CN105759819A - Automated guided vehicle driving in bidirectional direction - Google Patents

Automated guided vehicle driving in bidirectional direction Download PDF

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Publication number
CN105759819A
CN105759819A CN201610176519.4A CN201610176519A CN105759819A CN 105759819 A CN105759819 A CN 105759819A CN 201610176519 A CN201610176519 A CN 201610176519A CN 105759819 A CN105759819 A CN 105759819A
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CN
China
Prior art keywords
module
guided vehicle
automatic guided
chip microcomputer
control module
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Pending
Application number
CN201610176519.4A
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Chinese (zh)
Inventor
段鹏飞
段江韬
叶哲
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Xi'an Wanwu Industrial Control Technology Co Ltd
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Xi'an Wanwu Industrial Control Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xi'an Wanwu Industrial Control Technology Co Ltd filed Critical Xi'an Wanwu Industrial Control Technology Co Ltd
Priority to CN201610176519.4A priority Critical patent/CN105759819A/en
Publication of CN105759819A publication Critical patent/CN105759819A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

The invention discloses an automated guided vehicle driving in bidirectional direction. The automated guided vehicle comprises a vehicle body and an electrical mechanism. The vehicle body comprises a steering mechanism, a rotating speed mechanism, a front mechanism, and a rear mechanism. The steering mechanism is disposed in the front mechanism provided with a human-machine mechanism. The electrical mechanism is disposed in the middle of the vehicle body. A battery case with a roller is disposed inside the vehicle body at a side of the electrical mechanism. A storage battery is arranged in the battery case. The automated guided vehicle driving in bidirectional direction uses a front-wheel driving and front-wheel steering way so as to increase a load capability to maximum 280Kg, thereby benefiting usage. The steering front wheels and the two rear fixed wheels guarantee that the vehicle body has three landed wheels at any time when moving so as to prevent the vehicle body from deviating from a track and further guarantee that the automated guided vehicle may stably turn when driving at high speed.

Description

A kind of automatic guided vehicle of two way
Technical field
The present invention relates to automation equipment field, particularly relate to the automatic guided vehicle of a kind of two way.
Background technology
AGV is the abbreviation of AutomatedGuidedVehicle, i.e. automatic guided vehicle, it is a kind of industrial robot equipment that the application of current industrial circle is extremely wide, mainly there are fork truck class AGV, submersible AGV, two way AGV, small-sized AGV and other medium-and-large-sized AGV, mainly according to loadtype, AGV classified.
The motion mode that existing domestic two way AGV major part still adopts differential to travel, its shortcoming essentially consists in own car body weight not enough (less than 150Kg), plus highly higher after goods, the easy offset track or reduction operational efficiency can only be run at a low speed when running at high speed or turn, when load higher (more than 150Kg), it is easy to cause that inertia when differential travels makes car body offset track break down;
Existing two way AGV focus technology is in that the mode design aspect driven, and the domestic isonomic product of the overwhelming majority all adopts differential travel, front-wheel drive turns to both, the mode that differential travels adopts two driving wheels, the mode of each two universal wheels in front and back is as driving design, the rotating speed regulating two driving wheels in left and right can reach the ability to AGV course changing control, but differential steering will reduce when speed is higher than 2.5Km/h and turns to efficiency that deviation fault very easily occurs, simultaneously cargo load is generally less than 100Kg;And adopt the forward and backward structure being respectively provided with universal wheel, when concavo-convex situation occurring on road surface, it is easy to built on stilts driving wheel, very easily there is the fault of unexpected offset track;
The mode that station recognition mode is magnetic stripe or colour recognition of existing two way AGV, this mode easily lead to equipment run time website arrange limited, function is limited, precision is not enough.
Summary of the invention
In view of this, the present invention provides the automatic guided vehicle of a kind of two way, has the feature of front-wheel drive, front-wheel steer, reduces operational failure rate.
The present invention solves the problems referred to above by techniques below means:
The automatic guided vehicle of the two way of the present invention, including car body and electric mechanism, it is characterized in that: described car body includes steering mechanism, rotating speed mechanism, front portion mechanism and rear portion mechanism, described steering mechanism is arranged in described front portion mechanism, described front portion mechanism is provided with man-machine interaction mechanism, described electric mechanism is arranged on the middle part of described car body, and the inside of the described car body of the side of described electric mechanism is provided with the battery case with roller, is provided with accumulator in described battery case;
Described steering mechanism includes a gear wheel and the transmission connecting mechanism of two little gears and two described little gear engagements, and described little gear is provided with encoder (not shown);
Described rotating speed mechanism includes driving device (not shown) and transmission connecting mechanism;
The lower end of the axis of described gear wheel is provided with front-wheel (not shown), and the axis of described front-wheel is connected with the driving device of described rotating speed mechanism;
The both sides of the bottom of described rear portion mechanism are provided with two directional wheels;
Described electric mechanism includes power circuit block, single-chip microcomputer, motion control chip, buffer circuit, encoder interfaces module, the first rotational speed control module, the second rotational speed control module, course changing control module, has the station recognition module of the RFID module of triggered interrupts function, wireless communication module, CAN and human-computer interaction module, and described power circuit block is for being powered to each electricity consumption module;Described single-chip microcomputer is connected by SPI interface with described motion control chip, described course changing control module is connected with the input/output terminal of described motion-control module, described encoder interfaces module and described station recognition module are connected each through the input of described buffer circuit with described single-chip microcomputer, described first rotational speed control module and described second rotational speed control module are connected each through the outfan of described buffer circuit with described single-chip microcomputer, and described wireless communication module, described CAN and described human-computer interaction module are all connected with the input/output terminal of described single-chip microcomputer.
Further, described power circuit block includes 24V power supply, filtration module and voltage transformation module, the input of described filtration module is connected with described 24V power supply, the outfan of described filtration module is connected with the input of described voltage transformation module, and described voltage transformation module is for exporting different magnitudes of voltage.
Further, described CAN is isolated form CAN, the model of described single-chip microcomputer includes STM32F407, the model of described motion control chip includes PCD2112, described buffer circuit includes 74HC245 buffer, described station recognition module includes radio frequency identification module, and described human-computer interaction module includes HMI display.
Further, described driving device concretely DC24V d.c. motor, described DC24V d.c. motor can drive the speed per hour that the present invention walks to range for 0-3km/h.
Further, the both sides of described car body are provided with side lamp, being provided with safety sensor before described front portion mechanism, described man-machine interaction mechanism includes man machine interface and button, and described electric mechanism also includes the safety sensor interface module for connecting described safety sensor.
Further, the size of described gear wheel and described little gear is than for 60:19.
Further, described steering mechanism is by pinion rotation described in step motor control, and its rotational angular velocity is 0-45rad/s.
The automatic guided vehicle of the two way of the present invention, have employed the type of drive of front-wheel drive, front-wheel steer so that the load capacity of the present invention increases to maximum 280Kg, facilitates use;And ensure that described car bodies move by the described front-wheel that turns to and two described directional wheels below and former when carved three wheels and land, it is to avoid the fault generation of offset track, thus ensure that the present invention remains able to stable turning when high speed per hour is run;The present invention adopts has the RFID module of triggered interrupts function as station recognition module, and its website theory reaches as high as 65534, provides precision to be the ± acquisition precision of 3mm for automatic guided vehicle simultaneously;The present invention adopts the battery case with roller, thus facilitating the dismounting of accumulator.
Accompanying drawing explanation
Fig. 1 is the structural representation of automatic guided vehicle of the present invention;
Fig. 2 is the enlarged diagram in A portion in Fig. 1;
Fig. 3 is the schematic block circuit diagram of the electric mechanism of automatic guided vehicle of the present invention.
Detailed description of the invention
In describing the invention, it will be appreciated that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " be based on orientation shown in the drawings or position relationship; be for only for ease of the description present invention and simplifying and describe; rather than instruction or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Below with reference to accompanying drawing, the present invention is described in detail, as shown in Figure 1 to Figure 3: the automatic guided vehicle of the two way described in the present embodiment, including car body and electric mechanism 1, described car body includes steering mechanism 2, rotating speed mechanism 3, front portion mechanism 4 and rear portion mechanism 5, described steering mechanism 2 is arranged in described front portion mechanism 4, described front portion mechanism 4 is provided with man-machine interaction mechanism 41, described electric mechanism 1 is arranged on the middle part of described car body, the inside of the described car body of the side of described electric mechanism 1 is provided with the battery case 6 with roller, it is provided with accumulator (not shown) in described battery case 6;
Concrete, described steering mechanism 2 includes a gear wheel 22 and the transmission connecting mechanism (not shown) that two little gear 21 little gears 21 described with two engage, and described little gear 21 is provided with encoder (not shown);
Concrete, described rotating speed mechanism 3 includes driving device (not shown) and transmission connecting mechanism (not shown);
Wherein, the lower end of the axis of described gear wheel 22 is provided with front-wheel (not shown), and the axis of described front-wheel is connected with the driving device of described rotating speed mechanism 3;The both sides of the bottom of described rear portion mechanism 5 are provided with two directional wheels 51;
Concrete, described electric mechanism 1 includes power circuit block 101, single-chip microcomputer 102, motion control chip 103, buffer circuit 104, encoder interfaces module the 105, first rotational speed control module the 106, second rotational speed control module 107, course changing control module 108, has the station recognition module 109 of the RFID module of triggered interrupts function, wireless communication module 110, CAN 111 and human-computer interaction module 112, and described power circuit block 101 is for being powered to each electricity consumption module;Described single-chip microcomputer 102 is connected by SPI interface with described motion control chip 103, described course changing control module 108 is connected with the input/output terminal of described motion-control module 103, described encoder interfaces module 105 and described station recognition module 109 are connected each through the input of described buffer circuit 104 with described single-chip microcomputer 102, described first rotational speed control module 106 and described second rotational speed control module 107 are connected each through the outfan of described buffer circuit 104 with described single-chip microcomputer 102, described wireless communication module 110, described CAN 111 and described human-computer interaction module 112 are all connected with the input/output terminal of described single-chip microcomputer 102.
Concrete, described power circuit block 101 includes 24V power supply 1011, filtration module 1012 and voltage transformation module 1013, the input of described filtration module 1012 is connected with described 24V power supply 1011, the outfan of described filtration module 1012 is connected with the input of described voltage transformation module 1013, and described voltage transformation module 1013 is for exporting different magnitudes of voltage.
Wherein, described voltage transformation module 1013 includes 24V and turns 5V voltage conversion chip TPS5420D and 5V and turn 3.3V voltage conversion chip TPS73033,24V turns the 5V voltage of 5V voltage conversion chip output for powering to CAN 111, and 5V turns the 3.3V voltage of 3.3V voltage conversion chip output for module for power supply such as single-chip microcomputer 102 and motion control chips 103.
Concrete, filtration module 1012 is for carrying out anti-EMI Filtering to 24V power supply, it is ensured that the voltage of follow-up output is noiseless to circuit.
Preferably, described CAN 111 is isolated form CAN.
Preferably, the model of described single-chip microcomputer 102 includes STM3F407.
It should be noted that the single-chip microcomputer 102 of the present invention can also be the single-chip microcomputer of other models, for instance, TM4C129 series monolithic etc., without limitation.
Preferably, the model of described motion control chip 103 includes PCD2112.
Preferably, described buffer circuit 104 includes 74HC245 buffer.
Preferably, described wireless communication module 110 includes bluetooth module.
Time actually used, bluetooth module can be model is the Bluetooth chip of CSR8610.
Preferably, described station recognition module 109 includes radio frequency identification module.
Preferably, described human-computer interaction module 112 includes HMI display.
It should be noted that course changing control module the 108, first rotational speed control module 106 and the second rotational speed control module 107 are all connected with mover.
When electric mechanism 1 works; motion control chip 103 controls turning to of mover by course changing control module 108; single-chip microcomputer 102 is communicated with each other by SPI interface and motion control chip 103; single-chip microcomputer 102 sends rotary speed instruction to the first rotational speed control module 106 and the second rotational speed control module 107 respectively by buffer circuit 104; and then control the rotating speed of mover; wherein, buffer circuit 104 is for protecting the I/O port of single-chip microcomputer 102 to impact from interference;Encoder interfaces module 105 is used for detecting mover motor angle position etc.;Station recognition module 109 is used for gathering interrupting information, and sends the interrupting information collected to single-chip microcomputer 102, so that single-chip microcomputer 102 controls mover and stops mobile;CAN 111 is used for connecting attitude transducer, position sensor etc., so that the information collected is sent to single-chip microcomputer 102 by attitude transducer and position sensor by CAN 111, the information received can be displayed by single-chip microcomputer 102 by human-computer interaction module 112, user sets relevant parameter also by human-computer interaction module 112, it is achieved man-machine interaction;It addition, wireless communication module 110 transmits to server for the information sent by single-chip microcomputer 102, it is achieved remotely monitor.
The automatic guided vehicle of the two way described in the present embodiment, have employed the type of drive of front-wheel drive, front-wheel steer so that the load capacity of the present invention increases to maximum 280Kg, facilitates use;And ensure that described car body moves by the described front-wheel that turns to and two described directional wheels 51 below and former when carved three wheels and land, it is to avoid the fault generation of offset track, thus ensure that the present invention remains able to stable turning when high speed per hour is run;The present invention adopts has the RFID module of triggered interrupts function as station recognition module, and its website theory reaches as high as 65534, provides precision to be the ± acquisition precision of 3mm for automatic guided vehicle simultaneously;The present invention adopts the battery case 6 with roller, thus facilitating the dismounting of accumulator.
In the present embodiment, described driving device concretely DC24V d.c. motor, described DC24V d.c. motor can drive the speed per hour that the present invention walks to range for 0-3km/h.
Further improvement as technique scheme, the both sides of described car body are provided with side lamp, before described front portion mechanism 4, safety sensor is installed, described man-machine interaction mechanism 41 includes man machine interface and button, and described electric mechanism 1 also includes the safety sensor interface module for connecting described safety sensor.
Concrete, for the ease of using, the size of described gear wheel 22 and described little gear 21 ratio is for 60:19.
In the present embodiment, described steering mechanism 2 is rotated by little gear 21 described in step motor control, and its rotational angular velocity is 0-45rad/s.
What finally illustrate is, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from objective and the scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention.

Claims (8)

1. the automatic guided vehicle of a two way, including car body and electric mechanism, it is characterized in that: described car body includes steering mechanism, rotating speed mechanism, front portion mechanism and rear portion mechanism, described steering mechanism is arranged in described front portion mechanism, described front portion mechanism is provided with man-machine interaction mechanism, described electric mechanism is arranged on the middle part of described car body, and the inside of the described car body of the side of described electric mechanism is provided with the battery case with roller, is provided with accumulator in described battery case;
Described steering mechanism includes a gear wheel and the transmission connecting mechanism of two little gears and two described little gear engagements, and described little gear is provided with encoder;
Described rotating speed mechanism includes driving device and transmission connecting mechanism;
The lower end of the axis of described gear wheel is provided with front-wheel, and the axis of described front-wheel is connected with the driving device of described rotating speed mechanism;The both sides of the bottom of described rear portion mechanism are provided with two directional wheels;
Described electric mechanism includes power circuit block, single-chip microcomputer, motion control chip, buffer circuit, encoder interfaces module, the first rotational speed control module, the second rotational speed control module, course changing control module, has the station recognition module of the RFID module of triggered interrupts function, wireless communication module, CAN and human-computer interaction module, and described power circuit block is for being powered to each electricity consumption module;Described single-chip microcomputer is connected by SPI interface with described motion control chip, described course changing control module is connected with the input/output terminal of described motion-control module, described encoder interfaces module and described station recognition module are connected each through the input of described buffer circuit with described single-chip microcomputer, described first rotational speed control module and described second rotational speed control module are connected each through the outfan of described buffer circuit with described single-chip microcomputer, and described wireless communication module, described CAN and described human-computer interaction module are all connected with the input/output terminal of described single-chip microcomputer.
2. the automatic guided vehicle of a kind of two way according to claim 1, it is characterised in that: described driving device concretely DC24V d.c. motor, described DC24V d.c. motor can drive the speed per hour that the present invention walks to range for 0-3km/h.
3. the automatic guided vehicle of a kind of two way according to claim 1, it is characterised in that: the both sides of described car body are provided with side lamp, are provided with safety sensor before described front portion mechanism, and described man-machine interaction mechanism includes man machine interface and button.
4. the automatic guided vehicle of a kind of two way according to claim 1, it is characterised in that: the size of described gear wheel and described little gear is than for 60:19.
5. the automatic guided vehicle of a kind of two way according to claim 1, it is characterised in that: described steering mechanism is by pinion rotation described in step motor control, and its rotational angular velocity is 0-45rad/s.
6. the automatic guided vehicle of a kind of two way according to claim 1, it is characterized in that: described power circuit block includes 24V power supply, filtration module and voltage transformation module, the input of described filtration module is connected with described 24V power supply, the outfan of described filtration module is connected with the input of described voltage transformation module, and described voltage transformation module is for exporting different magnitudes of voltage.
7. the automatic guided vehicle of a kind of two way according to claim 1, it is characterized in that: described CAN is isolated form CAN, the model of described single-chip microcomputer includes STM32F407, the model of described motion control chip includes PCD2112, described buffer circuit includes 74HC245 buffer, described station recognition module includes radio frequency identification module, and described human-computer interaction module includes HMI display.
8. the automatic guided vehicle of a kind of two way according to claim 3, it is characterised in that: described electric mechanism also includes the safety sensor interface module for connecting described safety sensor.
CN201610176519.4A 2016-03-28 2016-03-28 Automated guided vehicle driving in bidirectional direction Pending CN105759819A (en)

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CN201610176519.4A CN105759819A (en) 2016-03-28 2016-03-28 Automated guided vehicle driving in bidirectional direction

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Application Number Priority Date Filing Date Title
CN201610176519.4A CN105759819A (en) 2016-03-28 2016-03-28 Automated guided vehicle driving in bidirectional direction

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126535A (en) * 2010-01-20 2011-07-20 刘爱诗 Front-wheel-driven steering bicycle
CN102830704A (en) * 2012-09-19 2012-12-19 苏州工业园区职业技术学院 Single drive manual loading and unloading automatic guided vehicle (AGV) control system
CN103383570A (en) * 2013-06-25 2013-11-06 天奇自动化工程股份有限公司 Automatic guided vehicle capable of moving in all directions
CN204038440U (en) * 2014-07-30 2014-12-24 长城汽车股份有限公司 A kind of AGV transport trolley
CN104965509A (en) * 2015-07-13 2015-10-07 赵烨 Automatic navigation AGV transporting trolley
CN204774642U (en) * 2015-06-15 2015-11-18 东莞市瑞鹏机器人自动化有限公司 AGV steering wheel drive system module

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126535A (en) * 2010-01-20 2011-07-20 刘爱诗 Front-wheel-driven steering bicycle
CN102830704A (en) * 2012-09-19 2012-12-19 苏州工业园区职业技术学院 Single drive manual loading and unloading automatic guided vehicle (AGV) control system
CN103383570A (en) * 2013-06-25 2013-11-06 天奇自动化工程股份有限公司 Automatic guided vehicle capable of moving in all directions
CN204038440U (en) * 2014-07-30 2014-12-24 长城汽车股份有限公司 A kind of AGV transport trolley
CN204774642U (en) * 2015-06-15 2015-11-18 东莞市瑞鹏机器人自动化有限公司 AGV steering wheel drive system module
CN104965509A (en) * 2015-07-13 2015-10-07 赵烨 Automatic navigation AGV transporting trolley

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Application publication date: 20160713