CN206331300U - A kind of industrial AGV system controlled based on PLC - Google Patents
A kind of industrial AGV system controlled based on PLC Download PDFInfo
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- CN206331300U CN206331300U CN201621273125.2U CN201621273125U CN206331300U CN 206331300 U CN206331300 U CN 206331300U CN 201621273125 U CN201621273125 U CN 201621273125U CN 206331300 U CN206331300 U CN 206331300U
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Abstract
The utility model is related to a kind of industrial AGV system controlled based on PLC, it includes power supply module, described power supply module is connected with main control module, guiding module, security module, communication module and drive module, and described main control module is connected with guiding module, security module, supplementary module, communication module, drive module and display module；The utility model has the advantages that flexible working mode, navigation accuracy are high, good in economic efficiency.
Description
Technical field
The utility model belongs to Factory Logistics conveying technology field, and in particular to a kind of industrial AGV systems controlled based on PLC
System.
Background technology
Automatic guided vehicle-AGV (Automated Guided Vehicles) hereinafter referred to as AGV, is that a kind of install is led automatically
Leading-in device, can be travelled along specified guided path, and with safeguard protection and the unmanned automation of transfer function
Carrying vehicle, automatic guided vehicles ystem technology is sensor technology, Programmable Technology, the information processing technology, electromechanical integration skill
The multi-disciplinary research such as art successfully concentrated reflection, AGV product major functions are that the automated information for realizing workpiece transmission is held
Row with management, therefore AGV system also have become it is essential in flexible manufacturing system (FMS), automated warehousing logistics system
A part, AGV research is oriented from initial traditional type and dispensed, rapidly develop into possess robot interface, by multiple
The automobile assembly line field of miscellaneous computer controls, AGV has become an independent system, can also be integrated into other systems
In, or as the tie between each relatively independent automated production, at present, AGV mobile robots are more to be applied
Workshop condition, some working environments are more severe, and PLC is used as AGV control systems for the complex environment of plant
Master controller completes to be undoubtedly the AGV speed of service, guiding and Heading control a kind of extraordinary selection, is based on this
Situation, we design a kind of industrial AGV system controlled based on PLC.
The content of the invention
The purpose of this utility model is, in order to overcome the deficiencies in the prior art, and to provide a kind of flexible working mode, navigation
High precision, the good in economic efficiency industrial AGV system controlled based on PLC.
What the purpose of this utility model was realized in：A kind of industrial AGV system controlled based on PLC, it includes power supply
Module, described power supply module is connected with main control module, guiding module, security module, communication module and drive module, described
Main control module is connected with guiding module, security module, supplementary module, communication module, drive module and display module.
Described main control module is FX3U types PLC.
Described display module is GT27 array of touch screens.
Described power supply module is nickel-cadmium storage battery.
Described drive module is AC servo motor.
Described security module direction of advance is non-contact laser anticollision sensor, contact bumper bar, retrogressing side
To for contact bumper, emergency stop switch.
Described supplementary module is made up of control button, sound and light alarm.
The beneficial effects of the utility model：Using PLC as main control module in the utility model, safety and stability, it is easy to dimension
Shield, is particularly suitable for the practicality in the environment of plant, and the common-path interference that PLC has also allows enter based on the PLC AGV dollies controlled
Enter the just task of safety and stability in the severe operating mode of comparison, market is replaced using AC servo motor in the utility model in addition
On more conventional DC servo motor, seeming more excellent in performance in terms of control accuracy and acceleration, torque characteristics, and
And the Ni-Cr battery group used in the utility model has very strong large current load ability, while also having cost advantage.
Finally, guide mode of the present utility model uses laser navigation, and preferably, navigation accuracy is high for which flexibility, in that context it may be convenient to
Path planning is carried out, is more conform with present to Flexible Production and the requirement of management；Therefore a kind of industry controlled based on PLC
AGV system has certain application value.
Brief description of the drawings
Fig. 1 is a kind of structural representation based on the PLC industrial AGV systems controlled of the utility model.
Fig. 2 is a kind of schematic diagram of the power supply module based on the PLC industrial AGV systems controlled of the utility model.
Fig. 3 is a kind of hardware architecture diagram based on the PLC industrial AGV systems controlled of the utility model.
Fig. 4 is a kind of laser navigation schematic diagram based on the PLC industrial AGV systems controlled of the utility model.
Fig. 5 is a kind of workflow diagram based on the PLC industrial AGV systems controlled of the utility model.
In figure：1st, security module 2, display module 3, front-wheel 4, button 5, laser scanner 6, buzzer 7, driving
Device 8, communication module 9, master controller 10, dc-battery group 11, universal wheel.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings.
Embodiment 1
As Figure 1-5, a kind of industrial AGV system controlled based on PLC, it includes power supply module, described power supply mould
Block is connected with main control module, guiding module, security module, communication module and drive module, and described main control module, which is connected with, to be drawn
Guide module, security module, supplementary module, communication module, drive module and display module.
In the application, laser scanner is received as described in Figure 1, in guiding module believes the utility model on existing reflecting plate
Number, and transmit a signal in main control module PLC, PLC measures changing coordinates and the course with counting of carriers in real time, then PLC
It will be sent to after calculating by instruction in drive module, guide the transport condition of AGV dollies, when front has barrier to occur,
Avoidance sensor has a high level signal and is transferred in main control module PLC in security module, and main control module is according to receiving
Information command AGV dollies reduce speed now, while safety and supplementary module 7 start sound and light alarm, after barrier is removed or
Readjust after AGV operating paths, AGV will be moved on, until stopping after the task that completion system is specified or performing next
Main control module and drive module, guiding module, communication module, security module and supplementary module electricity in work, the utility model
Source is all from power supply module offer；
As described in Figure 2, it is a kind of based on PLC control industrial AGV system specific to for hardware components include security module
Middle bumper, avoidance sensor 1, display module 2, driving wheel 3 are button 4, laser scanner 5, buzzer 6, drive module 7, logical
Interrogate module 8, main control module 9, power supply module 10, universal wheel 11.Avoidance sensing is installed in the utility model AGV security modules 1
Device and bumper, when front has barrier to occur, sensor has a high level signal, sends main control module 9, dolly to
It will reduce speed now, while buzzer 6 starts sound and light alarm, after barrier is removed, AGV will be moved on.Installed on AGV
There is laser scanner 5, can launch and receive the signal of existing reflector, PLC will obtain each anti-by algorithm after accurate measurement
The precise position information of plate is penetrated, AGV walking paths are then driven；Avoidance sensor uses SICKS3000 in the utility model,
When running into barrier, the signal detected is conveyed in master control system PLC, performs first to slow down to stop afterwards after by PLC being judged and refers to
Order, deceleration area and parking area can arbitrarily set in 4m radiuses, and S3000 has that protection distance is longer, multilayer proofing application is upper
Region, parameter setting such as can store at the advantage, and the sensor has 7 sections of LED to show running statuses, facilitates error diagnosis, should
Sensor assemblyization design is convenient for changing.
As described in Figure 3, power supply module 5 uses DC power supplier in the utility model, and being powered to main control module is
DC24V, laser sensor and tri coloured lantern use DC24V, by inverter, are reverse into alternating current 220V voltage, drive module and watch
Take motor and use alternating current 220V voltage.
As described in Figure 4, in the utility model guiding module using the NAV300 laser orientation systems of SICK companies of Germany come
Realize, it is by laser scanner, reflecting plate composition.Laser scanner is made up of laser head and base, and wherein base includes
Emitter, reception device and computing element；Its positioning principle is that laser scanner is swept according to certain 360 degree of overall situations of frequency
Retouch, the spatial coordinate location of every piece of reflector of accurate measurement, and the coordinate information of each reflector is stored in the utility model master
Control in module PLC, PLC carries out guiding calculating according to the control program write, and the signal of laser scanner is converted into driving
AGV control command, corrects own coordinate position, and adjust accordingly in real time by associated reflector in the process of walking
AGV next step is acted.
As described in Figure 5, a kind of industrial AGV system controlled based on PLC, workflow starts button to press touch-screen,
Program starts initialization, and PLC exports command adapted thereto according to the control program write, and correspondence indicator lamp is lit, if just
Normal then carry out next step, whether the avoidance sensor detection front of front end has barrier on AGV cars, next if carried out without if
The frequency that the laser scanner installed at the top of step, AGV vehicle bodies is required according to control constantly launches laser wire harness to surrounding, and receives
The laser beam reflected by reflector, by PLC logical operation, draws AGV current locations and course, works as AGV
During close to destination address, PLC sends deceleration instruction by computing to drive module, if beyond target location, AGV dollies are certainly
Dynamic quick deceleration extremely stops.Reach speed after destination address and reduce to 0, the process completes a complete control flow.
Embodiment 2
As Figure 1-5, a kind of industrial AGV system controlled based on PLC, it includes power supply module, described power supply mould
Block is connected with main control module, guiding module, security module, communication module and drive module, and described main control module, which is connected with, to be drawn
Guide module, security module, supplementary module, communication module, drive module and display module, described main control module are FX3U types
PLC, described display module is GT27 array of touch screens, and described power supply module is nickel-cadmium storage battery, described drive module
For AC servo motor, described security module direction of advance is non-contact laser anticollision sensor, contact bumper bar,
Direction of retreat is contact bumper, emergency stop switch, and described supplementary module is made up of control button, sound and light alarm.
The utility model mainly includes power supply module, main control module, drive module, security module, display module, auxiliary mould
Block, each module major function is：Power supply module：AGV mobile robots power supply module provides reliable and stable work for whole system
Make power supply, power supply module need to consider voltage, current range, power supply discharge and recharge time, the basic parameter such as service life.Existing market
Upper AGV has Ni-Cr battery, lead-acid battery and lithium battery etc., wherein both Ni-Cr battery and lead-acid battery using more battery
Accounting is about 84%, and lithium battery accounting is about 9%, and lead-acid battery does not apply to hot environment, does not also possess large current charge ability
And having acid mist corrosion contamination, the current price of lithium battery is as many as 1.4-1.75 times of other batteries, the life-span ratio of Ni-Cr battery
It is longer, can be with overdischarge, AGV is equipped with 24V nickel chromium triangle Fast Charge Batteries in the system, and charging interval and working time ratio are reachable
1∶6-8。
Main control module：Using PLC as AGV main control module be by PLC industrial control field stability, security,
Reliability, antijamming capability outstanding representation, Single PLC price are high, but easy to use, easily realize control function, PLC is using tight
The production technology of lattice, manufacture is using modern large scale integrated circuit technology, and internal circuit design is using advanced anti-interference
Technology, with very high reliability, from the point of view of PLC external circuit, the control system constituted using PLC, and same size are connect
Tentaculum system is compared, and fault rate is relatively also very low, in addition, PLC carry hardware fault self detecting function, during failure can and
When send a warning.
Guiding module：Is used in the guiding used in the system installed on las er-guidance, the tangible AGV cars of las er-guidance laser hair
Penetrate and reception device, corresponding laser reflection plate is placed in AGV running orbits both sides, controller swashs according to AGV bus equipments
Optical transmitting set send signal by baffle reflection it is poor to the speed of light x time of reception device, pass through geometrical principle calculating AGV dollies
Position and attitude, afterwards determine AGV running orbit.Therefore laser navigation mode is used, it is not necessary to lay magnet on ground
And track, flexibility is relatively strong and precision is also very high.
Drive module：Use DC servo motor, AC servo motor and stepping more in AGV drive systems at present
Motor, DC servo motor easily produces electromagnetic interference due to safeguarding inconvenience, and stepper motor is obvious in terms of control accuracy
Not as AC servo motor superior performance, therefore the utility model drive module uses AC servo, is compared to direct current
Servomotor, AC servo motor is simple in construction, control accuracy with height, more preferably, acceleration is higher, overload capacity for torque characteristics
It is stronger.
Communication module：Communication module is mainly used in realizing AGV dollies and AGV dispatching management information system information exchanges, the system
Middle communication module uses wireless communication mode, WLAN not only support full duplex communication pattern and also with networking flexibility,
Transmission rate is high, the advantages of be easy to extension, install convenient, is highly suitable for the follow-up networking communications of AGV.
Security module：To ensure the safety and various kinds of equipment of AGV inherently safes in the process of running, particularly Field Force
Safety, software and hardware protection is provided with system includes fault detect and Processing Algorithm, various types of contacts, contactless
Anticollision sensor, once sound and light alarm, emergent stopping instruction can be sent in time while being provided with contact peace close to barrier
Full thick stick, it is ensured that personnel and equipment safety.
Display module：Display module can provide powerful object for running ginseng using one piece of touch-screen in the present system
Number sets and adjusted, manually or automatically model selection, the function such as path planning and display, and can show that AGV is small in real time
Car running status, can show word, the picture prompting of correlation when breaking down.Staff can according to the information of prompting,
Exclude corresponding failure.
Supplementary module：In system design, the auxiliary element such as corresponding button switch, buzzer, alarm lamp is in AGV system
Vital effect is played in function, emergency stop switch is provided with AGV periphery, emergency stop switch is pressed any time, AGV is immediately
Out of service, tri coloured lantern and buzzer can carry out sound and light alarm in the case of any operation exception of equipment, to remind week
Side staff.
In the application, laser scanner is received as described in Figure 1, in guiding module believes the utility model on existing reflecting plate
Number, and transmit a signal in main control module PLC, PLC measures changing coordinates and the course with counting of carriers in real time, then PLC
It will be sent to after calculating by instruction in drive module, guide the transport condition of AGV dollies, when front has barrier to occur,
Avoidance sensor has a high level signal and is transferred in main control module PLC in security module, and main control module is according to receiving
Information command AGV dollies reduce speed now, while safety and supplementary module 7 start sound and light alarm, after barrier is removed or
Readjust after AGV operating paths, AGV will be moved on, until stopping after the task that completion system is specified or performing next
Main control module and drive module, guiding module, communication module, security module and supplementary module electricity in work, the utility model
Source is all from power supply module offer；
As described in Figure 2, it is a kind of based on PLC control industrial AGV system specific to for hardware components include security module
Middle bumper, avoidance sensor 1, display module 2, driving wheel 3 are button 4, laser scanner 5, buzzer 6, drive module 7, logical
Interrogate module 8, main control module 9, power supply module 10, universal wheel 11.Avoidance sensing is installed in the utility model AGV security modules 1
Device and bumper, when front has barrier to occur, sensor has a high level signal, sends main control module 9, dolly to
It will reduce speed now, while buzzer 6 starts sound and light alarm, after barrier is removed, AGV will be moved on.Installed on AGV
There is laser scanner 5, can launch and receive the signal of existing reflector, PLC will obtain each anti-by algorithm after accurate measurement
The precise position information of plate is penetrated, AGV walking paths are then driven；Avoidance sensor uses SICKS3000 in the utility model,
When running into barrier, the signal detected is conveyed in master control system PLC, performs first to slow down to stop afterwards after by PLC being judged and refers to
Order, deceleration area and parking area can arbitrarily set in 4m radiuses, and S3000 has that protection distance is longer, multilayer proofing application is upper
Region, parameter setting such as can store at the advantage, and the sensor has 7 sections of LED to show running statuses, facilitates error diagnosis, should
Sensor assemblyization design is convenient for changing.
As described in Figure 3, power supply module 5 uses DC power supplier in the utility model, and being powered to main control module is
DC24V, laser sensor and tri coloured lantern use DC24V, by inverter, are reverse into alternating current 220V voltage, drive module and watch
Take motor and use alternating current 220V voltage.
As described in Figure 4, in the utility model guiding module using the NAV300 laser orientation systems of SICK companies of Germany come
Realize, it is by laser scanner, reflecting plate composition.Laser scanner is made up of laser head and base, and wherein base includes
Emitter, reception device and computing element；Its positioning principle is that laser scanner is swept according to certain 360 degree of overall situations of frequency
Retouch, the spatial coordinate location of every piece of reflector of accurate measurement, and the coordinate information of each reflector is stored in the utility model master
Control in module PLC, PLC carries out guiding calculating according to the control program write, and the signal of laser scanner is converted into driving
AGV control command, corrects own coordinate position, and adjust accordingly in real time by associated reflector in the process of walking
AGV next step is acted.
As described in Figure 5, a kind of industrial AGV system controlled based on PLC, workflow starts button to press touch-screen,
Program starts initialization, and PLC exports command adapted thereto according to the control program write, and correspondence indicator lamp is lit, if just
Normal then carry out next step, whether the avoidance sensor detection front of front end has barrier on AGV cars, next if carried out without if
The frequency that the laser scanner installed at the top of step, AGV vehicle bodies is required according to control constantly launches laser wire harness to surrounding, and receives
The laser beam reflected by reflector, by PLC logical operation, draws AGV current locations and course, works as AGV
During close to destination address, PLC sends deceleration instruction by computing to drive module, if beyond target location, AGV dollies are certainly
Dynamic quick deceleration extremely stops.Reach speed after destination address and reduce to 0, the process completes a complete control flow.
Claims (7)
1. a kind of industrial AGV system controlled based on PLC, it includes power supply module, it is characterised in that：Described power supply module connects
Main control module, guiding module, security module, communication module and drive module are connected to, described main control module is connected with guiding mould
Block, security module, supplementary module, communication module, drive module and display module.
2. a kind of industrial AGV system controlled based on PLC according to claim 1, it is characterised in that：Described master control mould
Block is FX3U types PLC.
3. a kind of industrial AGV system controlled based on PLC according to claim 1, it is characterised in that：Described display mould
Block is GT27 array of touch screens.
4. a kind of industrial AGV system controlled based on PLC according to claim 1, it is characterised in that：Described power supply mould
Block is nickel-cadmium storage battery.
5. a kind of industrial AGV system controlled based on PLC according to claim 1, it is characterised in that：Described driving mould
Block is AC servo motor.
6. a kind of industrial AGV system controlled based on PLC according to claim 1, it is characterised in that：Described safe mould
Block direction of advance is non-contact laser anticollision sensor, contact bumper bar, and direction of retreat is contact bumper, jerk
Switch.
7. a kind of industrial AGV system controlled based on PLC according to claim 1, it is characterised in that：Described auxiliary mould
Block is made up of control button, sound and light alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621273125.2U CN206331300U (en) | 2016-11-18 | 2016-11-18 | A kind of industrial AGV system controlled based on PLC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621273125.2U CN206331300U (en) | 2016-11-18 | 2016-11-18 | A kind of industrial AGV system controlled based on PLC |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206331300U true CN206331300U (en) | 2017-07-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621273125.2U Expired - Fee Related CN206331300U (en) | 2016-11-18 | 2016-11-18 | A kind of industrial AGV system controlled based on PLC |
Country Status (1)
| Country | Link |
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| CN (1) | CN206331300U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444790A (en) * | 2016-12-09 | 2017-02-22 | 屈兆辉 | Industrial AGV system based on PLC control |
| CN108510802A (en) * | 2018-05-11 | 2018-09-07 | 大汉汽车集团有限公司 | A kind of pure electric coach Intelligent anti-touch collision device |
-
2016
- 2016-11-18 CN CN201621273125.2U patent/CN206331300U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444790A (en) * | 2016-12-09 | 2017-02-22 | 屈兆辉 | Industrial AGV system based on PLC control |
| CN108510802A (en) * | 2018-05-11 | 2018-09-07 | 大汉汽车集团有限公司 | A kind of pure electric coach Intelligent anti-touch collision device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170714 Termination date: 20171118 |
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| CF01 | Termination of patent right due to non-payment of annual fee |