CN107450532A - It is a kind of based on PLC tiered warehouse facility AGV cars - Google Patents
It is a kind of based on PLC tiered warehouse facility AGV cars Download PDFInfo
- Publication number
- CN107450532A CN107450532A CN201710545234.8A CN201710545234A CN107450532A CN 107450532 A CN107450532 A CN 107450532A CN 201710545234 A CN201710545234 A CN 201710545234A CN 107450532 A CN107450532 A CN 107450532A
- Authority
- CN
- China
- Prior art keywords
- frame body
- module
- plc
- modules
- warehouse facility
- 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
Links
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000000835 fiber Substances 0.000 claims description 13
- 239000013256 coordination polymer Substances 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a kind of based on PLC tiered warehouse facility AGV cars, including mechanical arm, frame body, driving wheel, power cabinet, switch board；The frame body upper end is provided with mechanical arm, and the left and right ends of frame body front-back are equipped with driving wheel, power cabinet and switch board are provided with inside frame body；24V cadmium nickel pond, vehicle-mounted inverter, PS307 DC power suppliers, 24V dc sources, step actuator, DC motor driver are provided with the power cabinet；The frame body is provided with dolly limit switch, button, alarm lamp in place, and driving wheel, which mechanically connects, direct-drive motor or steering stepper motor；Navigation positional device, anti-collision protection device, ethernet module, I/O modules, the DP modules of CPU313C 2, expansion I/O module, pulse modulation module, high speed counting module are provided with the switch board；The navigation positional device includes some tongue tubes and magnetic stripe, and the anti-collision protection device includes some radars.The present invention is positioned based on PLC tongue tubes and magnetic stripe.
Description
【Technical field】
The present invention relates to the technical field of mobile robot, particularly a kind of skill based on PLC tiered warehouse facility with AGV cars
Art field.
【Background technology】
, it is necessary to carry out picking and placeing transhipment to article in tiered warehouse facility.AGV cars are that one kind can be along defined guide path row
Sail, there is the transport vehicle of safeguard protection and various transfer functions.Therefore, it is possible to reference to existing AGV cars background of related, knot
Existing machinery arm technology is closed, is obtained a kind of based on PLC tiered warehouse facility AGV cars.
【The content of the invention】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of tiered warehouse facility AGV based on PLC
Car, using PLC as control core, tongue tube and magnetic stripe complete AGV tracking and positioning function so that control system is more
Stablize and be easy to safeguard and use.
To achieve the above object, the present invention proposes a kind of based on PLC tiered warehouse facility AGV cars, including mechanical arm, car
Frame body, driving wheel, power cabinet, switch board；The frame body upper end is provided with mechanical arm, the left and right two of frame body front-back
End is equipped with driving wheel, and power cabinet and switch board are provided with inside frame body；24V cadmium nickel pond, vehicle-mounted is provided with the power cabinet
Inverter, PS307 DC power suppliers, 24V dc sources, step actuator, DC motor driver；On the frame body
Provided with dolly, limit switch, button, alarm lamp, driving wheel mechanical connection have direct-drive motor or turn to stepping electricity in place
Machine, direct-drive motor are electrically connected with speed regulator, are turned to stepper motor and are electrically connected with step actuator, encoder；Institute
State and navigation positional device, anti-collision protection device, ethernet module, I/O modules, CPU313C-2DP modules, expansion are provided with switch board
Open up I/O modules, pulse modulation module, high speed counting module；With ethernet module, I/O moulds in the CPU313C-2DP modules
Block, pulse modulation module, high speed counting module；The expansion I/O module and limit switch, button, alarm lamp are electrical
Connection；The navigation positional device includes some tongue tubes and magnetic stripe, and the anti-collision protection device includes some radars.
Preferably, the tongue tube is MKA-10110 type tongue tubes.
Preferably, the frame body upper end is provided with fiber amplifier, fiber amplifier and CPU313C-2DP modules electricity
Property connection, fiber amplifier is FT-320-05 type fiber amplifiers.
Preferably, the ethernet module is CP343-1TCP type ethernet modules.
Preferably, the vehicle-mounted inverter and 24V cadmium nickel pond, PS307 DC power suppliers, 24V dc sources are electric
Property connection；The 24V dc sources are electrically connected with step actuator, DC motor driver.
Beneficial effects of the present invention：The present invention using PLC be used as control core, tongue tube and magnetic stripe completion AGV tracking
And positioning function so that control system is more stable and is easy to safeguard and uses.
The feature and advantage of the present invention will be described in detail by embodiment combination accompanying drawing.
【Brief description of the drawings】
Fig. 1 is a kind of front view based on PLC tiered warehouse facility with AGV cars of the invention；
Fig. 2 is a kind of control system hardware architecture diagram based on PLC tiered warehouse facility AGV cars of the present invention.
In figure：1- mechanical arms, 2- frames body, 3- driving wheels, 4- power cabinets, 5- switch boards, 6- navigation positional devices, 7-
Anti-collision protection device, 8- host computers, 9- wireless aps, 10- ethernet modules, 11- direct-drive motors, 12- speed regulators, 13-I/O
Module, 14-CPU313C-2DP modules, 15- expansion I/Os module, 16-24V dc sources, 17- step actuators, 18- pulses are adjusted
Molding block, 19- high speed counting modules, 20- dollies in place limit switch, 21- buttons, 22- turn to stepper motor, 23- encoders,
24- alarm lamps.
【Embodiment】
Refering to Fig. 1, Fig. 2, the present invention, including mechanical arm 1, frame body 2, driving wheel 3, power cabinet 4, switch board 5；It is described
The upper end of frame body 2 is provided with mechanical arm 1, and the left and right ends of the front-back of frame body 2 are equipped with driving wheel 3, inside frame body 2
Provided with power cabinet 4 and switch board 5；Be provided with the power cabinet 4 24V cadmium nickel pond, vehicle-mounted inverter, PS307 DC power suppliers,
24V dc sources 16, step actuator 17, DC motor driver；The frame body 2 is provided with dolly limit switch in place
20th, button 21, alarm lamp 24, driving wheel 3, which mechanically connects, to be had direct-drive motor 11 or turns to stepper motor 22, and direct current drives
Dynamic motor 11 is electrically connected with speed regulator 12, is turned to stepper motor 22 and is electrically connected with step actuator 17, encoder 23；Institute
State and navigation positional device 6, anti-collision protection device 7, ethernet module 10, I/O modules 13, CPU313C-2DP are provided with switch board 5
Module 14, expansion I/O module 15, pulse modulation module 18, high speed counting module 19；Band in the CPU313C-2DP modules 14
There are ethernet module 10, I/O modules 13, pulse modulation module 18, high speed counting module 19；The expansion I/O module 15 and limit
Bit switch 20, button 21, alarm lamp 24 are electrically connected with；The navigation positional device 6 includes some tongue tubes and magnetic stripe,
The anti-collision protection device 7 includes some radars.
Specifically, the tongue tube is MKA-10110 type tongue tubes.
Specifically, the upper end of frame body 2 is provided with fiber amplifier, fiber amplifier and CPU313C-2DP modules 14
It is electrically connected with, fiber amplifier is FT-320-05 type fiber amplifiers.
Specifically, the ethernet module 10 is CP343-1TCP type ethernet modules.
Specifically, the vehicle-mounted inverter and 24V cadmium nickel pond, PS307 DC power suppliers, 24V dc sources 16 are electric
Property connection；The 24V dc sources 16 are electrically connected with step actuator 17, DC motor driver.
The course of work of the present invention：
The present invention it is a kind of based on PLC tiered warehouse facility with AGV cars in the course of the work, using PLC as control core, dry spring
Pipe and magnetic stripe complete AGV tracking and positioning function.Magnetic stripe and tongue tube MKA-10110, tongue tube is as AGV recognize magnetic stripes road
The sensor in footpath has lot of advantages, and tongue tube first is passive sensor, when the external external circuit of passive sensor, sensing
The signal and characteristic of device are not disturbed by external power source.Secondly, tongue tube sensing is the changes of magnetic field of magnetic stripe so as to producing
Raw switching signal, because magnetic stripe magnetic field is that magnetic stripe is caused in itself so that the switching signal that sensor is sensed is also more steady
It is fixed.Therefore using tongue tube and magnetic stripe AGV tracking and positioning and AGV Path Recognitions are completed, more adapt to factory with
And the bad environments such as warehouse.Fiber amplifier can be used for detection, and whether goods is unloaded or taken away after carrying mechanism acts.
The mechanical arm 1 of top uses existing machinery arm, it is possible to achieve clamping of the goods in tiered warehouse facility is placed.
The present invention, using PLC as control core, tongue tube and magnetic stripe complete AGV tracking and positioning function so that control
System processed is more stable and is easy to safeguard and uses.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme belong to protection scope of the present invention.
Claims (5)
- It is 1. a kind of based on PLC tiered warehouse facility AGV cars, it is characterised in that：Including mechanical arm (1), frame body (2), driving Take turns (3), power cabinet (4), switch board (5)；Frame body (2) upper end is provided with mechanical arm (1), frame body (2) front-back Left and right ends be equipped with driving wheel (3), is provided with power cabinet (4) and switch board (5) inside frame body (2)；The power cabinet (4) 24V cadmium nickel pond, vehicle-mounted inverter, PS307 DC power suppliers, 24V dc sources (16), step actuator are provided with (17), DC motor driver；The frame body (2) is provided with dolly, and limit switch (20), button (21), alarm refer in place Show lamp (24), driving wheel (3), which mechanically connects, direct-drive motor (11) or steering stepper motor (22), direct-drive motor (11) it is electrically connected with speed regulator (12), turns to stepper motor (22) and electrically connect with step actuator (17), encoder (23) Connect；Navigation positional device (6), anti-collision protection device (7), ethernet module (10), I/O modules are provided with the switch board (5) (13), CPU313C-2DP modules (14), expansion I/O module (15), pulse modulation module (18), high speed counting module (19)；Institute State in CPU313C-2DP modules (14) with ethernet module (10), I/O modules (13), at a high speed pulse modulation module (18), meter Digital-to-analogue block (19)；The expansion I/O module (15) electrically connects with limit switch (20), button (21), alarm lamp (24) Connect；The navigation positional device (6) includes some tongue tubes and magnetic stripe, and the anti-collision protection device (7) includes some radars.
- It is 2. as claimed in claim 1 a kind of based on PLC tiered warehouse facility AGV cars, it is characterised in that：The tongue tube is MKA-10110 type tongue tubes.
- It is 3. as claimed in claim 1 a kind of based on PLC tiered warehouse facility AGV cars, it is characterised in that：The frame body (2) upper end is provided with fiber amplifier, and fiber amplifier is electrically connected with CPU313C-2DP modules (14), fiber amplifier FT- 320-05 type fiber amplifiers.
- It is 4. as claimed in claim 1 a kind of based on PLC tiered warehouse facility AGV cars, it is characterised in that：The ethernet module (10) it is CP 343-1TCP type ethernet modules.
- It is 5. as claimed in claim 1 a kind of based on PLC tiered warehouse facility AGV cars, it is characterised in that：The vehicle-mounted inverter It is electrically connected with 24V cadmium nickel pond, PS307 DC power suppliers, 24V dc sources (16)；The 24V dc sources (16) with Step actuator (17), DC motor driver are electrically connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545234.8A CN107450532A (en) | 2017-07-06 | 2017-07-06 | It is a kind of based on PLC tiered warehouse facility AGV cars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545234.8A CN107450532A (en) | 2017-07-06 | 2017-07-06 | It is a kind of based on PLC tiered warehouse facility AGV cars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107450532A true CN107450532A (en) | 2017-12-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710545234.8A Pending CN107450532A (en) | 2017-07-06 | 2017-07-06 | It is a kind of based on PLC tiered warehouse facility AGV cars |
Country Status (1)
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|---|---|
| CN (1) | CN107450532A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5109940A (en) * | 1991-03-05 | 1992-05-05 | Eaton-Kenway, Inc. | Automated guided vehicle top disposed towing apparatus |
| CN202837328U (en) * | 2012-10-11 | 2013-03-27 | 杭州创联电子技术有限公司 | Checkout equipment for pulse mode automobile speed sensor |
| CN204696969U (en) * | 2015-07-01 | 2015-10-07 | 赵梦伟 | A kind of control system for permanent-magnet synchronous motor |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN105882785A (en) * | 2016-06-24 | 2016-08-24 | 宋习 | Wheel set carrying robot |
| CN206044866U (en) * | 2016-07-19 | 2017-03-29 | 南昌工学院 | A kind of sensor-based intelligent wheel chair hardware system |
-
2017
- 2017-07-06 CN CN201710545234.8A patent/CN107450532A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5109940A (en) * | 1991-03-05 | 1992-05-05 | Eaton-Kenway, Inc. | Automated guided vehicle top disposed towing apparatus |
| CN202837328U (en) * | 2012-10-11 | 2013-03-27 | 杭州创联电子技术有限公司 | Checkout equipment for pulse mode automobile speed sensor |
| CN204696969U (en) * | 2015-07-01 | 2015-10-07 | 赵梦伟 | A kind of control system for permanent-magnet synchronous motor |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN105882785A (en) * | 2016-06-24 | 2016-08-24 | 宋习 | Wheel set carrying robot |
| CN206044866U (en) * | 2016-07-19 | 2017-03-29 | 南昌工学院 | A kind of sensor-based intelligent wheel chair hardware system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Long Kang Inventor after: Zhang Zhongze Inventor after: Zhou Suhua Inventor after: Yu Pengcheng Inventor after: Zhang Zhenghuan Inventor before: Long Kang Inventor before: Han Lin Inventor before: Zhao Xiaowei |
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| CB03 | Change of inventor or designer information | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171208 |
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| WD01 | Invention patent application deemed withdrawn after publication |