CN108483368B - Safety protection method applied to AGV transportation of distiller's yeast intensive storage - Google Patents
Safety protection method applied to AGV transportation of distiller's yeast intensive storage Download PDFInfo
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- CN108483368B CN108483368B CN201810273301.XA CN201810273301A CN108483368B CN 108483368 B CN108483368 B CN 108483368B CN 201810273301 A CN201810273301 A CN 201810273301A CN 108483368 B CN108483368 B CN 108483368B
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- photoelectric switch
- agv
- yeast
- tray
- safety protection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
Abstract
The invention provides a safety protection method applied to AGV transportation of yeast intensive storage, which comprises the steps that a photoelectric switch is arranged on an AGV (4), the photoelectric switch comprises a photoelectric switch (1) and a photoelectric switch (2), the photoelectric switch and the photoelectric switch are matched for use, the photoelectric switch (1) and the photoelectric switch (2) are both arranged at the fork point position of the AGV fork, when the AGV carries cargo, the photoelectric switch (1) irradiates towards the advancing direction of the AGV and detects an obstacle in the advancing direction, and the photoelectric switch (2) irradiates towards the upper part of the AGV and detects the obstacle above the AGV; the invention ensures that the AGV can safely walk when carrying goods, can detect the moving direction and obstacles above the AGV, can not damage the safety protection device, ensures the safety of people and goods, meets the requirement of intensive storage of a winery, and saves space.
Description
Technical Field
The invention relates to the technical field of logistics storage, in particular to a safety protection method applied to AGV transportation of distiller's yeast intensive storage.
Background
Along with the continuous development of logistics storage hardware and software, the winery trade is increasingly big to the demand of intensive storage, and the space that need deposit the goods obtains utilizing as far as, and as the transport AGV of trolley-bus walking, will satisfy the intensive requirement of depositing of winery, also need have protection machanism simultaneously to guarantee personal and goods safety, AGV safety protection prior art: one of them is backward irradiation, and the other kind is protection behind the contact, and the safety protection who shines behind can not respond to fork top barrier, and protection need extend one section distance at the fork end behind the contact, can't realize intensive storage, extravagant space.
Disclosure of Invention
Aiming at the problems, the invention provides a safety protection method applied to AGV transportation of yeast intensive storage, which adopts two photoelectric switches to be matched for use, can realize the protection function and simultaneously realize the intensive storage of the yeast, can ensure that the AGV runs stably in the transportation process, can emergently stop when meeting obstacles, meets the requirement of intensive storage of a winery, and saves space.
The specific technical scheme of the invention is as follows:
the utility model provides a be applied to safety protection method of dense storage AGV transport of distiller's yeast, be provided with photoelectric switch on AGV4, photoelectric switch includes photoelectric switch 1, photoelectric switch 2, both cooperate and use, photoelectric switch 1 and photoelectric switch 2 are all installed in the position of AGV fork prong 3, carry cargo the during operation at AGV4, photoelectric switch 1 shines towards AGV 4's direction of travel, detect the barrier of direction of travel, photoelectric switch 2 shines towards AGV 4's top, detect the barrier of top.
Further, the safety protection method comprises the following steps: when the automatic wine yeast unloading device works, wine yeast is placed on the wine yeast tray 5, the wine yeast tray 5 is placed on the AGV4, the wine yeast tray 5 on the AGV4 is placed next to the photoelectric switch, when the AGV4 starts to carry the wine yeast to the storage warehouse for the first time, the photoelectric switch 1 detects whether a barrier exists in the advancing direction of the vehicle body, the AGV4 stops advancing and unloads, at the moment, the photoelectric switch 2 does not act, when the AGV4 carries the wine yeast to the storage warehouse for the second time, the wine yeast carried for the first time is placed in the storage warehouse, at the moment, the photoelectric switch 2 starts to work, the photoelectric switch 2 is provided with a sensing distance, the 4 is gradually close to the wine yeast tray 5 carried by the AGV for the, when photoelectric switch 2 was close to the distance of distiller's yeast tray 5 for the sensing distance, when photoelectric switch 2 can sense the barrier, AGV4 stopped advancing, unloads, and the barrier that photoelectric switch 2 sensed this moment is for placing the crossbeam in subaerial distiller's yeast tray 5 bottom, prevents that AGV4 from colliding with the distiller's yeast tray 5 of putting for the first time when advancing and putting the goods.
Further, neither the photoelectric switch 1 nor the photoelectric switch 2 extends beyond the end of the AGV fork 6.
Further, when the AGV carries the koji tray to travel to a placing point, the photoelectric switch 1 is controlled by a computer, and when the distance between the AGV and a barrier is detected to be 50mm, the AGV stops traveling and unloads.
Further, the sensing distance set by the photoelectric switch 2 is the distance from the fixed fork of the AGV4 to the cross beam placed at the bottom of the koji tray 5 on the ground.
Further, the photoelectric switch 1 and the photoelectric switch 2 are both diffuse reflection switches with shielding functions.
Compared with the prior art, the invention has the following beneficial effects:
1. through set up the photoelectric switch 1 that shines towards AGV advancing direction, the photoelectric switch 2 that shines towards the AGV top in AGV fork point position, detectable AGV advancing direction and top barrier have ensured that AGV can walk safely when the transport goods, and safety device can not damaged, has guaranteed the personal and goods safety.
2. The requirement of intensive storage of wineries is met, and the space is saved.
Drawings
FIG. 1 is a right side view of the safety shield installation; FIG. 2 is a front view of the safety shield installation; FIG. 3 is a top view of the safety shield installation; FIG. 4 is an enlarged partial right side view of the safety shield installation;
the following are marked in the figure: 1-photoelectric switch, 2-photoelectric switch, 3-AGV fork point, 4-AGV, 5-distiller's yeast tray, 6-AGV fork.
Detailed Description
The present invention is further illustrated by the following specific examples, but the present invention is not limited to the following technical solutions.
As shown in fig. 1, 2, 3, and 4, an AGV4 is provided with a photoelectric switch, the photoelectric switch includes a photoelectric switch 1 and a photoelectric switch 2, the photoelectric switch 1 and the photoelectric switch 2 are both diffuse reflection switches with shielding function, and they are used in cooperation, the photoelectric switch 1 and the photoelectric switch 2 are both installed at the position of the fork tip 3 of the AGV, and neither the photoelectric switch 1 nor the photoelectric switch 2 exceeds the end of the AGV fork 6; when the AGV4 is loaded with cargo, the photoelectric switch 1 irradiates the AGV4 in the traveling direction to detect an obstacle in the traveling direction, and the photoelectric switch 2 irradiates the AGV4 above to detect an obstacle above.
During operation, the distiller's yeast is placed on distiller's yeast tray 5, when AGV4 carries cargo, distiller's yeast tray 5 is placed next to photoelectric switch on AGV4, AGV4 begins to carry distiller's yeast tray 5 to the repository for the first time, assume there is not one thing in the hollow of repository, photoelectric switch 1 and photoelectric switch 2 receive computer control, simultaneous working, photoelectric switch 1 detects that automobile body advancing direction has or not the barrier, photoelectric switch 2 detects that there is or not the barrier above, need furthest to practice thrift the space when owing to distiller's yeast tray 5 places.
AGV4 carries distiller's yeast tray 5 for the first time when to the repository, the distiller's yeast tray 5 of putting need be put next to the wall root, AGV4 carries distiller's yeast tray 5 and advances to when putting the point, photoelectric switch 1 passes through computer control, when detecting apart from barrier (being the wall root) 50mm, AGV4 stops advancing, unload, photoelectric switch 2 passes through computer control, the inductive distance of setting is that AGV decides to fork to placing the distance at 5 bottom crossbeams of distiller's yeast tray on the ground, photoelectric switch 2 does not detect the barrier this moment.
AGV4 carries distiller's yeast tray 5 for the second time when to the repository, placed the distiller's yeast tray 5 of first transport in the repository, photoelectric switch 1 detects automobile body advancing direction and has or not had the barrier this moment, photoelectric switch 2 detects the top and has or not have the barrier, when AGV carries distiller's yeast tray 5 and marchs to putting the point, photoelectric switch 1 passes through computer control, it has the barrier not to detect advancing direction, photoelectric switch 2 passes through computer control, the inductive distance of setting is that AGV decides to fork to place the distance at subaerial distiller's yeast tray 5 bottom crossbeam for the AGV, AGV4 marchs, be gradually close to the distiller's yeast tray 5 of first transport, when photoelectric switch 2 senses the barrier, AGV4 stops to march, unload.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (4)
1. The safety protection method is characterized by comprising an AGV (4) provided with a photoelectric switch, wherein the photoelectric switch comprises a photoelectric switch (1) and a photoelectric switch (2) which are matched with each other, the photoelectric switch (1) and the photoelectric switch (2) are both arranged at the position of a fork point (3) of the AGV fork, when the AGV (4) carries cargo, the photoelectric switch (1) irradiates towards the advancing direction of the AGV (4) to detect an obstacle in the advancing direction, and the photoelectric switch (2) irradiates towards the upper part of the AGV (4) to detect the obstacle above; the safety protection method comprises the following steps:
when the automatic wine yeast conveying device works, wine yeast is placed on the wine yeast tray (5), the wine yeast tray (5) is placed on the AGV (4), the wine yeast tray (5) on the AGV (4) is placed next to the photoelectric switch, when the AGV (4) starts to convey the wine yeast to the storage warehouse for the first time, the photoelectric switch (1) detects that the moving direction of a vehicle body is free from obstacles, the AGV (4) stops moving, unloading is carried out, the photoelectric switch (2) does not act at the moment, when the AGV (4) conveys the wine yeast to the storage warehouse for the second time, the wine yeast conveyed for the first time is placed in the storage warehouse, the photoelectric switch (2) starts to work at the moment, the photoelectric switch (2) is provided with sensing distance, the AGV (4) gradually approaches the wine yeast tray (5) conveyed for the first time, when the distance of the photoelectric switch (2) approaching the wine yeast tray (5) is the sensing distance, when the photoelectric switch (2) senses the obstacles, the AGV (4) stops moving, unloading, wherein the obstacle sensed by the photoelectric switch (2) is a cross beam placed at the bottom of the distiller's yeast tray (5) on the ground, so that the AGV (4) is prevented from colliding with the distiller's yeast tray (5) placed for the first time when moving to place goods;
photoelectric switch (1) and photoelectric switch (2) do not exceed the end of AGV fork (6).
2. The safety protection method applied to AGV transportation of yeast intensive storage is characterized in that when the AGV (4) transports a yeast tray (5) to a placing point, the photoelectric switch (1) is controlled by a computer, and when the distance of 50mm from an obstacle is detected, the AGV (4) stops traveling and unloading is carried out.
3. The safety protection method applied to AGV handling of the koji dense storage is characterized in that the photoelectric switch (2) is arranged at a sensing distance from the fixed fork of the AGV (4) to a cross beam at the bottom of the koji tray (5) placed on the ground.
4. The safety protection method applied to AGV transportation of distiller's yeast intensive storage is characterized in that the photoelectric switch (1) and the photoelectric switch (2) are both diffuse reflection switches with shielding functions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273301.XA CN108483368B (en) | 2018-03-29 | 2018-03-29 | Safety protection method applied to AGV transportation of distiller's yeast intensive storage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273301.XA CN108483368B (en) | 2018-03-29 | 2018-03-29 | Safety protection method applied to AGV transportation of distiller's yeast intensive storage |
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| CN108483368A CN108483368A (en) | 2018-09-04 |
| CN108483368B true CN108483368B (en) | 2020-04-21 |
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| CN108545669B (en) * | 2018-06-29 | 2019-11-19 | 广东嘉腾机器人自动化有限公司 | Fork truck cargo access method and device based on obstacle avoidance sensor |
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| CN2795178Y (en) * | 2005-05-24 | 2006-07-12 | 机科发展科技股份有限公司 | Laser guide antomatic transport vehicle |
| CN204917859U (en) * | 2015-09-09 | 2015-12-30 | 合肥泰禾光电科技股份有限公司 | Anticollision AGV fork truck |
| CN105480903A (en) * | 2015-11-13 | 2016-04-13 | 上海诺力智能科技有限公司 | Positioning method of pallet fork |
| CN205333083U (en) * | 2015-10-13 | 2016-06-22 | 合肥泰禾光电科技股份有限公司 | AGV dolly based on laser navigation |
| CN105866737A (en) * | 2016-04-05 | 2016-08-17 | 苏州罗伯特木牛流马物流技术有限公司 | High-safety transport vehicle with automatic positioning system |
| CN206735725U (en) * | 2017-03-31 | 2017-12-12 | 深圳怡丰机器人科技有限公司 | Fork truck rear anti-crash component and AGV fork trucks |
-
2018
- 2018-03-29 CN CN201810273301.XA patent/CN108483368B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2795178Y (en) * | 2005-05-24 | 2006-07-12 | 机科发展科技股份有限公司 | Laser guide antomatic transport vehicle |
| CN204917859U (en) * | 2015-09-09 | 2015-12-30 | 合肥泰禾光电科技股份有限公司 | Anticollision AGV fork truck |
| CN205333083U (en) * | 2015-10-13 | 2016-06-22 | 合肥泰禾光电科技股份有限公司 | AGV dolly based on laser navigation |
| CN105480903A (en) * | 2015-11-13 | 2016-04-13 | 上海诺力智能科技有限公司 | Positioning method of pallet fork |
| CN105866737A (en) * | 2016-04-05 | 2016-08-17 | 苏州罗伯特木牛流马物流技术有限公司 | High-safety transport vehicle with automatic positioning system |
| CN206735725U (en) * | 2017-03-31 | 2017-12-12 | 深圳怡丰机器人科技有限公司 | Fork truck rear anti-crash component and AGV fork trucks |
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| CN108483368A (en) | 2018-09-04 |
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