CN205397313U - Automatic guide transport vechicle - Google Patents
Automatic guide transport vechicle Download PDFInfo
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- CN205397313U CN205397313U CN201620139368.0U CN201620139368U CN205397313U CN 205397313 U CN205397313 U CN 205397313U CN 201620139368 U CN201620139368 U CN 201620139368U CN 205397313 U CN205397313 U CN 205397313U
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- dolly
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- installing rack
- mounting seat
- guided vehicle
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Abstract
The utility model relates to an automatic guide transport vechicle, including two parallel and communicate with, can be by the fork formula dolly of one / two magnetic stripes guide walkings, the dolly includes mount pad, the safety cover of cover on the mount pad, the both ends of mount pad all are equipped with sensor module, drive installation seat horizontal migration and drive module that can the jack -up safety cover, the control module that still is equipped with two drive module of control on the mount pad, carries out communication and transmission with sensor module to and respectively to the power module of two drive module with the control module power supply. The utility model discloses constitute one set of handling system by two fork formula dollies to there is not physics in these two dolly parallel motion and connects and pass through communication realization synchronization action each other, and the space is small, can practice thrift the space well, and can get into the relevant position of standard pallet below, carries after having praised it, can realize advancing simultaneously and recessional two -way action.
Description
Technical field
This utility model relates to a kind of haulage equipment, particularly relates to a kind of automated guided vehicle for carrying standard cargo pallet.
Background technology
At present, the standard cargo pallet in factory or workshop mainly adopts the manual operation equipment such as hand hydraulic carrier (be commonly called as " cattle "), fork truck to carry, and this series products is commercially very universal.Hand hydraulic carrier and fork truck, being manually-operated haulage equipment, operator needs certain operating technology and experience, wherein when carrying heavier goods, hand hydraulic carrier need to spend more manpower, is carried out judging lifting and the whereabouts of goods by people when transporting goods；And fork truck needs proprietary driver's license just can carry out the operation of this kind equipment, and goods is positioned inaccuracy, it is necessary to artificial observation and control, the working strength of labourer is required bigger.Both working place visible is all relatively big and needs higher cost of labor.
Some automated workshops adopt automated guided vehicle (AutomatedGuidedVehicle now, it is called for short AGV), draw special cargo tow tractor and carry out automatic transporting, guide by guiding the mode of magnetic stripe in ground patch, can carry according to Automatic Program.According to the magnetic navigation sensor on dolly and obstacle sensor, it is achieved automatically guide the function with automatic dodging barrier.It mainly adopts the form of traction to carry out the trailer equipped with goods is drawn, and being typically on dolly and cargo tow tractor has a buckle, by buckle, dolly is connected with cargo tow tractor, thus realizing the function of traction.Fork truck AGV, by original fork truck body is transformed, installs magnetic navigation sensor and obstacle sensor additional, it is achieved the function of AGV dolly, and goods can be positioned accurately, although having saved cost of labor, but its volume and quality are relatively big, and the requirement of working place is also bigger.
Although AGV dolly adopts ground magnetic stripe to guide, and there is the function of avoiding barrier, eliminate cost of labor, but this kind of transport vehicle mainly adopts the form of traction, and need the pallet to goods to carry out the special customization work to meet AGV dolly, need in the course of the work artificially goods to be placed on customization pallet, during use, be subject to the restriction of the conditions such as pallet shape and work space；It addition, such dolly adopts the form of traction, therefore can only carry out the action of single advance and turning, it is impossible to realize the function retreated.Fork truck AGV can meet operatorless requirement, can standard cargo pallet be carried again, but due to the existence of fork truck body, its working place is big, is not suitable for the environment of spaces compact.
Utility model content
For solving above-mentioned technical problem, the purpose of this utility model is to provide a kind of automatic operation and saves manual operation, carries out automatically guiding and avoiding barrier, the automated guided vehicle that can the cargo pallet of standard be carried according to ground magnetic stripe.
Automated guided vehicle of the present utility model, including two parallel and mutual communications, the pallet fork formula dolly of walking can be guided by one/two magnetic stripes, described dolly includes mounting seat, cover on the protective cover in described mounting seat, the two ends of described mounting seat are equipped with sensor assembly, described mounting seat is driven to move horizontally and can the driving module of protective cover described in jack-up, described mounting seat is additionally provided with described in control two and drives module, with the control module that described sensor assembly carries out communication and transmission, and respectively to the supply module driving module and described control module for power supply described in two.
Further, in dolly described in two, it is additionally provided with the control unit controlling dolly synchronization action described in two, and is provided with on dolly described in two and keeps described in two the distance measuring sensor of spacing between dolly.
Further, described driving module includes the installing rack being rotationally connected with described mounting seat, is arranged on the rotating mechanism on described installing rack, lifting mechanism and driving device, and described rotating mechanism includes the driving wheel being arranged on described installing rack both sides；Described lifting mechanism includes the screw rod being disposed longitudinally on described installing rack, and described screw rod is connected with the nut thread being arranged on described installing rack；Described driving device includes being arranged on the motor on described installing rack and decelerator by fixed support, and described decelerator is in transmission connection by belt wheel and Timing Belt and described driving wheel.
Further, described installing rack is additionally provided with detection and controls the encoder of described motor speed, position, angle and count information.
Further, described installing rack is additionally provided with the electromagnetic brake being connected by the rotating shaft of flat key with described driving wheel.
Further, described installing rack is rotationally connected with described mounting seat by the steel ball contacted with described mounting seat being disposed thereon.
Further, described sensor assembly includes obstacle sensor and finds the magnetic navigation sensor of described magnetic stripe.
By such scheme, this utility model at least has the advantage that
1, by being absent from the dolly of physical connection using two as a set of handling system, being equivalent to two pallet fork structures of fork truck, two dollies can move under standard cargo pallet independently, abreast according to the guiding of magnetic stripe, by its lifting and carry；
2, guarantee that two dollies keep synchronization action by control unit, and make the distance in two little workshops within the scope of regulation by the distance measuring sensor of dolly, it is possible to reliably carry；
3, driving, control, power supply part being all built in dolly, reduce the volume of dolly so that under the environment of spaces compact, dolly can enter under standard cargo pallet and lift goods；
4, utilizing the motion driving the rotation of module self to drive screw rod vertical direction, thus realizing lifting action, its bearing capacity is big, can carry the goods of the 1000kg that weighs including pallet；
5, rotary module can original place 90-degree rotation, thus reach turn purpose；
6, the bootmode of two dollies can guide for wall scroll magnetic stripe, it is also possible to guiding with two magnetic stripes, guidance mode is more flexible.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand technological means of the present utility model, and can be practiced according to the content of description, below with preferred embodiment of the present utility model and coordinate accompanying drawing describe in detail as after.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of dolly in this utility model；
Fig. 3 is the three-dimensional structure diagram driving module in dolly；
Fig. 4 is the side view driving module；
Fig. 5 is the upward view driving module；
Fig. 6 is the sectional view of line A-A along Fig. 4；
Fig. 7 is the schematic diagram that a pair magnetic stripe guides that two dollies are turned；
Fig. 8 (a), Fig. 8 (b) are the schematic diagrams that a magnetic stripe guides that two dollies are turned.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following example are used for illustrating this utility model, but are not limited to scope of the present utility model.
Referring to Fig. 1 and Fig. 2, a kind of compact conformation described in this utility model one preferred embodiment, for carrying the automated guided vehicle of standard cargo pallet, including two parallel and mutual communications, the pallet fork formula dolly 200 of walking can be guided by one/two magnetic stripes 100, dolly 200 includes mounting seat 10, cover on the protective cover 201 in mounting seat 10, the two ends of mounting seat 10 are equipped with sensor assembly 20, drive installation seat 10 moves horizontally and can the driving module 30 of jack-up protective cover 201, mounting seat 10 is additionally provided with control two driving module 30, with the control module 40 that sensor assembly 20 carries out communication and transmission, and module 30 and the supply module 50 controlling module 40 power supply is driven respectively to two.
Two dollies 200 in this utility model are a set of handling system, and it is absent from physical connection, for guaranteeing two dolly coordinate operation, this utility model is additionally provided with the control unit controlling two dolly 200 synchronization actions in two dollies 200, and is provided with on two dollies 200 and keeps the distance measuring sensor of spacing between two dollies 200.By vehicular control unit, two dollies 200 are made to keep synchronization action；And by the distance measuring sensor of dolly 200, keep the distance in two workshops within the scope of regulation.When deviation occurs parallel distance between two dollies 200, the control unit of dolly 200 can make the range recovery between two dollies 200 within the scope of the parallel distance set.
Concrete, as shown in Figures 3 to 6, driving module 30 to include the installing rack 31 being rotationally connected with mounting seat 10, be arranged on the rotating mechanism on installing rack 31, lifting mechanism and driving device, rotating mechanism includes the driving wheel 32 being arranged on installing rack 31 both sides；Lifting mechanism includes the screw rod 33 being disposed longitudinally on installing rack 31, and screw rod 33 is threadeded with the nut 34 being arranged on installing rack 31；Driving device includes being arranged on motor on installing rack 31 35 and decelerator 36 by fixed support 68, and decelerator 36 is in transmission connection with driving wheel 32 by belt wheel and Timing Belt 62.
This utility model adopts four driving wheels 32 to be driven, and each driving wheel 32 has independent motor 35 to drive.Motor 35 of the present utility model adopts DC brushless motor, and decelerator 36 adopts planetary reduction gear, carries out type selecting according to the design parameter of this dolly, and two of which driving wheel 32 forms a set of independent driving module 30.The a set of driving module 30 of each layout before and after dolly 200, form the drive system of whole dolly 200, two driving wheels 32 are arranged on the both sides driving module 30, its power transmission mode is: DC brushless motor connects planetary reduction gear, it is fixed on by fixed support 68 on the installing rack 31 driving module 30, the output shaft of planetary reduction gear is installed a small synchronous pulley 61, is connected with big synchronous pulley 63 by Timing Belt 62, wherein, big synchronous pulley 63 is rigidly connected with driving wheel 32.Concrete, big synchronous pulley 63 being bolted on an installing plate 66, installing plate 66 is fixed together also by bolt and driving wheel 32, the therefore driving wheel 32 also synchronous axial system when big synchronous pulley 63 rotates, thus reaching the purpose driven.Accordingly, mounting seat 10 is arranged symmetrically with another and drives module 30.
This utility model is arranged symmetrically with a driving module 30 at the front and back position of dolly 200, and therefore dolly 200 has four driving wheels 32, and each driving wheel 32 all has independent motor 35 to be driven.Dolly 200 is at running, it is possible to achieve advancing, retreat and the suitable rotation counterclockwise in original place, its implementation is: control the output direction of rotation of motor, it is possible to control the forms of motion of dolly.When controlling driving wheel and all rotating forward, dolly realizes the action advanced；When control driving wheel all rotates backward, dolly realizes the action retreated；Two driving wheels controlling right side rotate forward two driving wheel back rotations with left side, and dolly realizes the motion that original place rotates counterclockwise；Two driving wheels of two the driving wheel back rotations and left side that control right side rotate forward, and dolly realizes the motion that original place turns clockwise.
Time below two trolley travellings to standard cargo pallet, drive module 30 pallet can be praised action.Owing to driving module 30 being contacted with mounting seat 10 by this utility model by steel ball 39, therefore drive module 30 can rotate around fixed center point.Being achieved in that of lifting and whereabouts: when dolly moves to standard cargo pallet, drives two driving wheels 32 in module 30 rotate forward respectively with identical rotating speed and rotate backward by controlling so that whole driving module 30 does 360 ° of rotations in original place.Installing rack 31 center in driving module 30; fix a nut 34 coordinated with screw rod 33; when driving module 30 to rotate; nut 34 is also with rotating together; correspondingly; screw rod 33 in the vertical direction coordinated with nut 34 does upper and lower motion, thus jack-up protective cover pallet is lifted.For avoiding dolly to move in lifting process, it is necessary to control the lifting action of dolly.When lifting action, two of two dolly same positions drive module 30 to do rotation counterclockwise, so that the side elder generation lifting of pallet is got up.The parameters such as the pitch of known screw rod 33, length, by controlling the number of turns driving module 30 to rotate, it is possible to achieve rising height accurately, owing to threaded nut has auto-lock function, therefore after lifting is got up, will not fall voluntarily；Then driving module 30 also to do rotation counterclockwise to two of another same position of two dollies, the opposite side of cargo pallet being lifted, thus realizing lifting action.Correspondingly, driving module 30 to turn clockwise during whereabouts and first put down the side of cargo pallet, then putting down opposite side again, thus realizing drop action.
For making dolly can realize precise positioning, this utility model there is also mounted encoder 37 at the installing rack 31 driving module 30, is detected the information such as the speed of DC brushless motor, position, angle and counting by encoder 37, it is ensured that goods is carried to appointment position by dolly.
It addition, installing rack 31 is additionally provided with the electromagnetic brake 38 being connected with the rotating shaft 65 of driving wheel 32 by flat key 64, make this utility model possess safety measure, when unexpected power-off, dolly can be made to stop immediately and remain stationary as.It is achieved in that: electromagnetic brake 38 is connected with rotating shaft 65 by flat key 64, this rotating shaft 35 is fixed together by bolt and installing plate 66 with big synchronous pulley 63, and installing plate 66 is fixed together also by bolt and driving wheel 32, therefore can ensure that when big synchronous pulley 63 moves, the movable part of driving wheel 32 and electromagnetic brake 38 is also synchronized with the movement.When unexpected power-off, electromagnetic brake 38 acts on, and owing to the shell of this electromagnetic brake 38 is fixed on installing rack 31, electromagnetic relay closes, and produces braking moment so that driving wheel 32 stops operating, thus realizing the function of brake hard.
Sensor assembly 20 in this utility model is made up of magnetic navigation sensor and obstacle sensor, by ground magnetic stripe 100 is carried out tracking, dolly 200 can be travelled according to fixing route, a set of sensor assembly 20 it is arranged symmetrically with, it is ensured that the action moved forward and backward of dolly 200 in the rear and front end of dolly 200.Wherein obstacle sensor is arranged on the dead ahead of dolly 200 traffic direction, and it is 25～40mm place that magnetic navigation sensor is arranged on ground magnetic stripe 100 vertical height, and sensor assembly 20 carries out communication and transmission with controlling module 40.
Supply module 50 in this utility model is made up of 48V lithium ion battery, DC-DC DC Module and battery control panel, is mainly dolly and provides power, will and real time electrical quantity be transferred to control module 40, simultaneously to short circuit, overcharge, cross to put etc. and protect.Control module 40 and comprise motor driver, small-sized industrial computer, communication interface and Peripheral Interface composition, facilitate the debugging of dolly.Supply module 50 and control module 40 are installed in the hollow space in the middle of dolly 200.
Sensor assembly 20, driving module 30, supply module 50 and control module 40 are installed in mounting seat 10, to ensure the size of the length of dolly, width and height.Meanwhile, using a protective cover 201 that mounting seat 10 is protected, this protective cover 201 can make dolly profile more attractive in appearance, also can realize the protective effect to car interior module.This protective cover, in lifting process, along with lifting mechanism moves together, and contacts with pallet all the time in handling process so that the big plane of protective cover and pallet lower contact, advantageously ensures that stablizing of lifting process.
Guiding of the present utility model and control mode can be divided into two kinds: one to be post pair of parallel magnetic stripe on ground, as shown in Figure 7, dolly A and dolly B is guided simultaneously, width between this parallel magnetic stripe need to be equal to the centre distance of standard cargo pallet lower end dead slot, need to guarantee to guide to standard cargo tray dolly, and carry out praising action, when two dollies march to crossover location (i.e. the little truck position of dotted line) of magnetic stripe, dolly stops, and after the half-twist of original place, two dollies have been respectively aligned to again two perpendicular with original magnetic stripe piece magnetic stripe, complete turning action；One is only post straight line magnetic stripe, as shown in Fig. 8 (a) and Fig. 8 (b), ensure that dolly A is guided by this magnetic stripe, this dolly is active dolly, another dolly is follow-up trolley, in running, ensure that follow-up trolley is followed actively dolly and carried out synchronization action, two dollies are keeping parallelism and synchronization in running, and the distance between two dollies remains unchanged, the centre distance of standard cargo pallet lower end dead slot need to be equal to, this kind guides and control mode, after dolly original place, turning turns over 90 degree, need to ensure that one of them dolly is guided by magnetic stripe, the dolly guided by magnetic stripe is set to actively dolly, another is follow-up trolley, synchronization action is kept by the communication between two dollies, after turning, actively dolly can be dolly A, can also be dolly B.
The aspects such as the architecture of automated guided vehicle of the present utility model, size, synergistic mechanism, safeguard protection, location, communication, path planning, multi-task planning; compared with product existing with on market; compact conformation, size are little; can be automatically brought under standard cargo tray bottom; complete the carrying work to goods; its bearing capacity is big, work space is little, automaticity is high, workable; the efficiency of carrying standard cargo pallet can be significantly improved; promote industrial production automation, there is important practical value.
The above is only preferred implementation of the present utility model; it is not limited to this utility model; should be understood that; for those skilled in the art; under the premise without departing from this utility model know-why; can also making some improvement and modification, these improve and modification also should be regarded as protection domain of the present utility model.
Claims (7)
1. an automated guided vehicle, it is characterized in that: include two parallel and mutual communications, the pallet fork formula dolly of walking can be guided by one/two magnetic stripes, described dolly includes mounting seat, cover on the protective cover in described mounting seat, the two ends of described mounting seat are equipped with sensor assembly, described mounting seat is driven to move horizontally and can the driving module of protective cover described in jack-up, described mounting seat is additionally provided with described in control two and drives module, with the control module that described sensor assembly carries out communication and transmission, and respectively to the supply module driving module and described control module for power supply described in two.
2. automated guided vehicle according to claim 1, it is characterised in that: it is additionally provided with the control unit controlling dolly synchronization action described in two in dolly described in two, and is provided with on dolly described in two and keeps described in two the distance measuring sensor of spacing between dolly.
3. automated guided vehicle according to claim 1, it is characterized in that: described driving module includes the installing rack being rotationally connected with described mounting seat, being arranged on the rotating mechanism on described installing rack, lifting mechanism and driving device, described rotating mechanism includes the driving wheel being arranged on described installing rack both sides；Described lifting mechanism includes the screw rod being disposed longitudinally on described installing rack, and described screw rod is connected with the nut thread being arranged on described installing rack；Described driving device includes being arranged on the motor on described installing rack and decelerator by fixed support, and described decelerator is in transmission connection by belt wheel and Timing Belt and described driving wheel.
4. automated guided vehicle according to claim 3, it is characterised in that: described installing rack is additionally provided with detection and controls the encoder of described motor speed, position, angle and count information.
5. automated guided vehicle according to claim 3, it is characterised in that: described installing rack is additionally provided with the electromagnetic brake being connected by the rotating shaft of flat key with described driving wheel.
6. automated guided vehicle according to claim 3, it is characterised in that: described installing rack is rotationally connected with described mounting seat by the steel ball contacted with described mounting seat being disposed thereon.
7. automated guided vehicle according to claim 1, it is characterised in that: described sensor assembly includes obstacle sensor and finds the magnetic navigation sensor of described magnetic stripe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620139368.0U CN205397313U (en) | 2016-02-24 | 2016-02-24 | Automatic guide transport vechicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620139368.0U CN205397313U (en) | 2016-02-24 | 2016-02-24 | Automatic guide transport vechicle |
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| Publication Number | Publication Date |
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| CN205397313U true CN205397313U (en) | 2016-07-27 |
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| CN201620139368.0U Active CN205397313U (en) | 2016-02-24 | 2016-02-24 | Automatic guide transport vechicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN107860366A (en) * | 2017-10-31 | 2018-03-30 | 南京农业大学 | A kind of portable chamber crop information measurement and diagnostic system based on multispectral space engraving technology |
| GB2583763A (en) * | 2019-05-10 | 2020-11-11 | Arrival Ltd | Method for creating cargo carrying platforms used with automated guided vehicle robots |
-
2016
- 2016-02-24 CN CN201620139368.0U patent/CN205397313U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN107860366A (en) * | 2017-10-31 | 2018-03-30 | 南京农业大学 | A kind of portable chamber crop information measurement and diagnostic system based on multispectral space engraving technology |
| CN107860366B (en) * | 2017-10-31 | 2021-05-18 | 南京农业大学 | Mobile greenhouse crop information measurement and diagnosis system |
| GB2583763A (en) * | 2019-05-10 | 2020-11-11 | Arrival Ltd | Method for creating cargo carrying platforms used with automated guided vehicle robots |
| GB2583763B (en) * | 2019-05-10 | 2021-09-15 | Arrival Ltd | Method for creating cargo carrying platforms used with automated guided vehicle robots |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Dai Jun Inventor after: Wang Hongjun Inventor before: Luo Tao Inventor before: Dai Jun Inventor before: Wang Hongjun Inventor before: Lin Rui Inventor before: Li Maohai |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220421 Address after: Room 707A, Guanghong building, No. 287, Dongping street, Dushuhu, Suzhou Industrial Park, Jiangsu 215000 Patentee after: Suzhou New Optimization Investment Consulting Co.,Ltd. Address before: 215000 unit 6-701 / 702, creative industrial park, 328 Xinghu street, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU UMORE ROBOTICS Co.,Ltd. |
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| TR01 | Transfer of patent right |