CN110406615A - A kind of AGV for the environment that doffs - Google Patents
A kind of AGV for the environment that doffs Download PDFInfo
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- CN110406615A CN110406615A CN201910831294.5A CN201910831294A CN110406615A CN 110406615 A CN110406615 A CN 110406615A CN 201910831294 A CN201910831294 A CN 201910831294A CN 110406615 A CN110406615 A CN 110406615A
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- car body
- agv
- environment
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- suspension
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- 238000007689 inspection Methods 0.000 claims abstract description 11
- 239000000725 suspension Substances 0.000 claims description 35
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 239000006096 absorbing agent Substances 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 239000004753 textile Substances 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to technical field of textile equipment, specifically disclose a kind of AGV for the environment that doffs, including car body, drive system, inspection system and obstacle avoidance system, drive system is for driving car body and slowing down the vibration of car body, the inspection system is for guaranteeing that car body is walked on corresponding route, and the obstacle avoidance system is for avoiding car body from touching obstacle.AGV with above structure, be able to solve existing AVG be not fully appropriate for it is narrow doff environment the problem of.
Description
Technical field
The invention belongs to technical field of textile equipment more particularly to a kind of AGV for the environment that doffs.
Background technique
AGV (Automated Guided Vehicle), the entitled automated guided vehicle of Chinese or automatic guided vehicle, equipment
There is electricity magnetically or optically to wait homing guidances device, can be travelled along defined guide path, there is safeguard protection and various transfers
The transport vehicle of function is not required to the carrier of driver in industrial application, with chargeable battery for its power resources.Generally may be used
Its travelling route and behavior are controlled by computer, or utilize electromagnetic path (electromagnetic path-
Following system) its travelling route is set up, electromagnetic path sticks on floor, automatic guided vehicle then follows electromagnetism rail
Message brought by road is moved and is acted.
AGV is used to doff in environment, since the environment that doffs is narrow, and barrier is relatively more, it is therefore desirable to right
Common AVG carries out certain adjustment, in the environment that adapts it to doff.
Summary of the invention
The purpose of the present invention is to provide a kind of AGV for the environment that doffs, and cannot be applicable in completely with solving existing AVG
In it is narrow doff environment the problem of.
In order to achieve the above object, it the technical solution of the present invention is as follows: a kind of AGV for the environment that doffs, including car body, drives
Dynamic system, inspection system and obstacle avoidance system, drive system for driving car body and slowing down the vibration of car body, use by the inspection system
It walks on corresponding route in guarantee car body, the obstacle avoidance system is for avoiding car body from touching obstacle.
The beneficial effect of the technical program is: 1. drive system can be such that car body neatly travels in narrow space,
The movement such as rotated in place, translated, kept straight on and retreated.2. drive system can carry out damping to car body, thus even if recessed
On the ground of convex injustice, violent vibration will not occur in car body.3. inspection system and obstacle avoidance system can make car body corresponding
Route on travel, and obstacle can be avoided.
Further, the drive system is two groups of suspension systems, and suspension system described in two groups is located at the front and back of car body
Two sides.
Further, the suspension system is independent suspension.Suspension system is divided into independent suspension system and rigid axle suspension system
System, the wheel of Non-separation suspension system is mounted in the both ends of a whole axle, when one side wheel hop, other side wheel also phase
It should beat, make entire body vibrations or inclination；The axle of independent suspension is divided into two sections, and every wheel is independently installed by helical spring
In vehicle frame in the following, another sidecar wheel is unaffected when a sidecar wheel is beated, the wheel on both sides can be mentioned with self-movement
The high stationarity and comfort of car body.
Further, suspension system described in every group include suspension mounting plate, swing arm hinge seat and be respectively equipped with two groups swing arm,
Independent support device, independent support upper lever stopper and drive train, the suspension mounting plate are mounted below car body, are used to support vehicle
The weight of body；The swing arm hinge seat is fixed on the center of suspension mounting plate, and described two groups independent support upper lever stoppers are fixed on outstanding
The two sides of frame mounting plate, two groups of swing arms are located at two sides of swing arm hinge seat and hinged with swing arm hinge seat respectively；Often
It is connected between the group swing arm and independent support upper lever stopper by independent support device；The drive train include two wheels and
Corresponding two groups of driving portions, two wheels are located at the two sides of suspension mounting plate, are fixed with axle on each wheel, and two
The group driving portion is mounted on the side of two groups of swing arms.Swing arm can be swung up and down under external force.
Further, the independent support device is equipped with shock absorber part.Shock absorber part can ensure car body traveling on concave-convex ground
When upper, wheel has enough adhesive force, slows down the vibration of car body.
Further, the shock absorber part is damping spring, and damping spring is set on independent support device.
Further, driving portion described in every group includes servo motor and speed reducer, and the servo motor is connect with speed reducer.
Further, pass through synchronous band connection between the output end of the speed reducer and axle.Synchronous belt can be realized deceleration
The reducing of machine and axle transmission, to keep the total of suspension system more compact.
Further, the inspection system includes two groups of magnetic navigation sensors, and magnetic navigation sensor described in two groups is installed respectively
In the bottom in the rear and front end face of car body.Magnetic navigation sensor technology is examined using the magnetic signature research magnetic signal of collection magnetic markers
Relative motion is in the test platform of one between survey, vehicle and magnetic markers.The detection accuracy of magnetic navigation sensor is relatively high, resists dry
Immunity can be also relatively good, and cost is relatively low.
Further, the obstacle avoidance system includes two groups of photoelectric sensors, and photoelectric sensor described in two groups is separately mounted to vehicle
The top in the rear and front end face of body.The basic principle of photoelectric sensor is that measured variation is turned based on photoelectric effect
It changes the variation of optical signal into, non-electrical signal is further then converted into electric signal by photoelectric cell.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the AGV for the environment that doffs of the present invention；
Fig. 2 is the structural schematic diagram of drive system in Fig. 1.
Specific embodiment
It is further described below by specific embodiment:
Appended drawing reference in Figure of description includes: car body 1, drive system 2, suspension mounting plate 3, swing arm 4, swing arm hinge
Seat 5, independent support device 6, independent support upper lever stopper 7, wheel 8, servo motor 9, speed reducer 10, photoelectric sensor 11.
Embodiment is basic as shown in attached drawing 1-2: a kind of AGV for the environment that doffs, including car body 1, drive system 2, patrols
Linear system system and obstacle avoidance system, for drive system 2 for driving car body 1 and slowing down the vibration of car body 1, drive system 2 is two groups independent
Suspension system, two groups of suspension systems are located at the front and rear sides of car body 1, as shown in Fig. 2, every group of suspension system includes suspension peace
Loading board 3, swing arm hinge seat 5 and the swing arm 4, independent support device 6, independent support upper lever stopper 7 and the driving wheel that are respectively equipped with two groups
System, suspension mounting plate 3 are mounted on 1 lower section of car body, are used to support the weight of car body 1；Swing arm hinge seat 5 is fixed on suspension mounting plate
3 center, two groups of independent support upper lever stoppers 7 are fixed on the two sides of suspension mounting plate 3, and two groups of swing arms 4 are located at swing arm hinge
Two sides of seat 5 and hinged with swing arm hinge seat 5 respectively；Pass through independent support dress between every group of swing arm 4 and independent support upper lever stopper 7
Set 6 connections；Drive train includes two wheels 8 and corresponding two groups of driving portions, and wheel 8 is complete using Mecanum in the present embodiment
To wheel, two wheels 8 are located at the two sides of suspension mounting plate 3, are fixed with axle on each wheel 8, driving portion is mounted on two
On the side of group swing arm 4.Independent support device 6 is equipped with shock absorber part, and shock absorber part is damping spring, damping spring in the present embodiment
It is set on independent support device 6.Every group of driving portion includes servo motor 9 and speed reducer 10, and servo motor 9 and speed reducer 10 connect
It connects, passes through synchronous band connection between the output end and axle of speed reducer 10.Synchronous belt can be realized the different of speed reducer 10 and axle
Diameter transmission, to keep the total of suspension system more compact.
For inspection system for guaranteeing that car body 1 is walked on corresponding route, inspection system includes two groups of magnetic navigation sensors,
Two groups of magnetic navigation sensors are separately mounted to the bottom in the rear and front end face of car body 1, and obstacle avoidance system is for avoiding car body 1 from touching
Obstacle, obstacle avoidance system include two groups of photoelectric sensors 11, and two groups of photoelectric sensors 11 are separately mounted to the rear and front end face of car body 1
Top.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these also should be considered as protection scope of the present invention, these all will not influence what the present invention was implemented
Effect and patent practicability.The scope of protection required by this application should be based on the content of the claims, in specification
The records such as specific embodiment can be used for explaining the content of claim.
Claims (10)
1. a kind of AGV for the environment that doffs, it is characterised in that: including car body, drive system, inspection system and obstacle avoidance system,
The drive system is for driving car body and slowing down the vibration of car body, and the inspection system is for guaranteeing car body in corresponding route
Upper walking, the obstacle avoidance system is for avoiding car body from touching obstacle.
2. a kind of AGV for the environment that doffs according to claim 1, it is characterised in that: the drive system is two groups
Suspension system, suspension system described in two groups are located at the front and rear sides of car body.
3. a kind of AGV for the environment that doffs according to claim 2, it is characterised in that: the suspension system is independent
Suspension.
4. a kind of AGV for the environment that doffs according to claim 3, it is characterised in that: suspension system packet described in every group
Include suspension mounting plate, swing arm hinge seat and the swing arm, independent support device, independent support upper lever stopper and the driving that are respectively equipped with two groups
Train, the suspension mounting plate are mounted below car body, are used to support the weight of car body；The swing arm hinge seat is fixed on suspension
The center of mounting plate, described two groups independent support upper lever stoppers are fixed on the two sides of suspension mounting plate, and position is distinguished in two groups of swing arms
In the two sides of swing arm hinge seat and hinged with swing arm hinge seat respectively；Pass through between swing arm described in every group and independent support upper lever stopper
Independent support device connection；The drive train includes that two wheels and corresponding two groups of driving portions, two wheels are located at
The two sides of suspension mounting plate are fixed with axle on each wheel, and driving portion described in two groups is mounted on the side of two groups of swing arms
On.
5. a kind of AGV for the environment that doffs according to claim 4, it is characterised in that: on the independent support device
Equipped with shock absorber part.
6. a kind of AGV for the environment that doffs according to claim 5, it is characterised in that: the shock absorber part is damping bullet
Spring, damping spring are set on independent support device.
7. a kind of AGV for the environment that doffs according to claim 4, it is characterised in that: driving portion described in every group includes
Servo motor and speed reducer, the servo motor are connect with speed reducer.
8. a kind of AGV for the environment that doffs according to claim 7, it is characterised in that: the output end of the speed reducer
Pass through synchronous band connection between axle.
9. a kind of AGV for the environment that doffs according to claim 1, it is characterised in that: the inspection system includes two
Group magnetic navigation sensor, magnetic navigation sensor described in two groups are separately mounted to the bottom in the rear and front end face of car body.
10. a kind of AGV for the environment that doffs according to claim 1, it is characterised in that: the obstacle avoidance system includes two
Group photoelectric sensor, photoelectric sensor described in two groups are separately mounted to the top in the rear and front end face of car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910831294.5A CN110406615A (en) | 2019-09-04 | 2019-09-04 | A kind of AGV for the environment that doffs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910831294.5A CN110406615A (en) | 2019-09-04 | 2019-09-04 | A kind of AGV for the environment that doffs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110406615A true CN110406615A (en) | 2019-11-05 |
Family
ID=68370378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910831294.5A Pending CN110406615A (en) | 2019-09-04 | 2019-09-04 | A kind of AGV for the environment that doffs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110406615A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176287A (en) * | 2020-01-07 | 2020-05-19 | 中国科学院重庆绿色智能技术研究院 | Scheduling method and system of doffing robot |
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| CN104991559A (en) * | 2015-07-08 | 2015-10-21 | 江苏大学 | Method for automatic cruise detection of comprehensive information of greenhouses |
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| CN109018076A (en) * | 2018-08-20 | 2018-12-18 | 广东上川智能装备股份有限公司 | A kind of funnel type AGV |
| CN208306292U (en) * | 2018-06-02 | 2019-01-01 | 山东鲁班机械科技有限公司 | A kind of independent suspension of wheel type hydraulic mobile platform |
| CN209044384U (en) * | 2018-12-14 | 2019-06-28 | 中铁工程机械研究设计院有限公司 | The multi-faceted unmanned intelligence fortune plate trolley of four drivings |
| CN210364135U (en) * | 2019-09-04 | 2020-04-21 | 中国科学院重庆绿色智能技术研究院 | AGV for doffing environment |
-
2019
- 2019-09-04 CN CN201910831294.5A patent/CN110406615A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325267A (en) * | 2015-06-26 | 2017-01-11 | 北京卫星环境工程研究所 | Omnidirectional mobile platform vehicle with automatic line patrolling and obstacle avoiding functions |
| CN104991559A (en) * | 2015-07-08 | 2015-10-21 | 江苏大学 | Method for automatic cruise detection of comprehensive information of greenhouses |
| CN106275125A (en) * | 2016-09-07 | 2017-01-04 | 武汉萝卜兔科技有限公司 | A kind of AGV dolly with obstacle crossing function |
| CN208306292U (en) * | 2018-06-02 | 2019-01-01 | 山东鲁班机械科技有限公司 | A kind of independent suspension of wheel type hydraulic mobile platform |
| CN109018076A (en) * | 2018-08-20 | 2018-12-18 | 广东上川智能装备股份有限公司 | A kind of funnel type AGV |
| CN209044384U (en) * | 2018-12-14 | 2019-06-28 | 中铁工程机械研究设计院有限公司 | The multi-faceted unmanned intelligence fortune plate trolley of four drivings |
| CN210364135U (en) * | 2019-09-04 | 2020-04-21 | 中国科学院重庆绿色智能技术研究院 | AGV for doffing environment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176287A (en) * | 2020-01-07 | 2020-05-19 | 中国科学院重庆绿色智能技术研究院 | Scheduling method and system of doffing robot |
| CN111176287B (en) * | 2020-01-07 | 2023-05-26 | 中国科学院重庆绿色智能技术研究院 | Doffer robot scheduling method and system |
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