CN217060835U - Forklift AGV speed monitoring system - Google Patents

Abstract

The utility model discloses a fork truck type AGV speed monitoring system, which comprises a safety proximity switch, a safety controller, a safety encoder and a speed execution unit, wherein the safety proximity switch is connected with the safety controller, and the controller is connected with the safety encoder and the speed execution unit; steering and straight going of the steering wheel are detected in real time through the two safety proximity switches, and the speed is monitored and controlled in real time through the safety encoder; the steering encoder is replaced by the two proximity switches, so that the reliability is high, the electric design complexity and the program compiling complexity caused by a double-encoder scheme are reduced, and the cost is low; the steering angle of the steering wheel is converted into the angular velocity for detection, the safety is high, and the two proximity switches are used for replacing a common inductance type proximity switch, so that the reliability is high.

Description

Forklift AGV speed monitoring system

Technical Field

The utility model belongs to the technical field of AGV control and specifically relates to a fork truck formula AGV speed monitored control system and fork truck formula AGV.

Background

Along with the development of the AGV technology, the AGV application scenes are more and more, and at present, a published patent for detecting the state of a steering wheel by adopting two proximity switches and a detection strip is really available, however, the scheme only adopts a common inductive proximity switch, the safety of the scheme is high, and the scheme of the inductive proximity switch is only used for steering wheel zero returning. The requirements of mechanical security standards are certified according to the latest CE requirements. The speed of the AGV must be monitored by a safety encoder, but generally, the AGV needs to adopt different monitoring ranges for steering and straight traveling, but if the steering is monitored by the safety encoder, the cost is high, and the aspects of line design and program control are too complex.

For example, an AGV transport vehicle disclosed in chinese patent document, whose publication number is CN110673567A, includes a double encoder which is expensive, and a double encoder scheme has complicated electrical design and programming, and a general inductive proximity switch is easily damaged and has low reliability.

SUMMERY OF THE UTILITY MODEL

The utility model relates to an overcome that dual encoder is expensive among the prior art, increase AGV installation cost, current scheme security is lower, and dual encoder scheme electrical design and programming are too complicated scheduling problem, provide a fork truck formula AGV speed monitored control system.

The utility model provides a fork truck formula AGV speed monitored control system, includes safe proximity switch, safety controller, safety encoder and speed execution unit, safe proximity switch with safety controller connects, and the controller is connected with safety encoder and speed execution part, and overall control simple structure uses two proximity switches to detect the AGV motion state, replaces traditional the turning to the encoder through proximity switch and monitors, through data conversion, adopts two proximity switches to monitor AGV's form state, and the cost is reduced has improved security and reliability.

Preferably, the safety proximity switch is used for detecting the motion state of the AGV and sending the current motion state to the safety controller in real time, and the information is fed back to the safety controller, so that the safety controller can timely send a control signal to the speed execution unit, the control mode is simple, the cost is low, and the current CE mechanical safety standard is loaded.

Preferably, the safety proximity switch is arranged at a steering wheel of the AGV, a 180-degree angle detection strip is arranged at the steering wheel, and the detection strip is arranged on the lower side of a steering wheel cover plate and used for detecting whether the steering wheel returns to a reset position or not, so that the steering wheel is convenient to return to zero in direction and feed back the operation action of the steering wheel during operation.

Preferably, the AGV motion state detected by the safety proximity switch is turning and straight-going, the safety controller is used for sending a control signal to the speed executing part when the AGV is in an overspeed state, and then two speed monitoring thresholds are provided, if the AGV is in overspeed stall due to original damage or software failure, the safety encoder detects that the threshold is exceeded, and the safety controller can rapidly brake the AGV.

Preferably, the safety encoder is used for detecting the overspeed state or the abnormal rotation angle of the AGV, the speed execution unit receives a braking or accelerating signal sent by the safety controller and executes a braking or accelerating instruction, the current AGV speed is monitored in real time through the safety encoder, the control signal is sent to the controller, the controller sends the execution instruction to the speed execution unit, the motion state of the AGV is controlled in real time, the control mode is simple, the cost is low, and because the control mode is simple, the whole scheme cannot generate large errors, and the execution safety is high.

Therefore, the utility model discloses following beneficial effect has:

steering and straight movement of the steering wheel are detected in real time through the two safety proximity switches, and the speed is monitored and controlled in real time through the safety encoder;

the steering encoder is replaced by the two proximity switches, so that the reliability is high, the electric design complexity and the program compiling complexity caused by a double-encoder scheme are reduced, and the cost is low;

the steering angle of the steering wheel is converted into the angular velocity for detection, the safety is high, and the two proximity switches are used for replacing a common inductance type proximity switch, so that the reliability is high.

Drawings

FIG. 1 is a schematic view of the steering wheel structure of the present invention;

fig. 2 is a schematic diagram of a control structure of the present invention;

wherein, 1, a safety proximity switch; 2. and (6) detecting the strip.

Detailed Description

The invention is described in further detail below with reference to the figures and the detailed description.

As shown in fig. 1, the utility model relates to a to overcome among the prior art dual encoder high price, increase AGV installation cost, current scheme security is lower, and dual encoder scheme electrical design and programming are too complicated scheduling problem, provide a fork truck formula AGV speed monitoring system.

The utility model provides a fork truck formula AGV speed monitored control system, includes safe proximity switch, safety controller, safety encoder and speed execution unit, safe proximity switch with safety controller connects, and the controller is connected with safety encoder and speed execution part, and overall control simple structure uses two proximity switches to detect AGV motion state, replaces traditional steering encoder to monitor through proximity switch, through data conversion, adopts two proximity switches to monitor AGV's form state, and the cost is reduced has improved security and reliability.

The safety proximity switch is used for detecting the motion state of the AGV and sending the current motion state to the safety controller in real time, and the safety controller is enabled to send control signals to the speed execution unit in time by feeding back information to the safety controller, so that the control mode is simple, the cost is low, and the current CE mechanical safety standard is loaded.

Safe proximity switch sets up in AGV's helm department, and 180 degrees angle detection strips are installed to helm department, and the detection strip sets up at helm apron downside for whether the detection helm gets back to the reset position, make things convenient for the return to zero of helm direction and the feedback of operation to the helm operation action.

The AGV motion state that safety proximity switch detected is for turning to with straight going, and safety control ware is used for AGV to be in sending control signal under the overspeed state and gives speed execution portion, and then has two kinds of speed monitoring threshold, if AGV damages because of the original paper or software trouble leads to overspeed stall, and safety encoder detects and surpasss and predetermines the threshold, and safety control ware can make AGV braking rapidly.

The utility model discloses according to the structural feature of fork truck formula AGV steering wheel, detect AGV's state through two safe proximity switch. The AGV state is two kinds for turning to and going straight, and then has two kinds of speed monitoring threshold, if AGV leads to overspeed stall because of original paper damage or software fault, and safety encoder detects and surpasses and predetermine the threshold, and safety controller can make AGV braking rapidly. When the AGV judges that the AGV is in a steering state through the two safety proximity switches, the controller controls the speed of the AGV to be the international universal safety steering speed of 0.3m/s, and meanwhile, the speed limit threshold value is 0.3 at the maximum, and the AGV stops suddenly through the controller when exceeding the speed limit threshold value. When the AGV is in a straight-going state, the speed control is increased, and the maximum speed limit is set to be 1.5m/s (designed according to relevant standards).

The safety encoder is used for detecting the overspeed state or the abnormal rotation angle of the AGV, the speed execution unit receives a braking or accelerating signal sent by the safety controller and executes a braking or accelerating instruction, the current AGV speed is monitored in real time through the safety encoder, the control signal is sent to the controller, the controller sends the executing instruction to the speed execution unit, the AGV motion state is controlled in real time, the control mode is simple, the cost is low, and because the control mode is simple, the whole scheme cannot generate large errors, and the execution safety is high.

The specific implementation method comprises the following steps:

the status of the AGV is detected by two safety proximity switches. The position of the steering wheel is provided with a 180-degree detection strip (detailed in the figure), the AGV state is a steering state and a straight-going state, and when the steering wheel is steered, only one safety proximity switch detects the detection strip. And then there are two kinds of speed monitoring threshold, if AGV leads to overspeed stall because of original paper damage or software trouble, safety encoder detects and surpasses and predetermine the threshold, and safety control ware can make AGV braking rapidly.

The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are only preferred embodiments of the present invention, and it should be understood that the technical features related to the above embodiments and the preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.

Claims (7)

1. The utility model provides a fork truck formula AGV speed monitoring system, characterized by, includes safe proximity switch, safety controller, safety encoder and speed execution unit, safe proximity switch with safety controller connects, the controller is connected with safety encoder and speed execution part.

2. The system of claim 1, wherein said safety proximity switch is configured to detect a motion status of the AGV and send a current motion status to said safety controller in real time.

3. The system of claim 2, wherein the proximity switch is disposed at a steering wheel of the AGV, and the steering wheel is mounted with a 180 degree angle detection strip.

4. The system of claim 2, wherein the AGV motion detected by the safety proximity switch is one of steering and straight-going.

5. The system of claim 1, wherein said safety controller is configured to send a control signal to said speed control unit when the AGV is in an overspeed condition.

6. The system of claim 1, wherein the safety encoder is configured to detect an overspeed condition or an abnormal rotation angle of the AGV.

7. The system of claim 1 or 5, wherein the speed execution unit receives a braking or accelerating signal from the safety controller and executes a braking or accelerating command.

Images