CN205990002U - A kind of three lifting AGV cars - Google Patents
A kind of three lifting AGV cars Download PDFInfo
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- CN205990002U CN205990002U CN201620965249.0U CN201620965249U CN205990002U CN 205990002 U CN205990002 U CN 205990002U CN 201620965249 U CN201620965249 U CN 201620965249U CN 205990002 U CN205990002 U CN 205990002U
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Abstract
A kind of three lifting AGV cars, there is car body, car body is provided with power supply unit, walking unit and electric hoisting unit, and equipped with vehicle control syetem, vehicle control syetem includes PLC, electromagnetic navigation unit, photoelectric tracking unit, is automatically positioned unit, wireless client；Power supply unit includes the power management unit being made up of accumulator and DC/DC transducer A, B, vehicle-mounted electricity getting device on the input side connection body of DC/DC transducer A, outlet side is corresponding to connect accumulator, and the positive terminal in outlet side is in series with diode, accumulator passes through DC/DC transducer B provides working power to the unit of vehicle control syetem；Electric hoisting unit includes rear axle lifting table, electromotor lifting platform and people from station lifting platform；This utility model it is achieved that the flexible selection of AGV car walking path, improves the packaging efficiency that automobile attaches together streamline by way of contactlessly powered and storage battery power supply both hybrid power supply.
Description
Technical field
This utility model is related to industrial handling and conveying technical field of automation, especially a kind of three lifting AGV cars it is adaptable to
Automobile transmitter, back axle attach together the material conveying of streamline respectively with body bottom.
Background technology
Currently, AGV car is widely used in industrial flow-line production, brings great convenience to manufacturer.But,
Existing AGV car owner will be powered using contactlessly powered or storage battery.Be must assure that when walking using contactlessly powered AGV car
Vehicle-mounted power taking plate is in the surface of primary electrical cable in contactlessly powered system all the time, thus the run trace of this AGV car
It is severely limited it is impossible to meet the demand that Various Complex path and modernization industry produce；Although the AGV being powered using storage battery
The run trace of car is unrestricted, but this AGV car there is a problem of using limited by duration and battery life, thus is using
When need to leave the charging interval, and spend higher cost that battery is maintained, this also leverages the conveying of AGV car
Efficiency.Meanwhile, for the material conveying that existing automobile attaches together streamline, the body construction of existing AGV car sets
Meter is unreasonable, and after being simply designed with car body, axle lifting table or electromotor lifting platform, are individually used for automobile axle or start
Machine is attached together with body bottom, greatly reduces the packaging efficiency that automobile attaches together streamline, and attaches together on streamline in automobile, is used for
The AGV car of material conveying typically adopts contactlessly powered so that it can only run along oval route, thus occupying big
The place space of amount is so that corresponding equipment cost greatly increases.
Content of the invention
The purpose of this utility model seeks to solve can not to meet when current AGV car is run using contactlessly powered mode many
Plant the demand that pahtfinder hard and modernization industry produce, and when adopting storage battery powered operation, transfer efficiency is low, and AGV car
Body construction design is unreasonable, leads to automobile to attach together the not high problem of packaging efficiency of streamline, provides a kind of three liftings for this
AGV car.
Concrete scheme of the present utility model is：A kind of three lifting AGV cars, have car body, and car body is provided with power supply unit, OK
Walk unit and electric hoisting unit, and equipped with vehicle control syetem, wherein power supply unit includes and is arranged on vehicle bottom
Vehicle-mounted electricity getting device, vehicle control syetem is included PLC and is constituted the electromagnetism that is connected of communication respectively with PLC and lead
Boat unit, photoelectric tracking unit, be automatically positioned unit, wireless client；It is characterized in that：Said supply unit also includes power supply
Administrative unit, power management unit includes accumulator and DC/DC transducer A, B, the wherein input side of DC/DC transducer A even
Pick up load electricity getting device, outlet side is corresponding to connect accumulator, and the positive terminal in outlet side is in series with diode, and accumulator is passed through
DC/DC transducer B provides working power to the unit of vehicle control syetem；Described electric hoisting unit includes back axle liter
Fall platform and electromotor lifting platform, are provided with people from station lifting platform in the side of electromotor lifting platform.
It is in the vehicle-mounted power taking plate being arranged side by side that vehicle-mounted electricity getting device described in this utility model includes at least two pieces；Described
Electromagnetic navigation unit includes the magnetic navigation sensor being respectively provided at the forward and backward two ends of vehicle-mounted electricity getting device, two magnetic navigation sensings
Device communicates connection PLC respectively.
Photoelectric tracking unit described in this utility model includes photoelectric tracer, and photoelectric tracer communication connects PLC control
Device processed.
Walking unit described in this utility model include be separately positioned on the left rudder wheel of the forward and backward side of car body, right standard rudder wheel and
At least two auxiliary universal wheels；The described unit that is automatically positioned includes Wireless RF identifier, and Wireless RF identifier is used for real
When read station information in each station data carrier, at left rudder wheel, right standard rudder wheel, rear axle lifting table and electromotor lifting platform and station
In the driving means of people's lifting platform, correspondence is configured with rotary encoder, and Wireless RF identifier is led to respectively with each rotary encoder
News connect PLC, PLC realize respectively to left rudder wheel, right standard rudder wheel, rear axle lifting table and electromotor lifting platform and
Stand the real-time control of driving means trend of work in people's lifting platform.
Car body described in this utility model is provided with safety obstacle protective unit, and safety obstacle protective unit includes correspondence
It is arranged on four bumpers of car body surrounding, between each bumper and car body, be equipped with touching switch and limit switch；Described
Vehicle control syetem is configured with touch screen, and touching switch and touch screen communicate connection PLC respectively.
In this utility model domination set, information management is convenient, material transfer efficiency is high, walking safety, is no connect by taking
The mode touching power supply with storage battery power supply both hybrid power supply, it is achieved that the flexible selection of AGV car walking path, reduces and adopts
The workload of the required maintenance of AGV car and cost that power taking bottle is powered, substantially increase the assembling effect that automobile attaches together streamline
Rate, is widely portable to automobile, light industry, in the modernization pipeline of the industry such as logistics.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 is present invention looks up structural representation of the present utility model；
Fig. 3 is the communication structure block diagram that vehicle control syetem is constituted with central dispatching system；
Fig. 4 is the structural representation of power supply unit in this utility model；
Fig. 5 is the structural representation of AGV car running track in this utility model.
In figure：1 car body, 2 power supply units, 3 vehicle control syetems, 4 central dispatching systems, 5 AGV cars run
Track, 5a material upper part area, to the transition zone attaching together, 5c attaches together area to 5b upper part, and 5d attaches together to the transition zone of upper part,
6 vehicle-mounted electricity getting devices, 7 PLC, 8 wireless clients, 9 power management unit, 10 accumulator, 11 DC/
DC transducer A, 12 DC/DC transducer B, 13 diodes, axle lifting table after 14,15 electromotor lifting platforms, 16 stations
People's lifting platform, 17 magnetic navigation sensors, 18 photoelectric tracers, 19 left rudder wheels, 20 right standard rudder wheels, 21 auxiliary are universal
Wheel, 22 Wireless RF identifiers, 23 rotary encoders, 24 bumpers, 25 touching switch, 26 touch screens, 27
AB Programmable Logic Controller, 28 AB touch screens, 29 Felix WAPs, 30 switches.
Specific embodiment
Referring to Fig. 1-4, this utility model has car body 1, and car body 1 is provided with power supply unit 2, walking unit and electric hoisting
Unit, and equipped with vehicle control syetem 3, wherein power supply unit 2 includes the vehicle-mounted electricity getting device 6 being arranged on car body 1 bottom,
Vehicle control syetem 3 is included PLC 7 and is constituted electromagnetic navigation unit, the light that communication is connected respectively with PLC 7
Electric tracing unit, it is automatically positioned unit, wireless client 8；Particularly：Said supply unit 2 also includes power management unit
9, power management unit 9 includes accumulator 10 and DC/DC transducer A11, DC/DC transducer B12, wherein DC/DC transducer
The input side of A11 connects vehicle-mounted electricity getting device 6, and outlet side is corresponding to connect accumulator 10, and the positive terminal in outlet side is in series with
Diode 13, diode 13 is used for, when accumulator 10 is discharged, constituting electric isolution between accumulator 10 and DC/DC transducer A11,
And accumulator 10 passes through DC/DC transducer B12 provides working power to the unit of vehicle control syetem 3；Described electronic
Lift unit includes rear axle lifting table 14 and electromotor lifting platform 15, is provided with the lifting of people from station in the side of electromotor lifting platform 15
Platform 16.
Referring to Fig. 2, it is in the vehicle-mounted power taking being arranged side by side that vehicle-mounted electricity getting device 6 described in the present embodiment includes at least two pieces
Plate；Described electromagnetic navigation unit includes the magnetic navigation sensor 17 being respectively provided at the forward and backward two ends of vehicle-mounted electricity getting device 6, two
Magnetic navigation sensor 17 communicates connection PLC 7 respectively.
Referring to Fig. 1, photoelectric tracking unit described in the present embodiment includes photoelectric tracer 18, and photoelectric tracer 18 communicates
Connect PLC 7.
Referring to Fig. 2, Fig. 3, walking unit described in the present embodiment includes the left rudder being separately positioned on the forward and backward side of car body 1
Wheel 19, right standard rudder wheel 20 and at least two auxiliary universal wheels 21；The described unit that is automatically positioned includes Wireless RF identifier 22, no
Line RF Reader 22 is used for the real-time station information reading in each station data carrier, in left rudder wheel 19, right standard rudder wheel 20, back axle liter
In the driving means of fall platform 14 and electromotor lifting platform 15 and people from station lifting platform 16, correspondence is configured with rotary encoder 23, wirelessly
RF Reader 22 is communicated respectively with each rotary encoder 23 and is connected PLC 7, and PLC 7 is realized respectively to left rudder
Driving means trend of work in wheel 19, right standard rudder wheel 20, rear axle lifting table 14 and electromotor lifting platform 15 and people from station lifting platform 16
Real-time control.
Car body 1 described in the present embodiment is provided with safety obstacle protective unit, and safety obstacle protective unit includes correspondence
It is arranged on four bumpers 24 of car body 1 surrounding, be equipped with touching switch 25 between each bumper 24 and car body 1 and spacing open
Close；Described vehicle control syetem 3 is configured with touch screen 26, and touching switch 25 and touch screen 26 communicate connection PLC respectively
7.When AGV garage is walked, touch the bumper 24 on car body 1, now touching switch 25 action, PLC 7 if there are object
AGV car is controlled to stop walking；If the touching of object causes very big impulsive force to AGV car, limit switch now will be triggered
Carry out second layer protection, wherein touch screen 26 is used for showing the real time status of this car.
Material for automobile transmitter, back axle are attached together with body bottom respectively with streamline is carried out as a example conveying below
Illustrate.
Attaching together pipeline configuration in automobile has central dispatching system 4 and AGV car running track 5.
Referring to Fig. 3, central dispatching monitoring system 4 comprises AB Programmable Logic Controller 27, AB touch screen 28 and Felix no
Line access point 29.AB Programmable Logic Controller 27 is as the information processing centre of central dispatching monitoring system 4, AB touch screen 28 and phenanthrene
Li Kesi WAP 29 passes through switch 30 communication respectively and connects AB Programmable Logic Controller 27, wherein AB touch screen 28 conduct
Interactive interface, Felix WAP 29 is led to the wireless client 8 composition wireless ethernet on each AGV car
News network, running wherein in AGV car running track 5 has four AGV cars.Described central dispatching monitoring system 4 is mainly responsible for connecing
Receive the field data that the vehicle control syetem 3 on AGV car and upper strata vehicle body material-transporting system return, and send out to live AGV car
Send control command, realize mechanical floor and the information bidirectional of management level exchanges；Central dispatching monitoring system 4 can also be touched by AB
Shield the world coordinatess position of the online handling and conveying situation of AGV car of 28 real-time displays and fault message and AGV car.
Referring to Fig. 5, AGV car running track 5 comprises four sections, respectively：Material upper part area 5a, upper part are to the transition zone attaching together
5b, attach together area 5c, the transition zone 5d attaching together to upper part.
In material upper part area 5a, AGV car is used for conveying transmitter and back axle, treats that transmitter and back axle are delivered to by AGV car
When attaching together area 5c, realize attaching together of transmitter, back axle and upper strata vehicle body respectively.In material upper part area 5a, attach together area 5c and set respectively
There is contactless electric power system, contactlessly powered to carry out to AGV car, contactlessly powered system comprises primary converter unit and primary
Cable.Primary converter unit three-phase alternating current become electric current be 70A, frequency be 20kHz power supply output, primary electrical cable
The primary coil of suitable AC transformer, operationally, vehicle-mounted electricity getting device 6 is in the surface of primary electrical cable to AGV car, this
When the suitable AC transformer of vehicle-mounted electricity getting device 6 secondary coil, after voltage transformation, vehicle-mounted electricity getting device 6 exports 500V
Unidirectional current, a part of electric energy of wherein vehicle-mounted electricity getting device 6 output is supplied directly to rear axle lifting table 14 and electromotor lifting platform
15 and people from station lifting platform 16 in driving means, another part electric energy of vehicle-mounted electricity getting device 6 output is through DC/DC transducer
A11 is converted to 45～53V unidirectional current, and this Partial DC electricity is directly used in and charges to accumulator 10, and steering wheel 19, right standard rudder wheel to the left
Driving means in 20 provide working power, are converted to 24V regulated power supply also by DC/DC transducer B12 simultaneously and are supplied to car
Unit in borne control system 3, referring to Fig. 3, Fig. 4.
Meanwhile, when AGV car is walked on the upside of primary electrical cable, it is located at the magnetic conductance at the forward and backward two ends of vehicle-mounted electricity getting device 6
Magnetic field produced by boat sensor 17 real-time detection primary electrical cable, and detection data is fed back to PLC 7, PLC controls
Device 7 real-time control left rudder wheel 19, the direction of right standard rudder wheel 20 walking, to guarantee vehicle-mounted electricity getting device 6 always on primary electrical cable
Skidding is walked.
It is arranged on upper deck in photoelectric tracer 18 real-time detection upper strata vehicle body material-transporting system on AGV car
Target, determines the relative position between AGV car and upper strata vehicle body according to target feedack, and according to different relative positions
Export corresponding current signal to PLC 7, PLC 7 according to this current signal regulation speed so that AGV car with upper
Layer vehicle body material-transporting system keeps synchronous.
In upper part to the transition zone attaching together, attach together and be not provided with contactlessly powered system to the transition zone of upper part, AGV car by
Accumulator 10 provides working power.
Claims (5)
1. a kind of three lifting AGV cars, have car body, car body is provided with power supply unit, walking unit and electric hoisting unit, and joins
Have vehicle control syetem, wherein power supply unit includes the vehicle-mounted electricity getting device being arranged on vehicle bottom, vehicle control syetem
Include PLC and constitute the electromagnetic navigation unit that communication is connected, photoelectric tracking unit, automatic respectively with PLC
Positioning unit, wireless client；It is characterized in that：Said supply unit also includes power management unit, power management unit bag
Accumulator and DC/DC transducer A, B are included, the wherein input side of DC/DC transducer A connects vehicle-mounted electricity getting device, outlet side pair
Accumulator should be connected, and the positive terminal in outlet side is in series with diode, accumulator passes through DC/DC transducer B to vehicle-mounted control
The unit of system provides working power；Described electric hoisting unit includes rear axle lifting table and electromotor lifting platform,
The side of electromotor lifting platform is provided with people from station lifting platform.
2. a kind of three lifting AGV cars according to claim 1, is characterized in that：Described vehicle-mounted electricity getting device includes at least
Two pieces is in the vehicle-mounted power taking plate being arranged side by side；Described electromagnetic navigation unit includes and is respectively provided at vehicle-mounted electricity getting device forward and backward two
The magnetic navigation sensor at end, two magnetic navigation sensors communicate connection PLC respectively.
3. a kind of three lifting AGV cars according to claim 1, is characterized in that：Described photoelectric tracking unit includes photoelectricity
Tracker, photoelectric tracer communication connects PLC.
4. one kind three lifting AGV car according to claim 1 or 2 or 3, is characterized in that：Described walking unit includes point
It is not arranged on left rudder wheel, right standard rudder wheel and at least two auxiliary universal wheels of the forward and backward side of car body；The described unit that is automatically positioned includes
Wireless RF identifier, Wireless RF identifier is used for the real-time station information reading in each station data carrier, on left rudder wheel, the right side
In the driving means of steering wheel, rear axle lifting table and electromotor lifting platform and people from station lifting platform, correspondence is configured with rotary encoder,
Wireless RF identifier is communicated respectively with each rotary encoder and is connected PLC, and PLC is realized respectively to left rudder
The real-time control of driving means trend of work in wheel, right standard rudder wheel, rear axle lifting table and electromotor lifting platform and people from station lifting platform.
5. one kind three lifting AGV car according to claim 1 or 2 or 3, is characterized in that：Described car body is provided with safe barrier
Hinder protective unit, safety obstacle protective unit includes four bumpers being correspondingly arranged at car body surrounding, each bumper with
It is equipped with touching switch and limit switch between car body；Described vehicle control syetem is configured with touch screen, touching switch and touch
Communication connects PLC to screen respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620965249.0U CN205990002U (en) | 2016-08-29 | 2016-08-29 | A kind of three lifting AGV cars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620965249.0U CN205990002U (en) | 2016-08-29 | 2016-08-29 | A kind of three lifting AGV cars |
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| Publication Number | Publication Date |
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| CN205990002U true CN205990002U (en) | 2017-03-01 |
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ID=58104683
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620965249.0U Active CN205990002U (en) | 2016-08-29 | 2016-08-29 | A kind of three lifting AGV cars |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423606A (en) * | 2018-04-28 | 2018-08-21 | 上海振华重工(集团)股份有限公司 | Carry the jacking control system and its control method of AGV equipment in a kind of harbour |
| CN109213173A (en) * | 2018-09-30 | 2019-01-15 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket |
| CN112429120A (en) * | 2020-10-15 | 2021-03-02 | 东风汽车集团有限公司 | AGV equipment with positioning switching function and using method thereof |
-
2016
- 2016-08-29 CN CN201620965249.0U patent/CN205990002U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423606A (en) * | 2018-04-28 | 2018-08-21 | 上海振华重工(集团)股份有限公司 | Carry the jacking control system and its control method of AGV equipment in a kind of harbour |
| CN108423606B (en) * | 2018-04-28 | 2024-03-22 | 上海振华重工(集团)股份有限公司 | Jacking control system and method of port carrying AGV equipment |
| CN109213173A (en) * | 2018-09-30 | 2019-01-15 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket |
| CN109213173B (en) * | 2018-09-30 | 2022-09-23 | 青岛港国际股份有限公司 | Anti-collision protection method for AGV (automatic guided vehicle) to enter and exit interactive bracket |
| CN112429120A (en) * | 2020-10-15 | 2021-03-02 | 东风汽车集团有限公司 | AGV equipment with positioning switching function and using method thereof |
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