CN206336351U - A kind of trackless self-aiming transport vehicle - Google Patents
A kind of trackless self-aiming transport vehicle Download PDFInfo
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- CN206336351U CN206336351U CN201621423625.XU CN201621423625U CN206336351U CN 206336351 U CN206336351 U CN 206336351U CN 201621423625 U CN201621423625 U CN 201621423625U CN 206336351 U CN206336351 U CN 206336351U
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Abstract
The utility model is related to a kind of trackless self-aiming transport vehicle, including steel vehicle frame, non-maintaining power supply storage battery, charging device, drive device, transfer, accurate lugs, radio communication device, vehicle-mounted PLC control terminals, transplantation device, magnetic navigation device and safety device, steel frame chassis space disposes power supply storage battery, drive device, transfer, accurate lugs and magnetic navigation device, transplantation device is arranged on the cover plate at the top of vehicle frame, the charging device, radio communication device, vehicle-mounted PLC control terminals and safety device are arranged on the protection side plate of steel vehicle frame surrounding, drive device, transfer, accurate lugs, magnetic navigation device, charging device, radio communication device and safety device are electrically connected with vehicle-mounted PLC control terminals.Trackless self-aiming transport vehicle operation, flexible, safe and reliable, the achievable whole unmanned auto-navigation transport driving intervened.
Description
Technical field
The utility model is related to a kind of trackless self-aiming transport vehicle, concretely relates to a kind of nothing of control flexibility and reliability
Rail self-aiming transport vehicle.
Background technology
Existing AGV（Automated Guided Vehicle）Formula automatic guided vehicle, can equally realize that material is transported
Defeated automation process, but be limited only to ad hoc mode, i.e., AGV formulas automatic guided vehicle can only be set according to realizing
Good route and time, the conveying of material is carried out according to set transit route.And simple AGV formulas automatic guided vehicle without
Method realizes the real time on-line monitoring in geographical position, while can not also realize the running status of remote real-time monitoring transport vehicle, this is right
Realize that the modernizing of factory floor material-transporting system, information-based and intellectuality constitute obstruction.In addition, existing AGV formulas are certainly
Requirement when dynamic guide trolleys are relatively difficult to meet car body operation and accelerate in the intensity and rigidity of body construction, therefore, urgently
The need for a kind of new trackless self-aiming transport vehicle solve above-mentioned technical problem.
Utility model content
The purpose of this utility model is to provide a kind of trackless self-aiming transport vehicle, and the transport vehicle overall construction design is skilful
Wonderful, operation, flexible, safe and reliable, the achievable whole unmanned auto-navigation transport driving intervened are advantageously implemented work
The intellectuality of factory's shop material induction system, information-based and modernization.
To achieve these goals, the technical solution adopted in the utility model is, a kind of trackless self-aiming transport vehicle, including
Steel vehicle frame, non-maintaining power supply storage battery, charging device, drive device, transfer, accurate lugs, radio communication dress
Put, vehicle-mounted PLC control terminals, transplantation device, magnetic navigation device and safety device, the steel vehicle frame uses steel member case
Girder structure is welded, steel frame chassis space placement power supply storage battery, drive device, transfer, accurate parking dress
Put and magnetic navigation device, it is possible to decrease body gravity, body gravity is more low more is conducive to resistant to tipping, wherein, the power supply storage battery
It is arranged on drawer type battery pack to install in case, power supply storage battery is that all electric controling parts on transport vehicle are powered, institute
State drive device and transfer is arranged at four independent wheel positions of frame chassis, the magnetic navigation device is arranged on car
On the axis at frame chassis two ends, the accurate lugs are co-located on axis with magnetic navigation device；It is described to transplant dress
Put on the cover plate being arranged at the top of vehicle frame, the charging device, radio communication device, vehicle-mounted PLC control terminals and security protection
Device is arranged on the protection side plate of steel vehicle frame surrounding, the drive device, transfer, accurate lugs,
Magnetic navigation device, charging device, radio communication device and safety device are electrically connected with vehicle-mounted PLC control terminals.
As a kind of improvement of the present utility model, the drive device includes motor, drive motor controller, drive
Dynamic reductor, axletree and shaft coupling, the input of the motor connection driving reductor, drive the output end of reductor
One end of drive connection shaft coupling, the other end drive connection axletree of shaft coupling, the motor is controlled with motor
Device is electrically connected, and the drive motor controller is electrically connected with vehicle-mounted PLC control terminals.
As a kind of improvement of the present utility model, the transfer includes revolving support seat, turns to servomotor, servo
Electric machine controller, steering reductor and tooth sector group, the revolving support seat are connected on axletree, the tooth sector group
It is socketed on the output shaft for turning to reductor, the output shaft for turning to servomotor is connected with turning to reductor flange；Turn to
Servomotor is electrically connected with servomotor controller, and the servomotor controller is electrically connected with vehicle-mounted PLC control terminals.
As a kind of improvement of the present utility model, the quantity of the accurate lugs and magnetic navigation device is 2,
Magnetic navigation device is separately positioned on the front end face chassis centre position and rear end face chassis centre position of vehicle frame, and one of them is accurate
Lugs are arranged on the rear portion of front end face magnetic navigation sensor, and another accurate lugs is arranged on rear end face magnetic navigation biography
The front portion of sensor；The accurate lugs use rfid interrogator, and the magnetic navigation device uses magneto-dependent sensor, described
Rfid interrogator and magneto-dependent sensor are electrically connected with vehicle-mounted PLC control terminals；The radio communication device using 433MHz without
Line transceiver module, the 433MHz radio receiving transmitting modules are electrically connected with vehicle-mounted PLC control terminals.
As a kind of improvement of the present utility model, the charging device includes charging plug, charging adapter and power line
Spring contraction is rolled up, and the power line spring contraction volume is fixedly mounted on the side of protection side plate, and the power line is wound on power supply
Wire spring is shunk in the wire casing of volume, and the power line connects charging adapter, and the charging adapter is connected by wire to charge
Plug.
As a kind of improvement of the present utility model, the safety device includes being arranged in the anti-of rear and front end
Barrier radar detedtor, infrared switch, spring protective post, collision-prevention controller and the audible-visual annunciator of side plate are protected, it is described
Barrier radar detedtor, infrared switch and audible-visual annunciator are electrically connected with collision-prevention controller, the collision-prevention controller
Electrically connected with vehicle-mounted PLC control terminals, the spring protective post includes fixed seat, compression spring and protects soft contact, described solid
Reservation is vertically set on protection side plate, and one end of the soft contact of protection is fixedly connected in fixed seat by compression spring.
As a kind of improvement of the present utility model, weighing device is additionally provided with the cover plate at the top of the steel vehicle frame, it is described
Weighing device includes the weighing sensor for being arranged on car body surrounding and the four road A/D modular converters for connecting weighing sensor respectively,
The A/D modular converters are connected with vehicle-mounted PLC control terminals.
As it is of the present utility model it is a kind of improve, all magnetic navigation sensors and be laid on mill floor navigation magnetic stripe it
Between vertical distance be maintained at 40-60mm, all rfid interrogators and be arranged on navigation magnetic stripe surface RFID it
Between vertical distance be maintained at 40-60mm.
As a kind of improvement of the present utility model, the power supply storage battery includes industrial non-maintaining 48V lead-acid batteries
Or lithium battery group, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery pack output 48V DC voltages, pass through
Exported after being isolated after Switching Power Supply conversion through overvoltage isolation module to the 24V DC voltages required for each module, it is described
Voltage acquisition module gathers the current voltage of battery pack in real time, and feeds back information to vehicle-mounted PLC control terminals, as vehicle-mounted PLC
When control terminal monitors that the current voltage value of battery pack will be less than normal working voltage, alarm indication power supply is electric immediately
Amount is not enough, while the host computer by the feedback of the information of not enough power supply to control centre, and the control transport after current task is completed
Car automatic running to charging station charges；After transport vehicle completes charging, come back to normally travel path and controlled by vehicle-mounted PLC
Terminal processed sends host computer of the charge completion information to control centre, while waiting the control instruction of host computer.
As a kind of improvement of the present utility model, the magneto-dependent sensor includes multiple honeywell switch sensors and Hall
The corresponding LED light of switch sensor and control chip, the honeywell switch sensor and LED light are with controlling core
Piece is electrically connected.The control chip is connected with vehicle-mounted PLC control terminals.
Relative to prior art, advantage of the present utility model is as follows, and 1）Overall construction design is ingenious, and dismounting assembling maintenance is more
Change convenience, cost relatively low；2）The transport vehicle it is simple and reliable for structure, easy to use, low cost, labor intensity is low, operation, flexibly
It is convenient, it is safe and reliable, the whole unmanned auto-navigation transport driving intervened can be achieved, factory floor material is advantageously implemented defeated
Send the intellectuality of system, information-based and modernization.
Brief description of the drawings
Fig. 1 is the structural representation of trackless self-aiming transport vehicle of the present utility model.
Fig. 2 is the structural representation of the side shield side plate of trackless self-aiming transport vehicle of the present utility model.
Fig. 3 protects the structural representation of side plate for the front/rear end of trackless self-aiming transport vehicle of the present utility model.
Fig. 4 is the driving of trackless self-aiming transport vehicle of the present utility model and the structural representation of transfer.
In figure：1- vehicle frames, 2- wheels, 3- protection side plates, 4- power supply storage batteries, 5- drive devices, 6- transfers, 7- magnetic
Guider, the accurate lugs of 8-, the vehicle-mounted PLC control terminals of 9-, 10- cover plates, 11- charging devices, 12- security protections dress
Put, 13- motors, 14- driving reductors, 15- tooth sector groups, 16- revolving supports seat, 17- angular encoders, 18- cars
Wheel shaft, 19- turns to servomotor, and 20- turns to reductor, and 21- turns to little gear, and 22- turns to gear wheel.
Embodiment
In order to deepen, to understanding and cognition of the present utility model, the utility model to be further described below in conjunction with the accompanying drawings
And introduction.
Embodiment 1：Such as Fig. 1-Fig. 4, a kind of trackless self-aiming transport vehicle, including steel vehicle frame 1, non-maintaining power supply electric power storage
Pond 4, charging device 11, drive device 5, transfer 6, accurate lugs 8, radio communication device, vehicle-mounted PLC control terminals
9th, transplantation device, magnetic navigation device 7 and safety device 12.The wheel 2 of transport vehicle is four power drive wheel arrangements, described
Steel vehicle frame 1 is formed using steel member box beam formula structure welding, the chassis space of steel vehicle frame 1 placement power supply storage battery 4, driving dress
Put 5, transfer 6, accurate lugs 8 and magnetic navigation device 7, it is possible to decrease body gravity, body gravity is more low more is conducive to
Resistant to tipping.Wherein, the power supply storage battery 4 is arranged on drawer type battery pack and installed in case, and power supply storage battery 4 is on transport vehicle
All electric controling parts are powered, and power supply storage battery 4 has non-maintaining performance, and its charging is steady, safe and reliable, and
Possess and overcharge the defencive functions such as protection, overcurrent protection, overtemperature protection, chargeable number of times 800 times under 50% discharge scenario every time,
Chargeable number of times 400 times under 80% discharge scenario every time, its performance is safe and reliable and long lifespan, and charging is at full capacity every time
Continuously drive not less than 2000m.The drive device 5 and transfer 6 are arranged at four independent wheels 2 on the chassis of vehicle frame 1
Position, the magnetic navigation device 7 is arranged on the axis at the chassis two ends of vehicle frame 1, and the accurate lugs 8 are filled with magnetic navigation
Put 7 to be co-located on axis, the driving trace of transport vehicle and position can accurately be monitored.The transplantation device is arranged on
On the cover plate 10 at the top of vehicle frame 1, the charging device 11, radio communication device, vehicle-mounted PLC control terminals 9 and security protection dress
Put 12 to be arranged on the protection side plate 3 of the surrounding of steel vehicle frame 1, the drive device 5, transfer 6, accurate parking dress
Put 8, magnetic navigation device 7, charging device 11, radio communication device and safety device 12 electric with vehicle-mounted PLC control terminals 9
Connection.
Embodiment 2：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, the drive device 5 includes motor
13rd, the controller of motor 13, driving reductor 14, axletree 18 and shaft coupling, the connection of motor 13 driving are slowed down
The input of machine 14, one end of the output end drive connection shaft coupling of driving reductor 14, the other end drive connection of shaft coupling
Axletree 18, the motor 13 is electrically connected with the controller of motor 13, the controller of motor 13 and vehicle-mounted PLC
Control terminal 9 is electrically connected.Described motor 13 uses direct current generator, and the controller of motor 13 is DC motor Driver
Device, its load capacity is strong, good linearity, and possesses the multiple protection functions such as overload, over-pressed, under-voltage, overtemperature, built in direct current generator
There are temperature-sensitive element, Access Control protection circuit.Real core pu tire is arranged with axletree 18, it is flexible good, pressure-resistant,
Wear-resisting, oil resistant and the performance such as anti-skidding.Remaining structure and advantage are identical with embodiment 1.
Embodiment 3：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, the transfer 6 includes revolving support
Seat 16, steering servomotor 19, servomotor controller, steering reductor 20 and tooth sector group 15, the revolving support seat
16 are connected on axletree 18, and the tooth sector group 15 is socketed on the output shaft for turning to reductor 20, the steering servo
The output shaft of motor 19 is connected with turning to the flange of reductor 20；Turn to servomotor 19 to electrically connect with servomotor controller, institute
Servomotor controller is stated to electrically connect with vehicle-mounted PLC control terminals 9.The tooth sector group 15, which is socketed in, turns to reductor 20
On output shaft, the contact site between the tooth sector group 15 and revolving support seat 16 is provided with gear pallet, the gear
Pallet is provided with intermeshing steering gear wheel 22 and turns to little gear 21, described to turn to gear wheel 22 and turn to little gear 21
Tooth sector group 15 is constituted, the axis for turning to gear wheel 22 and the axis of revolving support seat 16 coincide, and turn
It is connected to gear wheel 22 and revolving support seat 16, the little gear 21 that turns to is set in the output shaft for turning to reductor 20
On.The revolving support seat 16 uses great circle disc type revolving structure, and it can realize the rotation of 360 ° of original place around its center for the center of circle
Turn, therefore, the steering very flexibility and reliability of transport vehicle.Also, the quantity of transfer 6 is 4, is controlled eventually by vehicle-mounted PLC
End 9 and angular encoder 17 provide the rotating speed and direction drive signal for turning to servomotor 19, by data wire by discrete control
Signal sends the corresponding servomotor 19 that turns to of servomotor controller control to and run.In front and rear straight trip, four can be kept
Servomotor 19 is turned in dead-center position, and when being turned to all around, controls steering to watch by vehicle-mounted PLC control terminals 9
Steering is realized in the steering and speed for taking motor 19.Servomotor controller uses FOC Field orientable controls technology and SVPWM
（Space vector modulation）, differential type pulse/direction instruction can be received, with defencive functions such as under-voltage, encoder exceptions.And turn
To servomotor 19 with control is accurate, be swift in response reliability, positional precision high and low pressure high pulling torque, the small and mistake of heating can be achieved
The features such as loading capability is strong.Remaining structure and advantage are identical with embodiment 1.
Embodiment 4：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, the accurate lugs 8 and magnetic navigation
The quantity of device 7 is 2, and magnetic navigation device 7 is separately positioned on the front end face chassis centre position and rear end face chassis of vehicle frame 1
Centre position, one of them accurate lugs 8 are arranged on the rear portion of front end face magnetic navigation sensor, another accurate parking dress
Put 8 front portions for being arranged on rear end face magnetic navigation sensor.The accurate lugs 8 use rfid interrogator, the magnetic navigation
Device 7 uses magneto-dependent sensor, and the rfid interrogator and magneto-dependent sensor are electrically connected with vehicle-mounted PLC control terminals 9.In fortune
Some magnetic conductance bars of laying define the driving trace of car in the workshop of defeated car, transport vehicle by magneto-dependent sensor with
And the function of using cooperatively the self-navigation and automatic deviation correction that can be achieved under auto state of magnetic conductance bar, and it is equidistant on magnetic conductance bar
From several geographical coordinate radio-frequency cards based on RFID are provided with, be stored with sign on the geographical coordinate radio-frequency card based on RFID
The geographical coordinate code of transport vehicle current location, the geographic coordinate information in radio-frequency card is read by rfid interrogator in real time, from
And can realize and on-line monitoring is carried out to the driving path and real time position of transport vehicle.The radio communication device using 433MHz without
Antijamming capability is most strong under line transceiver module, the frequency, and communication distance is farthest, and will not be produced with other controlled in wireless dynamoelectric equipments
The phenomenon that raw signal interference or signal are mutually gone here and there.The 433MHz radio receiving transmitting modules are electrically connected with vehicle-mounted PLC control terminals 9, car
PLC control terminals 9 are carried by 433MHz radio receiving transmitting modules by the information of vehicles of transport vehicle（Including speed, load-carrying, running status
Deng）And real-time position information is sent to control centre, is realized by control centre and online management and control is carried out to all transport vehicles in workshop
And scheduling so that realize the modernizing of factory's material-transporting system, it is information-based and intelligent.Remaining structure and advantage and embodiment
2 or 3 is identical.
Embodiment 5：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, the charging device 11 includes charging and inserted
Head, charging adapter and power line spring contraction volume, the power line spring contraction volume are fixedly mounted on the one of protection side plate 3
Side, the power line is in the wire casing that power line spring contraction is rolled up, and the power line connects charging adapter, the charging
Adapter connects charging plug by wire.Charging adapter can realize high efficient full automatic charge function, with charging station and power supply
Inserting mode is used between battery 4, and equipped with power switch, power supply indicator, charge status indicating light, in adaptive charging
After device starts, charging current can be automatically adjusted according to the situation of battery electric quantity, and after charging is finished, be automatically stopped charging,
Digital voltage Current Display is installed on charging adapter, charging voltage and charging current can be shown in real time.Remaining structure
It is identical with embodiment 1 with advantage.
Embodiment 6：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, the safety device 12 includes setting
Put the barrier radar detedtor in the protection side plate 3 positioned at rear and front end, infrared switch, spring protective post, anticollision control
Device and audible-visual annunciator processed, the barrier radar detedtor, infrared switch and audible-visual annunciator are and collision-prevention controller
Electrical connection, the collision-prevention controller is electrically connected with vehicle-mounted PLC control terminals 9, and the spring protective post includes fixed seat, compression bullet
Spring and the soft contact of protection, the fixed seat are vertically set on protection side plate 3, and one end of the soft contact of protection is by compressing bullet
Spring is fixedly connected in fixed seat.Safety device 12 provides sound assurance for the safe operation of transport vehicle, it can be ensured that
The safety of transport vehicle itself also can effectively ensure the personal safety of personnel in workshop simultaneously, substantially increase the thing of workshop
Expect the security reliability and the production order rapidly and efficiently and without any confusion of transport, improve production efficiency and economic benefit.Its
Remaining structure and advantage are identical with embodiment 1.
Embodiment 7：Such as Fig. 1-Fig. 4, a kind of improvement of the present utility model, the cover plate 10 at the top of steel vehicle frame 1 are used as
On be additionally provided with weighing device, the weighing device includes being arranged on the weighing sensor of car body surrounding and connects weighing and sensing respectively
The road A/D modular converters of Qi tetra-, the A/D modular converters are connected with vehicle-mounted PLC control terminals 9.Weighing device is used for fortune
Load weight on defeated vehicle-mounted goods platform is monitored in real time, and for realizing starting with full load, unloaded stopping and goods batch weight
Amount carries out centralized Control, effectively increases intellectuality and the level of informatization of material transportation.Remaining structure and advantage and embodiment 1
It is identical.
Embodiment 8：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, all magnetic navigation sensors are with being laid on
Vertical distance between the navigation magnetic stripe of mill floor is maintained at 40-60mm, and all rfid interrogators are with being arranged on navigation magnetic stripe
Vertical distance between the RFID on surface is maintained at 40-60mm.Remaining structure and advantage and the complete phase of embodiment 4
Together.
Embodiment 9：Such as Fig. 1-Fig. 4, as a kind of improvement of the present utility model, the power supply storage battery 4 is exempted from including industry
Safeguard 48V lead-acid batteries or lithium battery group, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery pack
48V DC voltages are exported, are exported after being isolated after Switching Power Supply is changed through overvoltage isolation module to needed for each module
The 24V DC voltages wanted, the voltage acquisition module gathers the current voltage of battery pack in real time, and feeds back information to vehicle-mounted
PLC control terminals 9, when vehicle-mounted PLC control terminals 9 monitor that the current voltage value of battery pack will be less than normal working voltage
When, alarm indication power supply not enough power supply immediately, while the host computer by the feedback of the information of not enough power supply to control centre, and
Control transport vehicle automatic running to charging station charges after current task is completed；After transport vehicle completes charging, come back to just
Normal driving path simultaneously sends host computer of the charge completion information to control centre by vehicle-mounted PLC control terminals 9, while on waiting
The control instruction of position machine.Remaining structure and advantage are identical with embodiment 1.
Embodiment 10：Such as Fig. 1-Fig. 4, as it is of the present utility model it is a kind of improve, the magneto-dependent sensor include it is multiple suddenly
Your switch sensor, the LED light corresponding with honeywell switch sensor and control chip, the honeywell switch sensor with
LED light is electrically connected with control chip.The control chip is connected with vehicle-mounted PLC control terminals 9.Hall switch is sensed
Magnetic field intensity signal on the real-time detection magnetic sliver of device simultaneously generates the switching signal of low and high level and sends the I/O of control chip to
Mouthful, by control chip controls lighting and extinguishing for corresponding LED light according to the switching signal of low and high level, so that by point
Whether bright LED light has offset current driving trace for visual cues transport vehicle, while height also drops in control chip
The switching signal of level is sent to vehicle-mounted PLC control terminals 9 and handled, and transfer 6 is entered by vehicle-mounted PLC control terminals 9
Row control, is rectified a deviation with the driving trace to transport vehicle.Transport vehicle can be kept all the time by the way of this kind of automatic deviation correction
Correct travel direction, the high precision and real-time of correction is good, so as to ensure that transport vehicle is efficiently travelled for a long time, effectively improves
Factory materials moving efficiency.Remaining structure and advantage are identical with embodiment 8.
The utility model can also by least one in technical characteristic described in embodiment 2,3,4,5,6,7,8,9,10 with
The combination of embodiment 1 forms new embodiment.
It should be noted that above-described embodiment, not for limiting protection domain of the present utility model, in above-mentioned technical side
Made equivalents or replacement each fall within the utility model scope of the claimed protection on the basis of case.Will in right
In asking, word "comprising" does not exclude the presence of element not listed in the claims.
Technological means disclosed in the utility model scheme is not limited only to the technological means disclosed in above-mentioned embodiment, also
Including being combined constituted technical scheme by above technical characteristic.It should be pointed out that for the ordinary skill of the art
For personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and moistened
Decorations are also considered as protection domain of the present utility model.
Claims (10)
1. a kind of trackless self-aiming transport vehicle, it is characterised in that：Including steel vehicle frame, non-maintaining power supply storage battery, charging device,
Drive device, transfer, accurate lugs, radio communication device, vehicle-mounted PLC control terminals, transplantation device, magnetic navigation dress
Put and safety device, the steel vehicle frame is formed using steel member box beam formula structure welding, steel frame chassis space peace
Put power supply storage battery, drive device, transfer, accurate lugs and magnetic navigation device, it is possible to decrease body gravity, car body weight
The heart is more low more is conducive to resistant to tipping, wherein, the power supply storage battery is arranged on drawer type battery pack and installed in case, power supply storage battery
It is powered for all electric controling parts on transport vehicle, the drive device and transfer are arranged at frame chassis
Four independent wheel positions, the magnetic navigation device is arranged on the axis at frame chassis two ends, the accurate lugs
It is co-located at magnetic navigation device on axis；The transplantation device is arranged on the cover plate at the top of vehicle frame, the charging device,
Radio communication device, vehicle-mounted PLC control terminals and safety device are arranged at the protection side plate positioned at steel vehicle frame surrounding
On, the drive device, transfer, accurate lugs, magnetic navigation device, charging device, radio communication device and safety
Protector is electrically connected with vehicle-mounted PLC control terminals.
2. a kind of trackless self-aiming transport vehicle as claimed in claim 1, it is characterised in that the drive device includes driving electricity
Machine, drive motor controller, driving reductor, axletree and shaft coupling, the input of the motor connection driving reductor
End, one end of the output end drive connection shaft coupling of driving reductor, the other end drive connection axletree of shaft coupling, the drive
Dynamic motor is electrically connected with drive motor controller, and the drive motor controller is electrically connected with vehicle-mounted PLC control terminals.
3. a kind of trackless self-aiming transport vehicle as claimed in claim 1, it is characterised in that the transfer includes revolution branch
Seat is supportted, servomotor, servomotor controller is turned to, turns to reductor and tooth sector group, the revolving support seat is connected to
On axletree, the tooth sector group be socketed in turn to reductor output shaft on, it is described turn to servomotor output shaft with
Turn to the connection of reductor flange；Turn to servomotor to electrically connect with servomotor controller, the servomotor controller and car
Carry the electrical connection of PLC control terminals.
4. a kind of trackless self-aiming transport vehicle as claimed in claim 2 or claim 3, it is characterised in that the accurate lugs and
The quantity of magnetic navigation device is 2, and magnetic navigation device is separately positioned on front end face chassis centre position and the rear end face of vehicle frame
Chassis centre position, one of them accurate lugs are arranged on the rear portion of front end face magnetic navigation sensor, and another accurately stops
Car device is arranged on the front portion of rear end face magnetic navigation sensor；The accurate lugs use rfid interrogator, the magnetic conductance
Boat device uses magneto-dependent sensor, and the rfid interrogator and magneto-dependent sensor are electrically connected with vehicle-mounted PLC control terminals；It is described
Radio communication device uses 433MHz radio receiving transmitting modules, the 433MHz radio receiving transmitting modules and vehicle-mounted PLC control terminals electricity
Connection.
5. a kind of trackless self-aiming transport vehicle as claimed in claim 4, it is characterised in that the charging device includes charging and inserted
Head, charging adapter and power line spring contraction volume, the power line spring contraction volume are fixedly mounted on the side of protection side plate,
The power line is in the wire casing that power line spring contraction is rolled up, and the power line connects charging adapter, and the charging is fitted
Orchestration connects charging plug by wire.
6. a kind of trackless self-aiming transport vehicle as claimed in claim 5, it is characterised in that the safety device includes setting
Put the barrier radar detedtor in the protection side plate positioned at rear and front end, infrared switch, spring protective post, anticollision control
Device and audible-visual annunciator, the barrier radar detedtor, infrared switch and audible-visual annunciator are electric with collision-prevention controller
Connection, the collision-prevention controller is electrically connected with vehicle-mounted PLC control terminals, and the spring protective post includes fixed seat, compression spring
With the soft contact of protection, the fixed seat is vertically set on protection side plate, and one end of the soft contact of protection passes through compression spring
It is fixedly connected in fixed seat.
7. a kind of trackless self-aiming transport vehicle as claimed in claim 5, it is characterised in that the cover plate at the top of the steel vehicle frame
On be additionally provided with weighing device, the weighing device includes being arranged on the weighing sensor of car body surrounding and connects weighing and sensing respectively
The road A/D modular converters of Qi tetra-, the A/D modular converters are connected with vehicle-mounted PLC control terminals.
8. a kind of trackless self-aiming transport vehicle as claimed in claim 4, it is characterised in that all magnetic navigation sensors and laying
Vertical distance between the navigation magnetic stripe of mill floor is maintained at 40-60mm, and all rfid interrogators are with being arranged on navigation magnetic
Vertical distance between the RFID on bar surface is maintained at 40-60mm.
9. a kind of trackless self-aiming transport vehicle as claimed in claim 1, it is characterised in that the power supply storage battery includes industry
Non-maintaining 48V lead-acid batteries or lithium battery group, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery
Group output 48V DC voltages, are exported after being isolated after Switching Power Supply is changed through overvoltage isolation module to each module institute
The 24V DC voltages needed, the voltage acquisition module gathers the current voltage of battery pack in real time, and feeds back information to vehicle-mounted
PLC control terminals, when vehicle-mounted PLC control terminals monitor that the current voltage value of battery pack will be less than normal working voltage,
Alarm indication power supply not enough power supply immediately, while the host computer by the feedback of the information of not enough power supply to control centre, and
Control transport vehicle automatic running to charging station after current task is completed to charge；After transport vehicle completes charging, come back to normal
Driving path simultaneously sends host computer of the charge completion information to control centre by vehicle-mounted PLC control terminals, while waiting upper
The control instruction of machine.
10. a kind of trackless self-aiming transport vehicle as claimed in claim 8, it is characterised in that the magneto-dependent sensor includes many
Individual honeywell switch sensor, the LED light corresponding with honeywell switch sensor and control chip, the Hall switch sensing
Device and LED light are electrically connected with control chip, and the control chip is connected with vehicle-mounted PLC control terminals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621423625.XU CN206336351U (en) | 2016-12-23 | 2016-12-23 | A kind of trackless self-aiming transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621423625.XU CN206336351U (en) | 2016-12-23 | 2016-12-23 | A kind of trackless self-aiming transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206336351U true CN206336351U (en) | 2017-07-18 |
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ID=59301696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621423625.XU Active CN206336351U (en) | 2016-12-23 | 2016-12-23 | A kind of trackless self-aiming transport vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585768A (en) * | 2016-12-23 | 2017-04-26 | 上海铁路局上海机车检修段 | Trackless self-guidance transport vehicle |
| CN109132156A (en) * | 2018-09-23 | 2019-01-04 | 祥泰浩（天津）科技发展有限公司 | A kind of portable intelligent mobile device |
| CN109334818A (en) * | 2018-11-29 | 2019-02-15 | 杭叉集团股份有限公司 | A kind of magnetic guiding sensor mounting device and its system |
| CN109591171A (en) * | 2018-12-21 | 2019-04-09 | 中铁十四局集团房桥有限公司 | Steam-cured method based on track board assembly line AGV transportation system |
| CN109591170A (en) * | 2018-12-21 | 2019-04-09 | 中铁十四局集团房桥有限公司 | A kind of steam-cured system of track board assembly line AGV automatic withdrawing storage transport |
| CN109591172A (en) * | 2018-12-21 | 2019-04-09 | 中铁十四局集团房桥有限公司 | One kind being put in storage transportation system based on track plates assembly line A GV automatic withdrawing |
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2016
- 2016-12-23 CN CN201621423625.XU patent/CN206336351U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585768A (en) * | 2016-12-23 | 2017-04-26 | 上海铁路局上海机车检修段 | Trackless self-guidance transport vehicle |
| CN109132156A (en) * | 2018-09-23 | 2019-01-04 | 祥泰浩（天津）科技发展有限公司 | A kind of portable intelligent mobile device |
| CN109334818A (en) * | 2018-11-29 | 2019-02-15 | 杭叉集团股份有限公司 | A kind of magnetic guiding sensor mounting device and its system |
| CN109334818B (en) * | 2018-11-29 | 2024-01-23 | 杭叉集团股份有限公司 | Magnetic guide sensor mounting device and system thereof |
| CN109591171A (en) * | 2018-12-21 | 2019-04-09 | 中铁十四局集团房桥有限公司 | Steam-cured method based on track board assembly line AGV transportation system |
| CN109591170A (en) * | 2018-12-21 | 2019-04-09 | 中铁十四局集团房桥有限公司 | A kind of steam-cured system of track board assembly line AGV automatic withdrawing storage transport |
| CN109591172A (en) * | 2018-12-21 | 2019-04-09 | 中铁十四局集团房桥有限公司 | One kind being put in storage transportation system based on track plates assembly line A GV automatic withdrawing |
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