CN206298317U - A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy - Google Patents
A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy Download PDFInfo
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- CN206298317U CN206298317U CN201621276614.3U CN201621276614U CN206298317U CN 206298317 U CN206298317 U CN 206298317U CN 201621276614 U CN201621276614 U CN 201621276614U CN 206298317 U CN206298317 U CN 206298317U
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Abstract
The utility model discloses a kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy, including AGV car bodies, magnetic navigation unit and controller；The rear portion of AGV car bodies is provided with a pair of parallel yoke；Magnetic navigation unit includes the first magnetic navigation sensor, the second magnetic navigation sensor and navigation magnetic stripe, first magnetic navigation sensor is arranged at the lower front of AGV car bodies, second magnetic navigation sensor is located between a pair of yokes, and first magnetic navigation sensor and the second magnetic navigation sensor be respectively positioned on the center line of AGV car body fore-and-aft directions, navigation magnetic stripe is laid on the horizontal navigation magnetic stripe and longitudinal direction navigation magnetic stripe on ground including square crossing；Controller is fixed on AGV car bodies, and controller is connected with magnetic navigation unit and AGV car body signals.The fork truck type AGV system with high accuracy reversing positioning function of the present utility model has positioning precision high, simple structure, practical, applied widely, low cost.
Description
Technical field
The utility model is related to AGV fields, the fork truck type AGV of more particularly to a kind of positioning function of being moveed backward with high accuracy
System.
Background technology
AGV is a kind of common wheeled mobile robot, refers to and is equipped with electromagnetism, gyroscope, laser navigation or GPS etc. automatically
Guiding device, can be along the track automatic running of setting, the carrier with safeguard protection and transfer function.As factory is automatic
Change, the progressively development and the extensive use of flexible manufacturing system of computer integrated manufacturing system technology, automatic transportation equipment is
Realize contact and regulation discrete type logistics system so that the necessary means of its continuous operations, AGV is in fields such as logistics systems
Effect is more and more obvious.
At present, goods is carried and generally uses pallet as carrier, puts pallet by fork to realize the carrying of goods.Fork truck type
AGV typically uses front-wheel drive and steering, and remaining train is responsible for carrying, due to its design feature and bearing capacity, it is adaptable to raw
The pallet cargo transport operation in workshop is produced, progressively replaces artificial fork truck, and important role is play in AGV applications.
In handling process, for fork truck type AGV, reversing picks and places function and is particularly important, and its precision and stability is to realize carrying
The key of operation.
Fork truck type AGV reversing process include " slow down-stop -90 degree turn to-stop-retreat " a series of actions, before " subtract
Retrogressing initial position of the speed-stop -90 degree steerings-stopping " afterwards residing for AGV can have a strong impact on the precision and stabilization of next step retrogressing
Property.Retrogressing initial position occurs relatively large deviation in the state of the pallet fork of existing fork truck type AGV lifts two kinds of differences, or even de-
From magnetic stripe, it is unfavorable for rapid adjustment and the operation stability of fallback procedures.Passed according to two landmark sensors or single terrestrial reference
The adjustable method of sensor front and back position distinguishes two states, and not only cost increases, and its mechanical part and electric part also seem
Redundancy is complicated so that the cost of fork truck type AGV increases.
Utility model content
Based on this, the purpose of this utility model is, there is provided a kind of fork truck type AGV of positioning function of being moveed backward with high accuracy
System, it has the advantages that positioning precision high, simple structure, practical, applied widely, low cost.
A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy, including AGV car bodies, magnetic navigation unit and control
Device processed；The rear portion of the AGV car bodies is provided with a pair of parallel yoke；The magnetic navigation unit is sensed including the first magnetic navigation
Device, the second magnetic navigation sensor and navigation magnetic stripe, first magnetic navigation sensor are arranged under the front portion of the AGV car bodies
Side, second magnetic navigation sensor is located between the pair of yoke, and first magnetic navigation sensor and the second magnetic conductance
Boat sensor is respectively positioned on the center line of the AGV car bodies fore-and-aft direction, and the navigation magnetic stripe is laid on ground including square crossing
The horizontal navigation magnetic stripe and longitudinal direction navigation magnetic stripe in face；The controller is fixed on the AGV car bodies, the controller with it is described
Magnetic navigation unit and AGV car bodies signal are connected.
The fork truck type AGV system with high accuracy reversing positioning function of utility model is sharp by setting magnetic navigation unit
Gathered horizontal navigation magnetic stripe arranged in a crossed manner and indulged with the first magnetic navigation sensor of front and rear setting and the second magnetic navigation sensor
To the information on navigation magnetic stripe, and transmit into controller and carry out computing and judgement, controller control AGV car bodies are performed exactly
A series of reverse actions, solve that fork truck type AGV reversings positioning precision in the prior art is low, and stability is not enough, it is poor for applicability and
Complex structure and other problems.
Further, the front portion of the AGV car bodies is provided with driving wheel, and first magnetic navigation sensor is located at the drive
The front side of driving wheel.
Further, it is provided with driven pulley below the pair of yoke.
Further, second magnetic navigation sensor is located between the pair of driven pulley.
Further, the pair of yoke slides up and down the rear portion for being arranged on the AGV car bodies.
Further, the controller is ARM controller.
Relative to prior art, the fork truck type AGV system with high accuracy reversing positioning function of the present utility model passes through
Magnetic navigation unit is set, it is arranged in a crossed manner using the first magnetic navigation sensor of front and rear setting and the collection of the second magnetic navigation sensor
The horizontal information on navigation magnetic stripe and longitudinal direction navigation magnetic stripe, and transmit into controller and carry out computing and judgement, controller control
AGV car bodies perform a series of reverse actions exactly, solve in the prior art fork truck type AGV reversing positioning precision it is low, stabilization
Property not enough, poor for applicability and complex structure and other problems.The fork truck type AGV of positioning function of being moveed backward with high accuracy of the present utility model
Many advantages, such as system has positioning precision high, simple structure, practical, applied widely, low cost, with very strong city
Field promotion prospect.
In order to more fully understand and implement, the utility model is described in detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the side view of AGV car bodies.
Fig. 2 is the operating diagram of the fork truck type AGV system with high accuracy reversing positioning function of the present utility model.
Fig. 3 is that another work of the fork truck type AGV system with high accuracy reversing positioning function of the present utility model is illustrated
Figure.
Fig. 4 is the control block diagram of the fork truck type AGV system with high accuracy reversing positioning function of the present utility model.
Specific embodiment
Refer to Fig. 1 and Fig. 2.The fork truck type AGV system of positioning function of being moveed backward with high accuracy of the present utility model, including
AGV car bodies 10, magnetic navigation unit 20 and controller 30；The rear portion of the AGV car bodies 10 is provided with a pair of parallel yoke 11；Institute
Stating magnetic navigation unit 20 includes the first magnetic navigation sensor 21, the second magnetic navigation sensor 22 and navigation magnetic stripe, first magnetic
Navigation sensor 21 is arranged at the lower front of the AGV car bodies 10, and second magnetic navigation sensor 22 is located at the pair of
Between yoke 11, and before the magnetic navigation sensor 22 of first magnetic navigation sensor 21 and second is respectively positioned on the AGV car bodies 10
On the center line of rear direction, the navigation magnetic stripe is laid on the horizontal navigation magnetic stripe 23 on ground including square crossing and longitudinal direction is navigated
Magnetic stripe 24；The controller 30 is fixed on the AGV car bodies 10, the controller 30 and the magnetic navigation unit 20 and AGV
The signal of car body 10 is connected.
Refer to Fig. 4.First magnetic navigation sensor 21 and the second magnetic navigation sensor 22 collection of magnetic navigation unit 20 are led
Information on boat magnetic stripe, and the information that will be collected is sent on controller 30, controller 30 is according to the information for collecting to AGV
Car body 10 sends control instruction.
Specifically, the pair of yoke 11 of the present embodiment slides up and down the rear portion for being arranged on the AGV car bodies 10.It is described
The front portion of AGV car bodies 10 is provided with driving wheel 12, and first magnetic navigation sensor 21 is located at the front side of the driving wheel 12.Institute
The lower section for stating a pair of yokes 11 is provided with driven pulley 13, and second magnetic navigation sensor 22 preferably is arranged at into described one
To between driven pulley 13.Laterally the infall of navigation magnetic stripe 23 and longitudinal direction navigation magnetic stripe 24 is provided with RFID label tag.
The controller 30 of the present embodiment is preferably ARM controller.
The specific work process of fork truck type AGV system with high accuracy reversing positioning function of the present utility model is：
First magnetic navigation sensor 21 is reading at reversing crossroad (i.e. horizontal navigation magnetic stripe 23 and longitudinal direction navigation magnetic
The infall of bar 24) RFID label tag after perform " slow down-stop -90 degree turn to-stop-retreat " a series of reverse actions.Just
In the case of often, the valid data that the first magnetic navigation sensor 21 and the second magnetic navigation sensor 22 are collected are present position
The width of navigation magnetic stripe.During initial position, laterally navigation magnetic stripe 23 overlaps the center line of the fore-and-aft direction of AGV car bodies 10.
Refer to Fig. 2 and Fig. 3.First, controller 30 sends deceleration instruction, and AGV car bodies 10 continue edge in moderating process
Laterally navigation magnetic stripe 23 to walk and by crossroad of moveing backward, until the second magnetic navigation sensor 22 reads longitudinal direction navigation magnetic
Bar 24, the valid data for now collecting are greatly increased, and trigger controller 30 sends halt instruction, and AGV car bodies 10 are in inertia
There is a bit of braking distance under effect, just cause that driven pulley 13 is parked in longitudinal direction navigation magnetic stripe 24 position.
After stopping stabilization, AGV car bodies 10 start to perform 90 degree of steerings using the center of a pair of driven 13 as axle center
Action.First magnetic navigation sensor 21 after its marginal position senses longitudinal direction navigation magnetic stripe 24, is triggered again in steering procedure
Controller 30 sends halt instruction, due to inertia, after AGV car bodies 10 stop stabilization, and the first magnetic navigation sensor 21 and the second magnetic
Navigation sensor 22 is just all located at longitudinal direction navigation magnetic stripe 24 centre position, and AGV car bodies 10 are carried out most in this, as initial position
Whole backward movement is until completing.
In addition, a pair of lifting two states of yoke 11 are only to the first magnetic navigation sensor 21 and the second magnetic navigation sensor
22 relative position has an impact, and the original position of each reverse action is not influenceed, therefore under a pair of lifting two states of yoke 11
Car backing operation can meet requirement.
Relative to prior art, the fork truck type AGV system with high accuracy reversing positioning function of the present utility model passes through
Magnetic navigation unit is set, it is arranged in a crossed manner using the first magnetic navigation sensor of front and rear setting and the collection of the second magnetic navigation sensor
The horizontal information on navigation magnetic stripe and longitudinal direction navigation magnetic stripe, and transmit into controller and carry out computing and judgement, controller control
AGV car bodies perform a series of reverse actions exactly, solve in the prior art fork truck type AGV reversing positioning precision it is low, stabilization
Property not enough, poor for applicability and complex structure and other problems.The fork truck type AGV of positioning function of being moveed backward with high accuracy of the present utility model
Many advantages, such as system has positioning precision high, simple structure, practical, applied widely, low cost, with very strong city
Field promotion prospect.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore can not be interpreted as the limitation to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
Protection domain of the present utility model.
Claims (6)
1. it is a kind of with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that：Including AGV car bodies, magnetic navigation
Unit and controller；The rear portion of the AGV car bodies is provided with a pair of parallel yoke；The magnetic navigation unit includes the first magnetic conductance
Boat sensor, the second magnetic navigation sensor and navigation magnetic stripe, before first magnetic navigation sensor is arranged at the AGV car bodies
Portion lower section, second magnetic navigation sensor is located between the pair of yoke, and first magnetic navigation sensor and second
Magnetic navigation sensor is respectively positioned on the center line of the AGV car bodies fore-and-aft direction, and the navigation magnetic stripe is laid including square crossing
In the horizontal navigation magnetic stripe and longitudinal direction navigation magnetic stripe on ground；The controller is fixed on the AGV car bodies, the controller with
The magnetic navigation unit and AGV car bodies signal are connected.
2. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that：Institute
The front portion for stating AGV car bodies is provided with driving wheel, and first magnetic navigation sensor is located at the front side of the driving wheel.
3. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that：Institute
State and be provided with a pair of driven below a pair of yokes.
4. it is according to claim 3 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that：Institute
The second magnetic navigation sensor is stated to be located between the pair of driven pulley.
5. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that：Institute
State a pair of yokes and slide up and down the rear portion for being arranged on the AGV car bodies.
6. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that：Institute
Controller is stated for ARM controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276614.3U CN206298317U (en) | 2016-11-21 | 2016-11-21 | A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276614.3U CN206298317U (en) | 2016-11-21 | 2016-11-21 | A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy |
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| CN206298317U true CN206298317U (en) | 2017-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621276614.3U Active CN206298317U (en) | 2016-11-21 | 2016-11-21 | A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491374A (en) * | 2017-09-12 | 2019-03-19 | 杭州海康机器人技术有限公司 | The track adjusting method and device of automatic guided vehicle |
| CN110515374A (en) * | 2018-05-22 | 2019-11-29 | 本田技研工业株式会社 | The guidance road of conveying carrier |
| CN113900437A (en) * | 2021-09-29 | 2022-01-07 | 广西玉柴机器股份有限公司 | AVG trolley control system |
-
2016
- 2016-11-21 CN CN201621276614.3U patent/CN206298317U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491374A (en) * | 2017-09-12 | 2019-03-19 | 杭州海康机器人技术有限公司 | The track adjusting method and device of automatic guided vehicle |
| CN110515374A (en) * | 2018-05-22 | 2019-11-29 | 本田技研工业株式会社 | The guidance road of conveying carrier |
| CN110515374B (en) * | 2018-05-22 | 2023-02-24 | 本田技研工业株式会社 | Guide path of conveying trolley |
| CN113900437A (en) * | 2021-09-29 | 2022-01-07 | 广西玉柴机器股份有限公司 | AVG trolley control system |
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