CN112405611A - Short-time contact type communication system based on telescopic arm and applied to AGV and station communication - Google Patents
Short-time contact type communication system based on telescopic arm and applied to AGV and station communication Download PDFInfo
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- CN112405611A CN112405611A CN202011208251.0A CN202011208251A CN112405611A CN 112405611 A CN112405611 A CN 112405611A CN 202011208251 A CN202011208251 A CN 202011208251A CN 112405611 A CN112405611 A CN 112405611A
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- communication
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- fork
- telescopic arm
- reduction gear
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- 238000004891 communication Methods 0.000 title claims abstract description 133
- 230000009467 reduction Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a short-time contact type communication system based on a telescopic arm, which is applied to communication between an AGV and a station and comprises a servo motor, a transmission gear, a reduction gear, a communication fork and a communication brush block, wherein the system consists of the servo motor, the transmission gear, the reduction gear, the communication fork and the communication brush block, the output end of the servo motor is fixedly connected with the transmission gear through a rotating shaft, one side of the transmission gear is meshed and connected with the reduction gear, the bottom end of the reduction gear is meshed and connected with a rack, one end of the rack is fixedly connected with the communication fork, and one side of the communication fork is provided with the communication brush block. The reliable communication between the AGV in the non-wireless communication area and the upper dispatching system/MES is solved.
Description
Technical Field
The invention relates to a communication system, in particular to a short-time contact type communication system based on a telescopic arm and applied to communication between an AGV and a station, and belongs to the technical field of communication.
Background
The dispatching system is a main part for solving task planning and path planning among multiple AGVs, states of all stations in a complex intelligent manufacturing factory environment, a goods taking and blanking state are issued to the dispatching system through an MES (manufacturing execution system) system or an AGV is directly issued, and meanwhile the current position and the state of the AGV are required to be obtained. The core of this is to establish a communication link between the AGV and the dispatch system or MES, and for plant environments where wireless communication is not available for a variety of reasons, a reliable method of establishing and disconnecting the connection as needed is needed.
Disclosure of Invention
The invention aims to provide a short-time contact type communication system based on a telescopic arm, which is applied to communication between an AGV and a station, so as to solve the problem that the current position and the state of the AGV are required to be obtained in the background technology. The core of this is the problem of establishing a communication link between the AGV and the dispatch system or MES, and for factory environments where wireless communication cannot be used for communication for a variety of reasons, a reliable method of establishing and disconnecting the connection as needed is needed.
In order to achieve the purpose, the invention provides the following technical scheme: be applied to short time contact communication system based on flexible arm of AGV and station communication, including servo motor, drive gear, reduction gear, communication fork and communication brush piece, the system comprises servo motor, drive gear, reduction gear, communication fork and communication brush piece, servo motor's output is through pivot fixedly connected with drive gear, drive gear's one side meshing is connected with reduction gear, reduction gear's bottom meshing is connected with the rack, the one end fixedly connected with communication fork of rack, one side of communication fork is equipped with the communication brush piece.
As a preferred technical scheme of the invention, the system comprises the following specific operation steps:
step S1: AGV is in place, and position detection is carried out;
step S2: the AGV stops and extends out of a communication fork;
step S3: AGV moment detection contact;
step S4: a communication connection;
step S5: the communication is completed;
step S6: the communication fork contracts;
step S7: and entering the next communication.
As a preferred technical solution of the present invention, in step S4, the communication port connection may be used for communication of communication protocols such as 485 bus, CAN bus, tcp, and the like.
As a preferred technical scheme of the invention, one rack drives two communication fork arms to move simultaneously.
As a preferred technical scheme of the invention, the contact condition of the communication fork arm is accurately controlled through torque.
As a preferred technical scheme of the invention, the communication fork arm is arranged on the AGV body.
According to a preferable technical scheme of the invention, the communication fork adopts a fork arm with a section of 20mm x 100mm, so that the AGV has high parking error tolerance rate and can tolerate any mode with parking precision of less than 20mm, including a magnetic card, a magnetic nail, a two-dimensional code, a laser and the like.
Compared with the prior art, the invention has the beneficial effects that:
the invention is applied to a short-time contact type communication system based on a telescopic arm for communication between an AGV and stations, the separated stations and a vehicle body are connected temporarily through the telescopic forks, the problem of communication between the stations of a wireless unsuitable area and the AGV body in a large scene is solved, an MES instruction or a scheduling instruction can be smoothly sent to the vehicle body, and the current feedback of the AGV can be received, so that the invention has the following advantages:
1. reliable communication between the AGV in the non-wireless communication area and an upper dispatching system/MES is solved;
2. the communication modes comprise 485, can, tcp and various communication modes, and can be supported by a double-wire or single-wire communication mode;
3. the communication fork arm is arranged on the AGV body, so that the increased communication cost and communication complexity for a large scene are low;
4. the safety and stability are realized, and the servo motor keeps stalling after the stress of the communication fork arm reaches a corresponding value;
5. the fault tolerance is high by adopting fork arms with the cross sections of 20mm x 100mm, the fault tolerance rate of the AGV parking error is high, and the AGV parking error can be subjected to any modes with the parking precision below 20mm, including magnetic cards, magnetic nails, two-dimensional codes, lasers and the like;
6. the moment can not become flexible after clamping, can keep fixed power to compress tightly, guarantees the continuation and the stability of connecting.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a communication application of the present invention;
FIG. 3 is a flow chart of the communication system of the present invention.
In the figure: 1. a servo motor; 2. a transmission gear; 3. a reduction gear; 4. a communication fork; 5. and (4) communication brush blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1-3, the present invention provides a technical solution of a short-time contact type communication system based on a telescopic arm for AGV and station communication: be applied to short time contact communication system based on flexible arm of AGV and station communication, including servo motor 1, drive gear 2, reduction gear 3, communication fork 4 and communication brush piece 5, the system is by servo motor 1, drive gear 2, reduction gear 3, communication fork 4 and communication brush piece 5 are constituteed, servo motor 1's output is through pivot fixedly connected with drive gear 2, one side meshing of drive gear 2 is connected with reduction gear 2, reduction gear 2's bottom meshing is connected with the rack, the one end fixedly connected with communication fork 4 of rack, one side of communication fork 4 is equipped with communication brush piece 5.
The specific operation steps of the system are as follows:
step S1: AGV is in place, and position detection is carried out;
step S2: the AGV stops and extends out of a communication fork;
step S3: AGV moment detection contact;
step S4: a communication connection;
step S5: the communication is completed;
step S6: the communication fork contracts;
step S7: and entering the next communication.
In step S4, the communication interface connection may be used for communication protocols such as 485 bus, CAN bus, tcp, and the like.
One rack drives two communication forks 4 arms to move simultaneously.
The contact condition of the 4 arms of the communication fork is accurately controlled through the moment.
The communication fork 4 adopts a fork arm with a section of 20mm x 100mm, and the method has high AGV parking error fault tolerance rate and can tolerate any mode with parking precision below 20mm, including magnetic cards, magnetic nails, two-dimensional codes, lasers and the like.
According to the figure 1, figure 1 is a system structure diagram of a short-time contact type communication system based on a telescopic arm and applied to AGV and station communication, the system structure diagram comprises a servo motor 1, a transmission gear 2, a reduction gear 3, a communication fork 4, a communication brush block 5 and the like, when the communication fork 4 is stretched out, the servo motor 1 rotates forwards, the transmission gear 2 drives the reduction gear 3 to rotate, the reduction gear 3 drives the communication fork 4 to stretch out, when the communication fork 4 is retracted, the servo motor 1 rotates backwards, the transmission gear 2 drives the reduction gear 3 to rotate, and the reduction gear 3 drives the communication fork 4 to retract.
FIG. 2 is a schematic diagram of a system application of a telescopic arm-based short-time contact type communication system applied to AGV and station communication, wherein communication between a dispatching system and an AGV body is interacted through a communication module.
Fig. 3 is a system flowchart of a system applied to a short-time contact type communication system based on a telescopic arm for communicating between an AGV and a workstation, and the specific process is as follows:
step S1: AGV is in place, and position detection is carried out;
step S2: the AGV stops and extends out of a communication fork;
step S3: AGV moment detection contact;
step S4: a communication connection;
step S5: the communication is completed;
step S6: the communication fork contracts;
step S7: and entering the next communication.
When the communication system is used, the communication system is installed on an AGV body and stops after the AGV reaches a station point, the communication system controls a servo motor 1 to rotate, a transmission gear 2 and a reduction gear 3 are used for reducing speed and then driving a communication fork 4 arm to rotate, a straight gear is arranged on the communication fork 4 arm and extends out of the communication fork 4 arm, the fork arm stops after reaching a station communication brush block 5 and being stressed to a set value, contact is completed, the AGV body and a dispatching system communicate through a 485modbus protocol, after communication is completed, a controller controls the servo motor 1 to rotate reversely to drive the communication fork 4 arm to retract, and after retraction, the AGV reaches a next designated station.
In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Be applied to short time contact communication system based on telescopic boom of AGV and station communication, including servo motor (1), drive gear (2), reduction gear (3), communication fork (4) and communication brush piece (5), its characterized in that, the system is by servo motor (1), drive gear (2), reduction gear (3), communication fork (4) and communication brush piece (5) are constituteed, the output of servo motor (1) is through pivot fixedly connected with drive gear (2), one side meshing of drive gear (2) is connected with reduction gear (2), the bottom meshing of reduction gear (2) is connected with the rack, the one end fixedly connected with communication fork (4) of rack, one side of communication fork (4) is equipped with communication brush piece (5).
2. The system of claim 1, wherein the AGV communicates with the workstation using a short contact time based on a telescopic arm, further comprising: the specific operation steps of the system are as follows:
step S1: AGV is in place, and position detection is carried out;
step S2: the AGV stops and extends out of a communication fork;
step S3: AGV moment detection contact;
step S4: a communication connection;
step S5: the communication is completed;
step S6: the communication fork contracts;
step S7: and entering the next communication.
3. The system of claim 2, wherein the AGV communicates with the workstation using a short contact time based on a telescopic arm, further comprising: in step S4, the communication interface connection may be used for communication protocols such as 485 bus, CAN bus, tcp, and the like.
4. The system of claim 1, wherein the AGV communicates with the workstation using a short contact time based on a telescopic arm, further comprising: one rack drives two communication fork (4) arms to move simultaneously.
5. The system of claim 2, wherein the AGV communicates with the workstation using a short contact time based on a telescopic arm, further comprising: the arm contact condition of the communication fork (4) is accurately controlled through the moment.
6. The system of claim 2, wherein the AGV communicates with the workstation using a short contact time based on a telescopic arm, further comprising: the communication fork (4) arm is arranged on the AGV body.
7. The system of claim 1, wherein the AGV communicates with the workstation using a short contact time based on a telescopic arm, further comprising: the communication fork (4) adopts a fork arm with a section of 20mm x 100mm, the AGV parking error fault tolerance rate is high, and any mode with parking accuracy below 20mm can be tolerated, including magnetic cards, magnetic nails, two-dimensional codes, lasers and the like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011208251.0A CN112405611A (en) | 2020-11-03 | 2020-11-03 | Short-time contact type communication system based on telescopic arm and applied to AGV and station communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011208251.0A CN112405611A (en) | 2020-11-03 | 2020-11-03 | Short-time contact type communication system based on telescopic arm and applied to AGV and station communication |
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| Publication Number | Publication Date |
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| CN112405611A true CN112405611A (en) | 2021-02-26 |
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| CN202011208251.0A Pending CN112405611A (en) | 2020-11-03 | 2020-11-03 | Short-time contact type communication system based on telescopic arm and applied to AGV and station communication |
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Citations (9)
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| JP2009026775A (en) * | 2008-11-05 | 2009-02-05 | Denso Wave Inc | External power connecting device for mobile robot |
| CN201298629Y (en) * | 2008-10-22 | 2009-08-26 | 西北电网有限公司 | A robot battery charging apparatus |
| DE102010000607A1 (en) * | 2010-03-02 | 2011-09-08 | Vorwerk & Co. Interholding Gmbh | Household vacuum cleaner for use as base station for automatically movable vacuum cleaner or sweeping unit, is provided with location independent energy supply, and has appropriate motor- or blower unit |
| CN204481516U (en) * | 2015-03-17 | 2015-07-15 | 天津朗誉科技发展有限公司 | AGV automatic charger |
| CN206426866U (en) * | 2017-01-11 | 2017-08-22 | 深圳慧尔普智能技术有限公司 | Automatic telescopic charging device and AGV automatic charging systems |
| CN208754302U (en) * | 2018-08-03 | 2019-04-16 | 北京华创求实机器人技术有限公司 | AGV trolley and infrared laser communication system with infrared laser communication device |
| US20190168395A1 (en) * | 2017-12-01 | 2019-06-06 | Macdonald, Dettwiler And Associates Inc. | Low-profile manipulator interface system |
| CN109878357A (en) * | 2019-03-12 | 2019-06-14 | 合肥旺和电子科技有限公司 | Charging pile for AGV |
| CN210000150U (en) * | 2019-03-26 | 2020-01-31 | 西安工业大学 | walking mechanism capable of automatically extending out of charging connector |
-
2020
- 2020-11-03 CN CN202011208251.0A patent/CN112405611A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201298629Y (en) * | 2008-10-22 | 2009-08-26 | 西北电网有限公司 | A robot battery charging apparatus |
| JP2009026775A (en) * | 2008-11-05 | 2009-02-05 | Denso Wave Inc | External power connecting device for mobile robot |
| DE102010000607A1 (en) * | 2010-03-02 | 2011-09-08 | Vorwerk & Co. Interholding Gmbh | Household vacuum cleaner for use as base station for automatically movable vacuum cleaner or sweeping unit, is provided with location independent energy supply, and has appropriate motor- or blower unit |
| CN204481516U (en) * | 2015-03-17 | 2015-07-15 | 天津朗誉科技发展有限公司 | AGV automatic charger |
| CN206426866U (en) * | 2017-01-11 | 2017-08-22 | 深圳慧尔普智能技术有限公司 | Automatic telescopic charging device and AGV automatic charging systems |
| US20190168395A1 (en) * | 2017-12-01 | 2019-06-06 | Macdonald, Dettwiler And Associates Inc. | Low-profile manipulator interface system |
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| CN210000150U (en) * | 2019-03-26 | 2020-01-31 | 西安工业大学 | walking mechanism capable of automatically extending out of charging connector |
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Application publication date: 20210226 |