CN207774162U - AGV transport devices - Google Patents
AGV transport devices Download PDFInfo
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- CN207774162U CN207774162U CN201721884451.1U CN201721884451U CN207774162U CN 207774162 U CN207774162 U CN 207774162U CN 201721884451 U CN201721884451 U CN 201721884451U CN 207774162 U CN207774162 U CN 207774162U
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- agv
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- car bodies
- magnetic sensor
- induction
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Abstract
The utility model discloses a kind of AGV transport devices, AGV transport devices include AGV car bodies, Magnetic Sensor for incuding embedded magnetic stripe position on the ground and the driving unit in institute's AGV car bodies and control unit, with multiple induction parts arranged according to a determining deviation in Magnetic Sensor, the orientation of induction part is vertical with the traffic direction of AGV car bodies so that the induction zone that induction part is formed incudes branch road or converges the magnetic stripe in section in advance, Magnetic Sensor is installed on AGV car bodies, and the centre position of induction zone is concordant with the centre position of AGV car bodies, induction part is connect with control unit, control unit controls driving unit driving AGV car bodies movement after the inductive signal for receiving induction part.In the utility model, the induction zone that induction part in Magnetic Sensor is formed can incude branch road in advance or converge the magnetic stripe in section, will be through branch road or when converging section in AGV devices, control unit adjusts the running route of AGV devices in advance, realizes that AGV devices steadily by branch road or converge section.
Description
Technical field
The utility model is related to automatic control technology fields, and in particular to a kind of AGV transport devices.
Background technology
AGV is automated guided vehicle, refers to magnetically or optically waiting homing guidances device equipped with electricity, it can be along defined
Path of navigation travels, the transport vehicle with safeguard protection and various transplanting functions.
The magnetic of AGV routines tracks mode at present, is to go out magnetic stripe in magnetic according to the track inferred from input data of Magnetic Sensor return of magnetic
The position of sensor, then the position that differential corrects AGV vehicle bodies is formed by adjusting the rotating speed of the motor of left and right two, it is always ensured that magnetic
Item tracks the center of Magnetic Sensor in magnetic.
When encountering branch road section, AGV, which will go to fork crossing, can be detected simultaneously by straight line magnetic stripe and bend magnetic stripe, magnetic stripe
There is superposition, the track center position of Magnetic Sensor of magnetic is biased to bend magnetic stripe, in order to be always ensured that magnetic stripe tracks magnetic in magnetic
The center of sensor, AGV vehicle bodies understand turns right on this aspect pendulum a bit, if behind crossing of diverge enter keep straight on section, AGV after
Vehicle body adjusts again when continuous straight trip, in this way, existing AGV dancing can occurring in branch road section, causes AGV in branch road
Sections of road is not sufficiently stable.
Encounter converge section when, AGV, which will be gone to, to be converged crossing and can just be detected simultaneously by bend magnetic stripe and straight line magnetic stripe, when
There is superposition in magnetic stripe, can be turned right with AGV when conventional method and deviate adjustment, but just adjust offset to crossing AGV is converged
Amount, be so very little in the offset adjustment amount for converging crossing, AGV has been crossed converge crossing after just pass directly to straight way traveling, this
It is a turnover often amplitude it is bigger, if AGV speed than it is very fast when, it is easy to plunge off the tracks.To find out its cause, be because
It is smaller to adjust amplitude when converging crossing by AGV at present, and vehicle body cannot be ajusted in time, cause AGV that cannot smoothly be transitioned into directly
Line travels.
In conclusion current AGV, when encountering branch road or converging section, can not so that AGV is steady since detection range is narrow
Operation.
The above is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that the above is existing skill
Art.
Utility model content
The main purpose of the utility model is to propose a kind of AGV transport devices, it is intended to solve existing AGV transport devices and exist
The problem of section is unable to even running is converged in branch road.
To achieve the goals above, the utility model proposes a kind of AGV transport devices, the AGV transport devices include
AGV car bodies, for incude the embedded Magnetic Sensor of magnetic stripe position on the ground and the driving unit in institute's AGV car bodies and
Control unit, the Magnetic Sensor are interior with multiple induction parts arranged according to a determining deviation, the orientation of the induction part
It is vertical with the traffic direction of AGV car bodies so that the induction zone that the induction part is formed incudes branch road or converges section in advance
Magnetic stripe, the Magnetic Sensor are installed on the AGV car bodies, and in the centre position of the induction zone and the AGV car bodies
Meta position horizontalization is neat, and the induction part is connect with described control unit, and described control unit is in the induction for receiving the induction part
The driving unit is controlled after signal drives the AGV car bodies movement.
Preferably, the length on the Magnetic Sensor direction vertical with the AGV car bodies traffic direction is greater than or equal to 5
The width of the magnetic stripe again.
Preferably, multiple induction parts are longer than the AGV vehicles according to the length of the induction zone of a determining deviation arrangement form
Spacing between two moving wheels of body.
Preferably, the distance between two neighboring described induction part is less than the width of the magnetic stripe, adjacent three senses
The distance between portion is answered to be more than the width of the magnetic stripe.
Preferably, the induction part includes magnetic head and magnetic head fixed part, and the magnetic head is connect with described control unit, institute
It states magnetic head and senses that the i.e. real-time inductive signal that sends is to control unit when magnetic stripe.
Preferably, there are 18 induction parts, wherein the 9th induction part and the 10th induction part in the Magnetic Sensor
Between centre position it is concordant with the centre position of AGV transport devices.
Preferably, the AGV transport devices include at least two Magnetic Sensors, wherein being respectively to be installed in the AGV vehicles
First Magnetic Sensor of body front end and the second Magnetic Sensor for being installed in the AGV body rear ends, first Magnetic Sensor
It is separately connected described control unit with second Magnetic Sensor.
Preferably, the driving unit includes the left movement wheels of AGV car bodies, right moving wheel, for driving the left movement
The first motor of wheel and the second motor for driving the right moving wheel, the first motor are independent with second motor
It is controlled by described control unit.
In technical solutions of the utility model, by the way that the induction part of multiple arrangements is arranged in Magnetic Sensor, and sense is set
Answer the orientation in portion vertical with the traffic direction of AGV car bodies, so that the induction zone that the induction part is formed incudes branch road in advance
Or converge the magnetic stripe in section, in this way, will be through branch road or when converging section in AGV devices, control unit adjusts the AGV dresses in advance
The running route set realizes that AGV devices steadily by branch road or converge section.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of the utility model AGV transport devices；
Fig. 2 is the structural schematic diagram of the Magnetic Sensor in the utility model AGV transport devices；
Fig. 3 is the structural schematic diagram of Magnetic Sensor and magnetic stripe magnetic connects in the utility model AGV transport devices；
Structural schematic diagrams of the Fig. 4 for Magnetic Sensor in the utility model AGV transport devices in branch road section and magnetic stripe magnetic connects；
Fig. 5 is Magnetic Sensor in the utility model AGV transport devices in the structural representation for converging section and magnetic stripe magnetic connects
Figure；
Fig. 6 is the control system schematic diagram of the utility model AGV transport devices.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 10 | AGV car bodies | 20 | Magnetic stripe |
| 110 | Magnetic Sensor | 120 | Driving unit |
| 111 | Induction part | 121 | Left movement wheel |
| 130 | Control unit | 122 | Right moving wheel |
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
If it is to be appreciated that related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction be only used for explain it is opposite between each component under a certain particular pose (as shown in the picture)
Position relationship, motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes correspondingly.
If, should " first ", " the in addition, relate to the description of " first ", " second " etc. in the utility model embodiment
Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning
The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one
A this feature.In addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Personnel can be implemented as basis, will be understood that this technical side when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not within the protection domain of the requires of the utility model.
Referring to Fig. 1 and Fig. 6, the utility model provides a kind of AGV transport devices.
The AGV transport devices include AGV car bodies 10, the Magnetic Sensor for incuding embedded 20 position of magnetic stripe on the ground
110 and the driving unit 120 in institute's AGV car bodies 10 and control unit 130, have in the Magnetic Sensor 110 multiple
According to the induction part 111 that a determining deviation arranges, the traffic direction of the orientation of the induction part 111 and the AGV car bodies 10
Vertically so that the induction zone that the induction part 111 is formed incudes branch road or converges the magnetic stripe 20 in section, the Magnetic Sensor in advance
110 are installed on the AGV car bodies 10, and the centre position of the induction zone is concordant with the centre position of the AGV car bodies 10,
The induction part 111 is connect with described control unit 130, and described control unit 130 is in the induction for receiving the induction part 111
The driving unit 120 is controlled after signal drives the AGV car bodies 10 to move.
Specifically, AGV transport devices include AGV car bodies 10, Magnetic Sensor 110 and are located in the AGV car bodies 10
Driving unit 120 and control unit 130, wherein in the utility model embodiment, the Magnetic Sensor 110 be arranged in AGV vehicles
On body 10, in AGV navigation system, AGV transport devices are realized to be run by predetermined paths, mainly by being buried in predetermined paths
Equipped with magnetic stripe 20, Magnetic Sensor 110 on the AGV transport devices determines operation side by incuding the position of the magnetic stripe 20
To.
The induction part 111 is to sense the position that magnetic strength induction signal can be fed back when magnetic stripe 20, specifically in the induction
When portion 111 is overlapped with magnetic stripe 20, the induction part 111 can feed back magnetic strength induction signal to the Magnetic Sensor 110, and then pass through
Signal is converted, and the magnetic strength induction signal is converted to electric signal, is fed back in described control unit 130.It is described in the present embodiment
There is multiple induction parts 111 by default spacing arrangement, and orientation and the institute of the induction part 111 in Magnetic Sensor 110
The traffic direction for stating AGV car bodies 10 is vertical, in this way, the Magnetic Sensor is in the side vertical with 10 traffic direction of AGV car bodies
Upward length is longer, can sense that magnetic induction is believed by controlling the induction part 111 in the centre position on Magnetic Sensor first
Number when, determine the position of magnetic stripe 20, and then control AGV car bodies 10 and walk along the magnetic stripe 20, wherein the induction zone is set
Centre position is concordant with the centre position of the AGV car bodies 10, it can be achieved that in AGV device operational process, controls AGV car bodies 10
Centre position it is concordant with magnetic stripe 20, keep described 10 the right and left of AGV car bodies equal at a distance from the edge of running route；Its
The induction zone that its secondary induction part 111 is formed is larger so that the AGV devices can incude branch road in advance or converge the magnetic stripe in section
20, so can in advance to branch road or converge section run when be adjusted, prevent AGV car bodies 10 branch road or converge section transport
Row is unstable.
In the utility model embodiment, by the induction part 111 of the multiple arrangements of setting in Magnetic Sensor 110, and
The orientation that induction part 111 is arranged is vertical with the traffic direction of AGV car bodies 10, so that the induction that the induction part 111 is formed
Area incudes branch road or converges the magnetic stripe 20 in section in advance, in this way, AGV devices will be through branch road or when converging section, control unit
130 adjust the running route of the AGV devices in advance, realize that AGV devices steadily by branch road or converge section.
In the utility model embodiment, the length of the Magnetic Sensor 110 is longer, can so detect branch road in advance
Section converges section, and detection range is wide, specifically, the Magnetic Sensor 110 is vertical with 10 traffic direction of AGV car bodies
Direction on length be greater than or equal to 5 times of magnetic stripes 20 width, the Magnetic Sensor 110 maximum length be not more than institute
State the width of AGV car bodies 10.
In the utility model embodiment, the magnetic stripe 20 is embedded in the centre in the operation section of the AGV transport devices
The centre position of position, the AGV transport devices is run along the magnetic stripe 20, completes the magnetic navigation of AGV transport devices.The magnetic
The width of item 20 is smaller, and the distance between the two neighboring induction part 111 in the specific Magnetic Sensor 110 is less than described
The width of magnetic stripe 20, the distance between adjacent three described induction parts 111 are more than the width of the magnetic stripe 20.Namely the magnetic passes
For sensor 110 when the section for being embedded with the magnetic stripe 20 is run, at most only there are two the induction parts 111 and 20 weight of same magnetic stripe
It closes, at most only there are two the induction parts 111, and there is influence value to determine institute when multiple induction parts 111, which are fed back, influence value
It may be the magnetic stripe 20 of branch road section to state the section that AGV transport devices are run to have Article 2 magnetic stripe 20, the Article 2 magnetic stripe 20,
It is also likely to be the magnetic stripe 20 for converging section.And the Magnetic Sensor 110 it is vertical with 10 traffic direction of AGV car bodies direction it is long
Length be greater than or equal at left and right sides of the width namely the magnetic strength device of 5 times of magnetic stripes 20 and can at least sense 2.5 magnetic
Item 20, thus the Magnetic Sensor 110 in the present embodiment detect in advance branch road section or converge section mode it is more excellent.
Further, there are multiple induction parts 111, the plurality of induction part 111 is according to certain in the magnetic strength device
The length of the induction zone of spacing arrangement form is longer than between two moving wheels of the AGV car bodies 10, to ensure that the magnetic senses
The detection range of device 110 is except the running orbit of two moving wheels of AGV car bodies 10 so that the detection range of the magnetic strength device
It is wider, detect in advance branch road section or converge section mode it is more excellent.
There are 18 induction parts 111, wherein the 9th induction part 111 and the 10th induction in the Magnetic Sensor 110
Centre position between portion 111 is concordant with the centre position of AGV transport devices.In the utility model embodiment, controlling
In AGV transport devices operational process processed, the 9th induction part 111 and the 10th induction part 111 and the magnetic stripe are remained
20 overlap, and according to the influence value situation that the 9th induction part 111 and the 10th induction part 111 are fed back, control the AGV fortune
The centre position of defeated device is run along the magnetic stripe 20.
The induction part 111 includes magnetic head and magnetic head fixed part, and the magnetic head is connect with described control unit 130, institute
It states magnetic head and senses that the i.e. real-time inductive signal that sends is to control unit 130 when magnetic stripe 20.Specifically, the magnetic head and the magnetic
When item 20 overlaps, magnetic strength induction signal can be fed back to the Magnetic Sensor 110, and then convert by signal, by the magnetic induction
Signal is converted to electric signal, feeds back in described control unit 130.In the utility model embodiment, the Magnetic Sensor 110
With 18 magnetic heads, there is certain interval between magnetic head, and is in several rows of row, being smaller than between two magnetic heads
The width of the magnetic stripe 20, and the spacing between three magnetic heads is more than the width namely the magnetic stripe 20 of the magnetic stripe 20
Width just stand the positions of two magnetic heads.
Further, the inductive signal of Magnetic Sensor 110 is lost and leads to the navigation of AGV transport devices not in order to prevent
Standard even deviates from track operation, multiple Magnetic Sensors 110 need to be arranged, wherein when 110 failure of Magnetic Sensor, by another
AGV transport devices described in the actuated signal control of an outer Magnetic Sensor 110, to improve the standard of the AGV transport devices navigation
True property.The specific such as AGV transport devices include at least two Magnetic Sensors 110, wherein being respectively to be installed in the AGV car bodies
First Magnetic Sensor 110 of 10 front ends and the second Magnetic Sensor 110 for being installed in 10 rear end of AGV car bodies, described first
Magnetic Sensor 110 is separately connected described control unit 130 namely first Magnetic Sensor with second Magnetic Sensor 110
110 are individually controlled by described control unit 130 with second Magnetic Sensor 110, wherein 110 failure of the first Magnetic Sensor
When, 110 inductive signal of the second Magnetic Sensor is not influenced and to 130 feedback-induced signal of described control unit.
In the utility model embodiment, the AGV transport devices can be AGV travelling bogies, or AGV is transported
Robot during being tracked using the magnetic connects of Magnetic Sensor 110 and magnetic stripe 20, is believed according to the induction that Magnetic Sensor 110 is fed back
Number magnetic stripe 20 is determined in the position of Magnetic Sensor 110, then form difference by adjusting the revolution of two moving wheels in left and right respectively and entangle
The just vehicle body position of the AGV car bodies 10 is always ensured that magnetic stripe 20 in the centre position of the Magnetic Sensor 110, realizes magnetic conductance
Boat tracks.
Two can be respectively driven by using two motors by adjusting the mode of the revolution formation difference of the moving wheel of left and right two
Moving wheel realizes that specifically, the driving unit 120 includes the left movement wheel 121 of AGV car bodies 10, right moving wheel 122, is used for
Drive the first motor of the left movement wheel 121 and the second motor for driving the right moving wheel 122, first electricity
Machine is independently controllable by described control unit 130 with second motor, and described control unit 130 is according to the Magnetic Sensor 110
The inductive signal of feedback controls the rotating speed of the first motor and second motor respectively, to be 121 He of left movement wheel
Right moving wheel 122 forms revolution difference, and then adjusts the vehicle body of institute AGV car bodies 10, realizes in branch road or converges section and adjust in advance,
Enable the AGV transport devices by branch road section or even running when converging section.
The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention,
It is every under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes
It changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (8)
1. a kind of AGV transport devices, which is characterized in that the AGV transport devices include AGV car bodies, are embedded in ground for incuding
On magnetic stripe position Magnetic Sensor and the driving unit in institute's AGV car bodies and control unit, in the Magnetic Sensor
With multiple induction parts arranged according to a determining deviation, the traffic direction of the orientation of the induction part and the AGV car bodies
Vertically so that the induction zone that the induction part is formed incudes branch road or converges the magnetic stripe in section in advance, the Magnetic Sensor is installed in
On the AGV car bodies, and the centre position of the induction zone is concordant with the centre position of AGV car bodies, the induction part with
Described control unit connects, and described control unit controls the driving unit after the inductive signal for receiving the induction part and drives
The dynamic AGV car bodies movement.
2. AGV transport devices as described in claim 1, which is characterized in that the Magnetic Sensor and AGV car bodies operation side
Length on vertical direction is greater than or equal to the width of 5 times of magnetic stripes.
3. AGV transport devices as described in claim 1, which is characterized in that multiple induction parts are arranged according to a determining deviation
The length of the induction zone of formation is longer than the spacing between two moving wheels of the AGV car bodies.
4. AGV transport devices as claimed in claim 2, which is characterized in that the distance between two neighboring described induction part is small
In the width of the magnetic stripe, the distance between adjacent three induction parts are more than the width of the magnetic stripe.
5. AGV transport devices as claimed in claim 4, which is characterized in that the induction part includes that magnetic head and magnetic head are fixed
Portion, the magnetic head are connect with described control unit, and the magnetic head senses when magnetic stripe sends inductive signal to controlling list in real time
Member.
6. the AGV transport devices as described in claim 1-5 any one, which is characterized in that have 18 in the Magnetic Sensor
The position induction part, wherein centre position between the 9th induction part and the 10th induction part in the AGV transport devices
Meta position horizontalization is neat.
7. AGV transport devices as claimed in claim 6, which is characterized in that the AGV transport devices are passed including at least two magnetic
Sensor, wherein being respectively to be installed in the first Magnetic Sensor of AGV car bodies front end and be installed in the AGV body rear ends
Second Magnetic Sensor, first Magnetic Sensor are separately connected described control unit with second Magnetic Sensor.
8. AGV transport devices as described in claim 1, which is characterized in that the driving unit includes the left movement of AGV car bodies
Wheel, right moving wheel, the first motor for driving the left movement wheel and the second motor for driving the right moving wheel,
The first motor is independently controllable by described control unit with second motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721884451.1U CN207774162U (en) | 2017-12-27 | 2017-12-27 | AGV transport devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721884451.1U CN207774162U (en) | 2017-12-27 | 2017-12-27 | AGV transport devices |
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| Publication Number | Publication Date |
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| CN207774162U true CN207774162U (en) | 2018-08-28 |
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| CN201721884451.1U Active CN207774162U (en) | 2017-12-27 | 2017-12-27 | AGV transport devices |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641940A (en) * | 2019-10-25 | 2020-01-03 | 广东科凯达智能机器人有限公司 | Rail traveling device and rail traveling system |
| CN111026124A (en) * | 2019-12-25 | 2020-04-17 | 广东嘉腾机器人自动化有限公司 | Crossing tracing control method and device, AGV (automatic guided vehicle) and readable storage medium |
| CN111123931A (en) * | 2019-12-23 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | AGV dual-drive magnetic navigation turning method and storage device |
| CN114074727A (en) * | 2020-08-20 | 2022-02-22 | 靖州县绿之嘉实业有限公司 | Intelligent logistics transport vehicle with anti-toppling function |
-
2017
- 2017-12-27 CN CN201721884451.1U patent/CN207774162U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641940A (en) * | 2019-10-25 | 2020-01-03 | 广东科凯达智能机器人有限公司 | Rail traveling device and rail traveling system |
| CN111123931A (en) * | 2019-12-23 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | AGV dual-drive magnetic navigation turning method and storage device |
| CN111123931B (en) * | 2019-12-23 | 2022-07-12 | 广东嘉腾机器人自动化有限公司 | Turning method and storage device for AGV dual-drive magnetic navigation |
| CN111026124A (en) * | 2019-12-25 | 2020-04-17 | 广东嘉腾机器人自动化有限公司 | Crossing tracing control method and device, AGV (automatic guided vehicle) and readable storage medium |
| CN111026124B (en) * | 2019-12-25 | 2023-12-01 | 广东嘉腾机器人自动化有限公司 | Intersection tracking control method and device, AGV trolley and readable storage medium |
| CN114074727A (en) * | 2020-08-20 | 2022-02-22 | 靖州县绿之嘉实业有限公司 | Intelligent logistics transport vehicle with anti-toppling function |
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