CN115793774A - AGV controller - Google Patents
AGV controller Download PDFInfo
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- CN115793774A CN115793774A CN202211638183.0A CN202211638183A CN115793774A CN 115793774 A CN115793774 A CN 115793774A CN 202211638183 A CN202211638183 A CN 202211638183A CN 115793774 A CN115793774 A CN 115793774A
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- wheel sensor
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- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000000712 assembly Effects 0.000 claims description 20
- 238000000429 assembly Methods 0.000 claims description 20
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004075 alteration Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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Abstract
The application discloses AGV controller includes: a manipulator body; the electronic steering wheel comprises a rotating component and a steering wheel sensor, wherein the steering wheel sensor is arranged on the controller body, the rotating component is arranged at the detection end of the steering wheel sensor, the rotating component drives the detection end of the steering wheel sensor to rotate when rotating, and the steering wheel sensor converts mechanical rotation into corresponding electric signals; the control assembly is electrically connected with the electronic steering wheel and converts the electric signal into a corresponding control instruction; and the communication component is in communication connection with the AGV and sends the control instruction to the AGV. According to the AGV driving direction control method and device, the electronic steering wheel is adopted to control and adjust the driving direction of the AGV, the size of the AGV controller is reduced, the handheld controller is used for controlling the AGV, the operation logic is simple and visual, and the AGV driving direction control method and device can be mastered without special training.
Description
Technical Field
The application relates to the technical field of logistics management, in particular to an AGV controller.
Background
An Automatic Guided Vehicle (AGV) is an important component of a workshop automatic logistics system, and a controller is a main device for the AGV to realize the control of a whole vehicle.
Traditional AGV controller passes through the forward of rocker realization control AGV and turns to, and difficult study needs special training just can master.
Disclosure of Invention
The embodiment of the application provides an AGV controller for solve the problem that the AGV controller through rocker control exists inconvenient handheld control and need special training among the prior art.
In one aspect, an embodiment of the present application provides an AGV controller, which includes:
a manipulator body;
the electronic steering wheel comprises a rotating component and a steering wheel sensor, wherein the steering wheel sensor is arranged on the controller body, the rotating component is arranged at the detection end of the steering wheel sensor, the rotating component drives the detection end of the steering wheel sensor to rotate when rotating, and the steering wheel sensor converts mechanical rotation into corresponding electric signals;
the control assembly is electrically connected with the electronic steering wheel and converts the electric signal into a corresponding control instruction;
and the communication component is in communication connection with the AGV and sends the control instruction to the AGV.
In one possible embodiment, the steering wheel sensor is fixedly arranged on the manipulator body by means of a plurality of fastening elements.
In a possible implementation manner, a limit component is arranged on the detection end of the steering wheel sensor, the limit component is located between two adjacent fastening components, and the limit component rotates to be in contact with the fastening components and then limits the rotation angle of the detection end of the steering wheel sensor.
In a possible implementation, rotating assembly is provided with the subassembly of kick-backing on the side towards the steering wheel sensor, is provided with elastic component on the detection end of steering wheel sensor, and the subassembly of kick-backing and the contact of elastic component, the subassembly of kick-backing rotates the back along with rotating assembly, and elastic component receives the extrusion and provides the resilience force to the subassembly of kick-backing.
In one possible implementation, the rebound assembly is rotatably provided with a rolling body at an end facing the steering wheel sensor.
In one possible implementation, the number of the elastic assemblies is two, one end of each of the two elastic assemblies is in contact with the rebound assembly, and the two elastic assemblies provide rebound forces in opposite directions to the rebound assembly.
In one possible implementation manner, the method further includes: the button is arranged on the manipulator body and electrically connected with the control component, and the button is pressed down and then generates a corresponding control instruction by the control component.
In one possible implementation manner, the method further includes: the display is arranged on the manipulator body and electrically connected with the control assembly, and the display is used for displaying the current motion state and parameters of the AGV.
An AGV controller in this application has following advantage:
the electronic steering wheel is adopted to realize the control and adjustment of the traveling direction of the AGV, the size of the AGV controller is reduced, so that the handheld controller is realized to control the AGV, the operation logic is simple and visual, and the AGV controller can be mastered without special training.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram illustrating an overall configuration of an AGV manipulator according to an embodiment of the present disclosure;
fig. 2 is a schematic partial structural diagram of an electronic steering wheel according to an embodiment of the present disclosure;
fig. 3 is a schematic overall structure diagram of an electronic steering wheel according to an embodiment of the present application.
The reference numbers illustrate: 1-a manipulator body, 2-an electronic steering wheel, 3-buttons, 4-a display, 20-a rotating component, 21-a steering wheel sensor, 22-a fastening component, 23-a limiting component, 24-a rebound component and 25-an elastic component.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
FIGS. 1-3 are schematic diagrams of an AGV manipulator according to embodiments of the present disclosure. The embodiment of the present application provides an AGV controller, include:
a manipulator body 1;
the electronic steering wheel 2 comprises a rotating component 20 and a steering wheel sensor 21, the steering wheel sensor 21 is arranged on the manipulator body 1, the rotating component 20 is arranged at the detection end of the steering wheel sensor 21, the rotating component 20 drives the detection end of the steering wheel sensor 21 to rotate when rotating, and the steering wheel sensor 21 converts mechanical rotation into corresponding electric signals;
the control assembly is electrically connected with the electronic steering wheel 2 and converts the electric signals into corresponding control instructions;
and the communication component is in communication connection with the AGV and sends the control instruction to the AGV.
Illustratively, the electronic steering wheel 2 as a whole may employ a hand-operated pulse generator, or the steering wheel sensor 21 therein may employ a potentiometer. The detection end of the electronic steering wheel 2 can rotate freely on the main body, and the direction and the angle of the rotation are converted into corresponding electric signals by the main body of the electronic steering wheel 2, and then the electric signals are transmitted to the control component.
For convenient operation, can also set up angle scale on electronic steering wheel 21 to set up position mark on rotating assembly 20, make things convenient for operating personnel accurate control and look over rotating assembly 20's turned angle. Meanwhile, an operating rod may be further disposed on the rotating assembly 20, and the operating rod is preferably offset from the axis of the rotating assembly 20, so that an operator can conveniently rotate the rotating assembly 20 through the operating rod.
The communication module may communicate with the AGV by using a wireless communication technology such as infrared, bluetooth, wiFi, etc., and after receiving the control instruction sent by the communication module, the AGV executes the control instruction by the corresponding execution module. In the embodiment of the present application, the rotation angle of the electronic steering wheel 2 indicates an adjustment angle to the moving direction of the AGV, for example, the electronic steering wheel 2 rotates counterclockwise by α degrees, which means that the wheels controlling the AGV rotate leftward by α degrees, and the electronic steering wheel 2 rotates clockwise by β degrees, which means that the wheels controlling the AGV rotate rightward by β degrees.
In one possible embodiment, the steering wheel sensor 21 is fixedly arranged on the manipulator body 1 by means of a plurality of fastening assemblies 22.
For example, the fastening components 22 may be screws, through holes matching the fastening components 22 in number and size are formed in the steering wheel sensor 21, and the fastening components 22 are screwed into screw holes formed in the manipulator body 1 after penetrating through the through holes, so that the steering wheel sensor 21 can be fixedly arranged on the manipulator body 1.
Further, a limiting component 23 is arranged on the detection end of the steering wheel sensor 21, the limiting component 23 is located between two adjacent fastening components 22, and the limiting component 23 rotates to be in contact with the fastening components 22 and then limits the rotation angle of the detection end of the steering wheel sensor 21.
The limiting component 23 is a rod fixedly arranged on the steering wheel sensor 21, and the limiting component 23 is parallel to the side surface of the controller body 1. In the embodiment of the present application, the upper end of the fastening component 22 protrudes from the top surface of the steering wheel sensor 21, and the protruding height is greater than the distance between the limiting component 23 and the top surface of the steering wheel sensor 21, so that when the limiting component 23 rotates along with the detection end of the steering wheel sensor 21, the limiting component contacts the fastening component 22 to limit the rotation angle of the detection end of the steering wheel sensor 21. Furthermore, the number of the fastening assemblies 22 and the number of the limiting assemblies 23 are three, and the three fastening assemblies 22 and the three limiting assemblies 23 are respectively and uniformly arranged on the top surface of the steering wheel sensor 21 and the side surface of the detection end of the steering wheel sensor 21, so that the rotation angle of the detection end of the steering wheel sensor 21 is 120 degrees at most.
In a possible embodiment, the rotating assembly 20 is provided with a rebound assembly 24 on a side facing the steering wheel sensor 21, a detection end of the steering wheel sensor 21 is provided with an elastic assembly 25, the rebound assembly 24 is in contact with the elastic assembly 25, and after the rebound assembly 24 rotates along with the rotating assembly 20, the elastic assembly 25 is pressed and provides a rebound force to the rebound assembly 24.
Illustratively, the resilient member 24 is a rod disposed on the bottom surface of the rotating member 20, and the resilient member 25 may be a spring plate, a coil spring, a torsion spring, or the like, and if the spring plate or the coil spring is used, one end of the spring plate needs to be fixed on the main body of the steering wheel sensor 21 or the fastening member 22, and the other end needs to be abutted or connected to the resilient member 24, and if the torsion spring is used, the main body needs to be sleeved on the detection end of the steering wheel sensor 21, and one end of the spring plate needs to be fixed on the main body of the steering wheel sensor 21 or the fastening member 22, and the other end needs to be abutted or connected to the resilient member 24.
In the embodiment of the present application, the number of the elastic assemblies 25 is two, one end of each of the two elastic assemblies 25 is in contact with the rebound assembly 24, and the two elastic assemblies 25 provide rebound forces in opposite directions to the rebound assembly 24.
When two elastic assemblies 25 are used, the two elastic assemblies 25 should be symmetrically disposed on both sides of the rebound assembly 24, and the two elastic assemblies 25 should be the same size to provide the same amount of rebound force under the same degree of compression. When the two elastic assemblies 25 are in a balanced state, the rebound assembly 24 is kept still under the resilience forces provided by the two elastic assemblies 25 with opposite directions and equal magnitude, and when the rebound assembly 24 rotates along with the rotating assembly 20, one elastic assembly 25 is subjected to a greater force than the other elastic assembly 25, so that the resilience force applied to the rebound assembly 24 is not zero, and both the rebound assembly 24 and the rotating assembly 20 have a tendency to return to the rest position. When the operator removes the external force applied to the rotating assembly 20, the rotating assembly 20 and the rebounding assembly 24 will return to the rest position, i.e. the position of zero rotation angle, rapidly under the effect of the rebounding force whose sum is not zero.
Further, the rebound assembly 24 is rotatably provided with a rolling body at an end facing the steering wheel sensor 21. The rolling elements are mostly confined within rebound assembly 24, and only a small portion is exposed from the lower end of rebound assembly 24, and the exposed portion is in contact with the top surface of the main body of steering wheel sensor 21, and when rebound assembly 24 is rotated by rotating assembly 20, the rolling elements roll on the top surface of the main body of steering wheel sensor 21 to provide support to rotating assembly 20.
In a possible embodiment, further comprising: the button 3 is arranged on the manipulator body 1, the button 3 is electrically connected with the control component, and the button 3 is pressed down and then the control component generates a corresponding control instruction.
Illustratively, the manipulator body 1 is provided with a text for describing the function of each button 3 at a position corresponding to the button 3, and each button 3 can generate different control commands for the control component by means of single pressing, multiple pressing, long pressing and the like.
Further, a display 4 is electrically connected to the control assembly, the display 4 being used to display the current state of motion and parameters of the AGV. The display 4 can adopt an LCD (liquid crystal display) or LED (light emitting diode) screen, the AGV receives the control instruction sent by the communication component, and simultaneously sends the state and parameters of the AGV to the control component through the communication component, and the control component further controls the display 4 to display the state and parameters.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (8)
1. An AGV manipulator, comprising:
a manipulator body (1);
the electronic steering wheel (2) comprises a rotating assembly (20) and a steering wheel sensor (21), the steering wheel sensor (21) is arranged on the manipulator body (1), the rotating assembly (20) is arranged at the detection end of the steering wheel sensor (21), the rotating assembly (20) drives the detection end of the steering wheel sensor (21) to rotate when rotating, and the steering wheel sensor (21) converts mechanical rotation into corresponding electric signals;
the control component is electrically connected with the electronic steering wheel (2), and converts the electric signals into corresponding control instructions;
and the communication component is in communication connection with the AGV and sends the control instruction to the AGV.
2. AGV-manipulator according to claim 1, characterized in that the steering wheel sensor (21) is arranged fixedly on the manipulator body (1) by means of fastening assemblies (22).
3. AGV-manipulator according to claim 2, characterized in that the detection end of the steering wheel sensor (21) is provided with a stop member (23), that the stop member (23) is located between two adjacent fastening members (22), and that the stop member (23) is rotated to contact the fastening members (22) to limit the rotation angle of the detection end of the steering wheel sensor (21).
4. AGV-manipulator according to claim 1, characterized in that the rotating member (20) is provided with a resilient member (24) on the side facing the steering wheel sensor (21), that the sensing end of the steering wheel sensor (21) is provided with a resilient member (25), that the resilient member (24) is in contact with the resilient member (25), and that the resilient member (24) is pressed and provides a resilient force to the resilient member (24) after the resilient member (24) has turned with the rotating member (20).
5. AGV-manipulator according to claim 4, characterized in that the resilient assembly (24) is provided with rolling bodies at the end turned towards the steering wheel sensor (21).
6. An AGV manipulator according to claim 4 wherein said spring assemblies (25) are two in number, and wherein one end of each of said spring assemblies (25) is in contact with said resilient assembly (24), and wherein said spring assemblies (25) provide opposing resilient forces to said resilient assembly (24).
7. The AGV manipulator of claim 1 further comprising:
the button (3) is arranged on the controller body (1), the button (3) is electrically connected with the control component, and the button (3) is pressed down and then the control component generates a corresponding control command.
8. The AGV manipulator of claim 1, further comprising:
the display (4) is arranged on the manipulator body (1), the display (4) is electrically connected with the control component, and the display (4) is used for displaying the current motion state and parameters of the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211638183.0A CN115793774A (en) | 2022-12-20 | 2022-12-20 | AGV controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211638183.0A CN115793774A (en) | 2022-12-20 | 2022-12-20 | AGV controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115793774A true CN115793774A (en) | 2023-03-14 |
Family
ID=85426635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211638183.0A Pending CN115793774A (en) | 2022-12-20 | 2022-12-20 | AGV controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115793774A (en) |
-
2022
- 2022-12-20 CN CN202211638183.0A patent/CN115793774A/en active Pending
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