WO2019062892A1 - Agv、agv系统以及agv控制方法 - Google Patents

Agv、agv系统以及agv控制方法 Download PDF

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Publication number
WO2019062892A1
WO2019062892A1 PCT/CN2018/108577 CN2018108577W WO2019062892A1 WO 2019062892 A1 WO2019062892 A1 WO 2019062892A1 CN 2018108577 W CN2018108577 W CN 2018108577W WO 2019062892 A1 WO2019062892 A1 WO 2019062892A1
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WO
WIPO (PCT)
Prior art keywords
agv
leg
legs
driving device
vehicle body
Prior art date
Application number
PCT/CN2018/108577
Other languages
English (en)
French (fr)
Inventor
吴耀华
张小艺
张贻弓
蒋霞
Original Assignee
山东兰剑物流科技股份有限公司
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Application filed by 山东兰剑物流科技股份有限公司 filed Critical 山东兰剑物流科技股份有限公司
Publication of WO2019062892A1 publication Critical patent/WO2019062892A1/zh

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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
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • 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
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • 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
    • B66F9/07581—Remote controls
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the present disclosure relates to the field of AGV technology, and more particularly to an AGV, an AGV system, and an AGV control method.
  • the AGV Automated Guided Vehicle
  • the existing AGV mainly includes two types: one is an AGV modified by an electric forklift or an electric truck, and the other is an AGV directly designed and manufactured.
  • the AGV modified by electric forklift or electric pallet truck generally includes the coincident fork and the front leg.
  • the directly designed AGV consists of AGVs with wide legs. The distance between the two legs is wider than the distance between the two forks.
  • the maximum width is the width of the two legs (greater than the width of the cargo) and covers a large area.
  • the above-mentioned first type of AGV can only be applied to the Sichuan word tray (the Sichuan word tray can accommodate the front leg entry), and cannot be applied to the field tray.
  • the second type of AGV can be applied to various trays, but the space is large, which is not conducive to Dense storage of goods.
  • the AGV provided by the present disclosure includes: a vehicle body, at least two forks, at least two legs, and a leg driving device; the vehicle body is respectively connected with the fork and the leg; the leg driving device is connected with the leg; the fork Between the legs, the pitch of the legs is adjustable; the leg driving device is used to drive the legs to move in opposite directions or to move in the opposite direction to change the spacing between the two legs.
  • the leg driving device is used to drive the legs to move toward each other to reduce the distance between the legs; when the cargo is placed, the leg driving device is used to drive the legs to move backward to increase the branch. The spacing of the legs.
  • the leg driving device comprises at least two electric guiding steering wheels; the electric guiding steering wheel is disposed on the legs, each leg is provided with at least one electric guiding steering wheel; and the electric guiding steering wheel comprises at least a driving motor and a steering motor.
  • the leg driving device comprises at least an inner rail, an outer guiding groove and a hydraulic cylinder;
  • the outer guiding groove is fixedly disposed on the vehicle body;
  • the inner guiding rail comprises at least two, and one end of each inner guiding rail is respectively connected with one leg,
  • the guide rail is accommodated in the outer guide groove;
  • the piston rod of the hydraulic cylinder is connected with the inner guide rail, and the cylinder block of the hydraulic cylinder is fixedly connected with the outer guide groove or the vehicle body;
  • the hydraulic cylinder is used for driving the inner guide rail to slide in the outer guide groove.
  • the leg driving device comprises at least a motor, a lead screw, a screw sleeve, an inner rail and an outer guiding groove; the motor is mounted on the vehicle body; the motor is connected with the screw, and the lead screw is received in the screw sleeve.
  • the screw sleeve is fixedly connected to the leg; the outer guide groove is fixed on the leg and connected to the inner rail.
  • the inner rail is provided with a plurality of rollers, and the plurality of rollers are spaced apart along the length direction of the inner rail.
  • the roller is at the outer guide. Scroll inside the slot.
  • the outer guide groove includes a groove guide rail having an open upper end, and an inner side wall of the groove guide rail is provided with a narrow groove configured to receive the roller, and the narrow groove is configured to guide the roller to roll therein .
  • the outer guiding groove is provided with two groups, and the two outer guiding grooves are arranged at intervals in the up and down direction, wherein each of the outer guiding grooves is provided with an inner guiding rail matched with the inner guiding groove.
  • the vehicle body comprises a control device and a driving unit; the control device is respectively connected with the fork and the leg driving device; the driving unit comprises at least one driving motor and at least one driving wheel, and the driving motor and the driving wheel are dynamically connected.
  • the leg driving device is provided with a first electric guiding steering wheel; the first electric guiding steering wheel is disposed at an intermediate position of the leg driving device.
  • the leg driving device is provided with a first electric guiding steering wheel and a second electric guiding steering wheel; the first electric guiding steering wheel and the second electric guiding steering wheel are respectively disposed on two sides of the leg driving device.
  • the AGV further includes two obstacle avoidance sensors; one obstacle avoidance sensor is disposed at a proximal end of one leg relative to the vehicle body, and another obstacle avoidance sensor is disposed at a distal end of the other leg relative to the vehicle body; or Two obstacle avoidance sensors are respectively disposed on the legs and the vehicle body along the diagonal line. Further, a locating pin configured to lock the leg that moves to the target position is further included.
  • the disclosed AGV has, for example, the following beneficial effects:
  • the AGV and AGV systems provided by the present disclosure are provided with legs with adjustable pitch and leg driving devices, which can change the spacing between the two legs, and reduce the spacing of the legs after the fork lifts the tray To reduce the handling width; when the fork wants to put down the tray, increase the spacing of the legs to leave enough space to allow the tray to fall; the above-mentioned adjustable pitch legs and leg drive not only reduce the handling of goods The space is occupied, and the movement flexibility of the AGV is also improved, so that the AGV can be applied to a narrower storage passage, thereby increasing the storage density of the goods.
  • the AGV system provided by the present disclosure comprises a scheduling system, an external control system and at least one of the above-mentioned AGVs; the scheduling system is separately connected with the control system of the AGV and the external control system; and the control system of the AGV is configured to receive and execute the transmission by the scheduling system. Control instruction.
  • a navigation system configured to be guided by the AGV is further included.
  • the AGV system of the present disclosure has, for example, the following technical effects:
  • the AGV system realizes the input and display of the control command by setting an external control system, and by setting the dispatching system and communicating with the control system of the AGV, the AGV control system can guide after receiving the control command.
  • the vehicle is driven and loaded and unloaded to realize automatic stacking of goods.
  • the purpose of the present disclosure also includes providing an AGV control method for controlling an AGV, including the following steps:
  • the AGV's control system receives and executes the control commands sent by the dispatching system.
  • the AGV's control system controls to reduce the spacing of the legs to reduce the handling width; when the fork wants to lower the pallet, the AGV's control system Control increases the spacing of the legs to leave enough room for the tray to fall.
  • the purpose of the present disclosure also includes providing an AGV control method for controlling an AGV, including the following steps:
  • the AGV's control system receives and executes the control commands sent by the dispatch system.
  • the AGV control method of the present disclosure has, for example, the following technical effects:
  • the AGV control method controls the AGV to realize vehicle walking and loading and unloading operations, thereby realizing automatic stacking of goods, and the work efficiency is greatly improved.
  • FIG. 1 is a schematic structural diagram of an AGV according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of another AGV according to an embodiment of the present disclosure.
  • FIG. 3 is a schematic structural diagram of another AGV according to an embodiment of the present disclosure.
  • FIG. 4 is a bottom view of an AGV according to an embodiment of the present disclosure.
  • FIG. 5 is a rear view of an AGV according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of another AGV according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of a leg driving device of an AGV according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of another leg driving device for an AGV according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of another AGV according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of a leg driving device of an AGV according to an embodiment of the present disclosure.
  • FIG. 11 is a schematic diagram of another leg driving device for an AGV according to an embodiment of the present disclosure.
  • FIG. 12 is a schematic structural diagram of another AGV according to an embodiment of the present disclosure.
  • FIG. 13 is a schematic diagram of a leg driving device of an AGV according to an embodiment of the present disclosure.
  • FIG. 14 is a schematic diagram of another leg driving device for an AGV according to an embodiment of the present disclosure.
  • FIG. 15 is a schematic structural diagram of an AGV system according to an embodiment of the present disclosure.
  • an AGV and an AGV system provided by the embodiments of the present disclosure can be applied to various trays and occupy small space.
  • an AGV disclosed in the embodiment of the present disclosure is first introduced in detail.
  • Embodiments of the present disclosure provide an AGV including a vehicle body, at least two forks, at least two legs, and a leg drive.
  • the car body is connected with the fork and the leg respectively, and the leg driving device is connected with the leg.
  • the fork and the leg are taken as an example.
  • Two forks are disposed between the two legs, and the distance between the two legs is greater than the spacing between the two forks.
  • the leg driving device is configured to drive the two legs to move in opposite directions or in opposite directions to change the spacing between the two legs.
  • the leg is movable relative to the vehicle body.
  • the two legs are arranged in parallel.
  • the leg driving device By driving the leg driving device, the two legs can move in opposite directions or in opposite directions, and the moving direction is parallel to two. The direction in which the legs are connected in the center.
  • the two forks are disposed between the two legs.
  • the distance between the two legs is greater than the distance between the two forks, and the two legs enter the tray forward.
  • the jacks are now two legs on either side of the tray. Since the fork is inserted into the jack from the ground and the legs do not enter the jack, there is no need to require the tray to be a tray between the jack and the ground, which can be allowed to enter the wheel, but Can be applied to a variety of trays. For example, Japanese word trays, field trays, and the like. In the initial state, the fork and the legs can be at the same height or at different heights.
  • the leg driving device When the fork lifts the cargo, the leg driving device is used to drive the legs to move toward each other to reduce the distance between the legs; when the cargo is placed, the leg driving device is used to drive the legs to move in the opposite direction to increase the pitch of the legs. .
  • the legs When the fork enters the tray jack, the legs are located on both sides of the tray. At this time, when the fork lifts the cargo to a height higher than the leg, the leg driving device drives the two legs to move toward each other, that is, both legs are Move in the direction of the tray to reduce the spacing between the two legs.
  • the above-mentioned leg driving device drives the two legs to move toward each other, so that the two legs can completely move into the lower part of the tray and then move and transport.
  • the legs do not add extra width to the pallet transportation, because the widest part of the vehicle body That is, the width of the two legs, at this time, the maximum width of the AGV and the tray, that is, the width of the tray, compared with the manner in which the two legs of the prior art move on both sides of the tray, the width of the passage occupied during driving is obtained. Effectively reduced, it can be applied to narrower storage channels, which can reduce the channel width during storage, thereby increasing the storage density of goods.
  • the "thickness of the leg 12" means the thickness of the leg 12 in the vertical direction.
  • the leg drive drives the legs to move in the opposite direction to increase the pitch of the legs, leaving a sufficient width for the tray to allow the tray to fall, and the distance between the two legs is greater than or equal to the width of the tray.
  • the legs and forks are retracted, and the handling process is completed by pulling away from the tray.
  • the two forks can also be moved to change their spacing or position relative to the vehicle body, thereby being suitable for a variety of different tray configurations.
  • the AGV provided by the embodiment of the present disclosure is provided with an adjustable pitch leg and a leg driving device.
  • the leg driving device can change the spacing between the two legs, and reduce the spacing of the legs after the fork lifts the tray. Reduce the handling width; when the fork wants to put down the tray, increase the spacing of the legs to leave enough space to allow the tray to fall; the above-mentioned adjustable pitch legs and leg drive not only reduce the occupation of the goods
  • the space also increases the flexibility of the AGV's motion, allowing the AGV to be applied to narrower storage channels, thereby increasing the storage density of the cargo.
  • the above-mentioned vehicle body can be composed of a frame and corresponding mechanical devices, which is a basic part of the AGV and is the basis for the installation of other assembly components.
  • the AGV can also include: 1. Power storage and charging devices that can be powered by 24V and 48V DC batteries. Battery power should generally be maintained for more than 8 hours of continuous operation.
  • the driving device is composed of a wheel, a speed reducer, a brake, a driving motor and a speed controller, and is a device for controlling the normal operation of the AGV.
  • the running command is issued by computer or manual control, and the adjustment of running speed, direction and braking is controlled by computer respectively.
  • the brake can be mechanically braked in the event of a power failure. 3.
  • the guiding device receives the direction information of the guiding system and realizes the steering action through the steering device. 4.
  • the controller on the vehicle accepts the instructions of the control center and executes the corresponding commands, and simultaneously feeds its own status (such as position, speed, etc.) to the control center in time. 5.
  • Safety protection devices including protection of the AGV itself, protection of people or other equipment.
  • the information transmission and processing device monitors the AGV, monitors the ground state where the AGV is located, and transmits information in real time with the ground control station.
  • the embodiment of the present disclosure provides an AGV, and an example in which the leg driving device adopts an electric steering steering wheel is taken as an example.
  • the components of the leg 12 and the leg driving device are mainly shown, and the AGV includes a vehicle body 11, two legs 12, two forks 13, and a leg driving device. .
  • the fork 13 is in a state of being lifted off the ground, and at this time, the leg driving device driving legs 12 are moved toward each other, and the width of the two legs 12 can be less than or equal to the width of the tray, thereby reducing the occupied space.
  • the width of the legs is generally 150 mm
  • the width of the existing AGV during transport is the width of the tray (typically 1200 mm or 1000 mm) plus twice the width of the legs 300 mm, even if the gap between the legs 12 and the tray is not calculated.
  • the total width also reaches 1500 mm (or 1300 mm); and the AGV in this embodiment adopts the adjustable pitch legs 12, and the legs 12 are driven to contract under the tray by the leg driving device, and the total width during transportation is equal to the tray.
  • the width, ie 1200 mm (or 1000 mm) is effectively reduced compared to the prior art footprint, thereby reducing the width requirements for the transport lanes, and also reducing the turning radius for easy steering.
  • the leg driving device can adopt the method of electrically guiding the steering wheel.
  • the leg driving device includes two electric guiding steering wheels 17 adjacent to the vehicle body 11 , and the electric guiding steering wheel 17 is disposed on On the leg 12.
  • Each leg 12 is provided with at least one electric steering steering wheel 17, or a plurality of electric steering steering wheels 17.
  • the two wheels away from the vehicle body 11 may be either the electric steering steering wheel 17 or the universal wheel.
  • an obstacle avoidance sensor 18 may be disposed on the AGV.
  • the AGV includes two obstacle avoidance sensors 18 , and the two obstacle avoidance sensors 18 are diagonal with respect to the vehicle body 11 .
  • the two obstacle avoidance sensors 18 can also be disposed on the leg 12 and the vehicle body 11 along the diagonal.
  • the above-mentioned obstacle avoidance sensor 18 can also function as a navigation sensor under the control of the AGV control device, thereby concentrating the obstacle avoidance and navigation functions on the same sensor, which greatly reduces the cost of the AGV.
  • the electric steering steering wheel 17 may be disposed at an intermediate position of the leg driving device, and the universal wheel 171 is disposed on the leg 12.
  • the electric steering steering wheel 17 and the two universal wheels 171 can collectively function to support the vehicle body 11 and the cargo.
  • the electric guide steering wheels 17 are respectively provided on the two legs 12 (for example, the electric steering steering wheel 17 is disposed at the distal end of the leg 12 with respect to the vehicle body 11), the electric power provided on the leg driving device
  • the guiding steering wheel 17 can also cooperate with the electric guiding steering wheel 17 provided on the leg 12 to realize the in-situ translation of the AGV, which makes the transportation more flexible and convenient.
  • two electric guiding steering wheels 17 are disposed on the leg driving device, and two electric guiding steering wheels are arranged in the direction in which the two legs 12 are opposed to each other. 17 are respectively located on both sides of the leg driving device, and the leg 12 does not need to be provided with a universal wheel, and can also function to support the car body 11 and the cargo.
  • the electric steering steering wheel 17 provided on the leg driving device can also cooperate with the electric guiding steering wheel 17 on the leg 12 to realize the original AGV.
  • the ground translates to make it more flexible and convenient to transport.
  • the electric steering steering wheel 17 includes at least a driving motor and a steering motor, wherein the driving motor can drive the electric guiding steering wheel 17 to rotate to advance or retreat the AGV; the steering motor can drive the electric guiding steering wheel 17 to rotate in a vertical axis to steer the AGV .
  • the direction of the electric guiding steering wheel 17 can be adjusted to be perpendicular to the extending direction of the legs 12 by the steering motor, and then driven by the driving motor to drive the electric guiding steering wheel 17 to rotate forward or backward.
  • FIG. 4 which is a bottom view of the AGV shown in FIG. 1, wherein the AGV includes four electric steering steering wheels 17, and the four electric steering steering wheels 17 are each extending perpendicular to the legs 12.
  • the state of the direction See also the rear view of the AGV shown in Fig. 5, in which the electric steering steering wheel 17 is also shown in a state perpendicular to the direction in which the legs 12 extend.
  • an inner guide rail 15 and an outer guide groove 16 for supporting the vehicle body 11 and the cargo when the electric guide steering wheel 17 drives the legs 12 to move in opposite directions or in opposite directions.
  • the inner rail 15 slides in the outer guide groove 16.
  • the AGV may also employ two sets of inner guide rails 15 and outer guide grooves 16, which are respectively disposed on the upper side and the lower side of the vehicle body 11.
  • the form of a square rail or a round rail in the following embodiments may also be adopted, which is not limited in this embodiment.
  • the AGV may also include a locating pin 19 for securing the position of the leg 12, which can be positioned for locking when the leg 12 is moved to the target position.
  • the locating pin 19 functions to lock the leg 12 in the above position.
  • the positioning pin 19 described above can also be applied to the subsequent embodiment to function as a fixed leg 12.
  • the inner rail 15 and the outer guide groove 16 in this embodiment can also be applied to the subsequent embodiments, and the adjustment of the pitch of the legs 12 is achieved in cooperation with the hydraulic cylinder, the lead screw and the motor.
  • the embodiment of the present disclosure further provides an AGV, which is described by taking a manner in which the leg driving device is driven by a hydraulic cylinder.
  • the fork 13 lifts the tray 14 away from the ground, at which time the leg drive 20 drives the legs 12 to move toward each other, and the width of the legs 12 can be less than or equal to the width of the tray 14, thereby Reduce the footprint.
  • the wheels on the legs 12 are wheels that can be rotated, for example, a universal wheel or an electric steering steering wheel 17 can be used.
  • FIG. 6 Also shown in FIG. 6 is an outer guide groove 21, an inner guide rail 22, a hydraulic cylinder 23 and a piston rod 24.
  • the piston rod 24 of the hydraulic cylinder 23 is connected to the inner rail 22, and the cylinder of the hydraulic cylinder 23 can be guided to the outer guide.
  • the groove 21 or the vehicle body 11 is fixedly connected.
  • the hydraulic cylinder 23 can drive the inner rail 22 to slide in the outer guide groove 21 by the movement of the piston rod 24.
  • the leg driving device 20 can be in the form of a square rail or a round rail, which is not limited in this embodiment.
  • each inner rail 22 is connected to one leg 12, respectively.
  • the other end is placed in the outer guiding groove 21.
  • a plurality of guide wheels 25 are further disposed on the inner rail 22, and when the inner rail 22 moves in the outer guide groove 21, the guide wheel 25 rolls in the outer guide groove 21, such an arrangement effectively reduces the outer guide groove 16 and the inner portion Friction between the guide rails 15.
  • the outer guide groove 21 includes a grooved guide rail having an open upper end, and a narrow groove for accommodating the guide wheel is further disposed on the inner wall of the groove to guide the inner guide rail 22 to slide in the outer guide groove 21.
  • the AGV adopts a form in which the two outer guide grooves 21 and the inner guide rail 22 are matched, and the power output of the piston rod 24 of the hydraulic cylinder 23 is output to one of the outer guides.
  • the groove 21 and the inner rail 22 are provided.
  • each inner guide rail 22 is coupled to the leg 12, and the other end being received within the outer guide groove 21.
  • a plurality of guide wheels 25 for rolling in the outer guide grooves to reduce the friction between the outer guide grooves 21 and the inner guide rails 22.
  • the embodiment of the present disclosure further provides an AGV, which is described by taking the manner in which the leg driving device 30 is driven by a motor and a screw.
  • the vehicle body 11, the two legs 12, two forks 13 (the fork 13 is partially inserted into the insertion hole of the tray 14) and the leg driving device 30 are included. Also shown in Fig. 12 is that the fork 13 lifts the tray 14 off the ground, at which time the leg drive 30 drives the legs 12 to move toward each other, and the legs 12 can occupy less than or equal to the width of the tray 14, thereby Reduce the space occupied.
  • the wheels on the legs 12 are wheels that can be rotated.
  • the wheels on the legs 12 can use a universal wheel or an electric steering steering wheel.
  • a motor 31 a lead screw 32, a screw sleeve 33, an inner rail 34 and an outer guide groove 35.
  • the lead screw 32 and the screw sleeve 33 are matched, and the inner rail 34 and the outer guide groove 35 are matched.
  • the leg driving device in the embodiment can also adopt the form of a square rail, which is not limited in this embodiment.
  • the motor 31 is mounted on the vehicle body 11, the motor 31 is drivingly connected to the lead screw 32, the lead screw 32 is received in the screw sleeve 33, and the screw sleeve 33 and the leg 11 are 11
  • the fixed connection 35 is fixed to the leg 11 and cooperates with the inner rail 34.
  • the motor 31 outputs the rotational power to the lead screw 32 to drive the screw 32 to rotate, thereby pulling or pushing the leg 12 to move through the screw sleeve 33 to achieve the adjustment of the pitch of the two legs 12.
  • the outer guide groove 35 and the inner guide rail 34 serve to support and guide.
  • the inner rail 34 and the outer guide groove 35 may include two sets, and are symmetrically disposed on the upper and lower sides of the lead screw 32 and the screw sleeve 33 respectively. This arrangement ensures stability during the movement of the legs 12.
  • the leg driving device 30 includes a motor 31, a lead screw 32 and an inner rail 34, wherein the lead screw Both the length of the inner guide rails 32 and 32 extend into the screw sleeve 33 and the outer guide groove 35, respectively.
  • the leg driving device 30 includes a screw bushing 33 and an outer guiding groove 35.
  • the leg driving device 30 includes a screw bushing 33 and an outer guiding groove 35.
  • the embodiment of the present disclosure further provides an AGV system.
  • the AGV system includes a scheduling system 100, an external control system 200, and at least one AGV provided by the above embodiment.
  • control system of the AGV described above is communicatively coupled to the dispatching system 100 and the external control system 200; wherein the control system of the AGV is configured to receive and execute control commands sent by the dispatching system 100.
  • the dispatching system 100 refers to the fixed equipment of the AGV system, and is mainly responsible for tasks such as task assignment, vehicle scheduling, path (line) management, traffic management, and automatic charging; the AGV control system is responsible for the navigation calculation of the AGV after receiving the instruction of the upper system. The function of the vehicle walking and loading and unloading operation is guided; the external control system 200 is communicatively connected with the dispatching system 100 to control and exchange information.
  • the above-mentioned AGV system may further include a navigation system, which may be an obstacle avoidance sensor 18 installed on the AGV, and the obstacle avoidance sensor 18 may function as a navigation sensor under the control of the control system of the AGV; of course, this embodiment
  • the navigation system may also be a separately installed navigation sensor, which is not limited in this embodiment of the present disclosure.
  • the AGV system provided by the embodiment of the present disclosure includes all the technical features of the AGV provided by the foregoing embodiment, so that the same technical problem can be solved and the same technical effect can be achieved.
  • the AGV system realizes the input and display of the control command by setting the external control system 200, and by setting the dispatching system 100 and communicating with the control system of the AGV, so that the control system of the AGV receives the control command. After that, it can guide the vehicle to walk and load and unload operations, and realize automatic stacking of goods.
  • the embodiment further provides an AGV control method for controlling the AGV, including the following steps:
  • the control command is input to the dispatching system 100 by the external control system 200, and the control command is displayed in the external control system 200;
  • the AGV's control system receives and executes the control commands sent by the dispatch system 100.
  • the AGV's control system controls to reduce the spacing of the legs 12 to reduce the handling width; when the fork 13 is intended to lower the tray 14 At that time, the control system of the AGV controls to increase the spacing of the legs 12 to leave enough space to allow the tray 14 to fall.
  • the AGV control method controls the AGV to realize vehicle walking and loading and unloading operations, thereby realizing automatic stacking of goods, and the work efficiency is greatly improved.
  • connection are to be understood broadly, and may be, for example, a fixed connection, a detachable connection, or an integral one, unless explicitly stated and defined otherwise.
  • Connection it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal connection of the two elements.
  • intermediate medium which can be the internal connection of the two elements.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some communication interface, device or unit, and may be electrical, mechanical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the AGV, the AGV system and the AGV control method provided by the present disclosure not only reduce the space occupied when carrying goods, but also improve the movement flexibility of the AGV through the adjustable pitch legs and the leg driving device. This allows the AGV to be applied to narrower storage channels, thereby increasing the storage density of the goods.

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Abstract

一种AGV、AGV系统及AGV控制方法，该AGV包括车体（11）、至少两个货叉（13）、至少两个支腿（12）以及支腿驱动装置（20）；车体（11）与货叉（13）、支腿（12）分别连接；支腿驱动装置（20）与支腿（12）连接；货叉（13）设置于支腿（12）之间，支腿（12）的间距可调；支腿驱动装置（20）配置成驱动支腿（12）相向移动或反向移动，以改变两个支腿（12）的间距，使得在货叉（13）提起托盘（14）后，可以通过减小支腿（12）的间距以减小搬运宽度；在货叉（13）欲放下托盘（14）时，可以通过增大支腿（12）的间距以留下足够空间容许托盘（14）落下。不仅减少了搬运货物时所占用的空间，而且还提高了AGV的动作灵活性，使得AGV能够适用于更窄的仓储通道，从而提高了货物的存储密度。

Description

AGV、AGV系统以及AGV控制方法
相关申请的交叉引用
本申请要求于2017年9月30日提交中国专利局的申请号为201710927084.7、名称为“AGV和AGV系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及AGV技术领域，尤其是涉及一种AGV、AGV系统以及AGV控制方法。
背景技术
AGV(Automated Guided Vehicle，自动导引运输车)是物流、仓储行业常用的搬运堆垛车辆。现有的AGV主要包括两种：一种是由电动叉车或电动搬运车改装成的AGV，另一种是直接设计制造的AGV。其中，由电动叉车或电动搬运车改装成的AGV，一般包括重合的货叉和前支腿，在搬运货物时货叉和前支腿同时驶入货物下方，由货叉提起货物进行搬运；而直接设计制造的AGV包括宽支腿的AGV，两个支腿的间距宽于两个货叉的间距，在搬运货物时仅两个货叉伸入货物下方，两个支腿在货物的两侧，最大宽度为两个支腿的宽度(大于货物宽度)，占地较大。
上述第一种AGV仅能适用于川字托盘(川字托盘可以容纳前支腿进入)，不能适用于田字托盘等，第二种AGV可以适用于各种托盘，但是占用空间大，不利于货物的密集存储。
针对上述AGV存在的问题，目前尚未提出有效的解决方案。
公开内容
有鉴于此，本公开的目的在于提供一种AGV，以解决上述技术问题中的至少一个。
本公开提供的AGV，包括：车体、至少两个货叉、至少两个支腿以及支腿驱动装置；车体与货叉、支腿分别连接；支腿驱动装置与支腿连接；货叉设置于支腿之间，支腿的间距可调；支腿驱动装置用于驱动支腿相向移动或反向移动，以改变两个支腿的间距。
进一步地，在货叉提起货物时，支腿驱动装置用于驱动支腿相向移动以减小支腿的间距；在放置货物时，支腿驱动装置用于驱动支腿反向移动以增大支腿的间距。
进一步地，支腿驱动装置包括至少两个电动导向舵轮；电动导向舵轮设置于支腿上，每个支腿至少设置有一个电动导向舵轮；电动导向舵轮至少包括驱动电机和转向电机。
进一步地，支腿驱动装置至少包括内导轨、外导槽和液压缸；外导槽固定设置于车体上；内导轨至少包括两个，每个内导轨的一端分别与一个支腿连接，内导轨容置于外导槽内；液压缸的活塞杆与内导轨连接，液压缸的缸体与外导槽或车体固定连接；液压缸用于带动内导轨在外导槽内滑动。
进一步地，支腿驱动装置至少包括电机、丝杠、丝杠轴套、内导轨和外导槽；电机安装在车体上；电机与丝杠连接，丝杠容置于丝杠轴套内，丝杠轴套与支腿固定连接；外导 槽固定在支腿上且与内导轨连接。
进一步地，所述内导轨上设置有多个滚轮，多个滚轮沿所述内导轨的长度方向间隔设置，当所述内导轨在所述外导槽中移动时，所述滚轮在所述外导槽内滚动。
进一步地，所述外导槽包括上端开口的槽形导轨，所述槽形导轨的内侧壁上设置有配置成容纳所述滚轮的窄槽，所述窄槽配置成引导所述滚轮在其中滚动。
进一步地，所述外导槽设置有两组，两组所述外导槽在上下方向间隔设置，其中，每一所述外导槽中均设置有与其相配合的内导轨。
进一步地，车体包括控制装置和驱动单元；控制装置与货叉、支腿驱动装置分别连接；驱动单元包括至少一个驱动电机和至少一个驱动轮，驱动电机和驱动轮动力连接。
进一步地，支腿驱动装置设置有第一电动导向舵轮；第一电动导向舵轮设置于支腿驱动装置的中间位置。
进一步地，支腿驱动装置设置有第一电动导向舵轮和第二电动导向舵轮；第一电动导向舵轮和第二电动导向舵轮分别设置于支腿驱动装置的两侧。
进一步地，该AGV还包括两个避障传感器；一个避障传感器设置于一个支腿相对于车体的近端，另一个避障传感器设置于另一个支腿相对于车体的远端；或，两个避障传感器沿对角线分别设置于支腿和车体。进一步地，还包括配置成对移动至目标位置的支腿进行锁定的定位销。
本公开AGV具有，例如，以下有益效果：
本公开提供的AGV和AGV系统，设置有间距可调的支腿以及支腿驱动装置，该支腿驱动装置可以改变两个支腿的间距，在货叉提起托盘后，减小支腿的间距以减小搬运宽度；在货叉欲放下托盘时，增大支腿的间距以留下足够空间容许托盘落下；由上述间距可调的支腿以及支腿驱动装置，不仅减少了搬运货物时所占用的空间，而且还提高了AGV的动作灵活性，使得AGV能够适用于更窄的仓储通道，从而提高了货物的存储密度。
本公开的目的还包括，提供一种AGV系统，以解决上述技术问题中的至少一个。
本公开提供的AGV系统，包括调度系统、外部控制系统和至少一个上述AGV；调度系统与AGV的控制系统、外部控制系统分别通信连接；AGV的控制系统用于接收并执行所述调度系统发送的控制指令。
进一步地，还包括配置成为所述AGV进行导引的导航系统。
本公开AGV系统具有，例如，以下技术效果：
该AGV系统通过设置外部控制系统，实现了控制指令的输入与显示，并且，通过设置调度系统，并使其与AGV的控制系统通信连接，使得AGV的控制系统在收到控制指令后，能够导引车辆行走及装卸操作，实现了货物的自动堆垛。
本公开的目的还包括，提供一种AGV控制方法，对AGV进行控制，包括如下步骤：
利用外部控制系统向调度系统输入控制指令，并将控制指令在外部控制系统中显示；
AGV的控制系统接收并执行调度系统发送的控制指令，当货叉提起托盘时，AGV的控制系统控制减小支腿的间距以减小搬运宽度；当货叉欲放下托盘时，AGV的控制系统控制增大支腿的间距以留下足够空间容许托盘落下。
本公开的目的还包括，提供一种AGV控制方法，对AGV进行控制，包括如下步骤：
利用外部控制系统向调度系统输入控制指令，并将控制指令在外部控制系统中显示；
AGV的控制系统接收并执行调度系统发送的控制指令。
本公开AGV控制方法具有，例如，如下技术效果：
该AGV控制方法对AGV进行控制，以实现车辆行走及装卸操作，从而实现了货物的自动堆垛，工作效率大大提高。
附图说明
为了更清楚地说明本公开具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的一种AGV的结构示意图；
图2为本公开实施例提供的另一种AGV的结构示意图；
图3为本公开实施例提供的另一种AGV的结构示意图；
图4为本公开实施例提供的一种AGV的仰视图；
图5为本公开实施例提供的一种AGV的后视图；
图6为本公开实施例提供的另一种AGV的结构示意图；
图7为本公开实施例提供的一种AGV的支腿驱动装置的示意图；
图8为本公开实施例提供的另一种AGV的支腿驱动装置的示意图；
图9为本公开实施例提供的另一种AGV的结构示意图；
图10为本公开实施例提供的一种AGV的支腿驱动装置的示意图；
图11为本公开实施例提供的另一种AGV的支腿驱动装置的示意图；
图12为本公开实施例提供的另一种AGV的结构示意图；
图13为本公开实施例提供的一种AGV的支腿驱动装置的示意图；
图14为本公开实施例提供的另一种AGV的支腿驱动装置的示意图；
图15为本公开实施例提供的一种AGV系统的结构示意图。
附图标记：
11-车体；12-支腿；13-货叉；14-托盘；15-内导轨；16-外导槽；17-电动导向舵轮；18-避障传感器；19-定位销；
171-万向轮；
20-支腿驱动装置；21-外导槽；22-内导轨；23-液压缸；24-活塞杆；25-导轮；
30-支腿驱动装置；31-电机；32-丝杠；33-丝杠轴套；34-内导轨；35-外导槽；
100-调度系统；200-外部控制系统。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合附图对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
目前现有的AGV存在占地大且通用性差的问题，基于此，本公开实施例提供的一种AGV和AGV系统，可适用于各种托盘且占用空间小。为便于对本实施例进行理解，首先对本公开实施例所公开的一种AGV进行详细介绍。
本公开实施例提供了一种AGV，包括车体、至少两个货叉、至少两个支腿以及支腿驱动装置。
其中，车体与货叉、支腿分别连接，支腿驱动装置与支腿连接。本实施例以货叉和支腿均为两个为例进行说明。两个货叉设置于两个支腿之间，两个支腿的间距大于两个货叉的间距。上述支腿驱动装置用于驱动上述两个支腿相向移动或反向移动，以改变两个支腿的间距。
在本实施例中支腿相对于车体是可以移动的，通常两个支腿平行设置，通过支腿驱动装置的驱动，两个支腿可以相向移动或反向移动，移动方向为平行于两个支腿中心连线的方向。
上述两个货叉设置于两个支腿之间，在AGV对放置在托盘上的货物进行搬运时，保持两个支腿的间距大于两个货叉的间距，两个支腿向前进入托盘的插孔，此时两个支腿在托盘的两侧。由于货叉是离地进入插孔的，且支腿不进入插孔，因此不需要要求托盘必须是川字托盘这种插孔与地面之间无障碍、可以允许轮子驶入的托盘，而是能够适用于各种托盘。例如日字托盘、田字托盘等。在初始状态时，货叉与支腿可以处于相同高度也可以处于不同高度。
在货叉提起货物时，支腿驱动装置用于驱动支腿相向移动以减小支腿的间距；在放置货物时，支腿驱动装置用于驱动支腿反向移动以增大支腿的间距。在货叉进入托盘插孔时，支腿位于托盘两侧，此时，货叉提起货物至高于支腿的厚度时，由支腿驱动装置驱动两个支腿相向移动，即两个支腿均朝托盘方向移动，减小两支腿之间的间距。上述支腿驱动装置驱动两个支腿相向移动，可以使两个支腿完全进入托盘的下方后再进行移动运输，此时支腿不会给托盘运输增加额外的宽度，由于车体最宽处即两个支腿的宽度，此时AGV和托盘的最大宽度即托盘的宽度，相比于现有技术中两个支腿在托盘两侧进行移动的方式，在行驶时占用的通道宽度得到了有效降低，可以适用于更窄的仓储通道，能够降低存储时的通道宽度，从而提高货物的存储密度。
需要说明的是，本实施例中，“支腿12的厚度”指的是：支腿12在竖直方向的厚度。
在需要放置货物时，支腿驱动装置驱动支腿反向移动以增大支腿的间距，给托盘留出足够宽度的空间容许托盘落下，两个支腿的间距大于等于托盘的宽度。在托盘落下后，支腿和货叉后退，从托盘中抽离完成搬运过程。
在上述支腿可以移动的情况下，两个货叉也可以移动，从而改变其间距或相对于车体的位置，从而适用于各种不同的托盘结构。
本公开实施例提供的AGV，设置有间距可调的支腿以及支腿驱动装置，该支腿驱动装置可以改变两个支腿的间距，在货叉提起托盘后，减小支腿的间距以减小搬运宽度；在货叉欲放下托盘时，增大支腿的间距以留下足够空间容许托盘落下；由上述间距可调的支腿以及支腿驱动装置，不仅减少了搬运货物时所占用的空间，而且还提高了AGV的动作灵活性，使得AGV能够适用于更窄的仓储通道，从而提高了货物的存储密度。
其中，上述车体可以由车架和相应的机械装置所组成，是AGV的基础部分，是其他总成部件的安装基础。AGV还可以包括：1、蓄电和充电装置，可以采用24V和48V直流蓄电池为动力，蓄电池供电一般应保持连续工作8小时以上的需要。2、驱动装置，由车轮、减速器、制动器、驱动电机及速度控制器等部分组成，是控制AGV正常运行的装置。其运行指令由计算机或人工控制齐发出，运行速度、方向、制动的调节分别由计算机控制。为了安全，在断电时制动装置能靠机械实现制动。3、导向装置，接受导引系统的方向信息，通过转向装置来实现转向动作。4、车上控制器，接受控制中心的指令并执行相应的指令，同时将本身的状态(如位置、速度等)及时反馈给控制中心。5、通信装置，实现AGV与地面控制站及地面监控设备之间的信息交换。6、安全保护装置，包括对AGV本身的保护、对人或其他设备的保护等方面。7、信息传输与处理装置，对AGV进行监控，监控AGV所处的地面状态，并与地面控制站实时进行信息传递。
本公开实施例提供还了一种AGV，以支腿驱动装置采用电动导向舵轮的方式为例进行说 明。
参见图1所示的AGV的结构示意图，其中主要示出了支腿12和支腿驱动装置等组件，该AGV包括车体11、两个支腿12、两个货叉13和支腿驱动装置。货叉13处于升高离开地面的状态，此时支腿驱动装置驱动支腿12相向移动，两支腿12所占宽度可以小于等于托盘的宽度，从而减小占用空间。
例如，支腿的宽度一般为150mm，现有的AGV在运输时的宽度即为托盘宽度(一般为1200mm或1000mm)加两倍支腿宽度300mm，即使不计算支腿12和托盘之间的缝隙，总宽度也达到1500mm(或1300mm)；而本实施例中的AGV，采用可调间距的支腿12，通过支腿驱动装置驱动两支腿12收缩至托盘下方，运输时的总宽度等于托盘的宽度，即1200mm(或1000mm)，相比于现有技术占用空间有效降低，从而降低了对运输通道的宽度要求，而且，还减小了转弯半径，便于转向。
在本实施例中，支腿驱动装置可以采用电动导向舵轮的方式，具体的，如图1所示，支腿驱动装置包括靠近车体11的两个电动导向舵轮17，电动导向舵轮17设置于支腿12上。每个支腿12至少设置有一个电动导向舵轮17，也可以设置多个电动导向舵轮17。其中，远离车体11的两个车轮既可以是电动导向舵轮17，也可以是万向轮。
如图1所示，在AGV上还可以设置有避障传感器18，具体的，本实施例中，该AGV包括两个避障传感器18，两个避障传感器18相对于车体11呈对角线设置，其中，一个避障传感器18设置于一个支腿12相对于车体11的近端，另一个避障传感器18设置于另一个支腿12相对于车体11的远端。当然，两个避障传感器18还可以沿对角线分别设置于支腿12和车体11上。上述避障传感器18在AGV的控制装置的控制下，还可以起到导航传感器的作用，从而将避障和导航功能集中到同一个传感器上，大大降低了AGV的成本。
参见图2所示的AGV的结构示意图，还可以在支腿驱动装置的中间位置设置电动导向舵轮17，同时，在支腿12上设置有万向轮171。进行支腿间距调节时，电动导向舵轮17和两个万向轮171可以共同起到支撑车体11和货物的作用。
此外，在两个支腿12上还分别设置有电动导向舵轮17的情况下(例如将电动导向舵轮17设置在支腿12相对于车体11的远端)，支腿驱动装置上设置的电动导向舵轮17还可以与支腿12上设置的电动导向舵轮17配合，实现AGV的原地平移，使其运输时更加灵活便利。
参见图3所示的AGV的结构示意图，与图2不同，其在支腿驱动装置上设置有两个电动导向舵轮17，并且，沿两个支腿12相向运动的方向，两个电动导向舵轮17分别位于支腿驱动装置的两侧，而支腿12上不需要再设置万向轮，也可以起到支撑车体11和货物的作用。
此外，在两个支腿12上还分别设置有电动导向舵轮17的情况下，支腿驱动装置上设置的电动导向舵轮17还可以与支腿12上的电动导向舵轮17配合，实现AGV的原地平移，使其运输时更灵活便利。在此需要说明的是，上述图2和图3中的支腿驱动装置设置电动导向舵轮的方式还可以应用于后续实施例中。
上述电动导向舵轮17至少包括驱动电机和转向电机，其中，驱动电机可以驱动电动导向舵轮17自转，以使AGV前进或后退；转向电机可以驱动电动导向舵轮17以竖直轴线转动，以使AGV转向。
在驱动支腿12相向移动或反向移动时，可以先通过转向电机将电动导向舵轮17的朝向调整为垂直于该支腿12延伸方向，再通过驱动电机驱动电动导向舵轮17自转以前进或后退。参见图4示出的AGV的仰视图，其为图1所示的AGV的仰视图，其中，该AGV包括四个电动导向舵轮17，且四个电动导向舵轮17均处于垂直于支腿12延伸方向的状态。还可以参见图5所示的AGV的后视图，其中也示出了电动导向舵轮17处于垂直于支腿12延伸方向的状态。
在图1中还示出了内导轨15和外导槽16，在电动导向舵轮17带动支腿12相向移动或反向移动时，内导轨15和外导槽16用于支撑车体11和货物，两者配合，内导轨15在外导槽16内滑动。为了增加车体11的稳定性，该AGV还可以采用两组内导轨15和外导槽16，分别设置于车体11的上侧和下侧。作为另一种方式，也可以采用后续实施例中的方轨或者圆轨的形式，本实施例对此不做限制。
如图1中所示，该AGV还可以包括定位销19，用于固定支腿12的位置，在支腿12移动到目标位置时可以定位销19进行锁定。例如，当到达支腿12的收缩位置或到达提升货物时支腿12的伸展位置时，定位销19发挥作用，将支腿12锁定在上述位置。上述定位销19也可以应用于后续实施例中，起到固定支腿12位置的作用。
本实施例中的内导轨15与外导槽16也可以应用于后续实施例，与液压缸、丝杠和电机相配合实现支腿12间距的调节。
本公开实施例还提供了一种AGV，以支腿驱动装置采用液压缸驱动的方式为例进行说明。
参见图6所示的AGV的结构示意图，包括车体11，两个支腿12，两个货叉13(货叉部分插入至托盘14的插孔中)和支腿驱动装置20。在图6中还示出了货叉13将托盘14升高离开了地面，此时支腿驱动装置20驱动支腿12相向移动，两支腿12所占宽度可以小于等于托盘14的宽度，从而减小占用空间。为了便于两支腿12相向或反向移动，支腿12上的车轮为可以转动朝向的车轮，例如可以使用万向轮或电动导向舵轮17。
图6中还示出了外导槽21、内导轨22、液压缸23和活塞杆24，具体的，液压缸23 的活塞杆24与内导轨22连接，液压缸23的缸体可以与外导槽21或车体11固定连接。液压缸23可以通过活塞杆24的移动而带动内导轨22在外导槽21内滑动。
需要说明的是，在上述图6中仅以方轨为例进行说明，本实施例中支腿驱动装置20采用方轨或者圆轨的形式均可，本实施例对此不做限制。
参见图8所示的支腿驱动装置的示意图，其中示出了两个支腿12以及与两个支腿12分别连接的内导轨22，每个内导轨22的一端分别与一个支腿12连接，另一端容置于外导槽21内。在内导轨22上还设置有多个导轮25，当内导轨22在外导槽21中移动时，导轮25在外导槽21内滚动，这样的设置，有效地减小了外导槽16和内导轨15之间的摩擦力。
参见图7所示的支腿驱动装置20的示意图，其中示出了固定设置于车体11上的外导槽21的具体结构。具体的，外导槽21包括上端开口的槽形导轨，在槽的内壁还设置有用于容纳导轮的窄槽，以引导内导轨22在外导槽21中滑动。参见图9所示的AGV的结构示意图，与图6中不同，该AGV采用了两对外导槽21和内导轨22相配合的形式，液压缸23的活塞杆24的动力输出至其中一对外导槽21和内导轨22。
参见图10所示的支腿驱动装置20的示意图，其中示出了两个外导槽21。参见图11所示的支腿驱动装置20的示意图，其中示出了四个内导轨22，每个内导轨22的一端分别与支腿12连接，另一端容置于外导槽21内。在内导轨22上还设置有多个导轮25，该导轮25用于在外导槽内滚动，以减小外导槽21和内导轨22之间的摩擦力。
本公开实施例还提供了一种AGV，以支腿驱动装置30采用电机与丝杆驱动的方式为例进行说明。
参见图12所示的AGV的结构示意图，包括车体11、两个支腿12两个货叉13(货叉13部分插入至托盘14的插孔中)和支腿驱动装置30。图12中还示出了货叉13将托盘14升高离开了地面，此时支腿驱动装置30驱动支腿12相向移动，两支腿12所占宽度可以小于或等于托盘14的宽度，从而减小了所占用的空间。为了便于两支腿12相向或反向移动，支腿12上的车轮为可以转动朝向的车轮，例如，支腿12上的车轮可以使用万向轮或电动导向舵轮。
图12中还示出了电机31、丝杠32、丝杠轴套33、内导轨34和外导槽35。其中丝杠32和丝杠轴套33相匹配，内导轨34和外导槽35相匹配。在上述图12中仅以圆轨为例进行说明，当然，本实施例中支腿驱动装置还可以采用方轨的形式，本实施例并不对此进行限制。
请继续参照图12，具体的，电机31安装在车体11上，电机31与丝杠32传动连接，丝杠32容置于丝杠轴套33内，且丝杠轴套33与支腿11固定连接；外导槽35固定于支腿11上且与内导轨34配合。启动电机31后，电机31将旋转动力输出至丝杠32，以带动丝 杠32转动，进而通过丝杠轴套33牵引或推动支腿12移动，以实现两个支腿12间距的调节。在支腿12移动时，由外导槽35和内导轨34起到支撑及引导作用。
请继续参照图12，本实施例中，内导轨34和外导槽35可以包括两组，且分别对称设置在丝杠32和丝杠轴套33的上下两侧。这样的设置，保证了支腿12移动过程中的稳定性。
参见图13所示的支腿驱动装置的示意图，其中示出了支腿驱动装置30的部分具体结构，具体的，支腿驱动装置30包括电机31、丝杠32和内导轨34，其中丝杠32和内导轨34的长度均满足分别延伸至丝杠轴套33和外导槽35内。参见图14所示的支腿驱动装置的示意图，其中示出了支腿驱动装置30的部分具体结构，具体的，支腿驱动装置30包括丝杠轴套33和外导槽35。与图13相对应，图14中示出的丝杠轴套33和外导槽35也分别有两个。
本公开实施例还提供了一种AGV系统，参见图15所示的AGV系统的结构示意图，该AGV系统包括调度系统100、外部控制系统200和至少一个上述实施例提供的AGV。
具体地，上述AGV的控制系统与调度系统100、外部控制系统200分别通信连接；其中，AGV的控制系统用于接收并执行调度系统100发送的控制指令。
调度系统100指AGV系统的固定设备，主要负责任务分配、车辆调度、路径(线)管理、交通管理和自动充电等功能；AGV的控制系统在收到上位系统的指令后，负责AGV的导航计算，导引实现车辆行走及装卸操作等功能；外部控制系统200与调度系统100通信连接，对其进行控制和信息交互。
上述AGV系统还可以包括导航系统，该导航系统既可以是AGV上安装的避障传感器18，该避障传感器18在AGV的控制系统的控制下可以起到导航传感器的作用；当然，本实施例中，导航系统还可以是单独安装的导航传感器，本公开实施例对此不做限制。
本公开实施例提供的AGV系统，包括上述实施例提供的AGV的所有的技术特征，所以也能解决相同的技术问题，达到相同的技术效果。
此外，该AGV系统通过设置外部控制系统200，实现了控制指令的输入与显示，并且，通过设置调度系统100，并使其与AGV的控制系统通信连接，使得AGV的控制系统在收到控制指令后，能够导引车辆行走及装卸操作，实现了货物的自动堆垛。
本实施例还提供了一种AGV控制方法，对AGV进行控制，包括如下步骤：
利用外部控制系统200向调度系统100输入控制指令，并将控制指令在外部控制系统200中显示；
AGV的控制系统接收并执行调度系统100发送的控制指令，当货叉13提起托盘14时，AGV的控制系统控制减小支腿12的间距以减小搬运宽度；当货叉13欲放下托盘14时，AGV的控制系统控制增大支腿12的间距以留下足够空间容许托盘14落下。
该AGV控制方法对AGV进行控制，以实现车辆行走及装卸操作，从而实现了货物的自动堆垛，工作效率大大提高。
另外，在本公开实施例的描述中，除非另有明确的规定和限定，术语“安装”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
在本公开的描述中，需要说明的是，术语“中间”、“上”、“下”、“竖直”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
最后应说明的是：以上所述实施例，仅为本公开的具体实施方式，用以说明本公开的技术方案，而非对其限制，本公开的保护范围并不局限于此，尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本公开实施例技术方案的精神和范围，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应所述以权利要求的保护范围为准。
工业实用性
本公开提供的一种AGV、AGV系统及AGV控制方法，通过间距可调的支腿以及支腿驱动装置，不仅减小了搬运货物时所占用的空间，而且还提高了AGV的动作灵活性，使得AGV能够适用于更窄的仓储通道，从而提高了货物的存储密度。

Claims (16)

  1. 一种AGV，其特征在于，包括：车体、至少两个货叉、至少两个支腿以及支腿驱动装置；所述车体与所述货叉、所述支腿分别连接；所述支腿驱动装置与所述支腿连接；
    所述货叉设置于所述支腿之间，所述支腿的间距可调；
    所述支腿驱动装置配置成驱动所述支腿相向移动或反向移动，以改变两个所述支腿的间距。
  2. 根据权利要求1所述的AGV，其特征在于，
    在所述货叉提起货物时，所述支腿驱动装置配置成驱动所述支腿相向移动以减小所述支腿的间距；
    在放置所述货物时，所述支腿驱动装置配置成驱动所述支腿反向移动以增大所述支腿的间距。
  3. 根据权利要求1或2所述的AGV，其特征在于，所述支腿驱动装置包括至少两个电动导向舵轮；
    所述电动导向舵轮设置于所述支腿上，每个所述支腿至少设置有一个所述电动导向舵轮；
    所述电动导向舵轮包括驱动电机和转向电机。
  4. 根据权利要求1-3任一项所述的AGV，其特征在于，所述支腿驱动装置包括内导轨、外导槽和液压缸；
    所述外导槽固定设置于所述车体上；
    所述内导轨至少包括两个，每个所述内导轨的一端分别与一个所述支腿连接，所述内导轨容置于所述外导槽内；
    所述液压缸的活塞杆与所述内导轨连接，所述液压缸的缸体与所述外导槽或所述车体固定连接；
    所述液压缸配置成带动所述内导轨在所述外导槽内滑动。
  5. 根据权利要求1-4任一项所述的AGV，其特征在于，所述支腿驱动装置至少包括电机、丝杠、丝杠轴套、内导轨和外导槽；
    所述电机安装在所述车体上；
    所述电机与所述丝杠连接，所述丝杠容置于所述丝杠轴套内，所述丝杠轴套与所述支腿固定连接；
    所述外导槽固定在所述支腿上且与所述内导轨连接。
  6. 根据权利要求4或5所述的AGV，其特征在于，所述内导轨上设置有多个滚轮， 多个滚轮沿所述内导轨的长度方向间隔设置，当所述内导轨在所述外导槽中移动时，所述滚轮在所述外导槽内滚动。
  7. 根据权利要求6所述的AGV，其特征在于，所述外导槽包括上端开口的槽形导轨，所述槽形导轨的内侧壁上设置有配置成容纳所述滚轮的窄槽，所述窄槽配置成引导所述滚轮在其中滚动。
  8. 根据权利要求4或5所述的AGV，其特征在于，所述外导槽设置有两组，两组所述外导槽在上下方向间隔设置，其中，每一所述外导槽中均设置有与其相配合的内导轨。
  9. 根据权利要求1-8任一项所述的AGV，其特征在于，所述车体包括控制装置和驱动单元；
    所述控制装置与所述货叉、所述支腿驱动装置分别连接；
    所述驱动单元包括至少一个驱动电机和至少一个驱动轮，所述驱动电机和所述驱动轮动力连接。
  10. 根据权利要求1-9任一项所述的AGV，其特征在于，所述支腿驱动装置设置有第一电动导向舵轮；
    所述第一电动导向舵轮设置于所述支腿驱动装置的中间位置。
  11. 根据权利要求1-10任一项所述的AGV，其特征在于，所述支腿驱动装置设置有第一电动导向舵轮和第二电动导向舵轮；
    所述第一电动导向舵轮和所述第二电动导向舵轮分别设置于所述支腿驱动装置的两侧。
  12. 根据权利要求1-11任一项所述的AGV，其特征在于，还包括两个避障传感器；一个所述避障传感器设置于一个所述支腿相对于所述车体的近端，另一个所述避障传感器设置于另一个所述支腿相对于所述车体的远端；或，
    两个所述避障传感器沿对角线分别设置于所述支腿和所述车体。
  13. 根据权利要求1-12任一项所述的AGV，其特征在于，还包括配置成对移动至目标位置的支腿进行锁定的定位销。
  14. 一种AGV系统，其特征在于，包括调度系统、外部控制系统和至少一个如权利要求1-13任一项所述的AGV；
    所述调度系统与所述AGV的控制系统、所述外部控制系统分别通信连接；
    所述AGV的控制系统配置成接收并执行所述调度系统发送的控制指令。
  15. 根据权利要求14所述的AGV系统，其特征在于，还包括配置成为所述AGV进行导引的导航系统。
  16. 一种AGV控制方法，其特征在于，对AGV进行控制，包括如下步骤：
    利用外部控制系统向调度系统输入控制指令，并将控制指令在外部控制系统中显示；
    AGV的控制系统接收并执行调度系统发送的控制指令，当货叉提起托盘时，AGV的控制系统控制减小支腿的间距以减小搬运宽度；当货叉欲放下托盘时，AGV的控制系统控制增大支腿的间距以留下足够空间容许托盘落下。
PCT/CN2018/108577 2017-09-30 2018-09-29 Agv、agv系统以及agv控制方法 WO2019062892A1 (zh)

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