CN110304175A - A kind of automatic AGV trolley - Google Patents

A kind of automatic AGV trolley Download PDF

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Publication number
CN110304175A
CN110304175A CN201910729949.8A CN201910729949A CN110304175A CN 110304175 A CN110304175 A CN 110304175A CN 201910729949 A CN201910729949 A CN 201910729949A CN 110304175 A CN110304175 A CN 110304175A
Authority
CN
China
Prior art keywords
car
mounting plate
agv trolley
battery
charging
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
CN201910729949.8A
Other languages
Chinese (zh)
Inventor
曾琦
唐锋
蔡跃祥
李振果
施振超
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.)
Fujian Hongtai Intelligent Industrial Internet Co Ltd
Original Assignee
Fujian Hongtai Intelligent Industrial Internet 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 Fujian Hongtai Intelligent Industrial Internet Co Ltd filed Critical Fujian Hongtai Intelligent Industrial Internet Co Ltd
Priority to CN201910729949.8A priority Critical patent/CN110304175A/en
Publication of CN110304175A publication Critical patent/CN110304175A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14Conductive energy transfer
    • B60L53/16Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • 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
    • B62D63/04Component parts or accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00Roller-ways
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00Roller-ways
    • B65G13/02Roller-ways having driven rollers
    • B65G13/06Roller driving means
    • B65G13/07Roller driving means having endless driving elements
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-in electric vehicles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a kind of automatic AGV trolleies comprising car body, battery and charging unit, driving device, guiding device, controller, communication device, safety guard, shifting apparatus and information transmission and processing unit on vehicle;The top of driving device is arranged in the battery; the driving device includes wheel, axle, brush DC speed reducer and damping; the charging unit connects battery; the charging unit has a charging connector; the guiding device includes the foot prop that vehicle bottom is arranged in, magnetic navigation sensor and landmark sensor site sensor, and charging unit, the brush DC speed reducer of driving device, the magnetic navigation sensor of guiding device, communication device, safety guard, shifting apparatus and information transmission are separately connected controller on vehicle with processing unit.The present invention can continuously run work, to save cost of labor, greatly improve work efficiency, and increase production capacity output.

Description

A kind of automatic AGV trolley
Technical field
The present invention relates to a kind of AGV trolley, particularly relate to one kind can automatic charging, and can realize the automatic of automatic clamping and placing material AGV trolley.
Background technique
Currently, the yield of workshop product is very big, the needs such as docking and loading and unloading of some products are relied on and are manually removed Transport row dispensing etc..As the important transportation tool of the storage of modernization goods and materials, carrying, AGV trolley plays in workshop Increasingly important role;Continuous work, the steady operation, trouble free service for how guaranteeing AGV trolley, are that designer is examining always The problem of worry;In order to realize AGV trolley can, uninterruptedly round-the-clock continuous operation, work efficiency is high, in addition to choosing suitable electricity Outside pond, exactly allow trolley can automatic charging.Existing AGV trolley needs to launch before operation product by manual handling in AGV On trolley, if AGV electricity exhausts, it need to shut down and reload, transport is also required to take out product by artificial in place afterwards, seriously affects production Process and production efficiency, while there is the defects of cost of labor is big, and error rate is high, management is inconvenient.
Summary of the invention
There is provided it is an object of the invention to overcome the deficiencies in the prior art automatic charging and can may replace artificial pick and place and produce Product realize fully-automatic production, reduce a kind of automatic AGV trolley of cost of labor.
In order to achieve the above objectives, solution of the invention is:
A kind of automatic AGV trolley comprising car body and setting battery on the car body and charging unit, driving device, Controller, communication device, safety guard, shifting apparatus and information transmission and processing unit on guiding device, vehicle;Battery It is arranged in battery stacker, which is arranged in the top of driving device, and the driving device includes wheel, axle, straight Brushless speed reducer and damping are flowed, the both ends of the axle are separately connected wheel, and brush DC speed reducer connects axle, described Car body is equipped with a motor mount, which is arranged in motor mount, and the damping setting exists Between two wheels, the charging unit connects battery, which has a charging connector, and the guiding device includes foot Frame and magnetic navigation sensor, the front end and rear end bottom of car body are respectively arranged with bipod, between the bipod of front end and rear end Bipod between be respectively equipped with equipped with a magnetic navigation sensor, the charging unit, driving device brush DC subtract Fast machine, the magnetic navigation sensor of guiding device, communication device, safety guard shifting apparatus and information transmission and processing unit It is separately connected controller on vehicle.
Further, the car body includes underbody, body side and body roof, and the front end of car body is provided with display screen Mounting plate is installed with display screen and air switch on display screen mounting plate, and the front end and rear end of car body are separately installed with alarm lamp, The rear end of car body is provided with speaker mounting plate, and loudspeaker is installed on speaker mounting plate, and alarm lamp is separately positioned on display Shield on mounting plate and speaker mounting plate, is installed with voltameter on display screen mounting plate or speaker mounting plate.
Further, an at least clump weight is also respectively provided on the body side of the car body two sides.The front end of car body and Rear end is respectively arranged with the anticollision strip of protrusion car body front end and rear end.
Further, the guiding device is respectively fixed with magnetic navigation sensor between car body front end and the bipod of rear end Mounting plate, the magnetic navigation sensor are installed on magnetic navigation mounting plate.
Further, the guiding device further includes the landmark sensor site sensor that vehicle bottom is arranged in.
Further, the damping includes support plate, setting inserting column on the supporting plate, the bullet that inserting column top is arranged in Spring guiding axis is set on inserting column and the spring of support plate is held on top top supporting spring guiding axis bottom end top.
Further, the top of the spring guiding axis is fixed with battery stacker, and the storage is provided in battery stacker Battery, battery are connect with the charging unit and brush DC speed reducer.
Further, the side of car body is arranged in the charging unit, which includes charging connector, is arranged and charging The supporting table of connector bottom surface, the cover charging connector over top safety guard and connect the grafting of charging connector and battery Part, charging connector connect manipulator, make charging connector progress or more, elastic movement, and supporting table is slidably disposed in one It is fixed on the cylinder block on charging connector, support base cooperation charging connector is made to carry out fore-aft motion up and down.
A motor mount is equipped in the middle part of the underbody of the car body, brush DC speed reducer setting is installed in motor In seat, the damping is arranged in the two sides between two wheels, and the two sides of wheel are respectively equipped with two dampings.
Further, the top surface of body roof is arranged in the shifting apparatus, including is arranged in body roof top surface front and back end Roller mounting plate, multiple rollers for being arranged on two roller mounting plates, one of roller connects a drive shaft, and drive shaft connects The power drum controller of controller is picked up, the both ends of each roller are respectively arranged with a fixed ring, lead between adjacent two roller Synchronous tooth profile band connection is crossed, when making the roller rotation for connecting drive shaft, drives other rollers to rotate by synchronous toothed belt.
Further, the roller mounting plate and synchronous toothed belt pass through outer cover the cover.
Further, the information transmission includes that the laser scanning sensing of the front end and rear end of car body is arranged in processing unit Device, the multiple photoelectric sensors being arranged on transplantation device, the Tag Radio Frequency card reader that car body bottom surface is arranged in and setting are in vehicle The radar of body rear end, scanning laser sensor, photoelectric sensor, Tag Radio Frequency card reader and radar are respectively connected to control on vehicle Device.
After adopting the above structure, the charging unit that the automatic AGV trolley of the present invention is connect by setting with battery, works as system When detecting the electricity of the automatic AGV trolley lower than certain value, AGV trolley drives into charged area, and charging connector and ground are charged Connector of standing docking charging, driving device are operated normally to control AGV trolley, and guiding device is online by the way of magnetic conductance inverted image It is docked, can be switched at any time and is quickly come into operation, controller receives the instruction of control centre and executes corresponding on vehicle Instruction, while the state of itself being timely feedbacked to control centre, communication device can realize AGV trolley and ground control station and ground Information exchange between the monitoring device of face, shifting apparatus are directly contacted with transporting goods or docking production line, realize cargo It reprints, information transmission and processing unit are monitored AGV trolley, monitor the state of ground locating for AGV trolley, and control with ground The real-time perfoming information transmitting of system station.It is travelled using AGV trolley of the present invention to the transmission belt edge of production line, product is made to fall into AGV On the shifting apparatus of trolley top surface, it may replace artificial pick-and-place product, realize fully-automatic production, reduce cost of labor, greatly improve Working efficiency increases production capacity output.
Detailed description of the invention
Fig. 1 is perspective view 1 of the invention.
Fig. 2 is perspective view 2 of the invention.
Fig. 3 is the perspective view 1 after the present invention hiding underbody, side plate and top plate.
Fig. 4 is the perspective view 2 after the present invention hiding underbody, side plate and top plate.
Fig. 5 is local structure perspective 1 of the present invention.
Fig. 6 is local structure perspective 2 of the invention.
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention It states.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", The indicating positions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" or positional relationship are base In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this The limitation of invention.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
As shown in Figures 1 to 6, present invention discloses a kind of automatic AGV trolleies comprising car body 1 is arranged on car body 1 Battery 2 and charging unit 3, guiding device 5, controller 6 on vehicle, communication device 7, safety guard 8, move at driving device 4 Carry set 9 and information transmission with processing unit 10.
The car body 1 includes underbody 11, body side 12 and body roof 13, and the front end of car body 1 is provided with display Shield mounting plate 14, the display screen to show the small car state of AGV is installed on display screen mounting plate, is gone back on display screen mounting plate 14 Having air switch 141 is installed, the front end and rear end of car body 1 are separately installed with alarm lamp 15, and the rear end of car body 1 is provided with loudspeaker Mounting plate 16 is installed with loudspeaker 161 on speaker mounting plate 16, and alarm lamp 15 is separately positioned on display screen mounting plate 14 and raises On sound device mounting plate 16.In order to increase the stability of AGV trolley when driving, also distinguish on the body side 12 of 1 two sides of car body It is provided with an at least clump weight 17.The front end and rear end of car body 1 are respectively arranged with the anticollision strip of protrusion 1 front end of car body and rear end 18, voltameter 19 is installed on display screen mounting plate 14 or speaker mounting plate 16.Car body 1 is the foundation of AGV trolley, It is the installation foundation of other assembly components.
The battery 2 can be Huo Ke battery, 24V and 48V direct-flow storage battery can be used as power, battery 2 supplies Electricity should generally keep continuous work 8 hours or more needs, and the electricity of battery 2 can be directly displayed by voltameter 19.Electric power storage Pond 2 can be fixed on the top of driving device 4 by battery stacker 21.
The side of car body 1 is arranged in the charging unit 3, which includes charging connector 31, is arranged in charging The supporting table 32 of first 31 bottom surface, the cover are in the safety guard 33 and connection charging connector 31 of 31 over top of charging connector and electric power storage The plug connector 34 in pond 2.Charging connector 31 connects UR10-25 manipulator, carry out charging connector 31 can upper and lower, elastic dynamic Make, supporting table 32 is slidably disposed on the cylinder block 35 that one is fixed on charging connector 31, cooperate the support base 35 can Charging connector 31 carries out fore-aft motion up and down.When the electricity shown on voltameter 19 is lower than certain value, AGV trolley drives into charging Charging is docked with ground charging station by charging unit 3 in region.Controller 6 controls UR10-25 manipulator forward, down on vehicle Movement makes the bottom end of supporting table 32 against on the ground, and charging connector 31 stretches out outside safety guard 33 and ground charging station connector pair It connects, is started to charge after confirmation docking is good.After charging complete, controller 6 controls UR10-25 manipulator up, inside on vehicle It is flexible, charging connector 31 is retracted in safety guard 33, while supporting table 32 follows charging connector 31 to rise and be detached from ground, is taken off It is docked from ground charging connector, AGV trolley sails out of charging station.
The driving device 4 includes wheel 41, axle 42, brush DC speed reducer 43, damping 44, the axle 42 Both ends be separately connected wheel 41, brush DC speed reducer 43 connects axle 42, is equipped in the middle part of the underbody 11 of the car body 1 One motor mount 45, the brush DC speed reducer 43 are arranged in motor mount 45.The damping 45 is arranged two In two sides between wheel 43, the two sides of wheel 42 are respectively equipped with two dampings 44, and each damping includes support plate 441, the inserting column 442 that is arranged in support plate 441, is set in inserting column 442 at the spring guiding axis 443 that 442 top of inserting column is arranged in The spring 444 of support plate 441 is held on upper and 443 bottom end of top top supporting spring guiding axis top, and controller 6 connects brush DC and subtracts on vehicle Fast machine 43.The top of the spring guiding axis 443 is fixed together with battery stacker 21, undertakes suddenly in battery stacker 21 Gram battery 2, Huo Ke battery 2 are connect with the charging unit 3 and brush DC speed reducer 43.Driving device 4 is control AGV The mechanism that trolley operates normally, operating instruction have controller or manual control on vehicle to volley out, the speed of service, direction and braking Adjusting is controlled by controller 6 on vehicle.
The guiding device 5 includes foot prop 51, magnetic navigation sensor 52, is equipped with track on the underbody 11 of car body 1 Mounting plate 54, the front end and rear end of track mount plate are separately installed with two foot props 51, between front end and the bipod 51 of rear end It is respectively fixed with magnetic navigation sensor mounting plate 53, magnetic navigation mounting plate 12 is to fixed magnetic navigation sensor 52.Guiding dress 5 directional information to receive controller on vehicle, and settable steering mechanism are set, turning for AGV trolley is realized by steering mechanism To movement.Guiding device 5 further includes the landmark sensor site sensor that 11 bottom of underbody is arranged in, landmark sensor station Point sensor is attached to the terrestrial reference magnetic strip information on ground to read, and the operating path of AGV trolley is connected by a plurality of section head and the tail It forms, head and the tail endpoint of the terrestrial reference magnetic stripe as section, is used to refer to AGV trolley into which operation section, so that it is small to control AGV Vehicle acceleration, deceleration, parking etc..It is docked using magnetic conductance inverted image mode, can be switched at any time and is quickly come into operation online.
Controller 6 includes CP1W controller 61CP1H controller 62,63 power drum controller 64 of relay on the vehicle. Controller receives the instruction of control centre and executes corresponding instruction on the vehicle, at the same by the state of itself (such as position, speed, Front environment etc.) it timely feedbacks to control centre.
The communication device 7 is to realize the information exchange between AGV trolley and ground control station and bottom face monitoring equipment. And the operation of AGV trolley is controlled by control room.
The safety guard 8 includes that the front end of car body 1 is arranged in and rear end and protrudes the anti-of 1 front end of car body and rear end Hit item 18 and the radar 104 of 1 rear end of car body be set, anticollision strip 18 and radar can to AGV trolley itself and to people or other set Standby protection.
The top surface of body roof 13 is arranged in shifting apparatus 9, the roller including 13 top surface front and back end of body roof is arranged in Mounting plate 91, the multiple rollers 92 being arranged on two roller mounting plates 91, one of roller 92 connect a drive shaft 93, driving Axis 93 connects the power drum controller 64 of controller on vehicle, and the both ends of each roller 92 are respectively arranged with a fixed ring 94, adjacent It is connected between two rollers 92 by synchronous toothed belt 95, when making the roller rotation for connecting drive shaft 93, passes through synchronous toothed belt 95 Other rollers 92 can be driven to rotate, roller mounting plate 91 and synchronous toothed belt 95 pass through 96 the cover of outer cover.The shifting apparatus 9 and institute It transports goods or docks production line directly to contact, material falls directly into the transfer of AGV trolley from the transmission belt edge of production line On the roller 92 of device 9, the middle part that material is moved to AGV trolley is rolled by roller 92, realizes cargo automatic transferring to AGV On trolley, AGV trolley is rolled after goods handling to destination by roller 92, and cargo is rolled to the edge of shifting apparatus, And fall on preset pallet, it realizes automatic clamping and placing material, realizes the reprinting of cargo.
Information transmission includes that the UST-05LN laser scanning sensing of the front end and rear end of car body 1 is arranged in processing unit 10 The multiple E3Z-T61 photoelectric sensors 102 being arranged on two roller mounting plates 91,11 bottom surface of underbody is arranged in device 101 Tag Radio Frequency card reader 103 and the radar 104 that 1 rear end of car body is set, scanning laser sensor 101, photoelectric sensor 102, Tag Radio Frequency card reader 103 and radar 104 are respectively connected to controller 6 on vehicle, are monitored to AGV trolley, monitor AGV trolley The locating state of ground, and practise with ground control station and carry out information transmitting.
Above-described embodiment and schema and non-limiting product form and style of the invention, any technical field it is common The appropriate changes or modifications that technical staff does it all should be regarded as not departing from patent category of the invention.

Claims (10)

1. a kind of automatic AGV trolley characterized by comprising car body and setting battery on the car body and charging unit, Driving device, guiding device, controller, communication device, safety guard, shifting apparatus and information transmission are filled with processing on vehicle It sets;The top of driving device is arranged in the battery, and the driving device includes wheel, axle, brush DC speed reducer and subtracts Mechanism is shaken, the both ends of the axle are separately connected wheel, and brush DC speed reducer connects axle, and the damping is arranged two Between wheel, the charging unit connects battery, which has a charging connector, and the guiding device includes setting In the foot prop of vehicle bottom, magnetic navigation sensor and landmark sensor site sensor, the front end of car body and rear end bottom difference It is provided with bipod, is respectively equipped between the bipod of front end and between the bipod of rear end equipped with a magnetic navigation sensing Device, the charging unit, the brush DC speed reducer of driving device, the magnetic navigation sensor of guiding device, communication device, safety Protective device, shifting apparatus and information transmission are separately connected controller on vehicle with processing unit.
2. a kind of automatic AGV trolley as described in claim 1, it is characterised in that: the car body includes underbody, body side Plate and body roof, the front end of car body are provided with display screen mounting plate, and display screen is installed on display screen mounting plate and air is opened It closes, the front end and rear end of car body are separately installed with alarm lamp, and the rear end of car body is provided with speaker mounting plate, speaker mounting plate On be installed with loudspeaker, alarm lamp is separately positioned on display screen mounting plate and speaker mounting plate, display screen mounting plate or is raised Voltameter is installed on sound device mounting plate.
3. a kind of automatic AGV trolley as claimed in claim 2, it is characterised in that: on the body side of the car body two sides also It is respectively arranged with an at least clump weight.The front end and rear end of car body are respectively arranged with the anticollision strip of protrusion car body front end and rear end.
4. a kind of automatic AGV trolley as described in claim 1, it is characterised in that: the guiding device in car body front end and after Magnetic navigation sensor mounting plate is respectively fixed between the bipod at end, the magnetic navigation sensor is installed in magnetic navigation mounting plate On.
5. a kind of automatic AGV trolley as described in claim 1, it is characterised in that: the damping includes support plate, setting Inserting column on the supporting plate, the spring guiding axis that inserting column top is arranged in are set on inserting column and top top supporting spring guiding axis Push up the spring for holding support plate in bottom end.
6. a kind of automatic AGV trolley as claimed in claim 5, it is characterised in that: the top of the spring guiding axis is fixed with Battery stacker is provided with the battery, battery and the charging unit and brush DC speed reducer in battery stacker Connection.
7. a kind of automatic AGV trolley as described in claim 1, it is characterised in that: the one of car body is arranged in the charging unit Side, the charging unit include charging connector, the supporting table that charging connector bottom surface is arranged in, the cover in charging connector over top Safety guard and connect charging connector and battery plug connector, charging connector connect manipulator, make charging connector carry out up and down, Elastic movement, supporting table are slidably disposed on the cylinder block that one is fixed on charging connector, cooperate the support base Charging connector carries out fore-aft motion up and down.
8. a kind of automatic AGV trolley as claimed in claim 2, it is characterised in that: be equipped in the middle part of the underbody of the car body One motor mount, the brush DC speed reducer are arranged in motor mount, and the damping is arranged between two wheels Two sides in, the two sides of wheel are respectively equipped with two dampings.
9. a kind of automatic AGV trolley as claimed in claim 2, it is characterised in that: the shifting apparatus is arranged in body roof Top surface, including multiple rollings that the roller mounting plate of body roof top surface front and back end is arranged in, is arranged on two roller mounting plates Cylinder, one of roller connect a drive shaft, drive the power drum controller of controller on axis connection vehicle, the both ends of each roller It is respectively arranged with a fixed ring, passes through synchronous tooth profile band connection between adjacent two roller, when making the roller rotation for connecting drive shaft, Other rollers are driven to rotate by synchronous toothed belt, the roller mounting plate and synchronous toothed belt pass through outer cover the cover.
10. a kind of automatic AGV trolley as described in claim 1, it is characterised in that: the information, which is transmitted with processing unit, includes The front end of car body and the scanning laser sensor of rear end, the multiple photoelectric sensors being arranged on transplantation device, setting are set Car body bottom surface Tag Radio Frequency card reader and the radar of body rear end is set, scanning laser sensor, photoelectric sensor, mark Label radio-frequency card reader and radar are respectively connected to controller on vehicle.
CN201910729949.8A 2019-08-08 2019-08-08 A kind of automatic AGV trolley Pending CN110304175A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910729949.8A CN110304175A (en) 2019-08-08 2019-08-08 A kind of automatic AGV trolley

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910729949.8A CN110304175A (en) 2019-08-08 2019-08-08 A kind of automatic AGV trolley

Publications (1)

Publication Number Publication Date
CN110304175A true CN110304175A (en) 2019-10-08

Family

ID=68082143

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910729949.8A Pending CN110304175A (en) 2019-08-08 2019-08-08 A kind of automatic AGV trolley

Country Status (1)

Country Link
CN (1) CN110304175A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111409052A (en) * 2020-03-17 2020-07-14 浙江工业大学 AGV mechanism with replaceable transplanting module and design method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111409052A (en) * 2020-03-17 2020-07-14 浙江工业大学 AGV mechanism with replaceable transplanting module and design method
CN111409052B (en) * 2020-03-17 2021-07-30 浙江工业大学 AGV mechanism with replaceable transplanting module and design method

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