CN2795178Y - Laser guide antomatic transport vehicle - Google Patents
Laser guide antomatic transport vehicle Download PDFInfo
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- CN2795178Y CN2795178Y CN 200520018837 CN200520018837U CN2795178Y CN 2795178 Y CN2795178 Y CN 2795178Y CN 200520018837 CN200520018837 CN 200520018837 CN 200520018837 U CN200520018837 U CN 200520018837U CN 2795178 Y CN2795178 Y CN 2795178Y
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Abstract
The utility model relates to a laser-guiding automatic transporting vehicle which relates to the technical field of automatic transportation. The utility model is a transporting vehicle which can be guided automatically in the automatic production process and the automatic logistics system of enterprises. Portal frames are fixedly connected at both sides of the rear face of the outer shell of the vehicle body, the middle part of an upper cross beam of each portal frame is provided with a mounting frame on which a laser emission receiving apparatus is arranged; the front end of a chassis is fixedly connected with a non-contacting type laser safety anti-collision mechanism. The lower ends of the left side and the right side of the outer shell of the vehicle body are respectively horizontally provided with two photoelectric sensors. The end of a cargo fork is provided with two photoelectric sensors, and the angel is adjustable. The position accuracy of the laser-guiding automatic transporting vehicle of the utility model is +/-5 millimeters, the angle accuracy is +/-0.1 DEG, and the probing angle is 360 DEG. The running speed can be changed from 0 m/min to 100m/min in a stepless way, and the environment temperature is from 0 DEG C to 50 DEG C. The laser-guiding automatic transporting vehicle can be charged automatically at any time.
Description
Technical field
The utility model relates to automatic transportation technology field, is a kind of transport trolley of homing guidance in enterprise automation production process and automatic material flow system, particularly utilizes the new type auto transport trolley of laser guidance technology.
Background technology
Automatic guided vehicles ystem is called for short AGVS, is the effective means of logistics transportation in current FMS flexible manufacturing system (FMS) and the automated warehouse storage system.The nucleus equipment of automatic guided vehicles ystem is automatic guided vehicle (AGV), and as a kind of driverless operation industrial transportation vehicle, AGV has promptly obtained application in 1950's.The general storage battery of using is as power, and load carrying ability is from several kilograms to up to a hundred tons, and the work-yard can be office, workshop, also can be harbour, harbour.Modern AGV is by computer-controlled, and microprocessor is housed on the car.Most AGVS are furnished with system's integrated control ﹠ management computing machine, are used for the operation process of automatic guided vehicle is optimized, and send the carrying instruction, the route of member during tracking transmits and control automatic guided vehicle.
Automatic guided vehicle (Automatic Guided Vehicle) is a kind of material handling equipment, it is the loading that can carry out goods automatically in a position, automatically the unloading of goods is finished in the another location of walking, and automatic guided vehicle is the conveying arrangement that can finish cargo handing automatically.Automatic guided vehicles ystem is in enterprise automation production process and computer integrated manufacture system (CIMS), industries such as especially supermatic tobacco, automobile, civil aviaton, iron and steel, postal service, seal paper money, industries such as Qing Jie electronics, medicine, food highly, special trade such as freezing, nuclear material, photosensitive material has broad application prospects.Realize full automaticity operation, i.e. automatically identification, transportation automatically fully, detect automatically, carrying automatically, access, automatic information exchange and monitoring etc. automatically.
The guidance mode of automatic guided vehicle (AGV) mainly contains modes such as electromagnetic induction guiding, laser aiming and the guiding of magnet gyro, wherein develop comparatively fast in the laser aiming mode, but electromagnetic induction guiding and magnet gyro guidance mode occupies larger proportion.The electromagnetic induction guiding is electromagnetic field and the operation of electromagnetic sensing device guiding automatic guided vehicle that utilizes the low frequency pilot cable to form.Its basic functional principle is an exchange current when flowing through cable, generates an electromagnetic field around cable that magnetic-field intensity is big more from lead more nearby, at a distance a little less than its magnetic-field intensity.Electromagnetic field by induction coil induces voltage at the coil two ends, and this voltage is directly proportional with magnetic-field intensity.When cable was in the middle of the coil, the voltage of left and right sides coil equated that turn sign is zero.When the guiding antenna is partial to the either side of pilot cable, one lateral coil voltage raises, the voltage of opposite side reduces, and the difference of potential of two induction coils is handled the automatic guided vehicle diversion signal exactly, thereby the control steer motor is proofreaied and correct the service direction of automatic guided vehicle.
Under the face of land of automatic guided vehicle running route, bury the cable of some different frequency electric currents underground, detect signal respectively by antenna, be used for control and guide automatic guided vehicle to move along fixed route by automatic guided vehicle (AGV) controller.Antenna and induction coil thereof are used to detect the side-play amount of automatic guided vehicle with respect to pilot cable, accurately proofread and correct the service direction of automatic guided vehicle.This guidance mode belongs to traditional mode, and technology is ripe, and the cost of automatic guided vehicle itself is low, reliable operation.Its shortcoming is to bury cable underground under the face of land of circulation line, and the engineering time is long, and the expense height is difficult for the change route, and this guidance mode is applicable to big-and-middle-sized automatic guided vehicle (AGV), is still using more widely at present.The principle of work utilization of laser aiming is installed in several witness markers that the laser scanner identification on the automatic guided vehicle is arranged in its action radius and determines its coordinate position, thus the operation of guiding automatic guided vehicle, and this mode of operation belongs to the navigation formula and guides.Laser scanner generally is installed in the higher position of automatic guided vehicle, and each witness marker and laser scanner are echoed preferably, and connects with the control desk of automatic guided vehicle by the serial port of system.Witness marker is to be made by high reflecting material, is fixed on the wall or pillar on the way.Laser scanner utilizes pulse laser to send laser and rotates with certain rotating speed by an internal mirror, to around scan, measure the distance and the angle of each witness marker, calculate X, the Y coordinate of automatic guided vehicle (AGV), thereby the guiding automatic guided vehicle moves according to predefined route.
The guide trolleys of at present domestic automatic guided vehicle commonly used mainly adopts guide modes such as electromagnetism, optics, inertia, later-model laser guide mode is compared with guide modes such as electromagnetism, optics, inertia, have automatic detection, automatic addressing, stop the precision height, independence is strong, intelligent degree height, comformability, alerting ability are strong, the expansion in path and revise more conveniently, cost of installation is low, the serviceability advantages of higher.
The utility model content
The purpose of this utility model provides a kind of Laser-guided automatic transporter, and it can finish the loading and unloading and the transportation of goods automatically.This Laser-guided automatic transporter has adopted laser guiding tricycle structure, accurate positioning, maneuverability, and running velocity is fast, and ground be need not to carry out decoration construction can put into operation; Adopt the lifting fork structure, have lifting capacity accurately, smooth operation, low noise, characteristics such as pollution-free; Especially the contactless collision prevention device of laser-scan has fully guaranteed the safe reliability of Laser-guided automatic transporter in the carrying production process.
For achieving the above object, technical solution of the present utility model provides a kind of Laser-guided automatic transporter, form by vehicle body, pallet fork, portal frame, non-contact laser anticollision mechanism, Laser emission receiving device, actuating device, steering hardware, hydraulic lift, sound, light warning device, capacity of cell checking system, vehicle control syetem, radio transceiver system, manual mode controller, operation screen, battery system, wherein, vehicle body is made up of chassis, shell, preceding cover panel, last cover panel, battery box cover plate; Lower front portion center, chassis is drive wheel, and two supplemental support are taken turns, and are positioned at the left and right sides at rear portion, chassis; Upper surface of outer cover has warning lamp, antenna, and the cover panel top is provided with operation screen, capacity of cell instrumentation before the shell, and there is the battery box cover plate shell both sides, and wherein a side has manual mode controller; The shell lower rear is connected with pallet fork, and below, pallet fork end respectively is provided with a pair of support wheel; Be provided with actuating device, steering hardware, hydraulic lift, capacity of cell checking system, vehicle control syetem, radio transceiver system, battery system in its vehicle body, each several part connects routinely;
Its both sides, body shell back are connected with portal frame, and there is erecting frame at the entablatrance middle part of portal frame, and the Laser emission receiving device is installed on the erecting frame; Chassis front end is connected with non-contact laser anticollision mechanism; In lower end, the body shell left and right sides, each level is equiped with two opto-electronic pickups.
Described Laser-guided automatic transporter, its described erecting frame is made up of installation supporting plate, mounting bracket, and mounting bracket is fixed on the entablatrance middle part of portal frame, and supporting plate places the mounting bracket top, and is connected with mounting bracket; The Laser emission receiving device is fixed in splint upper surface.
Described Laser-guided automatic transporter; its described non-contact laser anticollision mechanism; comprise protective cradle and non-contact laser anticollision sensor; the affixed protective cradle of chassis front end; protective cradle is a two-layer arc up and down; the middle part is fixed with non-contact laser anticollision sensor between the two-layer up and down arc.
Described Laser-guided automatic transporter, its described pallet fork end respectively is provided with two opto-electronic pickups, and opto-electronic pickup links to each other with the pallet fork end by connecting panel, fixed mount; Connecting panel is fixed in the lower grooves of pallet fork end, and fixed mount is connected with connecting panel, and opto-electronic pickup is packed on the fixed mount, and the adjustable angle of opto-electronic pickup on connecting panel.
Described Laser-guided automatic transporter, its described car body actuating device is made up of drive wheel, drive motor, reductor, magnet stopper, synchronous band, coder; Its drive wheel props up in ground, is connected with reductor on the drive wheel, and drive motor one end is connected with reductor, and the other end directly is connected with magnet stopper, is with an end to be connected with drive motor by synchronizing wheel synchronously, the other end and coder direct connection.
Described Laser-guided automatic transporter, its described Laser emission receiving device, non-contact laser anticollision sensor, eight opto-electronic pickups and actuating device, all be electrically connected with vehicle control syetem respectively, vehicle control syetem is electrically connected with operation screen and manual mode controller respectively.
Described Laser-guided automatic transporter, its described vehicle control syetem is connected with the computing machine communication with wireless mode.
The utility model Laser-guided automatic transporter positional precision is 360 ° for ± 5 millimeters, angle precision for ± 0.1 °, detection angle, the running velocity per minute can from 0 to 100 meter stepless change, ambient temperature is 0～50 ℃, and Laser-guided automatic transporter can also charge at any time automatically.
Description of drawings
Fig. 1: Laser-guided automatic transporter External view of the present invention;
Fig. 1-1 is an E-E cutaway view among Fig. 1;
Fig. 2: Laser-guided automatic transporter internal view of the present invention;
Fig. 3: Laser-guided automatic transporter B part sectional view of the present invention;
Fig. 4: Laser-guided automatic transporter D of the present invention portion cutaway view;
Fig. 5: Laser-guided automatic transporter C of the present invention portion cutaway view;
Fig. 6: Laser-guided automatic transporter part sectional view of the present invention;
Fig. 6-1 is Laser-guided automatic transporter K of the present invention portion cutaway view;
Fig. 7: Laser-guided automatic transporter electric-control system schematic diagram one of the present invention;
Fig. 8: Laser-guided automatic transporter electric-control system schematic diagram two of the present invention;
Fig. 9: Laser-guided automatic transporter electric-control system schematic diagram three of the present invention;
Figure 10: Laser-guided automatic transporter electric-control system schematic diagram four of the present invention;
Figure 11: the A that is two opto-electronic pickups of Laser-guided automatic transporter pallet fork leading section of the present invention among Fig. 4 is to scheme drawing;
Figure 12: Laser-guided automatic transporter backsight External view of the present invention.
The specific embodiment
Laser-guided automatic transporter of the present utility model belongs to a kind of of automatic guided vehicle (AGV), mainly is made up of following parts: vehicle body, pallet fork, portal frame, non-contact laser anticollision mechanism, Laser emission receiving device, actuating device, steering hardware, hydraulic lift, sound, light warning device, capacity of cell checking system, vehicle control syetem, radio transceiver system, manual mode controller, operation screen, battery system etc.
Adopted laser guiding tricycle structure, one of them is a drive wheel, and below vehicle body, two other takes turns the front lower place that is positioned at pallet fork, also has two supplemental support wheels, is positioned at the left and right sides of vehicle body.Its vehicle body is made up of chassis, preceding cover panel, last cover panel, battery box cover plate etc.; Pallet fork is made up of fork body, support wheel, 4 anticollision photoelectric protection switches, trough etc.;
Described Laser-guided automatic transporter, its non-contact laser anticollision mechanism is installed in the dead ahead of car; Described Laser-guided automatic transporter, its portal frame is installed in the battery box both sides, the portal frame both sides are equipped with each one of left and right sides steering indicating light, and the portal frame top is equipped with Laser emission and accepts sensor stand, and the support top is equipped with Laser emission and accepts one of sensor;
Described Laser-guided automatic transporter, its actuating device is installed in the middle part of vehicle body, is made up of drive wheel, drive motor, reductor, magnet stopper, synchronous band, coder etc.
Described Laser-guided automatic transporter, its steering hardware is installed in the right lower quadrant of vehicle body, is made up of steer motor, reducing gear, coder etc.;
Described Laser-guided automatic transporter, its hydraulic lift is installed in the lower left of vehicle body, is made up of hydraulic electric motor, hydraulic oil pump, hydraulic ram, electromagnetic valve and other attaching partss etc.;
Described Laser-guided automatic transporter, its, light warning device are installed in the top of vehicle body, in the time of need reminding the staff to note when Laser-guided automatic transporter takes place unusual or moves in system, can report to the police by sound, light;
Described Laser-guided automatic transporter, its capacity of cell checking system is made up of capacity of cell detecting sensor and capacity check instrument, the capacity of cell detecting sensor is installed in battery box top, the capacity check instrument is installed in body forward structure, Laser-guided automatic transporter is in operational process, can monitor the remaining capacity of battery in real time, in case arrived the lower limit that system is provided with, the capacity check instrument is sent signal automatically, at this moment computer system can be gone to charge by the current dolly of automatic scheduling, to replenish the electric weight of battery;
Described Laser-guided automatic transporter, its vehicle control syetem is installed in the upper left side of vehicle body, and vehicle control syetem is the maincenter and the brain of Laser-guided automatic transporter, and it can be finished when vehicle-mounted guidance panel sends order, carries out the selection in AGV path; Can finish the information processing of laser navigation and guiding; Can finish user-defined various FPGA (Field Programmable Gate Array) control program, as to the simulation, digital signal processing, get the operation of goods, unloading etc.; Vehicle-mounted or long-range equipment be can finish and the state of AGV and the monitoring and the report of relevant incident carried out by communication;
Described Laser-guided automatic transporter, its radio transceiver system is divided into onboard wireless electric system and terrestrial wireless electric system, and the onboard wireless electric system is made up of antenna and transceiver, antenna is installed in the right side of sound, light alarm lamp, and transceiver is installed in the top of vehicle body.The function of onboard wireless electric system is to accept the information such as order that the host computer system sends, and sends the various status informations of Laser-guided automatic transporter to the host computer system;
Described Laser-guided automatic transporter, its manual mode controller mainly are the M/C control that is used for Laser-guided automatic transporter, are installed in the left side of vehicle body;
Described Laser-guided automatic transporter, its operation screen mainly are the semi-automatic operation control that is used for Laser-guided automatic transporter, be installed in vehicle body directly over;
Described Laser-guided automatic transporter, its battery system has been installed vehicle-mounted adaptor union in order to provide power to Laser-guided automatic transporter in the bottom of vehicle body, can realize automatic charging.
As shown in Figure 1, 2; Laser-guided automatic transporter vehicle body 2 is welded by the different steel plate of thin and thick; non-contact laser anticollision mechanism is installed in the place ahead of vehicle body 2; be made up of non-contact laser safety detection sensor 13 and non-contact laser safety detection sensor protection support 12, this sensor can be provided with deceleration area and stop the district by software as required.In the left and right sides of vehicle body 24 opto-electronic pickups 14 are installed also; when Laser-guided automatic transporter in the process of walking; in case personnel or obstacle enter the protected zone that 4 switches are set; then Laser-guided automatic transporter stops automatically; both protect personnel's safety, protected the safety of car itself again.4 opto-electronic pickups are fixed on the both sides of car body 2 and the angle that can regulate opto-electronic pickup by 4 mounting brackets 46.
Rear at vehicle body 2, installed can lifting two pallet forks 1, in the front ends of two pallet forks 1 two opto-electronic pickup 27 (see figure 4)s have been installed respectively, when Laser-guided automatic transporter in fallback procedures, detect by four opto-electronic pickups 27 that are installed on the pallet fork 1 whether obstacle is arranged, opto-electronic pickup 27 links to each other with pallet fork 1 end by connecting panel 47, and the adjustable angle of opto-electronic pickup on connecting panel.
To guarantee the safety of Laser-guided automatic transporter personnel and car itself in fallback procedures.Inside at vehicle body 2, the drive system (seeing Fig. 2, Fig. 6) of Laser-guided automatic transporter has been installed, by drive wheel 26, reducing gear 43, drive motor 25, magnet stopper 37, be with 21 synchronously, synchronizing wheel 19, drive coder 22, drive motor servoamplifier 16, the given controller 23 of drive motor excitation etc. and form; Pallet fork lift control system (see figure 2) has been installed, has formed by fuel tank 36, lifting drive motor 24, shock absorber 38 etc.; Laser-guided automatic transporter steering swivel system (see figure 6) has been installed, by steering gear 39, steer motor 33, turn to coder 29, turn to coder synchronizer gear 31 (see figure 6)s, steer motor servoamplifier 18 (see figure 2)s etc. form, the angle of steer motor 33 is by turning to coder 29 to measure in real time under the normal circumstances, generally can be above ± 90 ℃, in case system's et out of order, the angle that turns to surpasses ± 90 ℃, carries out corresponding spacing (see figure 6) by the left and right sides limit switch of installing in the system 32; Turn to motor 33 to be installed in the lower right of car body in the automatic steering system, steering gear 39 is fixed on the axle of steer motor 33, steering gear 39 1 sides and driven wheel 43 directly mesh, to realize the purpose of automatic steering, opposite side meshes with turning to coder synchronizer gear 31, turns to coder 29 and turns to coder synchronizer gear 31 directly affixed.When steer motor 33 rotations, by transmission between the gear, drive and turn to coder 29 rotations, turn to coder 29 to be connected with Vehicle Controller 20, the steer motor rotating signal is fed back to Vehicle Controller in real time, constitute closed loop system.
Laser-guided automatic transporter maincenter brain Vehicle Controller 20 and vehicular radio transceiver 17 (see figure 2)s have been installed; In the vehicle body left and right sides, each has installed auxiliary wheel 30 (see figure 6)s, to guarantee the stationarity of Laser-guided automatic transporter in operational process.
Above vehicle body 2, (see figure 6)s such as Laser-guided automatic transporter operation screen 10, Car antnna 8, warning lamp 9 have been installed;
In the left side of vehicle body, Laser-guided automatic transporter hander 40 (see figure 6)s are installed, control system is ventilated in order to make, heat radiation is good, on the right side of vehicle body 2, tube axial fan 4 (see figure 2)s has been installed;
At the Laser-guided automatic transporter middle part, the power system of this car is housed, storage battery 42, in order to prevent that Laser-guided automatic transporter battery in operational process from skidding off, the battery box both sides have been installed and have been prevented Laser-guided automatic transporter baffle plate that battery skids off in operational process 41 and battery box side plate 3 (see figure 1)s;
The pallet fork of Laser-guided automatic transporter possesses elevating function, so having installed above pallet fork rises put in place the limit switch 34 and limit switch 35 that puts in place that descends, as required, when pallet fork in uphill process, in case run into rising limit switch 34, pallet fork can stop to rise immediately, when pallet fork in the decline process, in case run into decline limit switch 35, pallet fork can stop the (see figure 5) that descends immediately;
Laser-guided automatic transporter finish get goods operation after, possess automatic detection goods function, realize (see figure 3) by the opto-electronic pickup 28 that is installed in the pallet fork rear end;
At Laser-guided automatic transporter battery box rear portion, portal frame 6 is installed, the left and right sides at portal frame, each has been installed a turning indicator 5 and (has seen Fig. 1, Fig. 6), when Laser-guided automatic transporter is turned right in operational process, the indicator lamp flicker of working direction right side, otherwise, left side indicator lamp flicker, at the top of portal frame Laser emission receiving device 7 is installed, Laser emission receiving device 7 is installed in the mounting bracket 44 on portal frame 6 tops and installs on the supporting plate 45, makes Laser-guided automatic transporter detect actual position (see figure 2) in electronic chart in real time in operational process.Front at vehicle body, capacity of cell instrumentation 11 is installed, it can be real-time the detection laser guiding motor dolly capacity of cell that storage battery consumes in operational process, when capacity of cell arrives set value, the capacity of cell instrumentation sends corresponding signal, and system can dispatch this Laser-guided automatic transporter automatically according to this signal and carry out the charging operations (see figure 1).Below vehicle body, vehicle-mounted adaptor union 15 has been installed, be used for the charging (see figure 2) of Laser-guided automatic transporter storage battery.
Working process of the present utility model is, at first carries out system according to power-up sequence and powers on, and the utility model Laser-guided automatic transporter possesses three kinds of mode of operation, manually, S. A., full automaticity.Manual mode is to realize by the manual mode controller MCD that Laser-guided automatic transporter carries, actions such as by operation MCD, Laser-guided automatic transporter being finished advance, retreat, turned left, right-hand rotation, pallet fork are risen, pallet fork falls; The S. A. mode is to realize by the control panel 0P that Laser-guided automatic transporter carries, it not only provides the interface approach of visit Vehicle Controller internal information, can check the information such as state of variable parameter in the Vehicle Controller application program, also can send task order to Vehicle Controller by it, the direct control dolly is finished to the address of appointment and is got goods or stock operation.The full automaticity mode is to finish by the Laser-guided automatic transporter that computer control system is dispatched appointment to get goods or stock operation.Adopt wireless communication mode to carry out communication between computer control system and the Laser-guided automatic transporter.The AGV Laser-guided automatic transporter; its Laser emission receiving sensor, automatic steering system, safety system, vehicle control syetem, automatic charge system, safety system etc. all are electrically connected with vehicle control syetem respectively, and vehicle control syetem is electrically connected with operation screen and manual mode controller respectively.Its schematic circuit diagram are asked for an interview accompanying drawing 7, accompanying drawing 8, accompanying drawing 9, accompanying drawing 10.
Claims (7)
1, a kind of Laser-guided automatic transporter, form by vehicle body, pallet fork, portal frame, non-contact laser anticollision mechanism, Laser emission receiving device, actuating device, steering hardware, hydraulic lift, sound, light warning device, capacity of cell checking system, vehicle control syetem, radio transceiver system, manual mode controller, operation screen, battery system, wherein, vehicle body is made up of chassis, shell, preceding cover panel, last cover panel, battery box cover plate; Lower front portion center, chassis is drive wheel, and two supplemental support are taken turns, and are positioned at the left and right sides at rear portion, chassis; Upper surface of outer cover has warning lamp, antenna, and the cover panel top is provided with operation screen, capacity of cell instrumentation before the shell, and there is the battery box cover plate shell both sides, and wherein a side has manual mode controller; The shell lower rear is connected with pallet fork, and below, pallet fork end respectively is provided with a pair of support wheel; Be provided with actuating device, steering hardware, hydraulic lift, capacity of cell checking system, vehicle control syetem, radio transceiver system, battery system in its vehicle body, each several part connects routinely; It is characterized in that:
Both sides, body shell back are connected with portal frame, and there is erecting frame at the entablatrance middle part of portal frame, and the Laser emission receiving device is installed on the erecting frame; Chassis front end is connected with non-contact laser anticollision mechanism; In lower end, the body shell left and right sides, each level is equiped with two opto-electronic pickups.
2, as right 1 described Laser-guided automatic transporter, it is characterized in that: described erecting frame, to form by installation supporting plate, mounting bracket, mounting bracket is fixed on the entablatrance middle part of portal frame, and supporting plate places the mounting bracket top, and is connected with mounting bracket; The Laser emission receiving device is fixed in splint upper surface.
3, as right 1 described Laser-guided automatic transporter; it is characterized in that: described non-contact laser anticollision mechanism; comprise protective cradle and non-contact laser anticollision sensor; the affixed protective cradle of chassis front end; protective cradle is a two-layer arc up and down; the middle part is fixed with non-contact laser anticollision sensor between the two-layer up and down arc.
4, Laser-guided automatic transporter as claimed in claim 1 is characterized in that: described pallet fork end respectively is provided with two opto-electronic pickups, and opto-electronic pickup links to each other with the pallet fork end by connecting panel, fixed mount; Connecting panel is fixed in the lower grooves of pallet fork end, and fixed mount is connected with connecting panel, and opto-electronic pickup is installed on the fixed mount, and the adjustable angle of opto-electronic pickup on connecting panel.
5, as right 1 described Laser-guided automatic transporter, it is characterized in that: described car body actuating device, form by drive wheel, drive motor, reductor, magnet stopper, synchronous band, coder; Its drive wheel props up in ground, is connected with reductor on the drive wheel, and drive motor one end is connected with reductor, and the other end directly is connected with magnet stopper, is with an end to be connected with drive motor by synchronizing wheel synchronously, the other end and coder direct connection.
6, as claim 1,2,3,4 or 5 described Laser-guided automatic transporters, it is characterized in that: described Laser emission receiving device, non-contact laser anticollision sensor, eight opto-electronic pickups and actuating device, all be electrically connected with vehicle control syetem respectively, vehicle control syetem is electrically connected with operation screen and manual mode controller respectively.
7, as right 1 described Laser-guided automatic transporter, it is characterized in that: described vehicle control syetem is connected with the computing machine communication with wireless mode.
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| CN 200520018837 CN2795178Y (en) | 2005-05-24 | 2005-05-24 | Laser guide antomatic transport vehicle |
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| CN 200520018837 CN2795178Y (en) | 2005-05-24 | 2005-05-24 | Laser guide antomatic transport vehicle |
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2005
- 2005-05-24 CN CN 200520018837 patent/CN2795178Y/en not_active Expired - Fee Related
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