A kind of AGV intelligent forklifts and its control systemTechnical field
The utility model is related to intelligent forklift equipment technical field more particularly to a kind of AGV intelligent forklifts and its control systemsSystem.
Background technology
Electri forklift is the important equipment of freight industry, and electri forklift has compact-sized, light-weight, low noise, pollutionSmall flexible advantage, can be in the job space of environment complexity, and nowadays due to the propulsion of technology, AGV fork trucks are already present inPeople at the moment, but at present due to the missing of technology with it is immature, the performance of AGV fork trucks and its efficiency of work can not obtainTo effective utilization and extention.
Application No. is 201610421999.6 Chinese invention patent, it discloses a kind of laser guide AVG fork trucks,Including box body and the preceding frame mechanism in box body front end is set, middle part is provided with accumulator in box body, Industry Control calculatesMachine, programmable logic controller (PLC), steering motor controller and movable motor controller, lower end are provided with drive assembly, and driving is totalSide is provided with pumping plant, the upper end of box body is provided with display module, and top is provided with one and is swept by the laser of upright supportsMeasuring instrument is retouched, is analyzed and is transmitted by the signal of industry control, touching makes traditional man-power fork-lift truck realize intelligent Service, and precision is high, insteadPresent it is sensitive, it is convenient to use.
But in actual use, inventor has found that it leaves following technical problem：It is in use firstThere are problems that job insecurity, program setting is certain, and is failed in time encountering special circumstances such as cargo and being obstructedIt is loaded on fork truck to carry out be easy to causeing cargo when next action turning over and fall；Secondly, there are many signal connecting lines in equipment, wrapIt includes between the retainer plate of lifting and other components, retainer plate is easy to cause to pull damage circuit to circuit during lifting.
Utility model content
One of the purpose of this utility model is in view of the deficiencies of the prior art, by the way that cargo is arranged on fork mechanismTesting agency is controlled in the way of cargo touching excitation signal and completes laden next step action and at door frame mechanismBe arranged take-up mechanism and by signal connecting line around take-up mechanism pulley to solve AGV fork trucks work when, cargo not andWhen be loaded on fork truck carry out it is next action cause cargo turn over fall and retainer plate during lifting be easy circuit is madeThe problem of at damage circuit is pullled.
It is as follows using technical solution for the above technical problem：
A kind of AGV intelligent forklifts, including walking carrier, be fixed on walking carrier on door frame mechanism, be fixed on door frame machineStructure lower part and it is arranged in the box body of walking carrier tail portion, along the up and down fork mechanism of door frame mechanism and is fixed on door frameThe navigation control module on mechanism top, the navigation control module carry out two-dimentional modeling for scan data, on the fork mechanismIt is additionally provided with freight detection mechanism, whether there is or not cargos for detecting on fork mechanism for the freight detection mechanism, and in stockit is available detectingAGV fork trucks are controlled when object carries out next action；
It is additionally provided with take-up mechanism at the door frame mechanism, which is used for when fork mechanism carries out lifting activityFolding and unfolding is carried out to the signal connecting line for connecting PLC in fork mechanism and box body.
As a preferred embodiment, the freight detection mechanism includes trigger assembly and signal component, when work, fork mechanism forkPicking object, cargo touch trigger component make trigger assembly trigger signal component send a signal to navigation control module.
As a preferred embodiment, the take-up mechanism includes the pulley assembly being arranged in cylinder component upper end, the pulley blocksPart is lifted with the flexible of cylinder component, and the signal connecting line bypasses pulley assembly.
As a preferred embodiment, pulling assembly is additionally provided between the pulley assembly and navigation control module, the tensionRate of tension of the component for Regulate signal connecting line during pulley assembly lifts.
As a preferred embodiment, being provided with detection agency on the walking carrier, which is used to advance in AGV fork trucksWhether there is or not cargos in detection front in the process.
As a preferred embodiment, the walking carrier includes the first walking support element and the second walking support element, the detectionMechanism includes detection part a and detection part b, the detection part a and detection part b are separately positioned on the first walking support element and theThe front end of two walking support elements.
As a preferred embodiment, with respect to being provided with avoidance mechanism on rear side of AGV fork truck directions of advance on the box body, it is describedAvoidance mechanism includes non-contact unit and osculating element, and the non-contact unit is for detecting barrier and detecting barrierWhen control AGV fork trucks slow down；
The osculating element, which is used to control AGV fork trucks when touching barrier or will touch barrier, to be stopped.
As a preferred embodiment, also packet manual control mechanism, the manual control mechanism are arranged in box body, this is manually controlledMechanism for manual operation AGV fork trucks for carrying out the common high operation of heap in a manual mode.
Preferably as another, the door frame mechanism includes outer mast, middle door frame and inner upright mounting, the box body navigation controlMolding block is detachably arranged on outer mast, and the fork mechanism is slided up and down along the middle door frame, and the two of the take-up mechanismEnd is detachably arranged at inner upright mounting respectively.
The utility model another object is that in view of the deficiencies of the prior art, provide and a kind of being used for AGV intelligent forkliftsControl system.
And it is as follows using technical solution：
A kind of control system of AGV intelligent forklifts, including
(1) two dimension structure module, control AGV fork trucks move to target point from starting point, utilize laser head scan data structureEnvironment two-dimensional map is built, environment two-dimensional map is imported into AGV navigation map datas library；
(2) navigation path planning module imports environment two-dimensional map, describes the preliminary guidance path of AGV fork trucks, according to firstThe feature of guidance path and the foundation motion mode of AGV fork trucks are walked, the collection point on preliminary guidance path is extracted, passes through AGVFork truck actual motion, observes and records its method of operation and situation between two neighboring collection point, and operation finishes post-equalizationPoint data is acquired, final guidance path is generated；
(3) navigation traveling module obtains current pose of the AGV fork trucks in environment two-dimensional map, is loaded into final navigation roadDiameter, laser head real-time scan data and map match, real-time update AGV fork truck poses, current time AGV fork truck pose is transmitted toThe input of speed control unit in navigation control module, speed control unit is that current AGV fork trucks pose and guidance path are believedBreath exports as AGV fork truck current time velocity informations, and current time velocity information is transmitted to from controller, control by master controllerAGV fork trucks are walked by set speed and guidance path, and around material placement, there are three above laser reflection plate, AGV for installationFork truck runs to areflexia plate laser navigation pattern and reflecting plate laser navigation pattern docking point under laser navigation pattern, rightLaser sensor on junction AGV fork trucks can sense three pieces or more of laser reflection plate, and AGV fork truck master controllers, which are sent, to be addedFor loading material task to AGV from controller, AGV fork trucks are switched to reflecting plate laser navigation pattern, the control of AGV forklift-walkings give fromController；The location information that AGV fork trucks are fed back from controller according to laser reflection plate derives AGV fork truck posture informations, and then controlsAGV fork trucks drive module processed, makes AGV fork trucks accurately reach designated position；
(4) fork material module, detection agency detection front description of the goods simultaneously send a signal to navigation control module, navigation controlMolding fork material control unit control control fork mechanism in the block forks cargo；
(5) freight detection module, freight detection mechanism detect fork mechanism on whether there is or not cargos, when having detected cargo,Navigation control module is sent a signal to, navigation control module controls AGV fork trucks and cargo is driven to carry out next step action；
(6) anticollision module, AGV fork trucks are in fallback procedures, the avoidance mechanism of setting side behind, non-contact unitIts spacing between barrier or other AGV fork trucks is detected, Navigation Control is sent a signal to when detecting closer apartMould speed control unit in the block, controls its deceleration, and osculating element is sent when touching barrier or other AGV fork trucksSignal controls its stopping to the speed control unit in navigation control module.
When being worked by above-mentioned control system manipulation AGV fork trucks, it ensure that the operation of AGV fork trucks is more stablized.
The beneficial effects of the utility model：
(1) by the way that freight detection mechanism is arranged on fork mechanism in the utility model, and it is arranged in the freight detection machineStructure is at the tail portion of fork mechanism and it is touching formula signaling switch so that only when cargo is moved fully on fork mechanismCargo could make to send out signal control fork truck progress next step action by way of touch trigger component, avoid and pass through settingProgram controls forklift picking object and carries out in next step when acting, and cargo occurs and be hampered to cause partial cargo cannot be by predetermined setIt is transferred on fork truck completely in period, and fork truck starts to act in next step when transfer does not come up completely to lead to cargo in cargoShakiness is reprinted to be easy to turn over the problem of falling.
(2) take-up mechanism is set in the utility model, and connection fork mechanism is connected with the signal of navigation control moduleLine bypasses the pulley assembly of take-up mechanism so that fork mechanism can drive signal connection during lifting by pulley assemblyLine lifting moving together, and signal connecting line can be slided around pulley assembly in moving process, it is right in lifting process to avoidSignal connecting line causes to pull.
(3) by the way that pulling assembly is arranged in the utility model so that signal connecting line can pass through drawing during liftingThe rate of tension of the elastic force automatic regulating signal connecting line of tight component, avoids it from relaxation occur, cause its cannot smoothly aroundPulley assembly sliding, and the case where falling off from pulley assembly occurs.
(4) by the way that detection agency is arranged in the front end of walking carrier in the utility model so that energy during travelingThe distance between fork truck and front cargo are detected by two detection parts so that forklift picking object is more accurate.
(5) by the way that avoidance mechanism is arranged in the utility model, and it includes that non-contact unit and contact are single that avoidance mechanism, which is arranged,Member so that fork truck can carry out twofold detection protection by non-contact unit and osculating element in moving process to it, avoid itThe case where colliding.
In conclusion the equipment have it is stable, work efficiency is high, and the advantage of height intelligence etc. is particularly suitable forIntelligent forklift equipment technical field.
Description of the drawings
It is required in being described below to embodiment for the clearer technical solution for illustrating the utility model embodimentThe attached drawing used is briefly described, it should be apparent that, drawings discussed below is only some embodiments of the utility model,For for those of ordinary skill in the art, without creative efforts, it can also obtain according to these attached drawingsObtain other accompanying drawings.
Fig. 1 is the structural schematic diagram of AGV intelligent forklifts.
Fig. 2 is the enlarged diagram of AGV intelligent forklift take-up mechanisms.
Fig. 3 is the dismantling schematic diagram of door frame mechanism.
Fig. 4 is the enlarged diagram of detection agency.
Fig. 5 is the structural schematic diagram of freight detection mechanism.
Fig. 6 is the dismantling schematic diagram of freight detection mechanism.
Fig. 7 is the structural schematic diagram of tray rack.
Fig. 8 system module schematic diagrames in order to control.
Specific implementation mode
The technical scheme in the embodiment of the utility model is clearly and completely illustrated below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figure 1, Figure 2, Fig. 3, Fig. 5, Fig. 6 and Fig. 7 show, a kind of AGV intelligent forklifts, including walking carrier 1, be fixed on walkingDoor frame mechanism 2 on carrier 1 is fixed on 2 lower part of door frame mechanism and is arranged in the box body 3 of 1 tail portion of walking carrier, along door frame machineThe up and down fork mechanism 4 of structure 2 and the navigation control module 10 for being fixed on 2 top of door frame mechanism, the navigation control module10 carry out two-dimentional modeling for scan data, are additionally provided with freight detection mechanism 5 on the fork mechanism 4, the freight detection machineWhether there is or not cargos for detecting on fork mechanism 4 for structure 5, and are detecting that cargo time control AGV fork trucks carry out next action；InstituteIt states and is additionally provided with take-up mechanism 6 at door frame mechanism 2, which is used for when fork mechanism 4 carries out lifting activity to being used forThe signal connecting line 8 for connecting PLC in fork mechanism 4 and box body 3 carries out folding and unfolding.
Further, the freight detection mechanism 5 includes trigger assembly 51 and signal component 52, when work, fork mechanism 4Cargo is forked, cargo touch trigger component 51 makes 51 trigger signal component 52 of trigger assembly send a signal to navigation control module10；
Specifically, the trigger assembly 51 include rotation seat 511, be rotatably provided on rotation seat 511 shaft 512,The torsional spring 513 being set in shaft 512 and the tabletting 514 being used cooperatively with the torsional spring 513, the tabletting 514 are set as LType.
It should be noted that in the present embodiment, by the way that freight detection mechanism 5 is arranged on fork mechanism 4, and it is arranged at thisFreight detection mechanism 5 is at the tail portion of fork mechanism 4 and it is touching formula signaling switch so that is only moved fully in cargoWhen on fork mechanism 4 cargo could make to send out by way of touch trigger component 51 signal control fork truck carry out it is dynamic in next stepMake, avoids when controlling forklift picking object by setting program and act in next step, cargo occur and be hampered to cause partCargo cannot be by being transferred on fork truck completely in predetermined set time section, and fork truck starts in cargo when transfer does not come up completelyAction causes cargo reprinting shakiness to be easy to turn over the problem of falling in next step.
Further, as depicted in figs. 1 and 2, the take-up mechanism 6 includes setting as a preferred implementation manner,Pulley assembly 61 in 9 upper end of cylinder component, the pulley assembly 61 are lifted with the flexible of cylinder component 9, and the signal connectsWiring 8 bypasses pulley assembly 61；
Specifically, the pulley assembly 61 includes being fixed on the support base 611 of 9 upper end of cylinder component and rotatably settingSet the pulley 612 on support base 611.
It is noted that in the present embodiment, by the way that take-up mechanism 6 is arranged, and will connection fork mechanism 4 and Navigation ControlThe signal connecting line 8 of module 10 bypasses the pulley assembly 61 of take-up mechanism 6 so that fork mechanism 4 can lead to during liftingIt crosses pulley assembly 61 and drives the lifting moving together of signal connecting line 8, and signal connecting line 8 can be around pulley blocks in moving processPart 61 slides, and avoids in lifting process and causes to pull to signal connecting line 8.
Further, as shown in Figure 2, tension group is additionally provided between the pulley assembly 61 and navigation control module 10Part 62, rate of tension of the pulling assembly 62 for the Regulate signal connecting line 8 during pulley assembly 61 lifts；
Specifically, the pulling assembly 62 includes in the supporting block 621 for being fixed on 9 side of cylinder component and supporting block 621Slide bar 622 that the through-hole opened up is slidably matched, is fixed on 622 upper end of slide bar at the limited block 623 for being fixed on 622 lower end of slide barThe U-shaped part 624 in portion and the tensioning wheel 625 being rotatably provided on U-shaped part 624, between the U-shaped part 624 and supporting block 621It is provided with the spring 626 being set on slide bar 622.
More optimally, by the way that pulling assembly 62 is arranged so that signal connecting line 8 can pass through tension group during liftingThe rate of tension of the elastic force automatic regulating signal connecting line 8 of part 62, avoids it from relaxation occur, cause its cannot smoothly aroundPulley assembly 61 slides, and the case where falling off from pulley assembly 61 occurs.
Further, described on the box body 3 with respect to being provided with avoidance mechanism 31 on rear side of AGV fork truck directions of advanceAvoidance mechanism 31 include non-contact unit 311 and osculating element 312, the non-contact unit 311 for detect barrier andControl AGV fork trucks slow down when detecting barrier；
The osculating element 312, which is used to control AGV fork trucks when touching barrier or will touch barrier, to be stopped.
Here, by the way that avoidance mechanism 31 is arranged, and it includes non-contact unit 311 and osculating element that avoidance mechanism 31, which is arranged,312 so that fork truck can carry out twofold detection protection by non-contact unit 311 and osculating element 312 in moving process to it,The case where avoiding it from colliding.
Further, as shown in Figure 1, also packet manual control mechanism 7, the manual control mechanism 7 are arranged in box body3, the manual control mechanism 7 for manual operation AGV fork trucks for carrying out the common high operation of heap in a manual mode.
Further, as shown in Figure 3, the door frame mechanism 2 includes outer mast 21, middle door frame 22 and inner upright mounting 23, instituteIt states 3 navigation control module 10 of box body to be detachably arranged on outer mast 21, the fork mechanism 4 is along about the 22 middle door frameSliding, the both ends of the take-up mechanism 6 are detachably arranged at inner upright mounting 23 respectively.
Further, as shown in Figure 7, the fork mechanism 4 includes tray rack 41, is offered on the tray rack 41Notch 411 for installing tabletting 514.
Embodiment two
If Fig. 3 and Fig. 4 show, wherein identical with embodiment one or corresponding component uses attached drawing corresponding with embodiment oneLabel hereafter only describes the distinctive points with embodiment one for simplicity.The difference of the embodiment two and embodiment one existsIn：Further, it is provided with detection agency 11 on the walking carrier 1, which is used in AGV fork truck traveling processWhether there is or not cargos in front of middle detection.
Further, the walking carrier 1 includes the first walking walking support element 13 of support element 12 and second, the detectionMechanism 11 includes that detection part a111 and detection part b112, the detection part a111 and detection part b112 are separately positioned on described firstThe front end of the walking walking support element 13 of support element 12 and second；Specifically the detection part a111 and detection part b112 are respectively provided withFor infrared sensor.
By the way that detection agency 11 is arranged in the front end of walking carrier 1 so that can be detected by two during travelingPart detects the distance between fork truck and front cargo so that forklift picking object is more accurate.
Embodiment three
If Fig. 8 shows, a kind of control system of AGV intelligent forklifts, including
(1) two dimension structure module, control AGV fork trucks move to target point from starting point, utilize laser head scan data structureEnvironment two-dimensional map is built, environment two-dimensional map is imported into AGV navigation map datas library；
(2) navigation path planning module imports environment two-dimensional map, describes the preliminary guidance path of AGV fork trucks, according to firstThe feature of guidance path and the foundation motion mode of AGV fork trucks are walked, the collection point on preliminary guidance path is extracted, passes through AGVFork truck actual motion, observes and records its method of operation and situation between two neighboring collection point, and operation finishes post-equalizationPoint data is acquired, final guidance path is generated；
(3) navigation traveling module obtains current pose of the AGV fork trucks in environment two-dimensional map, is loaded into final navigation roadDiameter, laser head real-time scan data and map match, real-time update AGV fork truck poses, current time AGV fork truck pose is transmitted toThe input of speed control unit in navigation control module 10, speed control unit is current AGV fork trucks pose and guidance pathInformation exports as AGV fork truck current time velocity informations, and current time velocity information is transmitted to from controller, control by master controllerAGV fork trucks processed are walked by set speed and guidance path, around material placement, are installed there are three above laser reflection plate,AGV fork trucks run to areflexia plate laser navigation pattern and reflecting plate laser navigation pattern docking point under laser navigation pattern,Laser sensor at the docking point on AGV fork trucks can sense three pieces or more of laser reflection plate, AGV fork truck master controllers hairSend load material task to AGV from controller, AGV fork trucks are switched to reflecting plate laser navigation pattern, and the control of AGV forklift-walkings is handed overTo from controller；The location information that AGV fork trucks are fed back from controller according to laser reflection plate derives AGV fork truck posture informations, intoAnd AGV fork truck drive modules are controlled, so that AGV fork trucks is accurately reached designated position；
(4) fork material module, the detection of detection agency 11 front description of the goods simultaneously send a signal to navigation control module 10, leadFork material control unit control control fork mechanism 4 in boat control module 10 forks cargo；
(5) freight detection module, freight detection mechanism 5 detect fork mechanism 4 on whether there is or not cargos, detecting cargoWhen, navigation control module 10 is sent a signal to, navigation control module 10 controls AGV fork trucks and cargo is driven to carry out next step action；
(6) anticollision module, AGV fork trucks are in fallback procedures, the avoidance mechanism 31 of setting side behind, non-contact listMember 311 detects its spacing between barrier or other AGV fork trucks, and navigation is sent a signal to when detecting closer apartSpeed control unit in control module 10, controls its deceleration, and osculating element 312 is touching barrier or other AGVThe speed control unit in navigation control module 10 is sent a signal to when fork truck, controls its stopping.
In the description of the present invention, it should be understood that the orientation or position of the instructions such as term " front and back ", " left and right "Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, withoutIt is instruction or implies that signified equipment or component must have a particular orientation, with specific azimuth configuration and operation, therefore notIt can be interpreted as the limitation to utility model.
Certainly in the technical scheme, those skilled in the art is it should be understood that term " one " is interpreted as " at leastOne " or " one or more ", i.e., in one embodiment, the quantity of an element can be one, and in other implementationIn example, the quantity of the element can be multiple, and term " one " should not be understood as the limitation to quantity.
The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is notIt is confined to this, the variation that any one skilled in the art can readily occur under the technical clarification of the utility modelOr replace, it should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with rightSubject to the protection domain of claim.