CN108423084A - A kind of omnidirectional's automatic guided vehicle - Google Patents
A kind of omnidirectional's automatic guided vehicle Download PDFInfo
- Publication number
- CN108423084A CN108423084A CN201810102110.7A CN201810102110A CN108423084A CN 108423084 A CN108423084 A CN 108423084A CN 201810102110 A CN201810102110 A CN 201810102110A CN 108423084 A CN108423084 A CN 108423084A
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- CN
- China
- Prior art keywords
- automatic guided
- guided vehicle
- mandrel
- omnidirectional
- drive assembly
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of omnidirectional's automatic guided vehicle, including vehicle body frame and drive assembly, the drive assembly includes mandrel, two driving motors and two driving wheels being connected on same drive shaft；Described two driving motors respectively drive a driving wheel；The centre vertical connection of the mandrel and the drive shaft；The drive assembly is rotatably mounted on the vehicle body frame by the mandrel.Omnidirectional's automatic guided vehicle provided by the invention, it is realized and is turned to by motor differential, and can realize that closed-loop control, control logic are simple by encoder feedback in turn, mechanism stable is reliable, can realize a variety of traveling postures such as advance, retrogressing, traversing, spin as needed.
Description
Technical field
The present invention relates to Intelligent logistics transportation arts, and in particular to a kind of omnidirectional's automatic guided vehicle by differential control.
Background technology
AGV is the abbreviation of Automated Guided Vehicle, is implied that " automatic guided vehicle ".Traditional AGV is only
Meet advance, fallback function, in recent years with increasingly complicated and technology the innovation of operating mode, occurs some and may be implemented entirely
To mobile AGV.The driving structure of omnidirectional AGV above market is generally divided into two kinds：
1, the Mecanum wheel researched and developed using Mecanum company of Sweden, each wheel outer ring is around several 45 ° of pony rolls
Wheel, each larger wheels independently drive, the small passive stress of roller, and pairs of wheel combination gets up to use, and passes through the positive and negative rotation of wheel
The resultant force for realizing different directions achievees the effect that any direction is advanced.But just because of the characteristic of its own structure, lead to it
Drawback is very big, since small roller is smaller and is walked using the method for resultant force, determine such wheel wear is very serious, load-bearing compared with
It is low, more demanding to ground flat degree, expensive.
2, using Twin Rudders wheel drive, each steering wheel is divided into transfer and running gear, independently controls, due to volume
Limitation, need walk reduction box and traveling wheel progress integrative design, complicated, leads to that steering wheel price is very expensive, goods
Phase is longer and compared with traditional differential control, and Twin Rudders wheel construction control algolithm threshold is higher.
Invention content
In view of the foregoing deficiencies of prior art, the purpose of the present invention at least that provide a kind of control logic it is simple,
The reliable omnidirectional's automatic guided vehicle of mechanism stable.
In order to achieve the above objects and other related objects, an embodiment of the invention provides a kind of omnidirectional's homing guidance
Vehicle, including drive assembly described in vehicle body frame and drive assembly include mandrel, two driving motors and are connected to same driving wheel
Two driving wheels on axis；Described two driving motors respectively drive a driving wheel；The mandrel and the drive shaft
Centre vertical connection；The drive assembly is rotatably mounted on the vehicle body frame by the mandrel.
In one embodiment, the centre of the mandrel and the drive shaft is rigidly connected, the mandrel with
The vehicle body frame is rotatably connected.
In one embodiment, the mandrel and the centre of the drive shaft are rotatably connected, the mandrel
It is rigidly connected with the vehicle body frame.
In one embodiment, the mandrel is connected by synchronous belt drive mechanism with encoder.
In one embodiment, a magnetic navigation sensor is respectively installed in the front and back side of the drive assembly.
In one embodiment, the driving motor drives the driving wheel to rotate by chain drive.
In one embodiment, the automatic guided vehicle includes former and later two described drive assembly.
In one embodiment, the automatic guided vehicle includes the multiple auxiliary wheels being installed on the vehicle body frame.
In one embodiment, the automatic guided vehicle includes the RFID Card Readers being installed among the vehicle body frame
Device.
The above-mentioned technical proposal that embodiment of the present invention provides is realized by motor differential and is turned to, and can passed through in turn
Encoder feedback realizes closed-loop control, and control logic is simple, and mechanism stable is reliable, can realize advance, retrogressing, cross as needed
A variety of traveling postures such as shifting, spin.
Description of the drawings
Fig. 1 is the dimensional structure diagram of omnidirectional's automatic guided vehicle of one embodiment of the invention；
Fig. 2 is the present invention looks up structural representation of omnidirectional's automatic guided vehicle shown in Fig. 1；
Fig. 3 is the present invention looks up structural representation of the drive assembly of one embodiment of the invention；
Fig. 4 is the dimensional structure diagram of drive assembly shown in Fig. 3；
Fig. 5 is that the automatic guided vehicle with drive assembly shown in Fig. 3 moves in the X-axis direction schematic diagram；
Fig. 6 is that the automatic guided vehicle with drive assembly shown in Fig. 3 moves schematic diagram along Y direction；
Fig. 7 is that the automatic guided vehicle with drive assembly shown in Fig. 3 along inclined direction moves schematic diagram；
Fig. 8 is that the automatic guided vehicle with drive assembly shown in Fig. 3 moves schematic diagram along direction of rotation.
Component label instructions
1 chamber door
2 control panels
3 anticollision strips
4 shells
5 conveying rolls
6 vehicle body frames
7 auxiliary wheels
8 RFID card readers
9 drive assembly
10 driving wheels
11 driving motors
12 magnetic navigation sensors
13 mounting plates
14 mandrels
15 encoders
16 synchronous pulleys
17 synchronous pulleys
18 encoder output axis
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this explanations by particular specific embodiment below
Content disclosed by book understands other advantages and effect of the present invention easily.
It should be clear that structure, ratio, size etc. depicted in this specification attached drawing, only coordinating disclosed in specification
Content be not limited to the enforceable qualifications of the present invention so that those skilled in the art understands and reads, therefore not
Has technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing institute of the present invention
Under the effect of capable of generating and the purpose that can reach, the range that can cover in disclosed technology contents should all be still fallen
It is interior.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, also only just
In being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, without substantive change
Under more technology contents, when being also considered as the enforceable scope of the present invention.
Fig. 1 and 2 shows one embodiment of automatic guided vehicle of the present invention.As shown in Figure 1, the automatic guided vehicle includes shell
4, control panel 2 is installed before shell 4, the two sides of shell 4 are each provided with a chamber door 1, and the front and back side of shell 4 is respectively pacified
There are one anticollision strips 3 for dress, and the top of shell 4 is conveying roll 5.Referring to Fig. 2, the drive assembly 9 of automatic guided vehicle is mounted on outer
On vehicle body frame 6 in shell 4.It should be noted that the overall structure of above-mentioned automatic guided vehicle is only an example, this hair is removed
Outside the driving structure of bright offer, remaining component part and its structure are not limited to this.
Fig. 3 and 4 shows one embodiment of drive assembly of the present invention.The drive assembly 9 includes being connected to same driving
Two driving wheels 10 on wheel shaft, for the configuration of each driving wheel 10 there are one driving motor 11, driving motor 11 passes through chain drive
Mechanism drives driving wheel 10 to rotate, and in other embodiments, other transmissions can also be used between driving motor 11 and driving wheel 10
Structure, such as gear drive etc..Drive assembly 9 is installed in rotation on by mandrel 14 on mounting plate 13, mandrel 14 with
The perpendicular rigid connection of drive shaft centre.Entire drive assembly is then installed on car body by mandrel 14 by mounting plate 13
On frame 6, also can directly it be installed in rotation on vehicle body frame 6 by mandrel 4.Two driving wheels 10 are by speed difference come real
The now steering of entire drive assembly 9.Further, as shown in figure 4, mandrel 14 passes through synchronous belt drive mechanism and 15 phase of encoder
Even, central shaft 14 is passed through and is fixed to each other from 16 center of synchronous pulley, and encoder 15 is located under another synchronous pulley 17
Side, output shaft 18 pass through the synchronous pulley center and fixed thereto.Encoder 15 is used for the corner of Real-time Feedback driving wheel 10
Realize that the rotation of any direction is advanced by high-precision closed-loop control in position.In other embodiments, drive shaft also may be used
It is rotatably coupled with mandrel, and mandrel is rigidly connected with mounting plate or directly with vehicle body frame.
As shown in Fig. 2, automatic guided vehicle uses former and later two drive assembly.The respectively installation one of the front and back side of drive assembly 9
Magnetic navigation sensor 12 when a whole set of drive assembly 9 being facilitated to be rotated to any one direction, reads navigation information, and one harnesses an animal to a cart total need
Four magnetic navigations 12.
Automatic guided vehicle further includes the multiple auxiliary wheels 7 being installed on vehicle body frame 6, i.e. multiple universal wheels 7.And installation
RFID card reader 8 among vehicle body frame 6.The position of auxiliary wheel 7 is according to the carrying situation of car body arrangement, RFID card reader 8
Positioned at automatic guided vehicle middle, positioned when automatic guided vehicle being facilitated to advance to all directions.RFID card reader is for reading
The information of card taking on piece, the card as ground, each card there are unique encodings, each card different information is written,
Such as stopping, left-hand bend, right-hand bend, acceleration, deceleration etc. information, when automatic guided vehicle drives to a certain card top, Card Reader
Device reads card content, is executed according to content and is acted in next step, the positioning of automatic guided vehicle is realized with this.
In addition, the magnetic navigation mode in above-described embodiment can be by magnetic cuiding formula, laser guiding, visual guidance
Any other suitable navigation mode such as formula, optical navigation formula, inertial guide formula substitutes.
Compared with prior art, automatic guided vehicle provided by the invention realized by motor differential and turned to, and in turn can be with
By encoder feedback realize closed-loop control, control logic is simple, and mechanism stable is reliable, can realize as needed advance, retrogressing,
A variety of traveling postures such as traversing, spin.Referring specifically to Fig. 5-8：In the case where driving motor does not have speed discrepancy, automatic guided vehicle
It can be moved forward or back as shown in Figure 5 along X-direction；As shown in fig. 6, when needing traversing, by controlling driving motor with difference
Rotating speed drives driving wheel rotation so that drive assembly is rotated by 90 ° around mandrel, is then controlled driving motor and is driven with same rotational speed
Driving wheel so that automatic guided vehicle is traversing along Y direction, as shown in figure 8, front and back drive assembly also can control to transport round about
It is dynamic so that automatic guided vehicle generates spin；As shown in fig. 7, driving wheel rotation can be driven with different rotating speeds by controlling driving motor
Turn so that drive assembly is after mandrel deflects certain angle, then controls driving motor and drive driving wheel with same rotational speed so that from
Dynamic guiding vehicle along inclined direction moves.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (9)
1. a kind of omnidirectional's automatic guided vehicle, including vehicle body frame and drive assembly, it is characterised in that：
The drive assembly includes mandrel, two driving motors and two driving wheels being connected on same drive shaft；
Described two driving motors respectively drive a driving wheel；
The centre vertical connection of the mandrel and the drive shaft；
The drive assembly is rotatably mounted on the vehicle body frame by the mandrel.
2. omnidirectional's automatic guided vehicle according to claim 1, it is characterised in that：
The mandrel and the centre of the drive shaft are rigidly connected, and the mandrel rotatably connects with the vehicle body frame
It connects.
3. omnidirectional's automatic guided vehicle according to claim 1, it is characterised in that：
The mandrel and the centre of the drive shaft are rotatably connected, and the mandrel rigidly connects with the vehicle body frame
It connects.
4. omnidirectional's automatic guided vehicle according to claim 2, it is characterised in that：
The mandrel is connected by synchronous belt drive mechanism with encoder.
5. omnidirectional's automatic guided vehicle according to claim 1, it is characterised in that：
The front and back side of the drive assembly is respectively installed by one magnetic navigation sensor.
6. omnidirectional's automatic guided vehicle according to claim 1, it is characterised in that：
The driving motor drives the driving wheel to rotate by chain drive.
7. omnidirectional's automatic guided vehicle according to claim 1, it is characterised in that：
The automatic guided vehicle includes former and later two described drive assembly.
8. omnidirectional's automatic guided vehicle according to claim 1, it is characterised in that：
The automatic guided vehicle includes the multiple auxiliary wheels being installed on the vehicle body frame.
9. automatic guided vehicle according to claim 1, it is characterised in that：
The automatic guided vehicle includes the RFID card reader being installed among the vehicle body frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810102110.7A CN108423084A (en) | 2018-02-01 | 2018-02-01 | A kind of omnidirectional's automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810102110.7A CN108423084A (en) | 2018-02-01 | 2018-02-01 | A kind of omnidirectional's automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108423084A true CN108423084A (en) | 2018-08-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810102110.7A Pending CN108423084A (en) | 2018-02-01 | 2018-02-01 | A kind of omnidirectional's automatic guided vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112407710A (en) * | 2019-08-23 | 2021-02-26 | 永恒力股份公司 | Stack storage assembly |
| CN113409631A (en) * | 2021-06-18 | 2021-09-17 | 上海锡鼎智能科技有限公司 | AI auxiliary teaching robot |
| EP3954647A1 (en) * | 2020-08-12 | 2022-02-16 | Shenzhen Casun Intelligent Robot Co., Ltd. | Forklift-type automated guided vehicle |
| CN114194310A (en) * | 2022-01-13 | 2022-03-18 | 大连佳林设备制造有限公司 | All-terrain AGV (automatic guided vehicle) |
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
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| US5199524A (en) * | 1991-07-01 | 1993-04-06 | Mentor Agvs, Inc. | Automated guided vehicle |
| JP2001175331A (en) * | 1999-12-15 | 2001-06-29 | Rhythm Corp | Automated guided vehicle |
| CN203480310U (en) * | 2013-08-16 | 2014-03-12 | 广东益翔自动化科技有限公司 | Closed-loop control driverless vehicle driving device |
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN105425792A (en) * | 2015-11-17 | 2016-03-23 | 杭州瓦瑞科技有限公司 | Omnidirectional mobile automatic guided vehicle |
| CN106314129A (en) * | 2016-08-26 | 2017-01-11 | 北京超同步伺服股份有限公司 | AGV (Automatic Guided Vehicle) trolley capable of walking in any angle direction |
| CN106476929A (en) * | 2016-12-12 | 2017-03-08 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dolly of omnidirectional submarine |
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| JP2001175331A (en) * | 1999-12-15 | 2001-06-29 | Rhythm Corp | Automated guided vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112407710A (en) * | 2019-08-23 | 2021-02-26 | 永恒力股份公司 | Stack storage assembly |
| US11807454B2 (en) | 2019-08-23 | 2023-11-07 | Jungheinrich Aktiengesellschaft | Stacking storage arrangement |
| EP3954647A1 (en) * | 2020-08-12 | 2022-02-16 | Shenzhen Casun Intelligent Robot Co., Ltd. | Forklift-type automated guided vehicle |
| US20220048747A1 (en) * | 2020-08-12 | 2022-02-17 | Shenzhen Casun Intelligent Robot Co., Ltd. | Forklift-type automated guided vehicle |
| US11891286B2 (en) * | 2020-08-12 | 2024-02-06 | Suzhou Casun Intelligent Robot Co., Ltd. | Forklift-type automated guided vehicle |
| CN113409631A (en) * | 2021-06-18 | 2021-09-17 | 上海锡鼎智能科技有限公司 | AI auxiliary teaching robot |
| CN114194310A (en) * | 2022-01-13 | 2022-03-18 | 大连佳林设备制造有限公司 | All-terrain AGV (automatic guided vehicle) |
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
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Application publication date: 20180821 |
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