CN112297879A - Driving unit for AGV - Google Patents
Driving unit for AGV Download PDFInfo
- Publication number
- CN112297879A CN112297879A CN202011304836.2A CN202011304836A CN112297879A CN 112297879 A CN112297879 A CN 112297879A CN 202011304836 A CN202011304836 A CN 202011304836A CN 112297879 A CN112297879 A CN 112297879A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- agv
- gear reduction
- plate
- reduction box
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- 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
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a driving unit for an AGV (automatic guided vehicle), and belongs to the technical field of automatic equipment. The gear reduction box a and the gear reduction box b are connected to two sides of the mounting plate, the servo motor a is connected with the driving wheel a through the gear reduction box a, the servo motor b is connected with the driving wheel b through the gear reduction box b, the scanner is fixedly connected with the mounting plate, a connecting piece is fixed at the bottom of the mounting plate and connected with the corner control mechanism, and the servo motor a, the servo motor b and the corner control mechanism are connected with the PLC. The invention has the beneficial effects that: the magnet on the route of marcing is scanned to the scanner, then through controller control servo motor, and then the operation of control drive wheel, realizes that the AGV dolly advances according to planning the route, moves backward, turns, opens and stops action such as stop, reduces the error of dolly operation circuit.
Description
Technical Field
The invention relates to a driving unit for an AGV (automatic guided vehicle), belonging to the technical field of automatic equipment.
Background
The commodity circulation exchange adopts the manual work to go on between each station, the commodity circulation district in the welding workshop of automobile factory, and is inefficient, and the human cost is high, and working strength is big, adopts the AGV dolly to replace artifically, and its intelligent degree is low, leads to operation line and rule route to easily appear the deviation.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a driving unit for an AGV, which can reduce the error of a trolley running line.
The technical scheme of the invention is as follows: the utility model provides a drive unit for on AGV dolly, gear reduction box an and gear reduction box b connect in the mounting panel both sides, and servo motor a passes through gear reduction box a and connects drive wheel a, and servo motor b passes through gear reduction box b and connects drive wheel b, and scanner and mounting panel fixed connection, mounting panel bottom are fixed with the connecting piece, and corner control mechanism is connected to the connecting piece, and servo motor a, servo motor b and corner control mechanism connect the PLC controller.
Corner control mechanism includes, runs through the rotation axis of connecting piece and mounting panel, it is fixed through fixed pin axle between rotation axis and the connecting piece, and the detection plectane is connected at the rotation axis top, be equipped with originated angle detection through-hole and extreme angle detection through-hole on the detection plectane, it is equipped with the frid to detect the disc top, is equipped with the inspection hole on the frid, and the inspection hole top is equipped with the laser radar sensor, the PLC controller is connected to the laser radar sensor, and the casing of AGV dolly is connected through the connecting plate to the frid both sides.
The top of the rotating shaft is provided with a spring connecting slotted hole, the bottom end of the buffer spring is connected into the connecting slotted hole, and the top end of the buffer spring is opposite to the slotted plate.
The PLC controller is Q06UDE in model.
The scanner is connected with the mounting plate through a connecting plate a.
The invention has the beneficial effects that: the magnet on the route of marcing is scanned to the scanner, then through controller control servo motor, and then the operation of control drive wheel, realizes that the AGV dolly advances according to planning the route, moves backward, turns, opens and stops action such as stop, reduces the error of dolly operation circuit.
Drawings
FIG. 1 is a first perspective view of the present invention;
fig. 2 is a second perspective view of the present invention.
The reference numbers in the figures are as follows: 1. the device comprises gear reduction boxes a and 2, gear reduction boxes b and 3, mounting plates 4, servo motors a and 5, driving wheels a and 6, servo motors b and 7, a scanner 8, driving wheels b and 9.1, a rotating shaft 9.2, a fixed pin shaft 9.3, a detection circular plate 9.4, a groove plate 9.5, a connecting plate 9.6, a buffer spring 9.7, a detection hole 10, a connecting piece 11 and a connecting plate a.
Detailed Description
The invention is further illustrated with reference to the accompanying figures 1-2:
the utility model provides a drive unit for on AGV dolly, gear reduction box a1 and gear reduction box b2 are connected in mounting panel 3 both sides, servo motor a4 passes through gear reduction box a1 and connects drive wheel a5, servo motor b6 passes through gear reduction box b2 and connects drive wheel b8, scanner 7 connects mounting panel 3 through even board a11, mounting panel 3 bottom is fixed with connecting piece 10, connecting piece 10 connects corner control mechanism, servo motor a4, servo motor b6 and corner control mechanism connect the PLC controller, the PLC controller model is Q06 UDE.
Corner control mechanism includes, the rotation axis 9.1 of through connection spare 10 and mounting panel 3, it is fixed through fixed pin axle 9.2 between rotation axis 9.1 and the connecting piece 10, rotation axis 9.1 top connection detection plectane 9.3, be equipped with originated angle detection through-hole and extreme angle detection through-hole on the detection plectane 9.3, it is equipped with frid 9.4 to detect the disc 9.3 top, is equipped with inspection hole 9.7 on the frid 9.4, and inspection hole 9.7 top is equipped with the laser radar sensor, the PLC controller is connected to the laser radar sensor, and the casing of AGV dolly is connected through connecting plate 9.5 in frid 9.4 both sides. The top of the rotating shaft 9.1 is provided with a spring connecting slotted hole, the bottom end of the buffer spring 9.6 is connected in the connecting slotted hole, and the top end of the buffer spring 9.6 is arranged opposite to the slotted plate 9.4.
The working principle of the invention is as follows:
the scanner scans the magnetic stripe on the planned route, the servo motor rotates to drive the driving wheel to rotate, and the AGV moves forwards (backwards); scanning the magnetic stripe at the stopping point by the scanner, and stopping the servo motor so as to stop the AGV; the scanner scans the magnetic stripe of the turning point, the motor on one side reduces the speed, the speed on the other side is unchanged, and the AGV turns. In order to realize the real-time monitoring of the turning angle, a turning angle control mechanism is arranged, a laser radar sensor light source penetrates through a detection hole 9.7 on a groove plate 9.4, the groove plate 9.4 is fixedly connected with a shell of a trolley through a connecting plate 9.5, so the positions of the groove plate 9.4 and the detection hole 9.7 are unchanged, the laser radar sensor light source always penetrates through the detection hole 9.7, the connecting plate 3 and the connecting piece 10 rotate relative to the groove plate 9.4 when the trolley turns, the connecting piece 10 drives a rotating shaft 9.1 to rotate, the rotating shaft 9.1 drives the detection circular plate 9.3 to rotate, the laser radar sensor light source penetrates through an initial angle detection through hole during linear motion, after the detection circular plate 9.3 rotates, the light source irradiates on the detection circular plate 9.3, when the rotating angle is too large and exceeds the rotating angle of a planned route, a limit angle detection through hole moves to a light source penetrating area, and after the laser radar sensor detects, the controller sends an instruction, the servo motor stops working, and the trolley stops moving.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The utility model provides a drive unit for on AGV dolly, a serial communication port, gear reduction box a (1) and gear reduction box b (2) are connected in mounting panel (3) both sides, drive wheel a (5) are connected through gear reduction box a (1) in servo motor a (4), drive wheel b (8) are connected through gear reduction box b (2) in servo motor b (6), scanner (7) and mounting panel (3) fixed connection, mounting panel (3) bottom is fixed with connecting piece (10), corner control mechanism is connected in connecting piece (10), servo motor a (4), PLC controller is connected to servo motor b (6) and corner control mechanism.
2. The driving unit for the AGV trolley according to claim 1, wherein the rotation angle control mechanism comprises a rotating shaft (9.1) penetrating through a connecting part (10) and a mounting plate (3), the rotating shaft (9.1) and the connecting part (10) are fixed through a fixing pin shaft (9.2), the rotating shaft (9.1) is connected with the top of the rotating shaft (9.3), a starting angle detection through hole and a limit angle detection through hole are formed in the detection circular plate (9.3), a groove plate (9.4) is arranged above the detection circular plate (9.3), a detection hole (9.7) is formed in the groove plate (9.4), a laser radar sensor is arranged above the detection hole (9.7), the laser radar sensor is connected with a PLC (programmable logic controller), and the two sides of the groove plate (9.4) are connected with a shell of the AGV trolley through a connecting plate (9.5).
3. Drive unit for AGV carriages according to claim 2, characterized in that the rotation shaft (9.1) is provided at the top with a spring connection slot, into which the bottom end of the buffer spring (9.6) is connected, and the top end of the buffer spring (9.6) is located opposite the slot plate (9.4).
4. The drive unit for an AGV cart of claim 1, wherein said PLC controller is model Q06 UDE.
5. Drive unit for AGV carriages according to claim 1, characterised in that the scanner (7) is connected to the mounting plate (3) by a tie plate a (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011304836.2A CN112297879A (en) | 2020-11-20 | 2020-11-20 | Driving unit for AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011304836.2A CN112297879A (en) | 2020-11-20 | 2020-11-20 | Driving unit for AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112297879A true CN112297879A (en) | 2021-02-02 |
Family
ID=74335034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011304836.2A Withdrawn CN112297879A (en) | 2020-11-20 | 2020-11-20 | Driving unit for AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112297879A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895869A (en) * | 2021-03-11 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Drive unit on AGV dolly |
| CN113799565A (en) * | 2021-11-03 | 2021-12-17 | 合肥海源机械有限公司 | Intelligent servo load driving platform |
-
2020
- 2020-11-20 CN CN202011304836.2A patent/CN112297879A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895869A (en) * | 2021-03-11 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Drive unit on AGV dolly |
| CN113799565A (en) * | 2021-11-03 | 2021-12-17 | 合肥海源机械有限公司 | Intelligent servo load driving platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205170289U (en) | Unmanned transfer robot | |
| CN112297879A (en) | Driving unit for AGV | |
| CN109050244B (en) | High-precision AGV driving and steering integrated device and control method thereof | |
| CN111413988B (en) | Multi-vehicle linkage method and multi-vehicle linkage system | |
| CN101734280B (en) | Electronically controlled steering device for forklift | |
| CN108285107A (en) | Scissors fork type jacking mechanism and AGV trolleies | |
| CN217674793U (en) | Single track encircles RGV dolly | |
| CN110615384A (en) | Forklift head device and three-way stacking forklift thereof | |
| CN208150870U (en) | Scissors fork type jacking mechanism and AGV trolley | |
| CN104401397A (en) | Omnidirectional traveling driving device | |
| CN211252845U (en) | AGV qxcomm technology double round differential module | |
| CN206053460U (en) | A kind of car carrying dolly | |
| CN210174831U (en) | Battery replacement equipment | |
| CN205139703U (en) | Commodity circulation dolly of can long -range automation seeking mark | |
| CN216185450U (en) | Four-wheel-drive four-rotation steering system for chassis | |
| CN217022649U (en) | 4-wheel steering chassis suitable for inspection robot | |
| CN205170203U (en) | Trolley operation deviation correcting device suitable for container hoisting structure | |
| CN112811108A (en) | Heavy-load right-angle rail-replacing RGV trolley device and rail replacing operation thereof | |
| CN108706260A (en) | A kind of transport vehicle system, transport vehicle and products storage circulation system | |
| CN114275525A (en) | Combined type intelligent robot | |
| CN216071800U (en) | Displacement control system of side loading device | |
| CN108022802B (en) | Power sharing conveying device for circuit breaker assembly line and conveying method thereof | |
| CN111979960A (en) | Unmanned sweeping vehicle | |
| CN219029620U (en) | Omnidirectional chassis structure and robot | |
| CN220053928U (en) | Automatic carrier steering device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210202 |
|
| WW01 | Invention patent application withdrawn after publication |