CN109368547A - A kind of fork truck AGV of omnidirectional moving and the application on container - Google Patents
A kind of fork truck AGV of omnidirectional moving and the application on container Download PDFInfo
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- CN109368547A CN109368547A CN201811458245.3A CN201811458245A CN109368547A CN 109368547 A CN109368547 A CN 109368547A CN 201811458245 A CN201811458245 A CN 201811458245A CN 109368547 A CN109368547 A CN 109368547A
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- fork truck
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- steering
- wheel
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Classifications
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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
- 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
- B66F9/063—Automatically guided
-
- 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
- B66F9/07513—Details concerning the chassis
-
- 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
- B66F9/07568—Steering arrangements
-
- 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
- B66F9/07572—Propulsion arrangements
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of AGV fork truck of omnidirectional moving, including chassis, chassis lower part quadrangle is mounted on steering wheel；It is fixedly welded with forklift door frame on chassis, laser scanner is installed at the top of forklift door frame；Forklift truck frame is equipped on the left of forklift door frame；Forklift door frame lower part is equipped with power assembly, and power assembly is mounted on chassis；Power battery pack, vehicle control syetem are equipped in power assembly；The steering wheel includes wheel, tooth sector, and tooth sector is fixedly connected with chassis lower part, and wheel setting is equipped with driving motor on the right side of tooth sector lower position, wheel, and encoder brake assembly is housed in the left-hand axis of driving motor；Steering motor is fixedly installed on the outside of the mounting rack of tooth sector side, the transmission gear and tooth sector of steering motor top installation are intermeshed.The present invention and its application, incorporate resource, so that workshop handling efficiency improves 50%, improve the image of application scenarios, while considerably increasing safety, reduce error rate.
Description
Technical field
The present invention relates to a kind of fork truck AGV of omnidirectional moving and the applications on container, belong to robotic technology field.
Background technique
Currently, machine replaces people to be trend of the times, and robot motion is related to various control technologies, also relates to
Control.In container field, need to use manually using carrying fork truck cargo, it is artificial more, and when cargo is carried, one
As need enter container vehicle operation, general navigation mode and control mode cannot be met the requirements, it is necessary to as needed
It is improved.AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to equipment
There is electricity magnetically or optically to wait homing guidances device, it can be travelled along defined guide path, have safeguard protection and various shiftings
Carry the transport vehicle of function.AGV compared with walking, is creeped or other non-wheeled mobile robots have characterized by wheel type mobile
The advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, safety is good.It is set with common other in material conveying
Standby to compare, the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.
Therefore, in automatic Material Handling System, most can fully embody its automaticity and flexibility, realize it is efficient, economical, flexible nobody
Metaplasia produces.In container field, the application field range of AGV fork truck is not wide, it is necessary to improve as needed.
Summary of the invention
The purpose of the present invention is to provide a kind of fork truck AGV of omnidirectional moving and the application on container, improve existing
There is fork truck using effect, convenient for preferably being used in container field, improves service efficiency, reduce labor intensity.
To achieve the goals above, technical scheme is as follows.
A kind of AGV fork truck of omnidirectional moving, including chassis, chassis lower part quadrangle are mounted on steering wheel；Fixed weldering on chassis
It is connected to forklift door frame, laser scanner is installed at the top of forklift door frame；Forklift truck frame is equipped on the left of forklift door frame；Forklift door frame lower part
Equipped with power assembly, power assembly is mounted on chassis；Power battery pack, vehicle control syetem are equipped in power assembly；It is described
Steering wheel includes wheel, tooth sector, and tooth sector is fixedly connected with chassis lower part, and wheel is arranged in tooth sector lower position,
Driving motor is installed on the right side of wheel, encoder brake assembly is housed in the left-hand axis of driving motor；Tooth sector side
Steering motor is fixedly installed on the outside of mounting rack, the transmission gear and tooth sector of steering motor top installation are intermeshed.
Further, in the fork truck, chassis plays a supportive role to entire fork truck and the several big components of AGV fork truck has been determined
Between relative position；Arrange that four steering wheels, each steering wheel are respectively equipped with a driving motor and a steering below chassis
Motor, driving motor is servo motor and steering motor is DC brushless motor, this eight motors pass through special process control
The omnidirectional moving of AGV fork truck may be implemented.It include power battery pack, the control hardware module of onboard system inside power assembly
It is welded to together Deng, forklift door frame with chassis, installation site and reliable impetus is provided for forklift truck frame, on forklift door frame
There is laser scanner.Driving motor provides hoofing part power to wheel, and encoder brake assembly is housed on the axis of driving motor,
The movement of moment detection wheel simultaneously can in case of emergency brake, and steering force is transmitted to steering tooth by gear drive by steering motor
Wheel, tooth sector are fixedly connected with chassis.
Further, the AGV fork truck of this omnidirectional moving is applied on container, in work, AGV fork truck from
The terminal in connection warehouse forks cargo, be transported in container realize it is orderly put, during this, used an AGV
Fork truck, in the project, AGV fork truck needs around workshop pillar, and can arrive the charging that charging station or so two sides is both provided with automatically
It charges in stake.It is equipped with outside container car and steps on vehicle bridge, when AGV fork truck places last two containers, wheel can be with
It is stopped on stepping on vehicle bridge.Inside container, than narrow, AGV fork truck can carry out itself by itself navigation system in space
Position judgement, then make small lateral movement, it is ensured that cargo is put as required.
Further, the AGV fork truck outside container use no-reflection plate laser navigation, into container after use
Itself navigation, entire control system of carrying are divided into ground control system and vehicle control syetem；Control system includes ground control
System and vehicle control syetem, ground control system include interchanger, and ERP or MES is connected on the input/output terminal of interchanger
System, main control computer, charging station and wireless aps are connected with monitoring computer on main control computer；Vehicle control syetem includes
Industrial personal computer, the input/output terminal of industrial personal computer are connected with wireless aps, and the input terminal of industrial personal computer is connected with laser scanner, natural navigation
Component, the output end of industrial personal computer are connected with traveling controller, steering controller, PLC, traveling controller and steering controller it is defeated
Outlet is connected with the control module on movable motor and steering motor respectively；The output end of PLC be connected separately with prong motor,
Laser radar and sensor；The wireless aps in wireless aps and vehicle control syetem in ground control system are connected using wireless mode
It connects.
Invention has the beneficial effects that: in the system, using four driving steering wheels, realize the cross of fork truck AGV
Fine tuning when to movement and putting cargo.Chassis of vehicle body and forklift door frame are made of one, so that the main structure of entire AGV
Rigidity, strength and stability greatly increase；Enter the built-in cargo of container using AGV fork truck for the first time, belongs to industry and apply first.
In use, vehicle bridge is stepped in customization, and AGV fork truck is allowed directly to put cargo on stepping on vehicle bridge, and is not had to temporarily remove and stepped on vehicle
Bridge reduces the trouble for putting most latter two cargo.In addition, AGV uses the laser navigation of no-reflection plate in workshop, into container
Natural navigation, and assistance application inertial navigation etc. are used afterwards, so that navigation system is relatively reliable, this integration technologies of navigating more
Belong to and applies first.In addition, the arrangement form of each element in the fork truck principle framework is reasonable, rich in certain novelty.This
Item invention and its application, incorporate resource, so that workshop handling efficiency improves 50%, improve the image of application scenarios, simultaneously
Safety is considerably increased, error rate is reduced.
Detailed description of the invention
Fig. 1 is schematic diagram of product structure used in the embodiment of the present invention.
Fig. 2 is steering wheel structural schematic diagram used in the embodiment of the present invention.
Fig. 3 is the application scenarios schematic diagram on container of product used in the embodiment of the present invention.
Fig. 4 is the module frame chart that product used in the embodiment of the present invention uses.
Specific embodiment
A specific embodiment of the invention is described below with reference to embodiment, to better understand the present invention.
Embodiment
90 degree of turnings not only may be implemented, moreover it is possible to realize lateral side in the AGV fork truck of omnidirectional moving in the present embodiment
It moves, realizes the free movement of AGV fork truck small space in container.AGV fork truck is able to achieve lateral displacement and has benefited from car body
The arrangement of chassis driving wheel, integral arrangement such as Fig. 1.
The AGV fork truck of omnidirectional moving as shown in Figure 1, including chassis 6,6 lower part quadrangle of chassis are mounted on steering wheel 5；Bottom
It is fixedly welded with forklift door frame 2 on disk 6, laser scanner 3 is installed at the top of forklift door frame 2；Fork truck is equipped on the left of forklift door frame 2
Frame 1；2 lower part of forklift door frame is equipped with power assembly 4, and power assembly 4 is mounted on chassis 6；Power battery is equipped in power assembly 4
Group, vehicle control syetem；Steering wheel 5 as shown in Figure 2 includes wheel 10, tooth sector 11, and tooth sector 11 and 6 lower part of chassis are solid
Fixed connection, the setting of wheel 10 are equipped with driving motor 7, a left side for driving motor 7 on the right side of 11 lower position of tooth sector, wheel 10
Encoder brake assembly 9 is housed in side axle；It is fixedly installed with steering motor 8 on the outside of the mounting rack of 11 side of tooth sector, is turned
The transmission gear and tooth sector 11 installed to 8 top of motor are intermeshed.
In the fork truck, chassis 6 plays a supportive role to entire fork truck and has determined opposite between the several big components of AGV fork truck
Position.Arrange that four steering wheels 5, each steering wheel 5 are respectively equipped with a driving motor 7 and a steering motor 5 below chassis 6,
Driving motor 7 is servo motor and steering motor 5 is brshless DC motor, this eight motors can be with by special process control
Realize the omnidirectional moving of AGV fork truck.It include the control hardware of power battery pack, onboard system inside power assembly in Fig. 1
Module etc., forklift door frame 2 are welded to together with chassis 6, are provided installation site and reliable impetus for forklift truck frame 1, are pitched
There is laser scanner 3 on car door frame.As shown in Fig. 2, driving motor 7 provides hoofing part power to wheel 10, the axis of driving motor 7
Upper that encoder brake assembly 9 is housed, the movement of moment detection wheel simultaneously can in case of emergency brake, and steering motor 8 passes through
Steering force is transmitted to tooth sector 11 by gear drive, and tooth sector 11 is fixedly connected with chassis 6.
The AGV fork truck of this omnidirectional moving is applied on container, the scene as shown in figure 3, in the work,
AGV fork truck 17 forks cargo 18 from the terminal 15 in connection warehouse, be transported in container 12 realize it is orderly put, this mistake
Cheng Zhong, has used 3 AGV fork trucks 17, and in the project, AGV fork truck 17 needs around workshop pillar 14, and can arrive charging station automatically
It charges on the charging pile that 16 or so two sides are both provided with.It is equipped with outside container car 1 and steps on vehicle bridge 13, put in AGV fork truck 17
When setting last two containers, wheel can be stopped on stepping on vehicle bridge 13.Inside container, space is than narrow, AGV fork
Vehicle 17 can carry out the position judgement of itself by itself navigation system, then make small lateral movement etc., it is ensured that cargo
It puts as required.
The AGV fork truck outside container use no-reflection plate laser navigation, into container after using itself navigate,
Entire control system of carrying is divided into ground control system and vehicle control syetem.The schematic diagram of control system is as shown in Figure 4.Control
System includes ground control system and vehicle control syetem, and ground control system includes interchanger, the input/output terminal of interchanger
On be connected with ERP or MES system, main control computer, charging station and wireless aps, be connected with monitoring computer on main control computer；
Vehicle control syetem includes industrial personal computer, and the input/output terminal of industrial personal computer is connected with wireless aps, and the input terminal of industrial personal computer is connected with sharp
Photoscanner, natural navigation component, the output end of industrial personal computer are connected with traveling controller, steering controller, PLC, travelling control
The output end of device and steering controller is connected with the control module on movable motor and steering motor respectively；The output end of PLC
It is connected separately with prong motor, laser radar and sensor；In wireless aps and vehicle control syetem in ground control system
Wireless aps are connected using wireless mode.
Single arrow expression instruction is unidirectional in figure, and double-head arrow indicates that instruction is two-way.Carrying control system realizes
The path planning of AGV fork truck in project, automatic running, automatically confirms that and feeds back oneself state and goods information etc. at homing guidance
Core function carries control system and is broadly divided into three onboard system, navigation system, scheduling system big systems, the function of each system
It can be as follows.Wherein, onboard system realizes following major function: 1) environment sensing；2) confirm the position and course of ontology；3)
Dynamic decision and planning and optimization driving path；4) control and execution of steering motor, driving motor, lifting motor etc.；5) real
When communication, receive scheduling system signal and send goods information, oneself state information gives scheduling system；6) security control, safety
Collision, the slow down and emergency stop of emergency；7) walking light；8) there is cell phone controller；9) accumulator status monitors；
10) charging contactor monitors；11) walking monitoring；12) sound-light alarm.Navigation system uses Multi-sensor Fusion airmanship, main
The navigation mode wanted has: 1) laser navigation；2) natural navigation；3) other assisting navigations.Scheduling system realizes following functions: 1) work
Make the determination of beat；2) vehicle scheduling；3) task management；4) traffic administration；5) goods information management；6) business Process Design；
7) it monitors；8) it communicates.
In the system, using four driving steering wheels, when realizing the transverse shifting of fork truck AGV and put cargo
Fine tuning.Chassis of vehicle body and forklift door frame are made of one, so that the rigidity of the main structure of entire AGV, strength and stability are significantly
Increase；Enter the built-in cargo of container using AGV fork truck for the first time, belongs to industry and apply first.In use, vehicle bridge is stepped in customization,
Allow AGV fork truck directly to put cargo on stepping on vehicle bridge, and do not have to temporarily remove to step on vehicle bridge, reduce put most latter two
The trouble of cargo.In addition, AGV uses the laser navigation of no-reflection plate in workshop, into container after use natural navigation, and it is auxiliary
It helps using inertial navigation etc., so that navigation system is relatively reliable, this more navigation integration technologies belong to be applied first.In addition, should
The arrangement form of each element in fork truck principle framework is reasonable, rich in certain novelty.The present invention and its application, incorporate
Resource improves the image of application scenarios so that workshop handling efficiency improves 50%, while considerably increasing safety, reduces
Error rate.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (4)
1. a kind of AGV fork truck of omnidirectional moving, it is characterised in that: including chassis, chassis lower part quadrangle is mounted on steering wheel；
It is fixedly welded with forklift door frame on the chassis, laser scanner is installed at the top of the forklift door frame；The forklift door frame is left
Side is equipped with forklift truck frame；The forklift door frame lower part is equipped with power assembly, and the power assembly is mounted on chassis；The power is total
Power battery pack, vehicle control syetem are equipped in；The steering wheel includes wheel, tooth sector, tooth sector and chassis lower part
It is fixedly connected, the wheel setting is equipped with driving motor, the steering wheel packet on the right side of tooth sector lower position, the wheel
Horizontal and vertical two kinds of patterns are included, encoder brake assembly is housed in the left-hand axis of the driving motor；The tooth sector
Steering motor, the transmission gear and tooth sector phase of the steering motor top installation are fixedly installed on the outside of the mounting rack of side
Mutually engagement.
2. the AGV fork truck of omnidirectional moving according to claim 1, it is characterised in that: in the fork truck, chassis is to entire fork truck
It plays a supportive role and the relative position between the several big components of AGV fork truck has been determined；Four steering wheels are arranged below chassis, each
Steering wheel is respectively equipped with a driving motor and a steering motor, and driving motor is servo motor and steering motor is brush DC
The omnidirectional moving of AGV fork truck may be implemented by special process control for motor, this eight motors；Include inside power assembly
Power battery pack, control hardware module of onboard system etc., forklift door frame is welded to together with chassis, is provided for forklift truck frame
Installation site and reliable impetus have laser scanner on forklift door frame；Driving motor provides hoofing part power to wheel, drives
Encoder brake assembly is housed, the movement of moment detection wheel simultaneously can in case of emergency brake, turn on the axis of dynamic motor
Steering force is transmitted to tooth sector by gear drive by motor, and tooth sector is fixedly connected with chassis.
3. the AGV fork truck of omnidirectional moving according to claim 1, it is characterised in that: the AGV fork truck of the omnidirectional moving exists
It is applied on container, in work, AGV fork truck forks cargo from the terminal in connection warehouse, is transported in container real
Existing sequence is put, and during this, has used an AGV fork truck, and in the project, AGV fork truck needs around workshop pillar, and energy
Automatically it charges on the charging pile being both provided with to charging station or so two sides；It is equipped with outside container car and steps on vehicle bridge, pitched in AGV
When vehicle places last two containers, wheel can be stopped on stepping on vehicle bridge；Inside container, space is than narrow, AGV
Fork truck can carry out the position judgement of itself by itself navigation system, then make small lateral movement, it is ensured that cargo is pressed
It is required that putting.
4. the AGV fork truck of omnidirectional moving according to claim 1, it is characterised in that: the AGV fork truck is adopted outside container
With the laser navigation of no-reflection plate, into container after navigated using itself, entire control system of carrying is divided into ground control system
System and vehicle control syetem；Control system includes ground control system and vehicle control syetem, and ground control system includes exchange
Machine, ERP or MES system, main control computer, charging station and wireless aps are connected on the input/output terminal of interchanger, and master control calculates
Monitoring computer is connected on machine；Vehicle control syetem includes industrial personal computer, and the input/output terminal of industrial personal computer is connected with wireless aps, work
The input terminal of control machine is connected with laser scanner, natural navigation component, and the output end of industrial personal computer is connected with traveling controller, turns to
The output end of controller, PLC, traveling controller and steering controller respectively with the control module on movable motor and steering motor
It is connected；The output end of PLC is connected separately with prong motor, laser radar and sensor；Wireless aps in ground control system
It is connected with the wireless aps on vehicle control syetem using wireless mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811458245.3A CN109368547A (en) | 2018-11-30 | 2018-11-30 | A kind of fork truck AGV of omnidirectional moving and the application on container |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811458245.3A CN109368547A (en) | 2018-11-30 | 2018-11-30 | A kind of fork truck AGV of omnidirectional moving and the application on container |
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Cited By (7)
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| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN110320922A (en) * | 2019-08-14 | 2019-10-11 | 天津博霆光电技术有限公司 | AGV intelligence handling system |
| CN110471424A (en) * | 2019-08-30 | 2019-11-19 | 上海工程技术大学 | A kind of AGV vehicle structure being suitable for complex road surface |
| CN111320112A (en) * | 2020-04-15 | 2020-06-23 | 湖北九州云仓科技发展有限公司 | Heavy-load omnidirectional shuttle |
| CN111591927A (en) * | 2020-05-18 | 2020-08-28 | 项卫锋 | High-safety multi-steering lateral-movement AGV fork truck |
| WO2020233019A1 (en) * | 2019-05-20 | 2020-11-26 | 山东洛杰斯特物流科技有限公司 | Steering wheel based on internal gear ring transmission and omni-directional agv forklift |
| CN112050811A (en) * | 2020-06-22 | 2020-12-08 | 华东理工大学 | Intelligent forklift track reckoning method based on encoder data |
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