CN204714455U - A kind of material Automatic Guided Vehicle - Google Patents
A kind of material Automatic Guided Vehicle Download PDFInfo
- Publication number
- CN204714455U CN204714455U CN201520289959.1U CN201520289959U CN204714455U CN 204714455 U CN204714455 U CN 204714455U CN 201520289959 U CN201520289959 U CN 201520289959U CN 204714455 U CN204714455 U CN 204714455U
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- automatic guided
- guided vehicle
- vehicle body
- body hanger
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Abstract
The utility model discloses a kind of material Automatic Guided Vehicle, this material carrier comprises car body body and automatically controlled two parts.Described Automatic Guided Vehicle basic machine part comprises: the Motorized drive unit of car body, lifting lift mechanism, electrokinetic cell and vehicle body hanger.Described car body electric control part is divided and is comprised: PLC, magnetic navigation sensor, RFID card reader, touch-screen, electricity take into account safety precaution sensor.Automatic Guided Vehicle slips into the below of goods to be handled and stops, and the lifting lift mechanism on transport trolley rises, by goods jack-up; Meanwhile, transport trolley continues to run, and after running to assigned address, transport trolley stops, and is declined by lifting lift mechanism, and goods is just placed on ground, completes the automation of handling process.
Description
Technical field
The utility model relates to a kind of material Automatic Guided Vehicle, specifically relates to the car of a kind of plant area materials inside automatic transporting, during the work of this transport trolley, slips into below material, uses lift mechanism, formulates position by being transported to after material jack-up.
Background technology
Materials inside carrying in current producing region is by fork truck as handbarrow substantially, along with improving constantly of China's cost of labor, appeals that automation of industry is deeply applied in all trades and professions.Automatic Guided Vehicle is as a kind of emerging Robot industry, application is in the industrial production more and more universal, the industrial applications of Automatic Guided Vehicle frees artificial from heavy material transportation, achieves the automation of the trend of logistics in factory, unmanned and the informationization of management.
The fork truck of prior art and robot all cannot replace material Automatic Guided Vehicle.Fork truck needs operative, high to manual request, also cannot realize lifting and automatically identify, for the occasion needing lifting, fork truck is difficult to adapt to.And existing Robotics is difficult to the requirement meeting large component carrying.
Summary of the invention
The purpose of this utility model is to provide a kind of material Automatic Guided Vehicle, realizes plant area's materials inside and is transported to another one point from a point, realizes the automation of material trend.
Automatic Guided Vehicle of the present utility model adopts motor as type of drive, realizes moving forward and backward, and " magnetic navigation " mode of employing realizes transport trolley track and runs.Adopt electric pushrod as lifting mechanism, realize automatic transporting and the unloading of material.Adopt RFID(Radio Frequency Identification, RFID, a kind of REID, hereinafter referred RFID) card realize station recognition, adopt programmable logic controller (PLC) (Programmable Logic Controller, PLC, hereafter claims PLC) as control core, realize the automatic operation of transport trolley.The utility model Automatic Guided Vehicle adopts the lifting mechanism of electric pushrod to realize the automatic transporting of material, and realizes walking, lifting, identification several functions.
The purpose of this utility model is achieved through the following technical solutions:
A kind of material Automatic Guided Vehicle, material carrier comprises basic machine and automatically controlled part; Basic machine comprises vehicle body hanger, driver element, lifting lift mechanism and electrokinetic cell;
Described vehicle body hanger is square car body, is provided with cardan wheel in the lower end, four corners of vehicle body hanger; All be provided with one group of driver element of same structure in the both sides of vehicle body hanger, often organize driver element comprise drive wheel, drive motor, drive wheel permanent seat, drive motor connect sprocket wheel be connected sprocket wheel with drive wheel; Drive wheel is fixed in vehicle body hanger by drive wheel permanent seat, and drive motor is fixed in vehicle body hanger; Drive wheel is connected sprocket wheel and is connected with drive wheel, drive motor is connected sprocket wheel and is connected with drive motor, and drive wheel connection sprocket wheel is connected sprocket wheel and is connected by chain with drive motor;
Described lifting lift mechanism is two, is fixed on vehicle body hanger inside, and each lifting lift mechanism comprises the guides, electric pushrod and the flat board that are distributed in the left and right sides; Flat board is two, and the lower end of guides and electric pushrod is separately fixed in vehicle body hanger, is fixed on the flat board lifted in the upper end of guides and electric pushrod;
Electric control part is divided and is comprised PLC, anticollision strip, motor driver, RFID card reader, magnetic navigation sensor, touch-screen, electricity meter, safety precaution sensor, magnetic stripe and rfid card; PLC is connected with electric pushrod, motor driver, magnetic navigation sensor, touch-screen, RFID card reader respectively; PLC is also connected with electrokinetic cell; The circuit that PLC is connected with electrokinetic cell is provided with described electricity meter; Motor driver is connected with drive motor, and magnetic navigation sensor is connected with magnetic stripe signal, and magnetic stripe is laid on the ground, path of Automatic Guided Vehicle walking in advance; RFID card reader is connected with rfid card; PLC is connected with anticollision strip; Anticollision strip is arranged on the front and back end of Automatic Guided Vehicle, and RFID card reader is arranged on vehicle body hanger front end, and magnetic navigation sensor is arranged on vehicle body hanger midway location, and electrokinetic cell is arranged in vehicle body hanger.
Further, described drive motor selects DC brushless motor; Described DC brushless motor selects brush DC 200W motor.
Further, described electric pushrod selects DTL100 type push rod; The hard optical axis of external diameter 20mm selected by described guides.
Further, described electrokinetic cell selects 24V20Ah power electrokinetic cell.
Further, described PLC selects Mitsubishi FX-3U, with FX3U-4DA-ADP Analog control expansion module.
Further, described magnetic navigation sensor selects JTC06S magnetic navigation sensor.
Further, described RFID card reader selects JRM2030 UHF RFID read-write module.
Further, described touch-screen selects TK6070IP type touch-screen; 906T24BNBAO type electricity meter selected by described electricity meter.
Further, described safety precaution sensor selects PBS-03JN type sensor.
Further, described platen area is 1/2 of plan area in vehicle body hanger.
Relative to prior art, the utility model tool has the following advantages:
The utility model is by the mode of magnetic navigation, and can arrive the position that plant area inside is specified, by lifting lift mechanism, achieve the automation of material handling, solve the automatic operation of plant area's materials inside, to realizing, workshop is unmanned to have great importance.The utility model is equipped with different trucks and namely can be used for different industries, has good commonality and using value.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model material Automatic Guided Vehicle.
Fig. 2 is driver element composition structural representation.
Fig. 3 is lifting lift mechanism structural representation.
Fig. 4 is the automatically controlled part configuration diagram of Automatic Guided Vehicle.
Shown in figure: drive wheel 1, drive motor 2, cardan wheel 3, guides 4, anticollision strip 5, motor driver 7, RFID card reader 8, electrokinetic cell 9, magnetic navigation sensor 10, electric pushrod 11, drive wheel permanent seat 15, drive motor connect sprocket wheel 16, drive wheel connects sprocket wheel 17, PLC 20, touch-screen 21, electricity meter 22, safety precaution sensor 23, magnetic stripe 24, rfid card 25, vehicle body hanger 40.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.It should be noted that, detailed description of the invention just further illustrates technical characteristic of the present utility model, instead of limits the claimed scope of the utility model.
As shown in Figures 1 to 4, a kind of material Automatic Guided Vehicle comprises the basic machine of transport trolley and automatically controlled part; Wherein, basic machine comprises vehicle body hanger 40, driver element, lifting lift mechanism and electrokinetic cell.
Vehicle body hanger 40 sheet metal process is bent into square car body, is provided with cardan wheel 3, bears gravity and walking for Automatic Guided Vehicle at four corner lower end positions of vehicle body hanger 40.
All be provided with one group of driver element of same structure in the both sides of vehicle body hanger 40, as shown in Figure 2, often organize driver element comprise drive wheel 1, drive motor 2, drive wheel permanent seat 15, drive motor connect sprocket wheel 16 be connected sprocket wheel 17 with drive wheel; Drive wheel 1 is fixed in vehicle body hanger 40 by drive wheel permanent seat 15, and drive motor 2 is directly fixed in vehicle body hanger 40 by screw; Drive wheel 1 is connected sprocket wheel 17 and is connected with drive wheel, drive motor 2 is connected sprocket wheel 16 and is connected with drive motor, and drive wheel connection sprocket wheel 17 is connected sprocket wheel 16 and is connected by chain with drive motor.Drive motor 2 drives drive wheel 1 to realize walking function.Drive wheel 1 is that the kinetic energy provided by motor drives drive wheel 1 to rotate, and vehicle is advanced or retreats, and cardan wheel 3 provides a supporting role and plays booster action when drive wheel turns to.
As shown in Figure 3, lifting lift mechanism is two, and with fastened by screw at the inner midway location partially of vehicle body hanger, each lifting lift mechanism comprises the guides 4, electric pushrod 11 and the flat board that are distributed in the left and right sides.Flat board is two, and each platen area approximates plan area 1/2 on car body.The upper end of two guidess 4 and electric pushrod is separately fixed on the flat board lifted, and its lower end is separately fixed in vehicle body hanger 40, after electric pushrod 11 is energized, can drive flat board and guides 4 to move up or down.The handling process of Automatic Guided Vehicle is: Automatic Guided Vehicle slips into the below of goods to be handled and stops, and the lifting lift mechanism on transport trolley rises, by goods jack-up; Meanwhile, transport trolley continues to run, and after running to assigned address, transport trolley stops, and is declined by lifting lift mechanism, and goods is just placed on ground, completes the automation of handling process.
Electric control part is divided and is comprised PLC 20, anticollision strip 5, motor driver 7, RFID card reader 8, magnetic navigation sensor 10, touch-screen 21, electricity meter 22, safety precaution sensor 23, magnetic stripe 24 and rfid card 25; PLC 20 is connected with motor driver 7, magnetic navigation sensor 10, electric pushrod 11, touch-screen 21, RFID card reader 8 respectively; PLC 20 is also connected with electrokinetic cell 9; The circuit that PLC 20 is connected with electrokinetic cell 9 is provided with electricity meter 22; Motor driver 7 is connected with drive motor 2, magnetic navigation sensor 10 and magnetic stripe 24 signal and communication, and RFID card reader 8 is connected with rfid card 25; PLC 20 is connected with anticollision strip 5.Anticollision strip 5 is arranged on former and later two parts of vehicle body hanger 40, and RFID card reader 8 screws down in forward position, the chassis of Automatic Guided Vehicle, and magnetic navigation sensor 10 is arranged on vehicle body hanger midway location, and electrokinetic cell 9 is arranged in vehicle body hanger 40.
Be distributed between the electric pushrod 11 of both sides as the PLC 20 controlling Automatic Guided Vehicle, and being placed in vehicle body hanger 40, the motor driver 7 supporting with drive motor 2, magnetic navigation sensor 10, electricity meter 22, RFID card reader 8 and safety precaution sensor 23 are all arranged in vehicle body hanger 40.
Drive wheel 1 selects industrial load-carrying to take turns 350-4; Drive motor 2 selects DC brushless motor, the brush DC 200W motor that preferred east Motor Corporation produces.Cardan wheel 3 selects industrial PU polyurethane trundle, and cardan wheel 3 is distributed in four corner location of vehicle body hanger 40, for Automatic Guided Vehicle bears gravity.Electric pushrod 11 selects DTL100, and electric pushrod 11 drives the guides 4 of both sides to rise together.
Oval flange linear motion bearing lmh-20uu selected by guides 4.
Controller PLC 20 selects Mitsubishi FX-3U series, is mainly controlled the rotating speed of given control motor by modulating output, selects FX3U-4DA-ADP.
Anticollision strip 5 selects touch sensor KT-TXZ2A, and when Automatic Guided Vehicle encounters obstacle, anticollision strip 5 can send information to controller PLC 20, after PLC 20 detects information, is stopped by Automatic Guided Vehicle, and sends alerting signal, waits for and manually solving.
The JTC06S that magnetic navigation sensor 10 selects Jia Teng company to produce, magnetic navigation sensor 10 is for guiding in direction when Automatic Guided Vehicle provides operation.Magnetic stripe 24 is laid on the ground in advance, as the path of Automatic Guided Vehicle walking; Magnetic navigation sensor 10 can detect the position of magnetic stripe, by the control of PLC 20, can run along the direction of magnetic stripe.
What touch-screen 21 and PLC 20 were supporting plays man-machine interface effect, and touch-screen 21 selects TK6070IP, and touch-screen 21 and controller PLC 20 complete the human-machine operation function of Automatic Guided Vehicle.
Electrokinetic cell 9 selects 24V20Ah power electrokinetic cell, for Automatic Guided Vehicle and control device provide power supply.906T24BNBAO selected by electricity meter 22, and electricity meter is used for detecting the electricity of electrokinetic cell 9, and when the electricity of battery is lower than setting value, Automatic Guided Vehicle sends alerting signal, and the position running to formulation stops.
RFID card reader 8 selects JRM2030 UHF RFID read-write module, and when reading the information on rfid card 25, Automatic Guided Vehicle just can judge position residing at present and next task.
Rfid card 25 is placed on the place that Automatic Guided Vehicle will pass through, and the RFID card reader 8 be fixed on Automatic Guided Vehicle just can detect rfid card 25, and read the information in rfid card 25, and these information indicate use as the website of Automatic Guided Vehicle.
Safety precaution sensor 23 selects PBS-03JN, Automatic Guided Vehicle is in operational process, when there being personnel near Automatic Guided Vehicle, safety precaution sensor 23 will send alerting signal to controller PLC 20, after PLC 20 on Automatic Guided Vehicle detects information, Automatic Guided Vehicle is stopped, restarts after waiting personnel to leave, continue to run.
The utility model is by the mode of magnetic navigation, and can arrive the position that plant area inside is specified, by lifting lift mechanism, achieve the automation of material handling, solve the automatic operation of plant area's materials inside, to realizing, workshop is unmanned to have great importance.The utility model is equipped with different trucks and namely can be used for different industries, has good commonality and using value.
Claims (10)
1. a material Automatic Guided Vehicle, is characterized in that, material carrier comprises basic machine and automatically controlled part; Basic machine comprises vehicle body hanger, driver element, lifting lift mechanism and electrokinetic cell;
Described vehicle body hanger is square car body, is provided with cardan wheel in the lower end, four corners of vehicle body hanger; All be provided with one group of driver element of same structure in the both sides of vehicle body hanger, often organize driver element comprise drive wheel, drive motor, drive wheel permanent seat, drive motor connect sprocket wheel be connected sprocket wheel with drive wheel; Drive wheel is fixed in vehicle body hanger by drive wheel permanent seat, and drive motor is fixed in vehicle body hanger; Drive wheel is connected sprocket wheel and is connected with drive wheel, drive motor is connected sprocket wheel and is connected with drive motor, and drive wheel connection sprocket wheel is connected sprocket wheel and is connected by chain with drive motor;
Described lifting lift mechanism is two, is fixed on vehicle body hanger inside, and each lifting lift mechanism comprises the guides, electric pushrod and the flat board that are distributed in the left and right sides; Flat board is two, and the lower end of guides and electric pushrod is separately fixed in vehicle body hanger, is fixed on the flat board lifted in the upper end of guides and electric pushrod;
Electric control part is divided and is comprised PLC, anticollision strip, motor driver, RFID card reader, magnetic navigation sensor, touch-screen, electricity meter, safety precaution sensor, magnetic stripe and rfid card; PLC is connected with electric pushrod, motor driver, magnetic navigation sensor, touch-screen, RFID card reader respectively; PLC is also connected with electrokinetic cell; The circuit that PLC is connected with electrokinetic cell is provided with described electricity meter; Motor driver is connected with drive motor, and magnetic navigation sensor is connected with magnetic stripe signal, and magnetic stripe is laid on the ground, path of Automatic Guided Vehicle walking in advance; RFID card reader is connected with rfid card; PLC is connected with anticollision strip; Anticollision strip is arranged on the front and back end of Automatic Guided Vehicle, and RFID card reader is arranged on vehicle body hanger front end, and magnetic navigation sensor is arranged on vehicle body hanger midway location, and electrokinetic cell is arranged in vehicle body hanger.
2. material Automatic Guided Vehicle according to claim 1, is characterized in that: described drive motor selects DC brushless motor; Described DC brushless motor selects brush DC 200W motor.
3. material Automatic Guided Vehicle according to claim 1, is characterized in that: described electric pushrod selects DTL100 type push rod; The hard optical axis of external diameter 20mm selected by described guides.
4. material Automatic Guided Vehicle according to claim 1, is characterized in that: described electrokinetic cell selects 24V20Ah dynamic lithium battery.
5. material Automatic Guided Vehicle according to claim 1, is characterized in that: described PLC selects Mitsubishi FX-3U, with FX3U-4DA-ADP Analog control expansion module.
6. material Automatic Guided Vehicle according to claim 1, is characterized in that: described magnetic navigation sensor selects JTC06S magnetic navigation sensor.
7. material Automatic Guided Vehicle according to claim 1, is characterized in that: described RFID card reader selects JRM2030 UHF RFID read-write module.
8. material Automatic Guided Vehicle according to claim 1, is characterized in that: described touch-screen selects TK6070IP type touch-screen; 906T24BNBAO type electricity meter selected by described electricity meter.
9. material Automatic Guided Vehicle according to claim 1, is characterized in that: described safety precaution sensor selects PBS-03JN type sensor.
10. material Automatic Guided Vehicle according to claim 1, is characterized in that: described platen area is 1/2 of plan area in vehicle body hanger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520289959.1U CN204714455U (en) | 2015-05-07 | 2015-05-07 | A kind of material Automatic Guided Vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520289959.1U CN204714455U (en) | 2015-05-07 | 2015-05-07 | A kind of material Automatic Guided Vehicle |
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| Publication Number | Publication Date |
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| CN204714455U true CN204714455U (en) | 2015-10-21 |
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| CN201520289959.1U Expired - Fee Related CN204714455U (en) | 2015-05-07 | 2015-05-07 | A kind of material Automatic Guided Vehicle |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| CN105549596A (en) * | 2016-02-04 | 2016-05-04 | 长沙长泰机器人有限公司 | Storehouse intelligent storage system and material transferring method |
| CN105775540A (en) * | 2016-03-07 | 2016-07-20 | 上海诺力智能科技有限公司 | Control method of storing and taking trays for magnetic stripe guide type vehicle |
| CN106444782A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on infrared obstacle avoidance sensor |
| CN108107833A (en) * | 2018-02-13 | 2018-06-01 | 威海力磁电气有限公司 | Trolley automatic control system |
| CN108891504A (en) * | 2018-09-06 | 2018-11-27 | 丰顺县培英电声有限公司 | A kind of carrier of high temperature ageing room |
| CN109437055A (en) * | 2018-12-07 | 2019-03-08 | 恺胜机器人科技(苏州)有限公司 | A kind of laterally flexible lifting type AGV |
| CN110054115A (en) * | 2018-01-19 | 2019-07-26 | 安吉汽车物流股份有限公司 | A kind of vehicle automatic transporting guide transport lorry and guiding transportation system |
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
| CN110588835A (en) * | 2019-08-17 | 2019-12-20 | 徐州远航模具有限公司 | Equipment suitable for mould transportation |
| CN111320103A (en) * | 2018-12-14 | 2020-06-23 | 黎越智能技术研究（广州）有限公司 | Intelligent unmanned forklift for warehouse |
| CN112722610A (en) * | 2020-12-31 | 2021-04-30 | 四川东泉机械设备制造有限公司 | Walking control method of container cover lifting machine |
| CN115072624A (en) * | 2022-06-17 | 2022-09-20 | 长春市深蓝软件有限责任公司 | Tray transport AGV capable of switching automatic control modes |
| CN109437055B (en) * | 2018-12-07 | 2024-04-12 | 恺胜机器人科技(苏州)有限公司 | Formula AGV is lifted in side direction flexible |
-
2015
- 2015-05-07 CN CN201520289959.1U patent/CN204714455U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| CN105549596A (en) * | 2016-02-04 | 2016-05-04 | 长沙长泰机器人有限公司 | Storehouse intelligent storage system and material transferring method |
| CN105775540A (en) * | 2016-03-07 | 2016-07-20 | 上海诺力智能科技有限公司 | Control method of storing and taking trays for magnetic stripe guide type vehicle |
| CN106444782A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on infrared obstacle avoidance sensor |
| CN110054115B (en) * | 2018-01-19 | 2023-09-19 | 安吉汽车物流股份有限公司 | Automatic carrying guiding transport vehicle and guiding transport system |
| CN110054115A (en) * | 2018-01-19 | 2019-07-26 | 安吉汽车物流股份有限公司 | A kind of vehicle automatic transporting guide transport lorry and guiding transportation system |
| CN108107833A (en) * | 2018-02-13 | 2018-06-01 | 威海力磁电气有限公司 | Trolley automatic control system |
| CN108891504A (en) * | 2018-09-06 | 2018-11-27 | 丰顺县培英电声有限公司 | A kind of carrier of high temperature ageing room |
| CN109437055A (en) * | 2018-12-07 | 2019-03-08 | 恺胜机器人科技(苏州)有限公司 | A kind of laterally flexible lifting type AGV |
| CN109437055B (en) * | 2018-12-07 | 2024-04-12 | 恺胜机器人科技(苏州)有限公司 | Formula AGV is lifted in side direction flexible |
| CN111320103A (en) * | 2018-12-14 | 2020-06-23 | 黎越智能技术研究（广州）有限公司 | Intelligent unmanned forklift for warehouse |
| CN110588835A (en) * | 2019-08-17 | 2019-12-20 | 徐州远航模具有限公司 | Equipment suitable for mould transportation |
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
| CN112722610A (en) * | 2020-12-31 | 2021-04-30 | 四川东泉机械设备制造有限公司 | Walking control method of container cover lifting machine |
| CN115072624A (en) * | 2022-06-17 | 2022-09-20 | 长春市深蓝软件有限责任公司 | Tray transport AGV capable of switching automatic control modes |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160822 Address after: Wanbao No. 268 building, 510280 Guangdong Province, Guangzhou Haizhuqu District City, Jiang Yan Road 1212 room (not for plant use) Patentee after: Guangzhou one Automation Technology Co., Ltd. Address before: 510800 Guangzhou, Huadu District, Guangdong Province Road, No. 1 Patentee before: Guangzhou College of South China University of Technology |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151021 Termination date: 20210507 |
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| CF01 | Termination of patent right due to non-payment of annual fee |