CN104859440A - Skid type AGV (automatic guided vehicle) - Google Patents
Skid type AGV (automatic guided vehicle) Download PDFInfo
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- CN104859440A CN104859440A CN201510318749.5A CN201510318749A CN104859440A CN 104859440 A CN104859440 A CN 104859440A CN 201510318749 A CN201510318749 A CN 201510318749A CN 104859440 A CN104859440 A CN 104859440A
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Abstract
The invention relates to a skid type AGV (automatic guided vehicle). The skid type AGV comprises a main frame, double-belt wheel drive devices, a ground wheel drive device, direct-current servo motors, a storage battery, a PGV color recognition sensor and an obstacle recognition sensor, wherein the double-belt wheel drive devices are symmetrically arranged on the middle position of the main frame bilaterally; the two direct-current servo motors which are connected in the main frame are in transmission connection with the two double-belt wheel drive devices respectively; the ground wheel drive device comprises a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, the left front wheel and the left rear wheel are in same-direction synchronous rotation, and the right front wheel and the right rear wheel are in synchronous same-direction rotation; a transmission structure of the AGV is realized by utilizing double synchronous belt wheels and a reduction supporting structure, so that the AGV has the mechanical type self-adaptive four-wheel-drive capacity. Furthermore, the color recognition sensor is applied to substitute a conventional magnetic navigation and RFID (radio frequency identification device) location mode with a color navigation and two-dimension code location mode, so that the navigation precision is improved, and the product cost and the using cost of the product are reduced.
Description
Technical field
The present invention relates to industrial equipment technical field, particularly a kind of sliding AGV navigation dolly.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle); meaning i.e. " automatical pilot transportation vehicle "; refer to and be equipped with the homing guidance such as electromagnetism or optics device; it can travel along the guide path of regulation; there is the transport trolley of safety guard-safeguard and various transfer function; AGV belongs to the category of wheeled mobile robot (WMR---Wheeled Mobile Robot), and also referred to as transfer robot, AGV uses maximum occasions to be mostly the factory that degree of automation is higher.
The driving method of AGV is the most key technology of AGV, type of drive directly affects the aspect such as design, walking performance of body construction, from and the remote effect aspect such as load-carrying properties, positioning precision, therefore which determine the limit of power of every Specifeca tion speeification of AGV.At present, in AGV, modal type of drive is differential type of drive, has three kinds of arrangements: the first, two-wheel drive is double to be turned to, and two-wheeled is free gear; The second, is divided into two groups by differential drive wheel, and two groups are and turn to drive wheel; The third is the second way improves towards the upgrading of heavy duty, has two groups to turn to drive wheel, also has two groups and do not play the caterpillar wheel that driving effect only plays carrying effect.
From the situation of market product, the problem brought to AGV based on differential type of drive at present mainly concentrates on: A, high to the flatness requirement on ground, is embodied in the load-carrying capacity of drive wheel own especially poor, wants additional configuration BOGEY WHEEL in the situation that load is higher.And once the planeness on ground cannot reach requirement, certain drive wheel will be caused unsettled, thus the mode of operation of differential steering was lost efficacy, make AGV occur serious deviation phenomenon, and get out of hand.B, turn radius are large.In differential steering mode, the corner of drive wheel is limited, and be generally 0 degree of-45 degree, this just makes the turn radius problem that there is track aspect during driven Design, and add the profile restriction of car body, its turn radius is larger.Turn radius senior general causes the locational space for its walking large, thus have impact on the layout of factory, wastes space.C, load-carrying capacity are poor.Drive wheel is because need the reason turned to, consider the problem of alerting ability, and its motion space in car body, so the size of wheel is all less, its load-carrying capacity is limited, improve after increasing BOGEY WHEEL and alleviate this situation, but drive hypodynamic problem, make the running velocity of AGV more slow.
In AGV, modal navigation and locate mode are: magnetic stripe navigation, RFID location.The mode of magnetic stripe navigation is: on bottom surface, lay terrestrial reference magnetic stripe, AGV car body arranged beneath has Magnetic Sensor, utilize Magnetic Sensor to judge AGV whether directly over terrestrial reference magnetic stripe, controller is fed back to if not the situation that then Magnetic Sensor is collected, controller is made a response, the parameter of the servomotor of adjustment drive wheel.RFID is REID, pastes radio-frequency (RF) tag to make address location or to control location, AGV car body installs RFID reader, thus the data read by RFID are transferred to controller in the specific region of navigation track or automatically working platform.
Conventional navigation and station-keeping mode mainly contain following shortcoming: affect that ground flat degree, positioning precision are not high, layout cost is higher.Magnetic stripe has certain thickness, and when laying magnetic stripe guide rail, magnetic stripe is by above ground level, and when AGV form is to branch road, drive wheel needs to stride across magnetic stripe, thus causes ground flat degree problem.Meanwhile, generally the precision of magnetic navigation sensor is not high.On the other hand, the price of magnetic stripe and RFID tag is relatively high, to a certain degree improves the cost of integral layout.
Summary of the invention
The present invention will solve as above problem exactly, and provide a kind of sliding AGV navigation dolly, it utilizes two synchronous pulley and deceleration supporting structure to achieve the drive mechanism of AGV, makes AGV have the ability of Adaptive Mechanical 4 wheel driven.Meanwhile, the mode that application Tansducer For Color Distiguishing realizes color navigation, Quick Response Code is located, to replace traditional magnetic navigation, RFID locate mode, improves navigation accuracy, and reduces product and use cost thereof.
For solving the problems of the technologies described above, the present invention realizes as follows: sliding AGV of the present invention navigate dolly comprise mainframe, two pulley driving device, wheel drive unit, DC servo motor, storage battery, PGV Tansducer For Color Distiguishing, obstacle recognition sensor; The described pair of symmetrical midway location being arranged at mainframe of pulley driving device, two pulley driving devices form and are in transmission connection with two to be respectively connected to two DC servo motor in mainframe; Described ground wheel drive unit comprises the near front wheel, off front wheel, left rear wheel and off hind wheel, ground wheel drive unit is arranged at both sides, front end and the both sides, rear end of mainframe respectively, the near front wheel and left rear wheel form with two pulley driving devices in left side respectively and are in transmission connection, and off front wheel and off hind wheel form respectively at two pulley driving devices on right side and be in transmission connection; Described the near front wheel and left rear wheel are synchronous axial system in the same way, and off front wheel and off hind wheel are synchronous rotating in same direction.
Described pair of pulley gear comprises two belt pulley adapter shaft, driving pulley, two belt pulley permanent seat, seal ring door; Be provided with bearing in described pair of belt pulley permanent seat, two belt pulley adapter shaft is fixedly connected on bearing inner ring, and the both sides of bearing are provided with seal ring; The end part seal circle of two belt pulley adapter shaft is outside equipped with seal ring door, and two belt pulley permanent seat, seal ring door are fixedly connected with the two belt pulley frame Connection Blocks on mainframe; The end of described pair of belt pulley adapter shaft side by side be fixedly connected with two driving pulleys; The outer ring of described driving pulley is evenly equipped with some driving cogs; The axle head of described pair of belt pulley adapter shaft is provided with machine shaft fixed orifice, and the clutch end of DC servo motor is connected in machine shaft fixed orifice.
Described the near front wheel, off front wheel, left rear wheel and off hind wheel include synchronous pulley, flange, harmonic reducing mechanism, reductor flange, land wheel wheel rim, tire and ground wheel drive shaft; Body skin, the flange of described harmonic reducing mechanism are fixedly connected with mainframe; Described ground wheel drive shaft and the interior bearing inner ring installed of flange are fixed, one end and the synchronous pulley of ground wheel drive shaft are fixed, the ground other end of wheel drive shaft and the power intake of harmonic reducing mechanism are fixed, the clutch end of harmonic reducing mechanism is fixed by reductor flange and land wheel wheel rim, and land wheel wheel rim outer ring is provided with tire; The outer ring of described synchronous pulley is evenly equipped with some driving cogs.
Formed by belt between described synchronous pulley and driving pulley and be in transmission connection.
Described mainframe comprises middle fixed mount, left vehicle frame and right vehicle frame; The both sides being fixedly connected on middle fixed mount of described left vehicle frame and right vehicle frame symmetry; The front and back end sidewall of described left vehicle frame is provided with land wheel frame Connection Block, right vehicle frame front and back end sidewall is provided with land wheel frame Connection Block; What the midway location of described mainframe was positioned at left vehicle frame and right frame outside symmetry is provided with battery mounting base, also symmetrically between the left vehicle frame of mainframe and right vehicle frame is provided with battery mounting base; Described storage battery is fixedly connected on battery mounting base, the outside of storage battery, and mainframe is also connected with shell protective cover and article carrying platform.
Below the midway location of the front and back end of described mainframe, place is provided with obstacle recognition sensor, PGV Tansducer For Color Distiguishing is provided with below the midway location of mainframe, the front end of mainframe is provided with actuation means, and described actuation means is integrated with touch screen curtain and PLC; Described mainframe is positioned at above actuation means and is provided with charging socket and Warning light.
Described PLC and DC servo motor form and electrically connect, and PGV Tansducer For Color Distiguishing, touch screen curtain and obstacle recognition sensor and PLC form and electrically connect.
Good effect of the present invention: sliding AGV of the present invention navigates dolly compared with traditional AGV dolly, has following advantage:
1, turn radius is little, and the degree of utilization of place layout is high.The track turn radius of sliding AGV navigation dolly can be 0, can realize original place and spin, only can consider the impact of its oad in turning process during Ground arrangement;
2, drive mechanism is more reasonable, self adaptation 4 wheel driven, not high to the flatness requirement in place; Sliding AGV navigation dolly even has certain cross country power, and the flatness requirement for place is low, this reduces the input of levelling of the land degree aspect during plant configuration;
3, double motor realizes 4 wheel driven, and cost is lower.Sliding AGV navigates the driving that dolly realizes four-wheel with double motor structure, though the less quantity of motor of the power increasing motor, therefore reduces the manufacturing cost of product to a certain extent;
4, double motor structure is easier to control.The double motor structure of sliding AGV navigation dolly, make PLC only need to carry out drived control to two motors, decrease the control access of PLC, the algorithm of its motion principle is also relatively simple;
5, color sensor, precision is higher, and product price reduces, and Ground arrangement expense declines to a great extent.Use the mode of color navigation, Quick Response Code location than the mode of magnetic stripe navigation, RFID location, precision has certain advantage, cost then has huge advantage.First, traditional AGV dolly needs former and later two magnetic read write lines, RFID reader, and can only use a Tansducer For Color Distiguishing to identify color and Quick Response Code based on the scheme of the color navigation of sliding AGV navigation dolly employing, the total price of the navigator fix element of tradition AGV dolly is comparatively higher than Tansducer For Color Distiguishing, secondly, relative to laying track and RFID label tag, color colour band or paint color track, the cost pasting Quick Response Code is then almost negligible, therefore large-scale downward can be done to the holistic cost of Ground arrangement, therefore there is very significantly advantage in this respect.Believe in the near future, the sliding AGV dolly that navigates occupies most market by the market of intelligent transfer robot, is applied to the fields such as various warehouse logistics, automatic factory and common factory, the aspect such as even extend to food and drink, go sightseeing.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is structural representation of the present invention
Fig. 2 is drive mechanism schematic diagram of the present invention
Fig. 3 is drive mechanism schematic diagram of the present invention
Fig. 4 is motor of the present invention and battery installation site schematic diagram
Fig. 5 is driving pulley driving device B-B cut-away view
Fig. 6 is land wheel apparatus drive mechanism A-A cut-away view
Fig. 7 is land wheel apparatus drive mechanism A-A cut-away view
Fig. 8 is main frame structure schematic diagram of the present invention
Fig. 9 is structural representation of the present invention
Figure 10 is bottom of the present invention PGV Tansducer For Color Distiguishing mounting structure schematic diagram
The structural representation of Figure 11 driving pulley and synchronous pulley
In figure, 1 obstacle recognition sensor 2 charging socket 3 Warning light 4 the near front wheel
5 off front wheel 6 off hind wheel 7 left rear wheel 8 article carrying platform 9 shell protective cover 10 mainframes
11 pairs of pulley driving device 12 belt 13 storage battery 14 DC servo motor
15 pairs of belt pulley permanent seats, 16 pairs of belt pulley adapter shaft 17 machine shaft fixed orifices
18 seal ring door 19 pairs belt pulley frame Connection Block 20 bolt 21 driving pulleys
22 connecting key 23 axle bumper 24 land wheel frame Connection Block 25 flange 26 reductor flanges
27 land wheel wheel rim 28 tire 29 harmonic reducing mechanism 30 synchronous pulleys
The right vehicle frame of left vehicle frame 34 battery mounting base 35 of 31 ground wheel drive shaft 32 bearing 33
36 middle fixed mount 37 actuation means 38 PGV Tansducer For Color Distiguishings
Detailed description of the invention
As shown in Figures 1 to 4, as special embodiment, sliding AGV of the present invention navigate dolly comprise mainframe (10), two pulley driving device (11), wheel drive unit, DC servo motor (14), storage battery (13), PGV Tansducer For Color Distiguishing (38), obstacle recognition sensor (1); The described pair of symmetrical midway location being arranged at mainframe (10) of pulley driving device (11), two pulley driving devices (11) form and are in transmission connection with two to be respectively connected to two DC servo motor (14) in mainframe (10); Described ground wheel drive unit comprises the near front wheel (4), off front wheel (5), left rear wheel (7) and off hind wheel (6), ground wheel drive unit is arranged at both sides, front end and the both sides, rear end of mainframe (10) respectively, the near front wheel (4) and left rear wheel (7) form with two pulley driving devices (11) in left side respectively and are in transmission connection, and off front wheel (5) and off hind wheel (6) form respectively at two pulley driving devices (11) on right side and be in transmission connection; Described the near front wheel (4) and left rear wheel (7) are synchronous axial system in the same way, and off front wheel (5) and off hind wheel (6) are synchronous rotating in same direction.
As shown in Figure 5, described pair of pulley gear (11) comprises two belt pulley adapter shaft (16), driving pulley (21), two belt pulley permanent seat (15), seal ring door (18); Be provided with bearing (32) in described pair of belt pulley permanent seat (15), two belt pulley adapter shaft (16) is fixedly connected on bearing (32) inner ring, and the both sides of bearing (32) are provided with seal ring; The end part seal circle of two belt pulley adapter shaft (16) is outside equipped with seal ring door (18), and two belt pulley permanent seat (15), seal ring door (18) are fixedly connected with the two belt pulley frame Connection Blocks (19) on mainframe (10) by bolt (20); The end of described pair of belt pulley adapter shaft (16) by connecting key (22) side by side be fixedly connected with two driving pulleys (21), the outside of driving pulley (21) is fixed with axle bumper (23); The outer ring of described driving pulley (21) is evenly equipped with some driving cogs; The axle head of described pair of belt pulley adapter shaft (16) is provided with machine shaft fixed orifice (17), and the clutch end of DC servo motor (14) is connected in machine shaft fixed orifice (17).
As shown in Figure 6, Figure 7, described the near front wheel (4), off front wheel (5), left rear wheel (7) and off hind wheel (6) include synchronous pulley (30), flange (25), harmonic reducing mechanism (29), reductor flange (26), land wheel wheel rim (27), tire (28) and ground wheel drive shaft (31); Body skin, the flange (25) of described harmonic reducing mechanism (29) are fixedly connected with mainframe (10) by bolt (20); Described ground wheel drive shaft (31) is fixed with interior bearing (32) inner ring installed of flange (25), the one end on ground wheel drive shaft (31) and synchronous pulley (30) are fixed by connecting key (22), the other end on ground wheel drive shaft (31) and the power intake of harmonic reducing mechanism (29) are fixed, the clutch end of harmonic reducing mechanism (29) is fixed with land wheel wheel rim (27) by reductor flange (26) and bolt (20), and land wheel wheel rim (27) outer ring is provided with tire (28); The outer ring of described synchronous pulley (30) is evenly equipped with some driving cogs.
Formed by belt (12) between described synchronous pulley (30) and driving pulley (21) and be in transmission connection.
As shown in Figure 4 and Figure 8, described mainframe (10) comprises middle fixed mount (36), left vehicle frame (33) and right vehicle frame (35); The both sides being fixedly connected on middle fixed mount (36) of described left vehicle frame (33) and right vehicle frame (35) symmetry; The front and back end sidewall of described left vehicle frame (33) is provided with land wheel frame Connection Block (24), right vehicle frame (35) front and back end sidewall is provided with land wheel frame Connection Block (24); The midway location of described mainframe (10) be positioned at left vehicle frame (33) and right vehicle frame (35) outside symmetrical be provided with battery mounting base (34), between the left vehicle frame (33) of mainframe (10) and right vehicle frame (35) also symmetry be provided with battery mounting base (34); Described storage battery (13) is fixedly connected on battery mounting base (34), the outside of storage battery (13), mainframe (10) is also connected with shell protective cover (9) and article carrying platform (8).
As shown in Fig. 1, Fig. 9 and Figure 10, below the midway location of the front and back end of described mainframe (10), place is provided with obstacle recognition sensor (1), PGV Tansducer For Color Distiguishing (38) is provided with below the midway location of mainframe (10), the front end of mainframe (10) is provided with actuation means, and described actuation means (37) is integrated with touch screen curtain and PLC; Described mainframe (10) is positioned at actuation means (37) top and is provided with charging socket (2) and Warning light (3); Described PLC and DC servo motor (14) form and electrically connect, and PGV Tansducer For Color Distiguishing (38), touch screen curtain and obstacle recognition sensor (1) and PLC form and electrically connect.
Principle of work introduction of the present invention:
When A, straight-line motion, left and right DC servo motor drives with same rotating speed and direction, and the rotating speed utilizing transmission device DC servo motor can be produced and transmission of torque are to wheel.Because the rotating speed of left and right DC servo motor is identical, so the rotating speed of wheel is identical, therefore AGV does straight ahead or drawback movement.
When B, divertical motion, the rotating speed exported when left and right DC servo motor is different, but when direction is identical, the rotating speed of left and right sides two-wheeled is identical respectively, but the relative rotation speed of left and right sides is different, so car body is turned to the side that rotating speed is slow.Meanwhile, because do not have steering hardware, tire and ground can produce cliding friction to a certain degree, the steering procedure of car body is the mixed process of a friction of rolling and cliding friction.
Spin motion in C, original place, the rotating speed exported when left and right DC servo motor is identical, but when direction is different, now will the wheel of both sides is made with identical speed, rotate to different directions.Thus make sliding AGV navigate dolly around car body center rotating.Spinning in original place is the limiting case of car body divertical motion, and therefore its running orbit can't receive the restriction of turn radius.
D, self adaptation four wheel drive, when sliding AGV navigation trolley travelling is on the ground that planeness is not high, one may be caused to take turns unsettled phenomenon, by above-mentioned driving system, to idling conditions be there is in unsettled wheel, but now unsettled take turns only obtain minimum only for torque that it rotates, the output major part torque that DC servo motor provides will act on the ground engaging stabiliser wheel of the same side after the amplification of deceleration system, thus automatically adjust the propulsive effort of tire, the ground unfairness problem that reduces of high degree affects the walking sideslip that sliding AGV navigation dolly produces.
Electric control principle introduction of the present invention:
A, direct current power supply, be have employed direct current power supply mode, realized the pressure of system by the connection in series-parallel of storage battery in sliding AGV navigates dolly.In the arrangement of car body, storage battery is not only mains power supply element, is that the deadweight of maintenance car body and center of gravity put down horizontal this element of key simultaneously yet;
B, two DC servo motor drive, and utilize two DC servo motor to realize the driving of synchronous pulley, thus realize walking and the turning function of sliding AGV navigation dolly.Navigate in the motion process of dolly at sliding AGV, rotating speed and the torque of motor is controlled by the input voltage and electric current controlling DC servo motor, thus the control realized DC servo motor, and then the control realized sliding AGV navigation walking system, DC servo motor is arranged in the midway location of the car body of sliding AGV navigation dolly;
C, PGV Tansducer For Color Distiguishing navigates, be used as sliding AGV navigate dolly travel path track by pasting color adhesive tape or paint color band on the ground running place, PGV Tansducer For Color Distiguishing is utilized to carry out identifying color track, analyze judge car body and color track depart from situation, and this feedback data is passed to PLC.PGV Tansducer For Color Distiguishing is placed on immediately below the center of car body, uses the navigation accuracy of color navigation mode much larger than magnetic navigation mode;
D, Quick Response Code location and control, by PGV Tansducer For Color Distiguishing, equally can identifying processing two-dimensional code data, the walking destination in place and the color track in major control region inlay stickup Quick Response Code again, PGV Tansducer For Color Distiguishing just can be used to read data, and data are passed to PLC to resolve, then send control command by PLC.Classify to pasted Quick Response Code, can reach different control objects, its classification has: 1, destination-address code, rests in destination accurately for making sliding AGV navigation dolly.2, destination is near alarm codes, and for making sliding AGV navigation dolly obtain alarm signal when near destination, thus pre-decelerating reduces inertia effects.3, cross road instruction code, resolves for road ahead information being passed to PLC before point cross road;
E, touch screen curtain and operating system thereof, be configured with 12 cun of touch-screens, and it be connected with PLC on sliding AGV navigates dolly.The sliding AGV navigation operational factor of dolly and the situation of factory's station can carry out arranging and defining by user on the touchscreen.In operational process, only need the destination information setting sliding AGV navigation dolly on the touchscreen, PLC will start to send dependent instruction to traveling gear, and the work of sliding AGV navigation dolly just starts;
F, obstacle recognition sensor, ultrasonic obstacle thing identification sensor is equipped with in the front and back of sliding AGV navigation dolly, the obstacle situation in its front can be delivered to PLC by ultrasonic obstacle thing identification sensor, is slowed down or stops controlling sliding AGV navigation dolly when running into obstacle by PLC;
G, PLC, PLC is the core of whole electric-control system, PLC controls DC servo motor, regulate the rotating speed of servomotor and moment of torsion by regulating electric current and voltage thus walking is controlled, simultaneously PLC also needs the road information provided according to obstacle recognition sensor, PGV Tansducer For Color Distiguishing to analyze, and adjusts its controling parameters to DC servo motor.
Above-described embodiment only represents one embodiment of the present invention, can not be interpreted as limitation of the scope of the invention.It should be noted that one skilled in the relevant art, without departing from the inventive concept of the premise, can also make several deformation design, these all belong to protection scope of the present invention.
Claims (8)
1. sliding AGV navigates dolly, it is characterized in that: comprise mainframe, two pulley driving device, wheel drive unit, DC servo motor, storage battery, PGV Tansducer For Color Distiguishing, obstacle recognition sensor; The described pair of symmetrical midway location being arranged at mainframe of pulley driving device, two pulley driving devices form and are in transmission connection with two to be respectively connected to two DC servo motor in mainframe; Described ground wheel drive unit comprises the near front wheel, off front wheel, left rear wheel and off hind wheel, ground wheel drive unit is arranged at both sides, front end and the both sides, rear end of mainframe respectively, the near front wheel and left rear wheel form with two pulley driving devices in left side respectively and are in transmission connection, and off front wheel and off hind wheel form respectively at two pulley driving devices on right side and be in transmission connection; Described the near front wheel and left rear wheel are synchronous axial system in the same way, off front wheel and right backly transfer synchronous rotating in same direction to.
2. sliding AGV navigation dolly according to claim 1, is characterized in that: described pair of pulley gear comprises two belt pulley adapter shaft, driving pulley, two belt pulley permanent seat, seal ring door; Be provided with bearing in described pair of belt pulley permanent seat, two belt pulley adapter shaft is fixedly connected on bearing inner ring, and the both sides of bearing are provided with seal ring; The end part seal circle of two belt pulley adapter shaft is outside equipped with seal ring door, and two belt pulley permanent seat, seal ring door are fixedly connected with the two belt pulley frame Connection Blocks on mainframe; The end of described pair of belt pulley adapter shaft side by side be fixedly connected with two driving pulleys; The outer ring of described driving pulley is evenly equipped with some driving cogs; The axle head of described pair of belt pulley adapter shaft is provided with machine shaft fixed orifice, and the clutch end of DC servo motor is connected in machine shaft fixed orifice.
3. sliding AGV navigation dolly according to claim 1, is characterized in that: described the near front wheel, off front wheel, left rear wheel and off hind wheel include synchronous pulley, flange, harmonic reducing mechanism, reductor flange, land wheel wheel rim, tire and ground wheel drive shaft; Body skin, the flange of described harmonic reducing mechanism are fixedly connected with mainframe; Described ground wheel drive shaft and the interior bearing inner ring installed of flange are fixed, one end and the synchronous pulley of ground wheel drive shaft are fixed, the ground other end of wheel drive shaft and the power intake of harmonic reducing mechanism are fixed, the clutch end of harmonic reducing mechanism is fixed by reductor flange and land wheel wheel rim, and land wheel wheel rim outer ring is provided with tire; The outer ring of described synchronous pulley is evenly equipped with some driving cogs.
4. sliding AGV navigation dolly according to claim 1, is characterized in that: consist of belt between described synchronous pulley and driving pulley and be in transmission connection.
5. sliding AGV navigation dolly according to claim 1, is characterized in that: described mainframe comprises middle fixed mount, left vehicle frame and right vehicle frame; The both sides being fixedly connected on middle fixed mount of described left vehicle frame and right vehicle frame symmetry; The front and back end sidewall of described left vehicle frame is provided with land wheel frame Connection Block, right vehicle frame front and back end sidewall is provided with land wheel frame Connection Block; What the midway location of described mainframe was positioned at left vehicle frame and right frame outside symmetry is provided with battery mounting base, also symmetrically between the left vehicle frame of mainframe and right vehicle frame is provided with battery mounting base; Described storage battery is fixedly connected on battery mounting base, the outside of storage battery, and mainframe is also connected with shell protective cover and article carrying platform.
6. sliding AGV navigation dolly according to claim 1, it is characterized in that: below the midway location of the front and back end of described mainframe, place is provided with obstacle recognition sensor, PGV Tansducer For Color Distiguishing is provided with below the midway location of mainframe, the front end of mainframe is provided with actuation means, and described actuation means is integrated with touch screen curtain and PLC; Described mainframe is positioned at above actuation means and is provided with charging socket and Warning light.
7. sliding AGV according to claim 1 navigates dolly, it is characterized in that: described PLC and DC servo motor form and electrically connect, and PGV Tansducer For Color Distiguishing, touch screen curtain and obstacle recognition sensor and PLC form and electrically connect.
8., for controlling a control method for sliding AGV navigation dolly, it is characterized in that: control process comprises the steps:
1) PGV Tansducer For Color Distiguishing is adopted to navigate, be used as sliding AGV navigate dolly travel path track by pasting color adhesive tape or paint color band on the ground running place, PGV Tansducer For Color Distiguishing is utilized to carry out identifying color track, analyze judge car body and color track depart from situation, and this feedback data is passed to PLC;
2) by PGV Tansducer For Color Distiguishing, identifying processing two-dimensional code data, the walking destination in place and the color track in major control region inlay stickup Quick Response Code again, PGV Tansducer For Color Distiguishing just can be used to read data, and data are passed to PLC to resolve, then send control command by PLC; Classify to pasted Quick Response Code, can reach different control objects, its classification has: destination-address code, rests in destination accurately for making sliding AGV navigation dolly; Destination is near alarm codes, and for making sliding AGV navigation dolly obtain alarm signal when near destination, thus pre-decelerating reduces inertia effects; Cross road instruction code, resolves for road ahead information being passed to PLC before point cross road;
3) ultrasonic obstacle thing identification sensor is equipped with in the front and back of sliding AGV navigation dolly, the obstacle situation in its front can be delivered to PLC by ultrasonic obstacle thing identification sensor, is slowed down or stops controlling sliding AGV navigation dolly when running into obstacle by PLC;
4) PLC controls DC servo motor, regulate the rotating speed of servomotor and moment of torsion by regulating electric current and voltage thus walking is controlled, simultaneously PLC also needs the road information provided according to obstacle recognition sensor, PGV Tansducer For Color Distiguishing to analyze, and adjusts its controling parameters to DC servo motor.
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| CN201510318749.5A CN104859440A (en) | 2015-06-12 | 2015-06-12 | Skid type AGV (automatic guided vehicle) |
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| CN201510318749.5A CN104859440A (en) | 2015-06-12 | 2015-06-12 | Skid type AGV (automatic guided vehicle) |
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| CN107117564A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | A kind of apparatus for work with turning function |
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| CN108227701A (en) * | 2017-12-11 | 2018-06-29 | 大连四达高技术发展有限公司 | For automatically moving the optical guidance alignment system of carrying vehicle |
| WO2019141257A1 (en) * | 2018-01-18 | 2019-07-25 | 东莞理工学院 | Omni-directional mobile robot applied to intelligent warehouse |
| CN108177147B (en) * | 2018-01-18 | 2019-10-11 | 东莞理工学院 | All directionally movable robot applied to intelligent repository |
| CN108177147A (en) * | 2018-01-18 | 2018-06-19 | 东莞理工学院 | All directionally movable robot applied to intelligent repository |
| CN109398476A (en) * | 2018-12-11 | 2019-03-01 | 天津科技大学 | A kind of control mechanism of AGV four-wheel independent steering in conjunction with differential |
| CN109398476B (en) * | 2018-12-11 | 2024-01-19 | 天津科技大学 | Control mechanism combining four-wheel independent steering and differential speed of AGV |
| CN110239365A (en) * | 2019-05-10 | 2019-09-17 | 南京航空航天大学 | A kind of method of four hub motors distribution driving vehicle pivot stud |
| CN112478020A (en) * | 2019-09-11 | 2021-03-12 | 北京京东乾石科技有限公司 | Automatic guide transport vechicle |
| CN110949506A (en) * | 2019-10-14 | 2020-04-03 | 南京浦航机械科技开发有限公司 | Be applied to outdoor no steering mechanism differential AGV |
| CN112606897A (en) * | 2020-11-12 | 2021-04-06 | 王友猛 | Omnidirectional movement automatic guide AGV dolly |
| CN112465219A (en) * | 2020-11-25 | 2021-03-09 | 北京化工大学 | Method for constructing airplane general assembly material distribution network based on near field communication |
| CN112722611A (en) * | 2020-12-31 | 2021-04-30 | 四川东泉机械设备制造有限公司 | Container cover lifting machine and operation method thereof |
| CN113479565A (en) * | 2021-06-29 | 2021-10-08 | 南京迪斯克林科技有限公司 | Multi-angle forged workpiece conveying system |
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