CN104345736B - A kind of automatic guide vehicle AGV driver elements of tape starting device - Google Patents
A kind of automatic guide vehicle AGV driver elements of tape starting device Download PDFInfo
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- CN104345736B CN104345736B CN201410598665.7A CN201410598665A CN104345736B CN 104345736 B CN104345736 B CN 104345736B CN 201410598665 A CN201410598665 A CN 201410598665A CN 104345736 B CN104345736 B CN 104345736B
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Abstract
The invention discloses a kind of automatic guide vehicle AGV driver elements of tape starting device, including electric supply installation, vehicle control syetem, motor, driving wheel, driving wheel, starting motor and arrangement of clutch, wherein, electric supply installation connects vehicle control syetem, vehicle control syetem connects motor with starting motor, motor connects driving wheel, starts motor and connects driving wheel by arrangement of clutch.The present invention solves that the speed of service is slow, starting time length, the starting torque of initial driving state are restricted, is turning or is having the problems such as gradient road traveling is slow or defect, realizes and meet efficiently quickly logistics transportation requirement.
Description
Technical field
The present invention relates to a kind of automatic guide vehicle AGV driver elements of tape starting device.
Background technology
In the slow key technology of automatic guide vehicle (AGV) product generally existing speed of service seen in the market
The machinery fortune that motor combines the deceleration increasing torsion for passing to driving wheel with deceleration device is generally used in problem, its driver element
Dynamic structure, due to being limited using the structure of deceleration device driver element, causes the automatic guide vehicle (AGV) in designed application
In, all there is the speed of service slow (average running speed is less than 1 meter per second), the starting time length of initial driving state, start
Limited torque system, turning or having the problems such as gradient road traveling is slow or a defect.Thus the defeated of high-speed cruising is needed many
Send in occasion, can not realize and meet efficiently quickly logistics transportation requirement.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that a kind of automatic guide vehicle AGV driver elements of tape starting device, should
System is improved to original system, is effectively solved the slow speed of service, the starting time length of initial driving state, is started
Limited torque system, turning or having the problems such as gradient road traveling is slow.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of automatic guide vehicle AGV driver elements of tape starting device, including electric supply installation, vehicle control syetem, driving
Motor, driving wheel, driving wheel, starting motor and arrangement of clutch, wherein, electric supply installation connection vehicle control syetem, vehicle-mounted control
System connects motor and starts motor with starting motor, motor connection driving wheel and connect driving wheel by arrangement of clutch.
Startup control unit is provided with the vehicle control syetem, the operating, arrangement of clutch for control starting motor
The operating of break-make and driving wheel.
The vehicle control syetem is provided with rotating and speed control to test the speed unit and the control starting motor of driving wheel
The speed adjustment unit of system.
Control method based on said system, comprises the following steps：
(1) when automatic guide vehicle is run, motor is started by vehicle control syetem control and rotated, arrangement of clutch is connected,
Being that driving wheel is synchronous with driving wheel participates in startup, Accelerating running；
(2) when automatic guide vehicle driver element runs to certain speed of service, make during automatic guide vehicle remains on
Starting inertia power and driving wheel acceleration, maintain a kind of running status of high speed；
(3) when automatic guide vehicle needs parking, by vehicle control syetem control, automatic guide vehicle (AGV) is made low
In the presence of speed rotation or reverse rotation, driver element is set progressively to slow down or shut down.
It is single by vehicle control syetem control driving when automatic guide vehicle (AGV) brings into operation in the step (1)
The high speed that motor is started in first starter mechanism rotates and connects arrangement of clutch, and arrangement of clutch passes to starting by rotation torque is merged
Wheel, makes automatic guide vehicle (AGV) to be several times as much as the high speed rotation torque using deceleration device driver element, starts automatic guide vehicle
Initial acceleration operation；While starter mechanism is run, rotation torque is also passed to driving wheel and driving wheel by motor
It is synchronous to participate in starting Accelerating running.
In the step (2), when automatic guide vehicle (AGV) driver element runs to certain speed of service, electricity is started
Machine is stopped the rotation, arrangement of clutch separation moment of torsion is transmitted, driving wheel is in driven pulley state, now the driving electricity in driver element
Machine, driving wheel remain in operation, make automatic guide vehicle (AGV) remain in starting inertia power and driving wheel acceleration, dimension
Hold a kind of running status of high speed.
It is single by vehicle control syetem control driving when automatic guide vehicle (AGV) needs parking in the step (3)
In member, the low speed rotation of the starting motor of starting device or reverse rotation simultaneously connect arrangement of clutch, and arrangement of clutch is by rotation torque
Driving wheel is passed to, makes automatic guide vehicle (AGV) in the presence of low speed rotation or reverse rotation, driver element is progressively slowed down
Or shut down.
Beneficial effects of the present invention are：
(1) it is effective solve that the speed of service is slow, starting time length, the starting torque of initial driving state are restricted,
Turning or having the problems such as gradient road traveling is slow；
(2) realize and meet efficiently quickly logistics transportation requirement.
Brief description of the drawings
Fig. 1 is the driver element schematic diagram of current universal automatic guide vehicle (AGV) product；
Fig. 2 is automatic guide vehicle (AGV) driver element schematic diagram of tape starting mechanism of the present invention.
Wherein：100th, electric supply installation；101st, vehicle control syetem；102nd, motor；103rd, deceleration device；104th, drive
Wheel；201st, motor is started；202nd, arrangement of clutch；203rd, driving wheel.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, slow in automatic guide vehicle (AGV) product generally existing speed of service seen in the market
Key technical problem, its driver element, which is generally used motor (102) and combined with deceleration device (103), passes to driving
The deceleration for taking turns (104) increases the mechanical moving structure turned round, and due to being limited using the structure of deceleration device driver element, causes set
In the automatic guide vehicle (AGV) for counting application, all there is the speed of service slow (average running speed is less than 1 meter per second), initially drive
Starting time length, the starting torque of dynamic state be restricted, is turning or is having the problems such as gradient road traveling is slow or a defect.Thus
The conveying occasion of high-speed cruising is needed many, can not realize and meet efficiently quickly logistics transportation requirement.
The present invention can make those skilled in the art when designing automatic guide vehicle (AGV) product, with reference to rising for the present invention
Dynamic mechanical work principle, can design and solve some High-Speed Automatic guide car (AGV) driving lists that there is above mentioned problem or defect
The product of member.
The starting device of the present invention constitutes starting motor (201), arrangement of clutch (202), starting as shown in Fig. 2 in figure
Wheel (203) is in the system of original automatic guide vehicle (AGV) driver element, to set up a starting device, removes former driving single
Deceleration device (103) in member.
As shown in Fig. 2 the starting device work of " automatic guide vehicle (AGV) driver element of tape starting device " of the present invention
Principle and structure are such：
When automatic guide vehicle (AGV) brings into operation, driver element starter mechanism is controlled by vehicle control syetem (101)
The middle high speed for starting motor (201) rotates and connects arrangement of clutch (202), and arrangement of clutch (202) will merge rotation torque transmission
Driving wheel (203) is given, makes automatic guide vehicle (AGV) to be several times as much as the high speed rotation torque using deceleration device driver element, rises
The initial acceleration operation of dynamic automatic guide vehicle (AGV)；While starter mechanism is run, motor (102) also turns round rotation
Square passes to driving wheel (104) participation synchronous with driving wheel (203) and starts Accelerating running；
When automatic guide vehicle (AGV) driver element runs to certain speed of service, start motor (201) and stop rotation
Turn, arrangement of clutch (202) separation moment of torsion is transmitted, driving wheel (203) is in driven pulley state, now the driving electricity in driver element
Machine (102), driving wheel (104) remain in operation, make automatic guide vehicle (AGV) remain in starting inertia power and driving wheel
Acceleration, maintains a kind of running status of high speed；
When automatic guide vehicle (AGV) needs parking, controlled in driver element, started by vehicle control syetem (101)
The low speed rotation of the starting motor (201) of device or reverse rotation simultaneously connect arrangement of clutch (202), and arrangement of clutch (202) will revolve
Torque passes to driving wheel (203), makes automatic guide vehicle (AGV) in the presence of low speed rotation or reverse rotation, makes driving
Unit progressively slows down or shut down.
With reference to the operation principle and the feature of structure of the present invention, those skilled in the art drive in automatic guide vehicle (AGV)
During design, the manufacture of unit are applied, automatic guide vehicle (AGV) product driver element fortune seen in the market can be solved
The slow-paced key technical problem of row, it is easy to complete " automatic guide vehicle (AGV) driver element of tape starting device " application knot
The implementation of the characteristic products such as structure variation, speed of service height.
Specific implementation method of the present invention is main at following so several aspects：
The improvement of automatic guide vehicle 1. (AGV) drive unit system
The improvement of 1.1 former driver element deceleration devices
The deceleration device (103) in former driver element is removed, driver element can be made by improving belt wheel speed-changing driving device
The rotating speed that middle motor (102) passes to driving wheel (104) is improved, to ensure that automatic guide vehicle (AGV) driver element reaches
More than 3 meters per second of average running speed.
1.2 former driver elements set up a starting device
In the system of original automatic guide vehicle (AGV) driver element, the structure of a starting device is set up parallel, that is, is increased
Plus start the parts such as motor (201), arrangement of clutch (202), driving wheel (203).
2. the improvement of vehicle control syetem
2.1 in former vehicle control syetem (101) control driver element, set up a set of startup control unit, for controlling
Start the operation state of operating, the break-make of arrangement of clutch (202) and the driving wheel (203) of motor (201)；
2.2 in the above-mentioned improved function of 2.1 vehicle control syetem, in addition it is also necessary to increase the work(that tests the speed to driving wheel (104)
Rotating and the speed-regulating function of motor (201), can be started, is enabled by controlling arrangement of clutch (202) and driving wheel (203)
Running status, reach deceleration of the automatic guide vehicle (AGV) in the presence of low speed rotation or reverse rotation or stop function；With
And ensure that automatic guide vehicle (AGV), can be by controlling because transfer amount is big, when turning or gradient road traveling resistance increase
Reinforcing (speed) operation of dynamic device, keeps the high-speed cruising state of automatic guide vehicle (AGV).
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (2)
1. a kind of control method of the automatic guide vehicle AGV driver elements of tape starting device, it is characterized in that：What this method was used
The automatic guide vehicle AGV driver elements of tape starting device include：Electric supply installation, vehicle control syetem, motor, driving wheel,
Driving wheel, starting motor and arrangement of clutch, wherein, electric supply installation connection vehicle control syetem, vehicle control syetem connection driving
Motor starts motor and connects driving wheel by arrangement of clutch with starting motor, motor connection driving wheel；
Startup control unit is provided with the vehicle control syetem, the break-make of operating, arrangement of clutch for control starting motor
With the operating of driving wheel；
The vehicle control syetem is provided with rotating and speed control to test the speed unit and the control starting motor of driving wheel
Speed adjustment unit；
Described control method comprises the following steps：
(1) when automatic guide vehicle is run, motor is started by vehicle control syetem control and rotated, arrangement of clutch is connected, is to drive
Driving wheel is synchronous with driving wheel to participate in startup, Accelerating running；
(2) when automatic guide vehicle driver element runs to certain speed of service, make automatic guide vehicle remain in rise
The acceleration of dynamic inertia force and driving wheel, maintains a kind of running status of high speed；
(3) when automatic guide vehicle needs parking, by vehicle control syetem control, automatic guide vehicle (AGV) is made to be revolved in low speed
In the presence of turning or reversely rotating, driver element is set progressively to slow down or shut down；
In the step (1), when automatic guide vehicle (AGV) brings into operation, driver element is controlled to rise by vehicle control syetem
The high speed that motor is started in motivation structure rotates and connects arrangement of clutch, and arrangement of clutch passes to driving wheel by rotation torque is merged,
Make automatic guide vehicle (AGV) to be several times as much as the high speed rotation torque using deceleration device driver element, start automatic guide vehicle
Initial acceleration is run；While starter mechanism is run, it is same with driving wheel that rotation torque is also passed to driving wheel by motor
Step participates in starting Accelerating running；
In the step (3), when automatic guide vehicle (AGV) needs parking, controlled by vehicle control syetem in driver element,
The low speed rotation of the starting motor of starting device or reverse rotation simultaneously connect arrangement of clutch, and arrangement of clutch passes to rotation torque
Driving wheel, makes automatic guide vehicle (AGV) in the presence of low speed rotation or reverse rotation, driver element is progressively slowed down or is stopped
Operating.
2. control method as claimed in claim 1, it is characterized in that：In the step (2), when automatic guide vehicle (AGV) driving
When unit runs to certain speed of service, start motor stop the rotation, arrangement of clutch separation moment of torsion transmission, driving wheel be in from
Driving wheel state, motor, driving wheel now in driver element remain in operation, and make during automatic guide vehicle (AGV) remains on
Starting inertia power and driving wheel acceleration, maintain a kind of running status of high speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410598665.7A CN104345736B (en) | 2014-10-29 | 2014-10-29 | A kind of automatic guide vehicle AGV driver elements of tape starting device |
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| CN201410598665.7A CN104345736B (en) | 2014-10-29 | 2014-10-29 | A kind of automatic guide vehicle AGV driver elements of tape starting device |
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| CN104345736A CN104345736A (en) | 2015-02-11 |
| CN104345736B true CN104345736B (en) | 2017-08-11 |
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| CN107389361A (en) * | 2017-08-24 | 2017-11-24 | 合肥中导机器人科技有限公司 | Drive mechanism and target detection dolly |
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| CN204129529U (en) * | 2014-10-29 | 2015-01-28 | 济南优柏电子科技有限公司 | A kind of automatic guide vehicle AGV driver element of tape starting device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8275480B2 (en) * | 2009-11-17 | 2012-09-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and systems for transporting parts from a primary process to a secondary process in a first in, first out fashion |
| CN102133855A (en) * | 2010-01-25 | 2011-07-27 | 北京理工大学 | Main/auxiliary motor power coupling assembly for bilateral independent drive vehicles |
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|---|---|---|---|---|
| US5239931A (en) * | 1991-02-11 | 1993-08-31 | Jobs S.P.A. | Automotive truck with robot and automatic batteries replacement system |
| CN1394768A (en) * | 2002-08-26 | 2003-02-05 | 于耀庆 | Multimotor four-wheel drive mode for electric car |
| CN203246338U (en) * | 2013-04-24 | 2013-10-23 | 柯德华 | Multi-motor front-and-back driving electric vehicle |
| CN203697987U (en) * | 2014-01-15 | 2014-07-09 | 安徽工程大学 | Driving system of electric-electric hybrid power automobile |
| CN203819014U (en) * | 2014-03-13 | 2014-09-10 | 潍柴动力股份有限公司 | Double-motor traveling system for vehicle |
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Address after: Room 322, room 17, Qilu cultural and creative base, No. 101, Shun Feng Road, Ji'nan high new zone, Shandong Province Patentee after: Shandong best Electronic Technology Co., Ltd. Address before: 250000 Shandong high tech Zone (Lishi District) Century Avenue 15612, Ji'nan, Shandong Patentee before: JINAN YOUBAI ELECTRONIC TECHNOLOGY CO., LTD. |