CN209336564U - A kind of automatic butt transfer AGV - Google Patents
A kind of automatic butt transfer AGV Download PDFInfo
- Publication number
- CN209336564U CN209336564U CN201821836251.3U CN201821836251U CN209336564U CN 209336564 U CN209336564 U CN 209336564U CN 201821836251 U CN201821836251 U CN 201821836251U CN 209336564 U CN209336564 U CN 209336564U
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- roller
- car body
- microcontroller
- article
- transfer
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Abstract
The utility model discloses a kind of automatic butt transfer AGV, including car body, microcontroller, roller component, block piece；Car body includes running gear and transfer；Microcontroller is connect with running gear, transfer respectively, and controlling running gear and transfer movement respectively docks car body according to the path walking of regulation and with production line；The top of car body is arranged in roller component, for the transfer article between different production lines；Roller component includes roller, driving assembly；Driving assembly is connect with roller；Microcontroller is connect with driving assembly, and control driving assembly makes roller rotate or stop operating；When roller moves into or removes article, microcontroller control driving assembly rotates roller；When roller conveying articles, microcontroller control driving assembly makes roller stop operating；One end of car body is arranged in block piece, stops article to remove from one end of car body when article is moved on roller from the other end of car body.Manpower is saved, transfer efficiency is improved.
Description
Technical field
The utility model relates to transfer robot technical fields, specifically, being to be related to a kind of automatic butt transfer AGV.
Background technique
Currently, automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refers to equipped with automatic guidance dress
It sets, can be travelled along defined guide path, transport vehicle, carrier with safeguard protection and various transfer functions, no
Driver is needed, using rechargeable storage battery as power resources.AGV compared with walking, is creeped or other non-characterized by wheel type mobile
Wheeled mobile robot has the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, safety is good.With object
Common other equipment are compared in material conveying, the zone of action of AGV without being laid with the fixed device such as track, bracket, not by place,
The limitation of road and space.Therefore, in automatic Material Handling System, its automaticity and flexibility most can be fully embodied, is realized high
Effect, economy, flexible manless production.But existing automatic transferring AGV need human assistance by article carrying to AGV or
Move down AGV, can not automatic butt production line, have certain limitation.
Summary of the invention
The utility model provides a kind of automatic butt transfer AGV, realizes AGV and production line automatic butt, automatic transporting, nothing
Human assistance is needed, to realize the automatic transferring of the article between production line, save manpower and improve production efficiency.
In order to solve the above technical problems, the utility model is achieved using following technical scheme:
A kind of automatic butt transfer AGV includes car body, microcontroller, roller component, block piece；The car body includes walking
Device and transfer are walked and are turned to for the car body；The microcontroller respectively with the running gear, the steering
Device connection, and controlling the running gear and transfer movement respectively makes the car body walk according to the path of regulation
And it is docked with production line；The top of the car body is arranged in the roller component, for the transfer article between different production lines；
The roller component includes roller, driving assembly；The driving component is connect with the roller；The microcontroller and the drive
Dynamic component connection, the operation of control the driving component or stopping, making the roller rotate or stop operating；When the roller moves
When entering or removing the article, the microcontroller, which controls the driving component operation, rotates the roller；When the roller
When transporting the article, the microcontroller, which controls the driving component stopping, making the roller stop operating；The block piece
One end of the car body is set, stops the object when the article is moved on the roller from the other end of the car body
Product are removed from one end of the car body.
It further include distance measuring sensor as a kind of specific structure design of the automatic butt transfer AGV；The survey
It is connect away from sensor with the microcontroller, positioned at the front end of the car body, for detecting the car body and interfaced institute
It states the distance of production line and exports distance signal to the microcontroller；Before the block piece is fixed at the car body
End；The microcontroller, which controls the car body adjustment direction according to the distance signal, makes the rear end of the car body and the production
The roller rotation is controlled after line docking and docking.
Preferably, the distance measuring sensor is laser-correlation sensor.
As a kind of specific structure design of the automatic butt transfer AGV, the roller component further includes two rollers
Cylinder mounting plate, is separately positioned on the left and right sides of the car body；The roller include it is multiple, setting is in two rollers peaces
Between loading board.
Preferably, further include first position sensor, the front end of the car body is set, connect with the microcontroller
It connects；When the article is all moved on the roller, the first position sensor detects the article in the roller
On position and generate first position signal and export to the microcontroller；The microcontroller is according to the first position signal
The roller is controlled to stop operating.
Preferably, the first position sensor is photoelectric sensor, is arranged on the roller mounting plate.
Preferably, further include second position sensor, the rear end of the car body is set, connect with the microcontroller
It connects；When the article all removes the roller, the second position sensor detects the article on the roller
Position simultaneously generates second position signal and exports to the microcontroller；The microcontroller is controlled according to the second position signal
The roller stops operating.
Preferably, the second position sensor is photoelectric sensor, is arranged on the roller mounting plate.
As a kind of specific structure design of the automatic butt transfer AGV, the running gear and steering dress
It is set to two driving wheels, two driving motors and multiple universal wheels；Two driving wheels respectively with two driving motors
It connects one to one；Two driving motors are connect with the microcontroller respectively；Each universal wheel is arranged in the vehicle
The bottom of body.
Preferably, the universal wheel includes four, is symmetricly set on the bottom of the car body.
Compared with prior art, the advantages and positive effects of the utility model are as follows: using the utility model automatic butt
Transfer AGV may be implemented the roller of automatic butt transfer AGV with dock production line automatic butt, by the rotating forward of roller or anti-
Turn the automatic article received under production line moves up and automatically move out on the article to received production line on roller, and passes through blocking
Part limits article, does not need human assistance, saves manpower, transfer efficiency is improved, to improve production efficiency.
Detailed description of the invention
Fig. 1 is a kind of a kind of structural schematic diagram of the embodiment for automatic butt transfer AGV that the utility model is proposed；
Fig. 2 is a kind of a kind of bottom view of the embodiment for automatic butt transfer AGV that the utility model is proposed.
In figure,
1, car body；2, roller component；3, block piece；4, distance measuring sensor；5, first position sensor；6, the second position passes
Sensor；7, anti-striker；8, driving wheel；9, universal wheel；10, driving motor；101, front end；102, rear end；103, bottom；201, roller
Cylinder；202, left roller mounting plate；203, right roller mounting plate.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
Referring to FIG. 1 and FIG. 2, a kind of automatic butt transfer AGV of the utility model includes car body 1, microcontroller, roller group
Part 2, block piece 3.Car body 1 includes running gear and transfer, is connect respectively with microcontroller, is controlled by microcontroller dynamic
Make to dock car body 1 according to the path walking of regulation and with production line.Roller component 2 includes roller 201, driving assembly.Roller
201 including multiple, positioned at the top of car body 1, for needing mobile article between transfer production line.Driving assembly respectively with it is micro-
Controller and each roller 201 connect, and microcontroller controls driving assembly operation or stops, thus control the rotation of roller 201 or
Person stops operating.When article moves upper roller 201 or remove roller 201 from one end of car body 1, microcontroller controls driving group
Part operation rotates to control each roller 201.The rotation of roller 201 includes rotating forward and inverting, and is respectively used to move into article and removal
Article；When automatic butt transfer AGV delivery article is mobile, microcontroller, which controls driving assembly, to be stopped, to control each roller
201 stop operating.Block piece 3 is set to one end of car body 1, for stop article from one end of car body 1 move upper roller 201 when from
The other end of car body 1 removes, and limits to article, prevents it from falling damage.A kind of automatic butt transfer of the utility model
AGV realizes the article moved on automatic reception production line by controlling rotary and the roller 201 to stop operating, and automatically by object
Product move into the production line for receiving article, carry without manpower auxiliary, save manpower, improve delivery efficiency, to improve production effect
Rate solves the problems, such as that existing AGV production efficiency is low.
Below by specific embodiment, concrete structure design and working principle to the utility model are explained in detail
It states.
Referring to FIG. 1 and FIG. 2, in the present embodiment, car body 1 includes front end 101, rear end 102.Block piece 3 is fixed at
201 or more roller is stretched out in the front end 101 of car body 1, part.Stop when article moves on roller 201 from the rear end of car body 1 102
Article is removed from the front end of car body 1 101, is limited to article, is protected by the article of transfer.The automatic butt of the present embodiment is moved
Carrying AGV further includes distance measuring sensor 4, is located at the front end 101 of car body 1, connect with microcontroller, for when close to production line
The distance between measurement and production line generate distance signal transmission to microcontroller, when distance reaches specified position, microcontroller
Device controls running gear and transfer, so that automatic butt transfer AGV is turned around, docks its rear end 102 with production line.Waiting pair
After being connected into function, microcontroller controls driving assembly operation driving roller 201 and rotates, and receives the article removed by production line or shifting
Out on article to received production line.The transfer work of automatic butt transfer AGV is as follows, when close to removing near production line,
The direction for the distance signal adjustment car body that microcontroller is measured according to distance measuring sensor docks rear end 102 with production line, docks
Control roller 201 rotates after success, completes control roller after moving into article and stops operating；One section of backward of automatic butt transfer AGV
Distance, while distance measuring sensor 4 measures the distance between itself and production line and generates distance signal transmission to microcontroller, when away from
From when reaching with a distance from as defined in microcontroller, microcontroller control running gear and transfer fall automatic butt transfer AGV
Head, it is mobile to the production line for receiving article according to regulation route；When reaching near the production line for receiving article, automatic butt is moved
Carry movement when AGV repeats to receive article: the distance signal control apart from production line that microcontroller is measured according to distance measuring sensor
Car body 1 processed turns around, and docks the rear end 102 of car body 1 with production line；After docking successfully, microcontroller controls driving assembly operation,
Rotate roller 201 according to opposite direction when moving into article, make article remove automatic butt transfer AGV roller 201 and
It is carried on production line, while production line auxiliary reception article；The microcontroller after automatic butt transfer AGV completes removal article
Control roller 201 stops operating.For convenience docked with the roller 201 of automatic butt transfer AGV, remove article production line and
The roller that controlling rotary also can be set on the production line of article and stop operating is received, is moved into when removing article and receiving
Article when, it is identical as the rotation direction of roller 201 on automatic butt transfer AGV, auxiliary complete automatic butt transfer AGV connect
It receives article and removes article.Preferably, the roller of the height of the roller 201 of automatic butt transfer AGV and interfaced production line
The height of cylinder is identical, facilitates docking and carries article.Preferably, distance measuring sensor 4 is laser-correlation sensor.
Referring to FIG. 1 and FIG. 2, in order to article move into automatic butt transfer AGV roller 201 on after accurately control roller
201 at the time of stop operating, and automatic butt transfer AGV further includes first position sensor 5, and the front end of car body 1 is arranged in
101, it is connect with microcontroller.When article is moved to position as defined in first position sensor 5 on roller 201, first
It sets the generation first position signal of sensor 5 and is transferred to microcontroller；Microcontroller controls driving assembly according to first position signal
Stop, stopping operating to control roller 201.At this point, completing the roller 201 of article automatic transporting to automatic butt transfer AGV
On.
Referring to FIG. 1 and FIG. 2, it stops operating to accurately control roller 201 when article is fully removed AGV, it is automatic right
Meeting transfer AGV further includes second position sensor 6, and the rear end 102 of car body 1 is arranged in, connect with microcontroller.When article is complete
Complete remove generates the second position signal when roller 201 reaches position as defined in second position sensor 6 and exports to microcontroller,
Microcontroller controls roller 201 according to second position signal and stops operating.
Referring to Fig.1, the first position sensor 5 of the present embodiment and second position sensor 6 are photoelectric sensor, packet
Include transmitter and receiver.Roller component 2 further includes two roller mounting plates, respectively left roller mounting plate 202, right roller peace
Loading board 203 is respectively fixedly disposed at the left and right sides of car body 1.Each setting of roller 201 is in left roller mounting plate 202 and right roller
Between cylinder mounting plate 203, and the top of left roller mounting plate 202 and right roller mounting plate 203 exceeds roller 201 upwards, is used for
Article stops it to fall from roller 201 when moving on the roller 201 of automatic butt transfer AGV, causes unnecessary loss.
And the transmitter and receiver of first position sensor 5 are separately positioned on the left and right roller mounting plate of the front end 101 of car body 1
202,203 inside, and position is opposite；The transmitter and receiver of second position sensor 6 are separately positioned on the rear end of car body 1
The inside of 102 left and right roller mounting plate 202,203, and position is opposite.
Referring to Fig. 2, in order to accurately control the walking and steering of automatic butt transfer AGV, running gear and transfer
For two driving wheels, 8, two driving motors 10 and multiple universal wheels 9, two driving wheels 8 respectively with two driving motors 10 one by one
It is correspondingly connected with, forms spider gear.Two driving motors 10 are connect with microcontroller respectively, control two respectively by microcontroller
Driving motor 10 controls automatic butt transfer AGV and accurately walks and accurately turn to.Universal wheel 9 preferably four, it is symmetricly set on vehicle
The bottom 103 of body 1 assists two walkings of driving wheel 8 and turns to.
Referring to Fig.1, it is respectively arranged with anticollision strip 7 in the front end of car body 101 and rear end 102, in automatic butt transfer
Buffering collision of closed when AGV docks production line protects the article on automatic butt transfer AGV and automatic butt transfer AGV.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.In the description of the present invention, the meaning of " plurality " is
At least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element, unless otherwise restricted clearly.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact.Moreover, first is special
Sign can be fisrt feature above the second feature " above ", " above " and " above " and be directly above or diagonally above the second feature, or only
Indicate that first feature horizontal height is higher than second feature.Fisrt feature under the second feature " below ", " below " and " below " can be with
It is that fisrt feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it should not be understood as limiting the present invention, those skilled in the art are in the scope of the utility model
Inside it can make changes, modifications, alterations, and variations to the above described embodiments.
Claims (10)
1. a kind of automatic butt transfer AGV characterized by comprising
Car body comprising running gear and transfer are walked and turned to for the car body；
Microcontroller is connect with the running gear, the transfer respectively, and controls the running gear and institute respectively
Stating transfer movement docks the car body according to the path walking of regulation and with production line；
The top of the car body is arranged in roller component, for the transfer article between different production lines；The roller component
Including roller, driving assembly；The driving component is connect with the roller；The microcontroller is connect with the driving component,
It controls the driving component operation or stops, the roller is made to rotate or stop operating；When the roller moves into or remove institute
When stating article, the microcontroller, which controls the driving component operation, rotates the roller；When the roller transports the object
When product, the microcontroller, which controls the driving component stopping, making the roller stop operating；
One end of the car body is arranged in block piece, when the article is moved into the roller from the other end of the car body
The article was stopped to remove when upper from one end of the car body.
2. automatic butt transfer AGV according to claim 1, which is characterized in that it further include distance measuring sensor, and it is described
Microcontroller connection, positioned at the front end of the car body, for detecting the car body at a distance from the production line and exporting distance
Signal gives the microcontroller；The block piece is fixed at the front end of the car body；The microcontroller according to it is described away from
The roller is controlled after controlling the car body adjustment direction from signal the rear end of the car body being made to dock and dock with the production line
Cylinder rotation.
3. automatic butt transfer AGV according to claim 2, which is characterized in that the distance measuring sensor is laser-correlation
Sensor.
4. automatic butt transfer AGV according to any one of claims 1 to 3, which is characterized in that the roller component also wraps
Two roller mounting plates are included, the left and right sides of the car body is separately positioned on；The roller include it is multiple, be arranged in two institutes
It states between roller mounting plate.
5. automatic butt transfer AGV according to claim 4, which is characterized in that further include first position sensor, set
It sets in the front end of the car body, is connect with the microcontroller；When the article is all moved on the roller, described
One position sensor detects position of the article on the roller and generates first position signal and exports to the microcontroller
Device；The microcontroller controls the roller according to the first position signal and stops operating.
6. automatic butt transfer AGV according to claim 5, which is characterized in that the first position sensor is photoelectricity
Sensor is arranged on the roller mounting plate.
7. automatic butt transfer AGV according to claim 4, which is characterized in that further include second position sensor, set
It sets in the rear end of the car body, is connect with the microcontroller；When the article all removes the roller, the second
It sets sensor and detects position of the article on the roller and generate second position signal and export to the microcontroller；Institute
Microcontroller is stated to be stopped operating according to the second position signal control roller.
8. automatic butt transfer AGV according to claim 7, which is characterized in that the second position sensor is photoelectricity
Sensor is arranged on the roller mounting plate.
9. automatic butt transfer AGV according to any one of claims 1 to 3, which is characterized in that the running gear and institute
Stating transfer is two driving wheels, two driving motors and multiple universal wheels；Two driving wheels are respectively and described in two
Driving motor connects one to one；Two driving motors are connect with the microcontroller respectively；Each universal wheel setting
In the bottom of the car body.
10. automatic butt transfer AGV according to claim 9, which is characterized in that the universal wheel includes four, symmetrically
The bottom of the car body is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821836251.3U CN209336564U (en) | 2018-11-08 | 2018-11-08 | A kind of automatic butt transfer AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821836251.3U CN209336564U (en) | 2018-11-08 | 2018-11-08 | A kind of automatic butt transfer AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209336564U true CN209336564U (en) | 2019-09-03 |
Family
ID=67747274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821836251.3U Active CN209336564U (en) | 2018-11-08 | 2018-11-08 | A kind of automatic butt transfer AGV |
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| Country | Link |
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| CN (1) | CN209336564U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452763A (en) * | 2020-04-14 | 2020-07-28 | 河南车洗捷智能科技有限公司 | Tunnel type car washing unattended trailer mechanism |
| CN113753465A (en) * | 2021-09-18 | 2021-12-07 | 苏州浪潮智能科技有限公司 | Material transport vehicle |
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
-
2018
- 2018-11-08 CN CN201821836251.3U patent/CN209336564U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452763A (en) * | 2020-04-14 | 2020-07-28 | 河南车洗捷智能科技有限公司 | Tunnel type car washing unattended trailer mechanism |
| CN113753465A (en) * | 2021-09-18 | 2021-12-07 | 苏州浪潮智能科技有限公司 | Material transport vehicle |
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: B3, 10th floor, block B, Qingdao International Innovation Park, 169 Songling Road, Laoshan District, Qingdao City, Shandong Province, 266101 Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |
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| CP03 | Change of name, title or address |