CN208630740U - Three train AGV pinpoint steering system - Google Patents
Three train AGV pinpoint steering system Download PDFInfo
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- CN208630740U CN208630740U CN201821106840.6U CN201821106840U CN208630740U CN 208630740 U CN208630740 U CN 208630740U CN 201821106840 U CN201821106840 U CN 201821106840U CN 208630740 U CN208630740 U CN 208630740U
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Abstract
Three trains AGV disclosed by the utility model pinpoints steering system, including AGV, AGV includes the bearing wheels of car body, control module, the traction wheel on front side of car body and rear two sides, and car body is equipped with the steering mechanism of control traction wheel steering angle, and steering mechanism is electrically connected with control module；It further include the rotating mechanism being preset on AGV track, the rotating mechanism is equipped with fixed structure, and the fixed structure is used to limit the movement of the bearing wheels.Compared with prior art, the three train AGV of the utility model pinpoint steering system, the rotating mechanism of cooperation AGV turning is preset on AGV track, when AGV turning, the bearing wheels of the side AGV are fixed on rotating mechanism by fixed structure limitation, are realized and are turned as the center of circle using the bearing wheels convenient for traction wheel band motor vehicles bodies, considerably reduce AGV turning radius, to reduce AGV it is excessively curved when occupied space, it is easy to use.
Description
Technical field
The utility model belongs to AGV technical field, and in particular to three train AGV pinpoint steering system.
Background technique
With the continuous development of science and technology, in automatic material flow transportation art, travel width to AGV and
Turning path planning requirement is always the smaller the better, and still, for conventional three train AGV, (usually unidirectionally walk AGV, front
One driving wheel that can be turned to is set, and two directional wheels are arranged in rear), on the running lanes of turning due to its turning radius compared with
Biggish turning space is generally required greatly, and when the design space in face of workshop is limited, conventional three train AGV are to be unable to complete angle
Biggish turning is spent, to limit the use scope of AGV, influences the effect of logistics delivery.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of reduction three train AGV turning radius
Three train AGV pinpoint steering system.
In order to achieve the above object, the utility model uses following technical scheme:
Three train AGV pinpoint steering system, including AGV, the AGV include car body, control module, on front side of car body
Traction wheel and the bearing wheels that car body rear two sides are arranged in, the car body, which is equipped with, controls turning for the traction wheel steering angle
To mechanism, the steering mechanism is electrically connected with the control module；It further include the rotating mechanism being preset on AGV track,
The rotating mechanism can be equipped with fixed structure with respect to ground rotation, the rotating mechanism, and the fixed structure is described for limiting
The movement of bearing wheels；When the AGV turns, wherein the bearing wheels of side enter in the fixed structure, while the control mould
Block makes traction wheel turn to predetermined angle to the side by steering mechanism, so that it is circle that traction wheel, which draws the car body with the bearing wheels,
Heart rotation.
Compared with prior art, the three train AGV of the utility model pinpoint steering system, preset on AGV track
There is the rotating mechanism of cooperation AGV turning, when AGV turning, the traction wheel limitation of the side AGV is fixed on rotating mechanism and can band
Dynamic rotating mechanism rotation, is realized as the center of circle using the directional wheel convenient for traction wheel band motor vehicles bodies and is turned, and considerably reduces AGV turning
Radius, thus reduce AGV it is excessively curved when occupied space, it is easy to use.
Preferably, there are two types of the set-up modes of the bearing wheels:
First way: the bearing wheels include a directional wheel and a universal wheel, when the AGV turns, are oriented by it
Wheel completes rotation with rotating mechanism cooperation.
The second way: the bearing wheels are that two directional wheels pass through its directional wheel and the rotation when AGV turns
Rotation is completed in mechanism cooperation.
Preferably, length distance is b between two bearing wheels, and traction wheel is a, the preset angle at a distance from two bearing wheels axis
Degree is θ=arctan (2a/b)；When the predetermined angle is θ=arctan (2a/b), AGV is more smooth, more stable when turning,
Directional wheel is minimum with respect to the frictional force on ground.
Preferably, the rotating mechanism includes turntable, and the turntable is rotationally laid on the ground, the fixed structure
On the turntable；The rotating mechanism further includes pedestal and bearing, and the pedestal is embedded in ground；The bearing inner race with
The turntable is fixedly connected, and outer ring is fixedly connected with the base；Alternatively, the bearing inner race and the fixed company of the pedestal
It connects, outer ring is fixedly connected with the turntable.The rotating mechanism uses this setup, structure is simple, facilitate manufacture and
Assembly.
Preferably, the fixed structure is the groove on the upside of rotating mechanism, the groove and the directional wheel shape
Cooperation；Using the fore-aft travel of groove structure limitation directional wheel, structure is simple, facilitates processing.
Preferably, the AGV is equipped with rfid reader device, and the rotating mechanism or ground correspond to the rfid reader device
Make control module control traction wheel when entering the fixed structure equipped with bearing wheels to turn in advance to the rotating mechanism side is equipped with
If the RFID order of angle blocks；Be arranged in this way, AGV turn when, preferably control bearing wheels and rotating mechanism cooperation when
Machine.
Preferably, the steering mechanism is steering engine.
Preferably, the navigation mode of the traction wheel is tape navigation, laser navigation or RFID navigation.
Detailed description of the invention
Fig. 1 is the schematic diagram that embodiment three train AGV of one kind pinpoint steering system；
Fig. 2 is the schematic diagram of three train AGV right-angled bends；
Fig. 3 is the left view that three train AGV pinpoint steering system；
Fig. 4 is the schematic diagram of rotating mechanism；
Fig. 5 is the explosive view of rotating mechanism；
Fig. 6 is the right-angled bend schematic diagram that three train AGV switch on the first magnetic stripe and the second magnetic stripe；
Fig. 7 is the schematic diagram that three train AGV pinpoint steering system in embodiment two.
Specific embodiment
Below in conjunction with Detailed description of the invention the technical solution of the utility model includes:
Embodiment one:
Referring to Fig. 1 to Fig. 6, the three train AGV of the utility model pinpoint steering system, including AGV, the AGV include vehicle
Body 1, control module, the traction wheel 11 on front side of car body 1 and the bearing wheels for being symmetrically set in car body rear two sides, it is described to hold
Carrying wheel is directional wheel 12, and the car body 1 is equipped with the steering mechanism 13 for controlling 11 steering angle of traction wheel, the turning machine
Structure 13 is electrically connected with the control module；It further include the rotating mechanism 2 being preset on AGV track, on the rotating mechanism 2
Portion can be equipped with fixed structure 21 with respect to ground rotation, the rotating mechanism upside, and the fixed structure 21 is used for 12 tunnel of directional wheel
It is moved through directional wheel 12 described in its upside time limit system, the fixed structure 21 can cooperate directional wheel 12 arbitrarily to turn with directional wheel 12
It is dynamic；When the AGV turns, wherein the directional wheel 12 of side enters in the fixed structure 21, while the control module passes through
Steering mechanism 13 make traction wheel 11 to 12 side of directional wheel turn to predetermined angle, thus traction wheel 11 draw the car body 1 with
The directional wheel 12 is angle needed for the center of circle rotates.When three trains AGV turning or straight line are turned, the traction wheel 11 is turned to
Predetermined angle θ may is that θ ∈ (0 °, 90 °)；It is to be appreciated that the directional wheel 12 is limited on the rotating mechanism 2,
Rotating mechanism 2 is that directional wheel 12 provides enough frictional force, traction wheel 11 can be made to overcome with the non-of 12 center of circle of the directional wheel
The radial force of circumferential direction, thus angle needed for rotating car body 1 with 12 center of circle of side positioning wheel.
Compared with prior art, the three train AGV of the utility model pinpoint steering system, preset on AGV track
There is the rotating mechanism 2 of cooperation AGV turning, when AGV turning, the limitation of directional wheel 12 of the side AGV is fixed on rotating mechanism 2 simultaneously
Rotating mechanism 2 can be driven to rotate, turning is realized for the center of circle with the directional wheel 12 with motor vehicles bodies 1 convenient for traction wheel 11, is greatly subtracted
Lacked AGV turning radius, thus reduce AGV it is excessively curved when occupied space, it is easy to use.
Referring to Fig. 1 and Fig. 2, preferably, two directional wheels, 12 length distances are b, traction wheel 11 and two directional wheels
The distance of 12 axis is a, and the predetermined angle is θ=arctan (2a/b)；When the predetermined angle is θ=arctan (2a/b)
When, the direction of travel of the traction wheel 11 is vertical with the directional wheel 12, more smooth, more stable, directional wheel 12 when AGV turns at this time
The frictional force on opposite ground is minimum.
Referring to Fig. 3 and Fig. 4, preferably, the rotating mechanism 2 includes turntable 22, pedestal 24 and bearing 23, described
The fixation of pedestal 24 is embedded in ground；23 inner ring of bearing is fixedly connected by connector (such as screw) with the turntable 22,
Its outer ring is fixedly connected by connector (such as screw) with the pedestal 24, and the rotating mechanism 2 is whole to be embedded in subsurface,
Only the turntable 22 bassets upper surface；The rotating mechanism 2 uses this setup, structure is simple, facilitate manufacture and
Assembly.
Alternatively scheme, 23 inner ring of bearing are solid by connector (such as screw) and the pedestal 24
Fixed connection, outer ring are fixedly connected by connector (such as screw) with the turntable 22.
Preferably, in the present embodiment, the fixed structure 21 is the groove for being provided with 22 upside of turntable, described
Groove and 12 shape of directional wheel cooperate；Using groove structure with the movement for merging limitation directional wheel 12, structure is simply, conveniently
Processing." movement of limitation directional wheel " is specially when directional wheel 12 is caught in groove, due to the direction of the steering of traction wheel 11
Intersect with the driving direction of directional wheel 12, it is described when traction wheel 11 is turned with motor vehicles bodies, force the directional wheel 12 to drive turntable
Rotation, to realize " limitation directional wheel 12 moves ".When traction wheel 11 returns timing, the i.e. direction of advance of traction wheel 11 and qualitative wheel
Activity direction is parallel, and the traction wheel 11 can drive the directional wheel 12 to be detached from groove by car body.In other embodiments, institute
Stating fixed structure 21 can be used the mechanism of some cooperation electric control being mechanically fixed, but it is fixed not limit the limitation of fixed structure 21
The protection scope for cooperating AGV traction wheel 11 to turn to wheel 12.
Preferably, the steering mechanism 13 is steering engine, and the steering engine has rotary encoder, according to rotary coding
The counting mode of device, can artificially provide size and its direction of rotation of the rotation angle of steering engine, to realize steering engine control traction
11 rotation predetermined angle of wheel.
Preferably (not shown), the AGV are equipped with rfid reader device, the rotating mechanism 13 or ground
The corresponding rfid reader device, which is equipped with when bearing wheels enter in the fixed structure, makes control module control traction wheel 11 to setting
There is 13 side of rotating mechanism to turn to the RFID order card of predetermined angle；In the present embodiment, RFID order card is according to AGV
The route of traveling is laid on the ground in advance, i.e., when the directional wheel 12 when the side AGV is caught in fixed structure 21, RFID reads dress
The information for just reading the order card is set, and feeding back to control module makes traction wheel 11 turn to predetermined angle, to make traction wheel
11 band motor vehicles bodies 1 are turned；It is arranged in this way, when AGV turns, cooperates convenient for preferably control directional wheel 12 and rotating mechanism 13
Opportunity.
Referring to Fig. 6, preferably, in the present embodiment, the navigation mode of the traction wheel 11 is tape navigation, institute
The rack for stating traction wheel 11 is equipped with the first magnetic tracking sensor 15, and the first magnetic tracking sensor 15 can be with the traction wheel
The front side of 11 rotations, the AGV car body 1 is equipped with the second magnetic tracking sensor 16, the first magnetic tracking sensor 15 and second
Magnetic tracking sensor 16 is for example on the middle line of car body 1；Operator can be according to AGV travel route and angle of turn, on ground
The angle of intersection arrangement of the first magnetic stripe 17 of upper laying and the second magnetic stripe 18, the first magnetic stripe 17 and the second magnetic stripe 18 in AGV turning, institute
Rotating mechanism 2 is stated set on the position that AGV is b/2 along the vertical range of 17 driving direction side of the first magnetic stripe and the second magnetic stripe 18
It (is set to due to two magnetic tracking sensors on the middle line of car body 1, guarantees that two magnetic tracking sensors are able to detect that two magnetic stripes, AGV turn
When curved, the vertical range of the position of rotating mechanism 2 and two magnetic stripes is necessary for the half of two rear wheel axis), the rotating mechanism 2
Set on the position at a distance from the first magnetic stripe 17 being b/2；When driving, AGV travels the first magnetic stripe of road 17 along the first magnetic stripe 17 to AGV
After the intersection point of the second magnetic stripe 18, the vertical range for travelling the directional wheel 12 to the second magnetic stripe 18 and the side that needs to turn is b/2
When, which enters in the fixed structure 21, while steering mechanism 13 controls traction wheel 11 and turns to predetermined angle, and
It is the route angle of center of circle rotation setting with the directional wheel 12 with motor vehicles bodies 1, until the second magnetic tracking sensor 16 detects the
When two magnetic stripes 18, AGV completes straight line turning or right-angled bend, and then, traction wheel 11 returns just, can make the first magnetic tracking sensor
15 detect the second magnetic stripe 18.
In other embodiments, the navigation mode of the traction wheel 11 can be laser navigation or RFID navigation.
Embodiment two:
Referring to Fig. 6 and Fig. 7, the present embodiment and the main difference of embodiment one are: the three trains AGV fixed point turns to
System includes AGV, and the AGV includes car body 1, control module, the traction wheel 11 set on 1 front side of car body, and is symmetrically set in vehicle
Bearing wheels are set side by side in 1 rear two sides of body, and the bearing wheels include that a directional wheel 12 is also set with a universal wheel 14, the car body 1
There is the steering mechanism 13 for controlling 11 steering angle of traction wheel, the steering mechanism 13 is electrically connected with the control module；Also
Including the rotating mechanism 2 being preset on AGV track, the rotating mechanism 2 can be with respect to ground rotation, on the rotating mechanism
Side is equipped with fixed structure 21, and the fixed structure 21 is moved for 12 tunnel of directional wheel through directional wheel 12 described in its upside time limit system；
When the AGV turns, the directional wheel 12 of side enters in the fixed structure 21, while the control module passes through steering mechanism
13 make traction wheel 11 turn to predetermined angle to 12 side of directional wheel, so that traction wheel 11 draws the car body 1 with the directional wheel
12 rotate required angle for the center of circle；It is arranged in this way, wherein a directional wheel 12 is changed to universal wheel 14, keeps straight on or turn convenient for AGV
It is more smooth when curved, more stable.
Preferably, the directional wheel 12 is set to the left rear side of car body 1, and the universal wheel 14 is set to the right side of car body 1
Rear side；Alternatively, the directional wheel 12 is set to the right lateral side of car body 1, the universal wheel 14 is set to the left rear side of car body 1.
Preferably, length distance is b, traction wheel 11 and directional wheel 12 between the directional wheel 12 and universal wheel 14
With at a distance from 14 axis of universal wheel be a, the predetermined angle be θ=arctan (2a/b)；When the predetermined angle be θ=
When arctan (2a/b), the direction of travel of the traction wheel 11 is vertical with the directional wheel 12, friction of the directional wheel 12 with respect to ground
Power is minimum, more smooth, more stable when AGV turns at this time.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, to the greatest extent
It is used some specific terms in pipe this specification, these terms are merely for convenience of description, not to the utility model
Constitute any restrictions.
Claims (10)
1. three train AGV pinpoint steering system, including AGV, the AGV include car body, control module, leading on front side of car body
Running wheel and bearing wheels set on car body rear two sides, the car body are equipped with the turning machine for controlling the traction wheel steering angle
Structure, the steering mechanism are electrically connected with the control module；It is characterized by also including the rotations being preset on AGV track
Rotation mechanism, the rotating mechanism can be equipped with fixed structure with respect to ground rotation, the rotating mechanism, and the fixed structure is for limiting
Make the movement of the bearing wheels；When the AGV turns, wherein the bearing wheels of side enter in the fixed structure, while described
Control module makes traction wheel turn to predetermined angle to the side by steering mechanism, so that traction wheel draws the car body with the carrying
Wheel is that the center of circle rotates.
2. three trains AGV according to claim 1 pinpoints steering system, it is characterised in that: the bearing wheels include certain
To wheel and a universal wheel, when the AGV turns, rotation is completed by its directional wheel and rotating mechanism cooperation.
3. three trains AGV according to claim 1 pinpoints steering system, it is characterised in that: the bearing wheels are two orientations
Wheel when the AGV turns, completes rotation by its directional wheel and rotating mechanism cooperation.
4. three trains AGV according to any one of claims 1 to 3 pinpoints steering system, it is characterised in that: between two bearing wheels
Length distance is b, and traction wheel is a at a distance from two bearing wheels axis, and the predetermined angle is θ=arctan (2a/b).
5. three trains AGV according to any one of claims 1 to 3 pinpoints steering system, it is characterised in that: the whirler
Structure includes turntable, and the turntable is rotationally laid on the ground, and the fixed structure is set on the turntable.
6. three trains AGV according to claim 5 pinpoints steering system, it is characterised in that: the rotating mechanism further includes
Pedestal and bearing, the pedestal are embedded in ground；
The bearing inner race is fixedly connected with the turntable, and outer ring is fixedly connected with the base；
Alternatively, the bearing inner race is fixedly connected with the base, outer ring is fixedly connected with the turntable.
7. three trains AGV according to any one of claims 1 to 3 pinpoints steering system, it is characterised in that: the fixed knot
Structure is the groove on the upside of rotating mechanism, and the groove and the bearing wheels shape cooperate.
8. three trains AGV according to any one of claims 1 to 3 pinpoints steering system, it is characterised in that: the AGV is set
There is rfid reader device, the rotating mechanism or ground correspond to the rfid reader device and enters the fixed knot equipped with bearing wheels
Control module is set to control traction wheel to the RFID order card for being equipped with the rotating mechanism side steering predetermined angle when structure.
9. three trains AGV according to any one of claims 1 to 3 pinpoints steering system, it is characterised in that: the turning machine
Structure is steering engine.
10. three trains AGV according to any one of claims 1 to 3 pinpoints steering system, it is characterised in that: the traction
The navigation mode of wheel is tape navigation, laser navigation or RFID navigation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821106840.6U CN208630740U (en) | 2018-07-12 | 2018-07-12 | Three train AGV pinpoint steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821106840.6U CN208630740U (en) | 2018-07-12 | 2018-07-12 | Three train AGV pinpoint steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208630740U true CN208630740U (en) | 2019-03-22 |
Family
ID=65737271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821106840.6U Active CN208630740U (en) | 2018-07-12 | 2018-07-12 | Three train AGV pinpoint steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208630740U (en) |
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2018
- 2018-07-12 CN CN201821106840.6U patent/CN208630740U/en active Active
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