CN214607702U

CN214607702U - Driving steering device of AGV trolley

Info

Publication number: CN214607702U
Application number: CN202121081366.8U
Authority: CN
Inventors: 何勇; 梁鉴如
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-11-05
Anticipated expiration: 2031-05-20

Abstract

The utility model provides a driving steering device of an AGV trolley, which comprises a bottom plate fixedly connected with a trolley body, a sliding table is arranged on the upper surface of the bottom plate, a support plate is arranged at the edge of one side of the upper surface of the sliding table, a sensor for detecting a magnetic stripe is arranged at one end of the support plate far away from the sliding table, a threaded hole arranged in parallel with the guide hole is formed in the middle of one side face of the sliding table, a screw rod is connected with the threaded hole in an internal thread manner, the other end of the screw rod is connected with a first speed reducer through a coupler, the input end of the first speed reducer is connected with the output end of the direct current servo motor, two pull rods are rotatably connected at the middle position of the upper surface of the sliding table, travel switches are respectively arranged at the two ends of the guide rail, two dog that are used for touching travel switch are installed to slip table upper surface symmetry, compare with prior art, the utility model discloses following beneficial effect has: the AGV can accurately track and quickly reverse.

Description

Driving steering device of AGV trolley

Technical Field

The utility model relates to a AGV turns to actuating system structure belongs to automatic guided transport vechicle technical field.

Background

AGV is an abbreviation for Automated Guided Vehicle, i.e., "Automated Guided Vehicle". An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.

The AGV is a transport tool commonly used in factories and warehouses, and does not need manual intervention operation in an automatic operation state, so that labor cost is saved, and working efficiency is greatly improved. Nevertheless, the AGV has certain technical drawbacks: in the automatic state, the situation that the reversing is not timely and the vehicle leaves the preset track often occurs, so that inconvenience is often caused in use.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims at providing a AGV turns to actuating system structure to solve the problem that proposes in the above-mentioned background art, the utility model discloses realize AGV accurate tracking, quick switching-over.

In order to achieve the above purpose, the present invention is realized by the following technical solution: a AGV steering driving system structure comprises a bottom plate fixedly connected with a vehicle body, wherein a sliding table is arranged on the upper surface of the bottom plate, a support plate is arranged at the edge of one side of the upper surface of the sliding table, a sensor for detecting a magnetic stripe is arranged at one end, away from the sliding table, of the support plate, two guide holes are symmetrically formed in one side surface of the sliding table, guide rails are slidably arranged in the guide holes, two ends of each guide rail are fixedly connected with the bottom plate, a threaded hole arranged in parallel with the guide holes is formed in the middle position of one side surface of the sliding table, a lead screw is connected with the threaded hole in a threaded manner, one end of the lead screw is fixedly connected with the bottom plate, the other end of the lead screw is connected with a first speed reducer through a coupler, the input end of the first speed reducer is connected with the output end of a direct-current servo motor, two pull rods are rotatably connected to the middle position of the upper surface of the sliding table, one end, away from the sliding table, of each pull rod is rotatably connected with a travelling wheel box body, install the wheel in the travelling wheel box, travel switch is all installed at the both ends of guide rail, two dogs that are used for touching travel switch are installed to slip table upper surface symmetry.

Further, two proximity switches are symmetrically installed on one side, close to the sensor, of the upper surface of the bottom plate, and a baffle plate used for shielding the proximity switches is fixed on one side, close to the proximity switches, of the upper surface of the sliding table.

Furthermore, the connecting plate is installed to slip table upper surface middle part position, the one end that the walking wheel box was kept away from to the pull rod rotates with the connecting plate to be connected.

Furthermore, a second speed reducer is installed on the outer surface of the travelling wheel box body, the output end of the second speed reducer is connected with wheels, and the input end of the second speed reducer is connected with the output end of the power motor.

Further, first supports are installed at two ends of the guide rail and fixedly connected with the bottom plate.

Further, a second support is installed at one end, far away from the first speed reducer, of the screw rod, and the second support is fixedly connected with the bottom plate.

The utility model has the advantages that:

1. when AGV is before automatic operation state, AGV the control unit PLC program has set up the acquiescent first corotation of direct current servo motor, the slip table is forward motion along the lead screw, if when the magnetic stripe was not found to the sensor in this direction, travel switch is touched to the dog, begin to carry out direct current servo motor reversal program, until finding the magnetic stripe, PLC carries out motor power operation procedure, get into automatic operation state, the sensor keeps communicating with PLC, judge the relative position of sensor and magnetic stripe, direct current servo motor corotation or reversal are controlled all the time, control slip table horizontal slip on the lead screw promptly, just also control AGV is advanced left or right, realize quick switching-over.

2. In order to ensure that the sliding table slides in a safety range, limit positions on two sides of the sliding table are provided with travel switches, corresponding positions on two sides of the sliding table are provided with stop blocks, and the direct current servo motor is stopped before exceeding the limit, so that the sliding table is prevented from sliding out of the travel range of the lead screw.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural diagram of an AGV steering driving system structure according to the present invention;

FIG. 2 is a schematic view of the assembly of the tie rod, the traveling wheel box and the wheels in the AGV steering driving system structure of the present invention;

in the figure: the device comprises a base plate 1, a guide rail 2, a support plate 3, a sensor 4, a proximity switch 5, a baffle 6, a first support 7, a travel switch 8, a stop dog 9, a second support 10, a screw rod 11, a sliding table 12, a connecting plate 13, a first speed reducer 14, a direct current servo motor 15, a pull rod 16, a travelling wheel box 17, a wheel 18, a power motor 19 and a second speed reducer 20.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1 and fig. 2, the present invention provides a technical solution: the utility model provides a AGV turns to actuating system structure, includes bottom plate 1 with automobile body fixed connection, and 1 upper surface of bottom plate is equipped with slip table 12, and extension board 3 is installed to 12 upper surface one side edges of slip table, and extension board 3 keeps away from the one end of slip table 12 and installs the sensor 4 that is used for detecting the magnetic stripe, and extension board 3 plays the effect of connecting sensor 4 and slip table 12.

Two guiding holes have been seted up to slip table 12 one side symmetry, and slidable mounting has guide rail 2 in the guiding hole, and first support 7 is all installed at the both ends of guide rail 2, and first support 7 and bottom plate 1 fixed connection, first support 7 realize the support to guide rail 2, and the guiding hole cooperatees with guide rail 2, is convenient for restrict the removal orbit of slip table 12.

Threaded holes arranged in parallel with the guide holes are formed in the middle of one side face of the sliding table 12, a screw rod 11 is connected to the threaded holes in an internal thread mode, a second support 10 is installed at one end, away from the first speed reducer 14, of the screw rod 11, the second support 10 is fixedly connected with the bottom plate 1, and the second support 10 supports one end of the screw rod 11.

The other end of the screw rod 11 is connected with a first speed reducer 14 through a coupler, the input end of the first speed reducer 14 is connected with the output end of a direct current servo motor 15, the middle position of the upper surface of the sliding table 12 is rotatably connected with two pull rods 16, one end of each pull rod 16, which is far away from the sliding table 12, is rotatably connected with a traveling wheel box 17, wheels 18 are installed in the traveling wheel box 17, before the AGV is in an automatic running state, the direct current servo motor 15 is set in a PLC program of an AGV control unit to default to rotate forwards first, the sliding table 12 moves forwards along the screw rod 11, if a magnetic stripe is not found by the sensor 4 in the direction, a stop block 9 touches a travel switch 8 to start to execute a reverse rotation program of the direct current servo motor 15, until the magnetic stripe is found, the PLC executes an operation program of a power motor 19 to enter the automatic running state, the sensor 4 is communicated with the PLC, the relative position of the sensor 4 and the magnetic stripe is judged, and the direct current servo motor 15 is controlled to rotate forwards or reversely all the time, namely, the sliding table 12 is controlled to slide left and right on the screw rod 11, namely, the AGV is controlled to move left or right, and the angle between the pull rod 16 and the sliding table 12 is changed at the moment, so that the travelling wheel box body 17 and the vehicle body are driven to change the angle by pulling, and the rapid reversing is realized.

Travel switch 8 is all installed at guide rail 2's both ends, and 12 upper surface symmetries of slip table install two dog 9 that are used for touching travel switch 8, for guaranteeing that slip table 12 slides in safety range, install travel switch 8 at 12 both sides extreme position of slip table, and the corresponding position in 12 both sides of slip table is equipped with dog 9, makes direct current servo motor 15 stall before transfiniting, prevents 11 stroke scope of 12 roll-off lead screws of slip table.

Two proximity switch 5 are installed to the one side symmetry that bottom plate 1 upper surface is close to sensor 4, one side that slip table 12 upper surface is close to proximity switch 5 is fixed with the baffle 6 that is used for sheltering from proximity switch 5, when AGV marchs forward or back, earlier return the wheel 18 of back or front side just, the position that corresponds sensor 4 side on the slip table 12 installs baffle 6 additional, two proximity switch 5 in the middle of the bottom plate 1 all are blocked by this baffle 6 when, then prove that the wheel 18 of this side has just returned, the servo steering system of opposite side begins work, sensor 4 finds the magnetic stripe after, power motor 19 begins to drive AGV automatic marching.

The connecting plate 13 is installed at the middle position of the upper surface of the sliding table 12, one end of the pull rod 16, which is far away from the travelling wheel box body 17, is rotatably connected with the connecting plate 13, and the connecting plate 13 plays a role in connecting the pull rod 16 with the sliding table 12.

The outer surface of the travelling wheel box body 17 is provided with a second speed reducer 20, the output end of the second speed reducer 20 is connected with the wheel 18, the input end of the second speed reducer 20 is connected with the output end of a power motor 19, and the power motor 19 drives the wheel 18 to move after being decelerated by the second speed reducer 20 after working.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a drive of AGV dolly turns to device, includes bottom plate (1) with automobile body fixed connection, its characterized in that: the magnetic stripe detection device is characterized in that a sliding table (12) is arranged on the upper surface of a base plate (1), a support plate (3) is installed at the edge of one side of the upper surface of the sliding table (12), a sensor (4) for detecting a magnetic stripe is installed at one end, far away from the sliding table (12), of the support plate (3), two guide holes are symmetrically formed in one side of the sliding table (12), a guide rail (2) is installed in each guide hole in a sliding manner, two ends of the guide rail (2) are fixedly connected with the base plate (1), a threaded hole which is arranged in parallel with the guide holes is formed in the middle position of one side of the sliding table (12), a lead screw (11) is connected in an internal thread manner with one end of the lead screw (11) and the base plate (1), a first speed reducer (14) is connected to the other end of the lead screw (11) through a coupler, the input end of the first speed reducer (14) is connected with the output end of a direct current servo motor (15), two pull rods (16) are rotatably connected to the middle position of the upper surface of the sliding table (12), one end that slip table (12) were kept away from in pull rod (16) is rotated and is connected with travelling wheel box (17), install wheel (18) in travelling wheel box (17), travel switch (8) are all installed at the both ends of guide rail (2), two dog (9) that are used for touching travel switch (8) are installed to slip table (12) upper surface symmetry.

2. The AGV drive steering apparatus of claim 1, wherein: two proximity switches (5) are installed to bottom plate (1) upper surface one side symmetry that is close to sensor (4), one side that slip table (12) upper surface is close to proximity switch (5) is fixed with baffle (6) that are used for sheltering from proximity switch (5).

3. The AGV drive steering apparatus of claim 1, wherein: connecting plate (13) are installed to slip table (12) upper surface middle part position, the one end that the travelling wheel box (17) was kept away from in pull rod (16) rotates with connecting plate (13) and is connected.

4. The AGV drive steering apparatus of claim 1, wherein: a second speed reducer (20) is installed on the outer surface of the travelling wheel box body (17), the output end of the second speed reducer (20) is connected with the wheels (18), and the input end of the second speed reducer (20) is connected with the output end of the power motor (19).

5. The AGV drive steering apparatus of claim 1, wherein: first support (7) are all installed at the both ends of guide rail (2), first support (7) and bottom plate (1) fixed connection.

6. The AGV drive steering apparatus of claim 1, wherein: and a second support (10) is installed at one end, far away from the first speed reducer (14), of the screw rod (11), and the second support (10) is fixedly connected with the bottom plate (1).