CN109606508A - A kind of automated guided vehicle based on pattern-recognition - Google Patents
A kind of automated guided vehicle based on pattern-recognition Download PDFInfo
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- CN109606508A CN109606508A CN201811522605.1A CN201811522605A CN109606508A CN 109606508 A CN109606508 A CN 109606508A CN 201811522605 A CN201811522605 A CN 201811522605A CN 109606508 A CN109606508 A CN 109606508A
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- 238000003909 pattern recognition Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 9
- 239000012530 fluid Substances 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000013499 data model Methods 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 1
- 230000009467 reduction Effects 0.000 abstract description 4
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The invention discloses a kind of automated guided vehicles based on pattern-recognition, including vehicle frame, running part, positioning support portion, vehicle-mounted hydraulic device and controlled vehicle-mounted electrical device；Vehicle frame is support frame structure, including preceding flat support part and rear control installation section；The bottom of vehicle frame is arranged in running part, and running part includes the walking mechanism of four center symmetric settings, and walking mechanism includes box shell, roll drive part and steering drive part.Linkage bevel gear engagement clamping drive roller wheel mounting means is passed through using epicone ring gear and lower cone ring gear based on the automated guided vehicle of pattern-recognition, the height dimension for further decreasing support carrying platform can be realized under the premise of omnidirectional's driving realizing, height dimension, support carrying row of the realization reduction by support loading product apart from ground are more stable in turn, are carried out asking carrying defeated by support load bottom of article especially suitable for slipping into.
Description
Technical field
It is specifically a kind of to be suitable for carrying out cargo or vehicle asking carrying defeated the present invention relates to a kind of automated guided vehicle
The automated guided vehicle based on pattern-recognition, belong to intelligent transport field of mechanical technique.
Background technique
Automated guided vehicle is also referred to as automatic guided vehicle, i.e. AGV, refers to and magnetically or optically waits homing guidances dress equipped with electricity
It sets, can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.In industrial application
AGV is generally not required to driver, can be set up by computer or using electromagnetic path generally with rechargeable battery for its power resources
And control the travelling route and behavior of AGV.
Existing AGV generally includes two wheel guide robot formula AGV, three-wheel walking AGV and the four-wheel walking AGV with steering wheel,
Wherein two wheel guide robot formula AGV is industrially widely used.Although comprehensive traveling may be implemented in two wheel guide robot formula AGV, but usually
Turning member in walking mechanism is the gear transmission structure being arranged in above ground-engaging element, and gear transmission structure is set including level
The steering driving motor of transmission gear or gear ring set, being fixedly connected with ground-engaging element, vertical direction setting passes through sliding tooth
Wheel drive transmission gear or gear ring rotation are realized and are turned to.Since walking mechanism is typically mounted on the bottom of support carrying platform, it is
The height dimension for reducing support carrying platform is in order to slip into usual by the bottom of support loading product, the steering driving motor being vertically arranged
The bottom of support carrying platform is mounted on by the way of hang upside down.However although the hoofing part of reduction ground-engaging element can be passed through
The size of wheel reduces the height dimension of support carrying platform to realize, but the steering driving motor being vertically arranged still makes reduction support load flat
The height dimension of platform is restricted, therefore can only be by improving the height dimension by support loading product apart from ground in order to AGV's
It slips into, however by support loading product, there are unsteady defect during AGV holds in the palm carrying row with high center of gravity.
Summary of the invention
The automatic guidance transport based on pattern-recognition that in view of the above existing problems in the prior art, the present invention provides a kind of
Vehicle, high degree of automation can realize the height dimension for further decreasing support carrying platform realizing under the premise of omnidirectional's driving, into
And realize that height dimension, the support carrying row reduced by support loading product apart from ground is more stable, especially suitable for slipping by support loading
It is defeated that product bottom carries out support carrying.
It to achieve the goals above, include vehicle frame, running part, positioning branch based on the automated guided vehicle of pattern-recognition
Support part, vehicle-mounted hydraulic device and controlled vehicle-mounted electrical device；
The vehicle frame is support frame structure, including preceding flat support part and rear control installation section, braced frame
It is equipped with onboard sensor, onboard sensor includes range sensor and pattern-recognition sensor, the setting of pattern-recognition sensor
In the front end of vehicle frame, more than one piece range sensor is uniformly arranged on the exterior circumferential direction of braced frame, vehicle-mounted hydraulic device and
Controlled vehicle-mounted electrical device controls the inside of installation section after being arranged at；
The bottom of vehicle frame is arranged in the running part, and running part includes the walking mechanism of four center symmetric settings, row
Walking mechanism includes box shell, roll drive part and steering drive part；
The inside of box shell, including the horizontally disposed drive roller wheel in central axes, driven roller is arranged in roll drive part
Wheel includes roller body and stretches out the roller support shaft of setting, the baseplane distance of box shell along roller body central axes direction or so
The height on ground is less than the radius size of roller body, is equipped with roll drive motor assembly inside roller body；
Turning to drive part includes epicone ring gear, lower cone ring gear, linkage bevel gear and course changing control conical tooth shaft；Epicone ring gear
It is identical with reference cone angle with the number of teeth of lower cone ring gear, modulus, and the teeth portion face of epicone ring gear and lower cone ring gear is coaxial
Setting, epicone ring gear level are fixedly mounted on box shell inner top, and lower cone ring gear is horizontally arranged at box by plane bearing
The axis of bottom in shell, epicone ring gear and lower cone ring gear is arranged perpendicular to the central axes of drive roller wheel；It is set as the connection of two pieces
Dynamic bevel gear is symmetrically set up in the roller support shaft for being mounted on drive roller wheel two sides by bearing and linkage bevel gear at the same with it is upper
Bore ring gear and the engagement connection of lower cone ring gear；The outside direction of linkage bevel gear, course changing control cone is arranged in course changing control conical tooth shaft
Tooth shaft is mounted on box shell by bearing erection and course changing control conical tooth shaft with lower cone ring gear teeth portion engages connection, steering
The part that control conical tooth shaft extend out to box hull outside is additionally provided with course changing control driving motor；
The positioning support portion for being set as more covering is arranged on the preceding flat support part of vehicle frame, the positioning support portion phase more covered
The preceding flat support portion centers of vehicle frame are symmetrical arranged, positioning support portion includes the hydraulic lifting cylinder being vertically arranged, hydraulic
The cylinder body of lift cylinders is mounted on vehicle frame, and carrying supporting plate is additionally provided on the telescopic end of hydraulic lifting cylinder；
Vehicle-mounted hydraulic device includes hydraulic power unit and hydraulic control valve group, and hydraulic power unit and servo motor or engine connect
It connects, hydraulic power unit is connect with hydraulic control valve group, and hydraulic control valve group is connect with hydraulic lifting cylinder respectively by fluid pressure line；
Controlled vehicle-mounted electrical device include industrial control computer, battery compartment, radio receiving transmitting module, wireless transmitter receiver circuit,
Position feedback and vehicle traction position loop, pattern-recognition feedback judge circuit, chassis lifting control loop, and Industry Control calculates
The machine steering with radio receiving transmitting module, onboard sensor, the roll drive motor assembly of drive roller wheel, steering drive part respectively
Driving motor, the electrical connection of vehicle-mounted hydraulic device are controlled, industrial control computer is built-in with the data model of different shelf or pallet.
As a further improvement of the present invention, the preceding flat support part of vehicle frame is the two of front and back guide extension setting
Segmentation structure is equipped with positioning support portion in two-part structure, is telescopically connected to, is stretched by telescopic hydraulic cylinder between two-part structure
Contracting hydraulic cylinder is connect by fluid pressure line with hydraulic control valve group.
As a further improvement of the present invention, it is mounted on the cylinder body of the hydraulic lifting cylinder on vehicle frame in the lateral direction
Guiding slipping mechanism and spacing regulating member are equipped between the cylinder body of adjacent hydraulic lifting cylinder.
As one embodiment of the present invention, being oriented to slipping mechanism is the directive slide track being equipped with and guide slip shoe knot
Structure.
As one embodiment of the present invention, spacing regulating member is that spacing adjusts hydraulic cylinder, and spacing adjusts hydraulic cylinder
It is connect by fluid pressure line with hydraulic control valve group.
It compared with prior art, is fully digitalization control unit based on the automated guided vehicle of pattern-recognition, it can
Concentration digital management is realized to carry out seamless connection with top level computer network；Since onboard sensor includes range sensor
With pattern-recognition sensor, therefore may be implemented mobile based on the accurate coordinate of the automated guided vehicle of pattern-recognition；By
In the walking mechanism including four center symmetric settings, each walking mechanism may be implemented drive roller wheel along epicone ring gear and under
At any angle rotation of the central axes of ring gear within the scope of 360 ° is bored, therefore the translational movement of unspecified angle may be implemented；By
Drive roller wheel mounting means is clamped in engaging using epicone ring gear and lower cone ring gear by linkage bevel gear, therefore may be implemented to drop
The installation dimension of low drive roller wheel in the vertical direction, and then realize the overall height dimension for reducing box shell；Due to using
The mounting means that course changing control conical tooth shaft is engaged with lower cone ring gear, therefore the central axes water of course changing control driving motor may be implemented
Flat setting, the space hold being further reduced on vertical direction, to realize the height gauge reduced by support loading product apart from ground
It is very little, support carrying row it is more stable, especially suitable for slip by support carry bottom of article carry out support carrying it is defeated.
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the invention；
Fig. 2 is the schematic cross-sectional view of walking mechanism of the present invention.
In figure: 1, vehicle frame, 2, running part, 21, drive roller wheel, 22, roller support shaft, 23, epicone ring gear, 24, lower cone tooth
Ring, 25, linkage bevel gear, 26, course changing control conical tooth shaft, 3, positioning support portion, 31, hydraulic lifting cylinder, 32, carrying supporting plate.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, including vehicle frame 1, running part 2, positioning support portion based on the automated guided vehicle of pattern-recognition
3, vehicle-mounted hydraulic device and controlled vehicle-mounted electrical device.
The vehicle frame 1 is support frame structure, including preceding flat support part and rear control installation section, braced frame
It is equipped with onboard sensor, onboard sensor includes range sensor and pattern-recognition sensor, the setting of pattern-recognition sensor
In the front end of vehicle frame 1, more than one piece range sensor is uniformly arranged on the exterior circumferential direction of braced frame, vehicle-mounted hydraulic device and
Controlled vehicle-mounted electrical device controls the inside of installation section after being arranged at.
The bottom of vehicle frame 1 is arranged in the running part 2, and running part 2 includes the walking mechanism of four center symmetric settings,
As shown in Fig. 2, walking mechanism includes box shell, roll drive part and steering drive part；
The inside of box shell, including the horizontally disposed drive roller wheel 21 in central axes is arranged in roll drive part, driving
Roller 21 includes roller body and stretches out the roller support shaft 22 of setting along roller body central axes direction or so, and the bottom of box shell is flat
The height of identity distance from the ground is less than the radius size of roller body, is equipped with roll drive motor assembly inside roller body；
Turning to drive part includes epicone ring gear 23, lower cone ring gear 24, linkage bevel gear 25 and course changing control conical tooth shaft 26；
Epicone ring gear 23 and the number of teeth of lower cone ring gear 24, modulus are identical with reference cone angle, and epicone ring gear 23 and lower cone ring gear
24 teeth portion face coaxial arrangement, 23 level of epicone ring gear are fixedly mounted on box shell inner top, and lower cone ring gear 24 passes through flat
Spherical bearing is horizontally arranged at bottom in box shell, and epicone ring gear 23 and the lower axis for boring ring gear 24 are perpendicular to drive roller wheel 21
Central axes setting；The linkage bevel gear 25 for being set as two pieces symmetrically sets up the roller for being mounted on 21 two sides of drive roller wheel by bearing
In support shaft 22 and linkage bevel gear 25 engages connection with epicone ring gear 23 and lower cone ring gear 24 simultaneously；Course changing control conical tooth shaft
26 be arranged in linkage bevel gear 25 outside direction, course changing control conical tooth shaft 26 by bearing set up be mounted on box shell,
And course changing control conical tooth shaft 26 engages connection with lower 24 teeth portion of cone ring gear, course changing control conical tooth shaft 26 extend out to box hull outside
Part be additionally provided with course changing control driving motor.
The positioning support portion 3 for being set as more covering is arranged on the preceding flat support part of vehicle frame 1, the positioning support portion more covered
3 are symmetrical arranged relative to the preceding flat support portion centers of vehicle frame 1, and positioning support portion 3 includes the hydraulic lifting cylinder that is vertically arranged
31, the cylinder body of hydraulic lifting cylinder 31 is mounted on vehicle frame 1, and carrying supporting plate 32 is additionally provided on the telescopic end of hydraulic lifting cylinder 31.
Vehicle-mounted hydraulic device includes hydraulic power unit and hydraulic control valve group, and hydraulic power unit and servo motor or engine connect
It connects, hydraulic power unit is connect with hydraulic control valve group, and hydraulic control valve group is connect with hydraulic lifting cylinder 31 respectively by fluid pressure line.
Controlled vehicle-mounted electrical device include industrial control computer, battery compartment, radio receiving transmitting module, wireless transmitter receiver circuit,
Position feedback and vehicle traction position loop, pattern-recognition feedback judge circuit, chassis lifting control loop, and Industry Control calculates
Machine respectively with radio receiving transmitting module, onboard sensor, drive roller wheel 21 roll drive motor assembly, turn to drive part turn
To control driving motor, the electrical connection of vehicle-mounted hydraulic device, industrial control computer is built-in with the data mould of different shelf or pallet
Type.
Based on the automated guided vehicle of pattern-recognition in use, industrial control computer is connect by radio receiving transmitting module
It receives and carries information, carrying information includes that need to carry the original coordinates information of article shelf or pallet and need to carry article shelf or support
The coordinates of targets information of disk, industrial control computer carry out linear programming path according to information is carried, and then Industry Control calculates
Machine controls the movement of the automated guided vehicle based on pattern-recognition according to planning path；When carrying out straight-line travelling, industry control
The roll drive motor assembly that computer processed can directly issue instruction control drive roller wheel 21, which is powered, can be realized driven roller
The rolling of wheel 21, is rotated relative to linkage bevel gear 25 in 21 rolling process of drive roller wheel and bevel gear 25 of linking is in
Relative static conditions；When carrying out Turning travel, industrial control computer can turn in control while controlling drive roller wheel 21 and rolling
Rotate course changing control conical tooth shaft 26 to the spinning movement of the course changing control driving motor of drive part, course changing control conical tooth shaft 26
The lower cone ring gear 24 of drive is rotated along its central axes in rotary course, and two pieces linkage bevel gear is driven along lower 24 rotary course of cone ring gear
25 simultaneously it is contrary on epicone ring gear 23 rolled, two pieces link 25 rolling process of bevel gear in pass through roller support shaft
22 drive drive roller wheel 21 along the geometric center Plane Rotation of drive roller wheel 21, and then realize changing for 21 driving direction of drive roller wheel
Become；Automated guided vehicle based on pattern-recognition is to need to carry in article shelf or pallet direction moving process, vehicle mounted electric
The industrial control computer of control device determines that this need to carry object according to the information that need to specifically carry article shelf or pallet of input
The data model of product shelf or pallet need to carry article shelf or support when the automated guided vehicle based on pattern-recognition is close
When disk, pattern-recognition feedback judges loop starts, is led to while moving forward based on the automated guided vehicle of pattern-recognition
The industry for crossing image data information to controlled vehicle-mounted electrical device that pattern-recognition sensor feedback need to carry article shelf or pallet is controlled
Computer processed, industrial control computer by this need to carry the image data information modeling of article shelf or pallet and with it is fixed
Article shelf need to be carried or pallet data model is compared, and the automatic guidance based on pattern-recognition is transported according to data deviation
Defeated vehicle is rectified a deviation, and pierces postindustrial control computer while root below vehicle based on the automated guided vehicle of pattern-recognition
According to the range sensor feedback of the left and right sides of vehicle frame 1 vehicle frame 1 and need to carry between article shelf or the supporting leg of pallet away from
It rectifies a deviation from data to the automated guided vehicle based on pattern-recognition, and then guarantees the automatic guidance fortune based on pattern-recognition
Accurate location positioning of the defeated vehicle when piercing need to carry below article shelf or pallet；When the automatic guidance based on pattern-recognition
Transport vehicle be located at when being moved to the original coordinates that need to carry article shelf or pallet need to carry article shelf or pallet just under
Side, then industrial control computer, which issues instruction control vehicle-mounted hydraulic device, makes hydraulic lifting cylinder 31 be raised up to set distance, holds
Carrying supporting plate 32 will need to carry article shelf or pallet picking-up disengaging ground, and then industrial control computer is moved according to planning path
It moves to the target coordinate position that need to carry article shelf or pallet, then industrial control computer issues instruction control vehicle-mounted hydraulic
Device makes hydraulic lifting cylinder 31 be reset to original state, need to carry article shelf or pallet is fallen on target position.
Article shelf or pallet are carried for the need of different floor spaces, in order to transport the automatic guidance based on pattern-recognition
Defeated vehicle, which can be carried out to consolidate, asks carrying defeated, as a further improvement of the present invention, before the preceding flat support part of vehicle frame 1 is
The two-part structure of guide extension setting afterwards, is equipped with positioning support portion 3 in two-part structure, by stretching between two-part structure
The connection of contracting hydraulic cylinder extension, telescopic hydraulic cylinder are connect by fluid pressure line with hydraulic control valve group.By controlling telescopic hydraulic cylinder
The flexible preceding flat support part length dimension in the longitudinal direction that may be implemented to adjust vehicle frame 1, and then realize to adjust and exist
The support in positioning support portion 3 carries position on front-rear direction.
Article shelf or pallet are carried for the need of different floor spaces, in order to transport the automatic guidance based on pattern-recognition
Defeated vehicle, which can be carried out to consolidate, asks carrying defeated, as a further improvement of the present invention, the hydraulic lifting cylinder being mounted on vehicle frame 1
31 cylinder body is equipped with guiding slipping mechanism between the cylinder body of adjacent hydraulic lifting cylinder 31 in the lateral direction and spacing is adjusted
Component, guiding slipping mechanism can be the guided way being equipped with and guide roller structure, be also possible to the guiding being equipped with
Sliding rail and guide slip shoe structure, spacing regulating member can be spacing adjust hydraulic cylinder structure, be also possible to spacing adjust it is electronic
The mechanisms such as spiral rod structure.It is hydraulic that two pieces adjacent in the lateral direction may be implemented in movement by controlling spacing regulating member
The adjusting of spacing between lift cylinders 31, and then realize that the support for adjusting positioning support portion 3 in the lateral direction carries position.
Automated guided vehicle based on pattern-recognition is fully digitalization control unit, can be with top level computer net
Network carries out seamless connection and realizes concentration digital management；Since onboard sensor includes range sensor and pattern-recognition sensing
Device, therefore may be implemented mobile based on the accurate coordinate of the automated guided vehicle of pattern-recognition；Due to including four centers
Drive roller wheel 21 may be implemented along epicone ring gear 23 and lower cone ring gear 24 in symmetrically arranged walking mechanism, each walking mechanism
At any angle rotation of the central axes within the scope of 360 °, therefore the translational movement of unspecified angle may be implemented；Due to using upper
Ring gear 23 and lower cone ring gear 24 are bored by linkage engagement clamping 21 mounting means of drive roller wheel of bevel gear 25, therefore may be implemented to drop
The installation dimension of low drive roller wheel 21 in the vertical direction, and then realize the overall height dimension for reducing box shell；Due to adopting
The mounting means engaged with course changing control conical tooth shaft 26 with lower cone ring gear 24, therefore may be implemented in course changing control driving motor
The space hold that axis horizontal is arranged, is further reduced on vertical direction, to realize reduction by support loading product apart from ground
Height dimension, support carrying row are more stable, are carried out asking carrying defeated by support load bottom of article especially suitable for slipping into.
Claims (5)
1. a kind of automated guided vehicle based on pattern-recognition, including vehicle frame (1), running part (2), positioning support portion (3), vehicle
Carrier fluid pressure device and controlled vehicle-mounted electrical device；It is characterized in that,
The vehicle frame (1) is support frame structure, including preceding flat support part and rear control installation section, in braced frame
Equipped with onboard sensor, onboard sensor includes range sensor and pattern-recognition sensor, and the setting of pattern-recognition sensor exists
The front end of vehicle frame (1), more than one piece range sensor are uniformly arranged on the exterior circumferential direction of braced frame, vehicle-mounted hydraulic device and
Controlled vehicle-mounted electrical device controls the inside of installation section after being arranged at；
The running part (2) is arranged in the bottom of vehicle frame (1), and running part (2) includes the vehicle with walking machine of four center symmetric settings
Structure, walking mechanism include box shell, roll drive part and steering drive part；
The inside of box shell, including the horizontally disposed drive roller wheel in central axes (21), driven roller is arranged in roll drive part
Wheel (21) includes roller body and stretches out the roller support shaft (22) of setting, the bottom of box shell along roller body central axes direction or so
The height on plan range ground is less than the radius size of roller body, is equipped with roll drive motor assembly inside roller body；
Turning to drive part includes epicone ring gear (23), lower cone ring gear (24), linkage bevel gear (25) and course changing control conical tooth shaft
(26)；Epicone ring gear (23) and the number of teeth of lower cone ring gear (24), modulus are identical with reference cone angle, and epicone ring gear (23)
With the teeth portion face coaxial arrangement of lower cone ring gear (24), epicone ring gear (23) level is fixedly mounted on box shell inner top, under
Cone ring gear (24) is horizontally arranged at bottom in box shell, the axis of epicone ring gear (23) and lower cone ring gear (24) by plane bearing
Line is arranged perpendicular to the central axes of drive roller wheel (21)；The linkage bevel gear (25) for being set as two pieces symmetrically sets up peace by bearing
In the roller support shaft (22) of drive roller wheel (21) two sides and linkage bevel gear (25) simultaneously with epicone ring gear (23) and under
Bore ring gear (24) engagement connection；Outside direction of course changing control conical tooth shaft (26) setting in linkage bevel gear (25), course changing control
Conical tooth shaft (26) is mounted on box shell by bearing erection and course changing control conical tooth shaft (26) and lower cone ring gear (24) teeth portion
Engagement connection, the part that course changing control conical tooth shaft (26) extend out to box hull outside is additionally provided with course changing control driving motor；
It is set as the positioning support portion (3) more covered to be arranged on the preceding flat support part of vehicle frame (1), the positioning support portion more covered
(3) relative to the preceding flat support portion centers of vehicle frame (1) be symmetrical arranged, positioning support portion (3) include be vertically arranged it is hydraulic
Lift cylinders (31), the cylinder body of hydraulic lifting cylinder (31) are mounted on vehicle frame (1), are additionally provided on the telescopic end of hydraulic lifting cylinder (31)
It carries supporting plate (32)；
Vehicle-mounted hydraulic device includes hydraulic power unit and hydraulic control valve group, and hydraulic power unit is connect with servo motor or engine, liquid
Press pump station is connect with hydraulic control valve group, and hydraulic control valve group is connect with hydraulic lifting cylinder (31) respectively by fluid pressure line；
Controlled vehicle-mounted electrical device includes industrial control computer, battery compartment, radio receiving transmitting module, wireless transmitter receiver circuit, position
Feedback and vehicle traction position loop, pattern-recognition feedback judge circuit, chassis lifting control loop, industrial control computer point
Not with radio receiving transmitting module, onboard sensor, drive roller wheel (21) roll drive motor assembly, turn to drive part steering
Driving motor, the electrical connection of vehicle-mounted hydraulic device are controlled, industrial control computer is built-in with the data model of different shelf or pallet.
2. the automated guided vehicle according to claim 1 based on pattern-recognition, which is characterized in that before vehicle frame (1)
Flat support part is the two-part structure of front and back guide extension setting, is equipped with positioning support portion (3) in two-part structure, two
It is telescopically connected between segmentation structure by telescopic hydraulic cylinder, telescopic hydraulic cylinder is connect by fluid pressure line with hydraulic control valve group.
3. the automated guided vehicle according to claim 2 based on pattern-recognition, which is characterized in that be mounted on vehicle frame
(1) cylinder body of the hydraulic lifting cylinder (31) on is equipped between the cylinder body of adjacent hydraulic lifting cylinder (31) leads in the lateral direction
To slipping mechanism and spacing regulating member.
4. the automated guided vehicle according to claim 3 based on pattern-recognition, which is characterized in that guiding slipping mechanism
It is the directive slide track being equipped with and guide slip shoe structure.
5. the automated guided vehicle according to claim 3 based on pattern-recognition, which is characterized in that spacing regulating member
It is that spacing adjusts hydraulic cylinder, spacing adjusts hydraulic cylinder and connect by fluid pressure line with hydraulic control valve group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522605.1A CN109606508A (en) | 2018-12-13 | 2018-12-13 | A kind of automated guided vehicle based on pattern-recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522605.1A CN109606508A (en) | 2018-12-13 | 2018-12-13 | A kind of automated guided vehicle based on pattern-recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109606508A true CN109606508A (en) | 2019-04-12 |
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ID=66007370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811522605.1A Pending CN109606508A (en) | 2018-12-13 | 2018-12-13 | A kind of automated guided vehicle based on pattern-recognition |
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| Country | Link |
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| CN (1) | CN109606508A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111470236A (en) * | 2020-04-24 | 2020-07-31 | 珠海格力智能装备有限公司 | Automatic guide transport vechicle |
| WO2022052966A1 (en) * | 2020-09-14 | 2022-03-17 | 上海安翰医疗技术有限公司 | Control method and control system for magnetic control capsule endoscopic apparatus |
-
2018
- 2018-12-13 CN CN201811522605.1A patent/CN109606508A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111470236A (en) * | 2020-04-24 | 2020-07-31 | 珠海格力智能装备有限公司 | Automatic guide transport vechicle |
| WO2022052966A1 (en) * | 2020-09-14 | 2022-03-17 | 上海安翰医疗技术有限公司 | Control method and control system for magnetic control capsule endoscopic apparatus |
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