CN207689916U - A kind of AGV fork trucks that nobody automatically controls - Google Patents
A kind of AGV fork trucks that nobody automatically controls Download PDFInfo
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- CN207689916U CN207689916U CN201721913707.7U CN201721913707U CN207689916U CN 207689916 U CN207689916 U CN 207689916U CN 201721913707 U CN201721913707 U CN 201721913707U CN 207689916 U CN207689916 U CN 207689916U
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Abstract
The utility model is related to a kind of AGV fork trucks that nobody automatically controls, technical characterstic is：Including AGV fork trucks ontology, left support arm, right support arm and its internal control circuit, the internal control circuit includes the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor, central processing module, attitude transducer, steering engine assembly and power module, and the output end of central processing module is connected with steering engine assembly realizes the control function of AGV fork truck ontologies.The utility model can realize nobody function for automatically controlling of AGV fork trucks ontology, have the characteristics that simple and reliable, easy to operate, loading capacity is big.
Description
Technical field
The utility model belongs to AGV fork truck technical fields, is related to the fork truck that nobody automatically controls, especially it is a kind of nobody from
The AGV fork trucks of dynamic control.
Background technology
With the continuous development of the mankind, social is constantly progressive, and material flow industry is in the growth of explosion type, AGV fork trucks therewith
Play the part of more and more important role in logistics.Current AGV mostly uses greatly magnetic navigation technology, and navigation sensor uses base
In the sensor of magnetic induction technology, the induction particle of different number is distributed in sensor internal, these induction particles are using equidistant
Or non-equidistantly distributed.By incuding the magnetic field signal of the tape in AGV travelling routes, induction is exported on corresponding induction point
The mode of signal, the output of these inductive signals can be the corresponding switching value of induction particle of different number, can also be to pass through
The processing for incuding particle signal, exports the data of certain communications protocol.With the development of economy, market competition is growing more intense,
In logistics market nobody is automatically controlled AGV fork trucks demand it is increasing, and in the market nobody automatically controls AGV forks
Vehicle generally existing loading capacity is small, can not be lifted the shortcomings of cargo narrow with ground space.Therefore need how to design a kind of new
Nobody automatically controls AGV fork trucks to solve the above problems with type, is those skilled in the art's technical barrier in the urgent need to address.
Through retrieval, do not find and the same or analogous published patent document of the utility model.
Invention content
It is overcome the deficiencies in the prior art to the mesh of the utility model, proposes that a kind of reasonable design, loading capacity be big and side
Just the AGV fork trucks that practical nobody automatically controls.
The utility model solves its technical problem and following technical scheme is taken to realize：
A kind of AGV fork trucks that nobody automatically controls, including AGV fork trucks ontology, left support arm, right support arm and its internal control
Circuit processed, the internal control circuit include the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor, central processing
Module, attitude transducer, steering engine assembly and power module, first magnetic inductive transducers and the second magnetic inductive transducers are installed respectively
It is connected with central processing module for that will acquire in the bottom front of AGV fork truck ontologies and bottom rear end and its output end
Magnetic stripe electromagnetic signal is exported to central processing module；The left support arm, right support arm are installed in the two of AGV fork truck ontologies respectively
The positive bottom of a pallet fork, the laser sensor is installed on the top of left support arm and its output end is connected with central processing module
Connect the adjustable height for detecting pallet fork；The attitude transducer is installed on the top of AGV fork truck ontologies, output end and center
Processing module is connected the deflection angle for detecting AGV fork truck ontologies；The output end of the central processing module and steering engine assembly
It is connected, the letter for being acquired according to the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor and attitude transducer
Number control AGV fork truck ontologies steering wheel so that AGV fork truck ontologies is turned to or is moved along a straight line；The power module is located at AGV fork trucks
Body interior and its output end and central processing module, the first magnetic inductive transducers, the second magnetic inductive transducers, swash at attitude transducer
Optical sensor, steering engine assembly are connected and power for it.
Moreover, the attitude transducer outer cover is equipped with casing, which is aluminum hollow cylinder.
The advantages of the utility model and good effect are：
1, the utility model by the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor, central processing module,
Attitude transducer, steering engine assembly and power module are reasonably combined together, and realize AGV fork trucks nobody work(for automatically controlling
Can, and do not install other mechanical structures on its pallet fork additional, the lifting space of pallet fork is increased, can be lifted and the narrow goods of ground space
Object, principle is simple and reliable, it is easy to operate to have the advantages that, it is big to be easy to onsite application, loading capacity.
2, attitude transducer is installed on the AGV fork truck ontologies of the utility model additional, and in an external nested aluminum open circles
Cylinder can prevent external signal from interfering attitude transducer.
Description of the drawings
Fig. 1 is the overall structure figure of the utility model；
Fig. 2 is the circuit diagram of the utility model；
Fig. 3 is the chart at the bottom of of AGV fork trucks.
Reference sign：
Attitude transducer 1, laser sensor 2, left support arm 3, fixed wheel 4, the second magnetic inductive transducers 5, universal wheel 6, first
Magnetic inductive transducers 7, steering wheel 8, right support arm 9.
Specific implementation mode
The utility model embodiment is further described below in conjunction with attached drawing.
A kind of AGV fork trucks that nobody automatically controls, as shown in Figure 1, including AGV fork trucks ontology, left support arm 3, right support
Arm 9 and its internal control circuit, the internal control circuit include the first magnetic inductive transducers 7, the second magnetic inductive transducers 5, laser
Sensor 2, central processing module, attitude transducer 1, steering engine assembly and power module, as shown in Fig. 2, the first magnetic inductive transducers
With the second magnetic inductive transducers be respectively arranged in AGV fork truck ontologies bottom front and bottom rear end and its output end and centre
Reason module, which is connected, realizes that left support arm, right support arm are individually fixed in AGV fork truck sheets to the acquisition function of magnetic stripe electromagnetic signal
The positive bottom of body pallet fork, reality that laser sensor is installed on the top of left support arm and its output end is connected with central processing module
The function of limit is now measured pallet fork adjustable height, and the output end of central processing module is connected with steering engine assembly realizes AGV forks
The control function of vehicle ontology, attitude transducer are installed on the top of AGV fork truck ontologies, the output end and centre of attitude transducer
Reason module, which is connected, realizes that the function of determining AGV fork truck ontology deflection angles, steering engine assembly control the steering wheel 8 of AGV fork truck ontologies
Realize the function of AGV fork-truck steerings and linear motion, power module is located at the fork truck body interior rear ends AGV and its output end is in
Centre processing module, attitude transducer, the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor, steering engine assembly are connected
Realize the function of power supply.
The working process of the utility model is as follows：
When the AGV fork trucks automatically controlled using nobody, magnetic stripe and RFID patches are first laid on the ground of AGV fork trucks work
Piece, magnetic stripe will be laid to linear, curved shape as needed.The magnetic stripe track that AGV fork trucks are laid with along ground moves.
As shown in figure 3, steering wheel installation and AGV fork trucks bottom, respectively there are one universal wheel 6, left support arm, right branch on steering wheel both sides
Respectively there are one fixed wheels 4 for brace lower end.
When being moved on linear magnetic stripe, AGV fork trucks move in a straight line AGV fork trucks along magnetic stripe.AGV fork trucks are in curved shape magnetic
When being moved on item, AGV fork trucks do curvilinear motion along magnetic stripe.The general ratio of speed that AGV fork trucks move in a straight line does curvilinear motion
Speed is high, and concrete numerical value size can be manually arranged according to actual conditions.RFID patches possess different site numbers, when in-orbit
When detecting RFID patches on mark, the site number of RFID patches is identified first, then central processing module is according to different stations
Point number makes AGV fork trucks do the movement for accelerating, slowing down, being rotated by 90 ° automatically by the parameter of setting, under normal circumstances when AGV fork trucks
When just entering linear magnetic stripe by curved shape, AGV fork trucks can detect RFID patches do acceleration linear motion, when AGV fork trucks by
Linear soon arrival curve shape magnetic stripe when, AGV fork trucks can detect RFID patches do deceleration linear motion.When can't detect magnetic
When, AGV fork truck stop motions prevent safety problem.
During first magnetic inductive transducers of AGV fork trucks dynamically acquire the electromagnetic signal of magnetic stripe on ground and then are transmitted to
Processing module, central processing module is entreated to calculate the linear of magnetic stripe according to electromagnetic signal analysis, then done according to the linear of magnetic stripe
Corresponding movement.
When central processing module be calculated at this moment it is linear be linear when, central processing module is sent a signal to
The steering engine assembly of AGV fork trucks, steering engine assembly control steering wheel make AGV fork trucks do linear accelerating movement.In actual operation due to temperature
The factors such as the frictional force of humidity, AGV fork trucks and ground, AGV fork trucks may occur after the linear motion for carrying out a distance
Deflection, after deflecting central processing module be calculated it is linear be that the needs of oblique line shape are corrected.AGV fork trucks occur inclined
When turning, central processing module by the first magnetic inductive transducers at this time acquire come data calculate, can be obtained after calculating steering wheel with
Angle between oblique line shape track, then send corresponding signal according to angle makes steering wheel one angle of generation to steering engine assembly
Deflection, steering wheel drive AGV fork trucks to be moved along this direction, and at this moment AGV fork trucks are moved to the direction for being intended to linear motion, lower a period of time
It carves the first magnetic inductive transducers and resurveys data, central processing module sends corresponding signal to steering engine according to new angle is obtained
Assembly makes steering wheel generate the deflection of another angle, and steering wheel drives AGV fork trucks to be moved along this direction, the at this moment movement of AGV fork trucks
Direction tends to straight line than previous moment, then subsequent time repeats above step until AGV fork trucks restore to do at the uniform velocity directly again
Line moves, and correction at this time terminates.
When central processing module analyze at this moment be calculated be curve when, central processing module senses the first magnetic conductance
The data-signal of device dynamic acquisition carries out that the dynamic angle between steering wheel and current track can be obtained after analysis calculating, then basis
Obtained dynamic angle sends corresponding signal makes steering wheel that dynamic deflection occur to steering engine assembly, and steering wheel drives AGV fork trucks along dynamic
The direction movement of state deflection, to make AGV fork trucks be moved along curved shape magnetic stripe.
Steering engine assembly is unique device for providing AGV fork trucks relative to ground motion power, realize AGV fork-truck steerings with
The function of linear motion, other wheels do not provide motion-promotion force.
When the first magnetic inductive transducers can't detect electromagnetic signal, central processing module sends a signal to the rudder of AGV fork trucks
Machine assembly, the control steering wheel stop motion of steering engine assembly keep the angle of last moment constant simultaneously, and AGV fork trucks stop fortune.
When the first magnetic inductive transducers detect the RFID patches for accelerating site number, central processing module is compiled according to website
Number send a signal to steering engine assembly by the parameter of setting, steering engine assembly control steering wheel makes AGV fork trucks accelerate, when the first magnetic
When derivative sensor detects the RFID patches of deceleration site number, central processing module is sent out according to site number by the parameter of setting
The number of delivering letters gives steering engine assembly, steering engine assembly control steering wheel that AGV fork trucks is made to do retarded motion.
When the first magnetic inductive transducers detect it is automatic be rotated by 90 ° the RFID patches of site number when, by attitude transducer this
When the angle-data that acquires be denoted as the angle-data of 0 degree of dynamic acquisition attitude transducer simultaneously, steering engine assembly is according to central processing
The state modulator steering wheel that module is set makes AGV fork trucks rotate in place 90 degree, when the angle number of the attitude transducer of dynamic acquisition
When according to being 90 degree, no matter whether AGV fork trucks complete the movement for the rotating in place 90 degree all stop motions set.In perfect condition
Under when the angle-data of dynamic acquisition attitude transducer be 90 degree when, what AGV fork trucks were just completed to set rotates in place 90 degree
Movement, and AGV fork trucks can be detected after completing 90 degree of rotary motions new linear magnetic stripe track and according to track after
Reforwarding is dynamic, but in actual operation, due to factors such as the frictional force of humiture, AGV fork trucks and ground, AGV fork trucks rotate in place
Error is will produce during 90 degree, movement is rotated by 90 ° and detects that new magnetic stripe track is oblique line shape after the completion, therefore need
It is corrected, the operation that will be picked up goods or unloaded after meaning when the movement that AGV fork trucks are rotated by 90 ° automatically,
The operation then being picked up goods or unloaded of moved straight rearward a small distance is understood after completing the movements of 90 degree rotations, during this
Straight line counter motion is done, steering wheel is equivalent to and reversely pushes this movement of fixed wheel movement unstable, therefore can not be according to steering wheel and rail
Angle between mark, controlling steering engine assembly by central processing module makes AGV fork trucks move to linear magnetic stripe, only root again
Just AGV fork trucks can be made to move to linear magnetic stripe again according to the angle between AGV fork trucks and track.When AGV fork trucks are completed automatically
After the movement being rotated by 90 °, steering engine assembly control steering wheel makes AGV fork truck counter motions, the first magnetic inductive transducers and the second magnetic conductance pass
Sensor acquires the electromagnetic signal of magnetic stripe at this time simultaneously, and signal transmission is handled again to central processing module then, is calculated
Angle between AGV fork trucks and current track, send corresponding signal according to obtained angle later makes steering wheel to steering engine assembly
The deflection of an angle is generated, at this moment AGV fork trucks are intended to the direction movement of reverse linear movement, next moment central processing
Module recalculates angle according to the second magnetic inductive transducers and the freshly harvested data of the second magnetic inductive transducers, then further according to new meter
Obtained angle sends the deflection that corresponding signal makes steering wheel generate another angle to steering engine assembly, at this moment AGV fork trucks
The direction of motion tends to straight line than previous moment, then subsequent time repeats above step until AGV fork trucks detect directly again
Line, at this time correction terminate.
Laser sensor is installed on the top of left support arm and its output end is connected realization with central processing module to goods
Pitch the function that adjustable height measures limit.The height of the detection pallet fork of laser sensor dynamic realtime is arrived when pallet fork rises delivery of cargo
When certain altitude, laser sensor sends a signal to central processing module, and pallet fork stops rising.When pallet fork decline is unloaded into centainly
When height, laser sensor sends a signal to central processing module, and pallet fork stops declining.
It is emphasized that embodiment described in the utility model is illustrative, without being restrictive, therefore this reality
It is every according to the present utility model by those skilled in the art with the novel embodiment being not limited to described in specific implementation mode
The other embodiment that technical solution obtains also belongs to the range of the utility model protection.
Claims (2)
1. a kind of AGV fork trucks that nobody automatically controls, including AGV fork trucks ontology, left support arm, right support arm and its internal control
Circuit, it is characterised in that：The internal control circuit include the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor,
Central processing module, attitude transducer, steering engine assembly and power module, first magnetic inductive transducers and the second magnetic inductive transducers
It is respectively arranged in the bottom front of AGV fork truck ontologies and bottom rear end and its output end is connected with central processing module and is used for
The magnetic stripe electromagnetic signal of acquisition is exported to central processing module；The left support arm, right support arm are installed in AGV fork trucks respectively
The positive bottom of two pallet forks of ontology, the laser sensor are installed on the top of left support arm and its output end and central processing
Module is connected the adjustable height for detecting pallet fork；The attitude transducer is installed on the top of AGV fork truck ontologies, output
Hold the deflection angle being connected with central processing module for detecting AGV fork truck ontologies；The output end of the central processing module with
Steering engine assembly is connected, for according to the first magnetic inductive transducers, the second magnetic inductive transducers, laser sensor and attitude transducer institute
The steering wheel of the signal control AGV fork truck ontologies of acquisition makes AGV fork truck ontologies turn to or move along a straight line；The power module is located at
AGV fork trucks body interior and its output end and central processing module, attitude transducer, the first magnetic inductive transducers, the second magnetic conductance biography
Sensor, laser sensor, steering engine assembly are connected and power for it.
2. a kind of AGV fork trucks that nobody automatically controls according to claim 1, it is characterised in that：The attitude transducer
Outer cover is equipped with casing, which is aluminum hollow cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721913707.7U CN207689916U (en) | 2017-12-31 | 2017-12-31 | A kind of AGV fork trucks that nobody automatically controls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721913707.7U CN207689916U (en) | 2017-12-31 | 2017-12-31 | A kind of AGV fork trucks that nobody automatically controls |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207689916U true CN207689916U (en) | 2018-08-03 |
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ID=62994043
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721913707.7U Active CN207689916U (en) | 2017-12-31 | 2017-12-31 | A kind of AGV fork trucks that nobody automatically controls |
Country Status (1)
| Country | Link |
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| CN (1) | CN207689916U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
| WO2022199645A1 (en) * | 2021-03-26 | 2022-09-29 | 未来机器人（深圳）有限公司 | Pallet stacking type unmanned forklift |
-
2017
- 2017-12-31 CN CN201721913707.7U patent/CN207689916U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
| WO2022199645A1 (en) * | 2021-03-26 | 2022-09-29 | 未来机器人（深圳）有限公司 | Pallet stacking type unmanned forklift |
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