CN112498213A - Automatic container guiding vehicle - Google Patents
Automatic container guiding vehicle Download PDFInfo
- Publication number
- CN112498213A CN112498213A CN202011447292.5A CN202011447292A CN112498213A CN 112498213 A CN112498213 A CN 112498213A CN 202011447292 A CN202011447292 A CN 202011447292A CN 112498213 A CN112498213 A CN 112498213A
- Authority
- CN
- China
- Prior art keywords
- control unit
- agv
- vehicle
- coupling
- guided vehicle
- 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
Links
- 230000008878 coupling Effects 0.000 claims abstract description 45
- 238000010168 coupling process Methods 0.000 claims abstract description 45
- 238000005859 coupling reaction Methods 0.000 claims abstract description 45
- 238000004891 communication Methods 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000013011 mating Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 239000000969 carrier Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012423 maintenance Methods 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
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic container guiding vehicle in the technical field of intelligent carriers, which comprises a first AGV trolley, a second AGV trolley and a functional frame, wherein the functional frame is positioned above the first AGV trolley and the second AGV trolley and is respectively connected with the first AGV trolley and the second AGV trolley in a combined mode through a coupling unit, the coupling unit comprises a coupling piece and a matching coupling piece, the coupling piece is respectively arranged at the end part of the first AGV trolley and the end part of the second AGV trolley, the matching coupling piece is arranged on the functional frame, the connecting mode of the coupling piece and the matching coupling piece is non-rigid coupling connection, the automatic container guiding vehicle adopts a combined vehicle body design, new operation scene requirements can be met after the functional frame is replaced, and the equipment updating cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of intelligent carriers, in particular to an automatic container guiding vehicle.
Background
At present, intellectualization is the first way of improving logistics transfer efficiency, and the key core problem of intelligent logistics lies in how to improve the intelligent level of AGV. The AGV is characterized by being unmanned, an automatic guiding system is arranged on the AGV, the system can be guaranteed to automatically run along a preset route under the condition that manual navigation is not needed, goods or materials are automatically conveyed to a destination from an initial point, the AGV is generally provided with a loading and unloading mechanism and can automatically interface with other logistics equipment, and the automation of the whole process of loading, unloading and conveying of the goods and the materials is realized. Aiming at the automatic logistics operation demand, need to develop low cost, the main AGV system that removes of high accuracy urgently, break through the restriction of traditional haulage vehicle design, the container haulage vehicle that present harbour commodity circulation used all adopts integral type automobile body structure usually, and the application scene of vehicle has very big limitation, for example can't be applied to other industrial scenes with AGV in the harbour, can't change because of changing whole car interface form behind the operation scene, original AGV can't continue to use.
Disclosure of Invention
The invention aims to provide an automatic container guiding vehicle, which can adapt to the requirements of new operation scenes through the combined vehicle body design of an AGV trolley and a functional vehicle frame, and solves the technical problems that the application scenes of the vehicle are greatly limited because a container transfer vehicle adopts an integrated vehicle body structure in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a container automated guided vehicle, includes first AGV dolly, second AGV dolly and functional frame, functional frame is located first AGV dolly with the top of second AGV dolly, and through coupling unit respectively with first AGV dolly second AGV dolly combination formula is connected, coupling unit is including setting up respectively the tip of first AGV dolly the coupling piece and the setting of the tip of second AGV dolly are in cooperation coupling piece on the functional frame, the coupling piece with cooperation coupling piece connected mode is non-rigid coupling.
Further, container automated guided vehicle still includes vehicle control structure, vehicle control structure is including setting up coordinated control unit, setting are in on the functional frame first the control unit on the AGV dolly and setting are in second the control unit on the second AGV dolly, coordinated control unit respectively through the pencil with first the control unit the second the control unit is connected.
Further, the coupling element comprises a communication adapter, and the communication adapter is respectively connected with the coordination control unit, the first control unit and the second control unit in a wired or wireless manner and is used for communicating instructions to realize the cooperative control of the container automatic guided vehicle.
Further, the automatic container guiding vehicle further comprises a driving mechanism, the driving mechanism comprises a first driving unit and a second driving unit, the first driving unit is arranged on the first AGV trolley, and the second driving unit is arranged on the second AGV trolley.
Furthermore, the first driving unit is electrically connected with the first control unit, and the second driving unit is electrically connected with the second control unit.
Further, the first driving unit and the second driving unit each include a fixed frame, an engine mounted in the fixed frame, a power source mounted in the fixed frame, and a plurality of steerable wheels driven by the engine.
Furthermore, the power supply is electrically connected with the engine, the coordination control unit, the first control unit and the second control unit respectively to provide required electric energy.
Further, when the container automatic guided vehicle turns, the wheel axle of each of the plurality of steerable wheels simultaneously points to the center point of the turning radius of the container automatic guided vehicle.
Further, the coupling is selectively engaged or disengaged with the mating coupling.
By adopting the technical scheme, the invention has the following advantages:
the invention provides an automatic container guiding vehicle, wherein a first AGV trolley, a second AGV trolley and a functional frame are designed by adopting a flexible combined vehicle body, the assembly and disassembly are convenient, the loading and the disassembly and the maintenance are convenient, the functional frame can be changed to adapt to the requirements of new operation scenes, and the equipment updating cost is greatly reduced.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is an overall structural view of an automatic guided vehicle for a container according to the present invention;
FIG. 2 is a block diagram of the structural connection of the communication adapter to the vehicle control structure of the present invention;
FIG. 3 is a block diagram of the structural connections of the vehicle control structure and the drive mechanism of the present invention;
fig. 4 is a control diagram for steering the body of the automatic guided vehicle for containers according to the present invention.
Reference numerals: the AGV comprises a first AGV trolley 1, a second AGV trolley 2, a functional frame 3, a coupling piece 4, a matching coupling piece 5, a communication adapter 6, a first control unit 7, a second control unit 8, a coordination control unit 9, a first driving unit 10, a second driving unit 11, a fixing frame 12, an engine 13, a power supply 14 and steerable wheels 15
Detailed Description
The technical scheme of the invention is specifically explained in the following with the accompanying drawings of the specification.
The detailed features and advantages of the present invention are described in detail in the detailed description which follows, and will be sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention will be easily understood by those skilled in the art from the description, claims and drawings disclosed in the present specification.
First embodiment
Fig. 1 shows an overall structure diagram of an automatic container guiding vehicle, as shown in fig. 1, the automatic container guiding vehicle comprises a first AGV trolley 1, a second AGV trolley 2 and a functional frame 3, the functional frame 3 is located above the first AGV trolley 1 and the second AGV trolley 2, the functional frame 3 is respectively connected with the first AGV trolley 1 and the second AGV trolley 2 in a combined manner through a coupling unit, the first AGV trolley 1, the second AGV trolley 2 and the functional frame 3 are flexibly combined, and the automatic container guiding vehicle is convenient to assemble, disassemble and maintain and convenient to assemble, disassemble and assemble.
Wherein: the coupling unit comprises two parts, wherein one part is a coupling piece 4, the coupling piece 4 is respectively installed at one end of the first AGV trolley 1 and one end of the second AGV trolley 2, the other part is a matching coupling piece 5, the matching coupling piece 5 is installed at the bottom of the functional frame 3, the coupling piece 4 can be selectively connected with or separated from the matching coupling piece 5, the coupling piece 4 is connected with the matching coupling piece 5 in a non-rigid coupling mode, and a certain degree of freedom exists in movement between the coupling piece 4 and the matching coupling piece 5.
The coupling 4 includes a communication adapter 6, and the communication adapter 6 communicates instructions between the first AGV cart 1 and the second AGV cart 2 to control the manipulation of the first AGV cart 1 and the second AGV cart 2.
Second embodiment
The second embodiment of the present invention is similar to the first embodiment except for the following design changes.
FIG. 2 shows a block diagram of the structural connection of the communications adapter of the container automated guided vehicle to the vehicle control structure; the automatic container guiding vehicle further comprises a vehicle control structure, the vehicle control structure comprises a coordination control unit fixedly mounted on the functional frame 3, a first control unit 7(VCU) fixedly mounted on the first AGV trolley 1 and a second control unit 8(VCU) fixedly mounted on the second AGV trolley 2, the coordination control unit 9 is responsible for coordination control of the automatic container guiding vehicle, the coordination control unit 9 is respectively connected with the first control unit 7 and the second control unit 8 through wiring harnesses, the first control unit 7 is responsible for self control of the vehicle body of the first AGV trolley 1, and the second control unit 8 is responsible for self control of the vehicle body of the second AGV trolley 2. The coordination control unit 9, the first control unit 7 and the second control unit 8 are respectively connected with the communication adapter 6 in a wired or wireless manner, as shown in fig. 2, for example, Modbus, TCP/IP, OPC and ethernet can be used for wired connection, the wireless connection is in the form of an intelligent wireless gateway and a wireless I/O card, the wireless connection realizes the cooperative control of the container automatic guided vehicle by transmitting instructions through the communication adapter, and the container automatic guided vehicle is controlled through wired or wireless connection.
Fig. 3 shows a block diagram of structural connection between a vehicle control structure and a driving mechanism of the container automated guided vehicle, which further includes a driving mechanism, wherein: the driving mechanism comprises a first driving unit 10 and a second driving unit 11, the first driving unit 10 is fixedly arranged at the bottom of the first AGV trolley 1, the second driving unit 11 is fixedly arranged at the bottom of the second AGV trolley 2, wherein: the first driving unit is electrically connected with the first control unit 7, the first control unit 7 controls the first driving unit to drive, the second driving unit 11 is electrically connected with the second control unit 8, the second control unit 8 controls the second driving unit 1 to drive, and the first driving unit 10 and the second driving unit 11 both comprise a fixed frame 12, an engine 13 installed in the fixed frame, a power supply 14 installed in the fixed frame, and a plurality of steerable wheels 15 driven by the engine. The driving mechanism can provide driving force for the first AGV trolley 1 and the second AGV trolley 2.
The power source 14 is electrically connected to the engine 13, the coordination control unit 9, the first control unit 7, and the second control unit 8, respectively, as shown in fig. 3, and provides the required electric energy for them.
Fig. 4 shows a body steering control diagram of the container automated guided vehicle, which adjusts a turning angle of each set of steerable wheels 15 on the container automated guided vehicle based on the assembly size of the first and second AGV carts 1 and 2 and the functional frame 3, the positions of the steerable wheels, and a given turning radius, and in which, when the container automated guided vehicle is turning, the wheel shaft of each of the plurality of steerable wheels is simultaneously directed to the center point of the given turning radius as shown in fig. 4.
Finally, it should be noted that while the present invention has been described with reference to the specific embodiments thereof, it should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and various equivalent changes and substitutions may be made therein without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.
Claims (9)
1. The utility model provides a container automated guided vehicle, its characterized in that, includes first AGV dolly, second AGV dolly and functional frame, functional frame is located first AGV dolly with the top of second AGV dolly, and through coupling unit respectively with first AGV dolly second AGV dolly combination formula is connected, coupling unit is including setting up respectively the tip of first AGV dolly the coupling part and the setting of the tip of second AGV dolly are in cooperation coupling part on the functional frame, the coupling part with cooperation coupling part connected mode is non-rigid coupling.
2. The automatic container guidance vehicle of claim 1, further comprising a vehicle control structure, wherein the vehicle control structure comprises a coordination control unit arranged on the functional vehicle frame, a first control unit arranged on the first AGV cart, and a second control unit arranged on the second AGV cart, and the coordination control unit is connected with the first control unit and the second control unit through wiring harnesses.
3. The automated guided vehicle for containers of claim 2, wherein the coupling element comprises a communication adapter, and the communication adapter is connected with the coordinating control unit, the first control unit and the second control unit by wire or wirelessly respectively, and is used for communicating instructions to realize the cooperative control of the automated guided vehicle for containers.
4. The automated container guidance vehicle of claim 2, further comprising a drive mechanism including a first drive unit and a second drive unit, said first drive unit being disposed on said first AGV car and said second drive unit being disposed on said second AGV car.
5. The automated guided vehicle for containers of claim 4, wherein the first driving unit is electrically connected to the first control unit, and the second driving unit is electrically connected to the second control unit.
6. The automated guided vehicle of claim 4, wherein the first drive unit and the second drive unit each comprise a fixed frame, a motor mounted within the fixed frame, a power source mounted within the fixed frame, and a plurality of steerable wheels driven by the motor.
7. The automated guided vehicle for containers of claim 6, wherein the power source is electrically connected to the engine, the coordinating control unit, the first control unit, and the second control unit, respectively, for providing the required power.
8. The automated container guided vehicle of claim 6, wherein the axle of each of the steerable wheels is simultaneously directed toward the center point of the turning radius of the automated container guided vehicle when the automated container guided vehicle turns.
9. The automated container director of claim 1, wherein said coupling is selectively engageable with and disengageable from said mating coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011447292.5A CN112498213A (en) | 2020-12-09 | 2020-12-09 | Automatic container guiding vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011447292.5A CN112498213A (en) | 2020-12-09 | 2020-12-09 | Automatic container guiding vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112498213A true CN112498213A (en) | 2021-03-16 |
Family
ID=74971399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011447292.5A Pending CN112498213A (en) | 2020-12-09 | 2020-12-09 | Automatic container guiding vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112498213A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501273A (en) * | 2021-06-25 | 2021-10-15 | 宁波新松机器人科技有限公司 | Transfer device and method |
| CN113696813A (en) * | 2021-08-23 | 2021-11-26 | 四川东泉机械设备制造有限公司 | Transferring method of container transferring trolley |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000066724A (en) * | 1998-08-20 | 2000-03-03 | Hitachi Kiden Kogyo Ltd | Traveling controller for automated guided vehicle |
| CN104229409A (en) * | 2014-09-15 | 2014-12-24 | 大连华锐重工集团股份有限公司 | Magnetomotive container transfer vehicle |
| CN105162220A (en) * | 2015-08-12 | 2015-12-16 | 上海海事大学 | Automated container terminal all-electric unmanned automatic guided vehicle automatic charging device and charging method thereof |
| CN106627841A (en) * | 2017-02-15 | 2017-05-10 | 上海振华重工(集团)股份有限公司 | Steering control system and method of container automatic guiding trolley |
| WO2018163753A1 (en) * | 2017-03-07 | 2018-09-13 | 株式会社豊田自動織機 | Automated guided vehicle |
| CN108860367A (en) * | 2018-07-22 | 2018-11-23 | 太原科技大学 | A kind of container AGV transfer car(buggy) that pivoting support quickly commutates |
| CN109878402A (en) * | 2019-04-17 | 2019-06-14 | 西南交通大学 | A kind of AGV transport vehicle transported for railcar |
| CN110497962A (en) * | 2019-07-18 | 2019-11-26 | 上海振华重工(集团)股份有限公司 | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method |
| CN210954734U (en) * | 2019-10-30 | 2020-07-07 | 中国船舶重工集团公司第七一六研究所 | Unmanned vehicle automatic driving system suitable for container transportation |
| CN111413976A (en) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | AGV control system and control method |
-
2020
- 2020-12-09 CN CN202011447292.5A patent/CN112498213A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000066724A (en) * | 1998-08-20 | 2000-03-03 | Hitachi Kiden Kogyo Ltd | Traveling controller for automated guided vehicle |
| CN104229409A (en) * | 2014-09-15 | 2014-12-24 | 大连华锐重工集团股份有限公司 | Magnetomotive container transfer vehicle |
| CN105162220A (en) * | 2015-08-12 | 2015-12-16 | 上海海事大学 | Automated container terminal all-electric unmanned automatic guided vehicle automatic charging device and charging method thereof |
| CN106627841A (en) * | 2017-02-15 | 2017-05-10 | 上海振华重工(集团)股份有限公司 | Steering control system and method of container automatic guiding trolley |
| WO2018163753A1 (en) * | 2017-03-07 | 2018-09-13 | 株式会社豊田自動織機 | Automated guided vehicle |
| CN108860367A (en) * | 2018-07-22 | 2018-11-23 | 太原科技大学 | A kind of container AGV transfer car(buggy) that pivoting support quickly commutates |
| CN109878402A (en) * | 2019-04-17 | 2019-06-14 | 西南交通大学 | A kind of AGV transport vehicle transported for railcar |
| CN110497962A (en) * | 2019-07-18 | 2019-11-26 | 上海振华重工(集团)股份有限公司 | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method |
| CN210954734U (en) * | 2019-10-30 | 2020-07-07 | 中国船舶重工集团公司第七一六研究所 | Unmanned vehicle automatic driving system suitable for container transportation |
| CN111413976A (en) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | AGV control system and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501273A (en) * | 2021-06-25 | 2021-10-15 | 宁波新松机器人科技有限公司 | Transfer device and method |
| CN113696813A (en) * | 2021-08-23 | 2021-11-26 | 四川东泉机械设备制造有限公司 | Transferring method of container transferring trolley |
| CN113696813B (en) * | 2021-08-23 | 2023-03-31 | 四川东泉机械设备制造有限公司 | Transferring method of container transferring trolley |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109625123B (en) | Spliced type carrying vehicle, carrying system and carrying method | |
| CN106681321B (en) | The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID | |
| CN104859440A (en) | Skid type AGV (automatic guided vehicle) | |
| CN112498213A (en) | Automatic container guiding vehicle | |
| CN103412593B (en) | Submarine AGV moves transfer robot | |
| CN201021981Y (en) | Magnetic navigation differential carrying robot | |
| CN105836669A (en) | Heavy-load automated guided vehicle | |
| CN111516778B (en) | Wheeled mine material delivery robot power chassis | |
| CN205552502U (en) | Intelligence parking robot | |
| CN106379441B (en) | Automated guided vehicle and homing guidance transportation resources | |
| CN106774352A (en) | The robot control system of automatical pilot transportation vehicle and single two-way automatical pilot transportation vehicle of drive | |
| CN108749920B (en) | Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle | |
| WO2020163920A1 (en) | Improvements relating to underground mining | |
| CN114670917B (en) | Manual and wire-control double-control steering system for vehicle and control method thereof | |
| CN103935935A (en) | Universal driving type forklift AGV | |
| CN206639040U (en) | A kind of single two-way automatical pilot transportation vehicle of drive | |
| CN212605079U (en) | Port transport equipment control system | |
| CN113219963A (en) | Double-steering-wheel motion control system of AGV (automatic guided vehicle) | |
| CN109205202B (en) | Unmanned intelligent AGV transfer robot | |
| CN109050656B (en) | Unmanned biaxial electric logistics vehicle steering system and control method thereof | |
| KR101677082B1 (en) | An automatic posture control system integrating with plc controls for automated guided vehicle and the method thereof | |
| CN211642412U (en) | Intelligent AGV (automatic guided vehicle) carrying trolley and trolley carrying walking mechanism thereof | |
| CN111301538A (en) | Unmanned vehicle chassis and unmanned vehicle | |
| CN209553356U (en) | A kind of intelligence AGV logistics trolley | |
| CN107600864A (en) | A kind of AGV dollies with transmission picking belt |
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 |