CN206456918U - Halved belt sorts AGV - Google Patents
Halved belt sorts AGV Download PDFInfo
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- CN206456918U CN206456918U CN201720153791.0U CN201720153791U CN206456918U CN 206456918 U CN206456918 U CN 206456918U CN 201720153791 U CN201720153791 U CN 201720153791U CN 206456918 U CN206456918 U CN 206456918U
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- laser
- halved belt
- vehicle frame
- agv
- belt
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Abstract
The utility model discloses halved belt sorting AGV, including moveable vehicle body and halved belt sorter, the vehicle body includes vehicle frame, the driving wheel of bi-motor differential driving and the universal wheel of at least two supporting roles are provided with the vehicle frame, two motors are all connected with the control device set in the vehicle frame, the control device is also connected with the Quick Response Code identifier set on the vehicle frame, distance of the cog region of the Quick Response Code identifier towards ground and to the vehicle frame front end is less than the distance for driving and taking turns to the vehicle frame front end, the halved belt sorter is detachably connected on the vehicle frame.The utility model the utility model deft design, it is simple in construction, guider is used as using Quick Response Code identifier, it is not necessary to lay magnetic stripe on ground, so that solving magnetic navigation AGV needs to lay the problem of magnetic stripe, cost increase, and reliability are easily disturbed by surrounding environment.
Description
Technical field
The utility model is related to a kind of AGV, especially a kind of halved belt sorting AGV.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refers to and is equipped with electric magnetically or optically wait automatically
Guiding device, can be travelled, the transport vehicle with safeguard protection and various transfer functions along defined guide path, and industry should
The carrier of driver is not required in, using chargeable battery as its power resources.Computer is typically can pass through to control its row
Enter route and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Course, electromagnetic path is sticked on floor, the message that automatic guided vehicle then follows electromagnetic path to be brought move with
Action.
AGV using magnetic stripe as navigation circuit needs to lay magnetic stripe track on the ground, and this navigation mode adds magnetic
Bar lays cost, and is easily disturbed by loop surrounding metal material, and magnetic stripe is easily mechanically damaged, thus the reliability guided by
Ectocine is larger.
Also, industry is sorted, it is necessary to by goods sorting to one in a disposing material mouth in logistics, and such as Application No.：
201310404275.7, subject name is：AGV, can it discloses one kind from the Chinese patent application for discharging transport vehicle of walking
Automatic charging and the AGV of belt discharging, but be due to straight-line travelling direction phase of the direction with the AGV of Belt Conveying material
Together, it is necessary to make the output end of belt be docked with discharge port and AGV is stopped ability discharging of advancing, therefore, when many during its discharging
During the selectable discharging of individual discharge port side by side, the reduction of AGV operational efficiency may result in.
Further, since AGV length of wagon is more than width, therefore it bigger steering space be accomplished by during discharging just can guarantee that
Normal discharging, the application environment for AGV proposes higher requirement.
Also, above-mentioned belt discharging structure can only realize one direction discharging, it is impossible to carry out two-way discharging.
Utility model content
The purpose of this utility model is exactly that there is provided a kind of halved belt point in order to solve the above-mentioned problems in the prior art
Pick AGV.
The purpose of this utility model is achieved through the following technical solutions：
Halved belt sorts AGV, including moveable vehicle body and halved belt sorter, and the vehicle body includes vehicle frame, the car
The driving wheel of bi-motor differential driving and the universal wheel of at least two supporting roles are provided with frame, two motors connect
The control device set in the vehicle frame is connect, the control device is also connected with the Quick Response Code identifier set on the vehicle frame, institute
State the cog region of Quick Response Code identifier towards ground and to the vehicle frame front end distance be less than it is described driving take turns to the vehicle frame
The distance of front end, the halved belt sorter is detachably connected on the vehicle frame.
It is preferred that, described halved belt sorts AGV, wherein：The company of two universal wheels and the tie point of the vehicle frame
Line is vertical with the line of the centre point of two driving wheels.
It is preferred that, described halved belt sorts AGV, wherein：Article conveying direction and institute on the halved belt sorter
The direct of travel stated under halved belt sorting AGV straight travel states is vertical, and the two ends of the belt in the halved belt sorter
Extend to outside the vehicle body.
It is preferred that, described halved belt sorts AGV, wherein：The halved belt sorter includes support frame, the support
The two ends vertical with vehicle body symmetry axis are respectively arranged with a pair of mounting grooves, mounting groove described in a pair and are rotatably mounted with frame
One is set to enclose at least one in the belt and two transfer rollers on the transfer roller parallel with the vehicle body symmetry axis, two transfer rollers
For dynamic roller, the dynamic roller connects the control device.
It is preferred that, described halved belt sorts AGV, wherein：Four necks, the support are provided with support frame as described above
Frame is erected on the vehicle frame by four necks, and both are spirally connected.
It is preferred that, described halved belt sorts AGV, wherein：The bearing of trend of two pairs of mounting groove is vertical, and one pair of which
The bearing of trend of mounting groove is identical with the article conveying direction on the halved belt sorter.
It is preferred that, described halved belt sorts AGV, wherein：It is additionally provided with what at least one was launched on support frame as described above
Laser is described higher than the laser pickoff for being used to receive laser that the laser of the belt upper surface and one group of gap are set
Laser and laser pickoff are located at the both sides of belt and not in the transmission direction of the belt, the laser pickoff connection
The control device.
It is preferred that, described halved belt sorts AGV, wherein：The laser is 2 and gap is set side by side, described to swash
Optical receiver is 4 and is arranged side by side that each laser pickoff can receive the laser that 2 lasers are sent.
It is preferred that, described halved belt sorts AGV, wherein：One laser is located at the nearer laser of two spacing
Between receiver.
It is preferred that, described halved belt sorts AGV, wherein：The angle of coverage for the laser that the laser is sent is not more than
90°。
The advantage of technical solutions of the utility model is mainly reflected in：
The utility model deft design, it is simple in construction, guider is used as using Quick Response Code identifier, it is not necessary on ground
Magnetic stripe is laid, so that solving magnetic navigation AGV needs to lay magnetic stripe, cost increase, and two-dimensional code scanning is not by surrounding metal
Deng the influence of environment, the stability of guiding is more.
Because direct of travel when Belt Conveying direction is with AGV linear runnings is vertical, therefore when the choosing in a disposing material mouth
When selecting one and carrying out discharging, goods on belt can be transported to discharge port under conditions of not parking, so as to improve
Sort efficiency, and because belt is extended to outside vehicle body, so when transmitting article to discharge port, other of AGV can be prevented
Collision is produced between part and discharge port, it is ensured that the safety and stability of operation, while also allowing for matching somebody with somebody with other transport mechanisms
Connect.
Structure in the utility model, also enables halved belt to sort AGV and carries out two-way discharging, so as to improve discharging
Flexibility and convenience, and when discharge port is arranged, as long as making the spacing of two disposing material mouths（Tunnel）Width be more than AGV
Width, space requirement is smaller.
By adjusting position of the transfer roller in a pair of mounting grooves with plane-parallel, belt can be adjusted as needed
Elasticity and the length for adjusting belt, so as to adjust the size of transport of web, applicability is stronger.
Coordinate to identify whether feeding using laser and laser pickoff, the AGV self-startings after feeding can be realized, entered
One step improves sort efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the top view that the utility model conceals belt；
Fig. 3 is rearview of the present utility model；
Fig. 4 is laser startup structure schematic diagram in the utility model.
Embodiment
The purpose of this utility model, advantage and feature, will be schemed by the non-limitative illustration of preferred embodiment below
Show and explain.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent substitution or wait
Technical scheme formed by effect conversion, all fall within the utility model it is claimed within the scope of.
The utility model discloses halved belt sorting AGV, as shown in Figure 1, including moveable vehicle body 1 and halved belt
Sorter 2, the vehicle body 1 includes vehicle frame 11, as shown in accompanying drawing 1- accompanying drawings 2, and the vehicle frame 11 includes the rear wall for enclosing framework
17th, battery settling groove 110 and motor support are provided with the antetheca 19 of two parallel side walls 18 and arc, the vehicle frame 11
Frame, the battery settling groove 110 is located at the afterbody of the vehicle frame 11, is mounted therein with for being supplied for whole halved belt sorting AGV
The power supply of electricity（Not shown in figure）, two motors 12 are provided with the motor support frame, and the output shaft of two motors 12 is coaxial
And dorsad set, two motors 12 are also connected with the control device set in the vehicle frame 11 and connect a driving respectively
Wheel 13 and differential drives two driving wheels 13 to rotate, two driving wheels 13 are coaxial and the axle and the vehicle body symmetry axis
X is vertical；Also set up the universal wheel 14 of at least two supporting roles on the vehicle frame 11, preferably two, and they and vehicle frame 11
The line of tie point is parallel with the vehicle body symmetry axis X.
As shown in accompanying drawing 1- accompanying drawings 2, sensor mount is additionally provided with the vehicle frame 11, the sensor mount is consolidated
It is scheduled on the motor support frame, Quick Response Code identifier 15, the Quick Response Code identifier is provided with the sensor mount
15 are divided equally by the vehicle body symmetry axis X, and the induction zone of the Quick Response Code identifier 15 connects towards ground and with the control device
Connect, arrived while the Quick Response Code identifier 15 is less than the driving wheel 13 to the distance of the front end of vehicle frame 11 before the vehicle frame 11
The distance at end.
The halved belt sorter 2 is further removably installed on the vehicle frame 11, specifically, as shown in Figure 3,
The halved belt sorter 2 includes the neck 231 that four rectangular distributions are provided with support frame 23, support frame as described above 23, institute
The bearing of trend for stating neck 231 is vertical with horizontal plane 10, and support frame as described above 23 is erected at the car by four necks 231
On two parallel side walls 18 of frame 11, and support frame as described above 23 is screwed together with two side walls 18.
As shown in Figure 3, two ends vertical with the vehicle body symmetry axis X on support frame as described above 23 are respectively arranged with a pair of peaces
Tankage 24, the bearing of trend of two pairs of mounting grooves 24 is mutually perpendicular to, i.e., bearing of trend and the horizontal plane 10 of a pair of mounting grooves 24
Vertically, the bearing of trend of another pair mounting groove 24 is identical with the direction that sorter 2 conveys article, and two pairs of mounting grooves 24 are high
In the neck 231, and their notch is respectively positioned on outside the vehicle frame 11.
Rotatably arranged with having a transfer roller 22 parallel with the vehicle body symmetry axis X, two in mounting groove 24 described in each pair
It is dynamic roller that at least part roll body of root transfer roller 22, which is located at least one in the outside of side wall 18, two transfer rollers 22,（Itself
Roller including driving structure）, the dynamic roller connects and is provided with a circle skin on the control device, two transfer rollers 22
Band 21, drives the belt 21 to rotate by the dynamic roller, so that, the conveying direction of the belt 21（Article on belt
The direction of motion）The direct of travel sorted with the halved belt under AGV straight travel states is vertical, and the two ends of the belt 21
（Turning point of the i.e. described belt 21 at two transfer rollers 22）Extend to outside the vehicle body 1.
As shown in Figure 2, it is additionally provided with support frame as described above 23 between two transfer rollers 22 in the load-bearing of belt 21
When support the supporting plate 27 of belt 21, some through holes are offered on the upper surface of the supporting plate 27, so as to realize lightweight.
Further, as shown in accompanying drawing 1- accompanying drawings 4, at least one laser launched is additionally provided with support frame as described above 23
The laser pickoff 26 for being used to receive laser set higher than the laser 25 of the upper surface of belt 21 and one group of gap, institute
State laser 25 and laser pickoff 26 is respectively provided with the both sides of the belt 21 and not on the conveying direction of the belt 21
On two pieces of installing plates.
The laser is preferably 2 and gap is set side by side, and it is nearer that a laser 25 is located at two spacing
Between laser pickoff 26, the angle of coverage for the laser coverage rate with plane-parallel that each laser is sent is not more than 90 °,
And the height of the upper surface of belt 21 described in laser distance can be configured according to actual sorting requirement, the laser pickoff is
4 and it is arranged side by side, each laser pickoff 26 can receive the laser that 2 lasers 25 send and be all connected with institute
State control device.
During work, when not having article on halved belt sorting AGV, the laser of the laser transmitting is by the laser pick-off
Device is received, and halved belt, which sorts AGV and waited in feeding area, not to be started, when having article to be placed on the belt 21 and make at least one
When individual laser pickoff can not receive laser, the control device controls two motors 12 to start two driving wheels of driving
1 synchronized rotation, halved belt sorting AGV advances forward, and the Quick Response Code identifier 15 obtains the two-dimension code label on ground in real time
Information simultaneously sends control device to, and the control device determines the halved belt according to the signal of the Quick Response Code identifier 15
Sort AGV whether offset track and its current location, so as to adjust the operating of motor, and according to setting path, control halved belt
Sorting AGV advances to the discharge port specified, and reaches after discharge port, the control device does not stop two motors and starts institute
State the dynamic belt 21 of dynamic roller strap and article thereon is transported to discharge port, complete after discharging, the control device is according to setting
Route control halved belt sorting AGV returns to feeding area.
The utility model still has numerous embodiments, all technologies formed by all use equivalents or equivalent transformation
Scheme, all falls within protection domain of the present utility model.
Claims (10)
1. halved belt sorts AGV, it is characterised in that：Including moveable vehicle body（1）And halved belt sorter（2）, the car
Body（1）Including vehicle frame（11）, the vehicle frame（11）On be provided with bi-motor（12）The driving wheel of differential driving（13）And at least
The universal wheel of two supporting roles（14）, two motors（12）It is all connected with the vehicle frame（11）The control device of interior setting,
The control device is also connected with the vehicle frame（11）The Quick Response Code identifier of upper setting（15）, the Quick Response Code identifier（15）'s
Cog region is towards ground and arrives the vehicle frame（11）The distance of front end is less than the driving wheel（13）To the vehicle frame（11）Front end
Distance, the halved belt sorter（2）It is detachably connected to the vehicle frame（11）On.
2. halved belt according to claim 1 sorts AGV, it is characterised in that：Two universal wheels（14）With the car
Frame（11）Tie point line and two driving wheels（13）Centre point line it is vertical.
3. halved belt according to claim 2 sorts AGV, it is characterised in that：The halved belt sorter（2）On thing
The direct of travel that product conveying direction is sorted with the halved belt under AGV straight travel states is vertical, and the halved belt sorter
（2）In belt（21）Two ends extend to the vehicle body（1）Outside.
4. halved belt according to claim 3 sorts AGV, it is characterised in that：The halved belt sorter（2）Including branch
Support（23）, support frame as described above（23）Upper and vehicle body symmetry axis（X）Vertical two ends are respectively arranged with a pair of mounting grooves（24）, one
To the mounting groove（24）In be rotatably mounted with and the vehicle body symmetry axis（X）Parallel transfer roller（22）, turn described in two
Roller（22）It is upper that a circle belt is set（21）And two transfer rollers（22）In at least one be dynamic roller, the dynamic roller connects
Connect the control device.
5. halved belt according to claim 4 sorts AGV, it is characterised in that：Support frame as described above（23）On be provided with four
Neck（231）, support frame as described above（23）Pass through four necks（231）It is erected at the vehicle frame（11）On, and both are spirally connected.
6. halved belt according to claim 5 sorts AGV, it is characterised in that：Two pairs of mounting groove（24）Bearing of trend hang down
Directly, and one pair of which mounting groove（24）Bearing of trend and the halved belt sorter（2）On article conveying direction it is identical.
7. AGV is sorted according to any described halved belts of claim 3-6, it is characterised in that：Support frame as described above（23）On also set
It is equipped with least one laser launched and is higher than the belt（21）The laser of upper surface（25）And one group of gap is set
Laser pickoff for receiving laser（26）, the laser（25）And laser pickoff（26）Positioned at belt（21）Both sides
And not in the transmission direction of the belt, the laser pickoff（26）Connect the control device.
8. halved belt according to claim 7 sorts AGV, it is characterised in that：The laser is 2 and gap side by side
Set, the laser pickoff is 4 and is arranged side by side, each laser pickoff（26）2 laser can be received
Device（25）The laser sent.
9. halved belt according to claim 8 sorts AGV, it is characterised in that：One laser（25）Positioned at two
The nearer laser pickoff of spacing（26）Between.
10. halved belt according to claim 8 sorts AGV, it is characterised in that：The laser（25）The laser sent
Angle of coverage is not more than 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720153791.0U CN206456918U (en) | 2017-02-21 | 2017-02-21 | Halved belt sorts AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720153791.0U CN206456918U (en) | 2017-02-21 | 2017-02-21 | Halved belt sorts AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206456918U true CN206456918U (en) | 2017-09-01 |
Family
ID=59691306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720153791.0U Active CN206456918U (en) | 2017-02-21 | 2017-02-21 | Halved belt sorts AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206456918U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792608A (en) * | 2017-10-13 | 2018-03-13 | 合肥东天晓慧科技有限公司 | A kind of rack drives formula crawler bogie |
| CN109205313A (en) * | 2018-09-24 | 2019-01-15 | 杭州中为光电技术有限公司 | Silicon single crystal rod has enough to meet the need device |
| CN110294261A (en) * | 2018-03-22 | 2019-10-01 | 杭州海康机器人技术有限公司 | A kind of guide transport lorry |
| CN110369301A (en) * | 2018-07-19 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Goods sorting system and method for sorting |
| TWI741810B (en) * | 2020-07-09 | 2021-10-01 | 大陸商訊芯電子科技(中山)有限公司 | Automated guided vehicles and component transferring and management systems |
-
2017
- 2017-02-21 CN CN201720153791.0U patent/CN206456918U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792608A (en) * | 2017-10-13 | 2018-03-13 | 合肥东天晓慧科技有限公司 | A kind of rack drives formula crawler bogie |
| CN110294261A (en) * | 2018-03-22 | 2019-10-01 | 杭州海康机器人技术有限公司 | A kind of guide transport lorry |
| CN110369301A (en) * | 2018-07-19 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Goods sorting system and method for sorting |
| CN109205313A (en) * | 2018-09-24 | 2019-01-15 | 杭州中为光电技术有限公司 | Silicon single crystal rod has enough to meet the need device |
| TWI741810B (en) * | 2020-07-09 | 2021-10-01 | 大陸商訊芯電子科技(中山)有限公司 | Automated guided vehicles and component transferring and management systems |
| CN113917894A (en) * | 2020-07-09 | 2022-01-11 | 讯芯电子科技（中山）有限公司 | Intelligent carrier and intelligent material storage management system |
| US11254510B2 (en) | 2020-07-09 | 2022-02-22 | Shunsin Technology (Zhong Shan) Limited | Self-guiding and cargo-sensitive component platform and system for transferring components |
| CN113917894B (en) * | 2020-07-09 | 2024-04-19 | 讯芯电子科技（中山）有限公司 | Intelligent carrier and intelligent material storage management system |
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