Automatic adjusting device and method for pallet fork distance of forklift-type automated guided vehicle (AGV)

An automatic adjustment device and automatic adjustment technology are applied in the direction of lifting devices to achieve force balance, improve work efficiency and reduce costs

Inactive Publication Date: 2019-03-22
苏州罗伯特木牛流马物流技术有限公司
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AI-Extracted Technical Summary

Problems solved by technology

If the customer has goods of different specifications and widths at the same time and needs pallets of different specifications and widths, even if the weight of each goods is ...
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Abstract

The invention provides an automatic adjusting device and method for the pallet fork distance of a forklift-type automated guided vehicle (AGV). The automatic adjusting device for the pallet fork distance of the forklift-type AGV comprises a controller, a driving motor, a transmission structure and a distance measuring sensor connected with the controller, wherein the controller, the driving motor,the transmission structure and the distance measuring sensor are connected sequentially; and the forklift-type AGV is provided with two pallet forks arranged side by side, the transmission structureis connected with the pallet forks, after controlling the pallet forks to enter pallet fork holes of a pallet in place, the controller controls the driving motor to operate, the driving motor drives the transmission structure to drive the two pallet forks to move oppositely and expand outwards, the distances between the pallet forks and the inner walls of the pallet fork holes of the pallet are measured by the distance measuring sensor and sent to the controller, and when the controller judges that the distances between the pallet forks and the inner walls of the pallet fork holes of the pallet are each less than or equal to the first length, the driving motor is controlled to stop operating. The same forklift-type AGV can be suitable for pallets with different sizes simultaneously, thus the cost of a user is lowered, and the working efficiency is improved.

Application Domain

Lifting devices

Technology Topic

Automated guided vehicleElectric machinery +3

Image

  • Automatic adjusting device and method for pallet fork distance of forklift-type automated guided vehicle (AGV)
  • Automatic adjusting device and method for pallet fork distance of forklift-type automated guided vehicle (AGV)
  • Automatic adjusting device and method for pallet fork distance of forklift-type automated guided vehicle (AGV)

Examples

  • Experimental program(1)

Example Embodiment

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0025] See figure 1 As shown, a forklift type AGV fork distance automatic adjustment device according to an embodiment of the present invention includes: a controller 1, a drive motor 3, a transmission structure 4, and a range sensor 5 connected to the controller in sequence. The forklift AGV has two forks 2 arranged side by side, and the transmission structure 4 is connected with the forks 2.
[0026] See figure 2 As shown, a forklift type AGV according to an embodiment of the present invention is a pallet for picking and placing goods, which is also the most common pallet in the field, and two fork holes 6 are provided on it. Regardless of the size of the pallet, the position of the fork hole 6 is often the most balanced position of the pallet. Therefore, for a larger size pallet, the distance between the two fork holes 6 is larger; for a smaller size pallet, the distance between the two fork holes 6 is smaller.
[0027] When the controller 1 controls the fork 2 to enter the fork hole 6 of the pallet in place, the controller 1 controls the driving motor 3 to run, and the driving motor 3 drives the transmission structure 4 to drive the two forks with two phases. When the back movement expands outward, the distance measuring sensor 5 measures the distance between the fork 2 and the inner wall of the fork hole 6 of the pallet and sends it to the controller 1. The controller 1 determines when the fork 2 and the fork hole 6 of the pallet are When the distance of the inner wall is less than or equal to the first length, the driving motor 3 is controlled to stop running.
[0028] The distance measuring sensor 5 may be one, which is arranged on the outer side of any fork 21. When the controller determines that the distance between the fork 2 sent by the distance measuring sensor 5 on any fork 2 and the inner wall of the fork hole 6 of the pallet is less than the first length, it controls the driving motor 3 to stop running.
[0029] The distance measuring sensor 5 may also be two, which are respectively arranged on the outer side of a fork 2. The controller 1 determines that the distance between the fork 2 sent by any distance measuring sensor 5 and the inner wall of the fork hole 6 of the pallet is less than the first length, and controls the driving motor 3 to stop running.
[0030] The controller 1 controls the fork 2 to enter the fork hole 6 of the pallet. The controller 1 can also control the driving motor 3 to operate. The driving motor 3 drives the transmission structure 4 to drive the two forks to move toward each other. Shrink inward, when the distance between the two forks 2 is less than or equal to the second length, the controller 1 controls the drive motor 3 to stop running; then, the controller 1 controls the fork 2 to enter the fork hole of the pallet 6.
[0031] The shaft end of the driving motor 3 has an encoder, and the encoder feeds back position information to the controller 1. The controller 1 performs a position closed loop based on the position information to determine whether the distance between the two forks 2 is less than or equal to the first Two length.
[0032] See image 3 As shown, according to an embodiment of the present invention, a forklift type AGV fork distance automatic adjustment method, the forklift type AGV includes a controller 1, a drive motor 3, a transmission structure 4, and a controller 1 connected in sequence The distance measuring sensor 5 of the forklift type AGV has two forks 2 arranged side by side, the transmission structure 4 is connected to the fork 2, and the forklift type AGV fork distance automatic adjustment method includes the following steps:
[0033] Step S1, the controller 1 controls the fork 2 to be inserted into the fork hole 6 of the pallet in place;
[0034] In step S2, the controller 1 controls the driving motor 3 to operate. The driving motor 3 drives the transmission structure 4 to drive the two forks 2 to move away from each other to expand outward, and the distance measuring sensor 5 measures the fork 2 and the fork of the pallet. The distance of the inner wall of the hole 6 is sent to the controller 1, and the controller 1 determines that when the distance between the fork 2 and the inner wall of the fork hole 6 of the pallet is less than or equal to the first length, it controls the driving motor 3 to stop running.
[0035] The fork 2 is inserted into the fork hole 6 of the pallet, that is, the controller 1 controls the running motor 3 to move the forklift AGV forward, and the fork 2 is inserted into the fork hole 6 of the pallet. It should be noted that this travel motor is not the aforementioned drive motor 3, and this travel motor is a motor that drives a forklift-type AGV to travel. The position of the fork 2 into the fork hole 6 of the pallet means that the fork 2 is inserted into the fork hole 6 to an optimal position, and how to set the optimal position and how to judge whether it is in place are all well-known technologies in the art. I won't repeat them here.
[0036] In this embodiment, the first length is 50 mm. The first length can be changed as needed. As mentioned above, the position near the fork hole 6 is often the most balanced position of the pallet, so no matter how the pallet size is different, the fork 2 of the forklift AGV can be located near the position of the fork hole 6 , Can ensure the stability of the pallet and the goods, and will not tip over.
[0037] There may be one distance measuring sensor 5, which is arranged on the outer side of any fork 2, and the controller 1 judges the fork 2 and the fork hole of the pallet sent by the distance measuring sensor 5 on any fork 2 6 When the distance of the inner wall is less than the first length, the driving motor 3 is controlled to stop running.
[0038] There may be two distance measuring sensors 5, which are respectively arranged on the outer side of a fork 2, and the controller 1 determines that the distance between the fork 2 sent by any distance measuring sensor 5 and the inner wall of the fork hole 6 of the pallet is less than At the first length, the drive motor 3 is controlled to stop running.
[0039] Further, according to an embodiment of the present invention, a forklift type AGV fork distance automatic adjustment method, in the step S1, the controller 1 controls the fork 2 to move into the fork hole 6 of the pallet in place Before, it also includes:
[0040] Step S0, the controller 1 controls the driving motor 3 to operate. The driving motor 3 drives the transmission structure 4 to drive the two forks 2 to move toward each other and contract inwardly. When the distance between the two forks 2 is less than or equal to the second length, the The controller 1 controls the driving motor 3 to stop running.
[0041] In this embodiment, the second length is 500 mm. The second length can also be changed as required. In this way, it can be ensured that the fork 2 of the forklift AGV can be smoothly inserted into the pallet (the fork hole 6) regardless of the size of the pallet.
[0042] Wherein, the shaft end of the drive motor 3 has an encoder, and the encoder feeds back position information to the controller 1. The controller 1 performs a position closed loop based on the position information to determine whether the distance between the two forks 2 is less than or equal to The second length.
[0043] The present invention is provided with a drive motor 3 to drive the fork 2 to adjust the distance, a distance measuring sensor 5 is provided to measure the distance between the fork 2 and the inner wall of the fork hole 6 of the pallet, and the drive motor 3 is controlled by the controller 1 for automatic adjustment. The distance measured by the distance measuring sensor 5 is judged to stop the adjustment after the distance is adjusted in place, and then the goods will be picked up and dropped normally. In this way, when facing pallets of any size, the distance of the fork 2 can be automatically adjusted to a smaller distance to ensure that the fork 2 can be inserted into the fork hole 6, and then the distance of the fork 2 can be automatically adjusted to expand the cargo. The distance between the fork 2 and the inner wall of the fork hole 6 of the pallet is within a certain distance, so that the force between the fork and the pallet is relatively balanced, which can ensure the stability of the pallet and the goods. In this way, the same forklift AGV can be applied to pallets of different sizes at the same time, which reduces user costs and improves work efficiency.
[0044] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. All should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
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Description & Claims & Application Information

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