CN108502051B - Intelligent AGV transfer robot - Google Patents
Intelligent AGV transfer robot Download PDFInfo
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- CN108502051B CN108502051B CN201810310478.2A CN201810310478A CN108502051B CN 108502051 B CN108502051 B CN 108502051B CN 201810310478 A CN201810310478 A CN 201810310478A CN 108502051 B CN108502051 B CN 108502051B
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- transfer robot
- agv transfer
- wheel
- control module
- vehicle frame
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of intelligence AGV transfer robot comprising vehicle frame, control module, magnetic navigation module, front-wheel drive system, rear-wheel follower and steering mechanism；Control module, magnetic navigation module, front-wheel drive system and rear-wheel follower are installed on vehicle frame；Control module is connected with magnetic navigation module, front-wheel drive system and steering mechanism；Ring gear is provided on vehicle frame；Steering mechanism is mounted on front-wheel drive system, and steering mechanism includes first motor and the first diversion driving-gear being connected with first motor, and the first driving gear is engaged with ring gear.In technical solution of the present invention, the rotation of the first diversion driving-gear is driven by first motor, drives front-wheel drive system rotation, to realize the steering of intelligent AGV transfer robot, so that the steering of intelligence AGV transfer robot drives integration, and structure is simple, it turns to flexibly, it is high to turn to precision.
Description
Technical field
The present invention relates to transfer robot technical fields, and in particular to a kind of intelligence AGV transfer robot.
Background technique
AGV transfer robot plays the part of role more than 50 years of material transportation.First AGV is born in nineteen fifty-three, it
It is made of being transformed as a dragged tractor, to have vehicle pocket, is mixed in freight house library one along the skyborne conducting wire of arrangement
Transport cargo.Since the 1980s, automated guided vehicle (AGV) system is had been developed as in production logistics system
One of maximum profession branch, and there is the trend of industrialized development, it is indispensable to become modern enterprise automated arm
Important component.It is with the fastest developing speed in developed countries such as Europe, the United States, it is most widely used；Japan and South Korea in Asia,
Also swift and violent development and application are obtained, especially in Japan, product specification, kind, technical level, equipment quantity and automation journey
Degree etc. compared with horn of plenty, have reached standardization, seriation, flow line production degree.In China, with logistics system
Rapidly develop, the application range of AGV also constantly extending, how to develop user's various aspects demand that can satisfy (function,
Price, quality) AGV handling robot system technology be the following realistic problem that we must face.
The navigation of AGV transfer robot and automation control are the most crucial parts of AGV transfer robot, but AGV is removed
The mechanical carrier and transmission accuracy for transporting robot are also an important factor for influencing AGV transfer robot.Mechanical structure is improved, is improved
Its stability and consistency under economy processing conditions, it is also particularly important to the control precision of AGV transfer robot, and
The industry for being conducive to AGV transfer robot is promoted.It is low to there is steering precision in existing AGV transfer robot；It turns to independent with driving
It realizes, so that structure is complicated, higher cost.
Summary of the invention
The main object of the present invention is to provide a kind of intelligence AGV transfer robot, it is intended to solve existing AGV transfer robot
In the presence of turning to, precision is low；It turns to and driving is independent realizes, so that structure is complicated, the problem of higher cost.
To achieve the above object, a kind of intelligence AGV transfer robot proposed by the present invention comprising vehicle frame, control module,
Magnetic navigation module, front-wheel drive system, rear-wheel follower and steering mechanism；Branch parallel to the ground is provided on the vehicle frame
Ring gear is arranged on first arc surface in support face, and the first arc surface with the supporting surface vertical connection；The front-wheel
Driving device includes the first rotation axis, the second rotation axis, bearing, wheel, cabinet and transmission device；The cabinet include with it is described
Second arc surface of the first arc surface cooperation and the two sides perpendicular to the ground to connect with second arc surface；The biography
Dynamic device is mounted in the cabinet；One end of first rotation axis and second rotation axis with the transmission device phase
Even, the other end is connect with the wheel of ground face contact with being arranged in outside the cabinet two sides, and first rotation axis
Pass through the bearing respectively with second rotation axis to be mounted on the cabinet；The cabinet is movably arranged on the branch
On support face, first arc surface and second arc surface cooperate；The steering mechanism includes first motor interconnected
With the first diversion driving-gear；First diversion driving-gear and the first motor are installed in second arc surface
On；And first diversion driving-gear is engaged with the ring gear；It is separate that the rear-wheel follower is mounted on the vehicle frame
One end of the front-wheel drive system；The control module be mounted on institute's front-wheel drive system and it is described state rear-wheel follower it
Between the vehicle frame on, the control module is connected with the front-wheel drive system and the steering mechanism, the magnetic conductance model plane
Block is mounted on the cabinet close to the bottom of ground side, and is connected with the control module.
Preferably, the intelligence AGV transfer robot includes thrust roller bearing and rotary shaft, and the rotary shaft fastening connects
It connects on the cabinet of two wheel line midpoints, and the cabinet passes through the thrust roller bearing and described
Rotary shaft is installed on the support surface.
Preferably, the intelligence AGV transfer robot includes several balls, and one section of circular arc is provided on the supporting surface
First groove of shape is provided with identical second groove with the corresponding position of the cabinet of the support face contact, and described the
Several balls are provided in the cavity that one groove and second groove are formed, the diameter of the ball is not less than described
The height of cavity.
Preferably, the steering mechanism further includes the second motor and the second diversion driving-gear, second motor and institute
It states the second diversion driving-gear to be connected, second diversion driving-gear is engaged with the ring gear；Described first turns to actively
The center of circle of gear and the center of circle of second diversion driving-gear and the angle of the line in the center of circle for turning to driven gear are
60 °, and first driving gear and second driving gear are symmetrically distributed in the two sides of two wheel perpendicular bisectors.
Preferably, the intelligence AGV transfer robot further includes turning to encoder, and the steering encoder is arranged described
In steering shaft, and it is connected with the control module.
Preferably, the intelligence AGV transfer robot includes stroke limit block, and the both ends of the ring gear are respectively arranged with
The stroke limit block, and the stroke limit block is connected with the control module.
Preferably, the transmission device includes differential mechanism and third motor, the third motor and the differential mechanism power
Input shaft is connected, and one end of one end of first rotation axis and second rotation axis is defeated with the power of the differential mechanism respectively
Shaft is connected.
Preferably, the intelligence AGV transfer robot includes warning device, and the warning device includes tri coloured lantern and loudspeaking
Device, the tri coloured lantern is mounted at the top of the vehicle frame, and is connected with the control module, and the loudspeaker is mounted on the vehicle frame
The rear-wheel follower at, and be connected with the control module.
Preferably, the intelligence AGV transfer robot includes battery module and low battery alarm module, the battery module
Be arranged on the vehicle frame between the front-wheel drive system and the rear-wheel follower, and with the control module phase
Even；The low battery alarm module is arranged on the vehicle frame of the battery module side, and with the battery module
It is connected with the control module.
Preferably, the intelligence AGV transfer robot includes automatic charging module, and the automatic charging module installation is in place
In the tail portion of the vehicle frame of the rear-wheel follower, the automatic charging module and the control module and the battery
Module is connected.
In technical solution of the present invention, the rotation of the first diversion driving-gear is driven by first motor, first turns to actively
Gear is engaged with the ring gear on vehicle frame, and front-wheel drive system is driven to rotate by a certain angle, and realizes intelligence AGV transfer robot
It turns to.Ring gear engaged transmission on first diversion driving-gear and vehicle frame turns to precision height, and flexibility is high, and steering force is sufficient, and
It is simple and compact for structure.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the intelligent AGV transfer robot structural schematic diagram of one embodiment of the invention.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
It in addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Based on logical technical staff can be realized, it will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not the present invention claims protection scope within.
The present invention proposes a kind of intelligence AGV transfer robot.
Please refer to Fig. 1, intelligent AGV transfer robot comprising vehicle frame 1, control module, magnetic navigation module, front-wheel drive
Mechanism 2, rear-wheel follower 3 and steering mechanism 4；Supporting surface 11 parallel to the ground, and and supporting surface are provided on vehicle frame 1
Ring gear is arranged on the first arc surface in first arc surface of 11 vertical connections；Front-wheel drive includes the first rotation axis 21, the
Two rotation axis 22, bearing 23, wheel 24, cabinet 25 and transmission device 26；Cabinet 25 includes cooperating with first arc surface
Second arc surface and the two sides perpendicular to the ground to connect with second arc surface；Transmission device 26 is mounted on cabinet 25
It is interior；One end of first rotation axis 21 and the second rotation axis 22 is connected with transmission device 26, and the other end is with setting in cabinet 25
It is connect outside two sides with the wheel 24 of ground face contact, the first rotation axis 21 and the second rotation axis 22 are mounted on by bearing 23 respectively
On cabinet 25；Cabinet 25 is movably arranged on supporting surface 11, and the first arc surface cooperates 11 turns of supporting surface with the second arc surface
It include first motor 41 interconnected and the first diversion driving-gear 42, the first diversion driving-gear 42 and first to mechanism 4
Motor is installed on the second arc surface, and the first diversion driving-gear 42 is engaged with ring gear；Rear-wheel follower 3 is mounted on
The one end of vehicle frame 1 far from front-wheel drive system 2；Control module is mounted between front-wheel drive system 2 and rear-wheel follower 3
On vehicle frame 1, control module is connected with front-wheel drive system 2 and steering mechanism 4, and magnetic navigation module is mounted on cabinet 25 close to ground
The bottom of side, and be connected with control module.
In technical solution of the present invention, transmission device 26 drives wheel 24 to rotate, and drives entire intelligence AGV transfer robot
It advances forward, magnetic navigation module instructs the travelling route of intelligence AGV transfer robot according to the routing information of acquisition, when needs turn
When curved, first motor 41 drives the rotation of the first diversion driving-gear 42, the first diversion driving-gear 42 and the ring gear on vehicle frame 1
Engagement, drives front-wheel drive system 2 to rotate by a certain angle, and realizes the steering of intelligence AGV transfer robot.First turns to driving tooth
Wheel 42 and ring gear engaged transmission on vehicle frame 1, turn to precision height, flexibility is high, and steering force is sufficient, and simple and compact for structure.Control
Molding block is connected with front-wheel drive system 2 and steering mechanism 4.Control module controls intelligence AGV carrying implement according to preset instruction
The travel speed of device people.
In intelligent AGV transfer robot zero load, i.e., idle stroke when, control module control intelligence AGV transfer robot it is fast
Speed marches to designated position, to improve handling efficiency.When intelligent AGV transfer robot loading, according to the number of loading weight
And the type of loading selects different speed to advance, and such as loading heavier-weight, then should be advanced with slower speed, to ensure intelligence
Can AGV transfer robot traveling process it is reliable and stable.
Meanwhile a personal-machine interactive panels, man-machine interactive panel and control can also be arranged in intelligent AGV transfer robot
Molding block is connected.Man-machine interactive panel includes touch screen displays and USB data transfer interface, and touch screen displays are for setting intelligence
The size of travel speed and acceleration of the energy AGV under the conditions ofs unloaded or different loading weight etc..USB data transfer interface
For the change to intelligent AGV transfer robot control program, to adjust the state of a control of intelligent AGV transfer robot in real time.
In order to realize the long-range control to intelligent AGV transfer robot, intelligent AGV transfer robot can also configure wireless communication
Number transceiver module, wireless signal transceiver module are connected with control module.Control module is by the fortune of current intelligence AGV transfer robot
Row parameter is sent to terminal by radio receiving transmitting module, and terminal includes computer or mobile phone etc..Terminal real-time monitoring intelligent AGV is removed
Transport the operating status of robot.
Front-wheel drive system 2 is mounted on vehicle frame 1, and is rotated on the supporting surface of vehicle frame 1 11, to realize front-wheel drive
The cabinet 25 of mechanism 2 is fixed on supporting surface 11 and rotatable, can be realized by the connection type of bearing and axis.In this connection
Under mode, because of the bearing only effect by the front-wheel drive gravity along rotary shaft, thus preferred bearing is thrust roller
Bearing.Intelligent AGV transfer robot includes thrust roller bearing and rotary shaft, and rotary shaft is fastenedly connected in two 24 lines of wheel
On the cabinet 25 of midpoint, and cabinet 25 is mounted on supporting surface 11 by thrust roller bearing and rotary shaft.Front-wheel drive
Mechanism 2 is rotated around rotary shaft, is realized and is turned to.Lubricating oil is injected in thrust roller bearing simultaneously, can both extend the use of bearing
Service life, while frictional resistance can also be reduced, improve the sensitivity of steering.
Relative rotary motion between the cabinet 25 and supporting surface 11 of front-wheel drive system 2 is sliding friction, sliding friction
Resistance is big, and the surface quality requirements on the surface to contact with each other to two are very high, and is easy to damage two tables for having relative motion
Face, causes with high costs, and service life is low, is unfavorable for controlling cost.Sliding friction is changed to rolling friction not only can be with
Reduce frictional resistance, improves the sensitivity of steering, also can effectively reduce cost.Intelligent AGV transfer robot includes several rollings
Pearl is provided with one section of first arc-shaped groove, the corresponding position setting of the cabinet 25 contacted with supporting surface 11 on supporting surface 11
There is identical second groove, is provided with several balls in the cavity that the first groove and the second groove are formed, the diameter of ball is not
Less than the height of cavity.The first arc-shaped groove is using the perpendicular bisector of two wheels 24 on front-wheel drive system 2 as line of symmetry
Symmetrical, the corresponding angle of circular arc is 160 °.It is recessed that size consistent second is offered on the cabinet 25 of opposite position
Slot, the first groove and the second groove form cavity, and the ball that diameter is greater than cavity height is arranged in cavity, by cabinet 25 and branch
Opposite sliding between support face 11 becomes rolling, i.e. sliding friction becomes rolling friction, has reached reduction frictional resistance, reduces
Processing cost promotes the effect of steering sensitivity.
When two gears are intermeshed, there are backlash, and backlash, which is rationally arranged, can be effectively reduced the noise of gear engagement,
Improve transmission efficiency.But the presence of backlash, idle stroke will be generated during positive and negative rotation, seriously affect positive and negative rotation precision.It wants
The steering precision for improving intelligence AGV transfer robot, then must eliminate the backlash of steering mechanism 4.Steering mechanism 4 further includes second
Motor and the second diversion driving-gear, the second motor are connected with the second diversion driving-gear, the second diversion driving-gear and internal tooth
Circle engagement；The angle of the line in the center of circle of the first driving gear and the center of circle of the second driving gear and the center of circle of steering driven gear
It is 60 °, and the first driving gear and the second driving gear are symmetrically distributed in the two sides of two 24 perpendicular bisectors of wheel.Rotating forward process by
First motor 41 drives the rotation of the first diversion driving-gear 42, so that front-wheel drive system 2 be driven just to turn to, reversion process is by the
Two motors drive the rotation of the second diversion driving-gear, to drive the counter steer of front-wheel drive system 2.Double steering driving gear point
Not Shi Xian front-wheel drive system 2 positive steering and counter steer, effectively eliminate during gear drive backlash to turning to precision
It influences.And first diversion driving-gear 42 and the second diversion driving-gear it is symmetrical in 60 °, it is ensured that it is positive to turn to and counter steer
Steering locking angle degree it is consistent.
Preferably, intelligent AGV transfer robot further includes turning to encoder, turns to encoder and is arranged in steering shaft, and
It is connected with control module.It turns to encoder and records actual steering angle, and this steering angle is sent to control module, control
Molding root tuber, can real-time control intelligence AGV carrying implement according to the direction of travel of this steering angle amendment intelligence AGV transfer robot
The travel condition of device people, avoids deviation route, avoids unnecessary damage.
Intelligent AGV transfer robot includes stroke limit block, and the both ends of ring gear are respectively arranged with stroke limit block, and row
Journey limited block is connected with control module.Ring gear on vehicle frame 1 is one section in internal gear, to avoid in steering procedure, first
The stroke of diversion driving-gear 42 or the second diversion driving-gear exceeds the range of ring gear, is respectively arranged at ring gear both ends
Stroke limit block.When the first diversion driving-gear 42 or the second diversion driving-gear rotate and touch stroke limit block, row
Journey limited block issues touching signal to control module, and control module controls first motor 41 or the second motor stalls, effectively
Avoid the overproof of the first diversion driving-gear 42 or the second diversion driving-gear stroke.
For intelligent AGV transfer robot in steering procedure, the revolving speed of inner ring wheel 24 is less than the revolving speed of outer ring wheel 24, shape
At speed difference, thus transmission device 26 is preferably differential mechanism.Differential mechanism is by planetary gear, planetary wheel carrier (differential carrier), semiaxis
The parts such as gear composition.The power of engine enters differential mechanism through power input shaft, directly drives planetary wheel carrier, then by planetary gear
It drives left and right two power output shafts to rotate, respectively drives left and right wheel 24.Transmission device 26 includes differential mechanism and third electricity
Machine, third motor are connected with differential mechanism power input shaft, one end difference of one end of the first rotation axis 21 and the second rotation axis 22
It is connected with the power output shaft of differential mechanism.
Intelligent AGV transfer robot includes warning device, and warning device includes tri coloured lantern and loudspeaker, and tri coloured lantern is mounted on
The top of vehicle frame 1, and being connected with control module, loudspeaker is mounted at the rear-wheel follower 3 of vehicle frame 1, and with control module phase
Even.Obstacle detection device is provided with before intelligent AGV transfer robot, and obstacle detection device is connected with control module.Obstacle
Object detector detects intelligence AGV transfer robot, and in the front of traveling, whether there are obstacles, and barrier then controls mould if it exists
Block, which controls intelligence AGV transfer robot, to be stopped advancing, and control module sends warning message to warning device.Specially control
The red light of tri coloured lantern is lighted and is flashed；Loudspeaker sounding is controlled simultaneously, to remind staff's removing obstacles.Meanwhile working as intelligence
When AGV transfer robot operation troubles, control module equally controls the blinking red lamp of tri coloured lantern, and controls loudspeaker sounding.
The power resources of intelligent AGV transfer robot are battery, use a period of time in intelligent AGV transfer robot
Afterwards, it will lead to low battery and can not work normally.Intelligent AGV transfer robot includes battery module and low battery alarm mould
Block, battery module is arranged on the vehicle frame 1 between front-wheel drive system 2 and rear-wheel follower 3, and is connected with control module；
Low battery alarm module is arranged on the vehicle frame 1 of battery module side, and is connected with battery module and control module.In electricity
When measuring too low, low battery alarm module sends low battery information to control module, and control module controls warning device alarm.
Preferably, intelligent AGV transfer robot includes automatic charging module, automatic charging module be mounted on rear-wheel from
The tail portion of the vehicle frame 1 of motivation structure 3, automatic charging module are connected with control module and battery module.There is low battery alarm
When information, control module controls intelligence AGV transfer robot and carries out automatic charging to specified charge point, to ensure intelligent AGV
Transfer robot can operate normally.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all in the present invention
Design under, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/be used in other phases indirectly
The technical field of pass is included in scope of patent protection of the invention.
Claims (9)
1. a kind of intelligence AGV transfer robot, which is characterized in that including vehicle frame, control module, magnetic navigation module, front-wheel drive
Mechanism, rear-wheel follower and steering mechanism；Be provided with supporting surface parallel to the ground on the vehicle frame, and with the support
Ring gear is arranged on first arc surface in first arc surface of face vertical connection；The front-wheel drive includes first turn
Moving axis, the second rotation axis, bearing, wheel, cabinet and transmission device；The cabinet includes the with first arc surface cooperation
Two arc surfaces and the two sides perpendicular to the ground to connect with second arc surface；The transmission device is mounted on the case
In vivo；One end of first rotation axis and second rotation axis is connected with the transmission device, the other end with setting
It is connect outside the cabinet two sides with the wheel of ground face contact, and first rotation axis and second rotation axis point
It is not mounted on the cabinet by the bearing；The cabinet is movably arranged on the supporting surface, first circle
Cambered surface and second arc surface cooperate；The steering mechanism includes that first motor interconnected and first turn to driving tooth
Wheel；First diversion driving-gear and the first motor are installed on second arc surface；And described first turns to
Driving gear is engaged with the ring gear；The rear-wheel follower is mounted on the vehicle frame far from the front-wheel drive system
One end；The control module is mounted on institute's front-wheel drive system and the vehicle frame stated between rear-wheel follower, institute
It states control module to be connected with the front-wheel drive system and the steering mechanism, the magnetic navigation module is mounted on the cabinet and leans on
The bottom of side near the ground, and be connected with the control module.
2. intelligence AGV transfer robot as described in claim 1, which is characterized in that the intelligence AGV transfer robot includes
Thrust roller bearing and rotary shaft, the rotary shaft are fastenedly connected the cabinet two wheel line midpoints
On, and the cabinet is installed on the support surface by the thrust roller bearing and the rotary shaft.
3. intelligence AGV transfer robot as claimed in claim 2, which is characterized in that the intelligence AGV transfer robot includes
Several balls are provided with one section of first arc-shaped groove on the supporting surface, the cabinet with the support face contact
Corresponding position be provided with identical second groove, if being provided in the cavity that first groove and second groove are formed
The dry ball, the diameter of the ball are not less than the height of the cavity.
4. intelligence AGV transfer robot as claimed in claim 3, which is characterized in that the intelligence AGV transfer robot also wraps
Steering encoder is included, the steering encoder setting is connected in the steering shaft, and with the control module.
5. intelligence AGV transfer robot as described in claim 1, which is characterized in that the intelligence AGV transfer robot includes
Stroke limit block, the both ends of the ring gear are respectively arranged with the stroke limit block, and the stroke limit block and the control
Molding block is connected.
6. intelligence AGV transfer robot according to any one of claims 1-4, which is characterized in that the transmission device includes
Differential mechanism and third motor, the third motor are connected with the differential mechanism power input shaft, one end of first rotation axis
It is connected respectively with the power output shaft of the differential mechanism with one end of second rotation axis.
7. intelligence AGV transfer robot as claimed in claim 6, which is characterized in that the intelligence AGV transfer robot includes
Warning device, the warning device include tri coloured lantern and loudspeaker, and the tri coloured lantern is mounted at the top of the vehicle frame, and with it is described
Control module be connected, the loudspeaker is mounted at the rear-wheel follower of the vehicle frame, and with the control module phase
Even.
8. intelligence AGV transfer robot as claimed in claim 7, which is characterized in that the intelligence AGV transfer robot includes
Battery module and low battery alarm module, the battery module are arranged in the front-wheel drive system and the rear-wheel follower
Between the vehicle frame on, and be connected with the control module；The low battery alarm module is arranged in the battery mould
On the vehicle frame of block side, and it is connected with the battery module and the control module.
9. intelligence AGV transfer robot as claimed in claim 8, which is characterized in that the intelligence AGV transfer robot includes
Automatic charging module, the automatic charging module is mounted on the tail portion of the vehicle frame of the rear-wheel follower, described
Automatic charging module is connected with the control module and the battery module.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810246782 | 2018-03-23 | ||
| CN2018102467825 | 2018-03-23 |
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| Publication Number | Publication Date |
|---|---|
| CN108502051A CN108502051A (en) | 2018-09-07 |
| CN108502051B true CN108502051B (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810310478.2A Active CN108502051B (en) | 2018-03-23 | 2018-04-09 | Intelligent AGV transfer robot |
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| CN (1) | CN108502051B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109339535B (en) * | 2018-10-12 | 2025-04-25 | 广州达泊智能科技有限公司 | Smart parking lot and its cluster handling robot |
| CN113371097A (en) * | 2021-06-17 | 2021-09-10 | 南京轩世琪源软件科技有限公司 | Transfer robot based on path calculation and transfer method |
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| GB374726A (en) * | 1931-09-21 | 1932-06-16 | Fred Teed Murdoch | Improvements in or applicable to trolleys such as are used on railway platforms and such like and also for heavy vehicles |
| DE4318775A1 (en) * | 1993-06-05 | 1994-12-08 | Michael Dr Zwicker | Motor-driven steerable model vehicle |
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| CN202106963U (en) * | 2011-06-14 | 2012-01-11 | 葛大力 | Personal rapid transit car and personal rapid transit |
| CN206664661U (en) * | 2017-03-17 | 2017-11-24 | 河南科技大学 | A kind of multifunctional baby carriage with auto-steering function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004026118A (en) * | 2002-05-07 | 2004-01-29 | Sanyo Electric Co Ltd | Conveying device |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB374726A (en) * | 1931-09-21 | 1932-06-16 | Fred Teed Murdoch | Improvements in or applicable to trolleys such as are used on railway platforms and such like and also for heavy vehicles |
| DE4318775A1 (en) * | 1993-06-05 | 1994-12-08 | Michael Dr Zwicker | Motor-driven steerable model vehicle |
| CN1139509C (en) * | 1998-02-26 | 2004-02-25 | Igc(澳大利亚)股份有限公司 | Steering system |
| CN202106963U (en) * | 2011-06-14 | 2012-01-11 | 葛大力 | Personal rapid transit car and personal rapid transit |
| CN206664661U (en) * | 2017-03-17 | 2017-11-24 | 河南科技大学 | A kind of multifunctional baby carriage with auto-steering function |
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| Publication number | Publication date |
|---|---|
| CN108502051A (en) | 2018-09-07 |
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Address after: 413002 No. 1 Xuefu Road West, Longling Industrial Park, Heshan District, Yiyang City, Hunan Province Applicant after: Hunan Delibo Intelligent Equipment Co.,Ltd. Address before: 413002 No. 1 Xuefu Road West, Longling Industrial Park, Heshan District, Yiyang City, Hunan Province Applicant before: HUNAN AOTIANLAI ROBOT CO.,LTD. |
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Effective date of registration: 20190626 Address after: 413002 No. 1 Xuefu Road West, Longling Industrial Park, Heshan District, Yiyang City, Hunan Province Patentee after: HXXN ELECTRICITY Co.,Ltd. Address before: 413002 No. 1 Xuefu Road West, Longling Industrial Park, Heshan District, Yiyang City, Hunan Province Patentee before: Hunan Delibo Intelligent Equipment Co.,Ltd. |
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Address after: 413002 Yiyang City, Hunan province Heshan District Long Ridge Industrial Park, West Road, No. 1 Patentee after: Huaxiang XiangNeng Technology Co.,Ltd. Address before: 413002 Yiyang City, Hunan province Heshan District Long Ridge Industrial Park, West Road, No. 1 Patentee before: HXXN ELECTRICITY Co.,Ltd. |
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Denomination of invention: Intelligent AGV handling robot Effective date of registration: 20231106 Granted publication date: 20190215 Pledgee: China Co. truction Bank Corp Yiyang branch Pledgor: Huaxiang XiangNeng Technology Co.,Ltd. Registration number: Y2023980063452 |