CN105235775A - Automatic driving-wheel correcting device for AGV rail-free cart - Google Patents
Automatic driving-wheel correcting device for AGV rail-free cart Download PDFInfo
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- CN105235775A CN105235775A CN201510865724.7A CN201510865724A CN105235775A CN 105235775 A CN105235775 A CN 105235775A CN 201510865724 A CN201510865724 A CN 201510865724A CN 105235775 A CN105235775 A CN 105235775A
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Abstract
The invention discloses an automatic driving-wheel correcting device for an AGV rail-free cart. The automatic driving-wheel correcting device comprises the cart and a magnetic strip. The cart comprises a cart body, a cart-following controller, a signal wire, a driving assembly shell, a right driver, a right driving wheel, a navigation sensor, a left driving wheel, a left driver, two universal wheels and two walking wheels. A PLC is installed in the cart-following controller. The automatic driving-wheel correcting device is characterized by further comprising a driving gear, a driven gear, a first rotating shaft, a second rotating shaft and an angle correcting potentiometer; the first rotating shaft and the second rotating shaft are installed on the cart body, the first rotating shaft is installed in the middle of the portion between the left driving wheel and the right driving wheel, and the driving gear is fixedly installed in the driving assembly shell. The automatic driving-wheel correcting device is novel in structure, automatic centering can be achieved through the navigation sensor, automatic overlapping alignment can be achieved between the driving wheels and the magnetic strip, program control is simple, work is stable, the safe and reliable effects are achieved, and the service life is long.
Description
Technical field
The present invention relates to conveying machinery, specifically AGV trackless dolly drive wheel automatic correction device.
Background technology
AGV (AutomatedGuidedVehicle; be called for short AGV) trackless dolly, refer to be equipped with the homing guidance such as electromagnetism or optics device, can travel along the guide path of regulation; there is the transport trolley of safety guard-safeguard and various transfer function, be often applied in the conveying operation of logistic storage.Existing AGV trackless dolly is utilize navigation sensor and magnetic stripe to navigate mostly, assembly is driven to adopt swingable differential control mode, when there is derailing or maintenance is again reached the standard grade in the AGV trackless dolly of this form, operator first must promote AGV trackless dolly, the centre of the navigation sensor of AGV trackless dolly is made to be in directly over magnetic stripe, and the center line between two, the left and right drive wheel of AGV trackless dolly should be made substantially to overlap with the center line of magnetic stripe, AGV trackless dolly just can be made to start and follow magnetic stripe trace to run, otherwise, then may there is the unordered phenomenon of disorderly going here and there that starts to walk in AGV trackless dolly, because the installation position of the driving assembly of this form is more hidden, and center line between the drive wheel of two, left and right is swingable, like this, when manual synchronizing AGV trackless dolly, operation easier is larger.
Summary of the invention
Object of the present invention is just to provide a kind of novel structure, can realize navigation sensor automatically look in, between drive wheel and magnetic stripe can simple, the stable working of automatic reclosing centering, programming control, safe and reliable, long service life AGV trackless dolly drive wheel automatic correction device.
For achieving the above object, the present invention includes dolly and magnetic stripe, described dolly comprises car body, with vehicle controller, signal wire (SW), drive assembly shell, right actuator, right drive wheel, navigation sensor, left driving wheel, left actuator, two cardan wheels and two road wheels, described with vehicle controller built with programmable logic controller (PLC) PLC, also comprise driving gear, driven gear, rotating shaft I, rotating shaft II and angularity correction potentiometer, described rotating shaft I and rotating shaft II is loaded on car body, and described rotating shaft I is loaded on the midway location between left driving wheel and right drive wheel, described driving gear is fixedly installed in and drives in assembly shell, and described driving gear is loaded on rotating shaft I, described driven gear is loaded on rotating shaft II, described driving gear and driven gear engage each other, described angularity correction potentiometer and driven gear are loaded on same axle, described magnetic stripe is affixed on ground, described two cardan wheels symmetry is loaded on the top of car body, described two road wheels symmetry is loaded on the bottom of car body, described left driving wheel is connected with the output shaft of left actuator, described right drive wheel is connected with the output shaft of right actuator, described left driving wheel is loaded on the left side driving assembly shell, described right drive wheel is loaded on the right driving assembly shell, described navigation sensor, left actuator, right actuator, driving gear, driven gear and angularity correction potentiometer are all loaded on and drive in assembly shell, described with vehicle controller respectively by signal wire (SW) and navigation sensor, left actuator, right actuator and angularity correction potentiometer connect.
The present invention is owing to have employed by driving gear, the drive wheel automatic correction device of driven gear and angularity correction potentiometer composition, rotating shaft I and rotating shaft II is loaded on car body, and rotating shaft I is loaded on the midway location between left driving wheel and right drive wheel, driving gear is fixedly installed in and drives in assembly shell, and driving gear is loaded on rotating shaft I, driven gear is loaded on rotating shaft II, driving gear and driven gear engage each other, angularity correction potentiometer and driven gear are loaded on same axle, like this, when there is skew in the center line between the drive wheel of two, left and right, the driving gear be fixedly installed in driving assembly shell will along with drive wheel together transposition, thus drive and the intermeshing driven gear of driving gear rotate, because angularity correction potentiometer and driven gear are loaded on same axle, the current potential of the potentiometric center contact of now angularity correction will change, Analog input mModule detected electric potential signal with the programmable logic controller (PLC) PLC in vehicle controller to change and carry out judgement and compare, then, send instruction control left and right actuator and do differential operation, till angularity correction potentiometer points to center, now, about when can ensure that AGV trackless dolly is reached the standard grade again, the center line of two drive wheels and magnetic stripe center line overlap, follow magnetic stripe trace after allowing AGV trackless dolly again start fast to run.Novel structure of the present invention, can realize during navigation sensor looks for automatically, can automatic reclosing centering between drive wheel and magnetic stripe, and programming control is simple, and stable working is safe and reliable, long service life.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention.
Detailed description of the invention
See Fig. 1, the present invention includes dolly 1 and magnetic stripe 2, described dolly 1 comprises car body 11, with vehicle controller 12, signal wire (SW) 13, drive assembly shell 14, right actuator 15, right drive wheel 16, navigation sensor 20, left driving wheel 22, left actuator 23, two cardan wheels 21 and two road wheels 24, described with vehicle controller 12 built with programmable logic controller (PLC) PLC, also comprise driving gear 17, driven gear 18, rotating shaft I171, rotating shaft II181 and angularity correction potentiometer 19, described rotating shaft I171 and rotating shaft II181 is loaded on car body 11, and described rotating shaft I171 is loaded on the midway location between left driving wheel 22 and right drive wheel 16, described driving gear 17 is fixedly installed in and drives in assembly shell 14, and described driving gear 17 is loaded on rotating shaft I171, described driven gear 18 is loaded on rotating shaft II181, described driving gear 17 engages each other with driven gear 18, described angularity correction potentiometer 19 is loaded on same axle with driven gear 18, described magnetic stripe 2 is affixed on ground, described two cardan wheel 21 symmetries are loaded on the top of car body 11, described two road wheel 24 symmetries are loaded on the bottom of car body 11, described left driving wheel 22 is connected with the output shaft of left actuator 23, described right drive wheel 16 is connected with the output shaft of right actuator 15, described left driving wheel 22 is loaded on the left side driving assembly shell 14, described right drive wheel 16 is loaded on the right driving assembly shell 14, described navigation sensor 20, left actuator 23, right actuator 15, driving gear 17, driven gear 18 and angularity correction potentiometer 19 are all loaded on and drive in assembly shell 14, described with vehicle controller 12 respectively by signal wire (SW) 13 and navigation sensor 20, left actuator 23, right actuator 15 and angularity correction potentiometer 19 connect.
Claims (1)
1.AGV trackless dolly drive wheel automatic correction device, comprise dolly (1) and magnetic stripe (2), described dolly (1) comprises car body (11), with vehicle controller (12), signal wire (SW) (13), drive assembly shell (14), right actuator (15), right drive wheel (16), navigation sensor (20), left driving wheel (22), left actuator (23), two cardan wheels (21) and two road wheels (24), described with vehicle controller (12) built with programmable logic controller (PLC) PLC, it is characterized in that: also comprise driving gear (17), driven gear (18), rotating shaft I(171), rotating shaft II(181) and angularity correction potentiometer (19), described rotating shaft I(171) and rotating shaft II(181) be loaded on car body (11), and described rotating shaft I(171) be loaded on midway location between left driving wheel (22) and right drive wheel (16), described driving gear (17) is fixedly installed in and drives in assembly shell (14), and described driving gear (17) is loaded on rotating shaft I(171) on, described driven gear (18) is loaded on rotating shaft II(181) on, described driving gear (17) and driven gear (18) engage each other, described angularity correction potentiometer (19) and driven gear (18) are loaded on same axle, described magnetic stripe (2) is affixed on ground, described two cardan wheel (21) symmetries are loaded on the top of car body (11), described two road wheel (24) symmetries are loaded on the bottom of car body (11), described left driving wheel (22) is connected with the output shaft of left actuator (23), described right drive wheel (16) is connected with the output shaft of right actuator (15), described left driving wheel (22) is loaded on the left side driving assembly shell (14), described right drive wheel (16) is loaded on the right driving assembly shell (14), described navigation sensor (20), left actuator (23), right actuator (15), driving gear (17), driven gear (18) and angularity correction potentiometer (19) are all loaded on and drive in assembly shell (14), described with vehicle controller (12) respectively by signal wire (SW) (13) and navigation sensor (20), left actuator (23), right actuator (15) and angularity correction potentiometer (19) connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510865724.7A CN105235775B (en) | 2015-11-27 | 2015-11-27 | AGV trackless dolly driving wheel automatic correction devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510865724.7A CN105235775B (en) | 2015-11-27 | 2015-11-27 | AGV trackless dolly driving wheel automatic correction devices |
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| Publication Number | Publication Date |
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| CN105235775A true CN105235775A (en) | 2016-01-13 |
| CN105235775B CN105235775B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510865724.7A Active CN105235775B (en) | 2015-11-27 | 2015-11-27 | AGV trackless dolly driving wheel automatic correction devices |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114677A (en) * | 2016-06-18 | 2016-11-16 | 王小龙 | The method of driving wheel of vehicle centrally arranged driving vehicle |
| CN109737988A (en) * | 2019-01-23 | 2019-05-10 | 华晟（青岛）智能装备科技有限公司 | A kind of laser navigation equipment consistency calibration method of automated guided vehicle |
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| JPS6091416A (en) * | 1983-10-24 | 1985-05-22 | Hitachi Kiden Kogyo Ltd | Drive control method for unmanned truck |
| JPH09271105A (en) * | 1996-03-29 | 1997-10-14 | Mazda Motor Corp | Control method for vehicle and its device |
| CN1175719A (en) * | 1995-10-13 | 1998-03-11 | 矢崎化工株式会社 | Automatic guide method for vehicles |
| 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 |
| CN203740015U (en) * | 2014-03-06 | 2014-07-30 | 无锡普智联科高新技术有限公司 | Omnidirectional working drive mechanism suitable for AGV |
| CN104015836A (en) * | 2014-06-13 | 2014-09-03 | 苏州工业园区艾吉威自动化设备有限公司 | Agv |
| CN204472569U (en) * | 2015-03-17 | 2015-07-15 | 天津朗誉科技发展有限公司 | With the AGV actuating device of differential steering function |
| CN205186357U (en) * | 2015-11-27 | 2016-04-27 | 黄石市华天自动化设备有限公司 | AGV trolley -bus dolly drive wheel automatic correction of device |
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2015
- 2015-11-27 CN CN201510865724.7A patent/CN105235775B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6091416A (en) * | 1983-10-24 | 1985-05-22 | Hitachi Kiden Kogyo Ltd | Drive control method for unmanned truck |
| CN1175719A (en) * | 1995-10-13 | 1998-03-11 | 矢崎化工株式会社 | Automatic guide method for vehicles |
| JPH09271105A (en) * | 1996-03-29 | 1997-10-14 | Mazda Motor Corp | Control method for vehicle and its device |
| 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 |
| CN203740015U (en) * | 2014-03-06 | 2014-07-30 | 无锡普智联科高新技术有限公司 | Omnidirectional working drive mechanism suitable for AGV |
| CN104015836A (en) * | 2014-06-13 | 2014-09-03 | 苏州工业园区艾吉威自动化设备有限公司 | Agv |
| CN204472569U (en) * | 2015-03-17 | 2015-07-15 | 天津朗誉科技发展有限公司 | With the AGV actuating device of differential steering function |
| CN205186357U (en) * | 2015-11-27 | 2016-04-27 | 黄石市华天自动化设备有限公司 | AGV trolley -bus dolly drive wheel automatic correction of device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114677A (en) * | 2016-06-18 | 2016-11-16 | 王小龙 | The method of driving wheel of vehicle centrally arranged driving vehicle |
| CN109737988A (en) * | 2019-01-23 | 2019-05-10 | 华晟（青岛）智能装备科技有限公司 | A kind of laser navigation equipment consistency calibration method of automated guided vehicle |
| CN109737988B (en) * | 2019-01-23 | 2020-07-28 | 华晟（青岛）智能装备科技有限公司 | Laser navigator consistency calibration method of automatic guided transport vehicle |
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| Publication number | Publication date |
|---|---|
| CN105235775B (en) | 2017-07-07 |
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Address after: 435000 Huangshi Road, Hubei, Huangshi, No. 1181 Patentee after: Hubei Tianhua intelligent equipment Limited by Share Ltd Address before: 435000 Huangshi Road, Hubei, Huangshi, No. 1181 Patentee before: Huangshi Huatian Automation Equipment Co.,Ltd. |
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Denomination of invention: Automatic driving-wheel correcting device for AGV rail-free cart Effective date of registration: 20191115 Granted publication date: 20170707 Pledgee: Industrial Bank Co., Ltd. Huangshi Branch Pledgor: Hubei Tianhua intelligent equipment Limited by Share Ltd Registration number: Y2019420000028 |
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