CN105739494A - Energy-saving automated guided vehicle based on modular structure - Google Patents

Abstract

The invention discloses an energy-saving automatic guided vehicle based on structural modularization, which is characterized in that it includes a control module, a motor drive module, a working condition monitoring module, a power supply management module, an energy recovery module, a guidance module, a safety module, and a communication module and execution modules. The drive scheme of the motor drive module adopts four-wheel wheel-side drive steering, and the four wheels are independently controllable, so the steering function is powerful. The utilization rate is also improved due to the reduction of energy transfer links. The energy recovery module includes a braking energy recovery module and a vibration energy recovery module. When the vehicle body is braking or sliding downhill, the braking energy recovery module is activated; when the vehicle body is in vibration, the vibration energy recovery module is activated. The invention not only realizes the energy saving of the automatic guided vehicle and effectively improves the mileage of driving, but also increases its applicability by the modular design.

Description

Energy-saving automatic guided vehicle based on structural modularization

technical field

The invention relates to a material transportation equipment, in particular to an energy-saving automatic guided vehicle based on structural modularization.

Background technique

Automatic guided vehicle is an automated unmanned handling equipment, which has the characteristics of flexibility and intelligence, and has been widely used in the field of logistics. Current AGVs generally use batteries as power. However, due to the limitations of battery technology, AGVs need to go to charging piles to recharge at regular intervals, seriously affecting their work efficiency. In addition, many existing AGV products have single functions and poor adaptability, and cannot be customized by customers, which also hinders the development of AGVs.

Contents of the invention

The technical problem mainly solved by the present invention is to provide an energy-saving automatic guided vehicle based on structural modularization, which can provide a new energy source while reducing its own energy consumption, effectively improve the driving range, and the modular design increases its applicability and flexibility, with significant social and economic value.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

An energy-saving automatic guided vehicle based on structural modularization, including a control module, a motor drive module, a working condition monitoring module, a power management module, an energy recovery module, a guidance module, a safety module, a communication module and an execution module. The control module includes a vehicle control system and a host control system; the motor drive module uses a motor as power to drive the automatic guided vehicle; the working condition monitoring module monitors the vibration, braking, and downhill sliding of the vehicle body Waiting for working conditions and sending signals to the control module; the functions of the power management module include battery state monitoring and charge and discharge management; the functions of the energy recovery module include capacitor state monitoring and charge and discharge management. The guidance module adopts a visual guidance mode; the safety module includes an electronic safety module and a physical safety module; the communication module uses wireless local area network technology as a communication method; the execution module is selected according to the purpose of the automatic guided vehicle. , you can choose forklift type, manipulator type, etc.;

Preferably, in the control module, the vehicle control system and the host control system are connected through a wireless communication module.

Preferably, the driving scheme of the motor drive module adopts four-wheel wheel-side driving steering, and the wheels and wheel-side motors are installed together to form the driving wheel. Since the four wheels are independently controllable, this driving method has more powerful steering function; at the same time, because the drive wheel reduces the transmission system, the weight of the vehicle is reduced, energy consumption is reduced, and the energy utilization rate is also improved due to the reduction of the energy transmission link.

Preferably, the energy recovery module includes a braking energy recovery module and a vibration energy recovery module. The braking energy recovery module is attached to the driving wheel. When the working condition detection module detects that the vehicle body is braking or coasting downhill, the braking energy recovery module will be activated, and the power generation system will be released during braking or coasting through the feedback power generation system. The excess energy produced is recovered and stored in supercapacitors or batteries under the control of the charging and discharging control system. The vibration energy recovery module is attached to the vehicle body. When the vehicle condition detection module detects that the vehicle body is vibrating up and down, the vibration energy recovery module starts to recover the vibration energy through the piezoelectric device, rectifier and DC/DC converter. The control system controls storage to supercapacitors or batteries.

Preferably, the electronic safety module in the safety module is selected to install a range finder (laser or ultrasonic range finder) in front of the automatic guided vehicle. If the object in front exceeds the range of the warning line, the automatic guided vehicle will give an alarm. In the emergency stop range, the automatic guided vehicle will stop in an emergency; the physical safety module is selected to install safety baffles on the front and side of the automatic guided vehicle.

The features and advantages of the present invention are: ① an energy recovery system is added to effectively recover and store the energy generated when the automatic guided vehicle brakes, slides, and vibrates, and increases the battery life of the automatic guided vehicle; ② adopts four-wheel all-wheel drive steering drive The transmission system is reduced, the weight of the whole vehicle is reduced, and the energy consumption during driving is saved; ③ Modular design is adopted, and each module can be replaced by other modules with the same mechanical/electronic interface, which is convenient, flexible and adaptable.

Description of drawings

Fig. 1 is a system structure block diagram of the present invention;

Fig. 2 is a schematic diagram of the driving mode;

Figure 3 is a block diagram of the energy recovery module.

detailed description

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Figure 1, the energy-saving automatic guided vehicle based on structural modularization of the present invention includes a control module 1, a motor drive module 2, a working condition monitoring module 3, a power management module 4, an energy recovery module 5, a guidance module 6, Security module 7 , communication module 8 and execution module 9 . The control module 1 includes a vehicle-mounted control system 1.1 and a host control system 1.2; the motor drive module 2 uses a motor as power to drive the automatic guided vehicle; the working condition monitoring module 3 monitors the vibration of the car body, braking, downhill gliding and other working conditions and send signals to the control module; the functions of the power management module 4 include battery status monitoring and charging and discharging management; the functions of the energy recovery module 5 include capacitor status monitoring and charging , discharge management; the guide module 6 adopts a visual guidance mode; the safety module 7 includes an electronic safety module and a physical safety module, and the electronic safety module is selected to install a range finder (laser or ultrasonic range finder) in front of the automatic guided vehicle ), if the object in front exceeds the range of the alarm line, the automatic guided vehicle will issue an alarm, and if it exceeds the emergency stop range, the automatic guided vehicle will stop in an emergency; the physical security module is selected to install safety baffles on the front and side of the automatic guided vehicle; The communication module 8 described above uses wireless local area network technology as the communication method to realize the wireless communication between the vehicle control system and the host control system; the execution module 9 is selected according to the purpose of the automatic guided vehicle, and can be forklift type, manipulator type, etc. .

As shown in Figure 2, its driving scheme of the motor drive module 2 of the present invention adopts four-wheel wheel-side driving steering, and the wheel 11.1 and the wheel-side motor 11.2 are installed together to form the drive wheel 11. Since the four wheels are all independently controllable, this The driving mode has a stronger steering function; at the same time, because the driving wheels reduce the transmission system, the weight of the automatic guided vehicle 10 is reduced, the energy consumption is reduced, and the energy utilization rate is also improved due to the reduction of the energy transmission link. improve.

As shown in Fig. 3, the energy recovery module 5 of the present invention includes a braking energy recovery module 5.1 and a vibration energy recovery module 5.2. The braking energy recovery module 5.1 is attached to the driving wheel 11. When the working condition detection module 3 detects that the vehicle body is braking or coasting downhill, the braking energy recovery module 5.1 is activated, and the power generation system 12 will be used for braking Or the recovery of excess energy released during coasting is controlled by the charging and discharging control system 16 and stored in the supercapacitor 17 or the storage battery 18 . The vibration energy recovery module 5.2 is attached to the body of the automatic guided vehicle 10. When the vehicle condition detection module 3 detects that the vehicle body is vibrating up and down, the vibration energy recovery module 5.2 starts, and the vibration energy recovery module 5.2 is activated through the piezoelectric device 13, the rectifier 14 and the DC/DC conversion. The device 15 recovers the vibration energy, which is stored in the supercapacitor 17 or the storage battery 18 under the control of the charging and discharging control system 16 .

The above-mentioned embodiments are the best embodiments of the present invention, but are not intended to limit the present invention. Without departing from the principle of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should fall within the scope of the claims of the present invention.

Claims (7)

1. based on an energy-saving automatic guide vehicle for structural module, including controlling module, motor drive module, work condition inspection module, power management module, energy recovery module, guiding module, security module, communication module and performing module.

2. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described control module is made up of vehicle control syetem and upper-level control system.

3. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: its drive scheme of described motor drive module adopts four-wheel Direct wheel drives to turn to, and four-wheel is all individually controllable.

4. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described work condition inspection module is used for monitoring the operating modes such as the vibration of car body, brake, downhill running and sending a signal to control module.

5. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described energy recovery module includes Brake energy recovery module and vibration energy regeneration module.

6. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described security module includes electronic security(ELSEC) module and physical security module.

7. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described communication module adopts wireless local area network technology as communication modes, it is achieved the wireless telecommunications between vehicle control syetem and upper-level control system.