CN206125227U - Automatic guide transport vechicle and automated guided transporting vehicle system - Google Patents
Automatic guide transport vechicle and automated guided transporting vehicle system Download PDFInfo
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- CN206125227U CN206125227U CN201621151912.XU CN201621151912U CN206125227U CN 206125227 U CN206125227 U CN 206125227U CN 201621151912 U CN201621151912 U CN 201621151912U CN 206125227 U CN206125227 U CN 206125227U
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- guided vehicle
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- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 6
- 238000012546 transfer Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 229920001971 elastomer Polymers 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of the conveyer technique and specifically relates to an automatic guide transport vechicle and automated guided transporting vehicle system is related to. This automated guided transporting vehicle includes automobile body, actuating mechanism, follower and steering mechanism, actuating mechanism and follower all install under the automobile body, the steering mechanism device is in in the driving wheel support, this automated guided transporting vehicle system includes automated guided transporting vehicle to and partial device its inside and with the central processing unit ground navigation system, power supply system, control system, communication system and the safety coefficient that are connected of electricity respectively. This automatic guide transport vechicle and automated guided transporting vehicle system turns to the convenience, and simple structure, and the route is clear and definite, and factor of safety is high.
Description
Technical Field
The utility model belongs to the technical field of the conveyer technique and specifically relates to an automated guided transporting vehicle and automated guided transporting vehicle system is related to.
Background
An Automatic Guided Vehicle (AGV) is a Vehicle equipped with an electromagnetic or optical automatic guiding device, which can travel along a predetermined guiding path, and has safety protection and various transfer functions. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track. The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. Compared with other equipment commonly used in material conveying, the AGV has the advantages that fixing devices such as rails and supporting frames do not need to be laid in the moving area of the AGV, and the AGV is not limited by sites, roads and spaces. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized.
The advantages of AGV: (1) the automation degree is high: controlled by computer, electric controller and laser reflector. When auxiliary materials are needed in a certain link of a workshop, relevant information is input to the computer terminal by a worker, the computer terminal sends the information to the central control room, a professional technician sends an instruction to the computer, and the instruction is finally received and executed by the AGV under the cooperation of the electric control equipment, namely the auxiliary materials are sent to a corresponding place. (2) And (3) automatic charging: when the AGV is running out of charge, it will send a request to the system to request charging (a value is set by the technician in advance), and automatically "queue" the charge to the place where it is allowed by the system. In addition, the AGV cart has a long battery life (over 10 years) and can operate for about 4 hours per 15 minutes of charging. (3) Beautiful appearance and high enjoyment and thus high enterprise image. (4) Convenience, reduced floor area: the AGV trolleys of the production workshop can shuttle among various workshops.
However, the AGV car in the prior art is inconvenient to turn, has a complex structure, is ambiguous in route and is easy to collide.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic guide transport vechicle and automatic guide transport vechicle system, to a great extent has solved above-mentioned problem.
An object of the utility model is to provide an automatic guide transport vechicle.
A second object of the present invention is to provide an automated guided vehicle system.
The utility model provides an automatic guide transport vechicle, include: the device comprises a vehicle body, a driving mechanism, a driven mechanism and a steering mechanism; wherein,
a vehicle body for receiving a load;
the driving mechanism is used for driving the vehicle body to run and comprises a driving wheel and a power source, and the power source is arranged in the driving wheel bracket;
the driven mechanism is used for supporting the vehicle body and dispersing the positive pressure of the driving wheel and is a driven wheel;
the steering mechanism is used for driving the vehicle body to steer in cooperation with the driven wheel;
the driving mechanism and the driven mechanism are both arranged under the vehicle body, and the steering mechanism is arranged in the driven wheel support.
Further, the vehicle body is of a frame type structure and is formed by welding steel plates.
Further, the driving wheel spoke of the driving mechanism is formed by wrapping polyurethane.
Furthermore, the power source of the driving mechanism comprises a direct current servo motor, a speed reducer and a differential mechanism, and the direct current servo motor, the speed reducer and the differential mechanism are all arranged in the driving wheel support.
Furthermore, a cargo transferring mechanism is arranged on one side of the vehicle body.
Further, the cargo transfer mechanism is a latent push-pull transfer mechanism.
The utility model also provides an automatic guided vehicle system, which comprises the automatic guided vehicle, a ground navigation system, a power supply system, a control system, a communication system and a safety system, wherein part of the system is arranged in the automatic guided vehicle and is respectively and electrically connected with the central processing unit; wherein,
the ground navigation system is used for enabling the automatic guided vehicle to run on a set route and a set track;
the power supply system is used for automatically charging the automatic guided vehicle on line;
the control system is used for controlling the starting and stopping of the automatic guide transport vehicle;
the communication system is used for transmitting communication signals with outside personnel;
and the safety system is used for protecting the driving safety of the automatic guided vehicle.
Further, the ground navigation system comprises a navigation system arranged in the vehicle body and a navigation track arranged below the vehicle body and formed by laying magnetic rubber.
Further, the safety system includes an emergency stop button installed at a front panel of the vehicle body, and a plurality of driving zone sensors can be preset in the vehicle body.
Further, the automatic guided vehicle further comprises a manual control system, wherein the manual control system is in wireless connection with the central processing unit to control the automatic guided vehicle to advance, retreat and turn.
Compared with the prior art, the utility model discloses following beneficial effect has:
firstly, the automatic guide transport vechicle simple structure, steering mechanism can cooperate follower to make the dolly turn to.
The automatic guided vehicle system is provided with a ground navigation system, so that the trolley can run according to a set route to avoid collision.
Above-mentioned setting makes the utility model provides an automatic guide transport vechicle and automatic guide transport vechicle system simple structure, convenient to use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of an automated guided vehicle according to an embodiment of the present invention;
fig. 2 is a side view of the automated guided vehicle according to the embodiment of the present invention shown in fig. 1;
fig. 3 is a system diagram of an automated guided vehicle system according to an embodiment of the present invention shown in fig. 1;
fig. 4 is a schematic structural diagram of a ground navigation system according to an embodiment of the present invention shown in fig. 1-3.
Reference numerals:
1-automated guided vehicle system;
11-automated guided vehicle; 12-a central processing unit;
13-a ground navigation system; 14-a power supply system;
15-a control system; 16-a communication system;
17-a security system; 18-a manual control system;
111-a vehicle body; 112-a drive mechanism;
113-a driven mechanism; 114-a steering mechanism;
131-navigation trajectory.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-2, an embodiment of the present invention provides an automated guided vehicle 11, including: a vehicle body 111, a drive mechanism 112, a driven mechanism 113, and a steering mechanism 114; wherein,
a vehicle body 111 for receiving a load;
the driving mechanism 112 is used for driving the vehicle body 111 to run and comprises a driving wheel and a power source, and the power source is arranged in the driving wheel bracket;
a driven mechanism 113 for supporting the vehicle body 111 and dispersing a positive pressure of the driving wheel, which is a driven wheel;
the steering mechanism 114 is used for driving the vehicle body 111 to steer in cooperation with a driven wheel;
the driving mechanism 112 and the driven mechanism 113 are both disposed directly below the vehicle body 111, and the steering mechanism 114 is disposed in the driven wheel bracket.
The mechanical structure of the automated guided vehicle 11 is composed of four parts: the vehicle body 111 drives the mounting mechanism, the driven mechanism 113, and the steering mechanism 114. The vehicle body 111 is of a frame structure and is formed by welding steel plates, and the load bearing capacity is high. The drive mechanism 112: the wheel spokes are made of polyurethane, the wheels form a driving mechanical system separately, and a DC servo motor, a speed reducer, a differential mechanism and the like are arranged in a wheel bracket. The driven mechanism 113: the driven wheel plays a supporting role for the body 111 of the automated guided vehicle 11 and disperses the positive pressure of the driving wheel, and completes steering in cooperation with the operation, a loading W steering mechanism 114, a rotary encoder and the like. The automatic guided vehicle 11 adopts a concealed push-pull transfer mechanism for transferring the goods.
More specifically, the respective components of the automated guided vehicle 11 in the present embodiment will be described in detail below.
The vehicle body 111 has a frame structure, and is formed by welding steel plates.
In the drive mechanism 112, the drive wheel spokes of the drive mechanism 112 are covered with polyurethane. The power source of the driving mechanism 112 includes a dc servo motor, a speed reducer and a differential, and all are installed in the driving wheel bracket.
In addition, for structural integrity, a cargo transfer mechanism is provided on the vehicle body 111 side. Preferably, the cargo transfer means is a latent push-pull transfer means.
As shown in fig. 3-4, an embodiment of the present invention further provides an automated guided vehicle system 1, which includes the automated guided vehicle 11, and further includes a ground navigation system 13, a power supply system 14, a control system 15, a communication system 16, and a safety system 17, which are partially installed inside the automated guided vehicle and electrically connected to the central processing unit 12; wherein,
a ground navigation system 13 for causing the automated guided vehicle 11 to travel along a predetermined route and trajectory;
a power supply system 14 for automatically charging the automated guided vehicle 11 on-line;
the control system 15 is used for controlling the starting and stopping of the automatic guided transporting vehicle 11;
a communication system 16 for transmitting communication signals to outside personnel;
and a safety system 17 for protecting the driving safety of the automated guided vehicle 11.
More specifically, the following describes each component of the automated guided vehicle system 1 in the present embodiment in detail.
As shown in fig. 4, the ground navigation system 13 includes a navigation system installed in the vehicle body 111 and a navigation track 131 installed below the vehicle body 111 and laid with magnetic rubber.
As for the ground safety system 17, the above-described safety system 17 includes an emergency stop button provided in a front panel of the vehicle body 111, and a plurality of travel zone sensors can be preset in the vehicle body 111.
In addition, for structural integrity, a manual control system 18 is included, the manual control system 18 being wirelessly connected to the central processor 12 to control the forward, reverse, and turn of the automated guided vehicle 11.
The operation of the automated guided vehicle 11 and the automated guided vehicle system 1 of the present embodiment will now be described in detail:
operation mode of automatic guided transport vehicle 11
For the convenience of the user, the operation modes of the automated guided vehicle 11 are set to three types: manual, semi-automatic and automatic operation.
1.1, manual control
The manual control is realized by completely depending on a wireless control handle and a button at the top of the automatic guided transport vehicle 11 to remotely control the functions of advancing, retreating, left turning, right turning and hook lifting of the automatic guided transport vehicle 11, and the operation is as follows:
(1) the automated guided vehicle 11 is normally powered up to ensure that the "scram" button is on.
(2) The control mode of the automated guided vehicle 11 is switched on to the "manual" operating state.
(3) The remote control handle is used for controlling the operation of the automatic guided vehicle 11 and ensuring that the remote controller ensures that the emergency stop button is in a closed state.
(4) Firstly, the panel of the automatic guide transport vehicle 11 is manually operated, and then the functions of the buttons on the panel are as follows:
"forward" -the automated guided vehicle 11 is moving towards the lcd screen;
"back-off" -the automated guided vehicle 11 is moving away from the liquid crystal screen;
"left turn" -the automated guided vehicle 11 turns to the right (which may be simultaneously active with the "forward" or "reverse" buttons);
"Right turn" -the automated guided vehicle 11 turns to the right (which may be simultaneously acted on with the "Forward" or "Back" buttons).
1.2, semi-automatic control
The semi-automatic control mode is that the automatic guided vehicle 11 advances (can not retreat) along the guide line, and the specific operation is as follows:
(1) the automated guided vehicle 11 is normally powered up to ensure that the "scram" buttons around are on.
(2) The control mode of the automated guided vehicle 11 is switched on to the "semi-automatic" operating state.
(3) The automated guided vehicle 11 can be controlled to advance along the guide line using the start button, as follows:
by pressing the start button, the automated guided vehicle 11 will travel in the direction of the guide line.
If the vehicle needs to be stopped in the running process, only the waiting button needs to be pressed.
1.3, automatic control
The automatic control state of the automated guided vehicle 11 is the on-line operation state, and the specific operation steps are as follows.
(1) The automated guided vehicle 11 is normally powered up to ensure that the "scram" button is on.
(2) The control mode of the automated guided vehicle 11 is switched on to the "automatic" operating state.
(3) And the operator at the line side station calls the automatic guide transport vehicle 11 to start running through the workbench.
1.4 use of touch screens
When the automated guided vehicle 11 is normally running, only the page of the "automated guided vehicle 11 monitoring system" may be displayed, and the "automated guided vehicle 11 manual touch platform", "automated guided vehicle 11 task management touch platform", and "change task information" may be opened only in a manual state.
"automated guided vehicle 11 monitoring system" page: on this page, all the operating states of the automated guided vehicle 11 and the E-vehicle can be seen.
The automatic guided vehicle 11 task management touch platform: at this one interface, the automated guided vehicle 11 can be set to operate in a call-free state.
Setting task information: at this interface, the cargo information of the automated guided vehicle 11 may be set.
Second, automatic guide transport vehicle 11 charging mode
The charging mode of the automated guided vehicle 11 is automatic quick charging.
The charging state of the automated guided vehicle 11 during normal operation is automatic charging, and the steps are as follows:
(1) and ensuring that the charging cabinet is normally powered on.
(2) The automatic guided vehicle 11 normally runs, automatically enters a charging state when the trolley runs to a charging station at each time, and the automatic guided vehicle 11 automatically turns off a charging switch after charging is completed.
(3) Charging conditions are as follows: when the electric quantity is higher than 85%, the automatic guided vehicle 11 displays that the electric quantity is sufficient, and automatic charging is not performed; when the electric quantity is lower than 85% and higher than 60%, the automatic guided vehicle 11 needs to be automatically charged every time when the automatic guided vehicle runs to a charging position; when the electric quantity is lower than 60%, the automatic guided vehicle 11 can be automatically charged as long as being in an automatic state; when the electric quantity is lower than 40%, the automatic guided vehicle 11 can automatically charge for three minutes, then respond, and when the electric quantity is higher than 40%, the automatic guided vehicle 11 responds to the station at any time.
Note: the automatic charging is used for automatically guiding the normal working state of the transport vehicle 11, belongs to the fast charging, and the charging time is determined by the stay time of the corresponding station and the electric quantity.
Third, station table operation
The station has a call button box by which the operations of changing the material of our automated guided vehicle 11, etc. can be controlled.
The working indicator lamp state: the green represents that the line edge station needs to be fed; the red button is pressed for five seconds to cancel the call when the wrong call duration is pressed.
To sum up, the utility model provides an automatic guide transport vechicle 11 and automatic guide transport vechicle system 1 turn to the convenience, and simple structure, the route is clear and definite, and factor of safety is high. In the prior art, the automated guided vehicle 11 and the automated guided vehicle system 1 have great advantages, which are embodied in the following aspects:
firstly, the structure of the automatic guided vehicle 11 is simple, and the steering mechanism 114 can be matched with the driven mechanism 113 to steer the vehicle.
Secondly, the automatic guided vehicle system 1 is provided with a ground navigation system, so that the vehicle can run according to a set route to avoid collision.
Above-mentioned setting makes the utility model provides an automated guided transporting vehicle 11 and automated guided transporting vehicle system 1 simple structure, convenient to use.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. An automated guided vehicle, comprising: the device comprises a vehicle body, a driving mechanism, a driven mechanism and a steering mechanism; wherein,
a vehicle body for receiving a load;
the driving mechanism is used for driving the vehicle body to run and comprises a driving wheel and a power source, and the power source is arranged in the driving wheel bracket;
the driven mechanism is used for supporting the vehicle body and dispersing the positive pressure of the driving wheel and is a driven wheel;
the steering mechanism is used for driving the vehicle body to steer in cooperation with the driven wheel;
the driving mechanism and the driven mechanism are both arranged under the vehicle body, and the steering mechanism is arranged in the driven wheel support.
2. The automated guided vehicle of claim 1, wherein the body is of frame construction and is welded from sheet steel.
3. The automated guided vehicle of claim 1, wherein the drive wheel spokes of the drive mechanism are coated with polyurethane.
4. The automated guided vehicle of claim 3, wherein the power source of the drive mechanism comprises a DC servo motor, a speed reducer, and a differential, all disposed within the drive wheel support.
5. The automated guided vehicle of claim 1, wherein a load transfer mechanism is further provided on one side of the vehicle body.
6. The automated guided vehicle of claim 5, wherein the cargo transfer mechanism is a latent push-pull transfer mechanism.
7. An automated guided vehicle system, comprising the automated guided vehicle according to any one of claims 1 to 6, and further comprising a ground navigation system, a power supply system, a control system, a communication system, and a safety system, which are partially installed inside the automated guided vehicle and electrically connected to the central processing unit, respectively; wherein,
the ground navigation system is used for enabling the automatic guided vehicle to run on a set route and a set track;
the power supply system is used for automatically charging the automatic guided vehicle on line;
the control system is used for controlling the starting and stopping of the automatic guide transport vehicle;
the communication system is used for transmitting communication signals with outside personnel;
and the safety system is used for protecting the driving safety of the automatic guided vehicle.
8. The automated guided vehicle system of claim 7, wherein the ground navigation system comprises a navigation system mounted within the vehicle body and a navigation track mounted beneath the vehicle body and laid out of magnetic rubber.
9. The automated guided vehicle system of claim 7, wherein the safety system comprises an emergency stop button mounted on a front panel of the vehicle body, and a plurality of trip zone sensors mounted within the vehicle body.
10. The automated guided vehicle system of claim 7, further comprising a manual control system in wireless communication with the central processor to control the advancing, backing and turning of the automated guided vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621151912.XU CN206125227U (en) | 2016-10-31 | 2016-10-31 | Automatic guide transport vechicle and automated guided transporting vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621151912.XU CN206125227U (en) | 2016-10-31 | 2016-10-31 | Automatic guide transport vechicle and automated guided transporting vehicle system |
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| Publication Number | Publication Date |
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| CN206125227U true CN206125227U (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621151912.XU Expired - Fee Related CN206125227U (en) | 2016-10-31 | 2016-10-31 | Automatic guide transport vechicle and automated guided transporting vehicle system |
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| Country | Link |
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| CN (1) | CN206125227U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873833A (en) * | 2018-06-08 | 2018-11-23 | 广州市远能物流自动化设备科技有限公司 | A kind of control method for movement and automated guided vehicle of automated guided vehicle |
| CN109789806A (en) * | 2018-05-07 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A charging device and charging system |
-
2016
- 2016-10-31 CN CN201621151912.XU patent/CN206125227U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789806A (en) * | 2018-05-07 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A charging device and charging system |
| CN109789806B (en) * | 2018-05-07 | 2022-08-30 | 深圳蓝胖子机器人有限公司 | Charging device and charging system |
| CN108873833A (en) * | 2018-06-08 | 2018-11-23 | 广州市远能物流自动化设备科技有限公司 | A kind of control method for movement and automated guided vehicle of automated guided vehicle |
| CN108873833B (en) * | 2018-06-08 | 2020-12-08 | 广州市远能物流自动化设备科技有限公司 | Movement control method of automatic guided transport vehicle and automatic guided transport vehicle |
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Granted publication date: 20170426 Termination date: 20201031 |