CN207718229U - A kind of Omni-mobile AGV of independent navigation - Google Patents
A kind of Omni-mobile AGV of independent navigation Download PDFInfo
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- CN207718229U CN207718229U CN201820181388.3U CN201820181388U CN207718229U CN 207718229 U CN207718229 U CN 207718229U CN 201820181388 U CN201820181388 U CN 201820181388U CN 207718229 U CN207718229 U CN 207718229U
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Abstract
Disclosed by the utility model is a kind of Omni-mobile AGV of independent navigation, including carrier frame, suspension, objective table and Mecanum wheel, and suspension is hinged with the carrier frame and Mecanum wheel respectively, and objective table cooperation is installed on the carrier frame；Shell is installed on carrier frame, the outermost of shell is enclosed with a circle safe touch side, several ultrasonic sensors, a monocular camera and a laser radar are laid on carrier frame, and monocular camera and laser radar are located at the Chinese herbaceous peony end of carrier frame.The utility model is not required to plan deposition path in advance, starting and terminal point only need to be specified, AGV can contexture by self path reach appointed place, have the advantages that flexibility, high degree of automation, the Omni-mobile ability of collocation the utility model AGV can be greatly improved it and pass through performance and practical performance, occasion suitable for narrow space, high to requirement on flexibility, therefore, it no longer needs to reserve larger channel when Ground arrangement, improves space availability ratio.
Description
Technical field
The utility model relates to factory or intelligent storage robot device and its part fields, more specifically
A kind of Omni-mobile AGV of independent navigation.
Background technology
AGV：Refer to and magnetically or optically wait homing guidances device equipped with electricity, can be travelled along defined guide path, there is peace
The transport vehicle of full guard and various transfer functions.Mecanum wheel is the patent of Mecanum company of Sweden.It is this comprehensive
Move mode is these angled all cinctures in the principle of the centre wheel for the wheel shaft for being located at wheel periphery there are many one
Axis is transformed into the wheel steering force of a part above one wheel normal force.Direction by respective wheel and speed, these
The final synthesis of power generates a resultant force vector to ensure that this platform in final resultant force on the direction of any requirement
It can be moved freely through on the direction of vector, the direction without changing wheel itself.
Data is shown:During the entire process of production, only 5% time be for processing and manufacturing, it is remaining
95% all be used for store, load and unload, etc. it is to be processed and conveying:In the U.S., direct labor cost proportion deficiency production cost
10%, and this ratio is also constantly declining, and the expense shared by storing, transporting accounts for the 40% of production cost.Therefore, at present
The important measures that each industrial powers in the world generally prevail over competition transformation logistics structure, reduction logistics cost as enterprise,
To adapt to the needs of modern production, logistics develops towards the direction of modernization.Homing guidance AGV adaptability is good, flexible journey
Height, good reliability are spent, production can be achieved and carry the integrated of function and automation, many industries in various countries all obtain extensively
Application.Currently, in the certain automobiles in China, tobacco business, AGV has come into operation, and achieves good economic benefit.
Existing AGV is passed through fixes guide mode frequently with guide tracked, magnetic guidance formula etc., and this guide mode is needed by additional
The running route of the good AGV of facility planning, and more difficult change, existing fixed guiding type AGV need to have planned the operation of AGV in advance
Route, and the device in place cannot be moved arbitrarily, and fixed guide formula AGV significantly reduces the flexibility of AGV；On the other hand, existing
It is differential wheeled construction to have the common chassis AGV, is realized and is turned to by the speed discrepancy of driving wheel, traditional differential wheel undercarriage
Under the operating mode of ground on the scene limited space, place sky will be greatly improved using the AGV on Omni-mobile chassis in dyskinesia by AGV
Between utilization rate, it is cost-effective.
Utility model content
Disclosed by the utility model is a kind of Omni-mobile AGV of independent navigation, and main purpose is to overcome existing skill
Art above shortcomings and disadvantage.
The technical solution adopted in the utility model is as follows：
A kind of Omni-mobile AGV of independent navigation, including carrier frame, suspension, objective table and Mecanum wheel, it is described
Suspension is hinged with the carrier frame and Mecanum wheel respectively, and the objective table cooperation is installed on the carrier frame
On；It is installed with shell on the carrier frame, the outermost of the shell is enclosed with a circle safe touch side, is laid on the carrier frame
There are several ultrasonic sensors, a monocular camera and a laser radar, the monocular camera and laser radar to be located at institute
State the Chinese herbaceous peony end of carrier frame；The front of the carrier frame is also installed with a Chinese herbaceous peony holder, matches on the Chinese herbaceous peony holder and attaches together
Screen mount equipped with a movable lifting setting.
Further, the screen mount is articulated with the Chinese herbaceous peony up and down by the way that a screen up-down rotation gear is movable
On holder, which is used to adjust the height and angle of screen mount.
Further, also cooperation is equipped with a screen and a binocular camera on the screen mount.
Further, there are four the ultrasonic sensors, be respectively cooperating be installed in the carrier frame it is forward and backward, left,
Right four direction.
Further, the carrier frame builds setting by aluminium section bar.
Further, platform can be also carried on the objective table or takes object mechanical arm.
Further, the suspension includes the car body and wheel of flexible connection, which coordinates the Mike to receive with wheel
Nurse wheel contacts setting with ground.
Further, the Mecanum wheel is all driving wheel.
A kind of application method of the Omni-mobile AGV of independent navigation, the application method include step in detail below：
Step 1：Specified AGV Origin And Destinations, by operating the screen on AGV screen mounts, selecting and inputting AGV shiftings
Dynamic beginning and end, AGV built-in controllers can contexture by self optimize mobile route reach appointed place；
Step 2：AGV is moved, and monocular camera and the binocular camera of AGV provide vision guided navigation, while laser thunder for the AGV
Radar navigation is provided up to for the AGV, in the operation moving process of AGV, is navigated according to vision guided navigation and laser radar, constantly
To the layout change in place, navigation data is provided for AGV built-in controllers, it can be automatic according to the variation that place is laid out
Adjust action path；
Step 3：AGV omnidirectional movings ensure contact of tetra- Mecanum wheels of AGV with ground, so by the suspension of setting
Steering and the rotating speed for controlling the Mecanum wheel of four active wheel constructions afterwards, make the AGV realize omnidirectional moving, meet its automatic tune
Omni-mobile requirement after whole action path；
Step 4：AGV is arrived at, and completes the movement of AGV independent navigations
By the above-mentioned description to the utility model it is found that compared to the prior art, the utility model has the advantage of：
The independent navigation Omni-mobile AGV of the utility model is not required to plan deposition path in advance, only need to specify starting and terminal point,
AGV can contexture by self path reach appointed place, have the advantages that flexibility, high degree of automation, collocation the utility model
The Omni-mobile ability of AGV can be greatly improved it by performance and practical performance, be wanted suitable for narrow space, to flexibility
High occasion is sought, therefore, when Ground arrangement no longer needs to reserve larger channel, improves space availability ratio.Meanwhile this practicality is new
The chassis structure of type AGV determines that it can carry larger load, the structure of carrier frame in the case where own wt is smaller
Form, is easily installed and expanding function, and can bear relatively large load in the case where ensureing that own wt is relatively light.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model shape.
Fig. 2 is the structural schematic diagram of the utility model.
Specific implementation mode
Illustrate with reference to the accompanying drawings to further explain specific embodiment of the present utility model.
As depicted in figs. 1 and 2, the Omni-mobile AGV of a kind of independent navigation, including carrier frame 1, suspension 2, objective table 3
And Mecanum wheel 4, the suspension 2 is hinged with the carrier frame 1 and Mecanum wheel 4 respectively, and the objective table 3 coordinates
It is installed on the carrier frame 1；Shell 5 is installed on the carrier frame 1, the outermost of the shell 5 is enclosed with one
Safe touch side 6 is enclosed, several ultrasonic sensors 7, a monocular camera 8 and a laser radar are laid on the carrier frame 1
9, the monocular camera 8 and laser radar 9 are located at the Chinese herbaceous peony end of the carrier frame 1, monocular camera 8 and laser radar 9
Two kinds of independent navigation modes of AGV, i.e. vision guided navigation and laser radar navigation are provided；It also installs the front of the carrier frame 1
There is a Chinese herbaceous peony holder 10, the screen mount 11 for being installed with a movable lifting setting is coordinated on the Chinese herbaceous peony holder 10.
Further, the screen mount 11 by a screen up-down rotation gear 12 it is movable be articulated with up and down it is described
On Chinese herbaceous peony holder 10, which is used to adjust the height and angle of screen mount 11, to be suitable for difference
User.
Further, also cooperation is equipped with a screen 13 and a binocular camera 14 on the screen mount 11.
Further, there are four the ultrasonic sensors 7, be respectively cooperating be installed in the carrier frame 1 it is forward and backward,
Left and right four direction, safe touch side 6 and ultrasonic sensor 7 provide the dual safety protection of AGV, when ultrasonic sensor 7 is supervised
Barrier is measured less than notice AGV parkings after safe distance, safe touch side 6 is for touching after 7 malfunction and failure of ultrasonic sensor
Hit parking or deflecting.
Further, the carrier frame 1 builds setting by aluminium section bar.
Further, platform can be also carried on the objective table 3 or takes object mechanical arm.
Further, the suspension 2 includes the car body and wheel of flexible connection, which coordinates the Mike to receive with wheel
Nurse wheel 4 contacts setting with ground, improves AGV by performance, is used for AGV functions expandings.
Further, the Mecanum wheel 4 is all driving wheel, by the steering and rotating speed of control four-wheel, it can be achieved that AGV
Omnidirectional moving.
A kind of application method of the Omni-mobile AGV of independent navigation, the application method include step in detail below：
Step 1：Specified AGV Origin And Destinations, by operating the screen on AGV screen mounts, selecting and inputting AGV shiftings
Dynamic beginning and end, AGV built-in controllers can contexture by self optimize mobile route reach appointed place；
Step 2：AGV is moved, and monocular camera and the binocular camera of AGV provide vision guided navigation, while laser thunder for the AGV
Radar navigation is provided up to for the AGV, in the operation moving process of AGV, is navigated according to vision guided navigation and laser radar, constantly
To the layout change in place, navigation data is provided for AGV built-in controllers, it can be automatic according to the variation that place is laid out
Adjust action path；
Step 3：AGV omnidirectional movings ensure contact of tetra- Mecanum wheels of AGV with ground, so by the suspension of setting
Steering and the rotating speed for controlling the Mecanum wheel of four active wheel constructions afterwards, make the AGV realize omnidirectional moving, meet its automatic tune
Omni-mobile requirement after whole action path；
Step 4：AGV is arrived at, and completes the movement of AGV independent navigations
The independent navigation Omni-mobile AGV of the utility model is not required to plan deposition path in advance, only need to specify starting and terminal point,
AGV can contexture by self path reach appointed place, have the advantages that flexibility, high degree of automation, collocation the utility model
The Omni-mobile ability of AGV can be greatly improved it by performance and practical performance, be wanted suitable for narrow space, to flexibility
High occasion is sought, therefore, when Ground arrangement no longer needs to reserve larger channel, improves space availability ratio.Meanwhile this practicality is new
The chassis structure of type AGV determines that it can carry larger load, the structure of carrier frame in the case where own wt is smaller
Form, is easily installed and expanding function, and can bear relatively large load in the case where ensureing that own wt is relatively light.
The above is only the specific embodiments of the present invention, but the design concept of the utility model is not limited merely to
This, it is every that the utility model is improved with carrying out unsubstantiality using this design, it should belong to and invade the utility model protection
The behavior of range.
Claims (8)
1. a kind of Omni-mobile AGV of independent navigation, it is characterised in that：It is received including carrier frame, suspension, objective table and Mike
Nurse wheel, the suspension is hinged with the carrier frame and Mecanum wheel respectively, and the objective table cooperation is installed on described
On carrier frame；It is installed with shell on the carrier frame, the outermost of the shell is enclosed with a circle safe touch side, the chassis frame
Several ultrasonic sensors, a monocular camera and a laser radar, the monocular camera and laser radar point are laid on frame
Not Wei Yu the carrier frame Chinese herbaceous peony end；The front of the carrier frame is also installed with a Chinese herbaceous peony holder, the Chinese herbaceous peony holder
Upper cooperation is installed with the screen mount of a movable lifting setting.
2. a kind of Omni-mobile AGV of independent navigation according to claim 1, it is characterised in that：The screen mount is logical
Cross that a screen up-down rotation gear is movable to be articulated with up and down on the Chinese herbaceous peony holder, the screen up-down rotation gear is for adjusting
The height and angle of whole screen mount.
3. a kind of Omni-mobile AGV of independent navigation according to claim 2, it is characterised in that：On the screen mount
Also cooperation is equipped with a screen and a binocular camera.
4. a kind of Omni-mobile AGV of independent navigation according to claim 1, it is characterised in that：The supersonic sensing
There are four devices, is respectively cooperating with the front, rear, left and right four direction for being installed in the carrier frame.
5. a kind of Omni-mobile AGV of independent navigation according to claim 1, it is characterised in that：The carrier frame by
Aluminium section bar builds setting.
6. a kind of Omni-mobile AGV of independent navigation according to claim 1, it is characterised in that：On the objective table also
Platform can be carried or take object mechanical arm.
7. a kind of Omni-mobile AGV of independent navigation according to claim 1, it is characterised in that：The suspension includes soft
Property connection car body and wheel, the car body and wheel the cooperation Mecanum wheel contacts setting with ground.
8. a kind of Omni-mobile AGV of independent navigation according to claim 1, it is characterised in that：The Mecanum wheel
It is all driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820181388.3U CN207718229U (en) | 2018-02-02 | 2018-02-02 | A kind of Omni-mobile AGV of independent navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820181388.3U CN207718229U (en) | 2018-02-02 | 2018-02-02 | A kind of Omni-mobile AGV of independent navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207718229U true CN207718229U (en) | 2018-08-10 |
Family
ID=63053287
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820181388.3U Active CN207718229U (en) | 2018-02-02 | 2018-02-02 | A kind of Omni-mobile AGV of independent navigation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108089587A (en) * | 2018-02-02 | 2018-05-29 | 福建（泉州）哈工大工程技术研究院 | A kind of Omni-mobile AGV of independent navigation |
| CN108803629A (en) * | 2018-08-27 | 2018-11-13 | 浙江华嘉驰智能科技有限公司 | Carrier and its control method are followed based on millimetre-wave radar |
| CN109144071A (en) * | 2018-09-30 | 2019-01-04 | 青岛港国际股份有限公司 | AGV traffic control method in a kind of narrow lane |
| CN109358631A (en) * | 2018-11-27 | 2019-02-19 | 上海海事大学 | A kind of intelligent object conveying robot |
| CN110387855A (en) * | 2019-07-29 | 2019-10-29 | 哈尔滨工业大学 | Automatic small intelligence deicing vehicle |
-
2018
- 2018-02-02 CN CN201820181388.3U patent/CN207718229U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108089587A (en) * | 2018-02-02 | 2018-05-29 | 福建（泉州）哈工大工程技术研究院 | A kind of Omni-mobile AGV of independent navigation |
| CN108803629A (en) * | 2018-08-27 | 2018-11-13 | 浙江华嘉驰智能科技有限公司 | Carrier and its control method are followed based on millimetre-wave radar |
| CN108803629B (en) * | 2018-08-27 | 2021-07-02 | 浙江华嘉驰智能科技有限公司 | Follow-up carrier based on millimeter wave radar and control method thereof |
| CN109144071A (en) * | 2018-09-30 | 2019-01-04 | 青岛港国际股份有限公司 | AGV traffic control method in a kind of narrow lane |
| CN109358631A (en) * | 2018-11-27 | 2019-02-19 | 上海海事大学 | A kind of intelligent object conveying robot |
| CN110387855A (en) * | 2019-07-29 | 2019-10-29 | 哈尔滨工业大学 | Automatic small intelligence deicing vehicle |
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