CN202394116U - Electromagnetic guide device for non-contact power supply type automatic guide vehicle - Google Patents
Electromagnetic guide device for non-contact power supply type automatic guide vehicle Download PDFInfo
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- CN202394116U CN202394116U CN2011205668514U CN201120566851U CN202394116U CN 202394116 U CN202394116 U CN 202394116U CN 2011205668514 U CN2011205668514 U CN 2011205668514U CN 201120566851 U CN201120566851 U CN 201120566851U CN 202394116 U CN202394116 U CN 202394116U
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- guided vehicle
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Abstract
The utility model relates to an electromagnetic guide device for a non-contact power supply type automatic guide vehicle, and belongs to the mechanical and electric field. A mechanical part of the automatic guide vehicle consists of an upper vehicle body for bearing objects and a lower running trolley, wherein two groups of two driving wheels and two synchronous belt wheels which are used for adjusting a running trace and the precision of the driving wheels are arranged on the lower part of a chassis framework of the running trolley, so that the driving wheels which are arranged on the chassis framework of the running trolley are controlled and adjusted to run according to a trace required by the automatic guide vehicle; a metal wire is embedded on a running path of the automatic guide vehicle; a guide frequency is loaded on the metal wire; an electromagnetic induction guide sensor consisting of two induction coils is arranged on the automatic guide vehicle; a displacement of the electromagnetic induction guide sensor relative to a guide wire is obtained by comparing the intensity of signals in the two coils; and electromagnetic guide of the automatic guide vehicle is realized through certain guide calculation and control of an automatic electrical control system.
Description
Technical field
The utility model relates to electrical category, particularly a kind of electromagnetism guidance device of non-contact power supply automatic guided vehicle.
Background technology
Fast development along with Domestic Automotive Industry and logistics; The scale in large-scale logistic storage base goes from strength to strength; Its robotization and intelligent degree are increasingly high, adopt automatic guided vehicle to carry out the main direction that the logistics transmission has become logistics transmission in the current automated warehouse storage system.Traditional automatic guided vehicle is to be power with the battery, and the unmanned motor dolly of noncontact guide piece and independent addressing system is housed.Because adopt powered battery, the power of traditional automatic guided vehicle and operating range receive great restriction, the utilization factor of automatic guided vehicle is not high yet; Traditional general adapted of automatic guided vehicle electrical source of power be " high magnification opening ickel-cadmium cell ", to adapt to its rapid charge and than the requirement of heavy-current discharge.But receive the influence of " ickel-cadmium cell " memory effect, use, safeguard cumbersome, cost is higher.While is owing to the pollution of cadmium in " ickel-cadmium cell ", incompatibility environmental protection requirement.
Present automobile production divides on the wiring in China; Also do not adopt non-contact power supply automatic guided vehicle of the utility model and supporting electromagnetism guidance device thereof, and generally be to adopt people's force urges front end dolly to drive to each packing station, accomplish the installation task of this station after; Be pushed into next station by manual work again; After accomplishing whole packing work, shift front end installation station onto by the workman and carry out the work that attaches together of front end, all need the work that operating personnel promote dolly in the whole process; Strengthened employee's task amount so on the one hand; Also make on the other hand in the front end installation task to receive employee's operating influence more, when pitch time reached certain limit, too much employee's operation factors will exert an influence to beat.So the front end dolly of changing original people's force urges is non-contact power supply automatic guided vehicle and electromagnetism guidance device thereof, not only alleviates present employee's workload, satisfies the requirement of productive temp simultaneously.And the automatic guided vehicle quite high intelligent single unit system that is technology content; The non-contact electric power power supply technique, electric automatization control technology, Automatic Guided Technology and the safe-guard system that relate to automatic guided vehicle, and with a series of difficult problems such as mechanics of communication of ground control centre.
The utility model content
The purpose of the utility model is to provide a kind of electromagnetism guidance device of automatic guided vehicle of non-contact power supply, solves the homing guidance of the automatic guided vehicle of non-contact power supply, the problem of correction.
The utility model mainly is made up of automatic guided vehicle mechanical part, non-contact electric power electric power system, the automatic electrical control system device of realizing the control of automatic guided vehicle various piece, the electromagnetic guiding device that is used for automatic guided vehicle, the safe-guard system device of realizing the automatic guided vehicle safe operation and automatic control of realization safe-guard system and man-machine communication's wireless communication system devices.Wherein the automatic electrical control system device comprises upper location supervisory (being ground control system), controls advancing of automatic guided vehicle automatically by the central control computer in the upper location supervisory.
The mechanical part of automatic guided vehicle is used to carry the car body of technology object by top and the bottom is used for load-bearing and walking dolly is formed.Wherein, Car body mainly guarantees the protective device of safety by being used for advancing at dolly; Be used for loaded object the vehicle body main body, be used for the dolly electrical control, show the control panel of trolley travelling state; Be arranged at vehicle body upper portion, be used to accomplish and load object or be provided with the mechanism of lifting that location or spacing application specific architecture are supported in special use, be used for the accumulator and the battery case of electrical power storage, be used to provide electrical source of power and interior electrical control cubicles of the car of control power supply and automatic electrical control system device thereof.
Be equipped with on the driver frame of walking dolly the electromagnetism guidance device that is used to realize the trolley travelling target, for trolley travelling provide electric power power supply pick-up (power taking device), be used for the servomotor that dolly drives; Two groups of four driving wheels are installed in the driver frame bottom of walking dolly, and constitute the driving walking structure that every group two left driving wheels and two right driving wheels are into parastate.And have four synchronous band adjusting gears, the synchronous pulley that is used to adjust driving wheel running orbit and precision, and be with synchronously.The effect of electromagnetism guidance device is to control and adjust to be installed in to drive travel mechanism on the carrier frame according to the track cruising that automatic guided vehicle requires, and satisfies the accuracy of traffic direction.The path of automatic guided vehicle walking is designed according to actual operating conditions; It has some " sections " (Segment) to form; Each " section " all indicated the starting point of this section; Terminating point, and automatic guided vehicle is at the travel speed and the direction information of this section, its automatic guided vehicle will go in the work loop in order.Electromagnetism guidance device concrete structure is:
On the ground of the driving path of automatic guided vehicle, bury the metal wire of guiding working direction underground, manufacturing technique requirent is satisfied in being provided with of this metal wire, arranges according to predetermined process route, and requires to have certain precision;
On metal wire, load pilot frequency; Automatic guided vehicle is provided with the electromagnetic induction guiding sensor that the ground metal wire is sent pilot frequency identification; Obtain the side-play amount of the relative ground of electromagnetic induction guiding sensor metal wire through the power that compares its loop A and coil B two electromagnetic signals; Calculate through the guiding of automatic guided vehicle automatic electrical control system device, realize the electromagnetism homing guidance of automatic guided vehicle;
Automatic guided vehicle is provided with the side-play amount that through the power that compares signal in two coils of electromagnetic induction guiding sensor, just can obtain the relative guide wire of electromagnetic induction guiding sensor; After the certain guiding calculating of automatic guided vehicle automatic electrical control system device, realize the electromagnetism homing guidance of automatic guided vehicle.
Electromagnetic induction guiding sensor; Comprise the electromagnetic induction guiding sensor of front driving wheel and the electromagnetic induction guiding sensor of rear drive sprocket; Through comparing the power of two coil medium frequencys of electromagnetic induction guiding sensor signal in the driving process, obtain the side-play amount of the relative guide wire of electromagnetic induction guiding sensor; In the process of moving; Automatic guided vehicle be located at central controller in the automatic electrical control system device of electrical control cubicles in the car constantly read before and after the actual position coordinate point value; After certain pilot data calculating; Convert the operation deviation of calculating to speed and the bid value that turns to, relevant data are sent to the central controller in the automatic electrical control system device of automatic guided vehicle, revise the deviation that automatic guided vehicle produces in the process of walking at any time.Go round and begin again, just can realize the electromagnetism guiding of automatic guided vehicle automatically, move accurately according to process route.
The controlling unit of the electromagnetism guidance device of the automatic guided vehicle of non-contact power supply is a core with central controller CPU, obtains the transversal displacement that electromagnetic induction guiding sensor provides, and the control information that turns to the control differential to calculate; Obtain the information in routing information, speed pickup, the theoretical orientation of car body, after handling through central controller CPU, carry out speed control and carry out speed control, and will send level controlling system (ground monitoring system) to data for information about.The control path and the method for electromagnetism guidance device are following:
A, electromagnetic induction guiding sensor obtain transversal displacement, and turn to the control differential to calculate by automatic guided vehicle automatic electrical control system device, and will send central controller CPU for information about to;
B, be loaded on automatic guided vehicle the central controller CPU of automatic electrical control system device according to obtaining the path offset amount of routing information, carry out speed control;
C, speed pickup are according to acting on shear force and the moment between wheel and the vehicle body: the car body of anchorage force, damping force and driving force is theoretical, and relevant data delivery to upper location supervisory, is controlled advancing of automatic guided vehicle by upper location supervisory automatically.
The advantage of the utility model is: electromagnetism guidance device major advantage is that lead-in wire is hidden, is difficult for polluting and breakage, and the guiding principle is simple and reliable, is convenient to control and communication, and noiseless to acousto-optic, manufacturing cost is lower.
Description of drawings
Fig. 1 is that the utility model vehicle body upper portion and one of them dolly of bottom split structural representation.
Fig. 2 is the utility model electromagnetism guiding principle schematic.
Fig. 3 is the utility model electromagnetism guiding operating path block diagram.
The figure number implication: 1. car body, 11. protective devices, 12. vehicle body main bodys, 13. control panels, 14. are lifted electrical control cubicles in mechanism's 15. accumulators, 16. battery cases, 17. cars; 2. carrier frame, 21. electromagnetic induction guiding sensor, 22. power supply pick-ups (power taking device), 23. driver frame, 24. servomotors., 25. driving wheels, 26. synchronously band adjusting gears, 27. be with synchronously, 28. synchronous pulleys; 31. ground, 32 metal wires, 33. pilot frequency; 40. central controller CPU, 41. transversal displacements, 42. turn to the calculating of control differential, 43. routing informations, 44. speed control, 45. speed pickups, the theoretical orientation of 46. car bodies, 47. upper location supervisories.
Embodiment
Shown in accompanying drawing 1; The mechanical part of automatic guided vehicle is made up of the car body 1 on top and the carrier frame 2 of bottom; Wherein, Car body mainly guarantees the protective device 11 of safety by being used for advancing at dolly, be used for loaded object vehicle body main body 12, be used for the dolly electrical control, show the control panel 13 of trolley travelling state, be arranged at vehicle body upper portion, be used to accomplish load object or be provided with special-purpose support location or spacing application specific architecture lift mechanism 14; The accumulator 15 and the battery case 16 that are used for electrical power storage, the interior electrical control cubicles 17 of car that is used for automatic electric control constitutes;
Carrier frame 2 by electromagnetic induction guiding sensor 21, power supply pick-up (power taking device) 22, driver frame 23, servomotor 24, driving wheel 25, synchronously be with adjusting gear 26, be with 27 synchronously, synchronous pulley 28 forms;
Two groups of four driving wheels 25 are installed in the bottom of carrier frame 2, and are with adjusting gear 26 synchronously, are with 27 and synchronous pulley 28 synchronously, constitute the Drive Structure that two driving wheels 25 of every group are into parastate, the service requirement that satisfies automatic guided vehicle.
Shown in accompanying drawing 2, on the ground 31 of the driving path of automatic guided vehicle, bury metal wire 32 underground, load pilot frequency 33 at metal wire 32, realize the homing guidance of automatic guided vehicle through identification to pilot frequency; Be provided with the electromagnetic induction guiding sensor of forming by inductive coil A and inductive coil B 21 at automatic guided vehicle; Obtain the side-play amount of electromagnetic induction guiding sensor 21 relative metal wires 32 through the power that compares electromagnetic signal among its inductive coil A and the inductive coil B; After certain guiding calculating; Relevant data are sent to the automatic electrical control system device, the moving electromagnetism guiding that realizes automatic guided vehicle.
Shown in accompanying drawing 3, the controlling unit of electromagnetism guidance device is a core with central controller CPU 40, obtains the control information that electromagnetic induction is guided the transversal displacement 41 of sensor 21 acquisitions, turned to control differential calculating 42; Central controller CPU 40 obtains the information in routing information 43, speed pickup 45, the theoretical orientation 46 of car body simultaneously; After central controller CPU 40 processing; Carry out speed control through speed control 44 links, and will send upper location supervisory 47 to data for information about.The control path and the method for electromagnetism guidance device are following:
A, electromagnetic induction guiding sensor 21 obtain transversal displacement 41, and turn to the control differential to calculate 42 by automatic guided vehicle automatic electrical control system device, and will send central controller CPU 40 for information about to;
B, be loaded on automatic guided vehicle the central controller CPU 40 of automatic electrical control system device according to the path offset amount of obtaining routing information 43, carry out speed control 44;
C, speed pickup are according to acting on shear force and the moment between wheel and the vehicle body: the car body theoretical value of anchorage force, damping force and driving force; Relevant data delivery to upper location supervisory 47, is controlled advancing of automatic guided vehicle by upper location supervisory automatically.
Automatic guided vehicle electromagnetism guidance device path is less demanding to ground flat degree, but other ferromagnetic substances existence that in the scope of 25cm around the automatic guided vehicle driving path (guide wire), do not have, otherwise will influence guiding effect and precision.
Claims (3)
1. the electromagnetism guidance device of a non-contact power supply automatic guided vehicle; Mainly mechanical part, non-contact electric power electric power system, automatic electrical control system device, safe-guard system device and the wireless communication system devices by automatic guided vehicle constitutes, and it is characterized in that: further include the electromagnetic guiding device that is used for automatic guided vehicle:
On the ground (31) of the driving path of automatic guided vehicle, bury the metal wire (32) of guiding working direction underground;
Go up loading pilot frequency (33) at metal wire (32); Automatic guided vehicle is provided with the electromagnetic induction guiding sensor (21) that ground metal wire (32) is sent pilot frequency identification; Obtain electromagnetic induction guiding sensor (21) side-play amount of ground metal wire (32) relatively through the power that compares its loop A and coil B two electromagnetic signals; Calculate through the guiding of automatic guided vehicle automatic electrical control system device, realize the electromagnetism homing guidance of automatic guided vehicle.
2. according to the electromagnetism guidance device of the described non-contact power supply automatic guided vehicle of claim 1; It is characterized in that: electromagnetic induction guiding sensor (21); The electromagnetic induction guiding sensor that comprises anterior driving wheel place; And the electromagnetic induction at rear portion driving wheel place guiding sensor; In the process of moving; Automatic guided vehicle be located at central controller in the automatic electrical control system device of electrical control cubicles (17) in the car constantly read before and after the actual position coordinate point value, convert the operation deviation of calculating to speed and be sent to the bid value that turns to, with relevant data and revise and control the central controller that automatic guided vehicle produces the automatic electrical control system device of deviation in the process of walking at any time.
3. according to the electromagnetism guidance device of the described non-contact power supply automatic guided vehicle of claim 1; It is characterized in that: the electromagnetism guidance device of non-contact power supply automatic guided vehicle is a core with central controller CPU (40), obtains transversal displacement (41) that electromagnetic induction guiding sensor (21) provides, turns to the control differential to calculate the control information of (42); Obtain the information in routing information (43), speed pickup (45), the theoretical orientation of car body (46); After central controller CPU (40) processing; Carry out speed control through speed control (44) link, and will send upper location supervisory (47) to data for information about.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205668514U CN202394116U (en) | 2011-12-30 | 2011-12-30 | Electromagnetic guide device for non-contact power supply type automatic guide vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205668514U CN202394116U (en) | 2011-12-30 | 2011-12-30 | Electromagnetic guide device for non-contact power supply type automatic guide vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN202394116U true CN202394116U (en) | 2012-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205668514U Expired - Lifetime CN202394116U (en) | 2011-12-30 | 2011-12-30 | Electromagnetic guide device for non-contact power supply type automatic guide vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
| CN103171639A (en) * | 2013-03-22 | 2013-06-26 | 南通皋液液压机有限公司 | Homing guidance transportation robot |
| CN105043906A (en) * | 2015-08-21 | 2015-11-11 | 机科发展科技股份有限公司 | Pavement loading test machine |
| CN111103878A (en) * | 2019-12-06 | 2020-05-05 | 云南昆船智能装备有限公司 | Reset guide sensor and method for intelligent parking system |
-
2011
- 2011-12-30 CN CN2011205668514U patent/CN202394116U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
| CN103171639A (en) * | 2013-03-22 | 2013-06-26 | 南通皋液液压机有限公司 | Homing guidance transportation robot |
| CN103171639B (en) * | 2013-03-22 | 2015-11-18 | 南通皋液液压机有限公司 | Homing guidance transfer robot |
| CN105043906A (en) * | 2015-08-21 | 2015-11-11 | 机科发展科技股份有限公司 | Pavement loading test machine |
| CN111103878A (en) * | 2019-12-06 | 2020-05-05 | 云南昆船智能装备有限公司 | Reset guide sensor and method for intelligent parking system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120822 |
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| CX01 | Expiry of patent term |