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Method of transferring forklifts to operate and lift

A technology for forklifts and lifting mechanisms, applied in lifting devices, two-dimensional position/channel control, lifting equipment safety devices, etc., can solve problems such as poor stability and complex structure, and achieve high automation, high work efficiency, Manpower saving effect

Active Publication Date: 2019-05-28
航天通用技术(北京)有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the current AGV forklifts generally have problems such as complex structure and poor stability. Therefore, it is necessary to improve the current AGV forklifts.

Method used

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  • Method of transferring forklifts to operate and lift
  • Method of transferring forklifts to operate and lift
  • Method of transferring forklifts to operate and lift

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 , figure 2 as well as image 3 As shown, a system for mobilizing forklift operation has a plurality of AGV bodies. The front end of each AGV body 1 is provided with a transfer lifting mechanism 3, and the transfer lifting mechanism 3 is connected with a fork arm 4. The load lifting mechanism 3 can be composed of a motor and a lead screw, or can be composed of a motor and a transmission chain. It is not limited, and can move in the horizontal direction and the vertical direction at the same time; The traveling driving device 2 is used to control the driving state of the AGV body. Specifically, the traveling driving device 2 includes a traveling mechanism and a steering mechanism. This time, the AGV traditionally adopts the structure of a single front-wheel drive steering three-wheel chassis, and the traveling mechanism adopts Curtis The company's 1232-2211 AC motor controller; the steering mechanism adopts Curtis 1220 DC motor controller; the driven w...

Embodiment 2

[0066] This embodiment is further optimized on the basis of Embodiment 1, specifically a method for mobilizing forklift operation and lifting, including the following steps:

[0067] S0: There are several AGV forklifts and a host computer, each of the AGV forklifts is connected to the host computer in communication, and the host computer is used to send control commands to each AGV forklift and collect data information of each AGV forklift;

[0068] Each of the AGV forklifts includes an AGV body, the front end of the AGV body is provided with a load-shifting lifting mechanism, and the load-shifting lifting mechanism is connected with a fork arm; the bottom of the AGV body is provided with a driving device, which is used To control the driving state of the AGV car body; the AGV car body also has a control system, which includes:

[0069] The execution unit is used to directly send electrical signals to the control circuit of the transfer and lifting mechanism of the AGV body an...

Embodiment 3

[0084] This embodiment is a further optimization made on the basis of Embodiment 2, specifically:

[0085] In the step S41, the following steps are also included:

[0086] S411: Obtain the distance information between each layer of goods and the fork arm, the distance information includes the height value at the lower edge of each layer of shelf pallets, and the height difference between the lower edge and upper edge of each layer of shelf pallets; the control unit according to The distance information controls the lifting height of the transfer lifting mechanism.

[0087] The specific control method is as follows. A position detection sensor and a distance sensor are installed on the fork arm 4. When the position detection sensor detects the lower edge and the upper edge of a shelf beam on a certain layer, the distance sensor detects and records the lower edge of the shelf pallet. The height value H, the height difference X between the lower edge and the upper edge of the sh...

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Abstract

The invention discloses a method of transferring forklifts to operate and lift. The method comprises the following steps: S0, preparing a plurality of AGV forklifts and an upper computer; S1, carryingout path planning on the AGV forklifts by the upper computer according to cargo stacking information to acquire running route information; S2, sending starting commands to AGV vehicle bodies by the upper computer according to the running route information and receiving the starting commands and controlling the running states of the AGV bodies by a control unit; S3, acquiring deceleration distances and parking distances of the AGV bodies; and S4, when the AGV bodies arrive the positions of the deceleration distances, controlling the AGV bodies to start to decelerate at a first preset acceleration, and when the AGV bodies are decelerated to the position of the parking distances, controlling the AGV bodies to start to decelerate at a second preset acceleration; and judging whether cargoes are detected or not within a set time period after parking, and carrying the cargoes according to positions of the cargoes and the detection result. According to the method, the cargoes can be carried in definite space.

Description

technical field [0001] The invention relates to the field of AGV forklifts, in particular to a method for mobilizing the operation and lifting of the forklift. Background technique [0002] Automated Guided Vehicle (AGV for short) is a kind of mobile robot, which is the core component of the intelligent logistics system. The automatic storage and transportation of materials provides an important guarantee for the flexibility, integration and efficient operation of the system. AGV forklift is a kind of storage forklift driven by batteries for industrial handling and loading and unloading. It is mainly used in tobacco, food, textile, electronics, printing and other industries for autonomous handling and transportation of palletized goods. It is especially suitable for Work in narrow aisles and confined spaces. [0003] However, the current AGV forklifts generally have problems such as complex structure and poor stability. Therefore, it is necessary to improve the current AGV...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66F9/075B66F9/24B66F17/00G05D1/02
Inventor 周林生
Owner 航天通用技术(北京)有限公司
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