CN106585767A - AGV trolley capable of freely moving in any direction through WIFI control - Google Patents

AGV trolley capable of freely moving in any direction through WIFI control Download PDF

Info

Publication number
CN106585767A
CN106585767A CN201611181533.XA CN201611181533A CN106585767A CN 106585767 A CN106585767 A CN 106585767A CN 201611181533 A CN201611181533 A CN 201611181533A CN 106585767 A CN106585767 A CN 106585767A
Authority
CN
China
Prior art keywords
chassis
wheel
station
controller
wifi
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201611181533.XA
Other languages
Chinese (zh)
Inventor
王暑明
赵景波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu University of Technology
Original Assignee
Jiangsu University of Technology
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 Jiangsu University of Technology filed Critical Jiangsu University of Technology
Priority to CN201611181533.XA priority Critical patent/CN106585767A/en
Publication of CN106585767A publication Critical patent/CN106585767A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • 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
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

Abstract

The invention discloses an AGV trolley capable of freely moving in any direction through WIFI control, and belongs to the technical field of robots. The AGV trolley comprises a chassis (1), a compartment (2), four wheels (3), a motion control plate (4), four servo direct current motors (5), a communication control plate (7) and an EtherCAT bus (8). The problem of pivot steering of the AGV trolley is solved.

Description

A kind of AGV dollies that can be moved freely to any direction with WIFI controls
Technical field
The invention belongs to robotics.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automatical pilot transportation vehicle ", refers to and is equipped with Electricity magnetically or optically waits homing guidance device, and it can be along the guide path of regulation traveling, with safeguard protection and various transfers The transport vehicle of function, AGV belongs to the category of wheeled mobile robot (WMR --- Wheeled Mobile Robot), also referred to as Transfer robot, AGV is mostly the higher factory of automaticity using most occasions.
Factory floor space is limited, needs AGV to be not take up space as far as possible when turning, and current AGV vehicles exist Certain turning space is taken during turning.
The content of the invention
It is an object of the invention to provide a kind of AGV dollies that can be moved freely to any direction with WIFI controls, solve The problem of AGV dolly pivot studs.
For achieving the above object, the present invention is employed the following technical solutions:
It is a kind of with the WIFI AGV dollies that can move freely to any direction of control, including chassis, compartment, 4 wheels, Motion control board, 4 servo direct current motors, communication control panel and EtherCAT buses, arrange 4 wheels, institute on chassis State 4 servo direct current motors and drive 4 wheels respectively, the compartment is provided with the upside of the chassis, on the chassis Motion control board is additionally provided with, communication control panel, communication control panel and fortune are provided with the inner surface of the rear wall in the compartment Pass through EtherCAT bus communications between dynamic control panel;
Communication control panel includes main website power module, main station controller, main website RJ45 interfaces, WIFI module and display screen, Main website RJ45 interfaces, WIFI module and display screen are electrically connected with main station controller, main website power module be main station controller, WIFI module and display screen;
Motion control board include EtherCAT slave station modules, from station control, slave station RJ45 interfaces, motion controller, from Stand power module, cell encoder and IGBT driver elements, slave station RJ45 interfaces connection EtherCAT slave station modules, EtherCAT The connection of slave station module connects motion controller from station control from station control;
Cell encoder includes 4 encoder for servo motor, and each described encoder for servo motor is all connected with an institute Servo direct current motor is stated, all encoder for servo motor are all connected with motion controller;
IGBT driver elements include 4 IGBT drive modules, and each described IGBT drive module is all connected with described in one Servo direct current motor, all IGBT drive modules are all connected with motion controller;
Slave station power module is to drive from station control, motion controller, slave station power module, cell encoder and IGBT Unit is powered;
Linked together by EtherCAT buses between main website RJ45 interfaces and slave station RJ45 interfaces.
The main station controller is EP4CE22F256 type FPGA controllers;The model from station control MC56F8346;The model EP4CE22F256 type FPGA controller of the motion controller;The EtherCAT slave stations module Model ET1100.
Model TLG09UA01 of the WIFI module;The model of 4 encoder for servo motor is BLD- 120A;The model of 4 servo direct current motors is 57BL125-48.
The wheel includes wheel hub and the several rollers arranged uniformly at intervals successively around wheel hub outer ring, and the roller includes The rubber rollers set that roll shaft and roll shaft outer ring are arranged;The central axis of the roll shaft is inclined with the central axis of wheel hub that it is located and set Put.
4 wheels are divided into two pairs, and one pair of which wheel is arranged on the anterior left and right sides in chassis, and another one wheel pairs set Put the left and right sides at chassis rear portion;Roll shaft on the front left wheel of chassis is put down with the roll shaft on the rear right wheel of chassis OK, the roll shaft in the right-hand wheel of the roll shaft on chassis rear left wheel and chassis front portion is parallel, chassis front left wheel with It is symmetrical arranged before and after the rear left wheel of chassis.
A kind of AGV dollies that can be moved freely to any direction with WIFI controls of the present invention, solve AGV little The problem of car pivot stud, the present invention adopts EtherCAT bussing techniques, realizes the high efficiency to AGV dollies and controls.
Description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the schematic diagram block diagram of the present invention;
Fig. 3 is the top view of the present invention;
Fig. 4 is the frame for movement schematic diagram of the wheel of the present invention;
In figure:Chassis 1,2,4, compartment wheel 3,4,4 servo direct current motors 5 of motion control board, communication control panel 7, EtherCAT buses 8, main website power module 9, main website RJ45 interfaces 10, slave station RJ45 interfaces 11, slave station power module 12, slave station Controller 13, motion controller 14, IGBT driver elements 15, cell encoder 16, host computer 17, WIFI module 19, display screen 18th, main station controller 20, EtherCAT slave stations module 21, wheel hub 22, rubber rollers set 23, roll shaft 24, wheel shaft 25.
Specific embodiment
A kind of AGV dollies that can be moved freely to any direction with WIFI controls as Figure 1-4, including chassis 1, 2,4, compartment wheel 3, motion control board 4,4 servo direct current motors 5, communication control panel 7 and EtherCAT buses 8, chassis 1 Upper to arrange 4 wheels 3,4 servo direct current motors 5 drive respectively 4 wheels 3, set in the upside of the chassis 1 There is the compartment 2, motion control board 4 is additionally provided with the chassis 1, set on the inner surface of the rear wall in the compartment 2 There is communication control panel 7, communicated by EtherCAT buses 8 between communication control panel 7 and motion control board 4;
Communication control panel 7 includes main website power module 9, main station controller 20, main website RJ45 interfaces 10, the and of WIFI module 19 Display screen 18, main website RJ45 interfaces 10, WIFI module 19 and display screen 18 are electrically connected with main station controller 20, main website power supply mould Block 9 is main station controller 20, WIFI module 19 and display screen 18;
Motion control board 4 includes EtherCAT slave stations module 21, controls from station control 13, slave station RJ45 interfaces 11, motion Device processed 14, slave station power module 12, cell encoder 16 and IGBT driver elements 15, the connection EtherCAT of slave station RJ45 interfaces 11 Slave station module 21, EtherCAT slave stations module 21 connect from station control 13, and from station control 13 motion controller 14 is connected;
Cell encoder 16 includes 4 encoder for servo motor, and each described encoder for servo motor is all connected with one The servo direct current motor 5, all encoder for servo motor are all connected with motion controller 14;
IGBT driver elements 15 include 4 IGBT drive modules, and each described IGBT drive module is all connected with an institute Servo direct current motor 5 is stated, all IGBT drive modules are all connected with motion controller 14;
Slave station power module 12 is from station control 13, motion controller 14, slave station power module 12, cell encoder 16 Power with IGBT driver elements 15;
Linked together by EtherCAT buses 8 between main website RJ45 interfaces 10 and slave station RJ45 interfaces 11.
The main station controller 20 is EP4CE22F256 type FPGA controllers;The model from station control 13 MC56F8346;The model EP4CE22F256 type FPGA controller of the motion controller 14;The EtherCAT slave stations mould Model ET1100 of block 21.
Model TLG09UA01 of the WIFI module 19;The model of 4 encoder for servo motor is BLD- 120A;The model of 4 servo direct current motors 5 is 57BL125-48.
The wheel 3 include wheel shaft 25, the wheel hub 22 that arranges on wheel shaft 25 and around the outer ring of wheel hub 22 successively uniformly at intervals The several rollers for arranging, wheel shaft 25 is coaxially disposed with wheel hub 22 thereon, and four wheel shafts 25 of four wheel hubs 22 dock respectively four The output shaft of servo direct current motor 5, several rollers are arranged around the central axis Central Symmetry of wheel hub 22 (or wheel shaft 25), institute State the rubber rollers set 23 that roller is arranged including roll shaft 24 and the outer ring of roll shaft 24;The central axis of the roll shaft 24 and wheel hub that it is located The central axis of 22 (or wheel shafts) is obliquely installed, i.e., the central axis of roll shaft 24 is to favour in its place wheel hub (or wheel shaft) The skew lines of heart axis, the central axis of roll shaft is different surface beeline or antarafacial with the central axis of wheel hub that it is located (or wheel shaft) Intersecting straight line.
3 points of 4 wheels are two pairs, and one pair of which wheel 3 is arranged on the left and right sides of the front portion of chassis 1 and coaxially sets Put, another one wheel pairs 3 are arranged on the left and right sides at the rear portion of chassis 1 and are coaxially disposed;Roller on the front left wheel 3 of chassis 1 Axle is parallel with the roll shaft on the rear right wheel 3 of chassis 1 and is left extension oblique from front to back, the rear left wheel 3 of chassis 1 On the anterior right-hand wheel 3 in roll shaft and chassis 1 on roll shaft it is parallel and be right extension oblique from front to back, chassis 1 is anterior left It is symmetrical arranged before and after side wheel 3 and the rear left wheel 3 of chassis 1, the anterior right-hand wheel 3 in chassis 1 and the rear right wheel of chassis 1 It is symmetrical arranged before and after 3, the wheel 3 of left and right two of the front portion of chassis 1 is symmetrical, and the wheel 3 of left and right two at the rear portion of chassis 1 is symmetrical.
During work, communication control panel 7 is communicated by WIFI with host computer 18, and host computer 18 includes smart mobile phone or computer, The control instruction of host computer 18 is sent to motion control board 4, motion control board 4 by communication control panel 7 by EtherCAT buses 8 The rotation of 4 servo direct current motors 5 of control, so as to control the rotation of 4 wheels 3.
When a kind of WIFI controls to need to turn to the right to the AGV dollies that any direction is moved freely, if Put the roll shaft on the front left wheel 3 of chassis 1 and the rear right wheel 3 of chassis 1 is rotated clockwise, the rear portion of chassis 1 is left The anterior right-hand wheel 3 of roll shaft and chassis 1 on side wheel 3 is rotated counterclockwise, and the movement velocity of 4 wheels 3 is homogeneous Together, now the longitudinal force of 4 wheels 3 is cancelled out each other, cross force superposition, and a kind of WIFI controls can be to any direction certainly Turned right by mobile AGV dollies original place.
When a kind of WIFI controls to need to turn to the left to the AGV dollies that any direction is moved freely, if Put the roll shaft on the front left wheel 3 of chassis 1 and the rear right wheel 3 of chassis 1 is rotated counterclockwise, the rear portion of chassis 1 is left The anterior right-hand wheel 3 of roll shaft and chassis 1 on side wheel 3 is rotated clockwise, and the movement velocity of 4 wheels 3 is homogeneous Together, now the longitudinal force of 4 wheels 3 is cancelled out each other, cross force superposition, and a kind of WIFI controls can be to any direction certainly Moved by mobile AGV dolly left faces.
The present invention can be accurately controlled that described one kind WIFI control by the movement velocity of 4 wheels 3 of control can be with To the angle that the AGV dollies original place that any direction is moved freely rotates.
A kind of AGV dollies that can be moved freely to any direction with WIFI controls of the present invention, solve AGV little The problem of car pivot stud, the present invention adopts EtherCAT bussing techniques, realizes the high efficiency to AGV dollies and controls.

Claims (5)

1. a kind of with the WIFI AGV dollies that can move freely to any direction of control, it is characterised in that:Including chassis (1), car Railway carriage or compartment (2), 4 wheels (3), motion control board (4), 4 servo direct current motors (5), communication control panel (7) and EtherCAT buses (8) 4 wheels (3), are set on chassis (1), and 4 servo direct current motors (5) drive respectively 4 wheels (3), The compartment (2) is provided with the chassis (1) upside, motion control board (4) is additionally provided with the chassis (1), described The inner surface of the rear wall in compartment (2) is provided with communication control panel (7), leads between communication control panel (7) and motion control board (4) Cross EtherCAT buses (8) communication;
Communication control panel (7) includes main website power module (9), main station controller (20), main website RJ45 interfaces (10), WIFI module (19) and display screen (18), main website RJ45 interfaces (10), WIFI module (19) and display screen (18) with main station controller (20) Electrical connection, main website power module (9) is main station controller (20), WIFI module (19) and display screen (18) are powered;
Motion control board (4) is including EtherCAT slave station modules (21), from station control (13), slave station RJ45 interfaces (11), fortune Movement controller (14), slave station power module (12), cell encoder (16) and IGBT driver elements (15), slave station RJ45 interfaces (11) connect EtherCAT slave station modules (21), EtherCAT slave station modules (21) to connect from station control (13), from stand control Device (13) connection motion controller (14);
Cell encoder (16) includes 4 encoder for servo motor, and each described encoder for servo motor is all connected with an institute Servo direct current motor (5) is stated, all encoder for servo motor are all connected with motion controller (14);
IGBT driver elements (15) include 4 IGBT drive modules, and each described IGBT drive module is all connected with described in one Servo direct current motor (5), all IGBT drive modules are all connected with motion controller (14);
Slave station power module (12) is from station control (13), motion controller (14), slave station power module (12), encoder list First (16) and IGBT driver elements (15) power supply;
Linked together by EtherCAT buses (8) between main website RJ45 interfaces (10) and slave station RJ45 interfaces (11).
2. a kind of AGV dollies that can be moved freely to any direction with WIFI controls as claimed in claim 1, its feature exists In:The main station controller (20) is EP4CE22F256 type FPGA controllers;The model from station control (13) MC56F8346;The model EP4CE22F256 type FPGA controller of the motion controller (14);The EtherCAT slave stations Model ET1100 of module (21).
3. a kind of AGV dollies that can be moved freely to any direction with WIFI controls as claimed in claim 1, its feature exists In:Model TLG09UA01 of the WIFI module (19);The model of 4 encoder for servo motor is BLD-120A; The model of 4 servo direct current motors (5) is 57BL125-48.
4. a kind of AGV dollies that can be moved freely to any direction with WIFI controls as claimed in claim 1, its feature exists In:Several rollers that the wheel (3) is arranged uniformly at intervals successively including wheel hub and around wheel hub outer ring, the roller includes roller The rubber rollers set that axle and roll shaft outer ring are arranged;The central axis of the roll shaft is obliquely installed with the central axis of wheel hub that it is located.
5. a kind of AGV dollies that can be moved freely to any direction with WIFI controls as claimed in claim 4, its feature exists In:4 wheels (3) are divided into two pairs, and one pair of which wheel (3) is arranged on the anterior left and right sides in chassis (1), another to wheel Sub (3) are arranged on the left and right sides at chassis (1) rear portion;After roll shaft and chassis (1) on chassis (1) front left wheel (3) Roll shaft in portion's right-hand wheel (3) is parallel, the anterior right-hand wheel of the roll shaft on chassis (1) rear left wheel (3) and chassis (1) (3) roll shaft on is parallel, is symmetrical arranged before and after chassis (1) front left wheel (3) and chassis (1) rear left wheel (3).
CN201611181533.XA 2016-12-20 2016-12-20 AGV trolley capable of freely moving in any direction through WIFI control Pending CN106585767A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611181533.XA CN106585767A (en) 2016-12-20 2016-12-20 AGV trolley capable of freely moving in any direction through WIFI control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611181533.XA CN106585767A (en) 2016-12-20 2016-12-20 AGV trolley capable of freely moving in any direction through WIFI control

Publications (1)

Publication Number Publication Date
CN106585767A true CN106585767A (en) 2017-04-26

Family

ID=58599597

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611181533.XA Pending CN106585767A (en) 2016-12-20 2016-12-20 AGV trolley capable of freely moving in any direction through WIFI control

Country Status (1)

Country Link
CN (1) CN106585767A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108000482A (en) * 2017-12-23 2018-05-08 中信重工开诚智能装备有限公司 A kind of explosion-proof wheeled crusing robot system
CN109849645A (en) * 2019-03-21 2019-06-07 浙江尤恩机器人科技有限公司 4 wheel driven trolley mobile controller and system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0869323A (en) * 1994-06-23 1996-03-12 Toyota Motor Corp Drive controller for unmanned car
CN202929480U (en) * 2012-09-19 2013-05-08 苏州工业园区职业技术学院 Medical AGV logistic control system
CN204507907U (en) * 2014-12-25 2015-07-29 北京物资学院 A kind of storage based on submersible AGV divides integral system
CN204715836U (en) * 2015-06-10 2015-10-21 深圳怡丰机器人科技有限公司 A kind of AGV combed transfer robot
CN204856210U (en) * 2015-08-25 2015-12-09 深圳力子机器人有限公司 Formula of hiding laser tape mixes navigation AGV dolly

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0869323A (en) * 1994-06-23 1996-03-12 Toyota Motor Corp Drive controller for unmanned car
CN202929480U (en) * 2012-09-19 2013-05-08 苏州工业园区职业技术学院 Medical AGV logistic control system
CN204507907U (en) * 2014-12-25 2015-07-29 北京物资学院 A kind of storage based on submersible AGV divides integral system
CN204715836U (en) * 2015-06-10 2015-10-21 深圳怡丰机器人科技有限公司 A kind of AGV combed transfer robot
CN204856210U (en) * 2015-08-25 2015-12-09 深圳力子机器人有限公司 Formula of hiding laser tape mixes navigation AGV dolly

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
宋伟刚等: "《机器人技术基础(第2版)》", 31 July 2015 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108000482A (en) * 2017-12-23 2018-05-08 中信重工开诚智能装备有限公司 A kind of explosion-proof wheeled crusing robot system
CN108000482B (en) * 2017-12-23 2020-07-14 中信重工开诚智能装备有限公司 Explosion-proof wheeled inspection robot system
CN109849645A (en) * 2019-03-21 2019-06-07 浙江尤恩机器人科技有限公司 4 wheel driven trolley mobile controller and system

Similar Documents

Publication Publication Date Title
CN105479433B (en) A kind of Mecanum wheel Omni-mobile transfer robot
CN109625123B (en) Spliced type carrying vehicle, carrying system and carrying method
CN103072627A (en) Electric chassis with four independent turning wheels
CN105425792A (en) Omnidirectional mobile automatic guided vehicle
CN203486852U (en) Electric reach forklift truck with omnidirectional moving function
KR101218337B1 (en) The three-wheel electric vehicle
CN106585767A (en) AGV trolley capable of freely moving in any direction through WIFI control
CN110525517A (en) The motion control method of omnidirectional's heavy duty mobile robot
CN105857116A (en) Driving mechanism of automatic guiding type carrying device
CN203497054U (en) Pivot steering AGV (automatic guided vehicle) type self-walking carrier vehicle
CN103448830A (en) Pivot steering AGV self-walking carrier vehicle
CN203623808U (en) Four-wheel independent-drive transport trolley
WO2019096288A1 (en) Split-type manipulator and method for carrying vehicle using same
CN110654194A (en) Six-wheel independently-steering liftable mobile platform
CN109927776A (en) Vehicle and method for controlling a vehicle with rotating-table apparatus
CN105946548A (en) Automatic guiding type carrying device
CN112016155A (en) All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof
CN103640496A (en) 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform
JP2014046890A (en) Omnidirectional moving truck having power assist function
CN106200646A (en) A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system
CN103770663A (en) Electronic-gyroscope-autostabilization multi-wheel full-driving electric car
CN205768758U (en) The drive mechanism of homing guidance formula Handling device
CN101088834A (en) Omnibearing servo magnetic wheel type four-wheel drive vehicle
CN205768620U (en) Homing guidance formula Handling device
CN104210545A (en) Novel omnidirectional moving platform

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20170426

RJ01 Rejection of invention patent application after publication