CN109095387A - A kind of L-AGV and L-AGV lifting platform control method - Google Patents
A kind of L-AGV and L-AGV lifting platform control method Download PDFInfo
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- CN109095387A CN109095387A CN201811296312.6A CN201811296312A CN109095387A CN 109095387 A CN109095387 A CN 109095387A CN 201811296312 A CN201811296312 A CN 201811296312A CN 109095387 A CN109095387 A CN 109095387A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000003993 interaction Effects 0.000 claims abstract description 37
- 230000002452 interceptive effect Effects 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000007423 decrease Effects 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 6
- 230000008450 motivation Effects 0.000 description 5
- 239000003921 oil Substances 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000005342 ion exchange Methods 0.000 description 1
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- 235000009566 rice Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
Classifications
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0633—Mechanical arrangements not covered by the following subgroups
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Abstract
The invention discloses a kind of L-AGV and L-AGV lifting platform control methods, the drive mechanism of L-AGV includes reel, wirerope, fixed pulley group, running block, support rod, controller controls motor rotation, motor drive spool turns, running block lifting is driven by reel haulage cable, support rod lifting is driven by running block, the lifting of lifting platform is driven by the lifting of support rod, to realize the reliable and stable lifting of lifting platform, and, above-mentioned drive mechanism is small in size, it is light-weight, it is at low cost, solves poor reliability when realizing platform lifting by hydraulic cylinder in the prior art, volume is big, weight is big, problem at high cost.L-AGV lifting platform control method of the invention, reduce interaction bracket in lifting platform lifting occupy time, save L-AGV with interact the interjob time of bracket, improve interactive efficiency, improve and take case efficiency.
Description
Technical field
The invention belongs to L-AGV technical fields, specifically, being to be related to a kind of L-AGV and L-AGV lifting platform controlling party
Method.
Background technique
AGV(Automated Guided Vehicle) a kind of automatic dock horizontal transport tool, i.e. " homing guidance fortune
Defeated vehicle ", it can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions belongs to wheel
The scope of formula mobile robot is widely used in automation container harbour.And L-AGV(Lift-AGV), be by
Lifting platform is added on common AGV, container is jacked up by lifting platform and is placed on interactive bracket, can be greatly improved
The operating efficiency of AGV.
Existing L-AGV uses hydraulic cylinder jacking scheme, and jacking and drop can be achieved in platform under the driving of hydraulic cylinder
It falling, and then lifts or put down container, need to cooperate using hydraulic station, car is distributed a large amount of valve blocks and fluid pressure line, and in space
On limited L-AGV, hydraulic station brings excessive volume and excessively high weight, is unfavorable for L-AGV miniaturization, lightweight.
Hydraulic system pressure maintaining is relied on after hydraulic jacking system jacking and realizes that platform keeps jacking state, and reliability is low, by oil
Matter, ambient temperature effect are big, once interior leakage occurs for system, then platform decline or tilt problem can occur, and then cause to fall case
Accident occurs.
Summary of the invention
The present invention provides a kind of L-AGV, solve in the prior art that L-AGV poor reliability, volume are big, weight is big asks
Topic.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following scheme:
A kind of L-AGV, including car body, lifting platform, controller, motor, drive mechanism；The lifting platform is located on car body
Side；The drive mechanism includes reel, wirerope, fixed pulley group, running block, support rod；One end of the wirerope is fixed
On reel, the other end passes through fixed pulley group and running block is fixed on the car body；The bottom end of the support rod is fixed on dynamic cunning
In wheel group, the top of the support rod is fixed on lifting platform bottom；The controller controls motor rotation, the motor
Spool turns are driven, the reel haulage cable drives running block lifting, and the running block drives support rod lifting, institute
It states support rod and drives lifting platform lifting.
Further, the lifting platform is square body, and there are four the support rod settings, and it is flat to be laid in jacking respectively
The bottom at four angles of platform；Compatible, the wirerope is provided with four, and there are four the fixed pulley group settings, described
Running block setting there are four；Four wirerope, four fixed pulley groups, four running blocks, four support rods correspond；
One end of each wirerope is fixed on reel, and it is solid that the other end of each wirerope passes through corresponding fixed pulley group, running block
Determine on the car body, the bottom end of each support rod is fixed on corresponding running block.
Further, the fixed pulley group includes the first fixed pulley and the second fixed pulley；The running block includes the
One movable pulley, the second movable pulley, sliding bearing；Two fixed pulleys are separately fixed in the rack of car body, and two fixed pulleys are located at
The top of two movable pulleys；One end of the wirerope is fixed on reel, and the other end of the wirerope sequentially passes through first
Fixed pulley, the first movable pulley, the second fixed pulley, the second movable pulley are fixed in the rack of car body；Two movable pulleys pass through sliding
Bearing connection, the bottom end of the support rod is fixed on the axle sleeve of sliding bearing.
Further, rack gear is formed on the support rod；The L-AGV further includes push rod and hook, the extension
The rack of hook and car body is hinged；One end of the push rod and the rack of car body connect, and the other end and hook of the push rod connect；
The controller control push rod elongation is shunk, and is driven hook to compress rack gear or is detached from rack gear.
Further, the hook is inverted L-shaped, including horizontal part and vertical portion；The bottom end of the vertical portion and car body
Rack it is hinged, the top of the vertical portion and one end of horizontal part are fixed, one of the other end than horizontal part of the horizontal part
It holds close to rack gear；The top of the vertical portion and the other end of push rod connect.
Further, the motor, drive mechanism are located at vehicle body, and the top of the support rod passes through car body and top
Mesa base is risen to fix；It is laid with guide sleeve vertically in the position that the car body upper support bar passes through, the guide sleeve is set in
On support rod.
Based on the design of above-mentioned L-AGV, the invention also provides a kind of L-AGV lifting platform control method, the methods
Include:
(1) L-AGV get take case instruct after, to interaction bracket traveling；
(2) L-AGV is obtained and is interacted the distance between bracket；
(3) whether judge the distance obtained≤set distance；
If it is not, thening follow the steps (4): L-AGV continues to interaction bracket traveling, return step (2)；
If so, thening follow the steps (5): controlling lifting platform in the process of moving and rise to the first setting height；
(6) after L-AGV enters interactive bracket, stop traveling, and control lifting platform and rise to the second setting height, jacking is flat
Platform jacks up container, then sails out of interactive bracket；Wherein, second the first setting height of setting height >.
Further, the method also includes:
When needing lifting platform to rise, generation motor target rotational circle number-time corresponds to table；
In lifting platform uphill process, current time and motor actual rotation circle number are obtained；
Corresponding table is inquired according to the current time of acquisition, obtains motor target rotational circle number；
If motor actual rotation circle number is less than motor target rotational circle number, motor acceleration is controlled；
If motor actual rotation circle number is greater than motor target rotational circle number, motor deceleration is controlled.
Based on the design of above-mentioned L-AGV, the invention also provides a kind of L-AGV lifting platform control method, the methods
Include:
(1) L-AGV get send case instruct after, to interaction bracket traveling；
(2) after L-AGV enters interactive bracket, stop traveling, and control lifting platform and drop to the first setting height, lifting platform
It is detached from container, then sails out of interactive bracket；
(3) during L-AGV sails out of interactive bracket, control lifting platform drops to minimum altitude；Wherein, the first setting is high
Spend > minimum altitude.
Further, the method also includes:
When needing lifting platform to decline, generation motor target rotational circle number-time corresponds to table；
During lifting platform decline, current time and motor actual rotation circle number are obtained；
Corresponding table is inquired according to the current time of acquisition, obtains motor target rotational circle number；
If motor actual rotation circle number is less than motor target rotational circle number, motor acceleration is controlled；
If motor actual rotation circle number is greater than motor target rotational circle number, motor deceleration is controlled.
Compared with prior art, the advantages and positive effects of the present invention are: L-AGV of the invention, the drive mechanism of design
Including reel, wirerope, fixed pulley group, running block, support rod, controller controls motor rotation, motor drive reel
Rotation, drives running block lifting by reel haulage cable, drives support rod lifting by running block, passes through support rod
Lifting drive lifting platform lifting, so that the reliable and stable lifting of lifting platform is realized, moreover, above-mentioned drive mechanism volume
It is small, light weight and cost is low, therefore, L-AGV of the invention is highly reliable, due to without designing hydraulic cylinder, entire L-AGV body
Product it is small, light weight and cost is low, solve in the prior art by hydraulic cylinder realize platform go up and down when L-AGV poor reliability,
The problem that volume is big, weight is big, at high cost.L-AGV lifting platform control method of the invention reduces and pushes up in interaction bracket
Peaceful lifting occupy time, save L-AGV with interact the interjob time of bracket, improve interactive efficiency, raising
Take case efficiency.
After the detailed description of embodiment of the present invention is read in conjunction with the figure, the other features and advantages of the invention will become more
Add clear.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment when the lifting platform of L-AGV proposed by the invention does not jack；
Fig. 2 is the structural schematic diagram of one embodiment after the lifting platform jacking of L-AGV proposed by the invention；
Fig. 3 is the rearview in Fig. 1；
Fig. 4 is the structural schematic diagram of the fixed pulley group and running block in Fig. 1；
Fig. 5 is the connection schematic diagram of the running block and support rod in Fig. 1；
Fig. 6 is the structural schematic diagram of the support rod in Fig. 1；
Fig. 7 is the enlarged drawing of the hook in Fig. 6；
Fig. 8 is the flow diagram of one embodiment of L-AGV lifting platform control method proposed by the invention；
Fig. 9 is the flow diagram of another embodiment of L-AGV lifting platform control method proposed by the invention.
Appended drawing reference:
1, car body；1-1, rack；2, lifting platform；3, motor；4, reel；5, wirerope；
6, fixed pulley group；6-1, the first fixed pulley；6-2, the second fixed pulley；
7, running block；7-1, the first movable pulley；7-2, the second movable pulley；7-3, sliding bearing；7-3-1, axle sleeve；
8；Support rod；8-1, rack gear；9, push rod；10, it links up with；10-1, horizontal part；10-2, vertical portion；11, guide sleeve；12, spiral shell
It is female.
Specific embodiment
A specific embodiment of the invention is described in more detail with reference to the accompanying drawing.
Embodiment one,
The L-AGV of the present embodiment includes mainly car body 1, lifting platform 2, controller, motor 3, drive mechanism etc., referring to Fig. 1
To shown in Fig. 3；Lifting platform 2 is located at 1 top of car body, and container is placed on lifting platform；Drive mechanism mainly include reel 4,
Wirerope 5, fixed pulley group 6, running block 7, support rod 8 etc.；One end of wirerope 5 is fixed on reel 4, wirerope 5 it is another
One end passes through fixed pulley group 6 and running block 7 is fixed on car body 1；The bottom end of support rod 8 is fixed on running block 7, support
The top of bar 8 is fixed on 2 bottom of lifting platform；Controller controls motor 3 and rotates, and the rotation of motor 3 is to drive 4 turns of reel
Dynamic, the rotation of reel 4 drives running block 7 to go up and down to haulage cable 5, and the lifting of running block 7 then drives 8 liters of support rod
Drop, support rod 8 go up and down and then lifting platform 2 are driven to go up and down.
For example, under the driving of motor 3, when reel 4 drives wirerope 5 to rotate clockwise, reel 4 is by wirerope 5
It rolls, wirerope 5 transmits the force to support rod 8 by fixed pulley group 6 and running block 7, and running block 7 is upward by support rod 8
It holds up, and then realizes lifting platform jacking.Under the driving of motor 3, when reel 4 drives wirerope 5 to rotate counterclockwise, volume
Cylinder 4 decontrols wirerope 5, and wirerope 5 transmits the force to support rod 8 by fixed pulley group 6 and running block 7, passes through movable pulley
Group 7 declines support rod 8, and then realizes lifting platform decline.
The L-AGV of the present embodiment, the drive mechanism of design include reel 4, wirerope 5, fixed pulley group 6, running block 7,
Support rod 8, controller control motor 3 and rotate, and motor 3 drives reel 4 to rotate, and are driven by 4 haulage cable 5 of reel dynamic
Pulley blocks 7 are gone up and down, and drive support rod 8 to go up and down by running block 7, the liter of lifting platform 2 is driven by the lifting of support rod 8
Drop, thus realize the reliable and stable lifting of lifting platform 2, moreover, above-mentioned drive mechanism is small in size, light weight and cost is low, because
This, the L-AGV of the present embodiment is highly reliable, and due to without designing hydraulic cylinder, entire L-AGV is small in size, light weight and cost
It is low, solve in the prior art by hydraulic cylinder realize platform lifting when L-AGV poor reliability, volume it is big, weight is big, at
This high problem.
The present embodiment realizes lifting platform lifting by wirerope etc., without designing hydraulic system, reduces electrical component
Addition, realize lifting platform high reliability operation.The present embodiment uses wirerope, and wirerope is low to working condition requirement, avoids
The control of hydraulic cylinder ratio relies on environment, the high of oil.The present embodiment, which only adjusts motor speed, can be realized platform
Speed control and high speed are gone up and down, though and hydraulic system in the prior art can control oil cylinder by adjusting hydraulic station output flow
It is flexible, but high-speed working condition bring high-power large volume hydraulic station and synchronously control it is unstable.The present embodiment passes through electricity
Motivation drives the machine driving of wirerope, and the hydraulic drive of middle motor drive hydraulic station, possesses higher compared to the prior art
Drive system efficiency, in the case where realizing identical function, more saving energy, on the L-AGV stringent to energy hole, show
It obtains particularly important.Dock operation operating condition is severe, and wirerope is low to operating environment requirement, and later maintenance only needs to lubricate and replace on a small quantity
Wirerope；And ratio system and syncmotor scheme that hydraulic cylinder control in the prior art uses, to environment and hydraulic oil
Matter requires height, need to inspect periodically and replace hydraulic oil, and maintenance cost is high.The scheme of the present embodiment makes because wirerope stress is smaller
With thinner wirerope, with the use of small-sized motor, pulley, reel etc., entire drive mechanism is small in size, light-weight,
Miniaturization, lightweight conducive to L-AGV possess the incomparable advantage of hydraulic control scheme, it is huge to get rid of hydraulic solution
The intracorporal all kinds of Hydraulic Elements of hydraulic station, vehicle and pipeline.
In order to enable lifting platform 2 stablizes lifting, lifting platform 2 is square body, and there are four the settings of support rod 8,
It is laid in the bottom at 2 four angles of lifting platform respectively；Compatible, the wirerope 5 is provided with four, the fixed pulley
There are four 6 settings of group, and there are four the settings of running block 7；Four wirerope, four fixed pulley groups, four running blocks,
Four support rods correspond；One end of each wirerope 5 is fixed on reel 4, and the other end of each wirerope 5, which passes through, to be corresponded to
Fixed pulley group 6, running block 7 be fixed on car body 1, the bottom end of each support rod 8 is fixed on corresponding running block 7,
The top of four support rods 8 is separately fixed at the bottom at 2 four angles of lifting platform, so that 2 uniform force of lifting platform, steady
Fixed lifting.By four support rods of setting and four wirerope, four fixed pulley groups, four running blocks 7 of adaptation, thus
Realize lifting platform 2 stablize lifting, moreover, structure it is simple, it is at low cost, be easy to implement.
When motor 3 drives reel 4 to rotate clockwise, while four wirerope 5 being driven to rotate clockwise, four supports
Bar 8, which synchronizes, to be moved upwards, and then is realized that lifting platform is stablized and risen.When motor 3 drives reel 4 to rotate counterclockwise, simultaneously
Four wirerope 5 are driven to rotate counterclockwise, four support rods 8 are synchronized and moved downward, and then realize that lifting platform stablizes decline.Cause
This is rolled or is released simultaneously by four wirerope on the same reel, and four wirerope strokes are identical, and then make to push up
Peaceful four support rods rise or fall same distance, to control the steady lifting of lifting platform；And in the prior art
Hydraulic synchronization lifting scheme, proportion of utilization control system or syncmotor scheme need higher technology and economic cost
It is able to achieve, and its control precision is unstable.
Fixed pulley group 6 includes the first fixed pulley 6-1 and the second fixed pulley 6-2；Running block 7 include the first movable pulley 7-1,
Second movable pulley 7-2, sliding bearing 7-3；Two fixed pulleys are separately fixed in the rack of car body 1, and two fixed pulleys are located at two
The top of a movable pulley；One end of wirerope 5 is fixed on reel 4, and the other end of wirerope 5 sequentially passes through the first fixed pulley 6-
1, the first movable pulley 7-1, the second fixed pulley 6-2, the second movable pulley 7-2 are fixed in the rack of car body 1；Two movable pulleys pass through
Sliding bearing 7-3 connection, i.e. two movable pulleys rotate coaxially, and the bottom end of support rod 8 is fixed on the axle sleeve 7-3- of sliding bearing 7-3
On 1, referring to fig. 4, shown in Fig. 5.Specifically, the first movable pulley 7-1 is fixed by nut and sliding bearing 7-3, the second dynamic cunning
Wheel 7-2 is fixed by nut 12 and sliding bearing 7-3.By the way that two fixed pulleys, two movable pulleys and sliding bearing is arranged,
By the power stable delivery of wirerope to support rod, and it is time saving and energy saving.Wirerope passes through the combination of movable pulley and fixed pulley, reduces
The stress of single-strand rope, extends the service life of wirerope.
Rack gear 8-1 is formed on support rod 8, referring to shown in Fig. 6, Fig. 7；L-AGV further includes push rod 9 and hook 10, is hung
Hook 10 and the rack 1-1 of car body 1 are hinged；One end of push rod 9 is connect with the rack 1-1 of car body 1, the other end and hook of push rod 9
10 connections；Controller controls the elongation of push rod 9 or shrinks, and drives hook 10 to compress rack gear 8-1 or is detached from rack gear 8-1.
After the completion of the jacking of lifting platform 2, controller controls push rod 9 and extends, and push rod 9 pushes hook 10 to the rack gear side 8-1
To movement, rack gear 8-1 is compressed, the mechanical locking of lifting platform is realized, avoids as caused by wire cable rupture or other failures
The unexpected decline of support rod 8, so that lifting platform 2 be avoided to decline because of failure.When lifting platform 2 needs to decline, controller control
Push rod 9 is shunk, and push rod 9 drives hook 10 then to control lifting platform so that hook 10 and rack gear 8-1 unclamps far from rack gear 8-1
Decline.By design rack gear 8-1, push rod 9 and hook 10, prevents lifting platform from dropping suddenly, ensure that the safety of lifting platform
Reliably.
In the present embodiment, hook 10 is inverted L-shaped, shown in Figure 7, including horizontal part 10-1 and vertical portion 10-2, water
Flat portion 10-1 is located above the 10-2 of vertical portion；The bottom end of vertical portion 10-2 and the rack 1-1 of car body 1 are hinged, vertical portion 10-2's
Top and one end of horizontal part 10-1 are fixed, and the one end of the other end of horizontal part 10-1 than horizontal part 10-1 is close to rack gear 8-1；Water
One end of flat portion 10-1 is far from rack gear 8-1, and the other end of horizontal part 10-1 is close to rack gear 8-1；The other end of horizontal part 10-1 with
The shape adaptation of rack gear 8-1；The top of vertical portion 10-2 is connect with the other end of push rod 9.When needing locking support rod 8, control
Device control push rod 9 processed extends, and push rod 9 pushes hook 10 to move to the direction rack gear 8-1, and horizontal part 10-1 moves closer to rack gear 8-1,
Then rack gear 8-1 is compressed, thus locking support rod 8.When needing support rod 8 to go up and down, controller controls push rod 9 and shrinks, push rod 9
Drive hook 10 far from rack gear 8-1, so that horizontal part 10-1 and rack gear 8-1 unclamps.By designing above-mentioned hook, convenient for pushing away
Bar drive hook with rack gear compress or unclamp, and structure it is simple, it is at low cost, be easy to implement.
In the present embodiment, motor 3, drive mechanism are located inside car body 1, and the top of support rod 8 passes through car body 1 and top
Peaceful 2 bottoms are fixed；It is laid with guide sleeve 11 vertically in the position that 1 upper support bar 8 of car body passes through, guide sleeve 11 is set in branch
It is shown in Figure 6 on strut 8.When support rod 8 is gone up and down, by the guiding role of guide sleeve 11, so that support rod 8 rises vertically
Drop guarantees 2 vertical lifting of lifting platform, to guarantee the stability that lifting platform 2 is gone up and down.
In the present embodiment, for the ease of the revolving speed of control motor, controller passes through inverter control motor and runs.
For the ease of controlling the revolving speed of reel, motor drives spool turns by reduction gearbox.Revolving speed is additionally provided on motor to turn
Code device, rotating speed coder are used to acquire the turnning circle of motor.For the ease of powering to each electricity consumption device of L-AGV, in vehicle
It is additionally provided with battery and inverter in vivo, battery exports direct current to inverter, and inverter invertes direct current to alternating current, so
The device that alternating current is needed to motor etc. is exported afterwards；Battery needs the device of direct current to power directly to controller etc..
During lifting platform decline, the potential energy of platform can be electric energy by motor, frequency converter feedback, realize electric energy
Recycle, save electric energy；And hydraulic cylinder jacking scheme in the prior art, the potential energy of platform is all converted to when decline
The thermal energy of hydraulic system, not can be recycled.
Since L-AGV may include two lifting platforms, even more lifting platforms, for each lifting platform,
It is provided with corresponding motor and drive mechanism.
In the present embodiment, there are two lifting platform settings, the structures such as the motor, drive mechanism are also set
There are two setting.When the container sizes placed on lifting platform are smaller, one of lifting platform is selected to go up and down；Work as lifting platform
When the container sizes of upper placement are larger, while controlling two lifting platforms and going up and down simultaneously.The corresponding revolving speed of each lifting platform is compiled
The turnning circle of code device acquisition motor, is sent to controller, and for controller according to the turnning circle received, control two is electronic
The revolving speed of machine, so that two lifting platform synchronization liftings.
Four wirerope of control identical platform are fixed on the same reel, synchronous using the wirerope on same reel
It is flexible, realize that single platform is steadily gone up and down.When two platforms jack simultaneously, it is corresponding that turnning circle-time is generated by controller
Table, to realize the synchronization lifting of Double tabletop using the rotation of rotating speed coder, inverter control motor on motor.
Embodiment two,
Based on the design of the L-AGV in embodiment one, the present embodiment proposes a kind of L-AGV lifting platform control method, mainly
Include the following steps, it is shown in Figure 8.
Step S11:L-AGV get take case instruct after, to interaction bracket traveling.
Interaction bracket is for placing container, after L-AGV acquisition takes case to instruct, to interaction bracket traveling, reaches interaction bracket
Afterwards, container is obtained, completion takes case.
Since when L-AGV is got, and case is taken to instruct, without container on lifting platform, the height of lifting platform is minimum height at this time
Degree.
Step S12:L-AGV is obtained and is interacted the distance between bracket.
L-AGV itself has navigation system, according to inbuilt magnetic nail pre- on ground to know self-position.
Step S13: whether judge the distance obtained≤set distance.
Continue if it is not, thening follow the steps S14:L-AGV to interaction bracket traveling, return step S12.
If so, thening follow the steps S15: controlling lifting platform in the process of moving by minimum altitude and rise to the first setting height
Degree.
Step S16: after L-AGV enters interactive bracket, stopping traveling, and controls lifting platform and rise to the second setting height
Degree, lifting platform jack up container, then sail out of interactive bracket.Wherein, the second minimum height of setting height > the first setting height >
Degree.
When L-AGV enters interactive bracket, lifting platform has risen to the first setting height, and L-AGV stops traveling, control
Lifting platform rises to the second setting height by the first setting height, that is to say, that L-AGV is in interaction bracket, on lifting platform
Second the-the first setting height of setting height has been risen, has been reduced in interaction bracket since lifting platform rises the time occupied.
In L-AGV driving process, if there is container on lifting platform, do not allow lifting platform to rise, only allows sky
Lifting platform rises.In interaction bracket, when lifting platform is the first setting height, container can not be obtained；Work as lifting platform
When for the second setting height, container can be obtained.
The L-AGV lifting platform control method of the present embodiment is got by L-AGV after taking case to instruct, to interaction bracket
Traveling；At a distance from L-AGV is between interaction bracket≤set distance when, control lifting platform in the process of moving and rise to the
One setting height；After L-AGV enters interactive bracket, stop traveling, and control lifting platform and rise to the second setting height, pushes up
Peaceful jack-up container, then sails out of interactive bracket；Therefore, the control method of the present embodiment, by L-AGV with interact bracket
The distance between≤set distance when, control lifting platform rises to the first setting height, completes pre- jacking, is entering interaction branch
After frame, control lifting platform rises to the second setting height, completes final jacking, reduces in interaction bracket on lifting platform
Rise occupy time, save L-AGV with interact the interjob time of bracket, improve interactive efficiency, improve and case is taken to imitate
Rate.
If directly rising to the first setting height from minimum altitude after L-AGV enters interactive bracket, extending and interacting
The interjob time of bracket, reduction take case efficiency.
For example, minimum altitude is 0, the first setting height is 500 millimeters, and the second setting height is 600 millimeters, set distance
It is 20 meters.L-AGV between interaction bracket at a distance from≤20 meters when, control lifting platform and by 0 rise to 500 millimeters, work as L-
After AGV enters interactive bracket, lifting platform is controlled by 500 millimeters and rises to 600 millimeters, that is to say, that enters interaction in L-AGV
After bracket, lifting platform only rises 100 millimeters, that is, reaches the second setting height, thus save L-AGV with interact the friendship of bracket
The mutual activity duration.
For car body top, i.e., the minimum altitude of the present embodiment, the first setting height, the second setting height are
Using car body top as altitude datum, the height on car body top is 0, and the minimum altitude of lifting platform is 0.
In the present embodiment, the method also includes following step:
Step S21: when needing lifting platform to rise, controller generation motor target rotational circle number-time corresponds to table.
Step S22: in lifting platform uphill process, current time and motor actual rotation circle number are obtained.
Step S23: controller inquires corresponding table according to the current time of acquisition, obtains motor target rotational circle number.
Step S24: if motor actual rotation circle number be less than motor target rotational circle number, illustrate motor speed compared with
Slowly, lifting platform raising speed is slower, then controller is accelerated by inverter control motor.
If motor actual rotation circle number is greater than motor target rotational circle number, illustrate that motor speed is very fast, jacking is flat
Platform raising speed is very fast, then controller is slowed down by inverter control motor.
If motor actual rotation circle number is equal to motor target rotational circle number, illustrate that motor speed is appropriate, jacking is flat
Platform raising speed is appropriate, then controller keeps revolving speed by inverter control motor.
By design procedure S21~S24, the revolving speed of motor is controlled, is risen so that lifting platform is stablized.
When two lifting platforms of control rise simultaneously, through the above steps, two lifting platforms may be implemented and synchronize
It rises, control precision is high and is easily achieved.Additionally wirerope can be calculated by the data of rotating speed coder and frequency converter
The real time position of stroke and platform；And hydraulic lifting scheme in the prior art, the stroke for itself learning oil cylinder can not be leaned on,
The sensors such as all kinds of magnetic scales that must arrange in pairs or groups just can be achieved, higher cost.
Such as: two lifting platforms are known as: the first lifting platform, the second lifting platform；The corresponding electricity of first lifting platform
Motivation is the first motor, and the corresponding motor of the second lifting platform is the second motor.Two lifting platforms are controlled to synchronize
The step of rising is as follows:
(1) when two lifting platforms need to rise, controller generation motor target rotational circle number-time corresponds to table.
(2) in two lifting platform uphill process, the actual rotation of current time and two motor is obtained respectively
Enclose number.
(3) controller inquires corresponding table according to the current time of acquisition, obtains motor target rotational circle number.
(4) the actual rotation circle number of the first motor and the size of motor target rotational circle number, the second electricity are respectively compared
The actual rotation circle number of motivation and the size of motor target rotational circle number control the first motor and second according to comparison result
The revolving speed of motor.
If the first motor actual rotation circle number < motor target rotational circle number, the acceleration of the first motor is controlled.If
First motor actual rotation circle number > motor target rotational circle number, then control the first motor deceleration.If the first motor
Actual rotation circle number=motor target rotational circle number then controls the first motor and keeps revolving speed.
If the second motor actual rotation circle number < motor target rotational circle number, the acceleration of the second motor is controlled.If
Second motor actual rotation circle number > motor target rotational circle number, then control the second motor deceleration.If the second motor
Actual rotation circle number=motor target rotational circle number then controls the second motor and keeps revolving speed.
Through the above steps, it realizes that the synchronous of two lifting platforms rises, and controls precision height, is easily achieved.
Embodiment three,
Based on the design of the L-AGV in embodiment one, the present embodiment proposes a kind of L-AGV lifting platform control method, mainly
Include the following steps, it is shown in Figure 9.
Step S31:L-AGV get send case instruct after, to interaction bracket traveling.
Interaction bracket is for placing container, after L-AGV acquisition send case to instruct, transports container to interaction bracket traveling, reaches
After interaction bracket, container is placed on interactive bracket, case is sent in completion.
Due to having container on lifting platform when L-AGV is got, and case is sent to instruct, the height of lifting platform sets at this time for second
Fixed height.
After step S32:L-AGV enters interactive bracket, stop traveling, and control lifting platform and declined by the second setting height
To the first setting height, lifting platform and container are detached from, and then sail out of interactive bracket.
Step S33: during L-AGV sails out of interactive bracket, control lifting platform is declined by the first setting height
To minimum altitude.Wherein, second setting height > the first setting height > minimum altitude.
For L-AGV in interaction bracket, lifting platform only drops to the first setting height, so that lifting platform and container are detached from
, interactive bracket is then sailed out of, the time occupied in interaction bracket due to lifting platform decline is reduced.It is sailed in L-AGV
During the mutual bracket of ion-exchange, lifting platform is controlled by the first setting height in the range of distance interaction bracket set distance
Minimum altitude is dropped to, decline lifting platform as early as possible.
In L-AGV driving process, if there is container on lifting platform, do not allow lifting platform to rise, only allows sky
Lifting platform rises.In interaction bracket, when lifting platform is the second setting height, it can not be detached from container；When jacking is flat
When platform is the first setting height, it is detached from container.
The L-AGV lifting platform control method of the present embodiment is got by L-AGV after sending case to instruct, to interaction bracket
Traveling；Into after interaction bracket, stop traveling, and control lifting platform and drop to the first setting height, lifting platform and container
It is detached from, then sails out of interactive bracket；During sailing out of interactive bracket, control lifting platform drops to minimum altitude；This reality
The control method for applying example, by during sailing out of interactive bracket, control lifting platform drops to minimum altitude, rather than
Minimum altitude is dropped in interaction bracket, reduces the time that lifting platform decline occupies in interaction bracket, to save
L-AGV and the interjob time for interacting bracket, interactive efficiency is improved, improves and send case efficiency.
For example, minimum altitude is 0, the first setting height is 500 millimeters, and the second setting height is 600 millimeters, set distance
It is 20 meters.L-AGV controls lifting platform from 600 millimeters and drops to 500 millimeters, after laying down container, sail out of friendship in interaction bracket
Mutual bracket, during sailing out of interactive bracket, in the range of 20 meters of bracket of distance interaction, control lifting platform is by 500 millis
Rice drops to 0；That is, L-AGV interaction bracket in when, lifting platform decline it is smaller, thus save L-AGV with interact prop up
The interjob time of frame.
For car body top, i.e., the minimum altitude of the present embodiment, the first setting height, the second setting height are
Using car body top as altitude datum, the height on car body top is 0, and the minimum altitude of lifting platform is 0.
In the present embodiment, the method also includes following step:
Step S41: when needing lifting platform to decline, controller generation motor target rotational circle number-time corresponds to table.
Step S42: during lifting platform decline, current time and motor actual rotation circle number are obtained.
Step S43: controller inquires corresponding table according to the current time of acquisition, obtains motor target rotational circle number.
Step S44: if motor actual rotation circle number be less than motor target rotational circle number, illustrate motor speed compared with
Slowly, lifting platform reduction of speed is slower, then controller is accelerated by inverter control motor.
If motor actual rotation circle number is greater than motor target rotational circle number, illustrate that motor speed is very fast, jacking is flat
Platform reduction of speed is very fast, then controller is slowed down by inverter control motor.
If motor actual rotation circle number is equal to motor target rotational circle number, illustrate that motor speed is appropriate, jacking is flat
Platform reduction of speed is appropriate, then controller keeps revolving speed by inverter control motor.
By design procedure S41~S44, the revolving speed of motor is controlled, so that lifting platform stablizes decline.
When two lifting platform decline of control simultaneously, through the above steps, two lifting platforms may be implemented and synchronize down
Drop, control precision is high and is easily achieved.Additionally wirerope can be calculated by the data of rotating speed coder and frequency converter
The real time position of stroke and platform；And hydraulic lifting scheme in the prior art, the stroke for itself learning oil cylinder can not be leaned on,
The sensors such as all kinds of magnetic scales that must arrange in pairs or groups just can be achieved, higher cost.
Such as: two lifting platforms are known as: the first lifting platform, the second lifting platform；The corresponding electricity of first lifting platform
Motivation is the first motor, and the corresponding motor of the second lifting platform is the second motor.Two lifting platforms are controlled to synchronize down
The step of drop, is as follows:
(1) when two lifting platforms need to decline, controller generation motor target rotational circle number-time corresponds to table.
(2) during two lifting platforms decline, the actual rotation of current time and two motor is obtained respectively
Enclose number.
(3) controller inquires corresponding table according to the current time of acquisition, obtains motor target rotational circle number.
(4) the actual rotation circle number of the first motor and the size of motor target rotational circle number, the second electricity are respectively compared
The actual rotation circle number of motivation and the size of motor target rotational circle number control the first motor and second according to comparison result
The revolving speed of motor.
If the first motor actual rotation circle number < motor target rotational circle number, the acceleration of the first motor is controlled.If
First motor actual rotation circle number > motor target rotational circle number, then control the first motor deceleration.If the first motor
Actual rotation circle number=motor target rotational circle number then controls the first motor and keeps revolving speed.
If the second motor actual rotation circle number < motor target rotational circle number, the acceleration of the second motor is controlled.If
Second motor actual rotation circle number > motor target rotational circle number, then control the second motor deceleration.If the second motor
Actual rotation circle number=motor target rotational circle number then controls the second motor and keeps revolving speed.
Through the above steps, it realizes the synchronous decline of two lifting platforms, and controls precision height, is easily achieved.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited；Although referring to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of L-AGV, it is characterised in that: including car body, lifting platform, controller, motor, drive mechanism；The jacking
Platform is located above car body；
The drive mechanism includes reel, wirerope, fixed pulley group, running block, support rod；
One end of the wirerope is fixed on reel, and the other end passes through fixed pulley group and running block is fixed on the car body；Institute
The bottom end for stating support rod is fixed on running block, and the top of the support rod is fixed on lifting platform bottom；
The controller controls motor rotation, the motor drive spool turns, and the reel haulage cable drives dynamic
Pulley blocks lifting, the running block drive support rod lifting, and the support rod drives lifting platform lifting.
2. L-AGV according to claim 1, it is characterised in that: the lifting platform is square body, and the support rod is set
There are four setting, it is laid in the bottom at four angles of lifting platform respectively；
Compatible, the wirerope is provided with four, and there are four the fixed pulley group settings, and the running block is set
There are four setting；
Four wirerope, four fixed pulley groups, four running blocks, four support rods correspond；
One end of each wirerope is fixed on reel, and the other end of each wirerope passes through corresponding fixed pulley group, movable pulley
Group is fixed on the car body, and the bottom end of each support rod is fixed on corresponding running block.
3. L-AGV according to claim 1, it is characterised in that: the fixed pulley group includes that the first fixed pulley and second are fixed
Pulley；The running block includes the first movable pulley, the second movable pulley, sliding bearing；
Two fixed pulleys are separately fixed in the rack of car body, and two fixed pulleys are located at the top of two movable pulleys；
One end of the wirerope is fixed on reel, and the other end of the wirerope sequentially passes through the first fixed pulley, first dynamic
Pulley, the second fixed pulley, the second movable pulley are fixed in the rack of car body；
Two movable pulleys are connected by sliding bearing, and the bottom end of the support rod is fixed on the axle sleeve of sliding bearing.
4. L-AGV according to claim 1, it is characterised in that: be formed with rack gear on the support rod；
The L-AGV further includes push rod and hook, and the hook is hinged with the rack of car body；One end of the push rod and car body
Rack connection, the other end and hook of the push rod connect；
The controller control push rod elongation is shunk, and is driven hook to compress rack gear or is detached from rack gear.
5. L-AGV according to claim 4, it is characterised in that: the hook is inverted L-shaped, including horizontal part and vertical portion；
The bottom end of the vertical portion and the rack of car body are hinged, and the top of the vertical portion and one end of horizontal part are fixed, described
The other end of horizontal part than horizontal part one end close to rack gear；
The top of the vertical portion and the other end of push rod connect.
6. L-AGV according to claim 1, it is characterised in that: the motor, drive mechanism are located at vehicle body, institute
The top for stating support rod passes through car body and fixes with lifting platform bottom；
It is laid with guide sleeve vertically in the position that the car body upper support bar passes through, the guide sleeve is set on support rod.
7. the lifting platform control method based on L-AGV described in any one of claims 1 to 6, it is characterised in that: the side
Method includes:
(1) L-AGV get take case instruct after, to interaction bracket traveling；
(2) L-AGV is obtained and is interacted the distance between bracket；
(3) whether judge the distance obtained≤set distance；
If it is not, thening follow the steps (4): L-AGV continues to interaction bracket traveling, return step (2)；
If so, thening follow the steps (5): controlling lifting platform in the process of moving and rise to the first setting height；
(6) after L-AGV enters interactive bracket, stop traveling, and control lifting platform and rise to the second setting height, jacking is flat
Platform jacks up container, then sails out of interactive bracket；
Wherein, second the first setting height of setting height >.
8. method according to claim 7, it is characterised in that: the method also includes:
When needing lifting platform to rise, generation motor target rotational circle number-time corresponds to table；
In lifting platform uphill process, current time and motor actual rotation circle number are obtained；
Corresponding table is inquired according to the current time of acquisition, obtains motor target rotational circle number；
If motor actual rotation circle number is less than motor target rotational circle number, motor acceleration is controlled；
If motor actual rotation circle number is greater than motor target rotational circle number, motor deceleration is controlled.
9. the lifting platform control method based on L-AGV described in any one of claims 1 to 6, it is characterised in that: the side
Method includes:
(1) L-AGV get send case instruct after, to interaction bracket traveling；
(2) after L-AGV enters interactive bracket, stop traveling, and control lifting platform and drop to the first setting height, lifting platform
It is detached from container, then sails out of interactive bracket；
(3) during L-AGV sails out of interactive bracket, control lifting platform drops to minimum altitude；Wherein, the first setting is high
Spend > minimum altitude.
10. method according to claim 9, it is characterised in that: the method also includes:
When needing lifting platform to decline, generation motor target rotational circle number-time corresponds to table；
During lifting platform decline, current time and motor actual rotation circle number are obtained；
Corresponding table is inquired according to the current time of acquisition, obtains motor target rotational circle number；
If motor actual rotation circle number is less than motor target rotational circle number, motor acceleration is controlled；
If motor actual rotation circle number is greater than motor target rotational circle number, motor deceleration is controlled.
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| CN201811296312.6A CN109095387A (en) | 2018-11-01 | 2018-11-01 | A kind of L-AGV and L-AGV lifting platform control method |
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