CN107814153A - A kind of AGV vehicles of high-precision off-position fork device and its off-position method - Google Patents
A kind of AGV vehicles of high-precision off-position fork device and its off-position method Download PDFInfo
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- CN107814153A CN107814153A CN201711111654.1A CN201711111654A CN107814153A CN 107814153 A CN107814153 A CN 107814153A CN 201711111654 A CN201711111654 A CN 201711111654A CN 107814153 A CN107814153 A CN 107814153A
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- sliding block
- car body
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000011017 operating method Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to material flows automation field, and in particular to a kind of AGV vehicles of high-precision off-position fork device and its off-position method.The technical scheme is that：A kind of AGV vehicles of high-precision off-position fork device, and comprising AGV dollies and auxiliary positioning part, the AGV dollies include car body and the inductor assembly on the car body；The car body includes car leg, and walking wheel assembly is provided with the car leg, and the car body is provided with transversely movable transverse-moving mechanism, pallet fork is connected with the transverse-moving mechanism；The inductor assembly includes at least two range sensors for being used for detecting distance and the position-detection sensor on the transverse-moving mechanism.It is an object of the invention to provide a kind of AGV vehicles of high-precision off-position to fork device and its off-position method, using distance measuring sensor and switch sensor combination traverse displacement unit, the position control accuracy of effective three controlled quentity controlled variables of lifting truck.
Description
Technical field
The present invention relates to material flows automation field, and in particular to a kind of AGV vehicles of high-precision off-position fork device and its
Off-position method.
Background technology
AGV, i.e. automatic guided vehicle, refer to equipment homing guidance device, the transport vehicle that can be travelled along defined guide path.
AGV's is widely used, can be substituted in storage environment and be accomplished manually the tasks such as stacking, de-stacking, carrying.And in AGV work
It is high for the required precision that guides and position especially in the work for forking formula AGV in work, when AGV positions unpunctual, stretch
On the one hand the pallet fork gone out can be forked less than specified goods, another aspect, it is possible to interfere and touch with shelf or pallet
Hit, not only reduce operating efficiency, also add very big potential safety hazard.
Specifically, the raising of AGV positioning precision needs three controlled quentity controlled variables, i.e. lengthwise position precision is parallel to pallet fork side
To, lateral attitude accuracy vertical in pallet fork direction and posture vehicle body longitudinal direction and the angle of target stop position.Some application scenarios
AGV and other equipment such as manipulator etc. are docked, or the requirement of multiple-level stack task dispatching forks mechanism and has higher repetition to stop
Position precision, and it is reliable and stable.
And the technology of existing AGV positioning and off-position, the mode for often relying on single control carry out terminal off-position control, and
A variety of interference or uncertain factor, such as the basic machine structure of AGV dollies, the fortune of dolly be present in the mode of this single control
Dynamic to learn control, sensor accuracy limitation, running environment etc., in this case, AGV can not be realized three above-mentioned controls effectively
Amount processed reaches the requirement of merging precision.
The content of the invention
It is an object of the invention to provide a kind of AGV vehicles of high-precision off-position to fork device and its off-position method, utilizes survey
Away from sensor and switch sensor combination traverse displacement unit, the position control accuracy of effective three controlled quentity controlled variables of lifting truck.
The present invention above-mentioned technical purpose technical scheme is that：A kind of AGV of high-precision off-position
Vehicle forks device, and comprising AGV dollies and auxiliary positioning part, the AGV dollies include car body and on the car body
Inductor assembly；The car body includes car leg, and walking wheel assembly is provided with the car leg, and the car body is provided with and can laterally moved
Dynamic transverse-moving mechanism, pallet fork is connected with the transverse-moving mechanism；The inductor assembly is used for detecting distance comprising at least two
Range sensor and the position-detection sensor on the transverse-moving mechanism；The auxiliary positioning part include with it is described away from
The baffle plate being used cooperatively from sensor and the location-plate being used cooperatively with the laser sensor, it is fixed to offer on the location-plate
Position hole.
As a preference of the present invention, the range sensor is two, it is separately mounted on two car legs.
As a preference of the present invention, the range sensor is two, it is separately mounted on two pallet forks.
As a preference of the present invention, the transverse-moving mechanism includes the track, on the track being arranged on the car body
Mobile sliding block and the drive device for driving the sliding block to slide, the pallet fork and the position-detection sensor are installed in institute
State on sliding block.
As a preference of the present invention, the track extends in the horizontal direction.
As a preference of the present invention, also include the spacing dress for being used for limiting the shift position of the sliding block on the track
Put.
As a preference of the present invention, also include the guider for being used for being aligned in advance to the AGV dollies, the navigation
Device is environment navigation device or magnetic guidance guider or two-dimension code navigation device.
A kind of AGV vehicles of high-precision off-position fork the off-position method of device, comprise the following steps,
Step 1: Ground arrangement step：
The baffle plate and the location-plate are arranged in target location, the positioning hole is offered on the location-plate；
Step 2: dolly forward step is rapid：
The AGV dollies are close toward the baffle plate direction, now two range sensors on car leg or pallet fork
Start working, and respectively obtain the feedback data A and feedback data B with the distance of the baffle plate；
Step 3: pose adjustment and longitudinal register step：
According to feedback data A and feedback data B numerical value difference, the posture of the AGV dollies is adjusted, and when described anti-
When feedback data A and feedback data B reaches pre-determined distance value, the AGV dollies are controlled to stop；
Step 4: lateral positioning step：
Operate the transverse-moving mechanism to slide laterally, when the position-detection sensor detects the positioning hole, stop laterally
Slide.
As a preference of the present invention, in step 4, transverse-moving mechanism includes slide rail and sliding block, the position-detection sensor
On the sliding block, the sliding block first slides into the extreme position of side, then slides round about.
As a preference of the present invention, the speed that the sliding block slides round about, which is slower than the sliding block, slides into side
Speed during extreme position.
In summary, the present invention has the advantages that：
1st, the off-position of dolly can be controlled in terms of lengthwise position precision, lateral attitude precision and posture three, lifts the degree of accuracy.
2nd, realized using three inductors, simple in construction, the transformation degree to car body is small, reduces improvement cost.
Brief description of the drawings：
Fig. 1 is the schematic diagram of AGV dollies；
Fig. 2 is the schematic diagram of embodiment 1.
In figure：
1st, car body, 11, car leg, 2, transverse-moving mechanism, 31, position-detection sensor, 32, range sensor, 41, baffle plate, 42, positioning
Hole.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
This specific embodiment is only explanation of the invention, and it is not limitation of the present invention, people in the art
Member can make the modification of no creative contribution to the present embodiment as needed after this specification is read, but as long as at this
All protected in the right of invention by Patent Law.
Embodiment 1, as depicted in figs. 1 and 2：Comprising AGV dollies, dolly does not have not in structure with existing dolly
Together, the same walking structure for including transmission, such as road wheel, the pallet fork comprising car leg 11 and for forking goods.Pallet fork is with liter
It falling unit, can be lifted with the vertical direction, adjust its height and position.
, it is necessary to be provided with inductor assembly on the car body 1 of AGV dollies on the basis of existing structure, specifically, sensing
Device assembly comprises at least three, is on two range sensors 32 and a position-detection sensor 31 respectively.Two of which away from
It is may be mounted at from sensor 32 on car leg 11.
Accordingly, the technical program is needed to dispose shipping environment, and shelf are provided with storage environment, are stacked on shelf
There is pallet, goods is placed with pallet, there is space in pallet, the pallet fork of AGV dollies, which is extend into the space of pallet, to be completed to fork
Action.In the rear position of shelf, baffle plate 41 can be provided with, baffle plate 41 extends on vertical plane, perpendicular to ground, can reflected sharp
Light, range sensor 32 is coordinated to use.
On car body 1, transverse-moving mechanism is additionally provided with, can be moved in horizontal transverse direction, specifically, water can be provided with car body 1
The flat track set, provided with the sliding block slided in orbit, drive device can be hydraulic cylinder or be electric cylinders.Installed on sliding block
There is pallet fork, in addition, being also equipped with position-detection sensor 31 on sliding block.Position-detection sensor 31 can use laser, infrared, sound
The sensors such as ripple.Accordingly, in storage environment, such as the wall of on shelf or on pallet or shelf behind is provided with
Location-plate, positioning hole is offered on location-plate.
It is Step 1: the related content of Ground arrangement step, is subsequently entered Step 2: dolly forward step is rapid, at this above
In individual step, dolly can be aligned in advance by guider, such as traditional environment navigation device, magnetic conductance guiding navigation dress
Put or two-dimension code navigation device etc., turned round, and finally with straight path close to shelf.
Step 3: pose adjustment and longitudinal register step.In previous step, when dolly is close to shelf, distance passes
Sensor 32 just has started.Range sensor 32 can be laser sensor, and laser is irradiated to the baffle plate 41, can surveyed
Go out the position of the relatively described baffle plate 41 of range sensor 32.Just as described above, two range sensors 32 are separately mounted to two
The front end of individual car leg 11, and feedback data A and feedback data B are respectively obtained, such as 0.2m, and 0.21m.In this step, it is small
Car is just adjusted the direction of itself according to the two data, until two data are equal, then it represents that the pose adjustment of dolly into
Work(, dolly now are right against baffle plate 41, that is, are right against shelf.
Whether feedback data A and feedback data B according to numeral except in addition to the equal posture to detect and adjust itself, may be used also
To adjust its longitudinal register, for example, preset value be dolly front end need apart from baffle plate 41 be 0.15m when then judge dolly in place,
I.e. when feedback data A and feedback data B are 0.15m, dolly stops.
So far, the adjustment of pose adjustment and lengthwise position, which has all adjusted, finishes.
Step 4, lateral positioning step, it is quick sidesway and side positioning at a slow speed respectively in this step comprising two steps.
It is quick sidesway first, position-detection sensor 31 is arranged on sliding block, and sliding block is first quickly moved to side, is, for example, left side,
Extreme position.This extreme position can be controlled by data control sensor device, such as be opened in the installation fine motion of some position of left side
Close, stopping being automatically controlled when sliding block slides into this position.Then whole sliding block starts slowly to move to right, until position is detected
The laser that sensor 31 is sent is braked when being irradiated to positioning hole 42, is represented that transverse shifting is in place, is completed located lateral
Step.Such two step by step rapid design be based on two reasons, reason one, after longitudinal off-position, need before traversing positioning into
The judgement in the traversing direction of row, judges off-position point and target point lateral deviation direction, because position error has by laser positioning
There is situation about can not judge in certain probability；Reason two, such operating provision motion flow, improve stability, reliability.
In actual use, pallet has two kinds of design methods, and one kind is middle without perpendicular gear, and another pallet is that centre has
Perpendicular gear.Wherein, with the presence of the perpendicular pallet meeting kept off, because erecting, stopper is divided and the pallet fork of transverse shifting is interfered for centre, if in
Between have the pallet of perpendicular gear, it is necessary to dolly completes be further continued for after step 4 before enter to fork goods, and if middle without perpendicular gear
Pallet, then do not limit, can be enter it is traversing again in pallet.
Embodiment 2, as different from Example 1, range sensor 32 are mounted on pallet fork.When on pallet fork
When, it is lifting be present in stacking procedure because pallet fork and car leg 11 are different.So in order to coordinate range sensor 32, must
Baffle plate 41 corresponding to must being designed with various height on position.
Claims (10)
1. a kind of AGV vehicles of high-precision off-position fork device, AGV dollies and auxiliary positioning part are included, it is characterised in that：It is described
AGV dollies include car body（1）With installed in the car body（1）On inductor assembly；The car body（1）Include car leg（11）,
The car leg（11）On walking wheel assembly, the car body are installed（1）It is provided with transversely movable transverse-moving mechanism（2）, it is described
Transverse-moving mechanism（2）On be connected with pallet fork；The inductor assembly includes at least two range sensors for being used for detecting distance
（32）With installed in the transverse-moving mechanism（2）On position-detection sensor（31）；The auxiliary positioning part include with it is described away from
From sensor（32）The baffle plate being used cooperatively（41）With with the laser sensor（31）The location-plate being used cooperatively, the positioning
Positioning hole is offered on plate.
2. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：The distance
Sensor（32）For two, two car legs are separately mounted to（11）On.
3. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：The distance
Sensor（32）For two, it is separately mounted on two pallet forks.
4. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：It is described traversing
Mechanism（2）Including installed in the car body（1）On track, the sliding block that moves on the track and the driving sliding block slide
Drive device, the pallet fork and the position-detection sensor（31）It is installed on the sliding block.
5. a kind of AGV vehicles of high-precision off-position according to claim 4 fork device, it is characterised in that：The track
Extend in the horizontal direction.
6. a kind of AGV vehicles of high-precision off-position according to claim 4 fork device, it is characterised in that：Also comprising use
In the stopping means for limiting the shift position of the sliding block on the track.
7. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：Also comprising use
In the guider aligned in advance to the AGV dollies, the guider is supplied laser navigation apparatus or environment navigation device
Or magnetic guidance guider or two-dimension code navigation device.
8. a kind of a kind of AGV vehicles of high-precision off-position according to claim 1-7 any one fork the off-position of device
Method, it is characterised in that：Comprise the following steps,
Step 1: Ground arrangement step：
The baffle plate is arranged in target location（41）With the location-plate, the positioning hole is offered on the location-plate；
Step 2: dolly forward step is rapid：
The AGV dollies are under the guider guiding of its pre- contraposition toward the baffle plate（41）Direction is close, reaches preset, this
When be arranged on car leg（11）Or two range sensors on pallet fork are started working, and respectively obtain and the baffle plate（41）
Distance feedback data A and feedback data B；
Step 3: pose adjustment and longitudinal register step：
According to feedback data A and feedback data B numerical value difference, the posture of the AGV dollies is adjusted, and when described anti-
When feedback data A and feedback data B reaches pre-determined distance value, the AGV dollies are controlled to stop；
Step 4: lateral positioning step：
Operate the transverse-moving mechanism（2）Slide laterally, when the position-detection sensor（31）When detecting the positioning hole, stop
Only slide laterally.
9. a kind of a kind of AGV vehicles of high-precision off-position according to claim 8 fork the off-position method of device, its feature
It is：In step 4, transverse-moving mechanism includes slide rail and sliding block, the position-detection sensor（31）On the sliding block,
The sliding block first slides into the extreme position of side, then slides round about.
A kind of a kind of 10. narrow opening automatic guidance system operating method according to claim 9, it is characterised in that：It is described
The speed that sliding block slides round about is slower than the speed when sliding block slides into the extreme position of side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111654.1A CN107814153B (en) | 2017-11-13 | 2017-11-13 | AGV vehicle forking device with high-precision parking and parking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111654.1A CN107814153B (en) | 2017-11-13 | 2017-11-13 | AGV vehicle forking device with high-precision parking and parking method thereof |
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| CN107814153A true CN107814153A (en) | 2018-03-20 |
| CN107814153B CN107814153B (en) | 2023-11-28 |
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| CN201711111654.1A Active CN107814153B (en) | 2017-11-13 | 2017-11-13 | AGV vehicle forking device with high-precision parking and parking method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584809A (en) * | 2018-06-01 | 2018-09-28 | 上海诺力智能科技有限公司 | AGV fork trucks automatic access goods control system and method |
| CN108594809A (en) * | 2018-04-04 | 2018-09-28 | 合肥工业大学 | A kind of high-accuracy mechanical positioning and clearance device for AGV |
| CN109437064A (en) * | 2018-12-18 | 2019-03-08 | 云南昆船智能装备有限公司 | A kind of lifting side V shape AGV |
| CN110065558A (en) * | 2019-04-22 | 2019-07-30 | 深圳创维－Rgb电子有限公司 | A kind of back Kun formula AGV auxiliary locator and its method |
| CN111462472A (en) * | 2019-01-22 | 2020-07-28 | 北京京东尚科信息技术有限公司 | Unmanned vehicle scheduling method, equipment and system |
| CN112830428A (en) * | 2020-06-18 | 2021-05-25 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN113029578A (en) * | 2021-04-28 | 2021-06-25 | 杭州克罗德机电设备有限公司 | Engine testing device and testing method thereof |
| CN114715725A (en) * | 2022-04-29 | 2022-07-08 | 厦门航天思尔特机器人系统股份公司 | Yarn roll feeding system |
| CN116674920A (en) * | 2023-04-25 | 2023-09-01 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
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| CN108594809B (en) * | 2018-04-04 | 2021-04-09 | 合肥工业大学 | High-precision mechanical positioning and releasing device for AGV |
| CN108594809A (en) * | 2018-04-04 | 2018-09-28 | 合肥工业大学 | A kind of high-accuracy mechanical positioning and clearance device for AGV |
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| CN110065558A (en) * | 2019-04-22 | 2019-07-30 | 深圳创维－Rgb电子有限公司 | A kind of back Kun formula AGV auxiliary locator and its method |
| CN112830428A (en) * | 2020-06-18 | 2021-05-25 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
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| CN114715725A (en) * | 2022-04-29 | 2022-07-08 | 厦门航天思尔特机器人系统股份公司 | Yarn roll feeding system |
| CN114715725B (en) * | 2022-04-29 | 2023-09-29 | 厦门航天思尔特机器人系统股份公司 | Yarn package feeding system |
| CN116674920A (en) * | 2023-04-25 | 2023-09-01 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
| CN116674920B (en) * | 2023-04-25 | 2024-01-23 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
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