CN106585768A - Trackless self-guidance transport vehicle - Google Patents
Trackless self-guidance transport vehicle Download PDFInfo
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- CN106585768A CN106585768A CN201611204500.2A CN201611204500A CN106585768A CN 106585768 A CN106585768 A CN 106585768A CN 201611204500 A CN201611204500 A CN 201611204500A CN 106585768 A CN106585768 A CN 106585768A
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- 230000004224 protection Effects 0.000 claims abstract description 27
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 21
- 239000010959 steel Substances 0.000 claims abstract description 21
- 238000003860 storage Methods 0.000 claims abstract description 20
- 238000012546 transfer Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 13
- 230000001419 dependent effect Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000008602 contraction Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 7
- 238000005303 weighing Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000002054 transplantation Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000002253 acid Substances 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000037396 body weight Effects 0.000 claims 1
- 230000001012 protector Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000004048 modification Effects 0.000 description 20
- 238000012986 modification Methods 0.000 description 20
- 230000008901 benefit Effects 0.000 description 11
- 239000000463 material Substances 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- B62D63/025—Modular vehicles
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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 invention relates to a trackless self-guidance transport vehicle. The trackless self-guidance transport vehicle comprises a steel vehicle frame, a maintenance-free power supply storage battery, a charging device, a driving device, a steering device, a precise stopping device, a wireless communicator, a vehicle-mounted PLC control terminal, a transplanting device, a magnetic navigation device and a safety protection device. The power supply storage battery, the driving device, the steering device, the precise stopping device and the magnetic navigation device are arranged in the space of a chassis of the steel vehicle frame. The transplanting device is arranged on a cover plate at the top of the vehicle frame. The charging device, the wireless communicator, the vehicle-mounted PLC control terminal and the safety protection device are all arranged on protection side plates located around the steel vehicle frame. The driving device, the steering device, the precise stopping device, the magnetic navigation device, the charging device, the wireless communicator and the safety protection device are all in electric connection with the vehicle-mounted PLC control terminal. The trackless self-guidance transport vehicle is flexible and convenient to operate, work is safe and reliable, and the whole process of self-guidance transport driving without manual intervention can be achieved.
Description
Technical field
The present invention relates to a kind of trackless self-aiming transport vehicle, concretely relates to a kind of trackless of control flexibility and reliability certainly
Guide transport lorry.
Background technology
Existing AGV（Automated Guided Vehicle）Formula automatic guided vehicle, can equally realize that material is transported
Defeated automation process, but be limited only to ad hoc mode, i.e., and AGV formulas automatic guided vehicle only can be according to realization setting
Route well and time, according to set transit route the conveying of material is carried out.And simple AGV formulas automatic guided vehicle without
Method realizes the real time on-line monitoring in geographical position, while cannot also realize the running status of remote real-time monitoring transport vehicle, this is right
Realize that the modernization of factory floor material-transporting system, information-based and intellectuality constitute obstruction.In addition, existing AGV formulas are certainly
Dynamic guide trolleys are relatively difficult to requirement when meeting car body operation and accelerating in the intensity and rigidity of body construction, therefore, urgently
A kind of new trackless self-aiming transport vehicle of needs solving above-mentioned technical problem.
The content of the invention
It is an object of the invention to provide a kind of trackless self-aiming transport vehicle, the transport vehicle overall construction design is ingenious, behaviour
Work, flexible, safe and reliable, the auto-navigation transport driving of achievable whole unmanned intervention, are advantageously implemented factory's car
Between material-transporting system intelligent, information-based and modernization.
To achieve these goals, the technical solution used in the present invention is, a kind of trackless self-aiming transport vehicle, including steel
Vehicle frame, non-maintaining power supply storage battery, charging device, driving means, transfer, accurate lugs, radio communication device, car
PLC control terminals, transplantation device, magnetic navigation device and safety device are carried, the steel vehicle frame adopts steel beam column box beam formula
Structure welding is formed, steel frame chassis space placement power supply storage battery, driving means, transfer, accurate lugs and
Magnetic navigation device, it is possible to decrease body gravity, body gravity is more low more is conducive to resistant to tipping, wherein, the power supply storage battery is arranged
Install in case in drawer type battery pack, power supply storage battery is that all electric controling parts on transport vehicle are powered, the drive
Dynamic device and transfer are arranged at four independent wheel positions of frame chassis, and the magnetic navigation device is arranged on vehicle frame bottom
On the axis at disk two ends, the accurate lugs are co-located on axis with magnetic navigation device；The transplantation device sets
Put on the cover plate at the top of vehicle frame, the charging device, radio communication device, vehicle-mounted PLC control terminals and safety device
It is arranged at being located on the protection side plate of steel vehicle frame surrounding, the driving means, transfer, accurate lugs, magnetic conductance
Boat device, charging device, radio communication device and safety device are electrically connected with vehicle-mounted PLC control terminals.
Used as a modification of the present invention, the driving means include that motor, drive motor controller, driving subtract
Fast machine, axletree and shaft coupling, the motor connection drives the input of reductor, drives the output end transmission of reductor
One end of connection shaft coupling, the other end of shaft coupling is connected axletree, the motor and drive motor controller electricity
Connection, the drive motor controller is electrically connected with vehicle-mounted PLC control terminals.
Used as a modification of the present invention, the transfer includes revolving support seat, turns to servomotor, servomotor
Controller, steering reductor and tooth sector group, the revolving support seat is connected on axletree, the tooth sector group socket
On the output shaft for turning to reductor, the output shaft for turning to servomotor is connected with reductor flange is turned to；Turn to servo
Motor is electrically connected with servomotor controller, and the servomotor controller is electrically connected with vehicle-mounted PLC control terminals.
Used as a modification of the present invention, the quantity of the accurate lugs and magnetic navigation device is 2, magnetic conductance
Boat device is separately positioned on the front end face chassis centre position and rear end face chassis centre position of vehicle frame, one of them accurate parking
Device is arranged on the rear portion of front end face magnetic navigation sensor, and another accurate lugs is arranged on rear end face magnetic navigation sensor
Front portion；The accurate lugs adopt rfid interrogator, the magnetic navigation device to adopt magneto-dependent sensor, the RFID to read
Write device and magneto-dependent sensor is electrically connected with vehicle-mounted PLC control terminals；The radio communication device adopts 433MHz wireless receiving and dispatchings
Module, the 433MHz radio receiving transmitting modules are electrically connected with vehicle-mounted PLC control terminals.
Used as a modification of the present invention, the charging device includes charging plug, charging adapter and power supply wire spring
Volume is shunk, the power line spring contraction volume is fixedly mounted on the side of protection side plate, and the power line is wound on power line bullet
Spring is shunk in the wire casing of volume, and the power line connects charging adapter, and the charging adapter connects charging plug by wire.
Used as a modification of the present invention, the safety device includes being arranged in the protection side of rear and front end
The barrier radar detedtor of plate, infrared switch, spring protective post, collision-prevention controller and audible-visual annunciator, the obstacle
Thing radar detedtor, infrared switch and audible-visual annunciator are electrically connected with collision-prevention controller, the collision-prevention controller and car
The electrical connection of PLC control terminals is carried, the spring protective post includes fixed seat, compression spring and protects soft contact, the fixed seat
It is vertically set on protection side plate, it is described to protect one end of soft contact to be fixedly connected in fixed seat by compression spring.
As a modification of the present invention, weighing device is additionally provided with the cover plate at the top of the steel vehicle frame, it is described to weigh
Device includes being arranged on the LOAD CELLS of car body surrounding and connects four road A/D modular converters of LOAD CELLS respectively, described
A/D modular converters are connected with vehicle-mounted PLC control terminals.
As a modification of the present invention, all magnetic navigation sensors and be laid on mill floor navigation magnetic stripe between
Vertical distance is maintained at 40-60mm, all rfid interrogators and is arranged between the RFID on navigation magnetic stripe surface
Vertical distance is maintained at 40-60mm.
Used as a modification of the present invention, the power supply storage battery includes industrial non-maintaining 48V lead-acid batteries or lithium
Battery pack, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery pack exports 48V DC voltages, through switch
Export to the 24V DC voltages required for each module, the voltage Jing after overvoltage isolation module is isolated after Power convert
The current voltage of acquisition module Real-time Collection battery pack, and vehicle-mounted PLC control terminals are fed back information to, when vehicle-mounted PLC controls
Terminal monitoring to the current voltage value of battery pack will be less than normal working voltage when, immediately alarm indication power supply electricity is not
Foot, at the same by the feedback of the information of not enough power supply to control centre host computer, and after current task is completed control transport vehicle from
Dynamic traveling charges to charging station；After transport vehicle completes to charge, come back to normally travel path and controlled eventually by vehicle-mounted PLC
End sends host computer of the charge completion information to control centre, while waiting the control instruction of host computer.
Used as a modification of the present invention, the magneto-dependent sensor includes multiple honeywell switch sensors and Hall switch
The corresponding LED light of sensor and control chip, the honeywell switch sensor and LED light are electric with control chip
Connection.The control chip is connected with vehicle-mounted PLC control terminals.
Relative to prior art, advantages of the present invention is as follows, and 1）Overall construction design is ingenious, dismounting assembling maintenance replacing side
Just, cost is relatively low；2）The transport vehicle it is simple and reliable for structure, easy to use, low cost, labour intensity is low, operation, flexibly side
Just, it is safe and reliable, the whole unmanned auto-navigation transport driving intervened is capable of achieving, it is advantageously implemented the conveying of factory floor material
Intelligent, the information-based and modernization of system.
Description of the drawings
Fig. 1 is the structural representation of the trackless self-aiming transport vehicle of the present invention.
Fig. 2 is the structural representation of the side shield side plate of the trackless self-aiming transport vehicle of the present invention.
Fig. 3 is the structural representation that the front/rear end of the trackless self-aiming transport vehicle of the present invention protects side plate.
Fig. 4 is the structural representation of the driving with transfer of the trackless self-aiming transport vehicle of the present invention.
In figure：1- vehicle frames, 2- wheels, 3- protection side plates, 4- power supply storage batteries, 5- driving means, 6- transfers, 7- magnetic
Guider, the accurate lugs of 8-, the vehicle-mounted PLC control terminals of 9-, 10- cover plates, 11- charging devices, 12- security protections dress
Put, 13- motors, 14- drives reductor, 15- tooth sector groups, 16- revolving support seats, 17- angular encoders, 18- cars
Wheel shaft, 19- turns to servomotor, and 20- turns to reductor, and 21- turns to little gear, and 22- turns to gear wheel.
Specific embodiment
In order to deepen the understanding of the present invention and understanding, below in conjunction with the accompanying drawings the invention will be further described and introduces.
Embodiment 1：Such as Fig. 1-Fig. 4, a kind of trackless self-aiming transport vehicle, including steel vehicle frame 1, non-maintaining power supply electric power storage
Pond 4, charging device 11, driving means 5, transfer 6, accurate lugs 8, radio communication device, vehicle-mounted PLC control terminals
9th, transplantation device, magnetic navigation device 7 and safety device 12.The wheel 2 of transport vehicle is four power drive wheel arrangements, described
Steel vehicle frame 1 is formed using steel beam column box beam formula structure welding, the chassis space of steel vehicle frame 1 placement power supply storage battery 4, driving dress
Put 5, transfer 6, accurate lugs 8 and magnetic navigation device 7, it is possible to decrease body gravity, body gravity is more low more is conducive to
Resistant to tipping.Wherein, the power supply storage battery 4 is arranged on drawer type battery pack and installs in case, and power supply storage battery 4 is on transport vehicle
All electric controling parts are powered, and power supply storage battery 4 has non-maintaining performance, and its charging is steady, safe and reliable, and
Possess and overcharge the defencive functions such as protection, overcurrent protection, overtemperature protection, chargeable number of times 800 times under 50% discharge scenario every time,
Every time chargeable number of times 400 times under 80% discharge scenario, its performance is safe and reliable and life-span length, charges every time at full capacity
Continuously drive not less than 2000m.The driving means 5 and transfer 6 are arranged at four independent wheels 2 on the chassis of vehicle frame 1
Position, the magnetic navigation device 7 is arranged on the axis at the chassis two ends of vehicle frame 1, and the accurate lugs 8 are filled with magnetic navigation
Put 7 to be co-located on axis, the driving trace of transport vehicle and position can accurately be monitored.The transplantation device is arranged on
On the cover plate 10 at the top of vehicle frame 1, the charging device 11, radio communication device, vehicle-mounted PLC control terminals 9 and security protection dress
Put 12 to be arranged at being located on the protection side plate 3 of the surrounding of steel vehicle frame 1, the driving means 5, transfer 6, the accurate dress that stops
Put 8, magnetic navigation device 7, charging device 11, radio communication device and safety device 12 electric with vehicle-mounted PLC control terminals 9
Connection.
Embodiment 2：Such as Fig. 1-Fig. 4, as a modification of the present invention, the driving means 5 include motor 13,
The controller of motor 13, driving reductor 14, axletree 18 and shaft coupling, the connection of the motor 13 drives reductor 14
Input, the output end for driving reductor 14 is connected one end of shaft coupling, and the other end of shaft coupling is connected wheel
Axle 18, the motor 13 is electrically connected with the controller of motor 13, and the controller of the motor 13 is controlled with vehicle-mounted PLC
Terminal 9 is electrically connected.Described motor 13 adopts direct current generator, and the controller of motor 13 is DC motor driver, its
Load capacity is strong, good linearity, and possesses the multiple protection functions such as overload, over-pressed, under-voltage, overtemperature, and in direct current generator heat is built-in with
Quick element, Access Control protection circuit.Real core pu tire is arranged with axletree 18, it is good with elasticity, it is pressure, resistance to
Mill, oil resistant and the performance such as anti-skidding.Remaining structure and advantage are identical with embodiment 1.
Embodiment 3：Such as Fig. 1-Fig. 4, used as a modification of the present invention, the transfer 6 includes revolving support seat
16th, turn to servomotor 19, servomotor controller, turn to reductor 20 and tooth sector group 15, the revolving support seat 16
It is connected on axletree 18, the tooth sector group 15 is socketed on the output shaft for turning to reductor 20, the steering servo electricity
The output shaft of machine 19 is connected with the flange of reductor 20 is turned to；Turn to servomotor 19 to electrically connect with servomotor controller, it is described
Servomotor controller is electrically connected with vehicle-mounted PLC control terminals 9.The tooth sector group 15 is socketed in and turns to the defeated of reductor 20
On shaft, the contact site between the tooth sector group 15 and revolving support seat 16 is provided with gear pallet, the gear bracket
Disk is provided with intermeshing steering gear wheel 22 and turns to little gear 21, described to turn to gear wheel 22 and turn to 21 groups of little gear
Into tooth sector group 15, the axis for turning to gear wheel 22 coincides with the axis of revolving support seat 16, and turns to
Gear wheel 22 is connected with revolving support seat 16, and the little gear 21 that turns to is set on the output shaft for turning to reductor 20.
The revolving support seat 16 adopts great circle disc type revolving structure, and it can realize the rotation of 360 ° of original place around its center for the center of circle,
Therefore, the steering of transport vehicle very flexibility and reliability.Also, the quantity of transfer 6 is 4, by vehicle-mounted PLC control terminals 9
The rotating speed and direction drive signal for turning to servomotor 19 is provided with angular encoder 17, by data wire by discrete control signal
Send the corresponding servomotor 19 that turns to of servomotor controller control to run.When keeping straight on before and after, four steerings can be kept
Servomotor 19 controls to turn to servo electricity in dead-center position, and when turning to all around by vehicle-mounted PLC control terminals 9
The steering of machine 19 and speed are realizing turning to.Servomotor controller is using FOC Field orientable controls technology and SVPWM（Space
Vector Modulation）, differential type pulse/direction instruction can be received, with defencive functions such as under-voltage, encoder exceptions.And steering is watched
Take motor 19 and have that control is accurate, be swift in response reliability, be capable of achieving positional precision high and low pressure high pulling torque, generate heat little and overload energy
The features such as power is strong.Remaining structure and advantage are identical with embodiment 1.
Embodiment 4：Such as Fig. 1-Fig. 4, as a modification of the present invention, the accurate lugs 8 and magnetic navigation device
7 quantity is 2, and magnetic navigation device 7 is separately positioned in the middle of the front end face chassis centre position of vehicle frame 1 and rear end face chassis
Position, one of them accurate lugs 8 are arranged on the rear portion of front end face magnetic navigation sensor, another accurate lugs 8
It is arranged on the front portion of rear end face magnetic navigation sensor.The accurate lugs 8 adopt rfid interrogator, the magnetic navigation device
7 adopt magneto-dependent sensor, the rfid interrogator and magneto-dependent sensor to electrically connect with vehicle-mounted PLC control terminals 9.In transport vehicle
Workshop in some magnetic conductance bars of laying define the driving trace of car, transport vehicle is by magneto-dependent sensor and magnetic
Sliver with the use of the self-navigation under achievable auto state and the function of automatic deviation correction, and equidistant on magnetic conductance bar set
Several geographical coordinate radio-frequency cards based on RFID are equipped with, the sign that is stored with the geographical coordinate radio-frequency card based on RFID transport
The geographical coordinate code of car current location, the geographic coordinate information in radio-frequency card is read in real time by rfid interrogator, so as to can
Realize carrying out on-line monitoring to the driving path and real time position of transport vehicle.The radio communication device is wirelessly received using 433MHz
Module is sent out, antijamming capability is most strong under the frequency, communication distance is farthest, and letter will not be produced with other controlled in wireless dynamoelectric equipments
The phenomenon of the mutual string of number interference or signal.The 433MHz radio receiving transmitting modules are electrically connected with vehicle-mounted PLC control terminals 9, vehicle-mounted PLC
Control terminal 9 passes through 433MHz radio receiving transmitting modules by the information of vehicles of transport vehicle（Including speed, load-carrying, running status etc.）And
Real-time position information is sent to control centre, is realized carrying out online management and control and tune to all transport vehicles in workshop by control centre
Degree, so as to realize the modernization of factory's material-transporting system, information-based and intellectuality.Remaining structure and advantage and embodiment 2 or 3
It is identical.
Embodiment 5：Such as Fig. 1-Fig. 4, used as a modification of the present invention, the charging device 11 includes charging plug, fills
Electric adapter and power line spring contraction are rolled up, and the power line spring contraction volume is fixedly mounted on the side of protection side plate 3, described
In the wire casing that power line spring contraction is rolled up, the power line connects charging adapter, the charging adapter to power line
Charging plug is connected by wire.Charging adapter is capable of achieving high efficient full automatic charge function, with charging station and power supply storage battery 4
Between adopt inserting mode, and be furnished with power switch, power supply indicator, charge status indicating light, start in charging adapter
Afterwards, charging current can be automatically adjusted according to the situation of battery electric quantity, and after charging is finished, is automatically stopped charging, it is suitable charging
Digital voltage Current Display is installed on orchestration, charging voltage and charging current can be in real time shown.Remaining structure and advantage
It is identical with embodiment 1.
Embodiment 6：Such as Fig. 1-Fig. 4, used as a modification of the present invention, the safety device 12 includes being arranged on
Positioned at barrier radar detedtor, infrared switch, spring protective post, the collision-prevention controller of the protection side plate 3 of rear and front end
And audible-visual annunciator, the barrier radar detedtor, infrared switch and audible-visual annunciator are electrically connected with collision-prevention controller
Connect, the collision-prevention controller is electrically connected with vehicle-mounted PLC control terminals 9, the spring protective post include fixed seat, compression spring and
Soft contact, the fixed seat is protected to be vertically set on protection side plate 3, it is described to protect one end of soft contact solid by compression spring
Surely it is connected in fixed seat.Safety device 12 provides sound assurance for the safe operation of transport vehicle, it can be ensured that transport
The safety of car itself also can effectively guarantee the personal safety of personnel in workshop simultaneously, substantially increase the material fortune of workshop
Defeated security reliability and rapidly and efficiently and the ruly production order, improves production efficiency and economic benefit.Remaining knot
Structure and advantage are identical with embodiment 1.
Embodiment 7：Such as Fig. 1-Fig. 4, as a modification of the present invention, go back on the cover plate 10 at the top of the steel vehicle frame 1
Weighing device is provided with, the weighing device connects LOAD CELLS including the LOAD CELLS for being arranged on car body surrounding and respectively
Four road A/D modular converters, the A/D modular converters are connected with vehicle-mounted PLC control terminals 9.Weighing device is used for transport vehicle
Load weight on loading platform carries out monitor in real time, and for realizing that starting with full load, unloaded stopping and goods batch weight are entered
Row centralized Control, effectively increases the intelligent and level of informatization of material transportation.Remaining structure and advantage are complete with embodiment 1
It is identical.
Embodiment 8：Such as Fig. 1-Fig. 4, as a modification of the present invention, all magnetic navigation sensors be laid on workshop
Vertical distance between the navigation magnetic stripe on ground is maintained at 40-60mm, all rfid interrogators be arranged on navigation magnetic stripe surface
RFID between vertical distance be maintained at 40-60mm.Remaining structure and advantage are identical with embodiment 4.
Embodiment 9：Such as Fig. 1-Fig. 4, used as a modification of the present invention, the power supply storage battery 4 includes that industry is non-maintaining
48V lead-acid batteries or lithium battery group, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery pack output
48V DC voltages, export to required for each module after Switching Power Supply conversion Jing after overvoltage isolation module is isolated
24V DC voltages, the current voltage of the voltage acquisition module Real-time Collection battery pack, and feed back information to vehicle-mounted PLC controls
Terminal processed 9, when vehicle-mounted PLC control terminals 9 monitor that the current voltage value of battery pack will be less than normal working voltage, immediately
Alarm indication power supply not enough power supply, while the feedback of the information of not enough power supply and is completed to the host computer of control centre
Control transport vehicle automatic running after current task to charge to charging station；After transport vehicle completes to charge, normally travel is come back to
Path simultaneously sends host computer of the charge completion information to control centre by vehicle-mounted PLC control terminals 9, while waiting host computer
Control instruction.Remaining structure and advantage are identical with embodiment 1.
Embodiment 10：Such as Fig. 1-Fig. 4, used as a modification of the present invention, the magneto-dependent sensor is opened including multiple Halls
Close the sensor LED light corresponding with honeywell switch sensor and control chip, the honeywell switch sensor and LED
Indicator lamp is electrically connected with control chip.The control chip is connected with vehicle-mounted PLC control terminals 9.Honeywell switch sensor
Magnetic field intensity signal on real-time detection magnetic conductance bar simultaneously generates the switching signal of low and high level and sends the I/O mouths of control chip to,
Lighting and extinguishing for corresponding LED light is controlled according to the switching signal of low and high level by control chip, so as to be lit
LED light whether offset current driving trace for visual cues transport vehicle, while control chip also drop height electricity
Flat switching signal is sent to vehicle-mounted PLC control terminals 9 and is processed, and transfer 6 is carried out by vehicle-mounted PLC control terminals 9
Control, is rectified a deviation with the driving trace to transport vehicle.Transport vehicle can be kept all the time just by the way of this kind of automatic deviation correction
True travel direction, the high precision and real-time of correction is good such that it is able to guarantees that transport vehicle is efficiently travelled for a long time, effectively increases
Factory's materials moving efficiency.Remaining structure and advantage are identical with embodiment 8.
The present invention can also be by least one of technical characteristic described in embodiment 2,3,4,5,6,7,8,9,10 and enforcement
The combination of example 1 forms new embodiment.
It should be noted that above-described embodiment, not for limiting protection scope of the present invention, in above-mentioned technical proposal
On the basis of done equivalents or replacement each fall within the scope that the claims in the present invention are protected.In the claims, it is single
Word "comprising" does not exclude the presence of element not listed in the claims.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, also includes
Constituted technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of trackless self-aiming transport vehicle, it is characterised in that：Including steel vehicle frame, non-maintaining power supply storage battery, charging device,
Driving means, transfer, accurate lugs, radio communication device, vehicle-mounted PLC control terminals, transplantation device, magnetic navigation dress
Put and safety device, the steel vehicle frame is formed using steel beam column box beam formula structure welding, steel frame chassis space peace
Put power supply storage battery, driving means, transfer, accurate lugs and magnetic navigation device, it is possible to decrease body gravity, car body weight
The heart is more low more is conducive to resistant to tipping, wherein, the power supply storage battery is arranged on drawer type battery pack and installs in case, power supply storage battery
It is powered for all electric controling parts on transport vehicle, the driving means and transfer are arranged at frame chassis
Four independent wheel positions, the magnetic navigation device is arranged on the axis at frame chassis two ends, the accurate lugs
It is co-located on axis with magnetic navigation device；The transplantation device is arranged on the cover plate at the top of vehicle frame, the charging device,
Radio communication device, vehicle-mounted PLC control terminals and safety device are arranged at being located at the protection side plate of steel vehicle frame surrounding
On, the driving means, transfer, accurate lugs, magnetic navigation device, charging device, radio communication device and safety
Protector is electrically connected with vehicle-mounted PLC control terminals.
2. a kind of trackless self-aiming transport vehicle as claimed in claim 1, it is characterised in that the driving means include driving electricity
Machine, drive motor controller, driving reductor, axletree and shaft coupling, the motor connection drives the input of reductor
End, the output end for driving reductor is connected one end of shaft coupling, and the other end of shaft coupling is connected axletree, the drive
Dynamic motor is electrically connected with drive motor controller, and the drive motor controller is electrically connected with vehicle-mounted PLC control terminals.
3. a kind of trackless self-aiming transport vehicle as claimed in claim 1, it is characterised in that the transfer includes revolution
Support seat, steering servomotor, servomotor controller, steering reductor and tooth sector group, the revolving support seat is connected to
On axletree, the tooth sector group be socketed in turn to reductor output shaft on, it is described turn to servomotor output shaft with
Turn to the connection of reductor flange；Turn to servomotor to electrically connect with servomotor controller, the servomotor controller and car
Carry the electrical connection of PLC control terminals.
4. as claimed in claim 2 or claim 3 a kind of trackless self-aiming transport vehicle, it is characterised in that the accurate lugs and
The quantity of magnetic navigation device is 2, and magnetic navigation device is separately positioned on the front end face chassis centre position of vehicle frame and rear end face
Chassis centre position, one of them accurate lugs are arranged on the rear portion of front end face magnetic navigation sensor, and another accurately stops
Car device is arranged on the front portion of rear end face magnetic navigation sensor；The accurate lugs adopt rfid interrogator, the magnetic conductance
Boat device adopts magneto-dependent sensor, the rfid interrogator and magneto-dependent sensor to electrically connect with vehicle-mounted PLC control terminals；It is described
Radio communication device adopts 433MHz radio receiving transmitting modules, the 433MHz radio receiving transmitting modules and vehicle-mounted PLC control terminals electricity
Connection.
5. a kind of trackless self-aiming transport vehicle as claimed in claim 4, it is characterised in that the charging device includes charging and inserts
Head, charging adapter and power line spring contraction volume, the power line spring contraction volume is fixedly mounted on the side of protection side plate,
In the wire casing that power line spring contraction is rolled up, the power line connects charging adapter to the power line, and the charging is fitted
Orchestration connects charging plug by wire.
6. a kind of trackless self-aiming transport vehicle as claimed in claim 5, it is characterised in that the safety device includes setting
Put barrier radar detedtor, infrared switch, spring protective post, the anticollision control in the protection side plate positioned at rear and front end
Device and audible-visual annunciator, the barrier radar detedtor, infrared switch and audible-visual annunciator are electric with collision-prevention controller
Connection, the collision-prevention controller is electrically connected with vehicle-mounted PLC control terminals, and the spring protective post includes fixed seat, compression spring
With the soft contact of protection, the fixed seat is vertically set on protection side plate, described to protect one end of soft contact to pass through compression spring
It is fixedly connected in fixed seat.
7. a kind of trackless self-aiming transport vehicle as claimed in claim 5, it is characterised in that the cover plate at the top of the steel vehicle frame
On be additionally provided with weighing device, the weighing device includes being arranged on the LOAD CELLS of car body surrounding and connects weighing and sensing respectively
The road A/D modular converters of Qi tetra-, the A/D modular converters are connected with vehicle-mounted PLC control terminals.
8. a kind of trackless self-aiming transport vehicle as claimed in claim 4, it is characterised in that all magnetic navigation sensors and laying
Vertical distance between the navigation magnetic stripe of mill floor is maintained at 40-60mm, all rfid interrogators be arranged on navigation magnetic
Vertical distance between the RFID on bar surface is maintained at 40-60mm.
9. a kind of trackless self-aiming transport vehicle as claimed in claim 1, it is characterised in that the power supply storage battery includes industry
Non-maintaining 48V lead-acid batteries or lithium battery group, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery
Group output 48V DC voltages, export to each module institute after Switching Power Supply conversion Jing after overvoltage isolation module is isolated
The 24V DC voltages of needs, the current voltage of the voltage acquisition module Real-time Collection battery pack, and feed back information to vehicle-mounted
PLC control terminals, when vehicle-mounted PLC control terminals monitor that the current voltage value of battery pack will be less than normal working voltage,
Alarm indication power supply not enough power supply immediately, at the same by the feedback of the information of not enough power supply to control centre host computer, and
Complete to be controlled after current task transport vehicle automatic running to charging station charging；After transport vehicle completes to charge, come back to normal
Driving path simultaneously sends host computer of the charge completion information to control centre by vehicle-mounted PLC control terminals, while waiting upper
The control instruction of machine.
10. a kind of trackless self-aiming transport vehicle as claimed in claim 8, it is characterised in that the magneto-dependent sensor includes many
The individual honeywell switch sensor LED light corresponding with honeywell switch sensor and control chip, the Hall switch sensing
Device and LED light are electrically connected with control chip, and the control chip is connected with vehicle-mounted PLC control terminals.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611204500.2A CN106585768A (en) | 2016-12-23 | 2016-12-23 | Trackless self-guidance transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611204500.2A CN106585768A (en) | 2016-12-23 | 2016-12-23 | Trackless self-guidance transport vehicle |
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| CN106585768A true CN106585768A (en) | 2017-04-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611204500.2A Pending CN106585768A (en) | 2016-12-23 | 2016-12-23 | Trackless self-guidance transport vehicle |
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| CN109051589A (en) * | 2018-09-30 | 2018-12-21 | 上海微能电子设备有限公司 | A kind of safety check pallet and reinspection baggage conveyor facility, system and airport security line based on AGV technology |
| CN109101031A (en) * | 2018-09-21 | 2018-12-28 | 中原工学院 | Spunlace non-woven cloth carries AGV trolley |
| CN109550774A (en) * | 2019-01-17 | 2019-04-02 | 中科院合肥技术创新工程院 | For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby |
| CN110077427A (en) * | 2019-05-31 | 2019-08-02 | 中铁第四勘察设计院集团有限公司 | Trolley and method are transported in a kind of inflation of straddle-type single-track vehicle rubber tyre |
| CN110304175A (en) * | 2019-08-08 | 2019-10-08 | 福建宏泰智能工业互联网有限公司 | An automatic AGV trolley |
| CN110834738A (en) * | 2019-12-20 | 2020-02-25 | 上海振华重工(集团)股份有限公司 | An aviation unit automatic transport vehicle |
| CN111076706A (en) * | 2020-01-08 | 2020-04-28 | 大连理工大学 | Intelligent monitoring system for shipyard |
| CN111522307A (en) * | 2020-04-17 | 2020-08-11 | 哈尔滨理工大学 | An intelligent warehouse electronic material conveying system based on wireless communication |
| CN111665830A (en) * | 2019-11-27 | 2020-09-15 | 泰富重工制造有限公司 | Guide power transformation power supply device for bulk material transportation equipment |
| CN111750740A (en) * | 2020-06-15 | 2020-10-09 | 蓝箭航天空间科技股份有限公司 | A rocket transfer docking locking control system and method |
| CN112249195A (en) * | 2020-12-17 | 2021-01-22 | 湖南机电职业技术学院 | Transport robot |
| CN117087521A (en) * | 2023-10-18 | 2023-11-21 | 河南睿迈科智能科技有限公司 | Weighing positioning trackless flatcar |
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| CN110077427B (en) * | 2019-05-31 | 2024-07-16 | 中铁第四勘察设计院集团有限公司 | Straddle type monorail vehicle rubber tire inflation conveying trolley and method |
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| CN111665830A (en) * | 2019-11-27 | 2020-09-15 | 泰富重工制造有限公司 | Guide power transformation power supply device for bulk material transportation equipment |
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| CN111076706A (en) * | 2020-01-08 | 2020-04-28 | 大连理工大学 | Intelligent monitoring system for shipyard |
| CN111522307A (en) * | 2020-04-17 | 2020-08-11 | 哈尔滨理工大学 | An intelligent warehouse electronic material conveying system based on wireless communication |
| CN111750740A (en) * | 2020-06-15 | 2020-10-09 | 蓝箭航天空间科技股份有限公司 | A rocket transfer docking locking control system and method |
| CN112249195A (en) * | 2020-12-17 | 2021-01-22 | 湖南机电职业技术学院 | Transport robot |
| CN112249195B (en) * | 2020-12-17 | 2021-04-02 | 湖南机电职业技术学院 | AGV (automatic guided vehicle) of transport robot |
| CN117087521A (en) * | 2023-10-18 | 2023-11-21 | 河南睿迈科智能科技有限公司 | Weighing positioning trackless flatcar |
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