CN210175020U - Train accessory carrying AGV and system - Google Patents

Abstract

The application relates to a train accessory delivery AGV and system. Wherein, train accessory delivery AGV's automobile body is equipped with the magnetic navigation device that moves that is used for removing the storage rack for the magnetic navigation device of discernment magnetic track to and can with the on-vehicle controlling means of main control cabinet communication, based on this, AGV can overhaul the in-process at the train, carries out vehicle accessory's automatic delivery through the magnetic track, improves delivery efficiency and automatic level, practices thrift the human cost. Meanwhile, the driving device of the vehicle body comprises double steering wheels and auxiliary wheels which are arranged at the bottom of the vehicle body; 2 steering wheels of the double steering wheels are arranged at intervals along the advancing direction of the vehicle body; the number of the auxiliary wheels is at least 3, and each auxiliary wheel is arranged around the double steering wheels. Based on above-mentioned structure, AGV can ensure that the automobile body keeps the horizontality basically when AGV passes through the rail, smoothly passes through the rail.

Description

Train accessory carrying AGV and system

Technical Field

The application relates to the technical field of rail transit, in particular to a train accessory carrying AGV and a system.

Background

In the railway train vehicle maintenance process, in order to standardize accessory conveying and management and improve maintenance efficiency, logistics distribution of maintenance accessories is advocated by adopting a vehicle distribution mode by each railway maintenance unit. The vehicle distribution refers to the principle of fine management, and on the basis of the existing vehicle maintenance management mode, the management and distribution of necessary replacement parts and even replacement parts are carried out by taking the minimum maintenance unit of the vehicle as a unit.

The vehicle distribution is a novel logistics distribution management mode, which is implemented properly, can greatly improve the distribution efficiency of the accessories, and is helpful for forming a complete accessory conveying information management system, but in the implementation process, the inventor finds that at least the following problems exist in the traditional technology: at present, in the maintenance process of a railway wagon, the distribution of vehicle accessories is mainly carried out by manually utilizing a forklift or a manual cart, and the automation level and the distribution efficiency are low.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a train accessory carrying AGV and a system for solving the problems of the conventional vehicle accessory distribution that the automation level is low and the distribution efficiency is low.

To achieve the above object, in one aspect, an embodiment of the present application provides an AGV for transporting a train accessory, including a vehicle body; the vehicle body is provided with:

a drive device; the driving device comprises double steering wheels and auxiliary wheels which are arranged at the bottom of the vehicle body; 2 steering wheels of the double steering wheels are arranged at intervals along the advancing direction of the vehicle body; the number of the auxiliary wheels is at least 3, and each auxiliary wheel is arranged around the double steering wheels.

And the transfer device is used for moving the storage rack.

And the magnetic navigation device is used for identifying the magnetic track.

An in-vehicle control device; the vehicle-mounted control device comprises a controller and wireless communication equipment; the controller is electrically connected with the double steering wheels, the transfer device, the magnetic navigation device and the wireless communication equipment respectively; the wireless communication device is used for being in communication connection with the main control station.

In one embodiment, the 2 steering wheels of the double steering wheel are arranged close to the centre line of the vehicle body in the direction of travel.

In one embodiment, the auxiliary wheels are universal wheels, and each universal wheel is arranged close to the edge of the vehicle body.

In one embodiment, the in-vehicle control device further comprises a driver and an auxiliary controller connected to the controller. The auxiliary controller is electrically connected with the driver and the controller respectively; the driver is electrically connected with the driving motors of the double steering wheels.

In one embodiment, the magnetic navigation device includes 2 magnetic navigation sensors, and the 2 magnetic navigation sensors are respectively arranged on the front side and the rear side of the vehicle body in the traveling direction.

In one embodiment, the magnetic navigation sensor is electrically connected to the auxiliary controller via a CAN bus.

In one embodiment, the vehicle body is further provided with an obstacle sensor; the obstacle sensors are provided on both front and rear sides of the vehicle body in the traveling direction.

In one embodiment, the controller is a programmable logic controller; the wireless communication device is a Wi-Fi module.

In one embodiment, the vehicle-mounted control device further comprises an operation panel electrically connected with the programmable logic controller.

In one embodiment, the transfer device comprises a lifting motor, a lifting cylinder and a guide mechanism. The lifting motor is electrically connected with the controller; the lifting cylinder is respectively connected with the lifting motor and the guide mechanism mechanically.

In one embodiment, the number of the transfer devices is two, and the two transfer devices are respectively arranged at the front side and the rear side of the vehicle body in the travelling direction.

In one embodiment, the vehicle body is further provided with a power supply device. The power supply device is electrically connected with the double steering wheels, the transfer device, the magnetic navigation device and the controller respectively.

In one embodiment, the power supply device comprises a lithium battery and a charging interface. The lithium battery is respectively and electrically connected with the charging interface, the double steering wheels, the transfer device, the magnetic navigation device and the controller.

In one embodiment, the charging interface is arranged at the bottom of the vehicle body.

In another aspect, an embodiment of the present application further provides a train accessory carrying system, which includes a storage rack and a train accessory carrying AGV as described above. The storage rack comprises a rack body; the support body is provided with a bearing platform, an RFID reader and a wireless communication device which is in communication connection with the main control console.

In one embodiment, the frame body is further provided with a moving wheel, a push-pull handle and a call button. The support body top is located to load-bearing platform, and push-and-pull handle locates one side of load-bearing platform, and call button and wireless communication equipment locate load-bearing platform's below. The RFID reader and the moving wheel are arranged at the bottom of the frame body.

One of the above technical solutions has the following advantages and beneficial effects:

train accessory delivery AGV's automobile body is equipped with the device that moves of carrying that is used for removing the storage rack for the magnetic navigation device of discernment magnetic track to and can with the on-vehicle controlling means of main control cabinet communication, based on this, AGV can be in the train maintenance in-process, carries out vehicle accessory's automatic delivery through the magnetic track, improves delivery efficiency and automatic level, practices thrift the human cost. Meanwhile, the double steering wheels and the auxiliary wheels surrounding the peripheries of the double steering wheels are arranged at the bottom of the car body, so that the car body can be kept in a basically horizontal state and smoothly and stably passes through the rails when the AGV passes through the rails.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular description of preferred embodiments of the application, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the subject matter of the present application.

FIG. 1 is a schematic diagram of an embodiment of a train accessory carrying an AGV;

FIG. 2 is a schematic bottom view of a body of an embodiment of a train accessory carrying an AGV;

FIG. 3 is a signal flow diagram of an exemplary AGV onboard control device carried by a train accessory;

FIG. 4 is a diagram of a first perspective view of an embodiment of a train accessory carrying an AGV;

FIG. 5 is a diagram of a second perspective view of one embodiment of a train accessory carrying an AGV;

FIG. 6 is a schematic view of a storage rack of the train accessory carriage system in one embodiment;

FIG. 7 is a schematic diagram of an exemplary embodiment of a train assembly carrier system;

fig. 8 is a schematic network architecture diagram of the train component carrier system according to an embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "body," "bottom," "direction of travel," and the like are used herein for purposes of illustration only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In other industries such as warehousing and logistics, automatic distribution and automatic management are widely implemented at present, but in the field of railway wagon inspection, the distribution of vehicle accessories at present is basically carried out by manually using a forklift or a manual cart, wherein the reasons of production organization and production process exist, and many limiting conditions of an inspection field exist, such as a complex material setting environment of the inspection field, and transverse wheel sets or bogie conveying tracks often exist on the ground, so that the distribution automation is difficult to implement.

The manual mode that current railway freight car overhauls the unit and adopts carries out vehicle accessory distribution, and vehicle accessory distribution system has many-sided not enough: 1. in the technical aspect, the current vehicle accessory distribution mode technology falls behind, and a forklift or a special manual cart is needed to be manually adopted for distribution. 2. In the aspect of cost, special distribution personnel are required to be occupied, multiple groups of operators are required to be matched with each other, and the labor cost is high; in addition, in the current vehicle accessory distribution process, people and vehicles often perform cross operation, and great potential safety hazards exist. 3. In the aspect of efficiency, current vehicle accessory delivery inefficiency is delivered by operating personnel according to the demand, and the delivery process real-time is relatively poor, and efficiency is lower.

Among a plurality of transport technologies, an Automated Guided Vehicle (AGV) has the advantages of high efficiency, environmental protection, unmanned driving, safety, stability, freedom, flexibility, and the like, so that the AGV becomes an optimal solution for realizing automatic material transport. The AGV technology has been developed for many years and is widely applied to the fields of storage and logistics, but the application of the AGV technology in the aspects of railway maintenance and the like also belongs to the starting stage. From the perspective of flexibility, high efficiency, stability and reliability of production, the AGV has incomparable advantages

With the development and continuous improvement of intelligent manufacturing and industrial automation level, the vehicle maintenance operation also needs to follow the development of the times, and a more efficient, convenient and intelligent solution is adopted. Therefore, according to the requirements of the maintenance production process of the railway wagon, the actual conditions of the production field are analyzed, the automatic delivery system for vehicle accessory vehicle distribution is developed, AGV is used for delivery, automatic vehicle accessory distribution is achieved, and vehicle accessory delivery efficiency and accessory management level are greatly improved.

In one embodiment, a train accessory carrying AGV is provided, as shown in FIG. 1, including a vehicle body; the vehicle body is provided with:

a drive device; the driving device comprises a double-rudder wheel 2 and an auxiliary wheel 4 which are arranged at the bottom of the vehicle body; 2 steering wheels of the double steering wheels 2 are arranged at intervals along the advancing direction of the vehicle body; the number of the auxiliary wheels 4 is at least 3, and each auxiliary wheel 4 is provided around the double steering wheel 2.

And the transfer device is used for moving the storage rack.

And the magnetic navigation device is used for identifying the magnetic track.

An in-vehicle control device; the vehicle-mounted control device comprises a controller and wireless communication equipment; the controller is electrically connected with the double-rudder wheel 2, the transfer device, the magnetic navigation device and the wireless communication equipment respectively; the wireless communication device is used for being in communication connection with the main control station.

Specifically, a vehicle body on which the AGV is carried by the train component includes a driving device, a transfer device, a magnetic navigation device, and an on-vehicle control device. For example, the vehicle body can adopt a profile welding frame type structure, and the vehicle body structure has enough strength and rigidity; meanwhile, the vehicle body structure is designed with the installation positions and the supporting positions of other components; and the outside of the vehicle body can be decorated by adopting a stainless steel cover.

The driving device comprises double steering wheels 2 and auxiliary wheels 4, wherein the two steering wheels of the double steering wheels 2 are arranged on the vehicle body and are arranged at intervals along the advancing direction of the vehicle body and used for driving the AGV to advance; a plurality of auxiliary wheels 4 surround the double steering wheels 2 for keeping the balance of the car body and ensuring that the AGV can smoothly pass through the deep groove of the rail width. It should be noted that the auxiliary wheels 4 may be universal wheels, etc., and the center of gravity of the vehicle body falls into the region surrounded by the auxiliary wheels 4 in the direction perpendicular to the ground. The steering wheel can be driven by a rotary driving motor and a walking driving motor to rotate and walk.

The movable storage rack of the transfer device is used for bearing vehicle accessories, so that vehicle distribution is realized. Alternatively, the transfer device and the storage rack can be designed integrally, and independent storage racks can be moved and transported through the design of a hook structure, a lifting structure and the like. The transfer device may be implemented in various ways to move the storage rack, and is not limited in particular here.

The magnetic track can be identified by the magnetic navigation device, and the traveling direction of the AGV is determined. Specifically, the identification can be performed by the cooperation of the magnetic sensor and the navigation processor. The magnetic navigation device may be disposed at the bottom of the vehicle, or may be led out from the vehicle body to identify the magnetic track disposed on the ground.

The in-vehicle control apparatus includes a controller and a wireless communication device for communicating with a main console. The controller can obtain instructions of the main control console, such as a destination, a traveling route and the like, through the wireless communication equipment, analyze and identify the route according to the instructions and the magnetic navigation device, and control the double-steering wheel 2 to drive the AGV to travel; meanwhile, the controller can also control the transfer device to carry or unload the storage rack. It should be noted that the controller may be a programmable logic controller, a central processing unit, a single chip, etc., and is not limited herein; the Wireless communication device may be a Wi-Fi (Wireless Fidelity ) module, a bluetooth module, a LoRa module, etc., and is not limited herein.

The AGV that this application embodiment provided can overhaul the in-process at the train, carries out vehicle accessories's automatic delivery through the magnetic track, improves delivery efficiency and automatic level, practices thrift the human cost. Meanwhile, the double steering wheels and the auxiliary wheels surrounding the peripheries of the double steering wheels are arranged at the bottom of the car body, so that the car body can be kept in a basically horizontal state and smoothly and stably passes through the rails when the AGV passes through the rails. In addition, because can't lay the magnetic stripe at rail and AGV route intersection, consequently the magnetic stripe on the AGV route can miss one section, for this reason, AGV accessible controller and two helm cooperations of this application embodiment, automatic start magnetic stripe offline protection mechanism allow the vehicle to break away from the magnetic stripe and move and pass through the track for a period of time. It should be noted that the offline protection mechanism or the derailment delay protection function, etc. can be implemented by using the existing algorithm or method, and will not be described herein.

In one embodiment, as shown in fig. 2, 2 rudder wheels of the twin rudder wheel 2 are disposed near the center line of the vehicle body in the traveling direction.

Specifically, the double rudder wheels 2 can be arranged near the center of the bottom of the vehicle body, wherein the 2 rudder wheels can be arranged near the center line of the vehicle body in the advancing direction and are arranged along the advancing direction of the vehicle body at intervals in the front and back direction, so that the moving efficiency and flexibility of the vehicle body are improved.

In one embodiment, the auxiliary wheels 4 are universal wheels, each of which is disposed near an edge of the vehicle body.

Specifically, in the AGV, the auxiliary wheels 4 are disposed near the edge of the bottom of the AGV, and the double steerable wheels 2 are wound around the auxiliary wheels, thereby further improving the stability of the AGV. Alternatively, the auxiliary wheel 4 may be disposed near a side of the bottom of the vehicle body, or may be disposed near a corner of the bottom of the vehicle body; illustratively, the shape of the vehicle body bottom is a quadrangle, and the auxiliary wheels 4 may be disposed near corners of the quadrangle.

Considering that the AGV travels vertically through the rails on the course, the rails are 80mm (millimeters) wide and 50mm deep. Ordinary AGV car walking speed is slower, and in order to pursue stably, automobile body center and chassis are lower relatively, and the wheel diameter is also less, and the AGV of this structure can't pass through the deep groove of rail width, and the magnetic stripe can't be laid during the poker deep groove, and AGV needs "blind walking". Therefore, in the embodiment of the present application, the wheel width of the steering wheel can be greater than 80mm, and preferably, the steering wheel can be designed in a structure with the wheel width of 88mm and the diameter of 252 mm. Meanwhile, the four auxiliary wheels 120 are arranged at four corners, so that the vehicle body can be kept in a horizontal state when passing through the rail, and the rail can be smoothly and stably passed through by matching with the derailment delay protection function on the driver.

In one embodiment, as shown in FIG. 3, the in-vehicle control device further includes a driver and an auxiliary controller in communication with the controller. The auxiliary controller is electrically connected with the driver and the controller respectively; the driver is electrically connected with the driving motors of the double steering wheels.

Specifically, the vehicle-mounted control device further comprises a driver and an auxiliary controller; the auxiliary controller is connected with the controller, and the driver is connected between the double steering wheels and the auxiliary controller. The auxiliary controller may be a controller expansion interface Function, and optionally, the auxiliary controller may be a Multi-Function input output interface (MFIO) controller. For example, the driver can control the steering wheel to advance and turn by 2 paths of output, and the maximum continuous output current can be 50A; the drive is connected to the auxiliary Controller MFIO via a CAN (Controller Area Network) bus. It should be noted that fig. 3 is only an example showing one of the signal flow directions, and in the embodiment of the present application, signal transmission between each device may be bidirectional transmission or unidirectional transmission, which is not specifically limited herein.

In one embodiment, the magnetic navigation device includes 2 magnetic navigation sensors, and the 2 magnetic navigation sensors are respectively provided on the front side and the rear side of the vehicle body in the traveling direction.

Particularly, magnetic navigation sensor on the AGV automobile body can locate the locomotive and the rear of a vehicle of automobile body respectively, and the AGV of being convenient for is marchd on the magnetic track.

In one embodiment, the magnetic navigation sensor is electrically connected to the auxiliary controller via a CAN bus.

Specifically, a CAN bus CAN be arranged on the AGV, so that data transmission between the vehicle-mounted control device and other devices or equipment is facilitated.

In one embodiment, the vehicle body is further provided with an obstacle sensor; the obstacle sensors are provided on both front and rear sides of the vehicle body in the traveling direction.

Specifically, obstacle sensors can be mounted at the front and the rear of the AGV, and the AGV has an obstacle detection function in the driving process, can detect obstacles, pedestrians and other facilities close to the vehicle, and can perform deceleration processing on the vehicle by matching with a controller during detection; when the distance is too close, the vehicle can also temporarily stop for waiting for the obstacle to clear and then move, and during the period, the vehicle can give out sound and light alarm to prompt the surrounding environment. Alternatively, the obstacle sensor may be an infrared sensor, an ultrasonic sensor, or the like, and is not particularly limited herein.

In one embodiment, as shown in FIG. 3, the controller is a programmable logic controller; the wireless communication device is a Wi-Fi module.

Further, the vehicle-mounted control device also comprises an operation panel electrically connected with the programmable logic controller.

Specifically, the operation panel may be provided with at least one input device; the input device may be a button, a touch screen, or the like.

In one embodiment, as shown in fig. 4, the number of transfer devices 3 is two, and the two transfer devices are provided on both front and rear sides of the vehicle body 1 in the traveling direction.

Specifically, the transfer devices 3 are provided on both the front and rear sides in the traveling direction of the vehicle body 1, and the stability of moving and transporting the storage rack can be improved.

In one embodiment, as shown in fig. 5, the transfer device 3 includes a lift motor 10, a lift cylinder 11, and a guide mechanism 12. The lifting motor 10 is electrically connected with the controller; the lift cylinder 11 is mechanically connected to a lift motor 10 and a guide mechanism 12, respectively.

Specifically, the transfer device 3 may include a lift motor 10 connected to the controller, a lift cylinder 11 mechanically connected to the lift motor 10, and a guide mechanism 12 engaged with the lift cylinder 11. The direction of the guide mechanism 12 can be perpendicular to the bottom of the vehicle body 1, and a bearing mechanism can be arranged between the guide mechanism 12 and the lifting cylinder 11 and used for bearing the storage rack. Based on the cooperation of the lifting motor 10, the lifting cylinder 11 and the guide mechanism 12, the controller may control the lifting motor 10 to lift up and down the storage rack.

The transfer device 3 is exemplarily composed of a lift drive stepping motor 10, a transfer device lift cylinder 11, and two sets of transfer device guide mechanisms 12. The lift driving stepping motor 10 drives the lift cylinder to perform the lifting operation of the transfer device 3, and the storage rack is lifted up and down. The transfer device 3 may be disposed in the middle of the vehicle body 1 or on one side of the vehicle body 1 as required.

In one embodiment, the vehicle body 1 is further provided with a power supply device. The power supply device is electrically connected with the double-rudder wheel 2, the transfer device 3, the magnetic navigation device 7 and the controller respectively.

Specifically, the AGV body 1 is further provided with a power supply device for supplying electric power to the double steering wheels 2, the transfer device 3, the magnetic navigation device 7, the controller, and the like. The power supply device can supply power for a lithium battery, a storage battery and the like.

In one embodiment, as shown in fig. 4, the power supply device comprises a lithium battery 6 and a charging interface 8. The lithium battery 6 is respectively electrically connected with the charging interface 8, the double steering wheels 2, the transfer device 3, the magnetic navigation device 7 and the controller.

Specifically, the power supply device may include a lithium battery 6 for supplying power, and a charging interface 8 for charging the lithium battery 6. Wherein, according to actual design demand, the interface 8 that charges can locate automobile body 1 bottom, automobile body 1 side or automobile body 1 top etc.

In one embodiment, the charging interface 8 is provided at the bottom of the vehicle body 1.

Specifically, the AGV adopts a 48V lithium battery for power supply, and meanwhile, an automatic charging device is arranged in a special area in a plant; when the AGV electric quantity is low, the vehicle can be automatically detected and an instruction is sent to automatically charge. AGV power supply unit adopts the mode of putting the connection contact down, and the interface that charges is located the AGV lower part. When the AGV stops at the charging station, the vehicle-mounted charging interface is automatically butted and matched with the ground connection contact up and down, the AGV drives away after charging is completed, the connection contacts are automatically separated, and the charging convenience of the AGV is improved.

In one embodiment, as shown in fig. 4 and 5, the AGV is composed of a vehicle body structure, a power supply device, a drive device, a transfer device, an in-vehicle control device, a navigation device, a safety device, an auxiliary device, and the like. The specific structure can be as follows:

(1) a vehicle body structure. By welding the frame structure 1 with the profiles, the body structure has sufficient strength and rigidity. The vehicle body structure is designed with mounting and supporting positions for other components. The outside of the vehicle body is decorated by a stainless steel cover.

(2) A power supply system. AGV adopts 48V (volt) lithium cell 6 power supplies, and special area is provided with automatic charging device in the factory building simultaneously, and when the AGV electric quantity was low, the vehicle can automated inspection and send instruction automatic charging. The AGV charger adopts the mode of putting the connection contact down, and interface 8 that charges is located the AGV lower part. When the AGV stops at the charging station, the vehicle-mounted charging interface 8 is automatically butted and matched with the ground connection contact up and down, the AGV drives away after charging is completed, and the connection contact is automatically separated.

(3) A drive device. The AGV adopts a double-rudder wheel driving structure, and a driving system consists of 2 rudder wheels 2 and 4 auxiliary wheels 4. The two steering wheels 2 are arranged in the middle of the vehicle body at intervals in the front-back direction; the 4 auxiliary wheels 4 are universal wheels and are arranged at four corners of the vehicle body. The steering wheel 2 is driven to rotate and travel by a rotation drive motor 5 and a travel drive motor 9. The rotary driving motor 5 is a 200W (watt) brush DC motor, and the walking driving motor 9 is a 800W brush DC motor.

(4) A transfer device. The AGV adopts two sets of lifting transfer devices 3 to transfer and carry the storage rack. Two sets of transfer devices 3 are respectively installed inside the front and rear frames of the AGV. The transplanting device 3 is composed of a lifting driving stepping motor 10, a transferring device lifting cylinder 11 and two groups of transferring device guiding mechanisms 12. The lift driving stepping motor 10 drives the lift cylinder 11 to perform the lifting operation of the transfer device, and the storage rack is lifted up and down.

(5) Provided is a vehicle-mounted control device. The AGV core part comprises a driver, a controller, a wireless communication device, an operation panel and the like. The two steering wheels can be respectively driven by corresponding intelligent drivers, the drivers output 2 paths to control the steering wheels to advance and turn, and the maximum continuous output current is 50A. And 2 drivers are connected with the MFIO through a CAN bus. The controller can adopt Siemens S7-200PLC, and the PLC supports RS485, RS232, MODBUS, DP (Decentralized Periphery) and Ethernet and other communication protocols. The PLC is connected with the wireless communication equipment to carry out real-time communication with the main control console, and messages such as vehicle information and feedback signals are transmitted to complete the action control of the AGV. The operation panel realizes a human-computer interaction function, and a feedback instruction is input during AGV debugging.

(6) A navigation device. The AGV adopts the magnetic navigation mode to carry out automatic guidance. The front part and the rear part of the AGV are respectively provided with a magnetic navigation sensor 7, and a sensor signal is directly accessed to the MFIO of the control system through a CAN bus to carry out guide route feedback. In addition, obstacle sensors 13 may be installed at the front and rear of the AGV.

In one embodiment, a train accessory carrying system is provided that includes a storage rack and a train accessory carrying AGV as described above. The storage rack comprises a rack body; the frame body is provided with a bearing platform, an RFID (Radio frequency identification) reader and a wireless communication device which is in communication connection with the main console.

Particularly, a bearing platform for storing accessories, an RFID reader for identifying position marks and wireless communication equipment for being in communication connection with the main control console are arranged on the shelf body of the storage shelf. Based on the structure, the storage rack can be provided with functions of a wireless calling system, positioning identification and the like, and calling and intelligent scheduling are greatly facilitated when train accessories are delivered.

The train accessory carrying system can intelligently schedule the AGV, the conveying storage rack and accessories to and from the warehouse and the use stations through the wireless communication technology; automatic storage and separation are realized to storage rack and AGV dolly, and whole flow need not manual work completely, and AGV and storage rack pass through the mutual information of wireless communication automation, can realize that storage rack automatic dispatch AGV comes and goes between corresponding station and the warehouse.

The automatic degree of vehicle accessory delivery is improved in the embodiment of the application, automatic delivery of the vehicle accessories is carried out by the AGV and the storage rack, and the automation level of the delivery is improved. Simultaneously, greatly improve delivery efficiency, practice thrift the human cost. After the train accessory carrying system is put into use, the same workload of 8 hours each day in the past is completed, only less than half of the time is used, and the working efficiency and the product quality are greatly improved. Moreover, the whole distribution process is unattended, the labor cost is saved, and personnel are liberated from high-frequency distribution and transportation work. In addition, the system has perfect safety protection measures, the safety of the parts in the transportation process is greatly improved, and the potential safety hazard of the distribution of the existing vehicle parts is eliminated.

In one embodiment, the frame body is further provided with a moving wheel, a push-pull handle and a call button. The support body top is located to load-bearing platform, and push-and-pull handle locates one side of load-bearing platform, and call button and wireless communication equipment locate load-bearing platform's below. The RFID reader and the moving wheel are arranged at the bottom of the frame body.

Particularly, still can be equipped with on the support body of storage rack and remove wheel, call button and push-and-pull handle, the maintainer of being convenient for removes storage rack and artifical calling AGV carries out the storage rack and transports. In addition, RFID can locate the bottom of support body in the navel, can be used to discernment and locate the position sign on ground, is convenient for AGV location and transport to the target storage rack.

In one embodiment, as shown in fig. 6, the storage rack is responsible for carrying distribution accessories in vehicle distribution, the storage rack can meet the load of 600KG (kilograms), and the storage rack is formed by welding sectional materials. The storage rack carrier platform 14 is used for various accessory storage and the push-pull handle 16 is used for temporary push-pull movement. The storage rack running is carried out by using a directional roller 16 and a universal roller 17. An RFID reader 18 is mounted below the storage rack for location determination of the location RFID. Under the platform 14, there is a push-pull drawer, which is equipped with a portable battery 19, a call button 21 and a wireless communication device 20, wherein the call button 21 is used for making dispatch call, and the wireless communication device 20 is used for sending signal to the main control center.

In one embodiment, the system designs a reasonable process layout and a reasonable logistics route, and can realize automatic distribution of vehicle accessories among stations without influencing other existing production organizations. As shown in fig. 7, the process flow of the train assembly carrying system may be as follows:

the workman places vehicle accessories on the storage rack at the maintenance storehouse, and the storage rack is located maintenance storehouse material loading district this moment. After the placement is finished, a calling button on the storage rack is pressed, the position of the storage rack is provided with a serial number by the RFID label, and a calling signal is sent to the main control console through wireless communication equipment; and the main control station receives the message to match the serial numbers of the requested stations, automatically generates a distribution task and starts to search for the AGV. When the vacant vehicles are found, the tasks are sent to the interior of the vehicles, and the AGV receives the task signals and advances to the storehouse.

When the AGV reaches a storehouse feeding area, the AGV can acquire ground coordinates RFID and transmit real-time coordinate positions to a control system, the AGV starts a transfer device to lift a storage rack after reaching a specified position, and then the AGV starts transportation along a task planning path. The method comprises the steps that firstly, the AGV passes through a gate of an overhaul warehouse, after the AGV reads ground coordinates near the gate, the main control platform opens the gate, after the AGV passes through the gate, the ground coordinates outside the gate are read, and the control platform closes the gate. The AGV continues to travel, reaches and the rail junction, and here rail has 2 wide 80mm, dark 50 mm's deep groove, can't lay the magnetic stripe at rail and AGV route junction, and consequently the magnetic stripe can miss one section, and AGV automatic start magnetic stripe offline protection mechanism this moment allows the vehicle to break away from the magnetic stripe for a period and move and pass through the track. The AGV continues to run along the magnetic stripe track to reach a maintenance station parking position, enters a corresponding parking position according to the parking positions allocated by the task planning, and is accurately positioned by the RFID during parking. After the AGV stops, the storage rack is automatically put down, the storage rack is also triggered to be placed on the ground, and after the control system confirms that the storage rack is placed in place, the AGV automatically runs to a waiting position or continues to execute the next task. The work piece stops on the storage rack this moment, and the workman can take the work piece away by oneself and change, also can manually push away the storage rack to the truck side and assemble work, wait to work to accomplish again with the storage rack propelling movement return parking stall call AGV get the car can

In one embodiment, the system employs sophisticated safeguards to eliminate safety hazards in the distribution of vehicle accessories. The safety system is an indispensable component of the AGV, and a control cabinet and an operation panel of the AGV are provided with emergency stop buttons, so that the vehicle can be powered off and stopped in emergency; all install barrier sensor around the AGV, possess barrier detection function in the driving process, detectable arrives the barrier that is close to the vehicle, facilities such as pedestrian, can carry out deceleration processing with the vehicle when detecting, and the vehicle still can park temporarily when the distance is too close and wait for behind the barrier clearance to go on again, and the vehicle can send audible and visual warning in order to indicate the surrounding environment during.

In one embodiment, as shown in fig. 8, a high-efficiency communication system and a dispatching system of an automatic vehicle part distribution and carrying system for vehicle parts are developed, so that the vehicle parts can be automatically distributed between a warehouse area and a large overhaul warehouse platform according to a specific route. The space of a workshop inside the railway wagon maintenance workshop is large, the number of equipment is large, and the mobility of personnel is strong. The AGV, as an unmanned, transport storage rack, needs to connect the vehicle with the main console by wireless technology. However, the vehicle-mounted wireless communication equipment cannot carry wireless communication equipment with a large power transmission range due to the small and exquisite vehicle body and limited electric quantity and vehicle body space, and the AGV is far away from the vehicle-mounted wireless communication equipment and can enter a closed storehouse room. Therefore, a wireless Wi-Fi is installed in the plant to complete AGV remote communication. Each AGV and each storage rack can be provided with a wireless Wi-Fi transmitter, the 802.11b/g/n universal wireless standard is adopted, the frequency range is 2.412GHz to 2.484GHz (gigahertz), the Station mode is adopted, the transmitters are connected into Wi-Fi covered by a factory building, the whole system adopts an MODBUS communication protocol, and remote seamless butt joint is realized. The theoretical range of each wireless transmitter is 400 meters, and the remote communication function can be realized in an area covered by Wi-Fi.

The main control console can adopt S7-200PLC and a touch screen, the control console issues a conveying task to the AGVs through a wireless network, the wireless communication system is used for acquiring the state information of each AGV, and a scheduling command is transmitted to the selected AGV according to the demand condition and the current running condition of each AGV. After the AGV completes one transport task, it waits for the next task in the standby (or charging) area. In order to accelerate the wireless communication speed between the main control console and the AGV so as to conveniently dispatch the AGV, a multithreading mode is adopted in programming, and functional modules such as communication, dispatching and the like are not influenced mutually, so that the running speed of the system is accelerated.

The development train accessory delivery AGV and storage rack realize the transport of vehicle accessories. The AGV automatic carrying vehicle is reasonable in design, the AGV traveling driving device is reasonable, and automatic guiding operation of an AGV system and cross-workshop wheel pair rail operation are achieved. Meanwhile, the storage rack with reasonable design has the functions of unified accessory storage, system calling, positioning identification and the like. Based on the structural design, reasonable process layout and logistics routes can be designed and planned, and automatic distribution of vehicle accessories among stations can be realized under the condition that other existing production organizations are not influenced. And, adopt perfect safety protection measure, eliminate the potential safety hazard in the vehicle accessory distribution. In addition, a high-efficiency communication system and a dispatching system of the automatic vehicle part distribution delivery system can be developed based on the structure. The automatic vehicle distribution of the vehicle accessories between the storage area and the overhaul large warehouse table positions according to a specific line is realized. The distribution operation flow is smooth and efficient, the demand and the distribution real-time performance are improved, and the distribution efficiency of vehicle accessories is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (10)

1. A train accessory carrying AGV is characterized by comprising a vehicle body; the car body is provided with:

a drive device; the driving device comprises double steering wheels and auxiliary wheels which are arranged at the bottom of the vehicle body; 2 steering wheels of the double steering wheels are arranged at intervals along the advancing direction of the vehicle body; the number of the auxiliary wheels is at least 3, and each auxiliary wheel is arranged around the double steering wheels;

the transfer device is used for moving the storage rack;

a magnetic navigation device for identifying a magnetic track;

an in-vehicle control device; the vehicle-mounted control device comprises a controller and wireless communication equipment; wherein the controller is electrically connected with the double steering wheels, the transfer device, the magnetic navigation device and the wireless communication equipment respectively; the wireless communication equipment is used for being in communication connection with the main control station.

2. The train accessory carrying AGV of claim 1,

2 steering wheels of the double steering wheels are arranged close to the center line of the vehicle body in the traveling direction;

the auxiliary wheels are universal wheels, and each universal wheel is arranged close to the edge of the vehicle body.

3. The train accessory transport AGV of claim 1, wherein the onboard control further includes a drive and an auxiliary controller with the controller;

the auxiliary controller is electrically connected with the driver and the controller respectively;

the driver is electrically connected with the driving motors of the double steering wheels.

4. The train accessory transport AGV of claim 3,

the magnetic navigation device comprises 2 magnetic navigation sensors, and the 2 magnetic navigation sensors are respectively arranged on the front side and the rear side of the vehicle body in the traveling direction;

the magnetic navigation sensor is electrically connected with the auxiliary controller through a CAN bus;

the vehicle body is also provided with an obstacle sensor; the obstacle sensors are arranged on the front side and the rear side of the vehicle body in the traveling direction;

the controller is a programmable logic controller; the wireless communication equipment is a Wi-Fi module;

the vehicle-mounted control device also comprises an operation panel electrically connected with the programmable logic controller.

5. The train accessory transport AGV of any one of claims 1 to 4, wherein the transfer device includes a lift motor, a lift cylinder and a guide mechanism;

the lifting motor is electrically connected with the controller;

the lifting cylinder is respectively mechanically connected with the lifting motor and the guide mechanism.

6. The AGV according to claim 5, wherein the number of the transfer devices is two, and the transfer devices are respectively provided on front and rear sides of the vehicle body in the traveling direction.

7. The train accessory transport AGV of any one of claims 1 to 4, wherein the car body is further provided with a power supply;

the power supply device is electrically connected with the double steering wheels, the transfer device, the magnetic navigation device and the controller respectively.

8. The train accessory transport AGV of claim 7, wherein the power supply includes a lithium battery and a charging interface;

the lithium battery is electrically connected with the charging interface, the double steering wheels, the transfer device, the magnetic navigation device and the controller respectively;

the charging interface is arranged at the bottom of the vehicle body.

9. A train accessory carrying system comprising a storage rack and a train accessory carrying AGV according to any one of claims 1 to 8;

the storage rack comprises a rack body; the support body is equipped with load-bearing platform, RFID and reads the ware and be used for with main control cabinet communication connection's wireless communication equipment.

10. The train accessory delivery system of claim 9, wherein the frame is further provided with a moving wheel, a push-pull handle and a call button;

the bearing platform is arranged at the top of the frame body, the push-pull handle is arranged on one side of the bearing platform, and the call button and the wireless communication equipment are arranged below the bearing platform;

the RFID reader and the moving wheel are arranged at the bottom of the rack body.

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