Research On AGV For Collecting And Placing Cordons And The Control Method

In the presence of passenger flow peak airport passenger congestion, a short period of time is difficult to evacuate and other phenomena, the need to use the shelter to regulate the order of the block. In order to solve the problem about low efficiency of manual handling for cordons collecting and placing, the paper proposed a design method for covering column retractable AGV(Cordons collecting and placing a automatic guided vehicle, referred to as CCP-AGV, or for collecting and placing a robot, referred to as the CPR). The CPR can independent handling, reasonable display screen block railings and other functions.The rail arm are designed because of the covered cordons shaped structure characteristics, overlapping forms of cover bar transmission mechanism and the in-situ turning CPR body portion, and a corresponding control system are designed. According to the D-H method to establish the kinematic model of the manipulator, kinematics and inverse kinematics calculation and under the environment of MATLAB simulation are retractable cover the ideal track rail seat; and through the gravity model, on the stability of CPR were analyzed.CPR dynamic model was established to analyze the force of the manipulator arm of the manipulator, the lifting part of the linear module, and the front and back moving parts of the linear module. The dynamic model of the transmission device and the sports car body is analyzed, which provides the theoretical basis for the selection of the motor.In order to ensure the stable operation of the CPR, the PID algorithm is used to adjust the speed of the drive motor, and the PID parameters are determined by the attenuation curve method. Use the check to achieve magnetic stripe tracing function form, complete autonomous navigation tasks, meet the functional requirements of CPR.According to the above design method, the production of a CPR prototype, in the PLC programming environment through the preparation of the application, the various functional modules and the overall performance of the test. The test results show that the prototype can achieve a continuous and independent seat rail cover function, to achieve the desired design requirements.