CN109650288B - RGV control method based on single-liter platform - Google Patents
RGV control method based on single-liter platform Download PDFInfo
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- CN109650288B CN109650288B CN201811637579.7A CN201811637579A CN109650288B CN 109650288 B CN109650288 B CN 109650288B CN 201811637579 A CN201811637579 A CN 201811637579A CN 109650288 B CN109650288 B CN 109650288B
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- 230000006698 induction Effects 0.000 description 9
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 239000005060 rubber Substances 0.000 description 2
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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
- B66F9/063—Automatically guided
-
- 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
- B66F9/065—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 non-masted
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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
- B66F9/0755—Position control; Position detectors
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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
- B66F9/07572—Propulsion arrangements
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Transportation (AREA)
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- Civil Engineering (AREA)
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Abstract
The invention relates to an RGV, in particular to a control method of an RGV based on a single-lift platform, which comprises an automatic goods taking mode and an automatic goods storage mode, wherein the position of a tray is sensed through a laser sensor, the accuracy and the rapidness are realized, the relative position of the RGV and the tray is calculated through an encoder, the speed control stop is realized, the position of the RGV reaching the bottom of the tray is determined through a-direction photoelectric switch and a-direction photoelectric switch, the safety and the reliability are high, and the automatic storage and the taking of the tray are realized.
Description
Technical Field
The invention relates to an RGV, in particular to a control method of an RGV based on a single-liter platform.
Background
The RGV is called a rail shuttle trolley, can be used for warehouses with various high-density storage modes, can be designed to be arbitrarily long, can improve the storage capacity of the whole warehouse, and does not need a forklift to drive into a roadway during operation, so that the safety of the warehouse is higher. The advantage that fork truck need not to get into the tunnel is being utilized, and the quick operation of cooperation dolly in the tunnel effectively improves the operating efficiency in warehouse. Forklifts place or take pallet materials from or at different shelf lane crossings, and RGVs need to store or take pallet materials from different shelves. The RGV needs to go to the bottom of the tray material, lift the tray material, and then send to a designated position to put down. The RGV needs the perpendicular up-and-down motion steadily when lifting the tray material, and this process needs the position of accurate response tray material, and the control lifts the tray material, if control is inaccurate, probably can take place to push up the condition of turning over the tray material, makes the tray material fall from the high altitude, seriously influences logistics safety. The RGV is also required to accurately drive to a designated position to put down the pallet materials and arrange the pallet materials orderly, so that a control method of accurate induction control is required.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an RGV control method based on a single-lift platform, which can accurately sense the position of a tray material and realize automatic stock and automatic goods taking.
In order to achieve the purpose, the technical scheme of the invention is as follows: a control method of an RGV based on a single lifting platform comprises an automatic goods taking mode and an automatic goods storing mode, wherein a lifting low-position induction switch and a lifting high-position induction switch for inducing lifting height are arranged on the single lifting platform, a walking servo motor and a lifting servo motor are arranged on the RGV, the walking servo motor is driven by a walking servo driver, the lifting servo motor is driven by the lifting servo driver, the front and the back of the RGV are respectively provided with an A surface and a B surface, the A surface is provided with a laser sensor A, the middle of the B surface is provided with a laser sensor B, two sides of the laser sensor A are provided with a first photoelectric sensor and a second photoelectric sensor, two sides of the laser sensor B are provided with a third photoelectric sensor and a fourth photoelectric sensor, the front and the back of the top surface of the RGV are respectively provided with an A-direction photoelectric switch and a B-direction photoelectric switch, and a wireless receiving module;
the automatic goods taking mode comprises the following steps:
(1) placing the A surface of the RGV on the goods shelf roadway towards the end point of the goods shelf roadway, starting the RGV, sending a goods taking instruction to the RGV, receiving the goods taking instruction by a wireless receiving module on the RGV, inducting to a photoelectric switch and a photoelectric switch from A to B to confirm that the starting point of the goods shelf roadway has no tray, outputting a running signal to the end point of the goods shelf roadway to a running servo driver by a PLC, and driving the RGV to run at a constant speed to the end point of the goods shelf roadway by the running servo motor;
(2) the laser sensor A senses that a tray is arranged in front of the laser sensor A, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, and the walking servo driver starts to decelerate to enter the bottom of the tray according to the result calculated by the encoder;
(3) the A-direction photoelectric switch and the B-direction photoelectric switch sense the position of the RGV entering the bottom of the tray, the A-direction photoelectric switch and the B-direction photoelectric switch sense the tray simultaneously, the PLC outputs a stop signal to the walking servo driver, the walking servo motor stops driving the RGV, and the RGV stops below the tray;
(4) the PLC outputs a lifting signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to ascend, the lifting high-position inductive switch senses that the lifting platform is lifted in place, the tray is lifted, and the lifting servo motor stops working;
(5) the PLC outputs a running signal to the starting point of the goods shelf roadway to the walking servo driver, and the walking servo motor drives the RGV to run at a constant speed to the starting point of the goods shelf roadway;
(6) when the third photoelectric sensor senses that the RGV reaches the starting point of the goods shelf roadway, the PLC outputs a deceleration signal to the walking servo driver, the walking servo motor starts to decelerate, the fourth photoelectric sensor senses that the RGV reaches the starting point of the goods shelf roadway, the PLC outputs a stop signal to the walking servo driver, the walking servo motor stops working, and the RGV stops at the starting point of the goods shelf roadway;
(7) the PLC outputs a descending signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to descend, the lifting low-position inductive switch senses that the lifting platform descends in place, the tray is placed on the goods shelf, and the lifting servo motor stops working;
(8) the PLC transmits a signal of returning a goods position to the walking servo driver, and the walking servo motor drives the RGV to stop after returning a goods position, so that the tray is taken out.
The automatic inventory mode includes the steps of:
(1) placing the A surface of the RGV on the goods shelf tunnel towards the end point of the goods shelf tunnel, starting the RGV, sending a stock instruction to the RGV, receiving the stock instruction by a wireless receiving module on the RGV, driving the RGV to return to the starting point of the goods shelf tunnel by a walking servo motor, sensing whether a tray exists at the starting point of the goods shelf tunnel by an A-direction photoelectric switch and a B-direction photoelectric switch, and stopping the RGV after returning to a goods position if the tray is not sensed;
(2) the PLC outputs lifting signals to the lifting servo driver, the lifting servo motor drives the single lifting platform to ascend, the lifting high-position sensing switch senses that the lifting platform is lifted in place, the tray is lifted, and the lifting servo motor stops working;
(3) the PLC outputs a running signal to the starting point of the goods shelf roadway to the walking servo driver, and the walking servo motor drives the RGV to run at a constant speed to the starting point of the goods shelf roadway;
(4) the laser sensor A senses that a tray is arranged in front of the laser sensor A, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, and the walking servo driver starts to decelerate according to the calculation result of the encoder and stops at the position away from a front goods position of the tray;
(5) the PLC outputs a descending signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to descend, the lifting low-position sensing switch senses that the lifting platform descends in place, the tray is placed on the goods shelf, and the lifting servo motor stops working to complete the storage.
Further, the automatic goods taking mode comprises continuous goods taking, after the automatic goods taking mode finishes the step (7) of automatic goods taking, the RGV continues to take goods, the steps (2) - (5) of the automatic goods taking mode are repeated, the laser sensor A senses the tray taken out in front, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, the walking servo driver starts to decelerate according to the result calculated by the encoder and stops at the position away from the front goods position of the taken out tray, the step (7) of the automatic goods taking mode is repeated, the process is circulated until all goods are taken out, the RGV drives to the end point of the goods shelf, the first photoelectric sensor senses that the end point of the goods shelf roadway is to be reached, the PLC outputs the deceleration signal to the walking servo driver, the walking servo motor starts to decelerate, the second photoelectric sensor senses that the RGV reaches the start point of, the PLC outputs a stop signal to the walking servo driver, the walking servo motor stops working, the RGV stops at the end point of the goods shelf roadway, the photoelectric switch is sensed by the photoelectric switch from A to B, the goods shelf roadway is confirmed to have no tray at the end point, and continuous goods taking is completed.
The invention has the beneficial effects that: through laser sensor response tray position, it is accurate quick, the relative position of RGV and tray is calculated to the rethread encoder, carries out speed control and stops, confirms the position that RGV reachd the tray bottom to photoelectric switch and B to photoelectric switch doubly through A, and the security is high, and the reliability is high, realizes the automatic access of tray.
Drawings
FIG. 1 is a schematic perspective view of an RGV based on a single-liter platform.
FIG. 2 is a schematic perspective view of a single-lift platform-based RGV with a body cover and a stage removed.
Figure 3 is a top view of a single-lift platform based RGV with body cover and stage removed.
Fig. 4 is a schematic perspective view of a single-lift platform.
Fig. 5 is a schematic perspective view of the jacking mechanism and the sensing device.
FIG. 6 is a top view of the jacking mechanism and sensing device.
Fig. 7 is a cross-sectional view of fig. 6 taken along line a-a.
Fig. 8 is a half sectional view of the short link after being fitted with the first self-lubricating bearing.
Figure 9 is a control flow diagram for an RGV based on a single-liter platform.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-8, an RGV based on a single-lift platform is composed of a vehicle body 1, a vehicle body cover plate 2, a driving wheel 3 and a driven wheel 4 arranged on both sides of the vehicle body, the single-lift platform 5 and a driving mechanism 9 arranged inside the vehicle body 1, wherein the single-lift platform 5 is provided with a sensing device 8 for sensing a lifting position, the driving mechanism 6 drives the driving wheel 3, and the vehicle body cover plate 2 is arranged on the vehicle body 1.
As shown in fig. 1 and 2, a vehicle body 1 is provided with a vehicle body cover plate 2 and a battery box group 10, wherein the vehicle body cover plate 2 is provided with a battery box group mounting opening 21; the battery box group provides power for the RGV; the car body cover plate is provided with a battery box mounting opening 21 so as to conveniently detach and mount the battery box group 21.
Be provided with crashproof buffer block 12 around the automobile body 1, crashproof buffer block 12 is the block rubber, respectively is provided with two block rubbers around the automobile body 1, if control sensing element damages or is malfunctioning, prevents that RGV from directly colliding on the goods shelves, plays buffering and protection RGV's effect.
The driving wheel 3 and the driven wheel 4 are polyurethane rubber-coated wheels which are high in hardness and elasticity, excellent in wear resistance, quiet in walking and capable of reducing noise.
As shown in fig. 2, the single-lift platform 5 includes an object stage 6 and a jacking mechanism 7, and the object stage 6 is connected with the jacking mechanism 7.
As shown in fig. 4, the object stage 6 is composed of a lifting plate 61 and a non-slip plate 62, the non-slip plate 62 is a stainless steel pattern plate, the lifting plate 61 has two 90-degree bending edges 6101, and the bending edges have escape portions 6102 of a driving wheel 3 and a driven wheel 4. The antiskid plate 62 is fixed on the lifting plate 61, and the guide device 78 is connected with the bottom surface of the lifting plate 61; the anti-skid plate 61 increases the friction force between the tray and the single-lift platform 5, and prevents the tray material from moving.
As shown in fig. 2-8, the jacking mechanism 7 includes a jacking driving mechanism 71, a short linkage 72, a link adjusting device 73, a long linkage 74 and a jacking seat 75, a rotating wheel 77 is disposed on the jacking driving mechanism 71, the rotating wheel 77 is connected with the link adjusting device 73, two ends of the link adjusting device 73 are respectively connected with the rotating wheel 77 and the long linkage 74, the long linkage 74 is connected with the jacking seat 75 through the short linkage 72, the jacking seats 75 are positioned at two ends of the long connecting rod group 74, a guide device 78 is arranged between the jacking seats 75, the guide device 78 comprises a guide base 7801, a guide post 7802 arranged on the guide base 7801, and a guide upper seat 7803 which is connected to the bottom of the object stage 6 and moves up and down along with the lifting plate 61, a first self-lubricating bearing 7804 is arranged between inner holes formed by connecting the guide post 7802 and the upper guide seat 7803, and the first self-lubricating bearing 7804 is fixed on the inner hole of the upper guide seat; first self-lubricating bearing 7804 can oil-free lubrication or few oil lubrication when using, has reduced the possibility of polluting the goods, is fit for using in the RGV, has high accuracy mechanical properties, and the perpendicular decline that rises of RGV single liter connecting rod structure is smooth and easy, can form the transfer membrane in the operation process, plays the guard action to the guide post. The long linkage 74 is two long links 7401 arranged in parallel, and more than one connecting rod 79 is arranged between the two long links 7401. More than one connecting rod 79 is arranged between the pair of long connecting rods arranged in parallel, so that the two long connecting rods 7401 are integrated, the parallelism of the pair of long connecting rods 7401 is increased, the bending resistance of the long connecting rods 7401 is enhanced, the long connecting rods 7401 are not easy to deform, and the transmission is smoother.
As shown in fig. 5, the jacking driving mechanism 71 includes a jacking transmission shaft 7100, a jacking servo motor 7101, a motor base 7102, a jacking driving sprocket 7103, a jacking driven sprocket 7104, a jacking transmission chain 7105 and a jacking bearing base 7106; lifting servo motor 7101 is installed on motor base 7102, jacking driving chain wheel 7103 is installed on an output shaft of lifting servo motor 7101, jacking driven chain wheel 7104 is installed on jacking transmission shaft 7100 and is connected with jacking driving chain wheel 7103 through jacking transmission chain 7104, jacking transmission shaft 7100 is supported by jacking bearing blocks 7106 at two ends, and rotating wheels 77 are respectively arranged on the jacking transmission shafts outside jacking bearing blocks 7106. The lifting servo motor 7101 drives the lifting driving chain wheel 7103 to rotate through the output shaft, the lifting driving chain wheel 7103 drives the lifting driven chain wheel 7104 to rotate through the lifting transmission chain 7105, the lifting driven chain wheel 7104 is installed on the lifting transmission shaft 7100, the lifting transmission shaft 7100 is supported by the lifting bearing seats 7106 at two ends, and the lifting driven chain wheel 7104 drives the rotating wheel 77 to rotate through driving the lifting transmission shaft 7100.
As shown in fig. 7, the jacking seat 75 includes a jacking lower seat 7501, a jacking guide post 7502 disposed on the jacking lower seat, and a jacking upper seat 7503 disposed above the jacking lower seat and moving up and down along the jacking guide post relative to the jacking lower seat, the short link group 72 includes two short links 7201 connected to the jacking lower seat and the jacking upper seat respectively, short link mounting seats 7505 are disposed on the jacking lower seat 7501 and the jacking upper seat 7503, the short link mounting seats 7505 are connected to the long link group 74 through short links 79, and the short link mounting seats are connected to the long link group through short links. Like this jacking seat down is fixed the setting, and the long linkage promotes short connecting rod 7201, forces the angle grow of two short connecting rods 7201, promotes jacking seat rebound on to promote the objective table jack-up goods.
A second self-lubricating bearing 7504 is arranged between the inner holes of the jacking guide pillar 7502 and the jacking upper seat 7503, and the second self-lubricating bearing 7504 is fixed on the inner hole of the jacking upper seat 7502; and third self-lubricating bearings 7202 are arranged in pin holes at two ends of the short connecting rod 7201. The second self-lubricating bearing 7504 and the third self-lubricating bearing 7202 can reduce vibration, reduce noise, prevent pollution, have a thin-wall structure and light weight, and can reduce the volume of the jacking mechanism.
As shown in fig. 6 and 7, the link adjustment device 73 is composed of a male thread rod end joint bearing 7301 and a female thread rod end joint bearing 7302, and the male thread rod end joint bearing 7301 and the female thread rod end joint bearing 7302 are connected to each other by a thread; the external thread rod end joint bearing 7301 is connected with the rotating wheel 77, and the internal thread rod end joint bearing 7302 is connected with the long connecting rod group 74. The external thread rod end joint bearing is installed in the internal thread rod end joint bearing, fine adjustment is carried out through threaded connection, the distance between the rotating wheel and the long connecting rod group is adjusted to the position where transmission is smooth, and the phenomenon of blocking is prevented.
As shown in fig. 4-6, a sensing device 8 for sensing the lifting position of the object stage is disposed on the jacking transmission shaft, the sensing device includes a sensing block 81, a sensing switch 82, and a sensing switch bracket 83 for installing and adjusting the position of the sensing switch, the sensing block 81 is installed on the jacking transmission shaft 7100, the sensing switch 82 includes a lifting low-level sensing switch 8201 and a lifting high-level sensing switch 8202, the lifting low-level sensing switch 8201 and the lifting high-level sensing switch 8202 are disposed on two sides of the sensing block 81, the lifting low-level sensing switch 8201 and the lifting high-level sensing switch 8202 are installed on the sensing switch bracket, and the lifting low-level sensing switch 8201 and the lifting high-level sensing switch 8202 are proximity switches. The induction block is divided into an upper clamping block 8101 and a lower clamping block 8102, the upper clamping block 8101 and the lower clamping block 8102 are provided with a short extending part and a long extending part, bolt through holes are formed in the short extending part and the long extending part, an arc position is formed between the short extending part and the long extending part, a jacking transmission shaft through hole is formed in the arc positions of the upper clamping block and the lower clamping block, the induction switch support 83 is provided with a jacking transmission shaft avoiding part 8301 and two long straight groove holes 8302 arranged in the vertical direction at two sides of the jacking transmission shaft avoiding part, and the lifting low-position induction switch 8201 and the lifting high-position induction switch 8202 are arranged in the long straight groove holes 8302 at two sides of the avoiding part; thus, the sensing block 81 is stably fixed on the jacking transmission shaft 72 through the bolt connection. The height of the inductive switch 82 is adjusted through the inductive switch bracket 83, so that the jacking height of the lifting plate is adjusted and controlled. When lifting the goods, jacking actuating mechanism drive jacking transmission shaft rotates, installs the response piece on jacking transmission shaft and rotates along with jacking transmission shaft, when arriving inductive switch's position, lifts and stops, just so can control the height of lifting the goods, prevents that goods and goods shelves from colliding.
As shown in fig. 2 and 3, the driving mechanism 9 includes a walking servo motor 91, a speed reducer 92, a transmission chain 93, a driven sprocket 94, and a driving sprocket 95; the output end of the walking servo motor 91 is connected with a speed reducer 92, the speed reducer 92 is installed on the bottom plate of the vehicle body 1 through a motor base 96, the output end of the speed reducer 92 is connected with a driving sprocket 95, a driven sprocket 94 is installed on a wheel shaft 97, the driving sprocket 95 is connected with the driven sprocket 94 through a transmission chain 93, the wheel shaft 97 is fixed on the vehicle body 1 through a bearing with a seat 98 fixed on two sides of the vehicle body 1, and driving wheels 3 are fixed at two ends of the wheel shaft 97; the motor and the chain transmission are matched, so that the structure is simple and stable, the maintenance is convenient, and the RGV runs smoothly.
A control method of RGV based on single lifting platform includes automatic goods taking mode and automatic goods storing mode, as shown in figure 1 and figure 2, a lifting low position induction switch 8201 and a lifting high position induction switch 8202 are arranged on a single lifting platform 5, a walking servo motor 91 and a lifting servo motor 7101 are arranged on the RGV, the walking servo motor 91 is driven by a walking servo driver, the lifting servo motor 7101 is driven by a lifting servo driver, an A surface 100 and a B surface 200 are respectively arranged at the front and the rear of the RGV, a laser sensor A300 is arranged on the A surface 100, a laser sensor B400 is arranged in the middle of the B surface 200, a first photoelectric sensor 500 and a second photoelectric sensor 600 are arranged at two sides of the laser sensor A300, a third photoelectric sensor 700 and a fourth photoelectric sensor 800 are arranged at two sides of the laser sensor B400, an A-directional photoelectric switch 900 and a B-directional photoelectric switch 1000 are respectively arranged at the front and the rear of the top surface of the RGV, a wireless receiving module, an encoder and a PLC;
as shown in fig. 9, the automatic picking mode includes the following steps:
(1) placing the A surface 100 of the RGV on the goods shelf tunnel towards the end point of the goods shelf tunnel, starting the RGV, sending a goods taking instruction to the RGV, receiving the goods taking instruction by a wireless receiving module on the RGV, inducting the A to a photoelectric switch 900 and the B to a photoelectric switch 1000 to confirm that the starting point of the goods shelf tunnel has no tray, outputting a running signal to the end point of the goods shelf tunnel by a PLC (programmable logic controller) to a running servo driver, and driving the RGV to run at a constant speed towards the end point of the goods shelf tunnel by a running servo motor 91;
(2) the laser sensor A300 senses that a tray is arranged in front of the laser sensor A, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, and the walking servo driver starts to decelerate to enter the bottom of the tray according to the result calculated by the encoder;
(3) the A-direction photoelectric switch 900 and the B-direction photoelectric switch 1000 sense the position where the RGV enters the bottom of the tray, the A-direction photoelectric switch 900 and the B-direction photoelectric switch 1000 sense the tray at the same time, the PLC outputs a stop signal to the walking servo driver, the walking servo motor 91 stops driving the RGV, and the RGV stops below the tray;
(4) the PLC outputs a lifting signal to the lifting servo driver, the lifting servo motor 7101 drives the single lifting platform 5 to ascend, the lifting high-position sensing switch 8202 senses that the lifting platform is lifted in place, the tray is lifted, and the lifting servo motor 7101 stops working;
(5) the PLC outputs a running signal to the starting point of the goods shelf roadway to the walking servo driver, and the walking servo motor 91 drives the RGV to run at a constant speed to the starting point of the goods shelf roadway;
(6) when the third photoelectric sensor 700 senses that the RGV reaches the starting point of the rack roadway, the PLC outputs a deceleration signal to the walking servo driver, the walking servo motor 91 starts to decelerate, the fourth photoelectric sensor 800 senses that the RGV reaches the starting point of the rack roadway, the PLC outputs a stop signal to the walking servo driver, the walking servo motor 91 stops working, and the RGV stops at the starting point of the rack roadway;
(7) the PLC outputs a descending signal to the lifting servo driver, the lifting servo motor 7101 drives the single lifting platform 5 to descend, the lifting low-position sensing switch 8201 senses that the lifting platform descends in place, the tray is placed on the goods shelf, and the lifting servo motor 7101 stops working;
(8) the PLC transmits a signal of returning a goods position to the walking servo driver, and the walking servo motor 91 drives the RGV to stop after returning a goods position, so that the tray is taken out.
The automatic inventory mode includes the steps of:
(1) placing the A surface 100 of the RGV on the goods shelf tunnel towards the end point of the goods shelf tunnel, starting the RGV, sending a stock instruction to the RGV, receiving the stock instruction by a wireless receiving module on the RGV, driving the RGV to return to the starting point of the goods shelf tunnel by a walking servo motor 91, sensing whether a tray exists at the starting point of the goods shelf tunnel by an A-direction photoelectric switch 900 and a B-direction photoelectric switch 1000, and stopping the RGV after returning to a goods position if the tray is not sensed;
(2) the A direction photoelectric switch 900 and the B direction photoelectric switch 1000 sense the tray, the PLC outputs a lifting signal to the lifting servo driver, the lifting servo motor 7101 drives the single lifting platform 5 to ascend, the lifting high-position sensing switch 8202 senses that the lifting platform is lifted in place, the tray is lifted, and the lifting servo motor 7101 stops working;
(3) the PLC outputs a running signal to the starting point of the goods shelf roadway to the walking servo driver, and the walking servo motor 91 drives the RGV to run at a constant speed to the starting point of the goods shelf roadway;
(4) the laser sensor A300 senses that a tray is arranged in front of the laser sensor A, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, and the walking servo driver starts to decelerate according to the calculation result of the encoder and stops at the position which is away from the front goods position of the tray;
(5) the PLC outputs a descending signal to the lifting servo driver, the lifting servo motor 7101 drives the single lifting platform 5 to descend, the lifting low-position sensing switch 8201 senses that the lifting platform descends in place, the tray is placed on the goods shelf, and the lifting servo motor 7101 stops working to finish the storage.
The automatic goods taking mode comprises the steps of continuously taking goods, wherein the steps of continuously taking the goods are as follows: after the automatic goods taking mode is completed, the RGV continues to take goods, the steps (2) - (5) of the automatic goods taking mode are repeated, the laser sensor A300 senses a tray taken out in front, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, the walking servo driver starts to decelerate according to the result calculated by the encoder and stops at the position away from the front goods position of the taken out tray, the step (7) of the automatic goods taking mode is repeated, the process is repeated until all goods are taken out, the RGV drives to the goods shelf end point, the first photoelectric sensor 500 senses that the end point of the goods shelf roadway is reached, the PLC outputs a deceleration signal to the walking servo driver, the walking servo motor 91 starts to decelerate, the second photoelectric sensor 600 senses that the RGV reaches the goods shelf roadway starting point, and the PLC outputs a stop signal to the walking servo driver, the walking servo motor 91 stops working, the RGV stops at the end point of the goods shelf roadway, the photoelectric switch 900 is sensed by the A direction, the photoelectric switch 1000 is sensed by the B direction, the goods shelf roadway is confirmed to have no tray at the end point, and continuous goods taking is completed.
The invention has the beneficial effects that: the tray position is sensed through the laser sensor, accuracy and rapidness are achieved, the relative position of the RGV and the tray is calculated through the encoder, speed control is carried out to stop, the position where the RGV reaches the bottom of the tray is determined to the photoelectric switch 900 and the photoelectric switch 1000 in a double mode through the A, safety is high, reliability is high, and automatic storage and taking of the tray are achieved.
Claims (2)
1. A control method of an RGV based on a single-liter platform is characterized in that: the automatic picking and stocking device comprises an automatic picking mode and an automatic stocking mode, wherein a single lifting platform is provided with a lifting low-position inductive switch and a lifting high-position inductive switch for sensing lifting height, a walking servo motor and a lifting servo motor are arranged on an RGV, the walking servo motor is driven by a walking servo driver, the lifting servo motor is driven by a lifting servo driver, the front and the back of the RGV are respectively an A surface and a B surface, a laser sensor A is arranged on the A surface, a laser sensor B is arranged in the middle of the B surface, a first photoelectric sensor and a second photoelectric sensor are arranged on two sides of the laser sensor A, a third photoelectric sensor and a fourth photoelectric sensor are arranged on two sides of the laser sensor B, an A-direction photoelectric switch and a B-direction photoelectric switch are respectively arranged on the front and the back of the top surface of the RGV, and a wireless;
the automatic goods taking mode comprises the following steps:
(1) placing the A surface of the RGV on the goods shelf roadway towards the end point of the goods shelf roadway, starting the RGV, sending a goods taking instruction to the RGV, receiving the goods taking instruction by a wireless receiving module on the RGV, inducting to confirm that the starting point of the goods shelf roadway has no tray from the photoelectric switch and the photoelectric switch from A to B, outputting a running signal to the end point of the goods shelf roadway by the PLC to a walking servo driver, and driving the RGV to run at a constant speed to the end point of the goods shelf roadway by the walking servo motor;
(2) the laser sensor A senses that a tray is arranged in front of the laser sensor A, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, and the walking servo driver starts to decelerate to enter the bottom of the tray according to the result calculated by the encoder;
(3) the A-direction photoelectric switch and the B-direction photoelectric switch sense the position of the RGV entering the bottom of the tray, the A-direction photoelectric switch and the B-direction photoelectric switch sense the tray simultaneously, the PLC outputs a stop signal to the walking servo driver, the walking servo motor stops driving the RGV, and the RGV stops below the tray;
(4) the PLC outputs a lifting signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to lift, the lifting high-position inductive switch senses that the lifting platform is lifted in place, the tray is lifted, and the lifting servo motor stops working;
(5) the PLC outputs a running signal to the starting point of the goods shelf roadway to the walking servo driver, and the walking servo motor drives the RGV to run at a constant speed to the starting point of the goods shelf roadway;
(6) when the third photoelectric sensor senses that the RGV reaches the starting point of the goods shelf roadway, the PLC outputs a deceleration signal to the walking servo driver, the walking servo motor starts to decelerate, the fourth photoelectric sensor senses that the RGV reaches the starting point of the goods shelf roadway, the PLC outputs a stop signal to the walking servo driver, the walking servo motor stops working, and the RGV stops at the starting point of the goods shelf roadway;
(7) the PLC outputs a descending signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to descend, the lifting low-position inductive switch senses that the lifting platform descends in place, the tray is placed on the goods shelf, and the lifting servo motor stops working;
(8) the PLC transmits a signal of returning one cargo space to the walking servo driver, and the walking servo motor drives the RGV to stop after returning one cargo space, so that the tray is taken out;
the automatic inventory mode includes the steps of:
(1) placing the A surface of the RGV on the goods shelf tunnel towards the end point of the goods shelf tunnel, starting the RGV, sending a stock instruction to the RGV, receiving the stock instruction by a wireless receiving module on the RGV, driving the RGV to return to the starting point of the goods shelf tunnel by a walking servo motor, sensing whether a tray exists at the starting point of the goods shelf tunnel by an A-direction photoelectric switch and a B-direction photoelectric switch, and stopping the RGV after returning to a goods position if the tray is not sensed;
(2) the PLC outputs a lifting signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to ascend, the lifting high-position inductive switch senses that the lifting platform is lifted in place, the tray is lifted, and the lifting servo motor stops working;
(3) the PLC outputs a running signal to the starting point of the goods shelf roadway to the walking servo driver, and the walking servo motor drives the RGV to run at a constant speed to the starting point of the goods shelf roadway;
(4) the laser sensor A senses that a tray is arranged in front of the laser sensor A, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, and the walking servo driver starts to decelerate according to the calculation result of the encoder and stops at the position away from a front goods position of the tray;
(5) the PLC outputs a descending signal to the lifting servo driver, the lifting servo motor drives the single lifting platform to descend, the lifting low-position sensing switch senses that the lifting platform descends in place, the tray is placed on the goods shelf, and the lifting servo motor stops working to complete the storage.
2. The method of claim 1, wherein the RGV is controlled based on a single-liter platform, and the method further comprises: the automatic goods taking mode comprises continuous goods taking, after the automatic goods taking mode finishes the step (7) of automatic goods taking, the RGV continues to take goods, the steps (2) - (5) of the automatic goods taking mode are repeated, the laser sensor A senses a tray taken out in front, the encoder starts to calculate the relative position of the RGV from the tray, the PLC outputs a walking deceleration signal to the walking servo driver, the walking servo driver starts to decelerate according to the result calculated by the encoder and stops at the position away from a goods position in front of the taken-out tray, the step (7) of the automatic goods taking mode is repeated, the process is circulated until all goods are taken out, the RGV drives to the end point of the goods shelf, the first photoelectric sensor senses that the end point of the goods shelf roadway is to be reached, the PLC outputs the deceleration signal to the walking servo driver, the walking servo motor starts to decelerate, the second photoelectric sensor senses that the RGV reaches, the PLC outputs a stop signal to the walking servo driver, the walking servo motor stops working, the RGV stops at the end point of the goods shelf roadway, the photoelectric switch is sensed by the photoelectric switch from A to B, the goods shelf roadway is confirmed to have no tray at the end point, and continuous goods taking is completed.
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| CN111284986B (en) * | 2020-02-28 | 2024-07-16 | 广州安彤实业有限公司 | Automatic tray storing and taking device and control method |
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| CN112506163A (en) * | 2020-12-18 | 2021-03-16 | 长沙长泰智能装备有限公司 | RGV avoidance control system and avoidance method |
| CN113581792B (en) * | 2021-08-04 | 2023-04-28 | 三一机器人科技有限公司 | Tray position verification method, device and tray positioning system |
| EP4676869A1 (en) * | 2023-03-09 | 2026-01-14 | Jungheinrich Aktiengesellschaft | Lifting mechanism for an autonomous under-carrier industrial truck |
| CN117032245A (en) * | 2023-08-21 | 2023-11-10 | 安易行(常州)新能源科技有限公司 | RGV walking control method based on new energy vehicle battery swap station |
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