CN207580715U - A kind of AGV vehicles of high-precision off-position fork device - Google Patents
A kind of AGV vehicles of high-precision off-position fork device Download PDFInfo
- Publication number
- CN207580715U CN207580715U CN201721501223.1U CN201721501223U CN207580715U CN 207580715 U CN207580715 U CN 207580715U CN 201721501223 U CN201721501223 U CN 201721501223U CN 207580715 U CN207580715 U CN 207580715U
- Authority
- CN
- China
- Prior art keywords
- precision
- agv
- car body
- fork
- moving mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model is related to material flows automation fields, and in particular to a kind of AGV vehicles of high-precision off-position fork device.The utility model technical scheme is that：A kind of AGV vehicles of high-precision off-position fork device, and comprising AGV trolleies and auxiliary positioning part, the AGV trolleies include car body and the inductor assembly on the car body；The car body includes vehicle leg, and walking wheel assembly is equipped on the vehicle leg, and the car body is equipped with transversely movable transverse-moving mechanism, pallet fork is connected on the transverse-moving mechanism；The inductor assembly includes at least two range sensors for detecting distance and the position-detection sensor on the transverse-moving mechanism.The purpose of this utility model is to provide a kind of AGV vehicles of high-precision off-position and forks device, using distance measuring sensor and switch sensor combination traverse displacement unit, the position control accuracy of effective three controlled quentity controlled variables of lifting truck.
Description
Technical field
The utility model is related to material flows automation fields, and in particular to a kind of AGV vehicles of high-precision off-position fork device.
Background technology
AGV, i.e. automatic guided vehicle refer to equipment homing guidance device, the transport vehicle that can be travelled along defined guide path.
AGV's is widely used, can be substituted in storage environment and be accomplished manually the tasks such as stacking, de-stacking, carrying.And in the work of AGV
It is high for the required precision that guides and position especially in the work for forking formula AGV in work, when AGV positions unpunctual, stretch
On the one hand the pallet fork gone out can be forked less than specified cargo, another aspect, it is possible to interfere and touch with shelf or pallet
It hits, not only reduces working efficiency, also add very big security risk.
Specifically, the raising of the positioning accuracy of AGV needs three controlled quentity controlled variables, i.e. lengthwise position precision is parallel to pallet fork side
To, lateral position accuracy vertical in pallet fork direction and posture vehicle body longitudinal direction and the angle of target stop position.Certain application scenarios
AGV and other equipment such as manipulator etc. are docked or the requirement of multiple-level stack task dispatching forks mechanism and has higher repetition to stop
Position precision, and it is reliable and stable.
And the technology of existing AGV positioning and off-position, the mode for often relying on single control carry out terminal off-position control, and
There are a variety of interference or uncertain factors, such as the basic machine structure of AGV trolleies, the fortune of trolley for the mode of this single control
Dynamic to learn control, sensor accuracy limitation, running environment etc., in this case, AGV can not be realized three above-mentioned controls effectively
Amount processed reaches the requirement of merging precision.
Utility model content
The purpose of this utility model is to provide a kind of AGV vehicles of high-precision off-position and forks device and its off-position method, profit
With distance measuring sensor and switch sensor combination traverse displacement unit, the position control accuracy of effective three controlled quentity controlled variables of lifting truck.
The above-mentioned technical purpose of the utility model technical scheme is that：A kind of high-precision off-position
AGV vehicles fork device, and comprising AGV trolleies and auxiliary positioning part, the AGV trolleies include car body and on the car body
Inductor assembly；The car body includes vehicle leg, walking wheel assembly is equipped on the vehicle leg, the car body is equipped with can be lateral
Mobile transverse-moving mechanism is connected with pallet fork on the transverse-moving mechanism；The inductor assembly include at least two for detect away from
From range sensor and the position-detection sensor on the transverse-moving mechanism；The auxiliary positioning part include with it is described
The baffle that range sensor is used cooperatively and the positioning plate being used cooperatively with the laser sensor are offered on the positioning plate
Location hole.
As the preferred of the utility model, the range sensor is two, is separately mounted on two vehicle legs.
As the preferred of the utility model, the range sensor is two, is separately mounted on two pallet forks.
As the preferred of the utility model, the transverse-moving mechanism includes the track being mounted on the car body, in the rail
The sliding block moved on road and the driving device that the sliding block is driven to slide, the pallet fork and the position-detection sensor are respectively mounted
On the sliding block.
As the preferred of the utility model, the track extends in the horizontal direction.
As the preferred of the utility model, the limit for limiting the shift position of the sliding block on the track is also included
Position device.
As the preferred of the utility model, the navigation device for being aligned in advance to the AGV trolleies is also included, it is described
Navigation device is environment navigation device or magnetic guidance navigation device or two-dimension code navigation device.
A kind of AGV vehicles of high-precision off-position fork the off-position method of device, comprise the following steps,
Step 1: Ground arrangement step：
The baffle and the positioning plate are arranged in target location, the location hole is offered on the positioning plate；
Step 2: trolley advance step：
The AGV trolleies are close toward the baffle direction, and the distance of two on vehicle leg or pallet fork passes at this time
Sensor is started to work, and is respectively obtained and the feedback data A of the distance of the baffle and feedback data B；
Step 3: pose adjustment and longitudinal register step：
According to the numerical value difference of feedback data A and feedback data B, the posture of the AGV trolleies is adjusted, and work as institute
When stating feedback data A and feedback data B and reaching pre-determined distance value, the AGV trolleies is controlled to stop；
Step 4: lateral positioning step：
It operates the transverse-moving mechanism to slide laterally, when the position-detection sensor detects the location hole, stop
It slides laterally.
As the preferred of the utility model, in step 4, transverse-moving mechanism includes sliding rail and sliding block, and the position detection passes
Sensor is mounted on the sliding block, and the sliding block first slides into the extreme position of side, then slides round about.
As the preferred of the utility model, speed that the sliding block slides round about is slower than the sliding block and slides into one
The speed during extreme position of side.
In conclusion the utility model has the advantages that：
1st, the off-position of trolley can be controlled in terms of lengthwise position precision, lateral position precision and posture three, it is accurate to be promoted
Degree.
2nd, it is realized using three inductors, it is simple in structure, it is small to the transformation degree of car body, reduce improvement cost.
Description of the drawings：
Fig. 1 is the schematic diagram of AGV trolleies；
Fig. 2 is the schematic diagram of embodiment 1.
In figure：
1st, car body, 11, vehicle leg, 2, transverse-moving mechanism, 31, position-detection sensor, 32, range sensor, 41, baffle, 42,
Location hole.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
This specific embodiment is only explanation to the utility model, is not the limitation to the utility model, ability
Field technique personnel can as needed make the present embodiment the modification of no creative contribution after this specification is read, but
As long as it is all protected in the right of the utility model by Patent Law.
Embodiment 1, as depicted in figs. 1 and 2：Comprising AGV trolleies, there is no not with existing trolley in structure for trolley
Together, the similary walking structure for including transmission, such as traveling wheel, the pallet fork comprising vehicle leg 11 and for forking cargo.Pallet fork is with liter
Falling unit can be lifted in the vertical direction, adjust its height and position.
It on the basis of existing structure, needs that inductor assembly is installed on the car body 1 of AGV trolleies, specifically, sensing
Device assembly includes at least three, is on two range sensors 32 and a position-detection sensor 31 respectively.Two of which away from
It may be mounted on vehicle leg 11 from sensor 32.
Correspondingly, the technical program needs to dispose shipping environment, shelf are equipped in storage environment, are stacked on shelf
There is pallet, cargo is placed on pallet, there is gap in pallet, the pallet fork of AGV trolleies, which is extend into the gap of pallet, to be completed to fork
Action.In the rear position of shelf, baffle 41 can be equipped with, baffle 41 extends on vertical plane, perpendicular to ground, can reflect sharp
Light, cooperation range sensor 32 use.
On car body 1, transverse-moving mechanism is additionally provided with, can be moved in horizontal transverse direction, specifically, water can be equipped on car body 1
The track of flat setting, equipped with the sliding block slided in orbit, driving device can be hydraulic cylinder or be electric cylinders.It is installed on sliding block
There is pallet fork, in addition, being also equipped with position-detection sensor 31 on sliding block.Laser, infrared, sound can be used in position-detection sensor 31
The sensors such as wave.Correspondingly, in storage environment, such as on shelf or on pallet or the wall of shelf behind is equipped with
Positioning plate offers location hole on positioning plate.
It is Step 1: the related content of Ground arrangement step above, subsequently enters Step 2: trolley advance step, at this
In a step, trolley can in advance be aligned by navigation device, such as traditional environment navigation device, magnetic conductance guiding navigation dress
It puts or two-dimension code navigation device etc., turns round, and finally with straight path close to shelf.
Step 3: pose adjustment and longitudinal register step.In previous step, when trolley is close to shelf, distance passes
Sensor 32 just has started.Range sensor 32 can be laser sensor, and laser irradiation can be surveyed to the baffle 41
Go out the position of the relatively described baffle 41 of range sensor 32.Just as described above, two range sensors 32 are separately mounted to two
The front end of a vehicle leg 11, and feedback data A and feedback data B are respectively obtained, such as 0.2m and 0.21m.In this step, it is small
Vehicle is just adjusted the direction of itself according to the two data, until two data are equal, then it represents that the pose adjustment of trolley into
Work(, trolley at this time are right against baffle 41, that is, are right against shelf.
Whether feedback data A and feedback data B according to number in addition to other than the equal posture to detect and adjust itself, may be used also
To adjust its longitudinal register, for example, preset value be trolley front end need apart from baffle 41 be 0.15m when then judge trolley in place,
I.e. when feedback data A and feedback data B are 0.15m, trolley stops.
So far, the adjustment of pose adjustment and lengthwise position, which has all adjusted, finishes.
Step 4, lateral positioning step are quick sidesway and side positioning at a slow speed respectively in this step comprising two steps.
It is quick sidesway first, position-detection sensor 31 is mounted on sliding block, and sliding block is first quickly moved to side, e.g. left side,
Extreme position.This extreme position can be controlled by data control sensor device, such as be opened in the installation fine motion of some position of left side
It closes, stopping being automatically controlled when sliding block slides into this position.Then entire sliding block starts slowly to move to right, until position detection
The laser irradiation that sensor 31 is sent out is braked to during location hole 42, is represented that transverse shifting is in place, is completed located lateral
Step.Such two step by step rapid design be based on two reasons, reason one, after longitudinal off-position, need before traversing positioning into
The judgement in the traversing direction of row, judges off-position point and target point lateral deviation direction, since position error has by laser positioning
The situation that certain probability appearance can not judge；Reason two, such operating provision motion flow improve stability, reliability.
In actual use, pallet can be there are two types of design method, and one kind is intermediate without perpendicular gear, and another pallet is that centre has
Perpendicular gear.Wherein, the intermediate pallet with the presence of perpendicular gear can interfere because of the pallet fork of perpendicular stopper point and transverse shifting, if in
Between have the pallet of perpendicular gear, it is necessary to trolley completes be further continued for after step 4 before enter to fork cargo, and if intermediate without perpendicular gear
Pallet, then there is no limit, can be enter it is traversing again in pallet.
Embodiment 2, as different from Example 1, range sensor 32 are mounted on pallet fork.When on pallet fork
When, it is the presence of lifting in stacking procedure since pallet fork and vehicle leg 11 are different.So in order to coordinate range sensor 32, it must
Must corresponding baffle 41 be designed on position at various height.
Claims (7)
1. a kind of AGV vehicles of high-precision off-position fork device, AGV trolleies and auxiliary positioning part are included, it is characterised in that：It is described
AGV trolleies include car body（1）With mounted on the car body（1）On inductor assembly；The car body（1）Include vehicle leg（11）,
The vehicle leg（11）On walking wheel assembly, the car body are installed（1）It is equipped with transversely movable transverse-moving mechanism（2）, it is described
Transverse-moving mechanism（2）On be connected with pallet fork；The inductor assembly includes at least two range sensors for being used for detecting distance
（32）With mounted on the transverse-moving mechanism（2）On position-detection sensor（31）；The auxiliary positioning part include with it is described away from
From sensor（32）The baffle being used cooperatively（41）With with the position-detection sensor（31）The positioning plate being used cooperatively, it is described
Location hole is offered on positioning plate.
2. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：The distance
Sensor（32）It is two, is separately mounted to two vehicle legs（11）On.
3. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：The distance
Sensor（32）It is two, is separately mounted on two pallet forks.
4. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：It is described traversing
Mechanism（2）Including being mounted on the car body（1）On track, the sliding block that moves on the track and the driving sliding block slide
Driving device, the pallet fork and the position-detection sensor（31）It is installed on the sliding block.
5. a kind of AGV vehicles of high-precision off-position according to claim 4 fork device, it is characterised in that：The track
Extend in the horizontal direction.
6. a kind of AGV vehicles of high-precision off-position according to claim 4 fork device, it is characterised in that：Also comprising use
In the limiting device for limiting the shift position of the sliding block on the track.
7. a kind of AGV vehicles of high-precision off-position according to claim 1 fork device, it is characterised in that：Also comprising use
In the navigation device aligned in advance to the AGV trolleies, the navigation device is supplied laser navigation apparatus or environment navigation device
Or magnetic guidance navigation device or two-dimension code navigation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721501223.1U CN207580715U (en) | 2017-11-13 | 2017-11-13 | A kind of AGV vehicles of high-precision off-position fork device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721501223.1U CN207580715U (en) | 2017-11-13 | 2017-11-13 | A kind of AGV vehicles of high-precision off-position fork device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207580715U true CN207580715U (en) | 2018-07-06 |
Family
ID=62731476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721501223.1U Active CN207580715U (en) | 2017-11-13 | 2017-11-13 | A kind of AGV vehicles of high-precision off-position fork device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207580715U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107814153A (en) * | 2017-11-13 | 2018-03-20 | 上海诺力智能科技有限公司 | A kind of AGV vehicles of high-precision off-position fork device and its off-position method |
| CN110077491A (en) * | 2019-04-26 | 2019-08-02 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of the accurate positioning docking facilities and method of robot car |
| CN113816068A (en) * | 2020-06-19 | 2021-12-21 | 博世汽车部件(苏州)有限公司 | Workpiece conveying system |
-
2017
- 2017-11-13 CN CN201721501223.1U patent/CN207580715U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107814153A (en) * | 2017-11-13 | 2018-03-20 | 上海诺力智能科技有限公司 | A kind of AGV vehicles of high-precision off-position fork device and its off-position method |
| CN107814153B (en) * | 2017-11-13 | 2023-11-28 | 上海诺力智能科技有限公司 | AGV vehicle forking device with high-precision parking and parking method thereof |
| CN110077491A (en) * | 2019-04-26 | 2019-08-02 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of the accurate positioning docking facilities and method of robot car |
| CN113816068A (en) * | 2020-06-19 | 2021-12-21 | 博世汽车部件(苏州)有限公司 | Workpiece conveying system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107814153A (en) | A kind of AGV vehicles of high-precision off-position fork device and its off-position method | |
| CN207580715U (en) | A kind of AGV vehicles of high-precision off-position fork device | |
| CN103823468A (en) | Sneaking type AGV navigation and location system and location method | |
| CN105883424A (en) | AGV device capable of achieving automatic stacking | |
| CN105775540A (en) | Control method of storing and taking trays for magnetic stripe guide type vehicle | |
| CN206075134U (en) | A kind of tunnel automatic guided vehicle and guidance system | |
| CN109765905A (en) | A kind of omnidirectional's intelligent three-dimensional carrying control system | |
| KR20170024003A (en) | Driverless transport vehicle and method for operating a driverless transport vehicle | |
| CN105036013B (en) | A kind of fork truck automatic control system and its control method | |
| CN107145149A (en) | A kind of bridge type vehicle-driving device and its avoidance traveling method | |
| CN104060871A (en) | Vehicle Centering System | |
| CN205555541U (en) | Pile up neatly, machine people breaks a jam | |
| KR102300596B1 (en) | Method for narrow lane driving of autonomous forklift and apparatus for the same | |
| JP2024059826A (en) | Transport system and transport control method | |
| CN108958269B (en) | Inertial navigation magnetic stripe hybrid navigation AGV system | |
| KR102409528B1 (en) | System for unmanned pallet truck autonomous driving | |
| Wu et al. | Precise transhippment control of an automated magnetic-guided vehicle using optics positioning | |
| CN208026216U (en) | A kind of steel roll tower shaped detection device | |
| CN206298317U (en) | A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy | |
| CN208292580U (en) | A kind of AGV vehicle applying to small-sized foil volume | |
| JP5656025B2 (en) | Transport processing device | |
| CN208292588U (en) | A kind of AGV vehicle applying to small-sized foil volume forks cantilever design | |
| WO2022057062A1 (en) | Loading/unloading transport system | |
| CN203965942U (en) | production line free path AGV robot positioning system | |
| CN113917928A (en) | Full-automatic AGV unmanned forklift and path planning method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |