CN111689156B - Engagement driving type AGV (automatic guided vehicle) and working method thereof - Google Patents
Engagement driving type AGV (automatic guided vehicle) and working method thereof Download PDFInfo
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- CN111689156B CN111689156B CN202010468415.7A CN202010468415A CN111689156B CN 111689156 B CN111689156 B CN 111689156B CN 202010468415 A CN202010468415 A CN 202010468415A CN 111689156 B CN111689156 B CN 111689156B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The invention relates to an engagement driving type AGV (automatic guided vehicle) and a working method thereof, belonging to the field of logistics storage transportation, wherein the engagement driving type AGV comprises a plurality of walking driving modules and a transfer module, wherein a walking gear is arranged in each walking driving module and is powered by alternating current; move and carry the module including moving and carrying mechanism and rotation mechanism, move and carry the module bottom and be provided with the walking pinion rack, walking pinion rack below evenly is provided with a plurality of teeth, and the walking gear meshes with the tooth, and the lower tip of every tooth all is provided with a universal ball. The invention adopts a split design, separates the walking driving system from the transfer module, does not reserve a battery installation position on the chassis of the walking driving module any more, saves the installation space, provides electric energy by virtue of commercial power, greatly relieves the limitation of inherent defects of a power battery on the AGV, can keep the AGV to continuously and efficiently run, reduces the cost investment of storage enterprises, and improves the operation efficiency.
Description
Technical Field
The invention relates to an engagement driving type AGV (automatic guided vehicle) and a working method thereof, belonging to the technical field of logistics storage transportation.
Background
The AGV is equipment applied to the field of automatic logistics storage and transportation, has the advantages of high automation degree, flexible application, safety, reliability, high transportation efficiency and the like, is widely applied to the logistics storage industry, has higher and higher requirements on online operation time and efficiency of the AGV for storage and transportation along with rapid development of the industry, and needs to be efficient and continuously operated.
In the prior AGV technology, a power battery is used as a main electric energy providing device and is integrally embedded into a chassis of the AGV, and electric energy is accurately output to each module of the trolley through a power control card. The whole vehicle comprises a chassis, a driving module, a jacking module, a positioning navigation module, a safety protection module, an environment sensing module, a hardware control module and the like. When goods are transported, the jacking module jacks up the goods shelf, the driving module adopts a wheel type driving mode, and the goods shelf is transported to a specified position through double-wheel differential turning.
Most of the existing storage AGVs adopt a power battery as an energy source, the occupied proportion of a walking system in the power consumption of the whole AGV system is the largest, so that the capacity and the continuous power supply time of the power battery become main factors for limiting the high-efficiency long-time work of the AGV, the service life of the power battery is limited, and the replacement and the maintenance of the power battery can also increase the operating cost of enterprises.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an engagement driving type transport AGV and a working method thereof, a split type design is adopted, a walking driving system is separated from a transfer module, a battery installation position is not reserved on a chassis of the walking driving module, the installation space is saved, the walking driving module of the invention provides electric energy by virtue of commercial power, the limitation that the transport AGV is inherently defective by a power battery is greatly relieved, the transport AGV can be kept to continuously and efficiently run, the cost input of a storage enterprise is reduced, and the operation efficiency is improved.
The invention adopts the following technical scheme:
an engagement driving type AGV comprises a walking driving system and a transfer module, wherein the walking driving system is composed of a plurality of walking driving modules, and the plurality of walking driving modules are arranged and combined on a working plane in advance;
each walking driving module is of a rectangular structure, a walking gear A and a walking gear B are arranged in each walking driving module, rotating shafts of the walking gear A and the walking gear B are mutually vertically distributed and are supplied with power by alternating current;
move and carry the module and be located on the walking drive system, move the rotation mechanism that carries mechanism and lower part including the upper portion, move and carry the mechanism and be used for carrying and carrying the workbin, rotation mechanism is used for turning to moving the mechanism, it is provided with the walking pinion rack to move module bottom, and walking pinion rack below evenly is provided with a plurality ofly and walking gear A and the tooth that walking gear B meshed mutually, tooth equipartition in walking pinion rack below, tooth neatly arranged and be covered with whole walking pinion rack below, and walking gear A walking gear B realizes moving the removal that carries the module with tooth meshing transmission power, and the lower tip of every tooth all is provided with a universal ball, and this universal ball can relative slip with the shell upper surface contact of walking drive module.
The engagement driving type AGV comprises a walking driving system and a transferring module; the walking driving system adopts a modular design, can be reasonably distributed according to warehouse environmental parameters, and a plurality of walking driving modules are arranged and combined into a whole walking driving system, are preset on the ground of a warehouse, are directly supplied with consumed electric power by an alternating current power supply, do not need power battery supply, and can reduce the cost caused by the manufacture of the whole automobile and the loss of the battery.
Preferably, each walking driving module comprises a chassis and a shell, the number of the walking gears A and the number of the walking gears B are two, the driving shafts of the two walking gears A are on the same straight line and are connected with the double-shaft output reducer A, the driving shafts of the two walking gears B are on the same straight line and are connected with the double-shaft output reducer B, the walking gears A/B are preferably installed on the driving shafts of the walking gears A through flat keys, the double-shaft output reducer A and the double-shaft output reducer B are respectively connected with the walking driving motor A and the walking driving motor B, and the walking driving motor A and the walking driving motor B are powered by alternating current, namely, the commercial power is supplied;
when the moving and transferring device works, a moving driving motor A/a moving driving motor B transmits power to a moving gear A/a moving gear B through a double-shaft output speed reducer A/a double-shaft output speed reducer B, the moving gear A/the moving gear B is meshed with teeth, and the power is transmitted by means of meshing of the moving gear A/B and the teeth, so that the moving and transferring module is driven to move in two mutually perpendicular directions, the moving and transferring module is used for transferring goods to a specified task point on a preset moving driving system, and in the transferring process, the moving and transferring module is butted with a conveying system of a warehouse, manual transferring is not needed, and convenience and high efficiency are achieved;
the double-shaft output speed reducer A, the double-shaft output speed reducer B, the walking driving motor A and the walking driving motor B are all fixed on the chassis.
Preferably, the upper surface of the shell of the walking driving module is provided with a through hole for exposing the walking gear A and the walking gear B, the root circle of the walking gear A and the root circle of the walking gear B are lower than the upper surface of the shell by 1-3mm, parameters such as a reference circle, an installation center distance of the toothed plate and the like can be calculated through gear design according to the load, the reference circle of the walking gear is tangent to the central line of the toothed plate after installation, the normal meshing of the walking gear A/B and the walking toothed plate is ensured, and the meshing requirement is met.
Preferably, the side-to-side arrangement of the plurality of walking driving modules with rectangular structures is performed in sequence, and the midpoint of the four edges of each walking driving module on the upper surface of the shell is provided with a sensor for sensing the transfer module.
The sensor model of the invention adopts a German SICGGRL 18-N1132 diffuse reflection photoelectric sensor, detects the variation of the light intensity, converts the variation of the light intensity into an electric signal through an internal photoelectric element, and transmits the electric signal to a main controller A/B to achieve a certain control purpose, and the light intensity is changed with or without a transfer module.
When the transferring module enters the walking driving module from one edge, the sensor can sense the entering signal and transmit the signal to the main controller A, the main controller A obtains the signal and then indicates the walking motor to rotate to drive the transferring module to move at the walking driving module, when the transferring module completely exits the walking driving module, the sensor beside the edge can sense the signal again and send a control signal to stop the walking motor to rotate, and the like;
in the invention, the walking driving modules are of a gradual-moving type, the top of each walking driving module is provided with a sensor, the walking driving modules can act only when the transfer module is detected to pass through, if the transfer module only moves in a fixed direction, the walking gear rotating along the direction only works, and the walking gear rotating along the other direction does not work, so that the useless electricity consumption can be saved, and the cost is reduced.
During operation, every walking drive module all is the formula of gradually moving, when moving the module and will moving next walking drive module, perception in advance through the sensor, main control unit A signals in advance, walking motor drive walking gear rotates, move the tooth that moves the walking gear bottom of carrying the module through the meshing, guarantee to move and carry the module and can steadily move to next walking drive module on, last walking drive module will stop the action this moment, analogize with this, move and carry the module and remove to task end point, unnecessary power consumption can be reduced as far as possible to this kind of mode, practice thrift the operation cost of enterprise.
Preferably, the transferring mechanism comprises a base, the base comprises a bottom plate and a pair of side plates positioned on the bottom plate, an electric roller and a plurality of unpowered rollers are arranged between the pair of side plates at equal intervals, conveying belts are arranged outside the electric roller and the unpowered rollers in a matched mode, and the transferring mechanism mainly serves for conveying and carrying the material boxes;
preferably, unpowered roller is preferred 2, all opens the guide way along the rotation direction on electronic roller and the unpowered roller, the conveyer belt inboard be provided with guide way complex rubber strip, prevent that the conveyer belt from taking place to sideslip, preferably, 1 electric roller axle and 2 unpowered roller axle equidistance distribute on a pair of curb plate.
Preferably, each side plate is provided with an emergency stop button, any emergency stop button can be knocked down under dangerous conditions, and the transfer mechanism stops working at the moment, so that the safety of operators is guaranteed.
In the transfer mechanism, the unpowered roller shaft at the most edge is also provided with the tensioning device which can tension the conveying belt outside the unpowered roller shaft, so that the conveying is more stable, in addition, the electric rollers and the 2 unpowered rollers are arranged between the pair of side plates, the installation mode can adopt the prior art, and the description is omitted here.
Further preferably, slewing mechanism includes gyration servo motor and slewing bearing, slewing bearing is fixed in on the walking pinion rack through the slewing bearing mounting bracket, gyration servo motor has a slewing gear through planetary reducer connection, this slewing gear meshes with slewing bearing's outer gear, move the bottom plate fixed mounting that carries the mechanism on this outer gear, gyration servo motor passes through slewing gear drive slewing bearing and rotates, thereby realize moving the transportation angle change that carries the mechanism, its main function is the transport angle that the adjustment moved the mechanism so that realize multi-direction butt joint warehouse entry transfer chain, improve and carry the flexible space.
The rotary bearing disclosed by the invention can bear the action of both supporting force and rotating force and can bear the action of radial force, so that the rotary bearing is widely applied to many fields.
The shifting module is internally provided with a battery, and the shifting mechanism and the rotating mechanism share the battery and are used for supplying power to the electric roller and the rotating servo motor.
Preferably, a main controller a is arranged in the walking driving system, a plurality of walking driving modules share the main controller a, a walking driving motor B and a sensor of each walking driving module are all connected with the main controller a, and the main controller a preferably selects a siemens PLC;
each shifting module is internally provided with a main controller B, an electric roller and an emergency stop button of the shifting mechanism are connected with the main controller B, and the main controller B preferably adopts an ARM7 processor;
the rotary servo motor is connected with a servo driver, and the servo driver is connected with a main controller B.
The working method of the engagement driving type AGV comprises the steps that firstly, goods to be transported are placed into a material box, at the moment, a scheduling control system distributes the task to an idle transfer module, the transfer module moves from a stop point to a warehousing conveying road junction, the material box is moved to the transfer module through a warehousing conveying device, the scheduling control system plans an optimal driving path according to the starting point and the end point of the task, and sends the driving path to a main controller A, the main controller A controls the motion of the traveling driving module on the path according to the driving path, the shifting module is transferred to the end point of the task by using the mode of the engagement driving of the traveling gear A/the traveling gear B and the teeth, then the transferring mechanism acts, the bin is conveyed to a warehousing conveying line through the conveying belt to complete a conveying task, and finally the transferring module returns to a stopping point to wait for the next task.
It should be noted that the scheduling control system in the present invention is not the key point of the present invention, and the task allocation and the optimal path planning performed by the scheduling control system belong to a relatively mature technology, and can be designed with reference to the prior art, which is not described herein again.
Preferably, when the transfer module moves linearly, the main controller a only controls the continuous action of the traveling driving module on the linear traveling path in a certain direction, and at the moment, only the traveling gear a or the traveling gear B with the rotation direction along the path works, and the linear traveling of the transfer module is completed by utilizing the meshing transmission power of the traveling gear a/the traveling gear B and the teeth;
if the transfer module only moves linearly in the X-axis direction, only the traveling gear a rotating in the X-axis direction operates, and the traveling gear B does not operate, and thus, linear traveling in the X-axis direction can be completed.
The shifting module in the invention can also utilize the speed synthesis principle, simultaneously act in the X direction and the Y direction, reasonably arrange the speed in two directions to realize the oblique movement, and generally mainly drive in one direction.
Preferably, during the turning driving process of the transferring module, if the transferring module is changed from driving along the X-axis direction to driving along the Y-axis direction, assuming that the transferring module is driving along the X-axis direction, when the transferring module reaches the turning point, the traveling gear a rotating along the X-axis direction is decelerated to 0 and stops on the traveling driving module at the turning point, and then the traveling gear B rotating along the Y-axis direction is operated, so that the transferring module travels along the Y-axis direction to complete the in-situ turning.
Preferably, the moving and carrying mechanism acts as follows:
when the transferring module reaches the end point of a task, the main controller B sends an action signal, and the electric roller obtains the action signal to drive the conveying belt on the transferring mechanism to rotate and convey the material box to the warehousing conveying line;
preferably, when the transfer module reaches the task end point, if the conveying belt direction of the transfer mechanism is not aligned with the crossing of the warehousing conveying line, the transfer mechanism needs to rotate by a certain angle, and the rotary servo motor drives the rotary gear to drive the rotary bearing, so that the conveying belt direction of the transfer mechanism is aligned with the crossing of the warehousing conveying line.
In the actual carrying process, a plurality of transfer modules are needed, and the plurality of transfer modules work cooperatively according to the warehouse operation requirement, and are assisted by an accurate motion control scheme, a reasonable and efficient task scheduling and path planning scheme, a reasonable spatial layout and an optimized path planning, so that the warehousing and carrying operation is completed efficiently.
The invention is not described in detail in the prior art.
The invention has the beneficial effects that:
the traveling driving system and the transferring module are separated, a split design is adopted, and a gear toothed plate meshing driving mode is adopted between the traveling driving system and the transferring module, so that the flexibility of AGV carrying is improved.
According to the invention, the battery installation position is not reserved on the chassis of the walking driving module, so that the installation space is saved, and the walking driving module of the invention provides electric energy by virtue of commercial power, so that the dependence degree of the AGV on the battery is greatly reduced, the AGV can be kept to continuously and efficiently run, the cost input of a storage enterprise is reduced, and the operation efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the overall configuration of an engagement driven transport AGV according to the present invention;
FIG. 2 is a schematic view of the internal structure of the walking driving module of the present invention;
FIG. 3 is a schematic structural diagram of a transfer module according to the present invention;
fig. 4 is a schematic diagram of the engagement of the walking gear a and the walking toothed plate of the present invention;
FIG. 5 is a schematic view of an external structure of a transfer mechanism in the transfer module according to the present invention;
FIG. 6 is a schematic view of the internal structure of the transfer mechanism of the transfer module according to the present invention;
FIG. 7 is a schematic diagram of the internal structure of the slewing mechanism of the present invention;
FIG. 8 is a bottom view of a transfer module of the present invention;
FIG. 9 is a schematic view of a tooth construction of the present invention;
in the figure, 1-walking drive module, 2-shifting module, 3-walking gear A, 4-walking gear B, 5-shifting mechanism, 6-slewing mechanism, 7-walking toothed plate, 8-tooth, 9-universal ball, 10-shell, 11-chassis, 12-double-shaft output reducer A, 13-double-shaft output reducer B, 14-walking drive motor A, 15-walking drive motor B, 16-bottom plate, 17-side plate, 18-electric roller, 19-unpowered roller, 20-conveying belt, 21-emergency stop button, 22-slewing servo motor, 23-slewing bearing, 24-slewing bearing mounting rack and 25-slewing gear.
The specific implementation mode is as follows:
in order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific examples, but not limited thereto, and the present invention is not described in detail and is in accordance with the conventional techniques in the art.
Example 1:
an engagement driving type transporting AGV comprises a walking driving system and a transferring module 2, wherein the walking driving system is composed of a plurality of walking driving modules 1, and the walking driving modules 1 are arranged and combined on a working plane in advance;
each walking driving module 1 is of a rectangular structure, a walking gear A3 and a walking gear B4 are arranged in each walking driving module, rotating shafts of the walking gear A3 and the walking gear B4 are mutually vertically distributed and are supplied with power by alternating current;
the transfer module 2 is located on a walking drive system, the transfer mechanism 5 comprises an upper portion and a lower portion, the transfer mechanism 5 is used for conveying and carrying a material box, the swing mechanism 6 is used for turning the transfer mechanism 5, a walking toothed plate 7 is arranged at the bottom of the transfer module, a plurality of teeth 8 meshed with a walking gear A3 and a walking gear B4 are uniformly arranged below the walking toothed plate 7, the teeth 8 are uniformly distributed below the walking toothed plate 7, the teeth 8 are regularly arranged and fully distributed below the whole walking toothed plate 7, as shown in fig. 8 and 9, the walking gear A/walking gear B is meshed with the teeth 8 to transmit power to realize movement of the transfer module 2, a universal ball 9 is arranged at the lower end of each tooth 8, and the universal ball 9 is in surface contact with the upper surface of a shell 10 of the walking drive module and can slide relatively.
The engagement driving type AGV comprises a walking driving system and a transferring module; the walking driving system adopts a modular design, can be reasonably distributed according to warehouse environmental parameters, and a plurality of walking driving modules are arranged and combined into a whole walking driving system, are preset on the ground of a warehouse, are directly supplied with consumed electric power by an alternating current power supply, do not need power battery supply, and can reduce the cost caused by the manufacture of the whole automobile and the loss of the battery.
Example 2:
a mesh-driven type AGV is structurally shown in embodiment 1, and is different in that each walking driving module 1 comprises a chassis 11 and a shell 10, two walking gears A3 and two walking gears B4 are arranged on the chassis, the driving shafts of the two walking gears A3 are arranged on the same straight line and are connected with a double-shaft output reducer A12, the driving shafts of the two walking gears B4 are arranged on the same straight line and are connected with a double-shaft output reducer B13, the walking gears A/B are preferably arranged on the driving shafts of the walking gears A/B through flat keys, the double-shaft output reducer A12 and the double-shaft output reducer B13 are respectively connected with a walking driving motor A14 and a walking driving motor B15, the walking driving motor A and the walking driving motor B are powered by alternating current, namely, the commercial power is supplied, and other common related electric devices are also arranged in the walking driving modules, the utility power can be converted into the electric energy available for the driving motor;
when the moving and transferring device works, a walking driving motor A14/a walking driving motor B15 transmits power to a walking gear A3/a walking gear B4 through a double-shaft output speed reducer A12/a double-shaft output speed reducer B13, the walking gear A/the walking gear B is meshed with teeth 8, and the power is transmitted by means of meshing of the walking gear A/B and the teeth, so that the moving and transferring module is driven to move in two mutually perpendicular directions, the moving and transferring module is used for transferring goods to an appointed task point on a preset walking driving system, and the moving and transferring module is butted with a conveying system of a warehouse in the transferring process, manual transferring is not needed, and convenience and high efficiency are achieved;
the double-shaft output speed reducer A12, the double-shaft output speed reducer B13, the walking driving motor A14 and the walking driving motor B15 are all fixed on the chassis 11.
As shown in fig. 2, the rotation direction of the traveling gear A3 is along the X-axis direction (indicated by the left arrow), the rotation axis thereof is along the Y-axis direction (indicated by the right arrow), the traveling gear A3 includes two gears having the same size, and the rotation axes are on the same straight line; the rotation direction of the walking gear B4 is along the Y-axis direction, the rotation axis thereof is along the X-axis direction, the walking gear B4 also comprises two gears which have the same size and the rotation axes are positioned on the same straight line.
Example 3:
the utility model provides an engagement drive formula transport AGV, the structure is as shown in embodiment 2, the difference is, the shell 10 upper surface of walking drive module 1 is provided with the through-hole that is used for exposing walking gear A3 and walking gear B4, walking gear A3 and walking gear B4's root circle top is less than shell 10 upper surface 2mm, can be according to how much of load, calculate out the reference circle through the gear design, the installation centre-to-centre spacing isoparametric of toothed plate, the reference circle of installation back walking gear is tangent with the central line of toothed plate, guarantee walking gear A/B and the normal meshing of walking toothed plate, it can to satisfy the meshing requirement.
Example 4:
an engagement driving type AGV is structurally as shown in embodiment 3, except that a plurality of walking driving modules 1 in a rectangular structure are sequentially arranged in edge-to-edge mode, and sensors are arranged at the middle points of four edges of each walking driving module on the upper surface of a shell 10 and used for sensing a transfer module.
The sensor model is a German SICGGRL 18-N1132 diffuse reflection photoelectric sensor, the variation of the light intensity is detected, the variation of the light intensity is converted into an electric signal through an internal photoelectric element, the electric signal is transmitted to a main controller A/B to achieve a certain control purpose, and the light intensity is changed with or without a transfer module.
When the transferring module 2 enters the walking driving module from one edge, the sensor can sense the entering signal and transmit the signal to the main controller A, the main controller A obtains the signal and then indicates the walking motor to rotate to drive the transferring module to move at the walking driving module, when the transferring module completely exits the walking driving module, the sensor beside the edge can sense again and send a control signal to stop the walking motor to rotate, and the like;
in the invention, the walking driving modules are of a gradual-moving type, the top of each walking driving module is provided with a sensor, the walking driving modules can act only when the transfer module is detected to pass through, if the transfer module only moves in a fixed direction, the walking gear rotating along the direction only works, and the walking gear rotating along the other direction does not work, so that the useless electricity consumption can be saved, and the cost is reduced.
During operation, every walking drive module all is the formula of gradually moving, when moving the module and will moving next walking drive module, perception in advance through the sensor, main control unit A signals in advance, walking motor drive walking gear rotates, move the tooth that moves the walking gear bottom of carrying the module through the meshing, guarantee to move and carry the module and can steadily move to next walking drive module on, last walking drive module will stop the action this moment, analogize with this, move and carry the module and remove to task end point, unnecessary power consumption can be reduced as far as possible to this kind of mode, practice thrift the operation cost of enterprise.
Example 5:
an engagement driving type AGV (automatic guided vehicle) is structurally shown in an embodiment 4, except that as shown in figures 5 and 6, a transfer mechanism 5 comprises a base, the base comprises a bottom plate 16 and a pair of side plates 17 positioned on the bottom plate, an electric roller 18 and two unpowered rollers 19 are arranged between the pair of side plates 17 at equal intervals, a conveying belt 20 is arranged outside the electric roller 18 and the unpowered rollers 19 in a matched mode, and the transfer mechanism mainly serves for conveying and carrying the AGV;
all open the guide way along the rotation direction on electronic roller 18 and the unpowered roller 19, the conveyer belt 20 inboard be provided with the guide way complex rubber strip, prevent that the conveyer belt from taking place to sideslip, preferred, 1 electronic roller and 2 unpowered roller equidistance distribution on a pair of curb plate.
All be provided with an emergency stop button 21 on every curb plate, under the dangerous condition, can clap arbitrary emergency stop button 21 down, move and carry the mechanism stop work this moment, guarantee operating personnel's safety.
Example 6:
the utility model provides an engagement drive formula transport AGV, the structure is as shown in embodiment 5, the difference is, as shown in figure 7, rotation mechanism 6 includes gyration servo motor 22 and slewing bearing 23, slewing bearing 23 is fixed in on walking pinion rack 7 through slewing bearing mounting bracket 24, gyration servo motor 22 is connected with a slewing gear 25 through the planet reduction gear, this slewing gear 25 meshes with slewing bearing 23's external gear, the bottom plate fixed mounting that moves the mechanism 2 that carries is on this external gear, gyration servo motor 22 passes through slewing gear 25 drive slewing bearing 23 and rotates, thereby realize moving the transportation angle change that moves the mechanism 5, its main effect is the transport angle of adjusting the mechanism that moves that carries so that realize multi-direction butt joint warehouse entry transfer line, improve and move flexible space.
The slewing bearing 23 of the present invention can withstand both the supporting force and the rotational force and also the radial force, and thus is widely used in many fields.
A battery is arranged in the transferring module, and the transferring mechanism and the rotating mechanism share one battery and are used for supplying power to the electric roller 18 and the rotating servo motor 22.
Example 7:
the structure of the engagement driving type AGV is as shown in embodiment 6, and is different in that a main controller A is arranged in a walking driving system, a plurality of walking driving modules share the main controller A, a walking driving motor A14, a walking driving motor B15 and a sensor of each walking driving module are connected with the main controller A, and the main controller A adopts a Siemens PLC;
each shifting module is internally provided with a main controller B, the electric roller 18 and the emergency stop button 21 of the shifting mechanism are connected with the main controller B, and the main controller B preferably adopts an ARM7 processor;
the rotary servo motor 22 is connected to a servo driver, and the servo driver is connected to the main controller B.
Example 8:
a working method of engaging driving type AGV includes placing goods to be carried into material box, distributing the task to an idle load module 2 by dispatch control system, moving load module 2 from stop point to warehouse entry conveying road junction, moving material box to load module 2 by warehouse entry conveying device, planning an optimal driving path by dispatch control system according to start point and end point of task and sending the driving path to main controller A, controlling walking driving module action by main controller A according to driving path, utilizing mode of engaging driving of walking gear A/walking gear B and tooth to transfer load module 2 to end point of task, then moving load mechanism 5 to move material box to warehouse entry conveying line by conveyer belt to complete carrying task, finally returning load module to stop point, waiting for the next task.
It should be noted that the scheduling control system in the present invention is not the key point of the present invention, and the task allocation and the optimal path planning performed by the scheduling control system belong to a relatively mature technology, and can be designed with reference to the prior art, which is not described herein again.
Example 9:
the structure of the working method for carrying the AGV by the engagement driving type is as shown in an embodiment 8, except that when a transfer module 2 moves linearly, a main controller A only controls the continuous action of a certain direction of a walking driving module on a linear running path, at the moment, only a walking gear A3 or a walking gear B4 with the rotation direction along the path works, and the linear running of the transfer module is completed by utilizing the engagement of the walking gear A/the walking gear B and teeth to transmit power;
as shown in fig. 2, if the transfer module moves only in a straight line in the X-axis direction, only the traveling gear a rotating in the X-axis direction may be operated, and the traveling gear B may not be operated, so that the straight line traveling in the X-axis direction may be completed.
Example 10:
an engagement driving type AGV working method is as shown in embodiment 9, the difference is that during the turning running process of the transfer module 2, if the transfer module 2 changes from running along the X-axis direction to running along the Y-axis direction, at this time, it is assumed that the transfer module is running along the X-axis direction, when the turning point is reached, the running gear A3 rotating along the X-axis direction is firstly decelerated to 0 and stops on the running driving module at the turning point, then the running gear B4 rotating along the Y-axis direction is operated, the transfer module will run along the Y-axis direction, and the in-situ turning is completed.
Example 11:
a method of operating an engagement-driven AGV, which is as described in example 10, except that a transfer mechanism is operated as follows:
when the transferring module 2 reaches the end point of the task, the main controller B sends an action signal, the electric roller 18 obtains the action signal, the conveyer belt 20 on the transferring mechanism is driven to rotate, and the bin is conveyed to the warehousing conveyer line.
Example 12:
the structure of the working method for carrying the AGV by the engagement driving type is as shown in the embodiment 11, except that when the transfer module 2 reaches the task end point, if the direction of the conveying belt 20 of the transfer mechanism 5 is not aligned with the crossing of the warehousing conveying line, the transfer mechanism 5 needs to rotate a certain angle, the rotary servo motor 22 drives the rotary gear 25 to drive the rotary bearing 23, and thus the direction of the conveying belt 20 of the transfer mechanism 5 is aligned with the crossing of the warehousing conveying line.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. An engagement driving type AGV is characterized by comprising a walking driving system and a transfer module, wherein the walking driving system is composed of a plurality of walking driving modules which are arranged and combined on a working plane in advance;
each walking driving module is of a rectangular structure, a walking gear A and a walking gear B are arranged in each walking driving module, rotating shafts of the walking gear A and the walking gear B are mutually vertically distributed and are supplied with power by alternating current;
the transfer module is positioned on the walking driving system and comprises an upper transfer mechanism and a lower swing mechanism, the transfer mechanism is used for conveying and carrying a material box, the swing mechanism is used for steering the transfer mechanism, a walking toothed plate is arranged at the bottom of the transfer module, a plurality of teeth meshed with a walking gear A and a walking gear B are uniformly arranged below the walking toothed plate, the teeth are uniformly distributed below the walking toothed plate, the walking gear A/the walking gear B are meshed with the teeth to transmit power to realize the movement of the transfer module, the lower end part of each tooth is provided with a universal ball, and the universal ball is in contact with the upper surface of a shell of the walking driving module and can slide relatively;
each walking driving module comprises a chassis and a shell, two walking gears A and two walking gears B are arranged, driving shafts of the two walking gears A are positioned on the same straight line and are connected with a double-shaft output reducer A, driving shafts of the two walking gears B are positioned on the same straight line and are connected with a double-shaft output reducer B, the double-shaft output reducer A and the double-shaft output reducer B are respectively connected with a walking driving motor A and a walking driving motor B, and the walking driving motor A and the walking driving motor B are powered by alternating current;
the double-shaft output speed reducer A, the double-shaft output speed reducer B, the walking driving motor A and the walking driving motor B are all fixed on the chassis;
the upper surface of the shell of the walking driving module is provided with a through hole for exposing the walking gear A and the walking gear B, and the uppermost part of the root circle of the walking gear A and the walking gear B is 1-3mm lower than the upper surface of the shell;
the shifting module utilizes a speed synthesis principle, acts in the X direction and the Y direction simultaneously, and can realize oblique movement by reasonably configuring the speeds in the two directions.
2. An engagement driven transport AGV according to claim 1 wherein said plurality of rectangular shaped travel drive modules are arranged side-to-side in sequence and wherein said sensor is located at the midpoint of the four edges of each travel drive module on the upper surface of said housing for sensing said load module.
3. An engagement driven transport AGV according to claim 2 wherein said transfer mechanism includes a base including a bottom plate and a pair of side plates on said bottom plate, a motorized roller and a plurality of unpowered rollers being equidistantly disposed between said pair of side plates, said motorized roller and said unpowered rollers being externally fitted with a conveyor belt;
2 unpowered rollers are arranged, guide grooves in the rotating direction are formed in the unpowered rollers and the motorized rollers, and rubber strips matched with the guide grooves are arranged on the inner side of the conveying belt to prevent the conveying belt from sideslipping;
each side plate is provided with an emergency stop button.
4. The engagement-driven transport AGV according to claim 3, wherein the swing mechanism includes a swing servo motor and a swing bearing, the swing bearing is fixed to the travel toothed plate through a swing bearing mounting bracket, the swing servo motor is connected with a swing gear through a reducer, the swing gear is engaged with an outer gear of the swing bearing, and a bottom plate of the transfer mechanism is fixedly mounted on the outer gear.
5. The engagement driven transport AGV of claim 4, wherein a master controller a is provided in the travel drive system, a plurality of travel drive modules share the master controller a, and the travel drive motor a, the travel drive motor B, and the sensor of each travel drive module are connected to the master controller a;
a main controller B is arranged in each transfer module, and an electric roller and an emergency stop button of the transfer mechanism are connected with the main controller B;
the rotary servo motor is connected with a servo driver, and the servo driver is connected with a main controller B.
6. A method as claimed in claim 5, wherein the AGV includes a loading bin, a dispatching control system for distributing the task to an empty load module, a loading module moving from a stop point to a delivery road junction, a storage conveyor for moving the loading bin to the load module, a main controller A for controlling the traveling drive module on the traveling path according to the traveling path, a moving gear A/B for engaging with teeth to drive the load module to the end point of the task, a transfer mechanism for conveying the loading bin to the storage conveyor line via the conveyor belt to complete the conveying task, and finally, returning the transferring module to a stopping point to wait for the next task.
7. The AGV operation method according to claim 6, wherein the main controller A controls only one direction of the travel driving module to continue the travel path when the transfer module moves linearly, and only the travel gear A or the travel gear B having a rotational direction along the travel path operates, and the transfer module moves linearly by transmitting power through engagement between the travel gear A/the travel gear B and the teeth.
8. The AGV operation method according to claim 6, wherein if the transfer module is moving along the X-axis to the Y-axis during the turning process, assuming that the transfer module is moving along the X-axis, the travel gear A rotating along the X-axis is decelerated to 0 and stopped at the travel driving module at the turning point, and then the travel gear B rotating along the Y-axis is operated, and the transfer module will move along the Y-axis to complete the turning.
9. The engaging driving type AGV working method according to claim 6, wherein the transferring mechanism is operated as follows:
when the transferring module reaches the end point of a task, the main controller B sends an action signal, and the electric roller obtains the action signal to drive the conveying belt on the transferring mechanism to rotate and convey the material box to the warehousing conveying line;
when the transferring module reaches the task end point, if the conveying belt direction of the transferring mechanism is not aligned with the crossing of the warehousing conveying line, the transferring mechanism needs to rotate for a certain angle, and the rotary servo motor drives the rotary gear to drive the rotary bearing, so that the conveying belt direction of the transferring mechanism is aligned with the crossing of the warehousing conveying line.
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