CN107571935A - A kind of six wheel construction formula AGV dollies - Google Patents
A kind of six wheel construction formula AGV dollies Download PDFInfo
- Publication number
- CN107571935A CN107571935A CN201710545235.2A CN201710545235A CN107571935A CN 107571935 A CN107571935 A CN 107571935A CN 201710545235 A CN201710545235 A CN 201710545235A CN 107571935 A CN107571935 A CN 107571935A
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Abstract
The invention discloses a kind of six wheel construction formula AGV dollies, including driving structure component, camera, support universal wheel, battery, safe anticollision support, turning motor, slew gear component, PLC controls support, pallet component, guide rail and slide block assembly, lifting electronic cylinder component, suspension system component, encoder, driving wheel, wireless router, frame assembly, motor and Guide column component.The present invention can realize the lifting of shelf, rotate in place, and can also realize that anticollision, vision guided navigation are drawn certainly.Six wheel construction forms in the present invention, add load-bearing and stability.
Description
【Technical field】
The present invention relates to the technical field of mobile robot, particularly a kind of technical field of six wheel constructions formula AGV dollies.
【Background technology】
According to the actual conditions of current large-scale electric business home-delivery center, it is necessary to carry out lifting transhipment to shelf.Existing space is big
It is small to receive limitation, thus existing AGV dollies can not meet corresponding requirements.
First, in limited channel width, dolly will carry out the operation of lifting storage rack in a manner of rotating in place；Its
Secondary, the mode of pivot stud is also taken in the turning action of dolly at the parting of the ways, meanwhile, in order to avoid between shelf during steering
Collision problem, when dolly need to be accomplished to turn to " it is static that vehicle body rotates shelf ", in addition, dolly need to maintain radius of turn as small as possible
Turning action can be completed in channel interior, to cause dolly working space to minimize；Finally, it is small in order to ensure operating efficiency
The load-carrying speed of car can not be too low, the load-bearing of dolly can not the deadweight of too low while dolly maintain reduced levels as far as possible.
For this reason, it may be necessary to a kind of new AGV dollies, the shelf for home-delivery center are transported.
【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 six wheel construction formula AGV dollies, realizes goods
The lifting of frame, rotate in place, can also realize that anticollision, vision guided navigation are drawn certainly.Six wheel construction forms in the present invention, add and hold
Weight and stability.
To achieve the above object, the present invention proposes a kind of six wheel construction formula AGV dollies, including driving structure component, takes the photograph
As head, support universal wheel, battery, safe anticollision support, turning motor, slew gear component, PLC controls support, pallet
Component, guide rail and slide block assembly, the electronic cylinder component of lifting, suspension system component, encoder, driving wheel, wireless router, framework
Component, motor and Guide column component；The front and back end of described frame assembly the right and left is equipped with support universal wheel, frame assembly
Suspension system component is provided with before and after in the middle part of bottom surface, suspension system component lower end is provided with driving wheel by driving structure component, driving
Wheel middle part is provided with encoder；The frame assembly bottom left is provided with camera；The frame assembly right upper portion is provided with electric power storage
Pond, frame assembly both ends are provided with safe anticollision support, are provided with the middle part of frame assembly and lift electronic cylinder component, lift electric cylinder group
Part right-hand member is provided with turning motor, and turning motor upper end is connected with pallet component by slew gear component；On the frame assembly
Square right-hand member controls support to be provided with PLC by PLC；The electronic cylinder component left end of lifting is provided with guide rail and sliding block group
Part；The frame assembly upper left side is provided with wireless router；Motor is coaxially connected with the middle part of the driving wheel；The framework
Guide column component is provided with the middle part of component bottom plane.
Preferably, some radars are embedded with the safe anticollision support.
Preferably, the PLC and camera, battery, turning motor, the electronic cylinder component of lifting, encoder,
Wireless router, motor are electrically connected with.
Preferably, the PLC is S7-300 type PLCs.
Beneficial effects of the present invention：The present invention realizes the lifting of shelf, rotated in place, and can also realize anticollision, vision guided navigation
From traction.Six wheel construction forms in the present invention, add load-bearing and stability.
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 system block diagram of six wheel constructions formula AGV dollies of the present invention；
Fig. 2 is a kind of front view of six wheel constructions formula AGV dollies of the present invention；
Fig. 3 is a kind of top view of six wheel constructions formula AGV dollies of the present invention；
Fig. 4 is a kind of top view of six wheel constructions formula AGV dollies of the present invention.
In figure：1- driving structures component, 2- cameras, 3- support universal wheel, 4- batteries, the safe anticollision supports of 5-,
6- turning motors, 7- slew gears component, 8-PLC controls support, 9- pallet components, 10- guide rails and slide block assembly, 11- are lifted
Electronic cylinder component, 12- suspension system components, 13- encoders, 14- driving wheels, 15- wireless routers, 16- frame assemblies, 17-
Motor, 18- Guide column components.
【Embodiment】
Refering to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the present invention, including driving structure component 1, camera 2, support universal wheel 3, storage
Battery 4, safe anticollision support 5, turning motor 6, slew gear component 7, PLC controls support 8, pallet component 9, guide rail and cunning
Block assembly 10, the electronic cylinder component 11 of lifting, suspension system component 12, encoder 13, driving wheel 14, wireless router 15, framework
Component 16, motor 17 and Guide column component 18；The front and back end of described the right and left of frame assembly 16 is equipped with support universal wheel
3, the bottom surface of frame assembly 16 is provided with suspension system component 12 before and after middle part, and the lower end of suspension system component 12 passes through driving structure component
1 is provided with driving wheel 14, and the middle part of driving wheel 14 is provided with encoder 13；The bottom left of frame assembly 16 is provided with camera 2；It is described
The right upper portion of frame assembly 16 is provided with battery 4, and the both ends of frame assembly 16 are provided with safe anticollision support 5, in frame assembly 16
Portion, which is provided with, lifts electronic cylinder component 11, lifts the electronic right-hand member of cylinder component 11 and is provided with turning motor 6, the upper end of turning motor 6 is by returning
Rotation mechanism component 7 is connected with pallet component 9；The top right-hand member of frame assembly 16 controls support 8 to be provided with PLC controls by PLC
Device processed；The electronic left end of cylinder component 11 of lifting is provided with guide rail and slide block assembly 10；The upper left side of frame assembly 16 is provided with nothing
Line router 15；The middle part of driving wheel 14 is coaxially connected with motor 17；It is provided with and leads in the middle part of the bottom surface of frame assembly 16
Column assembly 18.
Specifically, some radars are embedded with the safe anticollision support 5.
Specifically, the PLC and camera 2, battery 4, turning motor 6, the electronic cylinder component 11 of lifting, coding
Device 13, wireless router 15, motor 17 are electrically connected with.
Specifically, the PLC is S7-300 type PLCs.
The course of work of the present invention：
In the course of the work, safe anticollision support 5 is used for anticollision to six wheel construction formula AGV dollies of one kind of the invention；4 branch
Universal wheel 3 is supportted with 2 drive wheel groups into six wheel construction form bottom travel configurations, is compared with four wheel constructions, its distribution form
Two universal wheels are added, upper body balance is further enhanced original the advantages of, and AGV bearing capacity also obtains
Enhancing, control mode also use driving wheel differential control.PLC on camera 2 and PLC control supports 8, composition regard
Feel navigation system；Lift electronic cylinder component 11 and be used for upward lifting storage rack；Turning motor 6, slew gear component 7 are used in dolly
During turning, rotation amount is compensated.
The present invention, realizes the lifting of shelf, rotates in place, and can also realize that anticollision, vision guided navigation are drawn certainly.In the present invention
Six wheel construction forms, add load-bearing and stability.
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 (4)
- A kind of 1. six wheel construction formula AGV dollies, it is characterised in that：It is universal including driving structure component (1), camera (2), support Take turns (3), battery (4), safe anticollision support (5), turning motor (6), slew gear component (7), PLC control support (8), Pallet component (9), guide rail and slide block assembly (10), the electronic cylinder component (11) of lifting, suspension system component (12), encoder (13), driving wheel (14), wireless router (15), frame assembly (16), motor (17) and Guide column component (18)；The frame The front and back end of frame component (16) the right and left is equipped with support universal wheel (3), and front and rear be provided with is hanged in the middle part of frame assembly (16) bottom surface Frame system component (12), suspension system component (12) lower end are provided with driving wheel (14), driving wheel by driving structure component (1) (14) middle part is provided with encoder (13)；Frame assembly (16) bottom left is provided with camera (2)；The frame assembly (16) Right upper portion is provided with battery (4), and frame assembly (16) both ends are provided with safe anticollision support (5), frame assembly (16) middle part Provided with electronic cylinder component (11) is lifted, lift electronic cylinder component (11) right-hand member and be provided with turning motor (6), turning motor (6) upper end Pallet component (9) is connected with by slew gear component (7)；Right-hand member controls support by PLC above the frame assembly (16) (8) PLC is installed；Electronic cylinder component (11) left end of lifting is provided with guide rail and slide block assembly (10)；The framework Component (16) upper left side is provided with wireless router (15)；Motor (17) is coaxially connected with the middle part of the driving wheel (14)；Institute State and be provided with Guide column component (18) in the middle part of frame assembly (16) bottom surface.
- 2. six wheel construction formula AGV dollies of one kind as claimed in claim 1, it is characterised in that：The safe anticollision support (5) It is upper to be embedded with some radars.
- 3. six wheel construction formula AGV dollies of one kind as claimed in claim 1, it is characterised in that：The PLC and camera (2), battery (4), turning motor (6), the electronic cylinder component (11) of lifting, encoder (13), wireless router (15), driving electricity Machine (17) is electrically connected with.
- 4. six wheel construction formula AGV dollies of one kind as claimed in claim 1, it is characterised in that：The PLC is S7-300 Type PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545235.2A CN107571935A (en) | 2017-07-06 | 2017-07-06 | A kind of six wheel construction formula AGV dollies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545235.2A CN107571935A (en) | 2017-07-06 | 2017-07-06 | A kind of six wheel construction formula AGV dollies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107571935A true CN107571935A (en) | 2018-01-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710545235.2A Pending CN107571935A (en) | 2017-07-06 | 2017-07-06 | A kind of six wheel construction formula AGV dollies |
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| Country | Link |
|---|---|
| CN (1) | CN107571935A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340889A (en) * | 2018-02-05 | 2018-07-31 | 苏州科技大学 | It is a kind of can vertical duction carrier loader |
| CN109015587A (en) * | 2018-05-28 | 2018-12-18 | 上海锐铎自动化有限公司 | A kind of AGV vehicle equipped with gripper library |
| CN111017069A (en) * | 2019-12-18 | 2020-04-17 | 北京海益同展信息科技有限公司 | Distribution robot, control method, device and system thereof, and storage medium |
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| JP2008195525A (en) * | 2007-02-15 | 2008-08-28 | Sumitomo Heavy Ind Ltd | Roll body transfer device |
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| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
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2017
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| JP2008195525A (en) * | 2007-02-15 | 2008-08-28 | Sumitomo Heavy Ind Ltd | Roll body transfer device |
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| CN203714690U (en) * | 2014-01-21 | 2014-07-16 | 苏州工业园区艾吉威自动化设备有限公司 | Magnetic-navigation forklift AGV (automatic guided vehicle) |
| CN104442518A (en) * | 2014-12-05 | 2015-03-25 | 国家电网公司 | Automatic guided vehicle capable of being automatically butted with working table surfaces at different heights |
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN205397170U (en) * | 2016-02-02 | 2016-07-27 | 吕涛 | Store in a warehouse intelligent transfer robot and handling system |
| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
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| Title |
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| 张汉斌: "用于电商配送中心的物流仓储搬运机器人（AGV）的研究", 《中国优秀硕士学位论文全文数据库 经济与管理科学辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340889A (en) * | 2018-02-05 | 2018-07-31 | 苏州科技大学 | It is a kind of can vertical duction carrier loader |
| CN109015587A (en) * | 2018-05-28 | 2018-12-18 | 上海锐铎自动化有限公司 | A kind of AGV vehicle equipped with gripper library |
| CN111017069A (en) * | 2019-12-18 | 2020-04-17 | 北京海益同展信息科技有限公司 | Distribution robot, control method, device and system thereof, and storage medium |
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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: Zhou Suhua Inventor after: Zhang Zhongze Inventor after: Zhang Zhenghuan Inventor after: Yu Pengcheng Inventor after: Yang Hongyu Inventor before: Long Kang Inventor before: Han Lin Inventor before: Zhao Xiaowei |
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| CB03 | Change of inventor or designer information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180112 |
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| RJ01 | Rejection of invention patent application after publication |