CN206298317U - A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy - Google Patents

A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy Download PDF

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Publication number
CN206298317U
CN206298317U CN201621276614.3U CN201621276614U CN206298317U CN 206298317 U CN206298317 U CN 206298317U CN 201621276614 U CN201621276614 U CN 201621276614U CN 206298317 U CN206298317 U CN 206298317U
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magnetic
agv
navigation
car bodies
fork truck
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CN201621276614.3U
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洪思敏
张守多
张明阳
徐锦鑫
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Keda Clean Energy Co Ltd
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Keda Clean Energy Co Ltd
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Abstract

The utility model discloses a kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy, including AGV car bodies, magnetic navigation unit and controller;The rear portion of AGV car bodies is provided with a pair of parallel yoke;Magnetic navigation unit includes the first magnetic navigation sensor, the second magnetic navigation sensor and navigation magnetic stripe, first magnetic navigation sensor is arranged at the lower front of AGV car bodies, second magnetic navigation sensor is located between a pair of yokes, and first magnetic navigation sensor and the second magnetic navigation sensor be respectively positioned on the center line of AGV car body fore-and-aft directions, navigation magnetic stripe is laid on the horizontal navigation magnetic stripe and longitudinal direction navigation magnetic stripe on ground including square crossing;Controller is fixed on AGV car bodies, and controller is connected with magnetic navigation unit and AGV car body signals.The fork truck type AGV system with high accuracy reversing positioning function of the present utility model has positioning precision high, simple structure, practical, applied widely, low cost.

Description

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

Claims (6)

1. it is a kind of with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that:Including AGV car bodies, magnetic navigation Unit and controller;The rear portion of the AGV car bodies is provided with a pair of parallel yoke;The magnetic navigation unit includes the first magnetic conductance Boat sensor, the second magnetic navigation sensor and navigation magnetic stripe, before first magnetic navigation sensor is arranged at the AGV car bodies Portion lower section, second magnetic navigation sensor is located between the pair of yoke, and first magnetic navigation sensor and second Magnetic navigation sensor is respectively positioned on the center line of the AGV car bodies fore-and-aft direction, and the navigation magnetic stripe is laid including square crossing In the horizontal navigation magnetic stripe and longitudinal direction navigation magnetic stripe on ground;The controller is fixed on the AGV car bodies, the controller with The magnetic navigation unit and AGV car bodies signal are connected.
2. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that:Institute The front portion for stating AGV car bodies is provided with driving wheel, and first magnetic navigation sensor is located at the front side of the driving wheel.
3. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that:Institute State and be provided with a pair of driven below a pair of yokes.
4. it is according to claim 3 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that:Institute The second magnetic navigation sensor is stated to be located between the pair of driven pulley.
5. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that:Institute State a pair of yokes and slide up and down the rear portion for being arranged on the AGV car bodies.
6. it is according to claim 1 with high accuracy move backward positioning function fork truck type AGV system, it is characterised in that:Institute Controller is stated for ARM controller.
CN201621276614.3U 2016-11-21 2016-11-21 A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy Active CN206298317U (en)

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CN201621276614.3U CN206298317U (en) 2016-11-21 2016-11-21 A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109491374A (en) * 2017-09-12 2019-03-19 杭州海康机器人技术有限公司 The track adjusting method and device of automatic guided vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109491374A (en) * 2017-09-12 2019-03-19 杭州海康机器人技术有限公司 The track adjusting method and device of automatic guided vehicle

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