CN204028699U - A kind of can the automatic Guided Vehicle of omnidirectional running - Google Patents
A kind of can the automatic Guided Vehicle of omnidirectional running Download PDFInfo
- Publication number
- CN204028699U CN204028699U CN201420455640.7U CN201420455640U CN204028699U CN 204028699 U CN204028699 U CN 204028699U CN 201420455640 U CN201420455640 U CN 201420455640U CN 204028699 U CN204028699 U CN 204028699U
- Authority
- CN
- China
- Prior art keywords
- vehicle
- steering wheel
- running
- module
- driven
- 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.)
- Active
Links
Abstract
The utility model discloses a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: it comprises vehicle frame (1), at least two driving steering wheels (2), at least two supporting rollers (3) and vehicle-mounted control modules, steering wheel (2) is driven diagonally to be arranged on vehicle frame (1) bottom, supporting roller (3) is also diagonally arranged on vehicle frame (1) bottom, described vehicle-mounted control module is arranged on described navigation dolly, and the control of vehicle-mounted control module exports and is connected with driving steering wheel (2).By controlling the independence of each driving steering wheel, achieve the control to AGV athletic posture and movement velocity, AGV can realize omnidirectional running, its compact conformation, by the covering that the driving steering wheel and supporting roller selecting different bearer weight can to realize from underloading to heavy duty in all directions, modular design is easy to Quick overhaul, replacing, and utilizes the feature of translation motion, and many cars that can realize in permanent haulage line are dodged.
Description
Technical field
The utility model relates to a kind of navigation dolly, particularly a kind of can the automatic Guided Vehicle of omnidirectional running.
Background technology
Automatic Guided Vehicle (Automated Guided Vehicle; be called for short AGV); also known as automatic guided vehicle, automatic steering carrying cart; refer to be equipped with the homing guidance such as electromagnetism or optics device; can travel along the guide path of regulation, there is the transport vehicle of safeguard protection and various transfer function.
AGV is one of main equipment of factory and storage material carrying robotization, is particularly useful for warehousing industry, manufacturing industry, tobacco, medicine and extraordinary hazardous area.In the production line of manufacture field, AGV can complete the carrying task of material efficiently, accurately, flexibly, and flexible logistics handling system can be formed by multiple stage AGV, transportation route can adjust in time along with the adjustment of the technological process of production, make a production line can produce ten several prods, substantially increase the flexibility of production and the competitive power of enterprise.At present, AGV, in the Main Auto factory in the world, generally applies as the manufacture of the automobile factory such as general, Toyota, Chrysler, masses and assembly line obtain.In tobacco business, as Yizhong, Qingdao group, Yuxi Hongta Group, Honghe Cigarette Factory, Huaiyang Cigarette Factory, application laser aiming formula AGV is had to complete the carrying work of pallet cargo.Militarily, based on the automatic Pilot of AGV, integrated other detection and detaching equipments, can be used for the battlefield removal of mines and reconnaissance of position.In steel plant, AGV is used for furnace charge and transports, and alleviates the labour intensity of workman.At nuclear power station and utilize nuclear radiation to carry out the place of fresh-keeping storage, AGV is used for the transport of article, avoids dangerous radiation.In film and film warehouse, AGV in the environment of dark, can transport material and semi-manufacture accurately and reliably.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of can the automatic Guided Vehicle of Omni-mobile, its compact conformation, load capacity are high, travel flexibly, safe and reliable, adopt modular design, be easier to Quick overhaul, replacing, and utilize the feature of translation motion, many cars that can realize in permanent haulage line are dodged
The purpose of this utility model is achieved through the following technical solutions: a kind of can the automatic Guided Vehicle of omnidirectional running, it comprises vehicle frame, at least two driving steering wheels, at least two supporting rollers and vehicle-mounted control modules, steering wheel is driven diagonally to be arranged on bottom of frame, supporting roller is also diagonally arranged on bottom of frame, described vehicle-mounted control module is arranged on described navigation dolly, and the control of vehicle-mounted control module exports and is connected with driving steering wheel.
Described driving steering wheel is provided with steer motor and running motor, steer motor and running motor respectively with vehicle-mounted control model calling.
Described driving steering wheel is also provided with angular transducer and speed pickup, described angular transducer is for detecting the angle driven between steering wheel and vehicle frame, speed pickup drives the speed of steering wheel for detecting, angular transducer and speed pickup respectively with vehicle-mounted control model calling.
Described vehicle frame is also provided with multiple navigation sensor, on the front and back that described navigation sensor is installed on vehicle frame respectively and left and right axis, is arranged symmetrically, navigation sensor and vehicle-mounted control model calling.
Described navigation sensor is 4.
Described vehicle-mounted control module comprises navigation module, running motor servo-driven module, steer motor servo-driven module and Vehicle Controller, running motor, speed pickup are connected with running motor servo-driven module respectively, steer motor, angular transducer are connected with steer motor servo-driven module respectively, navigation sensor is connected with navigation module, and running motor servo-driven module, steer motor servo-driven module, navigation module are connected with Vehicle Controller respectively; The travel speed of steering wheel is driven to be controlled by running motor servo-driven module, the angle of steering wheel is driven to be controlled by steer motor servo-driven module, the relative position of current vehicle body and ground magnetic stripe is sent to Vehicle Controller by navigation module, Vehicle Controller controls the rotational angle of forward and backward driving steering wheel by steer motor servo-driven module, drive the speed of steering wheel before and after being controlled by running motor servo-driven module, make the attitude that vehicle body and ground magnetic stripe keep relative stability.
Described vehicle frame is provided with multiple supporting roller, and the position of supporting roller is arranged according to the carrying situation of car body.
Described driving steering wheel is 2.
The beneficial effects of the utility model are: by controlling the independence of each driving steering wheel, achieve the control to AGV athletic posture and movement velocity, AGV can realize omnidirectional running, comprise advance, retrogressing, translation, pivot stud etc., its compact conformation, by the covering that the driving steering wheel and supporting roller selecting different bearer weight can to realize from underloading to heavy duty in all directions, modular design is easy to Quick overhaul, replacing, and utilize the feature of translation motion, many cars that can realize in permanent haulage line are dodged.
Accompanying drawing explanation
Fig. 1 is omnidirectional running vehicle structure;
Fig. 2 is omnidirectional running dolly side view;
Fig. 3 is omnidirectional running dolly control module connection layout;
Fig. 4 is omnidirectional running dolly lateral translational movement schematic diagram;
Fig. 5 is omnidirectional running dolly cross-line motion schematic diagram;
Fig. 6 is omnidirectional running dolly pivot stud schematic diagram;
In figure, 1-vehicle frame, 2-drives steering wheel, 3-supporting roller, 4-steer motor, 5-running motor, 6-angular transducer, 7-speed pickup, 8-navigation sensor, 9-magnetic stripe.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail, but protection domain of the present utility model is not limited to the following stated.
As shown in Figure 1, Figure 2 and Figure 3, a kind of can the automatic Guided Vehicle of omnidirectional running, it comprises vehicle frame 1, at least two driving steering wheels 2, at least two supporting rollers 3 and vehicle-mounted control module, steering wheel 2 is driven diagonally to be arranged on bottom vehicle frame 1, supporting roller 3 is also diagonally arranged on bottom vehicle frame 1, described vehicle-mounted control module is arranged on described navigation dolly, and the control of vehicle-mounted control module exports and is connected with driving steering wheel 2.
Described driving steering wheel 2 is provided with steer motor 4 and running motor 5, steer motor 4 and running motor 5 respectively with vehicle-mounted control model calling.
Described driving steering wheel 2 is also provided with angular transducer 6 and speed pickup 7, described angular transducer 6 is for detecting the angle driven between steering wheel 2 and vehicle frame 1, speed pickup 7 drives the speed of steering wheel 2 for detecting, angular transducer 6 and speed pickup 7 respectively with vehicle-mounted control model calling.
Described vehicle frame 1 is also provided with multiple navigation sensor 8, on the front and back that described navigation sensor 8 is installed on vehicle frame 1 respectively and left and right axis, is arranged symmetrically, navigation sensor 8 and vehicle-mounted control model calling.
Described navigation sensor 8 is 4.
Described vehicle-mounted control module comprises navigation module, running motor servo-driven module, steer motor servo-driven module and Vehicle Controller, running motor 4, speed pickup 7 are connected with running motor servo-driven module respectively, steer motor 4, angular transducer 6 are connected with steer motor servo-driven module respectively, navigation sensor 8 is connected with navigation module, and running motor servo-driven module, steer motor servo-driven module, navigation module are connected with Vehicle Controller respectively; The travel speed of steering wheel 2 is driven to be controlled by running motor servo-driven module, the angle of steering wheel 2 is driven to be controlled by steer motor servo-driven module, the relative position of current vehicle body and ground magnetic stripe is sent to Vehicle Controller by navigation module, Vehicle Controller controls the rotational angle of forward and backward driving steering wheel 2 by steer motor servo-driven module, drive the speed of steering wheel 2 before and after being controlled by running motor servo-driven module, make the attitude that vehicle body and ground magnetic stripe keep relative stability.
Described vehicle frame 1 is provided with multiple supporting roller 3, and the position of supporting roller 3 is arranged according to the carrying situation of car body.
Described driving steering wheel 2 is 2.
As shown in Figure 4, AGV dolly when driving to intersection, the navigation sensor 8 of car body side senses horizontal magnetic stripe 9, car body is switched to the attitude being carried out perception car body by the navigation sensor 8 of car body side, adjustment simultaneously drives speed and the angle of steering wheel 2, AGV magnetic stripe 9 is transversely run, realizes sidewayts running.
As shown in Figure 5, when two cars meet, Vehicle Controller controls angle and the speed of two driving steering wheels 2, makes car body along certain angle translation, and when the navigation sensor 8 before and after car body senses magnetic stripe 9, systematic evaluation travels to along magnetic stripe 9, realizes cross-line.
As shown in Figure 6, when two drive the angle and two of steering wheel 2 to drive the line between steering wheel 2 vertical, Vehicle Controller controls two and drives the travel direction of steering wheel 2 contrary, realizes the pivot stud of AGV.
Claims (8)
1. one kind can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: it comprises vehicle frame (1), at least two driving steering wheels (2), at least two supporting rollers (3) and vehicle-mounted control modules, steering wheel (2) is driven diagonally to be arranged on vehicle frame (1) bottom, supporting roller (3) is also diagonally arranged on vehicle frame (1) bottom, described vehicle-mounted control module is arranged on described navigation dolly, and the control of vehicle-mounted control module exports and is connected with driving steering wheel (2).
2. according to claim 1 a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: described driving steering wheel (2) is provided with steer motor (4) and running motor (5), steer motor (4) and running motor (5) respectively with vehicle-mounted control model calling.
3. according to claim 1 a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: described driving steering wheel (2) is also provided with angular transducer (6) and speed pickup (7), described angular transducer (6) is for detecting the angle driven between steering wheel (2) and vehicle frame (1), speed pickup (7) for detect drive steering wheel (2) speed, angular transducer (6) and speed pickup (7) respectively with vehicle-mounted control model calling.
4. according to claim 1 a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: described vehicle frame (1) is also provided with multiple navigation sensor (8), on the front and back that described navigation sensor (8) is installed on vehicle frame (1) respectively and left and right axis, be arranged symmetrically, navigation sensor (8) and vehicle-mounted control model calling.
5. according to claim 4 a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: described navigation sensor (8) is 4.
6. can the automatic Guided Vehicle of omnidirectional running according to a kind of one of claim 1-5 Suo Shu, it is characterized in that: described vehicle-mounted control module comprises navigation module, running motor servo-driven module, steer motor servo-driven module and Vehicle Controller, running motor (4), speed pickup (7) is connected with running motor servo-driven module respectively, steer motor (4), angular transducer (6) is connected with steer motor servo-driven module respectively, navigation sensor (8) is connected with navigation module, running motor servo-driven module, steer motor servo-driven module, navigation module is connected with Vehicle Controller respectively, the travel speed of steering wheel (2) is driven to be controlled by running motor servo-driven module, the angle of steering wheel (2) is driven to be controlled by steer motor servo-driven module, the relative position of current vehicle body and ground magnetic stripe is sent to Vehicle Controller by navigation module, Vehicle Controller controls the rotational angle of forward and backward driving steering wheel (2) by steer motor servo-driven module, drive the speed of steering wheel (2) before and after being controlled by running motor servo-driven module, make the attitude that vehicle body and ground magnetic stripe keep relative stability.
7. according to claim 1 a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: described vehicle frame (1) is provided with multiple supporting roller (3), the position of supporting roller (3) is arranged according to the carrying situation of car body.
8. according to claim 1 a kind of can the automatic Guided Vehicle of omnidirectional running, it is characterized in that: described driving steering wheel (2) is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420455640.7U CN204028699U (en) | 2014-08-13 | 2014-08-13 | A kind of can the automatic Guided Vehicle of omnidirectional running |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420455640.7U CN204028699U (en) | 2014-08-13 | 2014-08-13 | A kind of can the automatic Guided Vehicle of omnidirectional running |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204028699U true CN204028699U (en) | 2014-12-17 |
Family
ID=52068539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420455640.7U Active CN204028699U (en) | 2014-08-13 | 2014-08-13 | A kind of can the automatic Guided Vehicle of omnidirectional running |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204028699U (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111657A (en) * | 2014-08-13 | 2014-10-22 | 成都四威高科技产业园有限公司 | Automatic guided vehicle capable of driving in all directions |
| CN104895366A (en) * | 2015-06-01 | 2015-09-09 | 湖北汽车工业学院 | Vehicle-carrying device based on plane garage |
| CN104898661A (en) * | 2015-03-31 | 2015-09-09 | 苏州佳世达电通有限公司 | Vehicle deviation correction control method and system |
| CN105302145A (en) * | 2015-12-03 | 2016-02-03 | 湖南信息职业技术学院 | Transportation apparatus and realization method thereof |
| CN106080172A (en) * | 2016-06-28 | 2016-11-09 | 盐城富达新能源有限公司 | The two-wheeled that a kind of diagonal controlled based on PLC is arranged independently drives electric flat carriage |
| CN106080755A (en) * | 2016-07-08 | 2016-11-09 | 湖南乐农佳科技集团有限公司 | Steering mechanism of a kind of intelligent machine electronic omnidirectional |
| CN106185701A (en) * | 2016-08-31 | 2016-12-07 | 广州市远能物流自动化设备科技有限公司 | A kind of lifting type AGV |
| CN106184472A (en) * | 2016-09-30 | 2016-12-07 | 宁波介量机器人技术有限公司 | A kind of pair is driven coaxial-type AGV chassis |
| CN107539163A (en) * | 2016-06-23 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of drive device, diagonal wheel apparatus and its motion control method |
| CN107651011A (en) * | 2017-10-09 | 2018-02-02 | 大连艾欧信息技术有限公司 | Logistics delivery car is turned to for garden |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN109606506A (en) * | 2018-12-03 | 2019-04-12 | 江西洪都航空工业集团有限责任公司 | A kind of control method that diagonal driving turns to |
| CN109765894A (en) * | 2019-01-22 | 2019-05-17 | 济南大学 | Steering wheel drives omni-directional mobile robots motion control method |
| CN112302297A (en) * | 2019-08-01 | 2021-02-02 | 广东博智林机器人有限公司 | Feeding robot |
-
2014
- 2014-08-13 CN CN201420455640.7U patent/CN204028699U/en active Active
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111657A (en) * | 2014-08-13 | 2014-10-22 | 成都四威高科技产业园有限公司 | Automatic guided vehicle capable of driving in all directions |
| CN104898661A (en) * | 2015-03-31 | 2015-09-09 | 苏州佳世达电通有限公司 | Vehicle deviation correction control method and system |
| CN104895366A (en) * | 2015-06-01 | 2015-09-09 | 湖北汽车工业学院 | Vehicle-carrying device based on plane garage |
| CN105302145A (en) * | 2015-12-03 | 2016-02-03 | 湖南信息职业技术学院 | Transportation apparatus and realization method thereof |
| CN105302145B (en) * | 2015-12-03 | 2018-10-09 | 湖南信息职业技术学院 | Transport device and its implementation |
| CN107539163A (en) * | 2016-06-23 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of drive device, diagonal wheel apparatus and its motion control method |
| CN106080172A (en) * | 2016-06-28 | 2016-11-09 | 盐城富达新能源有限公司 | The two-wheeled that a kind of diagonal controlled based on PLC is arranged independently drives electric flat carriage |
| CN106080172B (en) * | 2016-06-28 | 2019-03-01 | 盐城富达新能源有限公司 | It is a kind of based on PLC control diagonal line arrangement two-wheeled independently drive electric flat carriage |
| CN106080755A (en) * | 2016-07-08 | 2016-11-09 | 湖南乐农佳科技集团有限公司 | Steering mechanism of a kind of intelligent machine electronic omnidirectional |
| CN106185701A (en) * | 2016-08-31 | 2016-12-07 | 广州市远能物流自动化设备科技有限公司 | A kind of lifting type AGV |
| CN106184472A (en) * | 2016-09-30 | 2016-12-07 | 宁波介量机器人技术有限公司 | A kind of pair is driven coaxial-type AGV chassis |
| CN107651011A (en) * | 2017-10-09 | 2018-02-02 | 大连艾欧信息技术有限公司 | Logistics delivery car is turned to for garden |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN109606506A (en) * | 2018-12-03 | 2019-04-12 | 江西洪都航空工业集团有限责任公司 | A kind of control method that diagonal driving turns to |
| CN109765894A (en) * | 2019-01-22 | 2019-05-17 | 济南大学 | Steering wheel drives omni-directional mobile robots motion control method |
| CN112302297A (en) * | 2019-08-01 | 2021-02-02 | 广东博智林机器人有限公司 | Feeding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204028699U (en) | A kind of can the automatic Guided Vehicle of omnidirectional running | |
| CN104111657B (en) | A kind of can the automatic Guided Vehicle of omnidirectional running | |
| CN107272694B (en) | Omnidirectional vehicle control system based on Mecanum wheel autonomous navigation | |
| CN103383570A (en) | Automatic guided vehicle capable of moving in all directions | |
| CN106585764A (en) | AGV (Automated Guided Vehicle) | |
| CN202542393U (en) | Piggyback automated guided vehicle (AGV) mobile transfer robot | |
| FI3573877T3 (en) | Running gear | |
| CN206466051U (en) | AGV transport vehicles | |
| CN102718043A (en) | Piggyback automatic guided vehicle (AGV) moving transfer robot | |
| CN103135548A (en) | Unmanned carrying trolley and drive control system thereof | |
| CN104085313A (en) | Eight-freedom-degree mechanical arm system of AGV chassis | |
| CN105480902A (en) | Universal forklift type AGV | |
| CN105946548A (en) | Automatic guiding type carrying device | |
| CN203937526U (en) | The 8 degree-of-freedom manipulator systems on AGV chassis | |
| CN104228937B (en) | Dual-mode control electronic power steering system for industrial vehicle | |
| CN105621041A (en) | Automatic guiding transport vehicle | |
| CN108958269B (en) | Inertial navigation magnetic stripe hybrid navigation AGV system | |
| CN109677312B (en) | AGV (automatic guided vehicle) with double-layer conveying two-dimension code navigation and control method | |
| CN205809696U (en) | Cross-country heavy duty AGV | |
| CN109591915A (en) | A kind of intelligence AGV carrier | |
| CN203921781U (en) | A kind of shuttle with turning function | |
| CN113120123A (en) | Driving wheel suspension system of AGV (automatic guided vehicle) carrying trolley for relay sorting | |
| CN206436927U (en) | AGV collision avoidance sensing devices | |
| KR20140000187U (en) | Automated Guided Vehicle | |
| CN213974229U (en) | AGV dolly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |