CN211642414U - Intelligent AGV (automatic guided vehicle) carrying trolley and AGV traffic control system thereof - Google Patents
Intelligent AGV (automatic guided vehicle) carrying trolley and AGV traffic control system thereof Download PDFInfo
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- CN211642414U CN211642414U CN201922263021.3U CN201922263021U CN211642414U CN 211642414 U CN211642414 U CN 211642414U CN 201922263021 U CN201922263021 U CN 201922263021U CN 211642414 U CN211642414 U CN 211642414U
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Abstract
The utility model relates to an intelligent AGV carrying trolley and an AGV traffic control system thereof, wherein the AGV carrying trolley comprises a trolley body, a trolley carrying walking mechanism and an AGV traffic control system; the trolley body comprises a frame and a partition board horizontally arranged on the inner wall of the frame; the outer walls of the periphery of the frame are provided with laser obstacle avoidance devices in a matching way; the AGV traffic control system comprises a steering wheel controller, an auxiliary interconnection controller, a trolley end wireless transceiver, a PLC (programmable logic controller), an upper computer end wireless transceiver and an upper computer; the steering wheel controller is respectively connected and communicated with the auxiliary interconnection controller and the trolley end wireless transceiver; the trolley-end wireless transceiver is respectively connected and communicated with the PLC and the upper computer-end wireless transceiver; the upper computer end wireless transceiver is connected with the upper computer for communication; the laser obstacle avoidance device is connected and communicated with the PLC. The utility model discloses think about rationally, can effectively solve the AGV floor truck rear-end collision, the collision scheduling problem when walking the rectangular line, the operation is stable orderly.
Description
Technical Field
The utility model relates to a AGV transport technical field, concretely relates to intelligence AGV floor truck and AGV traffic control system thereof.
Background
The mode of transport gearbox in the past is for the manual work to push the shallow to gearbox ejection of compact transfer chain body section, places the tray of having placed the gearbox of line body section in the handcart the inside, then the shallow workman pushes the dolly toward gearbox assembly manufacturing line to take out the gearbox and place and supply the production and use on gearbox assembly manufacturing line. In the traditional manual cart, materials are large and heavy, each cart needs to be pushed by two persons, the material demand is large, at least 20 carts are needed to meet production requirements, and the problems that the materials fall down to injure people, the materials are scratched to collide with the materials in the carrying process and the like cannot be avoided; due to factors such as fatigue of people in the cart, mood and the like, the beat cannot be stably controlled, so that the production line often waits for materials and the like, and the efficiency is low.
Due to factors such as production equipment, as shown in fig. 9, when the AGV transporting trolley travels to the position 1# or 4#, the distance from the AGV transporting trolley to the production equipment is very close, which means that the laser obstacle avoidance scanning area of the AGV transporting trolley is slightly larger than the width of the trolley body, and not too much, otherwise, the laser obstacle avoidance scanning is to mistake the production equipment as an obstacle, and the AGV transporting trolley is forced to emergently brake, so that the AGV transporting trolley cannot continue to advance. To avoid this, the scanning range of the laser obstacle avoidance area near the production equipment needs to be small, but the scanning range is small, and rear-end collision and other situations occur, for example: if there is the AGV floor truck and move to like when figure 2# position, another AGV floor truck moves to 1# position, because keep away the obstacle scanning scope little this time, the AGV floor truck of 1# position can't be timely effectual detects the AGV floor truck of 2# position, will appear collision phenomenon like this, and the same reason all can have same problem to exist in other 4 angles.
Disclosure of Invention
To the problem that exists among the above-mentioned background art, the utility model provides a conceive rationally, can effectively solve the AGV floor truck and walk the rear-end collision when rectangular line, collision scheduling problem, the operation is stable orderly and can gather dolly information display in real time at host computer visual interface, convenient intelligent AGV floor truck and AGV traffic control system simple to use.
The technical scheme of the utility model as follows:
the intelligent AGV carrying trolley comprises a trolley body and a trolley carrying travelling mechanism which is installed on the bottom side of the trolley body in a matching mode; the trolley body comprises a frame and a partition board horizontally arranged on the inner wall of the frame; the outer walls of the periphery of the frame are provided with laser obstacle avoidance devices in a matching way; the AGV carrying trolley also comprises an AGV traffic control system; the AGV traffic control system comprises a steering wheel controller, an auxiliary interconnection controller, a trolley end wireless transceiver, a PLC (programmable logic controller), an upper computer end wireless transceiver and an upper computer; the PLC is respectively and electrically connected with the laser obstacle avoidance device, the steering wheel controller and the trolley end wireless transceiver; the steering wheel controller is electrically connected with the trolley carrying and travelling mechanism and the auxiliary interconnection controller respectively; the trolley-end wireless transceiver is connected with the upper computer-end wireless transceiver for communication; and the upper computer end wireless transceiver is connected with the upper computer for communication.
Intelligence AGV floor truck, wherein: the trolley carrying travelling mechanism consists of a pair of steering wheel travelling mechanisms which are respectively matched and symmetrically arranged at the bottom sides of the partition plates; each steering wheel travelling mechanism comprises a steering driven gear, a steering wheel, a travelling motor, a steering motor, an encoder gear, a travelling wheel and a magnetic navigation sensor; the axial upper end surface of the steering driven gear is fixedly arranged on the bottom surface of the partition plate; the upper part of the steering wheel is hinged with the axial lower end face of the steering driven gear through a bearing; the walking motor is arranged on the bottom surface of the partition plate in a matching mode, and a power output shaft of the walking motor is provided with a walking motor movable plate in a matching and hinged mode; the tail end of a power output shaft of the walking motor is provided with a walking angle encoder in a matching way; the upper part of the movable plate of the walking motor is fixed on the lower part of the steering wheel; the travelling wheel is mounted on a power output shaft of the travelling motor in a matching manner, and one axial end face of the travelling wheel is fixedly connected with the travelling motor movable plate; the steering motor is arranged on one side of the lower part of the steering wheel in an inverted matching manner, the power output shaft of the steering motor extends out of the upper part of the steering wheel, and the extending end of the power output shaft is provided with a steering driving gear in a matching manner; the diameter of the steering driving gear is smaller than that of the steering driven gear, and one side of the steering driving gear is in matched meshing with one side of the steering driven gear; the encoder gear is installed on one side of the upper part of the steering wheel in a matching mode, and one side of the encoder gear is meshed with the other side of the steering driven gear in a matching mode; the gear of the encoder gear extends towards the lower part of the steering wheel, and the extending end of the gear is provided with a steering angle encoder in a matching way; the magnetic navigation sensor is installed on one side of the bottom of the steering wheel in a matching mode.
Intelligence AGV floor truck, wherein: the steering wheel controller is respectively electrically connected with the magnetic navigation sensor, the walking motor, the steering angle encoder and the walking angle encoder.
Intelligence AGV floor truck, wherein: the AGV carrying trolley also comprises a pair of spring floating mechanisms which are arranged on the upper part of the trolley body in a matching mode; the positions of the pair of spring floating mechanisms are matched with the positions of the pair of steering wheel travelling mechanisms; the lower part of the spring floating mechanism is assembled and connected with the axial upper end face of the steering driven gear.
Intelligence AGV floor truck, wherein: AGV floor truck still including match install in the roller conveying of dolly body upper portion goes up the dress frame.
The AGV traffic control system of the intelligent AGV transporting trolley comprises a steering wheel controller, an auxiliary interconnection controller, a trolley end wireless transceiver, a PLC (programmable logic controller), an upper computer end wireless transceiver and an upper computer; the PLC is respectively and electrically connected with the steering wheel controller, the trolley end wireless transceiver and the laser obstacle avoidance device arranged on the trolley body of the AGV carrying trolley; the steering wheel controller is electrically connected with a trolley carrying travelling mechanism of the AGV carrying trolley and the auxiliary interconnection controller respectively; the trolley-end wireless transceiver is connected with the upper computer-end wireless transceiver for communication; and the upper computer end wireless transceiver is connected with the upper computer for communication.
AGV traffic control system of intelligence AGV floor truck, wherein: the steering wheel controller is electrically connected with a magnetic navigation sensor, a traveling motor, a steering angle encoder and a traveling angle encoder of the trolley carrying and traveling mechanism.
Has the advantages that:
the utility model discloses intelligence AGV floor truck and AGV traffic control system design is reasonable, especially AGV traffic control system can gather AGV floor truck's position, information such as speed in real time and will show on the visual interface of host computer, and convenience simple to use can effectively control AGV floor truck and carry out orderly operation according to prescribed route, position, speed etc. has effectively solved the AGV floor truck and has walked rear-end collision scheduling problem when rectangular circuit, lets the orderly steady operation of AGV floor truck.
Drawings
FIG. 1 is a schematic structural view of an intelligent AGV handling trolley according to the present invention;
FIG. 2 is a bottom view of the AGV handling cart according to the present invention;
FIG. 3 is a schematic structural view of a trolley body of the intelligent AGV carrying trolley of the present invention;
FIG. 4 is another schematic structural diagram of the AGV handling vehicle according to the present invention;
FIG. 5 is a schematic structural view of a steering wheel traveling mechanism of the AGV carrying trolley according to the present invention;
FIG. 6 is another schematic structural diagram of the steering wheel traveling mechanism of the AGV according to the present invention;
FIG. 7 is a schematic diagram of the AGV carrying cart according to the present invention running on the magnetic track line;
FIG. 8 is a schematic structural diagram of an AGV traffic control system of the intelligent AGV transporting trolley according to the present invention;
FIG. 9 is a diagram illustrating the operation of a conventional AGV handling cart;
FIG. 10 is the functional block diagram of AGV traffic control system of the present invention.
Detailed Description
As shown in figures 1 to 8, the utility model discloses intelligence AGV floor truck, including dolly body 1, the floating mechanism 2 of spring, dolly transport running gear 3, roller transport facial make-up frame 4 and AGV traffic control system.
The trolley body 1 is a square frame and comprises a frame 11, a partition plate 12, a top plate 13, universal casters 14 and a laser obstacle avoidance device 15. The frame 11 is a square frame structure formed by four rectangular plates. The partition board 12 is a square board structure and is horizontally and fixedly mounted on the inner wall of the middle part of the frame 11, and a pair of mounting holes are symmetrically formed in the middle areas of the two ends of the partition board. The top plate 13 is composed of two rectangular plate bodies and is horizontally installed at the top frame opening of the frame 11 in a matching manner and completely seals the top frame opening of the frame 11. The universal caster wheels 14 are four and are respectively matched and installed at the four corners of the bottom of the partition board 12. The laser obstacle avoidance devices 15 are provided with four outer walls which are respectively matched with the outer walls of the four sides of the frame 11, and each laser obstacle avoidance device 15 is electrically connected with an AGV traffic control system.
The spring floating mechanism 2 has a pair of mounting hole regions which are respectively matched and mounted on the partition plate 12 of the trolley body 1.
The trolley carrying travelling mechanism 3 adopts a double-steering wheel travelling mechanism which consists of a pair of steering wheel travelling mechanisms, and the pair of steering wheel travelling mechanisms are respectively matched and arranged at the bottom sides of the front end and the rear end of the partition plate 12 of the trolley body 1, namely comprise a front steering wheel travelling mechanism and a rear steering wheel travelling mechanism which have the same structure; the positions of the pair of steering wheel running mechanisms are matched with the positions of the pair of spring floating mechanisms 2. Because the front steering wheel running mechanism and the rear steering wheel running mechanism have the same structure, the structure of only one steering wheel running mechanism is explained in detail, namely each steering wheel running mechanism comprises a steering driven gear 31, a steering wheel 32, a running motor 33, a steering motor 34, an encoder gear 35, a steering angle encoder 36, a running angle encoder 37, a running wheel 38 and a magnetic navigation sensor 39.
The axial upper end face of the steering driven gear 31 is fixedly mounted on the bottom side of the partition plate 12 of the cart body 1 via a flange 311. The upper part of the steering wheel 32 is connected with the axial lower end surface of the steering driven gear 31 by a bearing.
The walking motors 33 are provided with a pair of walking motors 33 respectively arranged at the bottom sides of the partition plates 12 of the trolley body 1, a walking motor movable plate 331 is mounted on a power output shaft of each walking motor 33 in a matched and hinged mode through a bearing, and the upper portions of the walking motor movable plates 331 are fixed to the lower portions of the steering wheels 32; the traveling wheel 38 is mounted on the power output shaft of the traveling motor 33 in a matching manner, and one axial end surface of the traveling wheel is fixedly connected with the movable plate 331 of the traveling motor; the tail end of the power output shaft of each walking motor 32 is also provided with a walking angle encoder 37 in a matching way; the travel angle encoder 37 is electrically connected to the AGV traffic control system.
The steering motor 34 is installed on one side of the lower part of the steering wheel 32 in an inverted matching manner, the power output shaft thereof extends out to the upper part of the steering wheel 32, and the extending end is installed with a steering driving gear 341 in a matching manner; the steering driving gear 341 has a diameter smaller than that of the steering driven gear 31, and one side thereof is in meshing engagement with the side of the steering driven gear 31.
The encoder gear 35 is arranged on one side of the upper part of the steering wheel 32 in a matching way, and one side of the encoder gear is meshed with the other side of the steering driven gear 31 in a matching way; the gear shaft of the encoder gear 35 extends out of the lower part of the steering wheel 32, and the extending end is matched with a steering angle encoder 36; the steering angle encoder 36 is electrically connected to the AGV traffic control system.
The magnetic navigation sensor 39 is mounted on one side of the bottom of the steering wheel 32 in a matching manner, comprises a front magnetic navigation sensor and a front magnetic navigation sensor, and is electrically connected with an AGV traffic control system; the utility model discloses intelligence AGV floor truck is along the walking of magnetic track 5 to transmit intelligent AGV floor truck's position information for AGV traffic control system through magnetic navigation sensor 39.
The roller conveying upper loading frame 4 is matched and arranged on the upper part of a top plate 13 of the trolley body 1.
This AGV traffic control system includes rudder wheel controller, supplementary interconnection controller, dolly end wireless transceiver, PLC controller, host computer end wireless transceiver and host computer.
The PLC adopts a Mitsubishi PLC with the model number of FX3U-128MR and is respectively and electrically connected with the laser obstacle avoidance device 15, the steering wheel controller and the trolley end wireless transceiver. The steering wheel controllers are provided with a pair of steering wheel controllers which are respectively and electrically connected with a pair of corresponding magnetic navigation sensors 39, a traveling motor 33, a steering motor 34, a steering angle encoder 36 and a traveling angle encoder 37 on a pair of trolley carrying and traveling mechanisms 3, and are also connected and communicated with the auxiliary interconnection controller through communication lines; the trolley end wireless transceiver is also connected with an upper computer end wireless transceiver for communication; the upper computer end wireless transceiver is matched with a connecting network cable through a network port to be connected with an upper computer for communication.
As shown in fig. 10, the upper computer is also loaded with AGV traffic control software including an information processing unit, a visual interface, and an information transmitting/receiving unit.
The AGV traffic control software specifically works as follows: after the AGV traffic control software of the upper computer is ready, an information receiving and sending unit of the AGV traffic control software executes a task of receiving information and a task of sending information once every 300 milliseconds, and then the received information is transmitted to an information processing module, and new information is obtained from the information processing module to be used as sending information for the next time; the cycle execution is repeated in this way; after the information processing unit obtains the trolley information transmitted by the information receiving and transmitting unit, whether the information contains fault information such as abnormal alarm and the like is judged, and if the information contains the fault information, the fault information is directly transmitted to a visual interface; if no fault information exists, judging whether the current position of the AGV carrying trolley can continue to travel or not, transmitting the judgment result, the position and other information to a visual interface, and waiting for the next cycle of the information transceiver module; the visual interface displays information such as fault positions transmitted by the information processing unit in real time, and displays the information on the visual interface for visual reference of operators.
The utility model discloses the theory of operation of AGV traffic control system of intelligence AGV floor truck does:
after the AGV carrying trolley is normally started, the steering wheel controller can automatically acquire the information such as the position and the speed of the steering wheel 32 and transmit the information such as the position and the speed to the PLC, the PLC sends the information such as the position and the speed to the wireless transceiver at the trolley end through the communication line after acquiring the information such as the position and the speed, and the wireless transceiver at the trolley end sends wireless wave information; the wireless wave information is captured by the upper computer wireless transceiver, and then the captured information is transmitted to the upper computer by the upper computer wireless transceiver through the network cable; the upper computer is loaded with AGV traffic control software, after the upper computer obtains information through the loaded AGV traffic control software, the upper computer can automatically judge whether an AGV carrying trolley exists in a current A, B control area, and meanwhile, states of the speed, the alarm and the like of the AGV carrying trolley can be displayed on a visual interface of the upper computer; if an AGV carrying trolley enters a control area, the upper computer sends information of stopping waiting to the upper computer wireless transceiver through the carried AGV traffic control software, the upper computer wireless transceiver sends information of stopping waiting wireless waves, the information of stopping waiting wireless waves is captured by the trolley wireless transceiver, the trolley wireless transceiver transmits the information of stopping waiting wireless waves to the PLC controller, the PLC controller sends the information to the PLC controller after receiving the information of stopping waiting, the PLC controller transmits the information to the steering wheel controller through a communication line, the steering wheel controller controls the steering wheel traveling mechanism according to the information, the AGV carrying trolley stops waiting when going to the control area, after the AGV carrying trolley controlled to the control area completely goes out, the upper computer obtains the position information of each AGV carrying trolley in real time, and judges that no AGV carrying trolley exists in the current control area, and sending waiting ending information, and automatically releasing the AGV carrying trolleys waiting in the control area, so that the AGV carrying trolleys pass orderly.
The utility model discloses think about rationally, can effectively solve the AGV floor truck and walk rear-end collision when rectangular circuit, collision scheduling problem, the operation is stable orderly and can gather dolly information display in real time at host computer visual interface, convenience simple to use.
Claims (7)
1. An intelligent AGV carrying trolley comprises a trolley body and a trolley carrying travelling mechanism which is installed on the bottom side of the trolley body in a matching mode; the method is characterized in that: the trolley body comprises a frame and a partition board horizontally arranged on the inner wall of the frame; the outer walls of the periphery of the frame are provided with laser obstacle avoidance devices in a matching way;
the AGV carrying trolley also comprises an AGV traffic control system; the AGV traffic control system comprises a steering wheel controller, an auxiliary interconnection controller, a trolley end wireless transceiver, a PLC (programmable logic controller), an upper computer end wireless transceiver and an upper computer; the PLC is respectively and electrically connected with the laser obstacle avoidance device, the steering wheel controller and the trolley end wireless transceiver; the steering wheel controller is electrically connected with the trolley carrying and travelling mechanism and the auxiliary interconnection controller respectively; the trolley-end wireless transceiver is connected with the upper computer-end wireless transceiver for communication; and the upper computer end wireless transceiver is connected with the upper computer for communication.
2. The intelligent AGV transport cart of claim 1, further comprising: the trolley carrying travelling mechanism consists of a pair of steering wheel travelling mechanisms which are respectively matched and symmetrically arranged at the bottom sides of the partition plates; each steering wheel travelling mechanism comprises a steering driven gear, a steering wheel, a travelling motor, a steering motor, an encoder gear, a travelling wheel and a magnetic navigation sensor;
the axial upper end surface of the steering driven gear is fixedly arranged on the bottom surface of the partition plate; the upper part of the steering wheel is hinged with the axial lower end face of the steering driven gear through a bearing;
the walking motor is arranged on the bottom surface of the partition plate in a matching mode, and a power output shaft of the walking motor is provided with a walking motor movable plate in a matching and hinged mode; the tail end of a power output shaft of the walking motor is provided with a walking angle encoder in a matching way; the upper part of the movable plate of the walking motor is fixed on the lower part of the steering wheel; the travelling wheel is mounted on a power output shaft of the travelling motor in a matching manner, and one axial end face of the travelling wheel is fixedly connected with the travelling motor movable plate;
the steering motor is arranged on one side of the lower part of the steering wheel in an inverted matching manner, the power output shaft of the steering motor extends out of the upper part of the steering wheel, and the extending end of the power output shaft is provided with a steering driving gear in a matching manner; the diameter of the steering driving gear is smaller than that of the steering driven gear, and one side of the steering driving gear is in matched meshing with one side of the steering driven gear;
the encoder gear is installed on one side of the upper part of the steering wheel in a matching mode, and one side of the encoder gear is meshed with the other side of the steering driven gear in a matching mode; the gear of the encoder gear extends towards the lower part of the steering wheel, and the extending end of the gear is provided with a steering angle encoder in a matching way; the magnetic navigation sensor is installed on one side of the bottom of the steering wheel in a matching mode.
3. The intelligent AGV transport cart of claim 2, further comprising: the steering wheel controller is respectively electrically connected with the magnetic navigation sensor, the walking motor, the steering angle encoder and the walking angle encoder.
4. The intelligent AGV transport cart of claim 2, further comprising: the AGV carrying trolley also comprises a pair of spring floating mechanisms which are arranged on the upper part of the trolley body in a matching mode; the positions of the pair of spring floating mechanisms are matched with the positions of the pair of steering wheel travelling mechanisms; the lower part of the spring floating mechanism is assembled and connected with the axial upper end face of the steering driven gear.
5. The intelligent AGV transport cart of claim 1, further comprising: AGV floor truck still including match install in the roller conveying of dolly body upper portion goes up the dress frame.
6. An AGV traffic control system according to any one of claims 1 to 5, wherein: the AGV traffic control system comprises a steering wheel controller, an auxiliary interconnection controller, a trolley end wireless transceiver, a PLC (programmable logic controller), an upper computer end wireless transceiver and an upper computer; the PLC is respectively and electrically connected with the steering wheel controller, the trolley end wireless transceiver and the laser obstacle avoidance device arranged on the trolley body of the AGV carrying trolley; the steering wheel controller is electrically connected with a trolley carrying travelling mechanism of the AGV carrying trolley and the auxiliary interconnection controller respectively; the trolley-end wireless transceiver is connected with the upper computer-end wireless transceiver for communication; and the upper computer end wireless transceiver is connected with the upper computer for communication.
7. The AGV traffic control system according to claim 6, wherein said AGV traffic control system further comprises: the steering wheel controller is electrically connected with a magnetic navigation sensor, a traveling motor, a steering angle encoder and a traveling angle encoder of the trolley carrying and traveling mechanism.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922173433 | 2019-12-06 | ||
| CN2019221734338 | 2019-12-06 |
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| CN211642414U true CN211642414U (en) | 2020-10-09 |
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| CN201922263021.3U Active CN211642414U (en) | 2019-12-06 | 2019-12-17 | Intelligent AGV (automatic guided vehicle) carrying trolley and AGV traffic control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454828A (en) * | 2022-03-15 | 2022-05-10 | 安歌科技(集团)股份有限公司 | Material box carrying type AGV and electrical control system thereof |
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2019
- 2019-12-17 CN CN201922263021.3U patent/CN211642414U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454828A (en) * | 2022-03-15 | 2022-05-10 | 安歌科技(集团)股份有限公司 | Material box carrying type AGV and electrical control system thereof |
| CN114454828B (en) * | 2022-03-15 | 2023-11-24 | 安歌科技(集团)股份有限公司 | Material box carrying type AGV and electric control system thereof |
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