To provide a control device for automatic guided vehicle capable of performing thrust control without a force sensor.SOLUTION: The control device has: a base 20 mounted on a movable automatic guided vehicle 10; first to fourth actuators 31 to 34 respectively installed at four corners of the base 20; and a top plate 40 which is disposed facing the tip of each output shaft of the actuators 31 to 34 and on which a load 50 (truck) is mounted. A controller 60 gives an actuator drive motor 100 a torque reference value obtained by adding a maximum static friction torque to an additional torque converted from a thrust command by a thrust command-to-addition torque conversion function.SELECTED DRAWING: Figure 3
【課題】力センサレスで推力制御を行うことができる無人搬送車の制御装置を提供する。【解決手段】移動可能な無人搬送車10に搭載された基台20と、前記基台20上の四隅に各々設置された第1~第4のアクチュエータ31~34と、前記アクチュエータ31~34の各出力軸の先端部に対向して配設され、荷物50(台車)が搭載される天板40と、を備え、コントローラ60は、推力指令対付加トルクの変換関数によって推力指令から変換された付加トルクに、最大静止摩擦トルクを加算したトルク参照値を、アクチュエータ駆動用のモータ100に与える。【選択図】 図3
CONTROL DEVICE FOR AUTOMATIC GUIDED VEHICLE
無人搬送車の制御装置
2022-12-19
Patent
Elektronische Ressource
Japanisch
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