CN202929484U - Intelligent logistical vehicle based on motion control card - Google Patents
Intelligent logistical vehicle based on motion control card Download PDFInfo
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- CN202929484U CN202929484U CN 201220644396 CN201220644396U CN202929484U CN 202929484 U CN202929484 U CN 202929484U CN 201220644396 CN201220644396 CN 201220644396 CN 201220644396 U CN201220644396 U CN 201220644396U CN 202929484 U CN202929484 U CN 202929484U
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- dolly
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- motor
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Abstract
Disclosed is an intelligent logistical vehicle based on a motion control card, comprising a dolly (1), two motors (2), a DC power supply (4), a circuit board (5), multiple Hall switch sensors (6), and an infrared sensor (7), wherein the two motors are respectively arranged at two rear wheels of the dolly; the DC power supply is installed in a special battery tray at the rear portion of the dolly body; the circuit board is arranged at the card handle; the Hall switch sensors are arranged at the bottom of the dolly; and the infrared sensor is installed at the front end of the dolly. According to the utility model, the intelligent logistical vehicle can bear the products to automatically move according to the set track and automatically carry out skew correction. When meeting obstacles, the intelligent logistical vehicle stops motion and can be switched to the manual control mode, thereby allowing users to control AGV motion via a control handle. The intelligent logistical vehicle of the utility model features low weight, high intensity, beautiful appearance, and great durability.
Description
Technical field
The utility model relates to a kind of Intelligent logistics car, particularly a kind of Intelligent logistics car of based on motion control card.
Background technology
The Intelligent logistics car, namely automatic guide vehicle (AGV) is one of key equipment in the modern industry automatic Material Handling System, AGV can realize goods automatic transporting, unmanned transmission etc. under the unified call of ground control system.
The work characteristics of AGV requires that the AGV control system should possess that the motor multiaxis is controlled, multi-sensor data Real-time Collection and processing, and the function such as host computer exchanges data, at present, the single-chip microcomputer cost is low, integrated level is high owing to adopting, easy to use, be used widely in motion control, but it is difficult to control multiaxis equipment, the I/O of PLC reliable operation, control counts many, carries out the moving interpolation difficulty but control 2 motors, and the cost of controlling multiaxis equipment is high.Digital control system can be carried out 2 axles and multiaxis and controlled, and price is high, must and industrial computer be used in conjunction with, function is perfect not enough, still need carry out a large amount of software development work, existing each AGV manufacturer is adopt from grinding motion-control module, the shortage Universal and scalability more.
Summary of the invention
in order to improve the Universal and scalability of AGV product, and significantly shorten its construction cycle, the utility model provides a kind of Intelligent logistics car of based on motion control card, concrete technical scheme is, a kind of Intelligent logistics car of based on motion control card, comprise dolly, two motors, direct supply, circuit board, a plurality of honeywell switch sensors, infrared sensor, circuit board comprises central processing module, the tracking module, signal processing module, keep away the barrier module, motor-drive circuit, it is characterized in that: its circuit is connected to the two-way connection tracking of central processing module module and keeps away the barrier module, unidirectional connection motor-driven, the unidirectional connection central processing module of signal processing module, the unidirectional connection tracking of honeywell switch sensor module, the unidirectional connection signal processing module of tracking module, motor-drive circuit is unidirectional connection signal processing module respectively, two motors, the unidirectional connection of infrared sensor keeps away the barrier module, keep away the unidirectional connection signal processing module of barrier module, its structure is connected to two motors and is arranged on respectively on dolly two trailing wheels, direct supply is arranged in the Special electric stall of dolly body tail, circuit board is arranged between the car handle of dolly, a plurality of honeywell switch sensors are arranged on the bottom surface of dolly, and infrared sensor is arranged on the front end of dolly.
But technique effect of the present utility model is bearing product according to setting track walking and can automatic deviation correction automatically, meets stop motion after barrier, switches to manual control model, controls the AGV motion with the joystick operation, and lightweight, intensity is high, and is attractive and durable.
Description of drawings
Fig. 1 is structural drawing of the present utility model.
Fig. 2 is the block diagram of system of the present utility model.
Embodiment
Central processing module adopts the ripe U.S. to produce the PMAC motion control card, and a slice DSP digital signal processing chip has been used in inside, and the indexs such as its speed, resolution, bandwidth are much better than general controller; Servocontrol comprises that PID adds Notch and speed, feed forward of acceleration are controlled, and its servo period single shaft can reach 60 μ s, and 2-axis linkage is 110 μ s; The kind of product can be from 2-axis linkage to three ten 2-axis linkages; The high speed looped network that even can connect the MACRO fieldbus directly carries out the interlock of production line and controls; Compared with similar products, the characteristic of this central processing module provides larger flexibility to system integration person and final user, it allows same control software to move on three kinds of different bus, provide thus multi-platform support characteristic, and every axle can be configured to respectively different servo types and various feedback type.But this card off line works alone, and independently completes the motion control task.
Motor 2 is DC speed-reducing, DC speed-reducing is toothed gearing electric motor, on the basis of common DC motor, add the associated gear reducer casing, the effect of gear reduction box is to provide lower rotating speed, larger moment, simultaneously, the different reduction gear ratio of gear case can provide different rotating speed and moment.
By the motor driver of company's independent research, can be better and the motion control end carry out synchro control.
In AGV transportation system, make the track of car body of magnetic stripe, select the former of this scheme because magnetic stripe is more stable, transportation system was lost efficacy, therefore the present invention uses honeywell switch sensor 6 to make system more reliable effectively.
The utility model adopts infrared sensor 7 to be used as and keeps away the barrier sensor front end, has high sensitive, and high precision is subjected to the characteristics such as environmental restraint is less.
All module integrations are analyzed for transmitted number a plurality of honeywell switch sensors 6 on central processing module, finally convert the operation to Electric Machine Control to, and the integrated of height is the advantage of this module, reduces the signal analysis error.
Dolly 1 body material adopts stainless-steel pipe, prevents from being corroded at moist working environment, and is attractive and durable, and can alleviate tare, improves dolly 1 load capacity.Chassis is designed to little rectangular configuration, is convenient to walk in the passageway, workshop, with the steel pipe splicing, adopts the jointing fastening means in the junction, and does not adopt welding shaping method on structure, is convenient to be optimized as required improvement in the future.
The direct supply 4 of dolly 1 is provided by large-capacity battery, and accumulator moves with car, saves electric power connection line, the Protection personal security.Consider that accumulator is relatively heavier, in design, battery is put in body tail by Special electric stall 8 the insides of steel tube lapping, avoid battery to rock in the operational process of car, guarantee the even running of dolly 1.
Wheel drives and adopts rear wheel drive, and two-wheeled is controlled respectively by two individual motor 2, according to differential principle, can require to adjust at any time direction according to controlling, also make simultaneously the design simplification on drive mechanism, reduce production costs, front-wheel adopts universal wheel, can according to turning to the requirement convenient direction of adjusting at any time, revise fast biased error.Its circuit is connected to the two-way connection tracking of central processing module module and is connected barrier module, unidirectional connection motor-driven, the unidirectional connection central processing module of signal processing module, the unidirectional connection tracking of honeywell switch sensor module, the unidirectional connection signal processing module of tracking module, motor-drive circuit is unidirectional connection signal processing module, two motors 2 respectively, the unidirectional connection of infrared sensor keeps away the barrier module, keeps away the unidirectional connection signal processing module of barrier module; Its structure is connected to two motors 2 and is arranged on 1 liang of trailing wheel of dolly, 8 li of Special electric stalls, circuit board 5 that direct supply 4 is arranged on dolly 1 body tail are arranged between the handle of dolly 1, a plurality of honeywell switch sensors 6 are arranged on the bottom surface of dolly 1, and infrared sensor 7 is arranged on the front end of dolly 1.
Its basic technical indicator is:
1) keep away the barrier distance: 〉=1m(matches according to actual conditions);
2) institute's load weight: 〉=100kg(upper weight limit can be chosen);
3) car body travelling speed: can choose less than 1m/s(, on be limited to 1m/s);
4) have brake function rapidly, guarantee operating personnel's safety.
Claims (3)
1. the Intelligent logistics car of a based on motion control card, comprise dolly (1), two motors (2), direct supply (4), circuit board (5), a plurality of honeywell switch sensors (6), infrared sensor (7), circuit board (5) comprises central processing module, the tracking module, signal processing module, keep away the barrier module, motor-drive circuit, it is characterized in that: its circuit is connected to the two-way connection tracking of central processing module module and keeps away the barrier module, unidirectional connection motor-driven, the unidirectional connection central processing module of signal processing module, the unidirectional connection tracking of honeywell switch sensor module, the unidirectional connection signal processing module of tracking module, motor-drive circuit is unidirectional connection signal processing module respectively, two motors (2), the unidirectional connection of infrared sensor keeps away the barrier module, keep away the unidirectional connection signal processing module of barrier module, its structure is connected to two motors (2) and is arranged on respectively on dolly (1) two trailing wheel, direct supply (4) is arranged on that the Special electric stall (8) of dolly (1) body tail is inner, circuit board (5) is arranged between the car handle of dolly (1), a plurality of honeywell switch sensors (6) are arranged on the bottom surface of dolly (1), and infrared sensor (7) is arranged on the front end of dolly (1).
2. the Intelligent logistics car of based on motion control card as claimed in claim 1, it is characterized in that: described central processing module adopts the U.S. to produce the PMAC motion control card, a slice DSP digital signal processing chip has been used in inside, and servocontrol comprises that PID adds Notch and speed, feed forward of acceleration are controlled.
3. the Intelligent logistics car of based on motion control card as claimed in claim 1, it is characterized in that: motor in described motor drive module (2) is DC speed-reducing, being toothed gearing electric motor, is on the basis of common DC motor, adds the associated gear reducer casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220644396 CN202929484U (en) | 2012-11-30 | 2012-11-30 | Intelligent logistical vehicle based on motion control card |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220644396 CN202929484U (en) | 2012-11-30 | 2012-11-30 | Intelligent logistical vehicle based on motion control card |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202929484U true CN202929484U (en) | 2013-05-08 |
Family
ID=48219427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220644396 Expired - Lifetime CN202929484U (en) | 2012-11-30 | 2012-11-30 | Intelligent logistical vehicle based on motion control card |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202929484U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600926A (en) * | 2017-08-31 | 2018-01-19 | 金勇� | The delivery system of automatic express delivery dolly |
| CN110376880A (en) * | 2019-08-19 | 2019-10-25 | 成都零启自动化控制技术有限公司 | A kind of airborne high-precision axis tenacious tracking servo turntable method and system |
-
2012
- 2012-11-30 CN CN 201220644396 patent/CN202929484U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600926A (en) * | 2017-08-31 | 2018-01-19 | 金勇� | The delivery system of automatic express delivery dolly |
| CN110376880A (en) * | 2019-08-19 | 2019-10-25 | 成都零启自动化控制技术有限公司 | A kind of airborne high-precision axis tenacious tracking servo turntable method and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130508 |
|
| CX01 | Expiry of patent term |