CN107814153B - AGV vehicle forking device with high-precision parking and parking method thereof - Google Patents
AGV vehicle forking device with high-precision parking and parking method thereof Download PDFInfo
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- CN107814153B CN107814153B CN201711111654.1A CN201711111654A CN107814153B CN 107814153 B CN107814153 B CN 107814153B CN 201711111654 A CN201711111654 A CN 201711111654A CN 107814153 B CN107814153 B CN 107814153B
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- trolley
- agv
- positioning
- sliding block
- fork
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the field of logistics automation, in particular to a high-precision parking AGV vehicle fork taking device and a parking method thereof. The invention is realized by the following technical scheme: the utility model provides a high accuracy stops AGV vehicle fork and gets device, contains AGV dolly and auxiliary positioning piece, the AGV dolly contains automobile body and installs the inductor subassembly on the automobile body; the trolley comprises a trolley leg, a travelling wheel assembly is arranged on the trolley leg, a transverse moving mechanism capable of transversely moving is arranged on the trolley body, and a fork is connected to the transverse moving mechanism; the sensor assembly comprises at least two distance sensors for detecting distance and a position detection sensor arranged on the traversing mechanism. The invention aims to provide a high-precision parking AGV vehicle fork device and a parking method thereof, which effectively improve the position control precision of three control amounts of a trolley by combining a ranging sensor and a switch sensor with a traversing device.
Description
Technical Field
The invention relates to the field of logistics automation, in particular to a high-precision parking AGV vehicle fork taking device and a parking method thereof.
Background
An AGV, i.e., an automatic guided vehicle, is a transport vehicle equipped with an automatic guide device and capable of traveling along a predetermined guide path. AGVs are widely used, and can replace manual work to finish work tasks such as stacking, unstacking, carrying and the like in a storage environment. In the work of AGV, especially in the work of fork formula AGV, the precision requirement to guide and location is high, and when the AGV location is not right, the goods fork that stretches out can fork on the one hand and get appointed goods, and on the other hand, probably interfere and collide with goods shelves or tray, has not only reduced work efficiency, has still increased very big potential safety hazard.
Specifically, the improvement of the positioning accuracy of the AGV requires three control amounts, namely, the longitudinal position accuracy is parallel to the fork direction, the transverse position accuracy is perpendicular to the fork direction and the included angle between the longitudinal direction of the posture car body and the target stop position. Certain application occasions AGVs are in butt joint with other equipment such as a manipulator or the like, or multi-layer stacking tasks and the like require that the forking mechanism has higher repeated stopping precision and is stable and reliable.
The existing AGV positioning and stopping technology often relies on a single control mode to perform end stop control, and the single control mode has various interference or uncertain factors, such as a mechanical body structure of an AGV trolley, kinematic control of the trolley, sensor precision limitation, running environment and the like, and under the condition, the AGV cannot effectively achieve the requirement of achieving the butt joint precision on all three control quantities.
Disclosure of Invention
The invention aims to provide a high-precision parking AGV vehicle fork device and a parking method thereof, which effectively improve the position control precision of three control amounts of a trolley by combining a ranging sensor and a switch sensor with a traversing device.
The technical aim of the invention is realized by the following technical scheme: the utility model provides a high accuracy stops AGV vehicle fork and gets device, contains AGV dolly and auxiliary positioning piece, the AGV dolly contains automobile body and installs the inductor subassembly on the automobile body; the trolley comprises a trolley leg, a travelling wheel assembly is arranged on the trolley leg, a transverse moving mechanism capable of transversely moving is arranged on the trolley body, and a fork is connected to the transverse moving mechanism; the sensor assembly comprises at least two distance sensors for detecting the distance and a position detection sensor arranged on the traversing mechanism; the auxiliary positioning piece comprises a baffle plate matched with the distance sensor and a positioning plate matched with the position detection sensor, and positioning holes are formed in the positioning plate.
Preferably, the distance sensor is provided in two, and is respectively mounted on two vehicle legs.
Preferably, the distance sensors are two, and are respectively arranged on the two forks.
Preferably, the traversing mechanism comprises a rail mounted on the vehicle body, a slider moving on the rail, and a driving device driving the slider to slide, wherein the fork and the position detecting sensor are both mounted on the slider.
Preferably, the rail extends in a horizontal direction.
Preferably, the invention further comprises a limiting device for limiting the moving position of the sliding block on the track.
Preferably, the present invention further comprises a navigation device for pre-aligning the AGV trolley, wherein the navigation device is an environmental navigation device, a magnetic navigation device or a two-dimensional code navigation device.
A method for stopping AGV vehicle fork device with high precision comprises the following steps,
step one, a field arrangement step:
arranging the baffle plate and the positioning plate at a target position, wherein the positioning hole is formed in the positioning plate;
step two, a trolley advancing step:
the AGV trolley approaches to the baffle, at the moment, two distance sensors arranged on the trolley legs or the fork start to work, and feedback data A and feedback data B of the distance between the AGV trolley and the baffle are obtained respectively;
step three, posture adjustment and longitudinal positioning:
according to the numerical difference between the feedback data A and the feedback data B, the gesture of the AGV trolley is adjusted, and when the feedback data A and the feedback data B reach a preset distance value, the AGV trolley is controlled to stop;
step four, a transverse positioning step:
and operating the transverse moving mechanism to transversely slide, and stopping transversely sliding when the position detection sensor detects the positioning hole.
In the fourth aspect of the present invention, the traverse mechanism includes a slide rail and a slider, the position detection sensor is mounted on the slider, and the slider slides to a limit position on one side and then slides in the opposite direction.
Preferably, the sliding speed of the sliding block in the opposite direction is slower than the sliding speed when the sliding block slides to the limit position at one side.
In summary, the invention has the following beneficial effects:
1. the parking position of the trolley can be controlled from three aspects of longitudinal position precision, transverse position precision and gesture, and the accuracy is improved.
2. Three inductors are used for realizing, the structure is simple, the transformation degree of the vehicle body is small, and the transformation cost is reduced.
Description of the drawings:
FIG. 1 is a schematic illustration of an AGV cart;
fig. 2 is a schematic diagram of example 1.
In the figure:
1. the vehicle comprises a vehicle body 11, vehicle legs 2, a traversing mechanism 31, a position detection sensor 32, a distance sensor 41, a baffle plate 42 and a positioning hole.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Example 1, as shown in fig. 1 and 2: contain the AGV dolly, the dolly is not different with current dolly in the structure, contains driven walking structure like the walking wheel equally, contains car leg 11 and is used for the fork of fork goods of getting. The fork is provided with a lifting device, and can be lifted in the vertical direction to adjust the height position.
On the basis of the existing structure, an inductor assembly needs to be installed on the car body 1 of the AGV, specifically, the inductor assembly at least comprises three, namely two distance sensors 32 and one position detection sensor 31. Two of the distance sensors 32 may be mounted on the vehicle legs 11.
Correspondingly, the technical scheme needs to deploy the freight environment, a goods shelf is arranged in the storage environment, a tray is stacked on the goods shelf, goods are placed on the tray, gaps are formed in the tray, and the fork of the AGV trolley stretches into the gaps of the tray to finish the fork taking action. At the rear position of the shelf, a baffle 41 may be provided, the baffle 41 extending on a vertical plane, perpendicular to the ground, and reflecting the laser light for use with the distance sensor 32.
The vehicle body 1 is also provided with a transverse moving mechanism which can move in the horizontal transverse direction, in particular, the vehicle body 1 can be provided with a horizontally arranged track, a sliding block which slides on the track is arranged, and the driving device can be a hydraulic cylinder or an electric cylinder. The pallet fork is mounted on the slider, and a position detection sensor 31 is mounted on the slider. The position detection sensor 31 may be a laser, infrared, acoustic wave sensor or the like. Correspondingly, in a storage environment, for example, a locating plate is arranged on a shelf, a tray or a wall behind the shelf, and a locating hole is formed in the locating plate.
The above is related to the step one and the step of arranging the field, and then the step two and the step of advancing the trolley are entered, in which the trolley can perform pre-alignment by means of a navigation device, such as a traditional environment navigation device, a magnetic guiding navigation device or a two-dimension code navigation device, etc., perform turning, and finally approach the shelf in a straight track.
And thirdly, posture adjustment and longitudinal positioning. In the last step, the distance sensor 32 is already in operation when the trolley is close to the pallet. The distance sensor 32 may be a laser sensor, and the position of the distance sensor 32 with respect to the shutter 41 may be measured by irradiating the shutter 41 with laser light. As described above, the two distance sensors 32 are respectively installed at the front ends of the two legs 11, and respectively obtain the feedback data a and the feedback data B, for example, 0.2m, and 0.21m. In this step, the trolley adjusts its own orientation based on the two data until the two data are equal, indicating that the posture of the trolley is successfully adjusted, and the trolley is facing the baffle 41, i.e., facing the shelf.
The feedback data a and the feedback data B may adjust their longitudinal positioning in addition to detecting and adjusting their own posture according to whether the numbers are equal, for example, if the preset value is that the front end of the trolley needs to be 0.15m from the baffle 41, it is determined that the trolley is in place, that is, if the feedback data a and the feedback data B are both 0.15m, the trolley is stopped.
So far, the posture adjustment and the longitudinal position adjustment are completed.
And step four, a transverse positioning step, wherein the transverse positioning step comprises two steps, namely quick side movement and slow side positioning. First, the slide is moved to the left, for example, the limit position, and the position detecting sensor 31 is mounted on the slide, and the slide is moved to the left. The limit position can be controlled by means of a numerical control sensor, for example, a micro switch is arranged at a certain position on the left side, and the slide block is automatically controlled to stop when sliding to the position. The entire slide then begins to move slowly and rightwards until the laser light from the position detection sensor 31 strikes the positioning hole 42, indicating that it has moved laterally into position, completing the lateral positioning step. The design of the two steps is based on two reasons, namely, after the longitudinal stop, judging the transverse direction before transverse movement positioning is needed, judging the transverse deviation direction of the stop point and the target point by means of laser positioning, and the situation that judgment cannot be carried out is caused by a certain probability of positioning error; for the second reason, such an operation defines an operation flow, and improves stability and reliability.
In actual use, the tray has two design modes, one is without a vertical baffle in the middle, and the other tray is with a vertical baffle in the middle. The pallet with the vertical stop in the middle can interfere with the pallet fork moving transversely because of the vertical stop part, so that if the pallet with the vertical stop in the middle is needed, the pallet must go forward to fork to take the goods after the trolley finishes the step four, and if the pallet without the vertical stop in the middle is not limited, the pallet can be moved into the pallet and then transversely moved.
Embodiment 2 differs from embodiment 1 in that the distance sensor 32 is mounted on the fork. When mounted on the forks, there is a lift during stacking due to the difference between the forks and the legs 11. In order to fit the distance sensor 32, corresponding baffles 41 must be provided at different height positions.
Claims (3)
1. The utility model provides a high accuracy stops AGV vehicle fork and gets device stop position method, this kind of high accuracy stops AGV vehicle fork and gets device contains AGV dolly and auxiliary positioning spare, its characterized in that: the AGV trolley comprises a trolley body (1) and an inductor assembly mounted on the trolley body (1); the vehicle body (1) comprises vehicle legs (11), traveling wheel assemblies are arranged on the vehicle legs (11), a transverse moving mechanism (2) capable of transversely moving is arranged on the vehicle body (1), and a fork is connected to the transverse moving mechanism (2); the sensor assembly comprises at least two distance sensors (32) for detecting the distance and a position detection sensor (31) arranged on the traversing mechanism (2); the auxiliary positioning piece comprises a baffle (41) matched with the distance sensor (32) and a positioning plate matched with the position detection sensor (31), wherein positioning holes are formed in the positioning plate, the two distance sensors (32) are respectively arranged on the two trolley legs (11), the two distance sensors (32) are respectively arranged on the two forks, the traversing mechanism (2) comprises a track arranged on the trolley body (1), a sliding block moving on the track and a driving device for driving the sliding block to slide, the forks and the position detection sensor (31) are both arranged on the sliding block, the track extends in the horizontal direction, the auxiliary positioning piece further comprises a limiting device for limiting the moving position of the sliding block on the track, and the auxiliary positioning piece further comprises a laser navigation device, an environment navigation device, a magnetic navigation device or a two-dimensional navigation device for pre-positioning the trolley; the method also comprises the following steps of,
step one, a field arrangement step:
the baffle (41) and the positioning plate are arranged at the target position, and the positioning holes are formed in the positioning plate;
step two, a trolley advancing step:
the AGV trolley is guided by a pre-aligned navigation device to approach the baffle (41) and reach a preset point, two distance sensors arranged on the vehicle legs (11) or the fork start to work at the moment, and feedback data A and feedback data B of the distance between the AGV trolley and the baffle (41) are obtained respectively;
step three, posture adjustment and longitudinal positioning:
according to the numerical difference between the feedback data A and the feedback data B, the gesture of the AGV trolley is adjusted, and when the feedback data A and the feedback data B reach a preset distance value, the AGV trolley is controlled to stop;
step four, a transverse positioning step:
the traversing mechanism (2) is operated to slide laterally, and when the position detection sensor (31) detects the positioning hole, the traversing mechanism stops sliding laterally.
2. A method of parking an AGV vehicle fork truck with high precision according to claim 1, wherein: in the fourth step, the traversing mechanism comprises a sliding rail and a sliding block, the position detection sensor (31) is arranged on the sliding block, and the sliding block firstly slides to the limit position of one side and then slides to the opposite direction.
3. A method of parking an AGV vehicle fork truck with high precision according to claim 2, wherein: the sliding speed of the sliding block in the opposite direction is slower than the sliding speed of the sliding block to the limit position of one side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111654.1A CN107814153B (en) | 2017-11-13 | 2017-11-13 | AGV vehicle forking device with high-precision parking and parking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111654.1A CN107814153B (en) | 2017-11-13 | 2017-11-13 | AGV vehicle forking device with high-precision parking and parking method thereof |
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| Publication Number | Publication Date |
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| CN107814153A CN107814153A (en) | 2018-03-20 |
| CN107814153B true CN107814153B (en) | 2023-11-28 |
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| CN201711111654.1A Active CN107814153B (en) | 2017-11-13 | 2017-11-13 | AGV vehicle forking device with high-precision parking and parking method thereof |
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| CN108594809B (en) * | 2018-04-04 | 2021-04-09 | 合肥工业大学 | High-precision mechanical positioning and releasing device for AGV |
| CN108584809B (en) * | 2018-06-01 | 2024-04-19 | 诺力智能装备股份有限公司 | Automatic goods storage and taking control system and method for AGV forklift |
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| CN110065558B (en) * | 2019-04-22 | 2022-06-28 | 深圳创维－Rgb电子有限公司 | A back-mounted AGV auxiliary positioning device and method thereof |
| CN111170229B (en) * | 2020-02-18 | 2024-11-26 | 诺力智能装备股份有限公司 | AGV with high-precision parking docking, docking system and docking method thereof |
| CN112830428B (en) * | 2020-06-18 | 2022-09-13 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN113029578B (en) * | 2021-04-28 | 2022-08-09 | 杭州克罗德机电设备有限公司 | Engine testing device and testing method thereof |
| CN114715725B (en) * | 2022-04-29 | 2023-09-29 | 厦门航天思尔特机器人系统股份公司 | Yarn package feeding system |
| CN116674920B (en) * | 2023-04-25 | 2024-01-23 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
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