CN110909427A - Method and device for determining structural parameters of shock pad and automatic guided vehicle - Google Patents
Method and device for determining structural parameters of shock pad and automatic guided vehicle Download PDFInfo
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Abstract
The application provides a method and a device for determining structural parameters of a shock pad and an automatic guided vehicle, wherein the method comprises the steps of obtaining a first mass, wherein the first mass is the mass of a universal wheel; acquiring a second mass, wherein the second mass is the mass of the transport vehicle body; acquiring the vibration acceleration of the transport vehicle body in the running process within a preset time period; and determining structural parameters of the shock pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters comprise thickness and/or height. The thickness and/or height of the shock pad are/is determined through the mass of the universal wheel, the mass of the transport vehicle body and the vibration acceleration of the transport vehicle body in the driving process, the designed shock pad is added to the universal wheel of the automatic guided transport vehicle, the personalized noise reduction design of the universal wheel is realized, the corresponding shock pad can be designed according to different application scenes, and the noise reduction cost is low.
Description
Technical Field
The application relates to the field of automatic guided vehicles, in particular to a method and a device for determining structural parameters of a shock pad and an automatic guided vehicle.
Background
An Automated Guided Vehicle (AGV) is an automated and intelligent transport Vehicle, and is widely used in an automated factory to reduce labor and improve work efficiency. The existing AGV products in the market are mainly applied to automatic factories with flat ground and good environment, and generally do not consider designing a comprehensive vibration reduction solution for the AGV. However, AGVs are currently used in more and more scenes, such as a food delivery system of a robot restaurant, and a service robot of a restaurant, a hotel, and an amusement place. In these application scenarios, the user puts more stringent requirements on the noise. AGVs without added damping solutions vibrate violently during driving on uneven roads, causing risks such as: wheel slip, body tilt, rollover, etc. Noise is caused by vibration and is mainly radiated to the outside through a plate or a beam, and therefore, a vibration damping design is important.
In the prior art, the AGV products generally adopt universal wheels as steering wheels, and part of AGV products adopt a suspension system to damp vibration.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a method and a device for determining structural parameters of a shock pad and an automatic guided vehicle, so as to solve the problem that the vibration damping effect of the automatic guided vehicle in the prior art is poor.
In order to achieve the above object, according to one aspect of the present application, there is provided an automated guided vehicle including: the universal wheel comprises a rotating structure and a roller structure; one end of the shock pad is connected with the rotating structure, and the other end of the shock pad is connected with the roller structure; the transport vehicle body, revolution mechanic with this body coupling of transport vehicle.
Further, the automated guided transporting vehicle further comprises a fixing part, and the shock pad is connected with the rotating structure through the fixing part.
Further, the roller structure includes baffle and gyro wheel, the gyro wheel with the baffle is connected, the baffle still includes the supporting part, the shock pad with the connection of supporting part.
According to another aspect of the present application, there is provided a method for determining a structural parameter of a shock pad, the shock pad being configured to be connected to a universal wheel of an automated guided vehicle, the universal wheel including a rotary structure and a roller structure, one end of the shock pad being configured to be connected to the rotary structure, the other end of the shock pad being configured to be connected to the roller structure, the automated guided vehicle further including a vehicle body, the rotary structure being connected to the vehicle body, the method comprising: acquiring a first mass, wherein the first mass is the mass of a universal wheel; acquiring a second mass, wherein the second mass is the mass of the transport vehicle body; acquiring the vibration acceleration of the transport vehicle body in the running process within a preset time period; determining the structural parameters of the shock pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters comprise thickness and/or height.
Further, determining the shock pad thickness and/or height from the first mass, the second mass, and the vibration acceleration comprises: determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad according to the first mass, the second mass and the vibration acceleration; determining the thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad.
Further, acquiring a vibration acceleration includes: determining corresponding frequency domain data according to the vibration acceleration; and determining the maximum frequency according to the frequency domain data, wherein the maximum frequency is the frequency corresponding to the maximum value of the frequency domain data.
Further, determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad according to the first mass, the second mass and the vibration acceleration comprises determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad according to the first mass, the second mass and the frequency.
Further, determining the thickness of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad comprises: determining the middle thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the middle height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad; determining a middle mass coefficient of the shock pad according to the middle thickness and the middle height of the shock pad and/or determining a middle rigidity coefficient of the shock pad according to the middle thickness and the middle height of the shock pad; comparing the intermediate mass coefficient of the shock pad with the optimal mass coefficient of the shock pad, and comparing the intermediate stiffness coefficient of the shock pad with the optimal stiffness coefficient of the shock pad; and under the condition that the difference value between the middle mass coefficient of the shock pad and the optimal mass coefficient of the shock pad is in a first preset range, and under the condition that the difference value between the middle rigidity coefficient of the shock pad and the optimal rigidity coefficient of the shock pad is in a second preset range, determining the thickness and/or height of the shock pad according to the optimal mass coefficient and/or the optimal rigidity coefficient.
According to still another aspect of the present application, there is provided a device for determining a structural parameter of a shock pad, the shock pad being configured to be connected to a universal wheel of an automated guided vehicle, the universal wheel including a rotary structure and a roller structure, one end of the shock pad being configured to be connected to the rotary structure, the other end of the shock pad being configured to be connected to the roller structure, the automated guided vehicle further including a vehicle body, the rotary structure being connected to the vehicle body, the device comprising: the first obtaining unit is used for obtaining a first mass, and the first mass is the mass of the universal wheel; the second acquiring unit is used for acquiring a second mass, and the second mass is the mass of the transport vehicle body; the third acquisition unit is used for acquiring the vibration acceleration of the transport vehicle body in the running process within a preset time period; the determining unit is used for determining the structural parameters of the shock pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters comprise thickness and/or height.
According to still another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the determination methods.
According to another aspect of the application, a processor for running a program is provided, wherein the program is run to perform any one of the determination methods.
Use the technical scheme of this application, through the quality of universal wheel, the quality of transport vechicle body and the vibration acceleration of transport vechicle body at the in-process of traveling, confirm the shock pad and/or height, add the shock pad of having designed to the universal wheel of automated guidance transport vechicle, compared with the prior art, the noise of automated guidance transport vechicle in the in-process of traveling has been reduced greatly, the design of making an uproar falls in the individuation of universal wheel has been realized, can design corresponding shock pad according to the application scene of difference, it is lower to fall the cost of making an uproar, and the damping universal wheel of this application simple structure, easily design, easily processing, antifriction, corrosion-resistant.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 illustrates a schematic view of a portion of an automated guided vehicle according to an embodiment of the present application;
FIG. 2 illustrates a partial schematic structural view of yet another automated guided vehicle according to an embodiment of the present application;
FIG. 3 is a flow chart illustrating a method for determining structural parameters of a cushion in accordance with an embodiment of the present application; and
fig. 4 shows a schematic diagram of a device for determining structural parameters of a shock pad according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
1. a first fixing bolt; 2. a first fixing nut; 3. an upper fixing ring; 4. a ball bearing; 5. a lower fixing ring; 6. a shock pad; 7. a second fixing nut; 8. a gasket; 9. a second fixing bolt; 10. a baffle plate; 11. a roller; 12. pressing and riveting; 13. ball bearings.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As introduced in the background art, the current automated guided vehicle has a poor damping effect, and does not solve the problem of poor damping effect of the prior art automated guided vehicle, and the present application provides an automated guided vehicle, as shown in fig. 1 and 2, which is a partial structural schematic diagram of an automated guided vehicle, and the automated guided vehicle includes:
the universal wheel comprises a rotating structure and a roller structure;
a damper pad 6, one end of the damper pad 6 being connected to the rotary structure, and the other end of the damper pad 6 being connected to the roller structure;
the transport vehicle body, above-mentioned revolution mechanic and above-mentioned transport vehicle body coupling.
The shock pad is connected with the universal wheel, so that the noise of the automatic guided transport vehicle in the running process can be eliminated.
In an embodiment of the present application, as shown in fig. 1 and 2, the automated guided vehicle further includes a fixing portion, and the shock pad 6 is connected to the rotating structure through the fixing portion (which is equivalent to the upper fixing ring 3 and the lower fixing ring 5 herein), that is, the shock pad 6 is fixed to the universal wheel through the fixing portion, so that the shock pad 6 is more stable and is not easily dropped off during the traveling of the automated guided vehicle.
In an embodiment of the present application, as shown in fig. 1 and 2, the roller 11 includes a baffle 10 and a roller 11, the roller 11 is connected to the baffle 10, the baffle 10 further includes a support portion, and the connection between the shock absorbing pad 6 and the support portion connects the roller 11 to the support portion through a connecting portion (equivalent to a clinch 12 herein).
In order to implement the personalized design of the shock pad, a typical embodiment of the present application provides a method for determining a structural parameter of the shock pad, where the shock pad is used to connect with a universal wheel of an automated guided vehicle, the universal wheel includes a rotating structure and a roller structure, one end of the shock pad is used to connect with the rotating structure, the other end of the shock pad is used to connect with the roller structure, the automated guided vehicle further includes a vehicle body, the rotating structure is connected with the vehicle body, and fig. 3 is a flowchart of the method for determining according to the embodiment of the present application. As shown in fig. 3, the method comprises the steps of:
step S101, acquiring a first mass, wherein the first mass is the mass of a universal wheel;
step S102, obtaining a second mass, wherein the second mass is the mass of the transport vehicle body;
step S103, acquiring the vibration acceleration of the carrier vehicle body in the running process within a preset time period;
step S104 is to determine the structural parameters of the cushion pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters include a thickness and/or a height.
Specifically, the first mass and the second mass may be obtained by mass measuring instruments such as an electronic scale, a spring scale, a platform scale, and a counter scale, and the vibration acceleration may be obtained by acceleration measuring instruments such as an acceleration sensor and a gyroscope.
In this application, through the quality of universal wheel, the quality of transport vechicle body and the vibration acceleration of transport vechicle body at the in-process of traveling, confirm the shock pad and/or the height, add the shock pad that will design to the universal wheel of automated guidance transport vechicle on, compared with the prior art, the noise of automated guidance transport vechicle at the in-process of traveling has significantly reduced, the design of making an uproar falls in the individuation of universal wheel has been realized, can design corresponding shock pad according to the application scene of difference, it is lower to fall the cost of making an uproar, and the damping universal wheel simple structure of this application, easily design, easily processing, antifriction, corrosion-resistant.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In another embodiment of the present application, determining the thickness and/or height of the damper pad according to the first mass, the second mass, and the vibration acceleration includes: determining an optimal mass coefficient and/or an optimal stiffness coefficient of the cushion according to the first mass, the second mass and the vibration acceleration; and determining the thickness of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad, namely determining the optimal mass coefficient and the optimal stiffness coefficient of the shock pad through the first mass, the second mass and the vibration acceleration, and further determining the thickness and the height of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad.
In another embodiment of the present application, obtaining a vibration acceleration includes: determining corresponding frequency domain data according to the vibration acceleration; determining the maximum frequency according to the frequency domain data, wherein the maximum frequency is the frequency corresponding to the maximum value of the frequency domain data, firstly, obtaining the time domain data of the vibration acceleration, then converting the time domain data of the vibration acceleration into the frequency domain data, determining the frequency band with the highest frequency attenuation rate according to the frequency domain data of the vibration acceleration, further determining the frequency corresponding to the maximum amplitude point in the vibration acceleration frequency spectrum, namely the frequency corresponding to the maximum noise, and obtaining the optimal quality coefficient and the optimal stiffness coefficient with better noise reduction effect according to the frequency corresponding to the maximum noise value.
Specifically, the frequency domain data of the vibration acceleration may be obtained by performing a spectrum analysis on the vibration acceleration through fast fourier transform, and of course, a person skilled in the art may select any other mode that can perform the spectrum analysis.
In another embodiment of the present application, determining an optimal mass coefficient and/or an optimal stiffness coefficient of the cushion pad according to the first mass, the second mass, and the vibration acceleration includes: and determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad according to the first mass, the second mass and the frequency, determining a frequency band with the highest frequency attenuation rate according to frequency domain data of the vibration acceleration, further determining a frequency corresponding to the maximum amplitude point in a vibration acceleration frequency spectrum, namely a frequency corresponding to the maximum noise, and obtaining the optimal mass coefficient and the optimal stiffness coefficient with better noise reduction effect according to the frequency corresponding to the maximum noise.
In a specific embodiment of the present application, the optimal mass coefficient and/or the optimal stiffness coefficient may be determined according to the first mass, the second mass, and the frequency, and specifically, the optimal mass coefficient m3 of the cushion may be calculated by using the first mass m1, the second mass m2, the frequency f1, and the natural frequency f of the vehicle body, where the calculation formula is shown in formula (1):
the optimal stiffness coefficient K1 of the shock pad is calculated through the second mass m2, the frequency f1 and the natural frequency f of the carrier body, and the specific calculation formula is shown as formula (2):
in one embodiment of the present application, determining the thickness of the cushion pad according to the optimal mass coefficient and the optimal stiffness coefficient of the cushion pad and/or determining the height of the cushion pad according to the optimal mass coefficient and the optimal stiffness coefficient of the cushion pad includes: determining the middle thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the middle height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad; the intermediate mass coefficient of the shock pad and/or the intermediate stiffness coefficient of the shock pad are determined according to the intermediate thickness and the intermediate height of the shock pad, and specifically, the intermediate mass coefficient of the shock pad and the intermediate stiffness coefficient of the shock pad are obtained by inputting the intermediate thickness and the intermediate height of the shock pad into a finite element model for simulation.
In a specific embodiment of the present application, the intermediate mass coefficient of the cushion pad is compared with the optimal mass coefficient of the cushion pad, and the intermediate stiffness coefficient of the cushion pad is compared with the optimal stiffness coefficient of the cushion pad; determining the thickness and/or height of the cushion based on the mass coefficient and/or the optimal stiffness coefficient in a case where a difference between the middle mass coefficient of the cushion and the optimal mass coefficient of the cushion is within a first predetermined range, and in a case where a difference between the middle stiffness coefficient of the cushion and the optimal stiffness coefficient of the cushion is within a second predetermined range, the first predetermined range may be a difference range of ± 1%, specifically 0.99 × m3 to 1.01 × m3, where m3 is the optimal mass coefficient, the second predetermined range may be a difference range of ± 1%, specifically 0.99 × K1 to 1.01 × K1, where K1 is the optimal stiffness coefficient, and when the first predetermined range and the second predetermined range satisfy a condition, it is considered that the stiffness coefficient of the cushion obtained at that time is most approximate to the optimal stiffness coefficient, the mass coefficient is closest to the optimal mass coefficient, namely the optimal thickness and height of the shock pad can be obtained through the stiffness coefficient and the mass coefficient at the moment, and a good noise reduction effect is achieved.
The embodiment of the present application further provides a determining device, and it should be noted that the determining device in the embodiment of the present application may be used to execute the determining method provided in the embodiment of the present application. The following describes a determination device provided in an embodiment of the present application.
FIG. 4 is a schematic diagram of an apparatus for determining structural parameters of a cushion in accordance with an embodiment of the present application. As shown in fig. 4, the shock pad is used for connecting with the universal wheel of the automated guided vehicle, the universal wheel includes a rotation structure and a roller structure, one end of the shock pad is used for connecting with the rotation structure, the other end of the shock pad is used for connecting with the roller structure, the automated guided vehicle further includes a vehicle body, the rotation structure is connected with the vehicle body, and the apparatus includes:
a first acquiring unit 100 configured to acquire a first mass, which is a mass of the universal wheel;
a second obtaining unit 200 configured to obtain a second mass, where the second mass is a mass of the transporter body;
a third obtaining unit 300, configured to obtain a vibration acceleration of the transportation vehicle body in a running process within a predetermined time period;
a determining unit 400, configured to determine a structural parameter of the shock pad according to the first mass, the second mass, and the vibration acceleration, where the structural parameter includes a thickness and/or a height.
In this application, first quality that acquires the universal wheel, the second acquires the quality that the unit acquireed the transport vechicle body, the third acquires the unit and acquires vibration acceleration, quality through the universal wheel, the quality of transport vechicle body and the vibration acceleration of transport vechicle body at the in-process of traveling, confirm that the unit confirms the shock pad and/or the height, add the shock pad that will design to the universal wheel of automated guidance transport vechicle, compared with the prior art, the noise of automated guidance transport vechicle at the in-process of traveling has been reduced greatly, the design of making an uproar falls in the individuality of universal wheel has been realized, can design corresponding shock pad according to the application scene of difference promptly, it is lower to fall the cost of making an uproar, and the damping universal wheel of this application simple structure, easily design, easily processing, antifriction, it is corrosion-resistant.
In yet another embodiment of the present application, the determining unit includes a first determining module and a second determining module, the first determining module is configured to determine an optimal mass coefficient and/or an optimal stiffness coefficient of the cushion pad according to the first mass, the second mass, and the vibration acceleration; the second determining module is used for determining the thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad, namely determining the optimal mass coefficient and the optimal rigidity coefficient of the shock pad through the first mass, the second mass and the vibration acceleration, and further determining the thickness and the height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad.
In another embodiment of the present application, the third obtaining unit includes a third determining module and a fourth determining module, where the third determining module is configured to determine corresponding frequency domain data according to the vibration acceleration; the fourth determining module is used for determining the maximum frequency according to the frequency domain data, the maximum frequency is the frequency corresponding to the maximum value of the frequency domain data, firstly, time domain data of the vibration acceleration is obtained, then the time domain data of the vibration acceleration is converted into the frequency domain data, the frequency band with the highest frequency attenuation rate is determined according to the frequency domain data of the vibration acceleration, then, the frequency corresponding to the maximum amplitude point in the vibration acceleration frequency spectrum, namely the frequency corresponding to the maximum noise is determined, and the optimal quality coefficient and the optimal stiffness coefficient obtained according to the frequency corresponding to the maximum noise have better noise reduction effect.
Specifically, the frequency domain data of the vibration acceleration may be obtained by performing a spectrum analysis on the vibration acceleration through fast fourier transform, and of course, a person skilled in the art may select any other mode that can perform the spectrum analysis.
In another embodiment of the application, the first determining module is further configured to determine an optimal mass coefficient and/or an optimal stiffness coefficient of the cushion according to the first mass, the second mass, and the frequency, determine a frequency band with a highest frequency attenuation rate according to frequency domain data of the vibration acceleration, further determine a frequency corresponding to a maximum amplitude point in a vibration acceleration frequency spectrum, that is, a frequency corresponding to a maximum noise, and obtain a better noise reduction effect according to the frequency corresponding to the maximum noise value by using the optimal mass coefficient and the optimal stiffness coefficient.
In an embodiment of the present application, the second determining module includes a first determining submodule, a second determining submodule, a comparing submodule, and a third determining submodule, where the first determining submodule is configured to determine a middle thickness of the cushion pad according to an optimal mass coefficient and an optimal stiffness coefficient of the cushion pad and/or determine a middle height of the cushion pad according to the optimal mass coefficient and the optimal stiffness coefficient of the cushion pad; the second determining submodule is used for determining the intermediate mass coefficient of the shock pad and/or determining the intermediate stiffness coefficient of the shock pad according to the intermediate thickness and the intermediate height of the shock pad, and specifically, the intermediate mass coefficient of the shock pad and the intermediate stiffness coefficient of the shock pad are obtained by inputting the intermediate thickness and the intermediate height of the shock pad into a finite element model for simulation, and the simulation model is not limited to the finite element simulation model, and can also be a finite difference method and a boundary element method, and can also adopt finite element computing software with an external interface, such as ANSYS, COMSOL, hyperforks and the like, and can also be developed by adopting programming languages such as C + +, MATLAB and the like.
In a specific embodiment of the present application, the comparison submodule is configured to compare the intermediate mass coefficient of the shock pad with the optimal mass coefficient of the shock pad, and compare the intermediate stiffness coefficient of the shock pad with the optimal stiffness coefficient of the shock pad; the third determining submodule is used for determining the thickness and/or height of the shock pad according to the optimal mass coefficient and/or the optimal stiffness coefficient under the condition that the difference value between the middle mass coefficient of the shock pad and the optimal mass coefficient of the shock pad is in a first predetermined range and under the condition that the difference value between the middle stiffness coefficient of the shock pad and the optimal stiffness coefficient of the shock pad is in a second predetermined range, wherein the first predetermined range can be a difference range of +/-1%, specifically 0.99 x m 3-1.01 x m3, m3 is the optimal mass coefficient, the second predetermined range can be a difference range of +/-1%, specifically 0.99 x K1-1.01 x K1, K1 is the optimal stiffness coefficient, and when the first predetermined range and the second predetermined range meet the condition, the stiffness coefficient of the shock pad obtained at the moment is considered to be closest to the optimal stiffness coefficient, the mass coefficient is closest to the optimal mass coefficient, namely the optimal thickness and height of the shock pad can be obtained through the stiffness coefficient and the mass coefficient at the moment, and a good noise reduction effect is achieved.
The determining device comprises a processor and a memory, the first acquiring unit, the second acquiring unit, the third acquiring unit, the determining unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the vibration reduction effect of the automatic guide transport vehicle in the prior art is poor is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium on which a program is stored, the program implementing the above-described determination method when executed by a processor.
The embodiment of the invention provides a processor, wherein the processor is used for running a program, and the determining method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring a first mass, wherein the first mass is the mass of a universal wheel;
step S102, obtaining a second mass, wherein the second mass is the mass of the transport vehicle body;
step S103, acquiring the vibration acceleration of the carrier vehicle body in the running process within a preset time period;
step S104 is to determine the structural parameters of the cushion pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters include a thickness and/or a height.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring a first mass, wherein the first mass is the mass of a universal wheel;
step S102, obtaining a second mass, wherein the second mass is the mass of the transport vehicle body;
step S103, acquiring the vibration acceleration of the carrier vehicle body in the running process within a preset time period;
step S104 is to determine the structural parameters of the cushion pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters include a thickness and/or a height.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
Example 1
The embodiment relates to an automatic guided vehicle, as shown in fig. 1 and 2, which is a partial structural schematic diagram of an automatic guided vehicle, the automatic guided vehicle comprises universal wheels, shock pads 6, an upper fixing ring 3, a lower fixing ring 5 and a vehicle body; the universal wheel includes revolution mechanic and gyro wheel structure, the gyro wheel structure includes baffle 10, the one end and the above-mentioned revolution mechanic of shock pad 6 are connected, the other end and the above-mentioned gyro wheel structural connection of above-mentioned shock pad 6, go up solid fixed ring 3 and install the top at shock pad 6, the top and the ball bearing 4 of shock pad 6 are fixed between solid fixed ring 3 and lower fixed ring 5 at last through first fixing bolt 1 and first fixing nut 2, second fixing nut 7 is passed through to the bottom of shock pad 6, gasket 8 and 9 fixed mounting of second fixing bolt are on the top of baffle 10, ball bearing 13 fixed mounting is inside gyro wheel 11, gyro wheel 11 and ball bearing 13 are through riveting 12 fixed mounting in the inboard of baffle 10.
Through fixing the shock pad 6 between last solid fixed ring 3 and solid fixed ring 5 down, be about to the shock pad 6 fix on the universal wheel for the shock pad 6 is firm more, is difficult for droing at the automated guided transporting vehicle in the in-process of traveling. The roller 11 is connected to the blind 10 by means of a clinch 12. The rotating structure is connected with the transport vehicle body. The shock pad 6 is connected with the universal wheel, so that the noise of the automatic guided vehicle in the running process can be eliminated.
Example 2
The embodiment relates to a method for determining structural parameters of a shock pad, which specifically comprises the following steps:
s101, acquiring a first mass, wherein the first mass is the mass of the universal wheel, and specifically measuring the first mass by adopting a high-precision electronic scale;
step S102, obtaining a second mass, wherein the second mass is the mass of the transport vehicle body, and specifically, the second mass is measured by adopting a high-precision electronic scale;
step S103, acquiring the vibration acceleration of the transport vehicle body in the running process within a preset time period, and specifically acquiring the vibration acceleration through a high-precision acceleration sensor;
step S104 is to determine the structural parameters of the cushion pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters include a thickness and/or a height.
Step S104 specifically includes the following steps:
step A1: determining corresponding frequency domain data according to the vibration acceleration; determining the maximum frequency according to the frequency domain data, wherein the maximum frequency is the frequency corresponding to the maximum value of the frequency domain data, firstly, obtaining time domain data of the vibration acceleration, then converting the time domain data of the vibration acceleration into the frequency domain data, determining the frequency band with the highest frequency attenuation rate according to the frequency domain data of the vibration acceleration, and further determining the frequency corresponding to the maximum amplitude point in the vibration acceleration frequency spectrum, namely the frequency corresponding to the maximum noise;
step A2: according to the first mass, the second mass and the frequency, determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad, specifically, the shock pad is a rubber shock pad, determining a frequency band with the highest frequency attenuation rate according to frequency domain data of the vibration acceleration, specifically, performing frequency spectrum analysis on the vibration acceleration through fast Fourier transform to obtain the frequency domain data of the vibration acceleration, further determining a frequency corresponding to the maximum amplitude point in a vibration acceleration frequency spectrum, namely, a frequency corresponding to the maximum noise, and obtaining the optimal mass coefficient and the optimal stiffness coefficient with better noise reduction effect according to the frequency corresponding to the maximum noise; the optimal mass coefficient and/or the optimal stiffness coefficient of the cushion is obtained by an optimization model, wherein the optimization model integrates a mathematical model from the first mass, the second mass, the frequency to the optimal mass coefficient and/or the optimal stiffness coefficient.
Step A3: determining the thickness of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad, specifically comprising:
step B1: determining the middle thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the middle height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad;
step B2: and determining the middle mass coefficient of the shock pad according to the middle thickness and the middle height of the shock pad and/or determining the middle rigidity coefficient of the shock pad according to the middle thickness and the middle height of the shock pad, and specifically, inputting the middle thickness and the middle height of the shock pad into a finite element model for simulation to obtain the middle mass coefficient of the shock pad and the middle rigidity coefficient of the shock pad.
Step B3: comparing the intermediate mass coefficient of the shock pad with the optimal mass coefficient of the shock pad, and comparing the intermediate stiffness coefficient of the shock pad with the optimal stiffness coefficient of the shock pad;
step B4: and under the condition that the difference value between the middle mass coefficient of the shock pad and the optimal mass coefficient of the shock pad is in a first preset range, and under the condition that the difference value between the middle rigidity coefficient of the shock pad and the optimal rigidity coefficient of the shock pad is in a second preset range, determining the thickness and/or height of the shock pad according to the optimal mass coefficient and/or the optimal rigidity coefficient, specifically realizing the determination through an optimization algorithm module, and specifically adopting a gradient descent method, a least square method, a genetic algorithm, a neural network and other methods.
In this embodiment, the shock pad designed by the method can be changed according to the change of the application scene by adding the designed shock pad to the universal wheel, so that the personalized design of the shock pad can be realized, and a better noise reduction effect can be realized.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the utility model provides an automatic guide transport vechicle is connected the shock pad with the universal wheel, can eliminate the noise of automatic guide transport vechicle at the in-process of traveling.
2) The determination method comprises the steps of determining the mass of the universal wheel, the mass of the transport vehicle body, the vibration acceleration of the transport vehicle body in the driving process, determining the height and/or the height of the shock pad, adding the designed shock pad to the universal wheel of the automatic guided transport vehicle, compared with the prior art, greatly reducing the noise of the automatic guided transport vehicle in the driving process, realizing the personalized noise reduction design of the universal wheel, designing the corresponding shock pad according to different application scenes, and lowering the noise cost.
3) The utility model provides a confirming device, the first quality that acquires the universal wheel of unit acquisition, the second acquires the quality that the unit acquireed the transport vechicle body, the third acquires the unit and acquires vibration acceleration, quality through the universal wheel, the quality of transport vechicle body, the vibration acceleration of transport vechicle body at the in-process of traveling, confirm the unit and confirm the shock pad and/or the height, add the shock pad that will design to the universal wheel of automated guidance transport vechicle, compared with the prior art, the noise of automated guidance transport vechicle at the in-process of traveling has been reduced greatly, the design of making an uproar falls in individuation of universal wheel has been realized, can design corresponding shock pad according to the application scene of difference, it is lower to fall the cost of making an uproar, and the damping universal wheel simple structure of this application, easily design, easily processing, antifriction, corrosion-resistant.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. An automated guided vehicle, comprising:
the universal wheel comprises a rotating structure and a roller structure;
one end of the shock pad is connected with the rotating structure, and the other end of the shock pad is connected with the roller structure;
the transport vehicle body, revolution mechanic with this body coupling of transport vehicle.
2. The automated guided vehicle of claim 1, further comprising a fixed portion through which the shock pad is connected with the rotating structure.
3. The automated guided vehicle of claim 1, wherein the roller structure comprises a baffle and a roller, the roller being coupled to the baffle, the baffle further comprising a support, the shock pad being coupled to the support.
4. A method of determining structural parameters of a cushion, the cushion configured to couple with a universal wheel of an automated guided vehicle, the universal wheel including a swivel structure and a roller structure, one end of the cushion configured to couple with the swivel structure, the other end of the cushion configured to couple with the roller structure, the automated guided vehicle further including a vehicle body, the swivel structure coupled with the vehicle body, the method comprising:
acquiring a first mass, wherein the first mass is the mass of a universal wheel;
acquiring a second mass, wherein the second mass is the mass of the transport vehicle body;
acquiring the vibration acceleration of the transport vehicle body in the running process within a preset time period;
determining the structural parameters of the shock pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters comprise thickness and/or height.
5. The method of determining according to claim 4, wherein determining the shock pad thickness and/or height from the first mass, the second mass, the vibration acceleration comprises:
determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad according to the first mass, the second mass and the vibration acceleration;
determining the thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad.
6. The determination method according to claim 4, wherein obtaining a vibration acceleration comprises:
determining corresponding frequency domain data according to the vibration acceleration;
and determining the maximum frequency according to the frequency domain data, wherein the maximum frequency is the frequency corresponding to the maximum value of the frequency domain data.
7. The method of determining according to claim 6, wherein determining an optimal mass coefficient and/or an optimal stiffness coefficient of the cushion from the first mass, the second mass and the vibration acceleration comprises:
and determining an optimal mass coefficient and/or an optimal stiffness coefficient of the shock pad according to the first mass, the second mass and the frequency.
8. The method of determining according to claim 5, wherein determining the thickness of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad and/or determining the height of the shock pad according to the optimal mass coefficient and the optimal stiffness coefficient of the shock pad comprises:
determining the middle thickness of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad and/or determining the middle height of the shock pad according to the optimal mass coefficient and the optimal rigidity coefficient of the shock pad;
determining a middle mass coefficient of the shock pad according to the middle thickness and the middle height of the shock pad and/or determining a middle rigidity coefficient of the shock pad according to the middle thickness and the middle height of the shock pad;
comparing the intermediate mass coefficient of the shock pad with the optimal mass coefficient of the shock pad, and comparing the intermediate stiffness coefficient of the shock pad with the optimal stiffness coefficient of the shock pad;
and under the condition that the difference value between the middle mass coefficient of the shock pad and the optimal mass coefficient of the shock pad is in a first preset range, and under the condition that the difference value between the middle rigidity coefficient of the shock pad and the optimal rigidity coefficient of the shock pad is in a second preset range, determining the thickness and/or height of the shock pad according to the optimal mass coefficient and/or the optimal rigidity coefficient.
9. The utility model provides a confirming device of structural parameter of shock pad, its characterized in that, the shock pad is used for being connected with the universal wheel of automated guided transporting vehicle, the universal wheel includes revolution mechanic and gyro wheel structure, the one end of shock pad be used for with revolution mechanic connect, the other end of shock pad be used for with gyro wheel structural connection, the automated guided transporting vehicle still includes the transport vechicle body, revolution mechanic with this body coupling of transport vechicle, confirming device includes:
the first obtaining unit is used for obtaining a first mass, and the first mass is the mass of the universal wheel;
the second acquiring unit is used for acquiring a second mass, and the second mass is the mass of the transport vehicle body;
the third acquisition unit is used for acquiring the vibration acceleration of the transport vehicle body in the running process within a preset time period;
the determining unit is used for determining the structural parameters of the shock pad according to the first mass, the second mass and the vibration acceleration, wherein the structural parameters comprise thickness and/or height.
10. A storage medium characterized in that the storage medium includes a stored program, wherein the program executes the determination method of any one of claims 4 to 8.
11. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the determination method according to any one of claims 4 to 8 when running.
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| CN201911129925.5A CN110909427A (en) | 2019-11-18 | 2019-11-18 | Method and device for determining structural parameters of shock pad and automatic guided vehicle |
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| CN201911129925.5A CN110909427A (en) | 2019-11-18 | 2019-11-18 | Method and device for determining structural parameters of shock pad and automatic guided vehicle |
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