driving wheel so that each rotation of the wheel axle can be accurately recorded.

[0031] Working principle: Each rotation of the drive wheel is accurately captured by the encoder, and its number of rotations and angle information constitute the basic displacement data, ensuring that the actual travel distance of the traveling mechanism is highly consistent with the encoder output.

[0032] In summary, this structure enables highly synchronized and stable motion control, effectively avoiding positional deviations caused by wheel slippage or structural errors.

[0033] Example 3 Based on Example 1, the HMI interface is further improved by including a "Point Number Input Box", a "Current Position Display Box", a "Teach Button", and an "Execute Button". After the HMI acquires the teach operation command, it automatically reads the current output value of the encoder and transmits the point number to the PLC for permanent storage via the MODBUS industrial bus, binding the point number with the current encoder value.

[0034] Working principle: During teaching, the operator enters the location number and clicks the teaching button. The HMI reads the encoder value in real time and establishes the location mapping relationship to ensure accurate and fast location recording.

[0035] In summary, by optimizing the HMI (Human-Machine Interface), the site configuration process is simplified, and the efficiency of equipment maintenance and configuration is improved.

[0036] Example 4 Based on Example 1, the encoder signal output terminal adopts A / B / Z phase differential signal or SSI standard output port, and the PLC controller is equipped with a corresponding high-speed signal input module. The two are connected by a high-shielded industrial cable.

[0037] Working principle: Differential signals or SSI signals can maintain data integrity in electromagnetic interference environments, ensuring the stability and accuracy of position signal acquisition.

[0038] In summary, by improving the anti-interference capability of electrical connections, the device achieved high-reliability operation in complex industrial environments.

[0039] Example 5 Based on Example 1, the PLC controller is further improved by having a non-volatile storage module to store the point number and its corresponding target absolute position value. After receiving the target number sent by the HMI, the position value is extracted from the mapping structure and compared with the real-time encoder value to generate a servo control signal.

[0040] Working principle: Based on the difference calculation logic of the mapping structure, the PLC can flexibly handle multi-point positioning tasks and quickly respond to point switching requirements.

[0041] In summary, this structure supports dynamic multi-point calling, improving the flexibility and automation level of the device.

[0042] Example 6 Based on Example 1, a further improvement is made by configuring an error judgment module in the PLC controller, which has a positioning tolerance value ε. When the control system determines that the position difference ΔL between the current position and the target point satisfies |ΔL| ≤ ε, it outputs a completion signal and instructs the servo driver to stop the drive motor, thereby achieving high-precision positioning.

[0043] Working principle: By setting tolerance judgment logic, dynamic control of positioning accuracy is achieved to prevent system oscillation or over-adjustment caused by small errors.

[0044] In summary, this function achieves highly reliable and precise stopping, making it suitable for the precision control needs of automated material receiving scenarios.

[0045] Example 7 A further improvement upon Example 1 involves a 24-bit resolution photoelectric multi-turn absolute encoder, fixedly mounted on the RGV main load-bearing structure and coaxially connected to the drive wheel shaft via a rigid coupling. The encoder is connected to the high-speed counting module of the PLC via a shielded cable.

[0046] Working principle: High-resolution encoders can provide more precise position feedback, and combined with coaxial mounting, they can eliminate intermediate errors and effectively improve the repeatability of the system.

[0047] In summary, this structural configuration achieves micron-level control resolution and is suitable for closed-loop control systems with high repeatability.

[0048] Example 8 Based on Example 1, a further improvement is made: the PLC controller is equipped with a specification parameter management module that can store multiple specification numbers of the cross-cutting rolls and their corresponding receiving point numbers. The operator can select the current specification number through the HMI, and the PLC will automatically associate and call the target point number and position value.

[0049] Working principle: Parametric specification management enables the same device to adapt to the automatic alignment requirements of products with multiple specifications, thereby improving production flexibility.

[0050] In summary, this module greatly enhances the system's ability to quickly change models and is suitable for multi-variety, small-batch production scenarios.

[0051] Example 9 Further improvements are made based on Example 8. The point number and target position value are generated through HMI teaching. The HMI reads the absolute value of the current position and binds it to the selected point number. The data is then written to the non-volatile memory in the PLC controller.

[0052] Working principle: The real-time teaching method enables rapid learning and recording of new specification points, adapting to frequently changing production needs.

[0053] In summary, this function optimizes the site management process and enhances the device's intelligent adaptability to materials of different specifications.

[0054] Example 10 Further improvements based on any of the aforementioned embodiments result in a closed-loop control link, including: an encoder, a high-speed PLC counting module, a control logic module, a servo driver, a drive motor, a reducer, and a wheel set, forming a dynamic closed-loop control process of position data acquisition—difference calculation—signal output—power execution—feedback update.

[0055] Working principle: In the entire control chain, the encoder provides real-time feedback on the wheel axle status, the PLC processes the data at high speed and drives the motor to respond to control commands, and the system continuously corrects the operating status based on the feedback to ensure that the vehicle moves smoothly to the target position.

[0056] In summary, this closed-loop control structure features fast response, high precision, and strong stability, ensuring the reliability and efficiency of RGV automatic alignment operations.

[0057] This invention achieves automatic positioning and material receiving of the RGV vehicle body on the track by constructing a closed-loop control system between the encoder, PLC, servo drive, drive motor, and wheel assembly.

[0058] During actual operation, the drive motor drives the drive wheel to rotate via a reducer, thereby propelling the RGV vehicle body along a straight track. A multi-turn absolute encoder located at the end of the drive wheel axle collects the number of rotations and angular changes of the axle in real time, outputting a precise position signal to the high-speed counting module inside the PLC controller. Because the encoder and the axle are rigidly coaxially connected, high precision and consistency in displacement detection are ensured.

[0059] The PLC controller continuously receives position feedback signals from the encoder and compares them with the target position stored in its non-volatile memory unit, calculating the difference ΔL between the current position and the target position. This difference serves as the input variable for the servo drive system control algorithm, and is converted into a PWM or pulse direction signal via the PLC output port, then transmitted to the servo drive.

[0060] The servo driver adjusts the operating state of the drive motor according to the received control signals to achieve acceleration, constant speed, deceleration, and braking control, thereby precisely controlling the vehicle's movement path and speed. During the process, the encoder continuously collects the rotation status of the drive wheels in real time and feeds the updated position data back to the PLC, forming a continuous cycle of data updates and control outputs, realizing complete dynamic closed-loop control.

[0061] At the positioning endpoint, the PLC is equipped with an error judgment module. Based on the preset positioning tolerance ε, the error between the current position and the target position is judged. If the condition |ΔL|≤ε is met, the system determines that the positioning is completed and immediately instructs the servo system to stop, the drive motor to stop running, and the vehicle body achieves precise alignment.

[0062] Meanwhile, the HMI of this device provides an intuitive operating platform. Operators can input the point number or specification number, and the system will automatically match the corresponding target point value according to the set specification parameters to realize specification-driven intelligent configuration. It also supports teaching operation, which binds the current encoder position information to the new point number and stores it in the PLC to realize the rapid learning and management of the new point.

[0063] In summary, the entire system achieves high-precision, intelligent, and flexible automatic positioning of the RGV vehicle body on the track through precise encoder sampling, high-speed PLC calculation and control, and precise execution by the servo system, combined with a reasonably structured walking mechanism. It is particularly suitable for multi-specification and multi-position alignment requirements in the cross-cutting and receiving process.

[0064] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automatic positioning device for cross-cutting stock, characterized in that, The application relates to a kind of RGV automatic alignment device, including: Walking mechanism (1) is arranged at the bottom of RGV car body (2), the walking mechanism (1) includes driving motor (3) fixedly installed on the car body (2), speed reducer (4), the output shaft of the speed reducer (4) is fixedly connected with the drive wheel shaft in wheel set (5) by shaft coupling, and wheel set (5) is supported on track (6), for driving the car body (2) moves along track (6) linearly; Encoder (7) is a multi-turn absolute value encoder (7), is installed at the shaft end of the drive wheel shaft, and is rigidly connected by shaft coupling, for collecting the number of turns and angle signal of wheel rotation; PLC controller (8) is fixedly installed in the control cabinet of car body (2), is connected with the signal output end of the encoder (7) by cable, and is provided with high-speed counting module, for collecting the position signal output by the encoder (7) in real time; Human-machine interface (9) (HMI) is connected with the PLC controller (8) through industrial communication bus, for displaying current position, executing point position teaching operation and issuing to the operator to go to the instruction; Servo driver is connected to the control output port of the PLC controller (8) through cable, for receiving position control instruction, and controlling the rotating speed and rotating direction of the driving motor (3); Wherein, the device establishes target point position value by teaching mode and stores in the internal memory of PLC, compares the encoder (7) value collected in real time with the preset point value during operation, and adjusts the position of car body (2) according to the difference value to control servo driver, finally realizes RGV automatic alignment.

2. The apparatus of claim 1, wherein, The wheel set (5) includes at least two driving wheels (501) and at least two driven wheels (502), the driving motor (3) drives the driving wheel (501), and the encoder (7) is connected to the shaft of the driving wheel (501), to ensure the consistency of walking distance and the output of the encoder (7).

3. The apparatus of claim 1, wherein, The HMI interface includes "point number input box", "current position display box", "teaching button" and "execution button", the HMI collects teaching instruction, and transmits the instruction and corresponding current encoder (7) value to PLC through MODBUS bus, and stores as permanent point position by PLC.

4. The apparatus of claim 1, wherein, The signal output end of the multi-turn absolute value encoder (7) includes A / B / Z phase differential signal or SSI signal output port, the PLC controller (8) is provided with a signal input module matched with it, and the two are connected through industrial shielded cable, to ensure high-precision non-interference signal transmission.

5. The automatic positioning device of claim 1, wherein, The PLC controller (8) is internally provided with a non-volatile storage unit for point management, the storage unit stores a plurality of point number and corresponding absolute position value mapping data structure; after receiving the "target point number" sent by HMI, the corresponding absolute position value in the mapping data structure is called, and the difference value is calculated based on the current encoder (7) feedback position value, to generate control signal for driving servo drive system, so that the car body (2) runs smoothly and accurately to the target point position.

6. The automatic positioning device of claim 1, wherein, The PLC controller (8) is configured with an error judgment module, which sets a positioning error tolerance ε. When the PLC controller (8) determines that the difference ΔL between the real-time position value fed back by the encoder (7) and the called target position value satisfies |ΔL| ≤ ε, it outputs a positioning completion signal and triggers the servo drive system to control the driving motor (3) to stop, thereby realizing high-reliability positioning of the vehicle body (2) within a set precision range.

7. The automatic positioning device of claim 1, wherein, The multi-turn absolute encoder (7) is a 24-bit resolution photoelectric encoder (7) fixedly installed on the main load-bearing structure of the RGV vehicle body (2) through a metal flange plate and coaxially connected with the driving wheel shaft through a rigid coupling. The signal output end of the encoder (7) is connected to the high-speed counting module of the PLC controller (8) through a shielded industrial cable to provide high-precision and strong anti-interference position data, thereby realizing high-repetition-precision dynamic closed-loop control.

8. The automatic positioning device of claim 1, wherein, The PLC controller (8) is provided with a specification parameter management module, which stores multiple sets of specification numbers of cross-cut coils and corresponding target point position numbers thereof. The human-machine interface (9) HMI allows the operator to select the specification number of the current coil, and the PLC controller (8) automatically calls the matching point position number based on the specification number and further calls the target position value corresponding to the point position number, thereby realizing specification-driven rapid configuration positioning.

9. The automatic positioning device of claim 8, wherein, The association between the point position number and the target position value is generated in a teaching mode. When receiving a "teaching" operation instruction, the human-machine interface (9) reads the current position absolute value fed back by the encoder (7) in real time, binds it with the selected point position number, and stores it in the non-volatile memory of the PLC controller (8), thereby realizing rapid learning, recording, and calling of new specification points.

10. The automatic positioning device of claim 1, wherein, The device forms the following closed-loop control link: The multi-turn absolute encoder (7) is fixed to the frame of the RGV vehicle body (2) through a flange mounting method, and the output shaft end thereof is coaxially connected with the driving wheel shaft through a rigid coupling; The signal output end of the encoder (7) is connected with the high-speed counting module arranged inside the PLC controller (8) through an industrial shielded communication cable, and the PLC controller (8) receives and analyzes the absolute position signal transmitted by the encoder (7) in real time; The PLC controller (8) calculates the difference between the received real-time position value and the called target position value in the memory, and outputs a PWM or pulse direction control signal to the servo driver through a digital control interface; The servo driver controls the running state of the driving motor (3) through a power cable, including acceleration, constant speed, deceleration, and braking processes; The driving motor (3) drives the wheel set (5) to move linearly along the track (6) through a speed reducer (4), thereby driving the vehicle body (2) to move as a whole; The encoder (7) simultaneously and in real time collects the rotation state of the driving wheel shaft and continuously feeds back position data to the PLC, thereby constituting a closed-loop control loop. The cooperation of the electrical connection and structural connection between the encoder (7), PLC controller (8), servo driver, driving motor (3) and wheel set (5).

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