CN208172603U - A kind of intelligence homing guidance AGV trolley - Google Patents
A kind of intelligence homing guidance AGV trolley Download PDFInfo
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- CN208172603U CN208172603U CN201820641337.4U CN201820641337U CN208172603U CN 208172603 U CN208172603 U CN 208172603U CN 201820641337 U CN201820641337 U CN 201820641337U CN 208172603 U CN208172603 U CN 208172603U
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Abstract
The utility model relates to AGV trolley technical fields, especially a kind of intelligent homing guidance AGV trolley, car body is from front to back successively by electrical storehouse, intermediate bin, battery compartment and lifting storehouse composition, car body top between the intermediate bin and battery compartment, which is equipped with the relative position of control truck and AVG trolley or so and turns to, provides the guide wheel group of one lateral deflection power of truck, two sides on the length direction of car body are mounted on guiding and lead imperial block, the front end of car body is equipped with L-shaped front shroud, the front end of front shroud is equipped with bumper module, obstacle sensor component is installed thereon, possess extremely low bodywork height and width, it can easily slip into below truck and be drawn, the traction of automatic lifting can be cooperated to strike out and realize full automatic handling.
Description
Technical field
The utility model relates to AGV trolley technical field, especially a kind of intelligent homing guidance AGV trolley.
Background technique
With the rapid development of logistics system, the application range of AGV is also constantly extending, AGV system, and researching and designing is a kind of
Unmanned cart system scheme based on electromagnetic navigation is tested by actual hardware, and system can reach needs of expected design,
The fields such as industry, military affairs, communications and transportation, electronics can be widely used in, there is good adaptive capacity to environment, it is very strong anti-dry
Disturb ability and target identification ability.
Existing AGV trolley has the following disadvantages：
1, the volume of vehicle body is larger, is not easy to be drawn below incision truck；
2, full automatic handling can not be carried out.
Utility model content
The purpose of the utility model is to overcome defect of the existing technology, provide it is a kind of possess extremely low bodywork height and
Width realizes full automatic handling, and the intelligence that the evacuation of the traffic between AGV can be realized without upper scheduling system is led automatically
Draw AGV trolley.
Technical solution adopted by the utility model to solve its technical problems is：A kind of intelligence homing guidance AGV trolley,
With rectangular car body, the car body is successively made of electrical storehouse, intermediate bin, battery compartment and lifting storehouse from front to back,
Car body top between the intermediate bin and battery compartment is equipped with the relative position and steering of control truck and AVG trolley or so
The guide wheel group of one lateral deflection power of truck is provided, the two sides on the length direction of car body are mounted on guiding and lead imperial block,
The front end of car body is equipped with L-shaped front shroud, and the front end of front shroud is equipped with bumper module, is equipped with barrier thereon
Sensor module.
Further, storehouse surface plate, the top two sides in electrical storehouse before the top in the electrical storehouse is equipped with by hinge
The gas spring that storehouse surface plate opens or closes before controlling is installed, guiding controller is installed on the bottom plate in electrical storehouse, electrical storehouse
Driver is equipped with by driver mounting plate on side wall, power-supply filter and relay assembly are installed in rear wall.
Further, the top of the intermediate bin is equipped with inter panel, is equipped with power drive unit in inner cavity,
The upper end of power drive unit is equipped with intermediate plate, and the middle position of intermediate plate offers arc-shaped slideway, the two ends of slideway
Portion is mounted on microswitch, and the front end of intermediate plate is equipped with Switching Power Supply, installs on the side intermediate plate of Switching Power Supply wired
Slot is equipped with receiver of remote-control sytem on the rear wall of intermediate bin.
Further, charging unit, charging contactor and card reader be installed in the battery compartment, card reader with fill
Several installation guide rails are installed between electric contactor, loudspeaker and buzzer, the charging are installed on the preceding inner wall of battery compartment
Device includes charging panel and charging touch panel, and charging touch panel disposed in parallel, charge contact are equipped on the charging panel
The retractable rod that place is stretched in plate and charging pile contacts, and one end of charging touch panel is equipped with transmitting optoelectronic switch, the other end
Reception optoelectronic switch is installed, optoelectronic switch is emitted and receives the electricity that optoelectronic switch passes through cable respectively with is installed in the battery compartment
Pond connection.
Further, the lifting storehouse has cross sectional shape in the bracket of " U " font and installs on the bracket
Motor, a side of the bracket offer guide-track groove, and another side is equipped with motor, swing arm, swing arm are equipped on motor
On needle bearing is installed, top optoelectronic switch and lower part optoelectronic switch are installed, motor is located at top light on the side of bracket
Between electric switch and lower part optoelectronic switch；
The top of the bracket is equipped with lifter pin by flange, is successively arranged with graphite copper from top to bottom on lifter pin
Set, pressing plate and spring, one end of pressing plate are equipped with the limit guide wheel with guide-track groove cooperation, and the other end and needle bearing cooperate
To control the tensile force of spring, the bottom end of bracket is equipped with the spring backing plate fixed by screw, the connection of flange and graphite copper sheathing
Place is equipped with circlip for shaft and to fixed graphite copper sheathing.
Further, the bumper module includes headstock bumper bar, is pacified in the both ends inner cavity of the headstock bumper bar
Equipped with fixed column, slide bar is installed in fixed column, spring and linear bearing are installed on slide bar, the tail portion of slide bar is equipped with restriction
The split pin of linear bearing is also equipped with lantern ring on linear bearing.
Further, the power drive unit includes bogie, the bottom rear and front end head installation of the bogie
There are driving assembly I and driving assembly II, passes through connection axis connection between driving assembly I and driving assembly II；
The front end of the bogie is equipped with steering signal frame by mounting plate, and control is equipped in the plate face of its rear end and is turned to
The spacer pin of angle, spacer pin slide limit on slideway, steering signal sensor, steering signal are equipped on steering signal frame
Sensor enclosure is equipped with navigation protection board；
The middle position of the bogie offers through-hole, and long stripes through hole I and long stripes through hole are symmetrically arranged on through-hole
II, three communicates between through-hole and long stripes through hole I and long stripes through hole II, in long stripes through hole I and long stripes through hole II
Oscillating shaft seat is installed and is fixed by screws on bogie, lower end is equipped with balance staff between two oscillating shaft seats, and balance staff passes through screw
It is connected with the floating bearing connecting above bogie and with car body is located at.
Further, the preceding storehouse surface plate is sequentially installed with knob, display screen and post lamp seat, the drawing from left to right
The lower end of hand is equipped with a word cylinder lock, is equipped with display screen protective cover outside display screen, three color post lamps are equipped on post lamp seat, shows
The side of display screen is equipped with antenna.
Further, be sequentially installed with from front to back on the electrical storehouse cam switch, scram button, red button,
The green button, two selection switches, yellow indicator lamp and yellow button.
Further, the obstacle sensor component includes sensing support and obstacle sensor, the sensing branch
Mounting plate is installed on the groove side of seat, obstacle sensor is installed on mounting plate.
Further, the controller includes being installed on AGV trolley to be used to detect the AGV trolley in warehouse or vehicle
Between real time position locator；The output end of the locator connects transceiver, and locator sends the real-time position information
To transceiver；The transceiver is connected to central processing unit U1 by A/D converter circuit, and transceiver is connected by Interface Terminal J1
There are optical coupling isolation circuit, timer and encoder feedback circuit；The optical coupling isolation circuit connects PG signal by DA conversion circuit
Circuit and DAPG signal circuit；The central processing unit U1 is connected with I/O circuit, at the same with communication interface and low-power consumption micro process
Device monitors circuit and is connected, and central processing unit U1 calculates the real time position distance of all AGV trolleies, obtains positioning real-time range letter
Breath, when the positioning real-time range information is less than set distance information, the central processing unit U1 controls posterior AGV trolley
It slows down or stops.
The utility model has the beneficial effects that：
1, the utility model possesses extremely low bodywork height and width, can easily slip into below truck and be drawn.
2, the utility model can cooperate the traction of automatic lifting to strike out the full automatic handling of realization.
3, the utility model is detected by real-time position information of the locator to AGV trolley, and central processing unit calculates all
The distance between AGV trolley is avoided and is collided between AGV trolley or rear-end collision, reduces to distance measuring sensor
It relies on, further decreases the manufacturing cost of AGV trolley.
Detailed description of the invention
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model, wherein
Fig. 1 is the perspective view of the utility model；
Fig. 2 is the schematic internal view of the utility model；
Fig. 3 is the main view of the utility model charging unit；
Fig. 4 is the top view of the utility model Fig. 3；
Fig. 5 is the main view in the utility model lifting storehouse；
Fig. 6 is the perspective view in the utility model lifting storehouse；
Fig. 7 is the main view of the utility model bumper module；
Fig. 8 is the perspective view of the utility model bumper module；
Fig. 9 is the main view of the utility model power drive unit；
Figure 10 is the bottom view of the utility model Fig. 9；
Figure 11 is the perspective view of the utility model power drive unit；
Figure 12 is the structural schematic diagram of the utility model obstacle sensor component.
Figure 13 is the structural block diagram of the utility model；
Figure 14 is the schematic diagram of the CPU of the utility model；
Figure 15 is the circuit diagram of the I/O circuit of the utility model；
Figure 16 is the circuit diagram of the A/D converter circuit of the utility model；
Figure 17 is the circuit diagram of the optical coupling isolation circuit of the utility model；
Figure 18 is the circuit diagram of the DA conversion circuit of the utility model；
Figure 19 is the circuit diagram of the PG signal circuit of the utility model；
Figure 20 is the circuit diagram of the DAPG signal circuit of the utility model；
Figure 21 is the circuit diagram of the alarm of the utility model；
Figure 22 is that the low-power microprocessor of the utility model monitors the circuit diagram of circuit；
Figure 23 is the circuit diagram of the RS232 communication interface of the utility model；
Figure 24 is the circuit diagram of the CAN bus communication interface of the utility model；
Figure 25 is the circuit diagram of the RS485 communication interface of the utility model；
Figure 26 is the circuit diagram of the USB communication interface of the utility model；
Figure 27 is the circuit diagram of the FLASH communication interface of the utility model；
Figure 28 is the circuit diagram of the ISP communication interface of the utility model；
Figure 29 is the circuit diagram of the EMPROM communication interface of the utility model；
Figure 30 is the circuit diagram of the reset circuit of the utility model；
Figure 31 is the circuit diagram of the Digital Display Circuit of the utility model.
1. car body in figure, 2. headstock bumper bars, 3. driver mounting plates, 4. fixed columns, 5. intermediate plates, storehouse surface plate before 6.,
7. inter panel, 8. post lamp seats, 9. front shrouds, 10. lead imperial block, 11. slide bars, 12. obstacle sensor components, 13.
One spring, 14. linear bearings, 15. split pins, 16. display screen protective covers, 17. bumper modules, 18. antennas, 19. guiding controls
Device processed, 20. lantern rings, 21. wire casings, 22. slideways, 23. hinges, 24. buzzers, 25. loudspeakers, 26. charging touch panels, 27.
Charging panel, 28. installation guide rails, 29. batteries, 30. power-supply filters, 31. guide wheel groups, 32. 3 color post lamps, 33. knobs, 34.
Cam switch, 35. display screens, 36. 1 word cylinder locks, 37. charging contactors, 38. gas springs, 39. relay assemblies, 40. open
Powered-down source, 41. card reader, 42. receivers of remote-control sytem, 43. transmitting optoelectronic switches, 44. drivers, 45. microswitches, 46. greens
Button, 47. red buttons, 48. 2 selection switches, 49. scram buttons, 50. yellow buttons, 51. yellow indicator lamps, 52. connect
Receipts optoelectronic switch, 53. brackets, 54. motors, 55. guide-track grooves, 56. lower part optoelectronic switches, 57. swing arms, 58. needle bearings, 59.
Top optoelectronic switch, 60. flanges, 61. lifter pins, 62. graphite copper sheathings, 63. pressing plates, 64. springs, 65. limit guide wheels, 66. bullets
Spring backing plate, 67. bogies, 68. connecting shafts, 69. first mounting plates, 70. steering signal framves, 71. spacer pins, 72. steering signals
Sensor, 73. navigation protection boards, 74. through-holes, 75. long stripes through holes I, 76. long stripes through holes II, 77. oscillating shaft seats, 78. pendulum
Axis, 79. floating bearings, 80. circlips, 121. sensing supports, 122. obstacle sensors, 123. second mounting plates, 90. is fixed
Position device, 91. transceivers, 92.AD conversion circuit, 93. optical coupling isolation circuits, 94. timers, 95.DA conversion circuit, 96.PG letter
Number circuit, 97.DAPG signal circuit 97,98.IO circuit, 99. communication interfaces, 910. low-power microprocessors monitor circuit,
912. Digital Display Circuits, 913. power supplys, 914. encoder feedback circuits.
Specific embodiment
(embodiment 1)
A kind of intelligence homing guidance AGV trolley, has rectangular car body 1, car body 1 is from front to back as shown in Fig. 1~31
It is successively made of electrical storehouse, intermediate bin, battery compartment and lifting storehouse, pacifies at the top of the car body 1 between the intermediate bin and battery compartment
The guide wheel group of one lateral deflection power of truck is provided equipped with the relative position and steering for controlling truck and AVG trolley or so
31, the two sides on the length direction of car body 1 are mounted on guiding and lead imperial block 10, the front end of car body 1 be equipped with it is L-shaped before
Cover board 9, the front end of front shroud 9 are equipped with bumper module 17, are equipped with obstacle sensor component 12 thereon.
Storehouse surface plate 6 before the top in electrical storehouse is equipped with by hinge 23, before the top two sides in electrical storehouse are equipped with control
The gas spring 38 that storehouse surface plate 6 opens or closes is equipped with guiding controller 19 on the bottom plate in electrical storehouse, leads on the side wall in electrical storehouse
Device mounting plate 3 of overdriving is equipped with driver 44, and power-supply filter 30 and relay assembly 39 are equipped in rear wall.
The top of intermediate bin is equipped with inter panel 7, and power drive unit is equipped in inner cavity, power drive unit
Upper end is equipped with intermediate plate 5, and the middle position of intermediate plate 5 offers arc-shaped slideway 22, and the both ends head of slideway 22 is respectively mounted
There is microswitch 45, the front end of intermediate plate 5 is equipped with Switching Power Supply 40, installs on the side intermediate plate 5 of Switching Power Supply 40 wired
Slot 21 is equipped with receiver of remote-control sytem 42 on the rear wall of intermediate bin.
Charging unit, charging contactor 37 and card reader 41, card reader 41 and charging contactor are installed in battery compartment
Several installation guide rails 28 are installed between 37, loudspeaker 25 and buzzer 24, the charging are installed on the preceding inner wall of battery compartment
Device includes charging panel 27 and charging touch panel 26, and charging touch panel 26 disposed in parallel is equipped on the charging panel 27,
The retractable rod that place is stretched in charging touch panel 26 and charging pile contacts, and one end of charging touch panel 26 is equipped with transmitting photoelectricity and opens
43 are closed, the other end, which is equipped with, receives optoelectronic switch 52, and transmitting optoelectronic switch 43 and reception optoelectronic switch 52 pass through cable respectively
It is connect with the battery 29 being installed in the battery compartment.
Lifting storehouse has cross sectional shape in the bracket 53 of " U " font and the motor 54 being mounted on the bracket 53, described
A side of bracket 53 offers guide-track groove 55, and another side is equipped with motor 54, and swing arm 57 is equipped on motor 54, pendulum
Needle bearing 58 is installed on arm 57, top optoelectronic switch 59 and lower part optoelectronic switch 56 are installed on the side of bracket 53, electricity
Machine 54 is between top optoelectronic switch 59 and lower part optoelectronic switch 56；
The top of bracket 53 is equipped with lifter pin 61 by flange 60, is successively arranged with graphite from top to bottom on lifter pin 61
Copper sheathing 62, pressing plate 63 and spring 64, one end of pressing plate 63 are equipped with the limit guide wheel 65 cooperated with guide-track groove 55, the other end
Cooperate with needle bearing 58 to control the tensile force of spring 64, the bottom end of bracket 53 is equipped with the spring backing plate fixed by screw
66, the junction of flange 60 and graphite copper sheathing 62 is equipped with circlip for shaft 80 and to fixed graphite copper sheathing 62.
Bumper module 17 includes headstock bumper bar 2, is equipped with fixed column 4 in the both ends inner cavity of the headstock bumper bar 2,
Slide bar 11 is installed in fixed column 4, the first spring 13 and linear bearing 14, the tail portion installation of slide bar 11 are installed on slide bar 11
The split pin 15 of limited boning out bearing 14 is also equipped with lantern ring 20 on linear bearing 14.
Power drive unit includes bogie 67, and the bottom rear and front end head of the bogie 67 is equipped with driving assembly I
With driving assembly II, connected between driving assembly I and driving assembly II by connecting shaft 68；
The front end of bogie 67 is equipped with steering signal frame 70 by the first mounting plate 69, and control is equipped in the plate face of its rear end
The spacer pin 71 of steering angle processed, spacer pin 71 slide limit on slideway 22, are equipped with steering signal on steering signal frame 70
Sensor 72, steering signal sensor 72 are covered with navigation protection board 73 outside；
The middle position of bogie 67 offers through-hole 74, and long stripes through hole I 75 and strip are symmetrically arranged on through-hole 74
Through-hole II 76, three communicates between through-hole 74 and long stripes through hole I 75 and long stripes through hole II 76, long stripes through hole I 75 and length
It is mounted on oscillating shaft seat 77 in strip through-hole II 76 and is fixed by screws on bogie 67, lower end is pacified between two oscillating shaft seats 77
Equipped with balance staff 78, balance staff 78 is connected by screw with the floating bearing 79 connecting above bogie 67 and with car body is located at.
Preceding storehouse surface plate 6 is sequentially installed with knob 33, display screen 35 and post lamp seat 8 from left to right, under the knob 33
End is equipped with a word cylinder lock 36, is equipped with display screen protective cover 16 outside display screen 35, three color post lamps are equipped on post lamp seat 8
32, the side of display screen 35 is equipped with antenna 18.
It is sequentially installed with cam switch 34, scram button 49, red button 47, the green button from front to back on electrical storehouse
46, two selection switches 48, yellow indicator lamp 51 and yellow button 50.
Obstacle sensor component 12 includes sensing support 121 and obstacle sensor 122, the sensing support 121
Second mounting plate 123 is installed on groove side, obstacle sensor 122 is installed on the second mounting plate 123.
Controller includes being installed on AGV trolley to be used to detect the AGV trolley in warehouse or the real time position in workshop
Locator 90；The output end of the locator 90 connects transceiver 91, and the real-time position information is sent receipts by locator 90
Send out device 91；The transceiver 91 is connected to the central processing unit U1 being connected with power supply 913, transceiver by A/D converter circuit 92
91 are connected with optical coupling isolation circuit 93, timer 94 and encoder feedback circuit 914 by Interface Terminal J1；The light-coupled isolation electricity
Road 93 connects PG signal circuit 96 and DAPG signal circuit 97 by DA conversion circuit 95；The central processing unit U1 and IO electricity
Road 98 is connected, while being connected with communication interface 99 and low-power microprocessor monitoring circuit 910, and central processing unit U1 is to all
The real time position distance of AGV trolley calculates, and obtains positioning real-time range information, when the positioning real-time range information is less than setting
When range information, the central processing unit U1 controls posterior AGV trolley and slows down or stops.It is connected on central processing unit U1
The capacitor filter being made of capacitor C9, C10, C11 and C16, the model STM32F103VCT6 of central processing unit U1.Also
With alarm BZ；Alarm BZ is connected to the port BEEP of central processing unit U1 by triode T5.
Communication interface 99 connects including RS232 communication interface, CAN bus communication interface, RS485 communication interface, USB communication
Mouth, FLASH communication interface, ISP communication interface and EMPROM communication interface.
Also there is the reset circuit 911 for the port BOOT0 for being connected to central processing unit U1；The reset circuit 911 includes
PNP triode T0, NPN triode TP1, NPN triode TP2 and reset chip U5；The end BOOT0 of the central processing unit U1
Mouth is connected by resistance R47 with the collector of PNP triode T0；The emitter of the PNP triode T0 connects power supply VCC, base stage
The base stage of NPN triode TP2 is connected to by resistance R46, R33；The emitter of the NPN triode TP2 meets reset chip U5
The port MR, collector connects the port WDO of reset chip U5；Emitter the connecting resistance R46 and R33 of the NPN triode TP1
Common end, grounded collector is simultaneously connected to its base stage by diode D8, and base stage is connected to by resistance R30 and diode D7
Request of data transmission interface；The reset chip U5'sEnd is connected with the port NRST of central processing unit U1, reset coil
The model IMP706 of piece U5.
Optical coupling isolation circuit 93 includes chip U100, the U101 with 8 bit shift registers of ternary output register,
Photoelectrical coupler OP and transistor Q；The end QH, the end QG, the end QF, the end QE, the end QD, QC of described chip U100, U101
End, the end QB and the end QA pass through corresponding photoelectrical coupler OP and transistor Q be connected to corresponding connecting terminal P1 and
The model SN74HC595D of P2, chip U100, U101.
Also there is Digital Display Circuit 912；The Digital Display Circuit 912 includes that there are 8 bit shifts of ternary output register to deposit
The chip U4 of device；The end QH, the end QG, the end QF, the end QE, the end QD, the end QC, the end QB and the end QA of the chip U4 respectively with charactron
Dp, g, f, e, d, c, b, a of LED1 is connected；4 power ends of the charactron LED1 respectively correspond four PNP triode T1
The collector of~T4；The emitter of the PNP triode T1~T4 is connected to the end CVCC of central processing unit U1, base stage point
It is not connected to the port SEG1~SEG4 of central processing unit U1, the model SN74HC595D of chip U4.
The real-time position information of AGV trolley is detected by locator 90, central processing unit calculate all AGV trolleies it
Between distance, avoid and collide between AGV trolley or rear-end collision.
AGV trolley vehicle uses bearing structure, and it is bearing wheels that centre, which is after driving wheel, using four wheel constructions, using poly- ammonia
Ester wear-resistant vibration-damping castor, cast-iron core, duplex bearing guarantee that AGV train guarantees smooth ride in the process of running, cannot be to workshop
It causes to damage in ground.
AGV car body is mainly made of electrical storehouse, intermediate bin, battery compartment and lifting storehouse.
The bottom in 1 front of AGV car body, second as AGV car body 1 a set of equipped with anti-collision safety bumper module
Protection；Bumper module is made of buffer spring 13 and inductive component, microswitch is housed, when AGV was being run after bumper
It is collided in journey with object, microswitch can be touched, AGV will be out of service.Bumper rear portion is equipped with buffer spring 13, after collision not
Personnel can be damaged.Forbid to trample bumper from top, bumper is be easy to cause to deform.
The entire electric control system of AGV trolley is housed, preceding 6 rear end of storehouse surface plate is connected by hinge, front end inside electrical storehouse
It puts equipped with knob 33 and cylinder lock 36, bottom right equipped with gas spring 38.In debugging, technical staff can pull open cover board and check route
Deng.Cylinder lock 36 is locked after the completion of installation and debugging can prevent other staff from carrying out maloperation composition injury to equipment inside.
Driving assembly, driving unit of the driving assembly as AGV are installed, driving AGV car body is advanced and turned in intermediate bin
To being connect by top transfer panel two sides with AGV car body.Driving assembly I and driving assembly II provide driving forces by two motors,
Motor sprocket connects driving wheel by chain, unanimously forms straight line walking by controlling two motor speeds, controls two motors
Revolving speed forms differential and turns to control trolley.
Guide wheel group 31 is installed, AGV walking to truck passes through guide wheel group when transferring at the top of AGV at left and right sides of second cross beam
It the relative position of 31 location control trucks and AGV or so and turns to one lateral deflection power of truck is provided.Dress inside directive wheel
There are 2 deep groove ball bearings, is not in that stuck phenomenon improves stabilization of equipment performance energy.Guarantee the flexibility of directive wheel.
Lithium battery and its corresponding electrical component are housed, all there are fill for front at left and right sides of battery compartment inside AGV battery compartment
Power port allows charging unit according to site requirement come flexible installing.
The lifting storehouse of AGV trolley can by button switch manually, walk about.The automatic group of AGV trolley and truck extension passes through AGV
The traction mechanism of itself is realized.When AGV advances to the bottom of truck, the lifter pin 61 on car body rises automatically, rises to rise
Drop pin 61 and the hanging pin mechanism of truck tangle, the automatic hook for realizing AGV trolley and truck；AGV draws truck by lifting storehouse
After reaching specified station, lifter pin 61 falls, and AGV is separated with truck；Lifter pin 61 has detection in high-order and low level.Work as traction
When mechanism failure needs to safeguard, it is thus only necessary to which can easily traction mechanism be removed by unclamping four handling screws, significantly
Save maintenance time.
When AGV needs to rise pin, control system output signal is given on direct current generator 54, and motor 54 rotates.Lifter pin 61
It is risen under the effect of 65 elastic force of spring.After reaching upper limit, bottom plate triggering top connects photoelectricity switch 59, and motor 54 powers off.Drop
Pin is identical as pin principle is risen.The mechanism principle is simple, reliable for operation, a large amount of use has been obtained in previous project, and use
Situation is also very good.
In conclusion the application possesses extremely low bodywork height and width, it can easily slip into below truck and be drawn, energy
Enough cooperate the traction of automatic lifting to strike out and realizes full automatic handling.
The utility model AGV trolley control system uses STM32F103VCT6 chip for CPU, 32 arm kernel processes
Device, clock circuit, reset circuit, power circuit constitute minimum system, have 80 quick ports I/O, 7 timers, 9
Communication interface, central processing unit U1 calculate the real time position distance of all AGV trolleies, obtain positioning real-time range information, when
When the positioning real-time range information is less than set distance information, central processing unit U1 control posterior AGV trolley slow down or
Parking.Electric signal is converted optical signal by A/D converter circuit, gives main control chip by 74HC245 buffer, chip is logical
Interface Terminal connection timer, encoder feedback circuit, photoelectric isolating circuit are crossed, signal transmits the form for taking electrical-optical-electrical, defeated
Entering to give DA conversion circuit, output PG signal exports DAPG signal by ULN2003 driving motor, by TLP112 photo-coupler,
Alarm BZ is connected in the central processing unit port U 1BEEP, when there is the distance between AGV trolley less than setting value, alarm
Device alarm.It is monitored in real time, the low-power consumption monitoring Circuit management battery being made of IMP706 protects reservoir, communication interface
Including RS232 communication interface, CAN bus communication interface, RS485 communication interface, USB communication interface, FLASH communication interface,
ISP communication interface and EMPROM communication interface realize the downloading and transmission of data, connect at central 1 end processor BOOT0 U
Reset circuit provides a low level, is started from internal storage, resetted, by 74H C595 latch by
Serial input changes into parallel output, reduces by I/O mouthfuls of uses, increases driving capability, and control numeral method number sets numerical value.
The real-time position information is sent transceiver 3 by locator 2, and central processing unit U1 is real-time to all AGV trolleies
Positional distance calculate, obtain positioning real-time range information can using existing method perhaps computer program this method or
Computer program has related record in patent text CN201710874277.0, and the utility model is exactly to have used to have at office of city
The central processing unit U1 of function is managed to constitute the real time position distance calculating to all AGV trolleies.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (10)
1. a kind of intelligence homing guidance AGV trolley, has rectangular car body (1), it is characterised in that：The car body (1) from
It is successively made of electrical storehouse, intermediate bin, battery compartment and lifting storehouse after going to, the car body between the intermediate bin and battery compartment
(1) top, which is equipped with the relative position of control truck and AVG trolley or so and turns to, provides one lateral deflection power of truck
Guide wheel group (31), the two sides on the length direction of car body (1) are mounted on guiding and lead imperial block (10), the front end of car body (1)
It is equipped with L-shaped front shroud (9), the front end of front shroud (9) is equipped with bumper module (17), is equipped with barrier thereon
Sensor module (12).
2. intelligence homing guidance AGV trolley according to claim 1, it is characterised in that：The top in the electrical storehouse is logical
Storehouse surface plate (6) before hinge (23) is equipped with is crossed, storehouse surface plate (6) opens or closes before the top two sides in electrical storehouse are equipped with control
Gas spring (38), guiding controller (19) is installed on the bottom plate in electrical storehouse, passes through driver installation on the side wall in electrical storehouse
Plate (3) is equipped with driver (44), and power-supply filter (30), relay assembly (39) and controller are equipped in rear wall；Institute
Cam switch (34), scram button (49), red button (47), the green button are sequentially installed on the electrical storehouse stated from front to back
(46), two selection switches (48), yellow indicator lamp (51) and yellow button (50).
3. intelligence homing guidance AGV trolley according to claim 1, it is characterised in that：Pacify on the top of the intermediate bin
Equipped with inter panel (7), power drive unit being installed in inner cavity, the upper end of power drive unit is equipped with intermediate plate (5),
The middle position of intermediate plate (5) offers arc-shaped slideway (22), and the both ends head of slideway (22) is mounted on microswitch
(45), the front end of intermediate plate (5) is equipped with Switching Power Supply (40), is installed on the side intermediate plate (5) of Switching Power Supply (40) wired
Slot (21) is equipped with receiver of remote-control sytem (42) on the rear wall of intermediate bin.
4. intelligence homing guidance AGV trolley according to claim 1, it is characterised in that：It is equipped in the battery compartment
Charging unit, charging contactor (37) and card reader (41), card reader (41) and charging contactor (37) if between be equipped with
It is dry that guide rail (28) are installed, loudspeaker (25) and buzzer (24) are installed on the preceding inner wall of battery compartment, the charging unit includes
There are charging panel (27) and charging touch panel (26), charging touch panel (26) disposed in parallel be installed on the charging panel (27),
The retractable rod that place is stretched in charging touch panel (26) and charging pile contacts, and one end of charging touch panel (26) is equipped with transmitting light
Electric switch (43), the other end, which is equipped with, receives optoelectronic switch (52), emits optoelectronic switch (43) and receives optoelectronic switch (52)
It is connect respectively by cable with the battery (29) being installed in the battery compartment.
5. intelligence homing guidance AGV trolley according to claim 1, it is characterised in that：The lifting storehouse has section
Bracket (53) and the motor (54) that is mounted on the bracket (53) on of the shape in " U " font, a side of the bracket (53)
It offers guide-track groove (55), another side is equipped with motor (54), is equipped on motor (54) swing arm (57), in swing arm (57)
It is equipped with needle bearing (58), top optoelectronic switch (59) and lower part optoelectronic switch (56) is installed on the side of bracket (53),
Motor (54) is located between top optoelectronic switch (59) and lower part optoelectronic switch (56)；The top of the bracket (53) passes through flange
(60) be equipped with lifter pin (61), be successively arranged with from top to bottom on lifter pin (61) graphite copper sheathing (62), pressing plate (63) and
Spring (64), one end of pressing plate (63) are equipped with the limit guide wheel (65) with guide-track groove (55) cooperation, the other end and needle roller axis
(58) cooperation is held to control the tensile force of spring (64), the bottom end of bracket (53) is equipped with the spring backing plate fixed by screw
(66), the junction of flange (60) and graphite copper sheathing (62) is equipped with circlip for shaft (80) and to fixed graphite copper sheathing
(62)。
6. intelligence homing guidance AGV trolley according to claim 1, it is characterised in that：The bumper module (17)
Including headstock bumper bar (2), it is equipped with fixed column (4) in the both ends inner cavity of the headstock bumper bar (2), fixed column is pacified on (4)
Equipped with slide bar (11), the first spring (13) and linear bearing (14) are installed on slide bar (11), the tail portion of slide bar (11) is equipped with
The split pin (15) of linear bearing (14) is limited, is also equipped with lantern ring (20) on linear bearing (14).
7. intelligence homing guidance AGV trolley according to claim 3, it is characterised in that：The power drive unit packet
It includes bogie (67), the bottom rear and front end head of the bogie (67) is equipped with driving assembly I and driving assembly II, driving group
It is connected between part I and driving assembly II by connecting shaft (68)；The front end of the bogie (67) passes through the first mounting plate (69)
It is equipped with steering signal frame (70), the spacer pin (71) of control steering angle is installed in the plate face of its rear end, spacer pin (71) exists
Limit is slided on slideway (22), and steering signal sensor (72), steering signal sensor are installed on steering signal frame (70)
(72) navigation protection board (73) is covered with outside；The middle position of the bogie (67) offers through-hole (74), on through-hole (74)
It is symmetrically arranged with long stripes through hole I (75) and long stripes through hole II (76), through-hole (74) and long stripes through hole I (75) and strip lead to
Three communicates between hole II (76), is mounted on oscillating shaft seat (77) simultaneously in long stripes through hole I (75) and long stripes through hole II (76)
It is fixed by screws on bogie (67), lower end is equipped with balance staff (78) between two oscillating shaft seats (77), and balance staff (78) passes through spiral shell
Follow closely and be located at floating bearing (79) connection connecting above bogie (67) and with car body.
8. intelligence homing guidance AGV trolley according to claim 2, it is characterised in that：The preceding storehouse surface plate (6) is from a left side
It turns right and is sequentially installed with knob (33), display screen (35) and post lamp seat (8), the lower end of the knob (33) is equipped with word circle
Column locks (36), is equipped with display screen protective cover (16) outside display screen (35), three color post lamps (32) are equipped on post lamp seat (8), shows
The side of display screen (35) is equipped with antenna (18).
9. intelligence homing guidance AGV trolley according to claim 2, it is characterised in that：The controller includes being installed on
It is used to detect the AGV trolley in warehouse or the locator (90) of the real time position in workshop on AGV trolley；The locator
(90) output end connects transceiver (91), and the real-time position information is sent transceiver (91) by locator (90)；The receipts
Hair device (91) is connected to central processing unit U1 by A/D converter circuit (92), and transceiver (91) is connected with light by Interface Terminal J1
Coupling isolation circuit (93), timer (94) and encoder feedback circuit (914)；The optical coupling isolation circuit (93) converts electricity by DA
Road (95) connects PG signal circuit (96) and DAPG signal circuit (97)；The central processing unit U1 is connected with I/O circuit (98),
It is connected simultaneously with communication interface (99) and low-power microprocessor monitoring circuit (910), central processing unit U1 is to all AGV trolleies
Real time position distance calculate, obtain positioning real-time range information, when the positioning real-time range information less than set distance letter
When breath, the central processing unit U1 controls posterior AGV trolley and slows down or stops.
10. intelligence homing guidance AGV trolley according to claim 1, it is characterised in that：The obstacle sensor group
Part (12) includes sensing support (121) and obstacle sensor (122), is installed on the groove side of sensing support (121)
Have the second mounting plate (123), obstacle sensor (122) are installed on the second mounting plate (123).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820641337.4U CN208172603U (en) | 2018-05-02 | 2018-05-02 | A kind of intelligence homing guidance AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820641337.4U CN208172603U (en) | 2018-05-02 | 2018-05-02 | A kind of intelligence homing guidance AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208172603U true CN208172603U (en) | 2018-11-30 |
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ID=64369650
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820641337.4U Active CN208172603U (en) | 2018-05-02 | 2018-05-02 | A kind of intelligence homing guidance AGV trolley |
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| Country | Link |
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| CN (1) | CN208172603U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270928A (en) * | 2018-05-02 | 2019-01-25 | 江苏冠宇机械设备制造有限公司 | Intelligent homing guidance AGV trolley |
| CN109774805A (en) * | 2018-12-29 | 2019-05-21 | 广州蓝海机器人系统有限公司 | The towed list of one kind drives two-way AGV and control method |
| CN110525311A (en) * | 2019-07-02 | 2019-12-03 | 广汽乘用车有限公司 | A kind of connection structure of AGV and truck |
-
2018
- 2018-05-02 CN CN201820641337.4U patent/CN208172603U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270928A (en) * | 2018-05-02 | 2019-01-25 | 江苏冠宇机械设备制造有限公司 | Intelligent homing guidance AGV trolley |
| CN109774805A (en) * | 2018-12-29 | 2019-05-21 | 广州蓝海机器人系统有限公司 | The towed list of one kind drives two-way AGV and control method |
| CN110525311A (en) * | 2019-07-02 | 2019-12-03 | 广汽乘用车有限公司 | A kind of connection structure of AGV and truck |
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Effective date of registration: 20190415 Address after: 213300 No. 9, Wutandu Road, Liyang City, Changzhou City, Jiangsu Province Patentee after: JIANGSU DEXUN TECHNOLOGY CO.,LTD. Address before: 213300 No. 9 Wutandu Road, Zhongguancun Science and Technology Industrial Park, Liyang City, Changzhou City, Jiangsu Province Patentee before: JIANGSU GUANYU MACHINERY MANUFACTURING Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 213300 No. 9, Wutandu Road, Liyang City, Changzhou City, Jiangsu Province Patentee after: Datcent Technology Co.,Ltd. Address before: 213300 No. 9, Wutandu Road, Liyang City, Changzhou City, Jiangsu Province Patentee before: JIANGSU DEXUN TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |