CN102718043A - Piggyback automatic guided vehicle (AGV) moving transfer robot - Google Patents
Piggyback automatic guided vehicle (AGV) moving transfer robot Download PDFInfo
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- CN102718043A CN102718043A CN2012101451470A CN201210145147A CN102718043A CN 102718043 A CN102718043 A CN 102718043A CN 2012101451470 A CN2012101451470 A CN 2012101451470A CN 201210145147 A CN201210145147 A CN 201210145147A CN 102718043 A CN102718043 A CN 102718043A
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Abstract
The invention discloses a piggyback automatic guided vehicle (AGV) moving transfer robot, which comprises a vehicle chassis (10), a control element (12), a battery (7) with a charging connector (3), a driving wheel (5) with a traction motor (4), a driven wheel (8) and a supporting wheel (14), wherein a driving motor shaft and a rotating spindle of the driving wheel are provided with encoders (6); the bottom of the chassis is provided with a magnetic grating ruler (9); the front and rear of the vehicle chassis are provided with a laser safety protection device (2) and a contact protection ring (1); contact protection devices (13) are arranged on two sides of the vehicle chassis; the upper part of the vehicle chassis is provided with a roller way or an external transfer mechanism (11); the vehicle chassis is powered by the battery; the charging connector is arranged below the vehicle head; and the lower edge of the supporting wheel (14) is not contacted with the ground. By adoption of a vehicle chassis structure which is driven by a single steering wheel and supported by multiple driven wheels, the positioning mode of positioning dual encoders and assisting the magnetic grating ruler is realized, and a set of AGV intelligent transfer system which is simple in structure, high in cost performance and high in applicability is formed.
Description
Technical field
The invention belongs to intelligent logistics carrying, transport vehicles technical field, relate generally to a kind of back carried AGV and move transfer robot.
Background technology
(Automated Guided Vehicle is to be equipped with homing guidance devices such as electromagnetism or photoelectricity AGV) to the AGV car, can go automatically along the guide path of regulation, has the transfer robot of programming and mode selector, safety guard-safeguard and various transfer functions.AGV has degree of automation height, safety, characteristics such as flexible; Thereby being widely used in automated production and warehousing systems such as Automobile manufacturing, machine up, it is one of key equipment of modernized logistic storage such as flexible manufacturing manufacturing line and automatic stereowarehouse system.
Flourish along with fields such as China factory material flows automation, automated assembly linies also increases the demand of AGV thereupon.Particularly recent years, because the minimizing of labour power and increasing of cost, the demand of AGV has had more significantly to be increased.But at present mostly the AGV control system is import, and cost is higher, be difficult to accepted, and some homemade goods transfer instruments commonly used by vast medium and small sized enterprises, such as fork truck, meet and ground not at ordinary times, the time regular meeting goods phenomenon of tumbling takes place; The mobile handling machinery target error that has is big, need spend a large amount of manpower conditionings, and therefore, it is imperative to develop a kind of AGV car economical and practical, that can accurately accomplish various goods transfer carryings.
Summary of the invention
A kind of back carried AGV moves transfer robot; Comprise car body chassis, control element, have drive wheel, flower wheel, the support wheel of battery, the band traction electric machine of charge connector, the traction electric machine axle and the rotary main shaft of said drive wheel all is equipped with coder; Tray bottom is equipped with magnetic railings ruler, before and after the car body chassis laser safeguard protection device and contact back up ring are arranged respectively, and the contact protective device is equipped with in both sides, car body chassis; Top is installed roller-way or is outreached transfer mechanism; The car body chassis is battery-powered, and charge connector is equipped with in the headstock below, and the support wheel lower edge is face non-contiguously.The car body chassis is equipped with one or more alarm lamps.
Further, drive wheel is single steering wheel.Flower wheel is a direction-caster.Support wheel is a cardan wheel.
Further, support wheel has 2mm approximately apart from ground.
The present invention adopts the chassis structure that single steering wheel drives, multi-driven gear supports, and realizes dual coding device location, the auxiliary locate mode of magnetic railings ruler, the transfer mode of back carried; Cooperate control system and management system; Safe and reliable, cost is low, and alerting ability is high; Can satisfy various user demands, and cost is low, applicability is strong.
Description of drawings
Fig. 1 back carried AGV constructional drawing
Fig. 2 back carried AGV left view
Fig. 3 back carried AGV birds-eye view
Wherein: 1 contact back up ring, 2 laser safeguard protection devices, 3 charge connectors
4 traction electric machines, 5 drive wheels, 6 coders, 7 batteries, 8 flower wheels
9 magnetic railings rulers, 10 car body chassis 11 outreach transfer mechanism 12 control elements
13 side contact protective devices, 14 support wheels, 15 alarm lamps
The specific embodiment
The present invention implements through following mode:
Back carried AGV structure is as shown in Figure 1; 10 tops, car body chassis can be installed roller-way or outreach transfer mechanism 11 according to demand; Roller-way is used for docking with the travel line of forms such as chain, roller, band, other transfer mechanism also can be installed, such as mounting bracket, jig, workpiece container etc.; Drive wheel 5 traction electric machine axles and rotary main shaft respectively are equipped with coder 6, and coder is found the solution the position coordinate of AGV under plane right-angle coordinate with pulse count for the AGV kinematics model, are used for speed control and AGV location; Drive wheel is single steering wheel, and the drive wheel that promptly can accomplish traction simultaneously and/or turn to provides the tractive force of AGV walking and controls direction of travel; Magnetic railings ruler 9 is equipped with in 10 bottoms, car body chassis, and permanent magnetism magnetic nail is buried on AGV track route ground underground, when AGV follows closely through magnetic; Magnetic railings ruler returns the normal direction deviation of AGV direction of travel; The AGV controller to reduce accumulated error, makes that being handled upside down goods accurately arrives the appointed place with this correction position coordinate.
A laser safeguard protection device 2 is respectively arranged before and after the AGV; Invisible lasering beam sweep with rotation forms a plane, and the obstacle in the plane can be with laser beam reflected back detection window, thereby can detect obstacle with contactless mode; Contact protective device 1,13 also is equipped with both sides, car body chassis in front and back; When laser protection detects obstacle, or during contact protective device stress deformation, the AGV ramp to stop; One or more alarm lamps 15 can be installed in the car body chassis, take place suddenly to stop, the situation of fault, or the AGV walking mixes in the passage of row at people's car, can use alarm lamp prompting handler handling failure, or personnel's idea safety around reminding; AGV is by battery 7 power supplies, and charge connector 3 is equipped with in the headstock below, is provided with battery lead plate on the ground of battery-charging station position, when the AGV electric weight is low, can produce charging signals, and AGV runs to the battery-charging station position, and automatic butt is also accomplished charging.
Back carried AGV wheel train structure such as Fig. 2, shown in Figure 3 comprise drive wheel 5, flower wheel 8, support wheel 14, and drive wheel 5 is a steering wheel, and promptly traction/steering integrated drive wheel provides AGV the tractive force of walking, can rotate the control direction of travel simultaneously around vertical axis; Flower wheel 8 is a direction-caster, supports the load on the car body chassis 10; Support wheel 14 is a cardan wheel, and have an appointment apart from ground 2mm height of lower edge, and support wheel does not stress when unloaded; To guarantee that drive wheel has enough friction force to ground; Load the back support wheel and land,, and can ensure that AGV can not tilt when turning for drive wheel sheds unnecessary load.
The present invention is directed to the deficiency described in the background technology improves; A, car low with cost uses more and applicability is strong, safe and reliable is design objective; Adopt the chassis structure that single steering wheel drives, multi-driven gear supports; Through being installed in 2 coder real-time positioning on drive wheel traction electric machine and the rotary main shaft, eliminate cumulative errors with magnetic railings ruler.The transfer mode of back carried according to the manufacturing line actual conditions, can be selected transfer mechanisms such as dress roller-way, frock, thereby increase the commonality that AGV uses, and is economical and practical.Cooperate control system and management system, form the back carried AGV that a nested structure is simple, cost performance is high, applicability is strong and move handling robot system.
The present invention has realized dual coding device location, the auxiliary locate mode of magnetic railings ruler, adopts the walking manner of single steering wheel, multi-driven gear, the transfer mode of back carried; Cooperate control system and management system; Realized the complete autonomy-oriented of AGV system and Vehicle Controller, cost is low, and alerting ability is high; Safe and reliable, can satisfy the user demand of various carrying operating mode.
Although illustrated and described embodiments of the invention; For those of ordinary skill in the art; Be appreciated that under the situation that does not break away from principle of the present invention and spirit and can carry out multiple variation, modification, replacement and modification that scope of the present invention is accompanying claims and be equal to and limit to these embodiment.
Claims (6)
1. a back carried AGV moves transfer robot; Comprise car body chassis (10), control element (12), have charge connector (3) battery (7), the band traction electric machine (4) drive wheel (5), flower wheel (8), support wheel (14), it is characterized in that: the traction electric machine axle of drive wheel (5) and rotary main shaft all are equipped with coder (6); Tray bottom is equipped with magnetic railings ruler (9); A laser safeguard protection device (2) and contact back up ring (1) are respectively arranged before and after the car body chassis; And contact protective device (13) is equipped with in both sides, car body chassis, and top is installed roller-way or outreached transfer mechanism (11), and the car body chassis is supplied power by battery (7); Charge connector (3) is equipped with in the headstock below, and support wheel (14) lower edge is face non-contiguously.
2. back carried AGV according to claim 1 moves transfer robot, it is characterized in that: the car body chassis is equipped with one or more alarm lamps (15).
3. back carried AGV according to claim 1 moves transfer robot, it is characterized in that: drive wheel (5) is single steering wheel.
4. back carried AGV according to claim 1 moves transfer robot, it is characterized in that: flower wheel (8) is a direction-caster.
5. back carried AGV according to claim 1 moves transfer robot, it is characterized in that: support wheel (14) is a cardan wheel.
6. back carried AGV according to claim 6 moves transfer robot, it is characterized in that: support wheel (14) has 2mm approximately apart from ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210145147.0A CN102718043B (en) | 2012-05-11 | 2012-05-11 | Back carried AGV moves transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210145147.0A CN102718043B (en) | 2012-05-11 | 2012-05-11 | Back carried AGV moves transfer robot |
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| Publication Number | Publication Date |
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| CN102718043A true CN102718043A (en) | 2012-10-10 |
| CN102718043B CN102718043B (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210145147.0A Expired - Fee Related CN102718043B (en) | 2012-05-11 | 2012-05-11 | Back carried AGV moves transfer robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935638A (en) * | 2012-11-02 | 2013-02-20 | 绵阳福德机器人有限责任公司 | Integrated chassis for watt-hour meter calibrating robot |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN104635733A (en) * | 2014-12-03 | 2015-05-20 | 国家电网公司 | Automatic guided vehicle and control method thereof |
| CN104765361A (en) * | 2014-01-04 | 2015-07-08 | 江门市鸿强自动化设备有限公司 | Single-drive reciprocating turning-type AGV (Automated Guided Vehicle) |
| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN105383843A (en) * | 2014-08-27 | 2016-03-09 | 株式会社日立制作所 | Cargo entry and exit auxiliary system and cargo entry and exit auxiliary method |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN105712253A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent transportation vehicle system with jacking function |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN104102217B (en) * | 2014-07-14 | 2017-01-11 | 上海海事大学 | System and method for detecting running state of carrying vehicle |
| CN106672609A (en) * | 2017-01-09 | 2017-05-17 | 安徽杰瑞信息科技有限公司 | Conveying robot used for food production |
| CN108125754A (en) * | 2016-11-26 | 2018-06-08 | 沈阳新松机器人自动化股份有限公司 | A kind of all-around mobile body chassis |
| CN108639185A (en) * | 2018-05-24 | 2018-10-12 | 汇专科技集团股份有限公司 | A kind of single driving steering wheel type omnidirectional AGV vehicles |
| CN109178142A (en) * | 2018-08-08 | 2019-01-11 | 深圳市科益展自动化有限公司 | A kind of AGV trailer wagon |
| CN109594813A (en) * | 2018-11-08 | 2019-04-09 | 广州市中立智能装备科技有限公司 | A kind of AGV vehicle carrier loader |
| CN114670953A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Mobile robot |
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| CN202542393U (en) * | 2012-05-11 | 2012-11-21 | 机科发展科技股份有限公司 | Piggyback automated guided vehicle (AGV) mobile transfer robot |
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2012
- 2012-05-11 CN CN201210145147.0A patent/CN102718043B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2795178Y (en) * | 2005-05-24 | 2006-07-12 | 机科发展科技股份有限公司 | Laser guide antomatic transport vehicle |
| CN101613066A (en) * | 2009-07-13 | 2009-12-30 | 中北大学 | A kind of intelligent all-around mobile transfer car |
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935638A (en) * | 2012-11-02 | 2013-02-20 | 绵阳福德机器人有限责任公司 | Integrated chassis for watt-hour meter calibrating robot |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN104765361A (en) * | 2014-01-04 | 2015-07-08 | 江门市鸿强自动化设备有限公司 | Single-drive reciprocating turning-type AGV (Automated Guided Vehicle) |
| CN104102217B (en) * | 2014-07-14 | 2017-01-11 | 上海海事大学 | System and method for detecting running state of carrying vehicle |
| CN105383843A (en) * | 2014-08-27 | 2016-03-09 | 株式会社日立制作所 | Cargo entry and exit auxiliary system and cargo entry and exit auxiliary method |
| CN104635733A (en) * | 2014-12-03 | 2015-05-20 | 国家电网公司 | Automatic guided vehicle and control method thereof |
| CN104635733B (en) * | 2014-12-03 | 2018-07-24 | 国家电网公司 | Automatic guided vehicle and its control method |
| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN105712249B (en) * | 2016-05-05 | 2018-04-06 | 北京极智嘉科技有限公司 | The intelligent conveyor system jacked using leading screw |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN105712253A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent transportation vehicle system with jacking function |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN108125754A (en) * | 2016-11-26 | 2018-06-08 | 沈阳新松机器人自动化股份有限公司 | A kind of all-around mobile body chassis |
| CN106672609A (en) * | 2017-01-09 | 2017-05-17 | 安徽杰瑞信息科技有限公司 | Conveying robot used for food production |
| CN108639185A (en) * | 2018-05-24 | 2018-10-12 | 汇专科技集团股份有限公司 | A kind of single driving steering wheel type omnidirectional AGV vehicles |
| CN109178142A (en) * | 2018-08-08 | 2019-01-11 | 深圳市科益展自动化有限公司 | A kind of AGV trailer wagon |
| CN109594813A (en) * | 2018-11-08 | 2019-04-09 | 广州市中立智能装备科技有限公司 | A kind of AGV vehicle carrier loader |
| CN114670953A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Mobile robot |
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