CN202093393U - Automatic guided vehicle - Google Patents
Automatic guided vehicle Download PDFInfo
- Publication number
- CN202093393U CN202093393U CN2011201603915U CN201120160391U CN202093393U CN 202093393 U CN202093393 U CN 202093393U CN 2011201603915 U CN2011201603915 U CN 2011201603915U CN 201120160391 U CN201120160391 U CN 201120160391U CN 202093393 U CN202093393 U CN 202093393U
- Authority
- CN
- China
- Prior art keywords
- wheel
- dolly
- agv
- running gear
- traveling system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an automatic guided vehicle, which comprises a loading system, a traveling system and a control system. Connecting pull bars are arranged between the loading system on an upper portion of a vehicle body and the traveling system on the lower portion of the vehicle body, the control system is integrated inside the traveling system, the traveling system comprises a frame, drive wheels, driven wheels, a drive motor and an impact buffer strip, the control system comprises a control circuit, a storage battery, a speed measuring sensor, a track sensor and an obstacle avoidance ultrasonic sensor, and the control circuit, the storage battery, the speed measuring sensor, the track sensor and the obstacle avoidance ultrasonic sensor are integrated onto the components of the traveling system and connected in sequence to form a control loop. The automatic guided vehicle is in a design that the loading system and the traveling system are split while the traveling system is in a four-wheel-drive differential steering structure, motion balance and obstacle avoidance flexibility of the AGV (automatic guided vehicle) are further improved, the vehicle is lower in production cost and convenient in popularization and application, and great economic benefit and social benefit are brought to various field applications.
Description
Technical field
The utility model relates to a kind of industrial intelligent logistics instrument, relates in particular to a kind ofly to have intelligent barrier avoiding, turn to the homing guidance dolly of function flexibly, and this dolly is used for participating in logistics operation at various site environments.
Background technology
21 century, manufacturing industry entered a new phase, and automatic technology presents the trend of accelerated development, and automatic material flow and the organization and administration of just-in-time flexible production have become the focus of numerous domestic enterprises pay attention.In order to realize the increasingly automated of plant produced, enhance productivity, reduce production costs, domestic a lot of enterprises have begun to drop into huge fund and have set up the automated warehousing logistics system of oneself.AGV is the visual plant in the Modern Manufacturing Enterprise logistics system, for system flexibilityization, integrated, efficient operation provide important assurance.Between automated warehouse and the workshop and between each section pipeline, AGV has worked the vital role that can not be substituted.
AGV is the english abbreviation (following all AGV be called for short the homing guidance dolly) of homing guidance dolly (Automated Guided Vehicle).Carry the definition of logistics association according to the U.S., AGV is meant and is equipped with electromagnetism or optical target sounding device, can travel along the guide path of regulation, has the travelling bogie of dolly programming and parking selecting arrangement, safeguard protection and various transfer functions.AGV is the important component part of advanced manufacturing system, is system flexibilityization, and is integrated, and efficient operation provides important assurance.It is the integrated intelligence transportation equipment that integrates technology such as machinery, electronics, computing machine and fieldbus.
The AGV of Wen Shiing is the induction system conduction storage battery tractor of U.S. Barrett electronics corporation development the 1950's the earliest, by U.S. material handling research institute it is defined as AGV afterwards.Up to early 1970s, AGV still adopts this guide mode.Sweden VOLVO company had adopted up to a hundred AGV to carry out assembling work at KALMAR automobile works and SKOVDE engine works in 1973.Nineteen eighty-two, first unmanned fork lift in the world appearred in Germany.Nineteen eighty-three, 330 various forms of AGV systems have been installed in Europe, then nearly more than 3900 of the AGV that uses.Abroad, auto manufacturing is that AGV uses the earliest, the industry of consumption maximum, accounts for 30% of AGV total sales volume.Secondly, AGV in heavy transport operation such as printing, papermaking, journalism and cleaningization shop applications such as food, beverage, wine brewing, pharmacy, electronics also a lot.
The development of China AGV is started late, because AGV involves great expense, system complex causes domestic research to AGV to relatively lag behind.And be subjected to the influence of domestic market demand and slower development, many carrying tasks are still by manually finishing by simple mechanical device.The many industries of domestic use AGV mainly concentrate on abundant relatively tobacco business of profit and automobile industry.As a whole, the range of application of domestic AGV is also narrow, and technology and demand also are not very ripe.The omnibearing ambulation AGV that China is designing at present is the sub-problem of project of national nature science fund project " towards the multi-microcomputer device people technology of pipe detection ", mainly is used as nuclear power station interior conduit detection machine people's the carrier that transports.
Along with the development of electronics and control technology, the technology of AGV is also in continuous progress, and towards performance is more superior, more cheap, degree of freedom is higher, function is abundant more and perfect direction develops, its application is also in continuous expansion in the AGV system.Just as the logistics conveying equipment in the factory, not only be confined to now within the factory before this more than ten years, it is all multidisciplinary successfully to be applied to office, restaurant, hospital and supermarket etc., and has obtained good effect.In recent years, AGV is very fast at national developments such as Japan, the U.S., Germany, Belgium, Sweden, and the factory that has has realized the automatic guided vehicles ystem from store keeping to the overall process that manufactures a finished product.Particularly Japanese, total platform number of AGV, annual ratio with 20% increases.Along with the high development of the production automation and the requirement of flexible manufacturing system, the AGV system that develops the low cost that is fit to China's national situation, high reliability, appropriate flexibility will bring huge economic benefit and social benefit.
The utility model content
Defective that exists in view of above-mentioned prior art and urgent practical requirement, the purpose of this utility model is to propose a kind of homing guidance dolly, for commercial Application provide a kind of cheap, system is reliable and practical, be convenient to safeguard the physical distribution transfer apparatus of expansion.
The purpose of this utility model will be achieved by the following technical programs:
A kind of homing guidance dolly, it is characterized in that: described dolly is made up of carrier system, running gear and control system three parts, between the described carrier system of upper body and described running gear, be provided with cylinder lever connecting rod at lower body, described control system integrates among running gear, and wherein said running gear comprises vehicle frame, driving wheel, engaged wheel, drive motor and crashproof buffer strip; Described control system comprise integrated be located on each building block of driving system and link to each other form control circuit, battery pack, tachogenerator, the tracking sensor of control loop and keep away the barrier ultrasonic sensor.
Further, the wheel group structure of described running gear is four-wheel rear-guard, differential steering structure, and wherein two of dolly driving wheel coaxial cables are fixed in the vehicle frame rear portion abreast, and separate driving, and two engaged wheels of dolly are universal wheel.
Further, the machinery of described carrier system constitutes objective table vehicle frame, drive division and transport unit, wherein drive division comprises the worm speed reducer and the direct current generator of combination, the output shaft of direct current generator links to each other with the input shaft of worm speed reducer by an axle connected device, and the output shaft of worm speed reducer links to each other with transmission gear, and described transmission gear and chain constitute transport unit.
Further, described chain is a closing structure, and the central authorities on its Width are provided with more than one bearing wheel.
Further, described battery pack is installed and is located on the axis of vehicle frame.
The application implementation of the utility model AGV, its outstanding effect is:
The design that this homing guidance dolly adopts carrier system and driving system to be separated, and driving system adopts four-wheel rear-guard, differential steering structure, further improve the shifting balance of AVG and kept away the barrier dirigibility, and this dolly production cost is lower, be convenient to product promotion and use, for all kinds of rig-site utilization have been brought huge economic benefit and social benefit.
Following constipation closes the embodiment accompanying drawing, embodiment of the present utility model is described in further detail, so that technical solutions of the utility model are easier to understand, grasp.
Description of drawings
Fig. 1 is the structural representation of the utility model AVG;
Fig. 2 is the driving system of the utility model AVG and the integrated morphology synoptic diagram of control system;
Fig. 3 is the carrier system structural representation of the utility model AVG.
Embodiment
(Automated Guided Vehicle AGV) is the important component part of advanced manufacturing system to the homing guidance dolly.The utility model is to have designed a AGV control platform that low price, system that domestic medium and small sized enterprises use are reliable and practical, be convenient to safeguard expansion that is fit to.
Requiring AGV can be the black steering tape load-carrying automatic tracking walking of 5cm along the fixation locus width, can automatic obstacle-avoiding, detecting the gradient, and during body sway or detect accumulator electric-quantity when not enough, system can the audio alert prompting.System can stop to travel and finishing automatic unloading after arriving stop line.Under special circumstances, AGV can transfer manual mode to, is walked by controlled by keyboard.System performance index is referring to table 1:
Table 1
Below just to the physical construction of the utility model homing guidance dolly, be described in detail as follows: dolly as shown in Figure 1 to Figure 3, car body separated the formula design of joining about car body adopted, and used pull bar to connect up and down between the car body.This dolly is by carrier system 2, running gear 1 and control system 3 three parts are formed, it is (not shown to be provided with cylinder lever connecting rod between the carrier system of upper body and the running gear at lower body, hinge principle), and control system 3 integrates among running gear 1, wherein running gear comprises vehicle frame 11, driving wheel 13, engaged wheel 12, drive motor 14 and crashproof buffer strip 15, and the wheel group structure of this running gear is the four-wheel rear-guard, the differential steering structure, wherein two of dolly driving wheel 13 coaxial cables are fixed in the vehicle frame rear portion abreast, and separate driving, two engaged wheels 12 of dolly are universal wheel.
Wherein vehicle frame 11 adopts that rectangular steel pipe is skeleton to be welded, and is guaranteeing that its strength and stiffness satisfy under the condition of load-bearing capacity of dolly, have reduced the vehicle frame deadweight, to improve load as far as possible.Each mechanical part all separates with car body, only is connected and fixed with bolt screw, has so both guaranteed the rigidity intensity of vehicle frame, is convenient to the mounting or dismounting debugging again.
This control system 3 comprise integrated be located on each building block of driving system and link to each other form control circuit 37, battery pack 32, tachogenerator 34, the tracking sensor 33 of control loop and keep away barrier ultrasonic sensor 36.By the sensing of above a plurality of sensors, make AGV can both steadily walk when under the situation that satisfies the load-carrying requirement, running into the gradient to trolley travelling track and surrounding enviroment thereof.As seen shown in Figure 1 in addition, this AGV is provided with the operation interface 31 that links to each other with control circuit 37 at the carrier system side, for AGV provides the practicality effect.
The machinery of this carrier system constitutes objective table vehicle frame 21, drive division and transport unit, wherein drive division comprises the worm speed reducer 23 and the direct current generator 22 of combination, the output shaft of direct current generator 22 links to each other with the input shaft of worm speed reducer 23 by an axle connected device, and the output shaft of worm speed reducer 23 links to each other with transmission gear 25, and this transmission gear 25 has constituted transport unit with chain 24.Described chain is a closing structure, and the central authorities on its Width are provided with more than one bearing wheel (not shown).
In fact, above-mentioned battery pack 32 and worm speed reducer 23 mainly are placed on the axis, car body bottom, are in order to reduce the balance that body gravity keeps car body, to improve the anti-side rollover resistant capability of dolly like this.
Again on system drive: the mode that this cart system adopts the trailing wheel differential to drive, in order to make system can save cost, be convenient to install and control, drive motor selects for use DC speed-reducing to replace the combination of direct current generator and reductor, driving wheel also is to be connected with gear by driving chain with motor simultaneously, rather than directly link to each other, when strengthening lifting capacity, also avoid the bending of motor shaft like this.According to the load request and the maximum travelling speed requirement of system, preferentially selected 6NS9B1 type motor for use, its basic parameter is as shown in table 2:
| The motor model | Motor type | Driving voltage (V) | Rated current (A) | Rated power (W) | Rotating speed (r/min) |
| 6NS9B1 | Direct current slows down | ?24 | ?5 | ?60 | 128 |
Table 2
The output rating of this motor and maximum (top) speed can satisfy the demand of system.
Claims (5)
1. homing guidance dolly, it is characterized in that: described dolly is made up of carrier system, running gear and control system three parts, between the described carrier system of upper body and described running gear, be provided with cylinder lever connecting rod at lower body, described control system integrates among running gear, and wherein said running gear comprises vehicle frame, driving wheel, engaged wheel, drive motor and crashproof buffer strip; Described control system comprise integrated be located on each building block of driving system and link to each other form control circuit, battery pack, tachogenerator, the tracking sensor of control loop and keep away the barrier ultrasonic sensor.
2. a kind of homing guidance dolly according to claim 1, it is characterized in that: the wheel group structure of described running gear is four-wheel rear-guard, differential steering structure, wherein two of dolly driving wheel coaxial cables are fixed in the vehicle frame rear portion abreast, and separate driving, two engaged wheels of dolly are universal wheel.
3. a kind of homing guidance dolly according to claim 1, it is characterized in that: the machinery of described carrier system constitutes objective table vehicle frame, drive division and transport unit, wherein drive division comprises the worm speed reducer and the direct current generator of combination, the output shaft of direct current generator links to each other with the input shaft of worm speed reducer by an axle connected device, and the output shaft of worm speed reducer links to each other with transmission gear, and described transmission gear and chain constitute transport unit.
4. a kind of homing guidance dolly according to claim 3 is characterized in that: described chain is a closing structure, and the central authorities on its Width are provided with more than one bearing wheel.
5. a kind of homing guidance dolly according to claim 1 is characterized in that: described battery pack is installed and is located on the axis of vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201603915U CN202093393U (en) | 2011-05-19 | 2011-05-19 | Automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201603915U CN202093393U (en) | 2011-05-19 | 2011-05-19 | Automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202093393U true CN202093393U (en) | 2011-12-28 |
Family
ID=45368450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201603915U Expired - Fee Related CN202093393U (en) | 2011-05-19 | 2011-05-19 | Automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202093393U (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
| CN102520724A (en) * | 2011-12-29 | 2012-06-27 | 无锡普智联科高新技术有限公司 | Compact universal moving mechanism for automatic guided vehicle (AGV) and AGV transportation vehicle |
| CN102542824A (en) * | 2012-01-19 | 2012-07-04 | 何志斌 | Automatic vehicle guidance system and method based on colorized ribbons |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN102696468A (en) * | 2012-06-05 | 2012-10-03 | 江苏大学 | Adjustable spiral stand column cultivation testing system |
| CN102749923A (en) * | 2012-07-27 | 2012-10-24 | 苏州工业园区职业技术学院 | Automatic loading and unloading and automatic guidance vehicle control system |
| CN102929282A (en) * | 2012-11-30 | 2013-02-13 | 天津市中环电子计算机有限公司 | Intelligent logistics car based on motion control card |
| CN103231899A (en) * | 2013-05-06 | 2013-08-07 | 哈尔滨工业大学 | Automatic guiding trolley for file transfer |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN104155980A (en) * | 2014-08-28 | 2014-11-19 | 贵州大学 | Intelligent guiding book transporting trolley for library |
| CN104991555A (en) * | 2015-06-22 | 2015-10-21 | 中山明杰自动化科技有限公司 | Anticollision AGV trolley with intelligent alarm device |
| CN106515901A (en) * | 2016-10-21 | 2017-03-22 | 上海航天设备制造总厂 | Mechanical structure for heavy haul traction |
| CN107521579A (en) * | 2017-09-06 | 2017-12-29 | 天津朗誉科技发展有限公司 | A kind of AGV transport vehicles swing-tray |
| WO2018006300A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Method for balancing vehicle to carry object, and balancing vehicle |
| CN109101031A (en) * | 2018-09-21 | 2018-12-28 | 中原工学院 | Spunlace non-woven cloth carries AGV trolley |
| CN109484214A (en) * | 2018-10-10 | 2019-03-19 | 广州信邦智能装备股份有限公司 | A kind of new energy vehicle charging robot |
| CN110077476A (en) * | 2019-05-22 | 2019-08-02 | 义乌紫英机械科技有限公司 | It is a kind of can trackless deflecting loading machine |
| WO2019183220A3 (en) * | 2018-03-23 | 2019-10-31 | Amazon Technologies, Inc. | Mobile drive unit having a conveyor module |
| CN111319439A (en) * | 2020-04-01 | 2020-06-23 | 浙江联宜电机有限公司 | Unmanned vehicle |
-
2011
- 2011-05-19 CN CN2011201603915U patent/CN202093393U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102520724A (en) * | 2011-12-29 | 2012-06-27 | 无锡普智联科高新技术有限公司 | Compact universal moving mechanism for automatic guided vehicle (AGV) and AGV transportation vehicle |
| CN102520724B (en) * | 2011-12-29 | 2013-07-24 | 无锡普智联科高新技术有限公司 | Compact universal moving mechanism for automatic guided vehicle (AGV) and AGV transportation vehicle |
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
| CN102542824A (en) * | 2012-01-19 | 2012-07-04 | 何志斌 | Automatic vehicle guidance system and method based on colorized ribbons |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN102673676B (en) * | 2012-04-13 | 2015-11-25 | 机科发展科技股份有限公司 | Many train heavy duty mobile robot AGV |
| CN102696468A (en) * | 2012-06-05 | 2012-10-03 | 江苏大学 | Adjustable spiral stand column cultivation testing system |
| CN102749923A (en) * | 2012-07-27 | 2012-10-24 | 苏州工业园区职业技术学院 | Automatic loading and unloading and automatic guidance vehicle control system |
| CN102929282A (en) * | 2012-11-30 | 2013-02-13 | 天津市中环电子计算机有限公司 | Intelligent logistics car based on motion control card |
| CN103231899B (en) * | 2013-05-06 | 2015-04-15 | 哈尔滨工业大学 | Automatic guiding trolley for file transfer |
| CN103231899A (en) * | 2013-05-06 | 2013-08-07 | 哈尔滨工业大学 | Automatic guiding trolley for file transfer |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN104155980A (en) * | 2014-08-28 | 2014-11-19 | 贵州大学 | Intelligent guiding book transporting trolley for library |
| CN104991555A (en) * | 2015-06-22 | 2015-10-21 | 中山明杰自动化科技有限公司 | Anticollision AGV trolley with intelligent alarm device |
| WO2018006300A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Method for balancing vehicle to carry object, and balancing vehicle |
| CN106515901A (en) * | 2016-10-21 | 2017-03-22 | 上海航天设备制造总厂 | Mechanical structure for heavy haul traction |
| CN107521579A (en) * | 2017-09-06 | 2017-12-29 | 天津朗誉科技发展有限公司 | A kind of AGV transport vehicles swing-tray |
| US10549916B2 (en) | 2018-03-23 | 2020-02-04 | Amazon Technologies, Inc. | Mobile drive unit having a conveyor module |
| GB2587514B (en) * | 2018-03-23 | 2022-10-05 | Amazon Tech Inc | Mobile drive unit having a conveyor module |
| GB2587514A (en) * | 2018-03-23 | 2021-03-31 | Amazon Tech Inc | Mobile drive unit having a conveyor module |
| WO2019183220A3 (en) * | 2018-03-23 | 2019-10-31 | Amazon Technologies, Inc. | Mobile drive unit having a conveyor module |
| US10889441B1 (en) | 2018-03-23 | 2021-01-12 | Amazon Technologies, Inc. | Mobile drive unit having a conveyor module |
| CN109101031A (en) * | 2018-09-21 | 2018-12-28 | 中原工学院 | Spunlace non-woven cloth carries AGV trolley |
| CN109484214A (en) * | 2018-10-10 | 2019-03-19 | 广州信邦智能装备股份有限公司 | A kind of new energy vehicle charging robot |
| CN110077476B (en) * | 2019-05-22 | 2019-12-06 | 诸暨市智盈智能技术服务部 | trackless direction-changing loader |
| CN110077476A (en) * | 2019-05-22 | 2019-08-02 | 义乌紫英机械科技有限公司 | It is a kind of can trackless deflecting loading machine |
| CN111319439A (en) * | 2020-04-01 | 2020-06-23 | 浙江联宜电机有限公司 | Unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202093393U (en) | Automatic guided vehicle | |
| CN109625123B (en) | Spliced type carrying vehicle, carrying system and carrying method | |
| CN102633077B (en) | Carryable shelf warehousing system based on automatic carry trolley | |
| CN110356754A (en) | Cargo radio frequency and method | |
| CN104859440A (en) | Skid type AGV (automatic guided vehicle) | |
| CN109368547A (en) | A kind of fork truck AGV of omnidirectional moving and the application on container | |
| CN109533834B (en) | Steel coil transferring device between tray and tray truck conveying system | |
| CN216512675U (en) | AGV fork truck | |
| CN202916693U (en) | Low-bed submerged magnetic navigation AGV | |
| CN204778637U (en) | Cut fork over -and -under type stacker | |
| CN201762060U (en) | Three-pivot electric forklift | |
| CN201010440Y (en) | Novel double track suspending transveyer | |
| CN105883689A (en) | Forklift truck with automatic weighing function | |
| CN203178805U (en) | Automatic navigation logistics system based on multi-information fusion | |
| CN209321736U (en) | Cargo radio frequency | |
| CN212685777U (en) | Automatic AGV dolly of carrying transport cotton sliver bucket | |
| CN206970140U (en) | It is a kind of that there is intelligence to be directed at the Omni-mobile AGV for spool fork truck with lifting | |
| CN109204596B (en) | Universal travelling mechanism, universal transportation trolley and logistics warehouse matched with universal travelling mechanism | |
| CN101190745A (en) | Heavy type stacking conveying equipment | |
| CN201410912Y (en) | Lifting transverse combined trolley | |
| CN207106682U (en) | A kind of all-wheel drive heavy duty motor-driven transfer trolley | |
| CN201132691Y (en) | Heavy-duty power-and-free conveying equipment | |
| CN206569983U (en) | One kind automation fork truck arm control system | |
| CN206984168U (en) | A kind of leaf spring buffered-display driver device for AGV | |
| CN111017068A (en) | Automatic handling device based on AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111228 Termination date: 20120519 |