CN206985135U - A kind of automatic guided vehicle with automatic crawl function - Google Patents
A kind of automatic guided vehicle with automatic crawl function Download PDFInfo
- Publication number
- CN206985135U CN206985135U CN201720922683.5U CN201720922683U CN206985135U CN 206985135 U CN206985135 U CN 206985135U CN 201720922683 U CN201720922683 U CN 201720922683U CN 206985135 U CN206985135 U CN 206985135U
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- Prior art keywords
- accessory
- housing
- large arm
- automatic
- forearm
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Abstract
The utility model discloses a kind of automatic guided vehicle with automatic crawl function, belong to Intelligentized mechanical equipment technical field.Bottom plate including housing and positioned at housing bottom, the bottom plate both sides are provided with wheel, the housing is provided with control panel and the manipulator of some mutual cooperations, housing forward end is provided with range laser radar, range laser radar connects control system, the control system connection control panel and the drive system of manipulator and wheel.Industrial robot key technology manipulator is applied to AGV by the utility model, realizes the operation such as flexible snatch, improves the automaticity of dolly, AGV is had higher scientific and technological content and is obtained the application in more forward position；Wheel uses Mecanum wheel group, more flexibly, avoids fixed travel track, can meet the different demands of different operating environment.
Description
Technical field
A kind of automatic guided vehicle is the utility model is related to, belongs to Intelligentized mechanical equipment technical field.
Background technology
AGV is Automated Guided Vehicle abbreviation, i.e. " automatical pilot transportation vehicle ", refers to be equipped with electromagnetism
Or the homing guidance device such as optics, it can be travelled along defined guide path, have safeguard protection and various transfer functions
Transport vehicle, AGV belongs to wheeled mobile robot.AGV is broadly divided into both of which both at home and abroad at present：One kind is with American-European countries
Headed by full-automatic AGV technologies, path planning and production procedure are complicated and changeable, can apply in almost all of carrying occasion,
But such AGV selling price can be in any more, and be not suitable for the level of production of China instantly；Second is using Japan as representative
Simple type AGV technologies, turn into AGC (Automated Guided Cart), what the technology was pursued is simple and practical, allows user to exist
Recouped capital outlay in shortest time cost, AGC is only used for carrying, and automatic loading and unloading function is not emphasized, although cheap but same
Sample is not suitable for basic industries not very perfect China.Meanwhile most of AGV is guided using electromagnetism or track instantly, route
Fixed, limitation is larger, is not suitable for flexibility manufacture system.
Utility model content
For solve prior art exist the defects of, the purpose of this utility model be to provide a kind of cost it is low, can be flexibly complete
Into the automatic guided vehicle with automatic crawl function of loading and unloading, applicable pahtfinder hard and small space.
The technical solution of the utility model is：A kind of automatic guided vehicle with automatic crawl function, including housing and position
In the bottom plate of housing bottom, the bottom plate both sides are provided with wheel, and the housing is provided with control panel and some mutual cooperations
Manipulator, housing forward end is provided with range laser radar, range laser radar connection control system, the control system connection control
The drive system of panel and manipulator and wheel processed.
The control panel is located in the inclined plane of housing forward end.
The control panel is touch-sensitive display screen.
The manipulator quantity is three, respectively positioned at the upper surface of housing and two side surfaces.
The manipulator includes, the base being installed on housing, panoramic table rotation connection base, panoramic table connection large arm,
Large arm accessory is rotatablely connected large arm, and connecting rod two end is rotatablely connected connecting rod accessory and large arm accessory in large arm, forearm installation respectively
In on large arm accessory, being provided with motor on the large arm accessory, motor b connections drive forearm to be revolved around the longitudinal center line of forearm
Turn, the forearm end is provided with forearm accessory, and mechanical wrist part is rotatablely connected the forearm accessory, and paw is installed on mechanical wrist
In portion；
The panoramic table is provided with the motor a for driving it around base rotation；
The connecting rod accessory is built-in with brushless electric machine, and one end of the brushless electric machine connection drive link turns around connecting rod accessory
Dynamic, the other end of the connecting rod promotes large arm accessory to be rotated around large arm end, and large arm accessory drives forearm to be swung around large arm end；
The mechanical wrist part is provided with motor c, and the motor c driving manipulators wrist rotates around forearm accessory, manipulator
Wrist drives paw to be swung around forearm accessory.
The housing periphery is provided with proximity transducer, and the proximity transducer connects control system.
The wheel is Mecanum wheel group.
The motor a, motor b, motor c are direct current generator, and are connected and controlled by control system.
The beneficial effects of the utility model are：Use manipulator crawl function improve dolly automaticity and with
Market orientation is adapted, and can more meet the needs of market；The laser ranging guiding device of use has fully demonstrated unmanned carry
The characteristics of high flexibility, high efficiency, high reliability of uniting；Being combined the advantages of can carrying out flexible operating for AGV and industrial robot
Get up, with the application in higher scientific and technological content and acquirement more forward position；Wheel uses Mecanum wheel group, more flexibly,
Fixed travel track is avoided, the different demands of different operating environment can be met.
Brief description of the drawings
Fig. 1 is the utility model stereogram；
Fig. 2 is the utility model upward view；
Fig. 3 is robot manipulator structure figure.
Reference is as follows in figure：1st, bottom plate, 2, wheel, 3, housing, 4, manipulator, 4.1, base, 4.2, panoramic table,
4.3rd, large arm, 4.4, connecting rod accessory, 4.5, large arm accessory, 4.6, connecting rod, 4.7, forearm, 4.8, forearm accessory, 4.9, manipulator
Wrist, 4.10, paw, 4.11, motor a, 4.12, motor b, 4.13, motor c, 5, control panel, 6, range laser radar.
Embodiment
1-3 is described further to the utility model below in conjunction with the accompanying drawings：
A kind of automatic guided vehicle with automatic crawl function, including housing 3 and the bottom plate 1 positioned at the bottom of housing 3, it is described
The both sides of bottom plate 1 are provided with wheel 2, and the housing 3 is provided with control panel 5 and the manipulator 4 of some mutual cooperations, before housing 3
End is provided with range laser radar 6, and range laser radar 6 connects control system, the control system connection control panel 5 and machine
The drive system of tool hand 4 and wheel 2.Range laser radar 6 is used to analyze road conditions and positioning.Using the small-sized of SICK companies production
Change the target range that range laser radar 6 measures workplace, orientation, height, speed, posture, form parameter and obstacle and essence
Really draw out the 3D topographic maps in working range and be uploaded to control system, calculate optimal course automatically and coordinate close to biography
Sensor obstacle avoidance.Different from the electromagnetic guiding device that the carrying of automatic guided vehicle instantly is more, laser radar has small volume quality
Gently, high resolution, scanning is flexible, dependable performance, strong antijamming capability, the intercept probability and detection efficient to noncooperative target compared with
It is high.And more flexibly, fixed travel track is avoided, the different demands of different operating environment can be met.
The control panel 5 is located in the inclined plane of the front end of housing 3.
The control panel 5 is touch-sensitive display screen.
The quantity of manipulator 4 is three, respectively positioned at the upper surface of housing 3 and two side surfaces.
The manipulator 4 includes, the base 4.1 being installed on housing 3, and panoramic table 4.2 is rotatablely connected base 4.1, revolution
Platform 4.2 connects large arm 4.3, and large arm accessory 4.5 is rotatablely connected large arm 4.3, and the both ends of connecting rod 4.6 are rotatablely connected in large arm 4.3 respectively
Connecting rod accessory 4.4 and large arm accessory 4.5, forearm 4.7 is installed on large arm accessory 4.5, is provided with the large arm accessory 4.5
Motor b4.12, motor b4.12 connection drive forearm 4.7 to be rotated around the longitudinal center line of forearm 4.7, and the end of forearm 4.7 is set
There is forearm accessory 4.8, mechanical wrist part 4.9 is rotatablely connected the forearm accessory 4.8, and paw 4.10 is installed on mechanical wrist part
On 4.9；
The panoramic table 4.2 is provided with the motor a4.11 for driving it to be rotated around base 4.1；
The connecting rod accessory 4.4 is built-in with brushless electric machine, and one end of the brushless electric machine connection drive link 4.6 is around connecting rod
Accessory 4.4 rotates, and the other end of the connecting rod 4.6 promotes large arm accessory 4.5 to be rotated around the end of large arm 4.3, the band of large arm accessory 4.5
Dynamic forearm 4.7 is swung around the end of large arm 4.3；
The mechanical wrist part 4.9 is provided with motor c4.13, and the motor c4.13 driving manipulators wrist 4.9 is matched somebody with somebody around forearm
Part 4.8 rotates, and mechanical wrist part 4.9 drives paw 4.10 to be swung around forearm accessory 4.8.This manipulator 4 reduces turning radius
High-precision operation can be more being realized in narrow space.Three paws 4.10 are decoupled installed in the top of car body and left and right sides,
Swept volume is increased, turn avoid phenomena such as center of gravity caused by finger concentration is higher caused unstable.
The periphery of housing 3 is provided with proximity transducer, and the proximity transducer connects control system.Proximity transducer is used for
Avoidance.
The wheel 2 is Mecanum wheel group.External force suffered by Mecanum wheel includes two parts：It is to come from ground respectively
Active force and from car body active force.Wherein the active force from car body include the reaction of bearing and motor of itself caused by etc.
Imitate driving moment etc..No rotating speed can be obtained come regulations speed by changing rotating speed by gear, so as to change AGV motion speed
Degree.Four independent motors control the rotation direction of four Mecanum wheels respectively, and dolly can be achieved comprehensive convenient, flexible
Motor function.This mechanism has compared with common steering mechanism can be in smaller steering space, and more flexible realization moves ahead,
Traversing, diagonal, rotation and combinations thereof waits motion mode, is suitable for that space is limited, works, carrying under the narrow environment of operation path
There is significant effect in terms of the space availability ratio and reduction human cost in high workload place.
The motor a4.11, motor b4.12, motor c4.13 are direct current generator, and are connected and controlled by control system.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvement and modification can also be made, these change
Enter and also should be regarded as the scope of protection of the utility model with modification.
Claims (8)
1. a kind of automatic guided vehicle with automatic crawl function, it is characterised in that including housing (3) and positioned at housing (3) bottom
The bottom plate (1) in portion, bottom plate (1) both sides are provided with wheel (2), and the housing (3) is provided with control panel (5) and some phases
The manipulator (4) mutually coordinated, housing (3) front end are provided with range laser radar (6), and range laser radar (6) connects control system,
The control system connection control panel (5) and the drive system of manipulator (4) and wheel (2).
2. the automatic guided vehicle with automatic crawl function according to claim 1, it is characterised in that the control panel
(5) in the inclined plane of housing (3) front end.
3. the automatic guided vehicle with automatic crawl function according to claim 1, it is characterised in that the control panel
(5) it is touch-sensitive display screen.
4. the automatic guided vehicle with automatic crawl function according to claim 1, it is characterised in that the manipulator
(4) quantity is three, respectively positioned at the upper surface of housing (3) and two side surfaces.
5. the automatic guided vehicle with automatic crawl function according to claim 1, it is characterised in that the manipulator
(4) include, the base (4.1) being installed on housing (3), panoramic table (4.2) rotation connection base (4.1), panoramic table (4.2) is even
Large arm (4.3) is connect, large arm accessory (4.5) rotation connection large arm (4.3), connecting rod (4.6) both ends are rotatablely connected large arm (4.3) respectively
On connecting rod accessory (4.4) and large arm accessory (4.5), forearm (4.7) is installed on large arm accessory (4.5), the large arm accessory
(4.5) motor b (4.12), longitudinal center line of motor b (4.12) the connections driving forearm (4.7) around forearm (4.7) are installed on
Rotation, forearm (4.7) end are provided with forearm accessory (4.8), and mechanical wrist part (4.9) is rotatablely connected the forearm accessory
(4.8), paw (4.10) is installed on mechanical wrist part (4.9)；
The panoramic table (4.2) is provided with the motor a (4.11) for driving it to be rotated around base (4.1)；
The connecting rod accessory (4.4) is built-in with brushless electric machine, and one end of the brushless electric machine connection drive link (4.6) is around connecting rod
Accessory (4.4) rotates, and the other end of the connecting rod (4.6) promotes large arm accessory (4.5) to be rotated around large arm (4.3) end, large arm
Accessory (4.5) drives forearm (4.7) to be swung around large arm (4.3) end；
The mechanical wrist part (4.9) is provided with motor c (4.13), and motor c (4.13) the driving manipulator wrist (4.9) is around small
Arm accessory (4.8) rotates, and mechanical wrist part (4.9) drives paw (4.10) to be swung around forearm accessory (4.8).
6. the automatic guided vehicle with automatic crawl function according to claim 5, it is characterised in that the motor a
(4.11), motor b (4.12), motor c (4.13) are direct current generator, and are connected and controlled by control system.
7. the automatic guided vehicle with automatic crawl function according to claim 1, it is characterised in that the wheel (2)
For Mecanum wheel group.
8. the automatic guided vehicle with automatic crawl function according to claim 1, it is characterised in that the housing (3)
Periphery is provided with proximity transducer, and the proximity transducer connects control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720922683.5U CN206985135U (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720922683.5U CN206985135U (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206985135U true CN206985135U (en) | 2018-02-09 |
Family
ID=61416826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720922683.5U Expired - Fee Related CN206985135U (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206985135U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
| CN116483016A (en) * | 2023-06-25 | 2023-07-25 | 北京瀚科智翔科技发展有限公司 | Universal kit for unmanned modification of manned control equipment and implementation method |
-
2017
- 2017-07-27 CN CN201720922683.5U patent/CN206985135U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
| CN116483016A (en) * | 2023-06-25 | 2023-07-25 | 北京瀚科智翔科技发展有限公司 | Universal kit for unmanned modification of manned control equipment and implementation method |
| CN116483016B (en) * | 2023-06-25 | 2023-08-29 | 北京瀚科智翔科技发展有限公司 | Universal kit for unmanned modification of manned control equipment and implementation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 Termination date: 20210727 |