CN206726046U - A kind of automobile-used turning navigational structures of AGV - Google Patents
A kind of automobile-used turning navigational structures of AGV Download PDFInfo
- Publication number
- CN206726046U CN206726046U CN201720268301.1U CN201720268301U CN206726046U CN 206726046 U CN206726046 U CN 206726046U CN 201720268301 U CN201720268301 U CN 201720268301U CN 206726046 U CN206726046 U CN 206726046U
- Authority
- CN
- China
- Prior art keywords
- magnetic stripe
- navigation magnetic
- guide wheel
- navigation
- agv
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of automobile-used turning navigational structures of AGV, including navigation magnetic stripe and Rear frame, the car after-frame is provided with the guide wheel for being used for driving AGV cars, for coordinating the magnetic stripe sensor of the navigation magnetic stripe and the guide wheel drive mechanism for controlling the guide wheel to act, the navigation magnetic stripe includes being used to coordinate the magnetic stripe sensor and make the guide wheel keep straight trip until the first navigation magnetic stripe departed from, the guide wheel is set to keep the second navigation magnetic stripe of straight trip and the 3rd navigation magnetic stripe for coordinating the magnetic stripe sensor and making the guide wheel carry out go to action after the first navigation magnetic stripe is departed from for coordinating the magnetic stripe sensor；The automobile-used turning navigational structures of AGV also include being used to make the guide wheel continue straight trip after the first navigation magnetic stripe is departed to be coupled to the auxiliary guide mechanism of the 3rd navigation magnetic stripe.The utility model is simple in construction, easy to use, can stablize the running orbit of AGV cars, improves running precision and the speed of service, place space-consuming is few, utilization rate is high.
Description
Technical field
It the utility model is related to floor truck technical field, and in particular to a kind of automobile-used turning navigational structures of AGV.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refer to and magnetically or optically waited automatically equipped with electricity
It guiding device, can be travelled along defined guide path, there is the transport vehicle of safeguard protection and various transfer functions, industry should
The carrier of driver is not required in, using chargeable battery as its power resources.Computer typically be can pass through to control its row
Enter route and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Course, electromagnetic path are pasted on what floor, automatic guided vehicle then follow message caused by electromagnetic path move with
Action.Current AGV automobile-used tracks generally there are turnaround section more gentle and that radius is larger, arrange easy occupied ground
Space, AGV cars need to run in the case of speed is relatively slow, low precision, easy improper derailing, stability deficiency.
The content of the invention
Technical purpose of the present utility model is to provide a kind of automobile-used turning navigational structures of AGV solve traditional AGV cars operation
The problem of track radius of turn is big, utilization of area rate is low, operation stability is poor.
Concrete technical scheme of the present utility model is as follows：A kind of automobile-used turning navigational structures of AGV, including navigation magnetic stripe and car
After-frame, the car after-frame are provided with the guide wheel for being used to drive AGV cars, magnetic stripe sensor and use for coordinating the navigation magnetic stripe
In the guide wheel drive mechanism for controlling the guide wheel action, it is characterised in that：The navigation magnetic stripe includes being used to coordinate the magnetic stripe
Sensor and the guide wheel is kept straight trip until depart from the first navigation magnetic stripe, for coordinating the magnetic stripe sensor make institute
Guide wheel is stated to keep the second navigation magnetic stripe of straight trip and the guide wheel is being departed from described for coordinating the magnetic stripe sensor
The 3rd navigation magnetic stripe of go to action is carried out after one navigation magnetic stripe, the first navigation magnetic stripe and the described second navigation magnetic stripe are mutual
Vertically；The automobile-used turning guiding structurals of AGV also include being used to make the guide wheel after the first navigation magnetic stripe is departed from continue
Keep straight on to be coupled to the auxiliary guide mechanism of the 3rd navigation magnetic stripe.
Preferably, the auxiliary guide mechanism is included located at the RFID card to navigate on magnetic stripe and after the car
RFID card reader on frame.
Preferably, the RFID card located at described first navigation magnetic stripe on it is close it is described first navigate magnetic stripe with it is described
The intersecting corner of second navigation magnetic stripe.
Preferably, the 3rd navigation magnetic stripe located at the described first navigation magnetic stripe along guide wheel straight trip direction
On extended line, exist between the 3rd navigation magnetic stripe and the first navigation magnetic stripe, the second navigation magnetic stripe described in being easy to
Guide wheel realizes the predetermined interval space turned to.
Preferably, it is additionally provided with the car after-frame for making AGV cars to load and unload retrogressing of the goods as the backward movement of needs
With magnetic stripe sensor.
Technological merit of the present utility model is that the automobile-used turning navigational structures of the AGV are simple, easy to use, can stablize
The running orbit of AGV cars, running precision and the speed of service are improved, the guide rail radius of turn is small, and place space-consuming is few, place
Utilization rate is higher.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment；
Each toponym corresponding to numbering is respectively in figure：1- car after-frames, 11- guide wheels, 12- magnetic stripe sensors, 13- are retreated
It is auxiliary with magnetic stripe sensor, 2- navigation magnetic stripes, the navigation magnetic stripes of 21- first, the navigation magnetic stripes of 22- second, the navigation magnetic stripes of 23- the 3rd, 3-
Help guide mechanism, 31-RFID cards, 32-RFID card reader.
Embodiment
Below in conjunction with accompanying drawing, by specific embodiment, the utility model is described in further detail：
See Fig. 1, a kind of automobile-used turning navigational structures of AGV, including navigation magnetic stripe 2 and car after-frame 1, car after-frame 1, which is provided with, to be used
Guide wheel 11 in driving AGV cars, the magnetic stripe sensor 12 for coordinating navigation magnetic stripe 2 and the guide wheel for controlling guide wheel 11 to act
Drive mechanism, it is characterised in that：Navigation magnetic stripe 2 includes being used to coordinate magnetic stripe sensor 12 and make guide wheel 11 keep straight trip until de-
From the first navigation magnetic stripe 21, for coordinating magnetic stripe sensor 12 guide wheel 11 is kept the second navigation magnetic stripe 22 of straight trip and is used
In the 3rd navigation magnetic stripe for coordinating magnetic stripe sensor 12 and making guide wheel 11 carry out go to action after the first navigation magnetic stripe 21 is departed from
23, the first navigation magnetic stripe 21 is mutually perpendicular to the second navigation magnetic stripe 22；The automobile-used turning guiding structurals of AGV also include being used to make guide wheel
11 continue straight trip to be coupled to the auxiliary guide mechanism 3 of the 3rd navigation magnetic stripe 23 after the first navigation magnetic stripe 21 is departed from.Auxiliary is led
Drawing mechanism 3 includes the RFID card 31 on navigation magnetic stripe 2 and the RFID card reader 32 on car after-frame 1.
The intersecting close to the first navigation magnetic stripe 21 with the second navigation magnetic stripe 22 on the first navigation magnetic stripe 21 of RFID card 31
Corner.This implies that the front end when AGV garages being generally understood that enter will reach this turn of process in other words close to corner
The position nearer from corner before angle, because guide wheel 11 can derail namely depart from the first navigation after AGV cars have crossed the corner
Magnetic stripe 21, AGV cars will voluntarily halt under normal circumstances, and RFID card 31 and RFID card reader 32 are in the technical program
Effect i.e. avoid AGV cars from being halted after derailing, make AGV cars continue move ahead with the 3rd navigation magnetic stripe 23 coordinate, herein
Duan Jixu also can have speed-down action simultaneously during moving ahead.
On the extended line for keeping straight on direction along guide wheel 11 of the first navigation magnetic stripe 21, the 3rd leads 3rd navigation magnetic stripe 23
Existing between the boat navigation navigation magnetic stripe 22 of magnetic stripe 21, second of magnetic stripe 23 and first is easy to guide wheel 11 to realize the predetermined interval sky turned to
Between.3rd navigation magnetic stripe 23 causes guide wheel independently of the first navigation navigation magnetic stripe 22 of magnetic stripe 21 and second, the 3rd navigation magnetic stripe 23
11 are gradually decelerated to stopping after a segment distance is advanced in derailing, and start towards the second navigation directional steering of magnetic stripe 22, Ran Houchao
The second navigation direction running of magnetic stripe 22 to go over.
The retrogressing magnetic stripe sensor 13 for guiding AGV car backward goings is additionally provided with car after-frame 1.AGV cars are some
When need to carry out backward going, essentially consist in handling needs of goods, retreat and use magnetic stripe sensor 13 and magnetic stripe sensor 12
Common to coordinate to improve the traveling scheme of AGV cars, just marching forward and reversely retreating can realize.
Car after-frame 1 is provided with for conversion signal and sends the control axis of control action instruction, and control axis includes master
Circuit board, it connects the guide wheel drive mechanism of AGV cars controlling the guide wheel in the mechanism to be advanced, stopping, turning to etc. and to act.
RFID card reader, RFID card, magnetic stripe sensor, sensing magnetic stripe and control axis can carry out installation cloth by prior art
Put.
Whole turning process i.e., when AGV cars move ahead along the first navigation magnetic stripe 21, after corner, RFID card reader
Detect the signal of RFID card so that AGV cars still are able to continue to move ahead after corner derailing is crossed.AGV cars, which continue to proceed to, works as magnetic
When article sensor 12 detects the 3rd navigation magnetic stripe 23 so that guide wheel 11 stops and turns to one initially towards the second navigation magnetic stripe 22
Determine angle, guide wheel 11 is walked to the second navigation magnetic stripe 22.AGV cars continue to proceed to when magnetic stripe sensor 12 detects the second navigation
During magnetic stripe 22 so that guide wheel 11 stops and returned just, and then guide wheel 11 continues on the second navigation magnetic stripe 22 and moved ahead.The turning guides
The turning path of structure is suitable, and the occupancy in place is lacked, and utilization of area rate is high, and the running precision and the speed of service of AGV cars
Height, stability is good, improves operating efficiency.
Claims (5)
1. a kind of automobile-used turning navigational structures of AGV, including navigation magnetic stripe（2）With car after-frame（1）, the car after-frame（1）It is provided with
For driving the guide wheel of AGV cars（11）, for coordinating the navigation magnetic stripe（2）Magnetic stripe sensor（12）With it is described for controlling
Guide wheel（11）The guide wheel drive mechanism of action, it is characterised in that：The navigation magnetic stripe（2）Including for coordinating the magnetic stripe to sense
Device（12）And make the guide wheel（11）Straight trip is kept until the first navigation magnetic stripe departed from（21）, for coordinating the magnetic stripe to sense
Device（12）And make the guide wheel（11）Keep the second navigation magnetic stripe of straight trip（22）With for coordinating the magnetic stripe sensor（12）
And make the guide wheel（11）Departing from the first navigation magnetic stripe（21）The 3rd navigation magnetic stripe of go to action is carried out afterwards（23）, institute
State the first navigation magnetic stripe（21）With the described second navigation magnetic stripe（22）It is mutually perpendicular to；The automobile-used turning guiding structurals of AGV also wrap
Include for making the guide wheel（11）Departing from the first navigation magnetic stripe（21）After continue straight trip be coupled to it is described 3rd navigation
Magnetic stripe（23）Auxiliary guide mechanism（3）.
A kind of 2. automobile-used turning navigational structures of AGV according to claim 1, it is characterised in that：The auxiliary guide mechanism
（3）Including located at the navigation magnetic stripe（2）On RFID card（31）With located at the car after-frame（1）On RFID card reader
（32）.
A kind of 3. automobile-used turning navigational structures of AGV according to claim 2, it is characterised in that：The RFID card（31）If
In the described first navigation magnetic stripe（21）On it is close it is described first navigation magnetic stripe（21）With the described second navigation magnetic stripe（22）It is intersecting
Corner.
A kind of 4. automobile-used turning navigational structures of AGV according to claim 1, it is characterised in that：The 3rd navigation magnetic stripe
（23）Located at the described first navigation magnetic stripe（21）Along the guide wheel（11）Keep straight on the extended line in direction, the 3rd navigation
Magnetic stripe（23）With the described first navigation magnetic stripe（21）, it is described second navigation magnetic stripe（22）Between exist be easy to the guide wheel（11）It is real
The predetermined interval space turned now to.
A kind of 5. automobile-used turning navigational structures of AGV according to claim 1, it is characterised in that：The car after-frame（1）It is upper to go back
Provided with the retrogressing magnetic stripe sensor for guiding AGV car backward goings（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720268301.1U CN206726046U (en) | 2017-03-20 | 2017-03-20 | A kind of automobile-used turning navigational structures of AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720268301.1U CN206726046U (en) | 2017-03-20 | 2017-03-20 | A kind of automobile-used turning navigational structures of AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206726046U true CN206726046U (en) | 2017-12-08 |
Family
ID=60501304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720268301.1U Active CN206726046U (en) | 2017-03-20 | 2017-03-20 | A kind of automobile-used turning navigational structures of AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206726046U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934426A (en) * | 2017-12-15 | 2018-04-20 | 合肥中导机器人科技有限公司 | Turning magnetic stripe track, turning method and the system of a kind of AGV |
-
2017
- 2017-03-20 CN CN201720268301.1U patent/CN206726046U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934426A (en) * | 2017-12-15 | 2018-04-20 | 合肥中导机器人科技有限公司 | Turning magnetic stripe track, turning method and the system of a kind of AGV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107045343B (en) | AGV traffic control method and system | |
| CN109987366B (en) | Unmanned warehouse system and warehouse entry and exit method | |
| US10612261B2 (en) | AGV comb-type transfer robot | |
| CN203512793U (en) | Container automation dock loading and unloading system | |
| WO2018072712A1 (en) | Agv transport vehicle and control method therefor | |
| CN102602643B (en) | Automatic high-density three-dimensional storage system | |
| CN204856210U (en) | Formula of hiding laser tape mixes navigation AGV dolly | |
| CN204241966U (en) | A kind of visually oriented floor truck voluntarily | |
| CN109625123A (en) | A kind of spliced carrying vehicle, handling system and method for carrying | |
| CN104058261A (en) | Container automated wharf loading and unloading system and method | |
| CN103823468A (en) | Sneaking type AGV navigation and location system and location method | |
| CN106708027A (en) | On-line graphical real-time navigation and control system of unmanned navigation intelligent electric flat vehicle | |
| CN103412593A (en) | Submarine AGV movement transferring robot | |
| CN206666040U (en) | A kind of automatic conveying device based on AGV | |
| CN102452400B (en) | Method for controlling automatic carrier | |
| CN203465615U (en) | Latent-type AGV (automated guided vehicle) mobile carrying robot | |
| CN206298317U (en) | A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy | |
| CN104571110A (en) | RFID-based automatic trolley guiding method and system | |
| CN108958269B (en) | Inertial navigation magnetic stripe hybrid navigation AGV system | |
| CN107448041A (en) | A kind of support-board type electromagnetism guiding parking transfer robot and method for running | |
| CN111813127A (en) | Automatic automobile transfer robot system of driving formula | |
| JP2016074507A (en) | Unmanned carrier for container | |
| CN206726046U (en) | A kind of automobile-used turning navigational structures of AGV | |
| CN102830706B (en) | Medical AGV control system | |
| CN204440164U (en) | A kind of automatic vehicle based on RFID and guidance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |