CN208000130U - A kind of AGV pose measuring apparatus and AGV based on Dual-encoder - Google Patents
A kind of AGV pose measuring apparatus and AGV based on Dual-encoder Download PDFInfo
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- CN208000130U CN208000130U CN201820395583.6U CN201820395583U CN208000130U CN 208000130 U CN208000130 U CN 208000130U CN 201820395583 U CN201820395583 U CN 201820395583U CN 208000130 U CN208000130 U CN 208000130U
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Abstract
The utility model is related to a kind of AGV pose measuring apparatus and AGV based on Dual-encoder, including angle measurement portion, compressed part and distance measuring portion;Angle measurement portion includes mounting bracket and the angle measurement encoder being arranged on mounting bracket;Compressed part includes upper bracket, lower bracket and the elastic mechanism for connecting upper bracket and lower bracket;Distance measuring portion includes auxiliary wheel and the range measurement encoder on auxiliary wheel;The lower rotation of upper bracket and mounting bracket connects, and lower bracket is connect with auxiliary wheel.The utility model is designed based on Dual-encoder, and the data of the angle and distance measured by encoder can calculate poses of the AGV relative to initial position by transformation of coordinates.It efficiently solves the problems, such as that the pose measurement portion of AGV caused by plant site is skidded due to AGV driving wheels caused by ground out-of-flatness and other reasons is accurate, improves the accuracy that AGV poses calculate.
Description
Technical field
The utility model is related to a kind of AGV pose measuring apparatus and AGV based on Dual-encoder, belongs to AGV technical fields.
Background technology
Based on current tape guidance AGV is driven with differential, encoder is installed on the drive wheel, and AGV is in the process of running
The phenomenon that driving wheel caused by the injustice of ground skids can be encountered, the encoder installed on the drive wheel can not be measured accurately
The pose of AGV, in more and more miscellaneous scheduling system, the accuracy of the real-time pose of AGV is particularly significant to scheduling system, this
Driving force of the utility model based on driving wheel is big, the phenomenon that being susceptible to skidding, design it is a kind of by ground and auxiliary wheel it
Between frictional force allow auxiliary wheel to rotate, while being furnished with hold-down mechanism, increasing friction force prevents the generation of slipping phenomenon.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of AGV pose measuring apparatus based on Dual-encoder.
The utility model also provides a kind of AGV.
The technical solution of the utility model is as follows:
A kind of AGV pose measuring apparatus based on Dual-encoder, including:
Angle measurement portion, including mounting bracket and the angle measurement encoder that is arranged on mounting bracket;
Compressed part, including upper bracket, lower bracket and the elastic mechanism for connecting upper bracket and lower bracket;
Distance measuring portion, including auxiliary wheel and the range measurement encoder on auxiliary wheel;
Wherein, the lower rotation of upper bracket and mounting bracket connects, and lower bracket is connect with auxiliary wheel.
Preferably, a thrust ball bearing is equipped between the upper bracket and mounting bracket, by an angle measurement axis through upper
It is fixedly connected with angle measurement encoder after holder, thrust ball bearing, mounting bracket and passes through nut check.
It is further preferred that the angle measurement axis is equipped with spring collar with mounting bracket junction.
Preferably, the elastic mechanism includes spring and four connecting rods, and four connecting rods are with upper bracket, lower bracket at parallel four
Side shape is hinged, and spring one end is connected to upper bracket bottom, and the spring other end is connect with two opposite connecting rods.
It is further preferred that having strong market potential axis connection by one between two opposite connecting rods, the spring other end, which links, is having strong market potential
On axis.This design is advantageous in that, can be easy to disassemble by long pin shaft and replaces spring.
Preferably, there are two deep groove ball bearing and two depths for suit in a shaft, shaft at the center of the auxiliary wheel
Ditch ball bearing is located at the both sides of auxiliary wheel, and two deep groove ball bearings connect with lower bracket and encapsulated respectively by transparent cover, boring cover, turned
Range measurement encoder described in one end connection of axis.
It is further preferred that the shaft is connect with auxiliary wheel by flat key.
A kind of AGV, which is characterized in that include the above-mentioned AGV pose measuring apparatus based on Dual-encoder.
The beneficial effects of the utility model are:
The utility model AGV pose measuring apparatus is designed based on Dual-encoder, and an encoder is used for measuring in real time
The angle of auxiliary wheel rotation, another encoder can measure the angle of the real-time change of auxiliary wheel, be measured by encoder
The data of angle and distance can calculate poses of the AGV relative to initial position by transformation of coordinates.Efficiently solve vehicle
Between scene due to caused by ground out-of-flatness and other reasons AGV driving wheels skid caused by AGV pose measurement portion it is accurate
Problem improves the accuracy that AGV poses calculate.The present apparatus can also be on the AGV of existing no pose measuring apparatus, such as simultaneously
On magnetic guidance AGV, by the range measurement between two RFID cards, it may be implemented in scheduling system where real-time display AGV
Position, can more realize accurate AGV scheduling plannings in real time in this way.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model AGV pose measuring apparatus;
Fig. 2 is the structural schematic diagram of compressed part in the utility model;
Fig. 3 is the sectional view in angle measurement portion in the utility model;
Fig. 4 is the sectional view of distance measuring portion in the utility model;
Fig. 5 is scheme of installation of the utility model AGV pose measuring apparatus on AGV;
Fig. 6 is the upward view after the utility model AGV pose measuring apparatus is mounted on AGV;
Wherein:1, distance measuring portion;2, compressed part;3, angle measurement portion;4, angle measurement encoder;5, mounting bracket;6,
Upper bracket;7, spring;8, connecting rod;9, lower bracket;10, range measurement encoder;11, auxiliary wheel;12, axis pin;13, long pin shaft;
14, spring collar;15, thrust ball bearing;16, threaded hole;17, nut;18, angle measurement axis;19, deep groove ball bearing;20, turn
Axis;21, transparent cover;22, flat key;23, boring cover;24, measuring device;25, driving wheel;26, castor.
Specific implementation mode
The utility model is described further by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1:
As shown in Figures 1 to 4, the present embodiment provides a kind of AGV pose measuring apparatus based on Dual-encoder, including successively
Angle measurement portion, compressed part and the distance measuring portion of connection;Angle measurement portion, including mounting bracket and the angle that is arranged on mounting bracket
Degree measures encoder;Compressed part, including upper bracket, lower bracket and the elastic mechanism for connecting upper bracket and lower bracket;Distance is surveyed
Amount portion, including auxiliary wheel and the range measurement encoder on auxiliary wheel;Wherein, the lower rotation of upper bracket and mounting bracket
Connection, lower bracket are connect with auxiliary wheel.
Specifically, being equipped with a thrust ball bearing between upper bracket and mounting bracket, there is a groove in the upper surface of upper bracket, pushes away
Power ball bearing is placed in groove, by an angle measurement axis through upper bracket, thrust ball bearing, after mounting bracket with angle measurement
Encoder is fixedly connected and by the bottom end of nut check angle measurement axis.The top of angle measurement axis and angle measurement encoder
Connection, by perceiving the heeling condition of angle measurement axis, angle measurement encoder obtains the angle of inclination of AGV car bodies.Make
Then used time, measuring device pass to angle measurement encoder, the measurement of AGV angles by angle measurement axis again by upper bracket
It is to realize that AGV angles measure in real time by the angle measurement encoder in angle measurement portion.
Elastic mechanism includes spring and four connecting rods, and four connecting rods are hinged at parallelogram with upper bracket, lower bracket, i.e.,
In upper bracket and lower bracket holder, four connecting rods constitute parallelogram sturcutre, and the both ends of each connecting rod are respectively coupled branch
The bottom of frame and a side end of lower bracket, have strong market potential axis connection by one between two opposite connecting rods of top, i.e. long pin shaft is passed through
It wears two opposite connecting rods and is tightened by nut, spring one end links in long pin shaft, and the spring other end is connected to upper bracket
Bottom (upper bracket bottom offers the hanging hole of connecting spring), as shown in Figure 1.The operation principle of compressed part is by one end of spring
It being connected on upper bracket, the other end of spring is mounted in the long pin shaft on connecting rod, and the pulling force by spring is connecting rod added force,
Connecting rod realizes the power to lower bracket by this power, realizes the close contact between auxiliary wheel and ground, prevents from skidding.
A shaft is run through at the center of auxiliary wheel, and shaft is connect with auxiliary wheel by flat key, and there are two zanjons for suit in shaft
Ball bearing and two deep groove ball bearings are located at the both sides of auxiliary wheel, and two deep groove ball bearings connect with lower bracket and respectively by saturating
Lid, boring cover encapsulation, one end of shaft connect the range measurement encoder.In use, auxiliary wheel rotates on the ground, auxiliary
The rotation of wheel drives the rotation of range measurement encoder by the rotation of flat key connect band turn axis, the then rotation of transmission shaft,
The distance of rotation is calculated by range measurement encoder.
There is technical solution provided in this embodiment parallel four side to compress shape mechanism will be assisted by the pulling force of spring
Wheel compresses on the ground, prevents auxiliary wheel from skidding.When AGV is run, measuring device is surveyed by the encoder that auxiliary wheel is connected
Measure the information of the displacement distance of AGV.In the measurement of angle, the utility model designs a kind of structure of similar universal wheel
(being realized by thrust ball bearing) can calculate angle of the entire measuring device relative to AGV, pass through coordinate through this structure
Become change commanders encoder information be converted into AGV car bodies real-time angular variation.According to the range information and angle of measuring device
Information, so that it may to calculate the real-time pose information of AGV.After the posture information of AGV solves, so that it may real in scheduling system
When check the posture information of AGV, while the curve movement of AGV can be depicted.
Embodiment 2:
A kind of AGV pose measuring apparatus based on Dual-encoder, structure is as described in Example 1, the difference is that:Angle
Degree measures axis and is equipped with spring collar with mounting bracket junction.
Embodiment 3:
A kind of AGV contains the positions AGV based on Dual-encoder described in embodiment 1 or 2 again on the basis of existing AGV
Appearance measuring device.Entire AGV pose measuring apparatus is mounted on the bottom of AGV car bodies.
Embodiment 4:
A kind of working method of the AGV pose measuring apparatus based on Dual-encoder as described in embodiment 1 or 2, including with
Lower step:
(1) first, entire AGV pose measuring apparatus is mounted on to the bottom of AGV car bodies, as shown in Figure 5 and Figure 6, and is made
On the intersection point of perpendicular bisector of the AGV pose measuring apparatus between AGV driving wheels and castor, auxiliary wheel is contacted with ground;
(2) by control system (namely scheduling system) connection of angle measurement encoder and range measurement encoder and AGV;
(3) when AGV car bodies are run, the AGV car bodies known by angle measurement encoder and range measurement encoder
Moving distance data and deviation angle data are transferred to the control system of AGV;
(4) control system of AGV calculates the pose letter of AGV car bodies according to moving distance data and deviation angle data
Breath, subsequently can in AGV scheduling systems real time inspection AGV posture information, while describing the curve movement of AGV.
Provided in this embodiment is the Physics Work process of AGV pose measuring apparatus, as angle measurement encoder and away from
It, can be by it from collection, analysis and calculating of the encoder to the acquisition and transmission of data and control system progress data is measured
Itself function and internal processes are realized.
Claims (8)
1. a kind of AGV pose measuring apparatus based on Dual-encoder, which is characterized in that including:
Angle measurement portion, including mounting bracket and the angle measurement encoder that is arranged on mounting bracket;
Compressed part, including upper bracket, lower bracket and the elastic mechanism for connecting upper bracket and lower bracket;
Distance measuring portion, including auxiliary wheel and the range measurement encoder on auxiliary wheel;
Wherein, the lower rotation of upper bracket and mounting bracket connects, and lower bracket is connect with auxiliary wheel.
2. the AGV pose measuring apparatus based on Dual-encoder as described in claim 1, which is characterized in that the upper bracket and
A thrust ball bearing is equipped between mounting bracket, by an angle measurement axis through upper bracket, thrust ball bearing, after mounting bracket with angle
Degree measures encoder and is fixedly connected and passes through nut check.
3. the AGV pose measuring apparatus based on Dual-encoder as claimed in claim 2, which is characterized in that the angle measurement
Axis is equipped with spring collar with mounting bracket junction.
4. the AGV pose measuring apparatus based on Dual-encoder as described in claim 1, which is characterized in that the elastic mechanism
Including spring and four connecting rods, four connecting rods are hinged at parallelogram with upper bracket, lower bracket, and spring one end is connected to branch
Frame bottom, the spring other end are connect with two opposite connecting rods.
5. the AGV pose measuring apparatus based on Dual-encoder as claimed in claim 4, which is characterized in that two opposite companies
It has strong market potential axis connection by one between bar, the spring other end links in long pin shaft.
6. the AGV pose measuring apparatus based on Dual-encoder as described in claim 1, which is characterized in that the auxiliary wheel
A shaft is run through at center, and suit is there are two the both sides that deep groove ball bearing and two deep groove ball bearings are located at auxiliary wheel in shaft, and two
A deep groove ball bearing connect with lower bracket and is encapsulated respectively by transparent cover, boring cover, the range measurement described in one end connection of shaft
Encoder.
7. the AGV pose measuring apparatus based on Dual-encoder as claimed in claim 6, which is characterized in that the shaft with it is auxiliary
Wheel is helped to be connected by flat key.
8. a kind of AGV, which is characterized in that include AGV pose measurement of the claim 1-7 any one of them based on Dual-encoder
Device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820395583.6U CN208000130U (en) | 2018-03-22 | 2018-03-22 | A kind of AGV pose measuring apparatus and AGV based on Dual-encoder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820395583.6U CN208000130U (en) | 2018-03-22 | 2018-03-22 | A kind of AGV pose measuring apparatus and AGV based on Dual-encoder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019170162A1 (en) * | 2018-03-22 | 2019-09-12 | 山东大学 | Agv position and orientation measurement device using two encoders and application thereof |
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2018
- 2018-03-22 CN CN201820395583.6U patent/CN208000130U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019170162A1 (en) * | 2018-03-22 | 2019-09-12 | 山东大学 | Agv position and orientation measurement device using two encoders and application thereof |
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