AGV lifting high-precision parking device and control method thereof

Abstract

The invention discloses an AGV lifting high-precision parking device which comprises a pallet fork, a lifting frame, a portal frame, a hydraulic oil cylinder, an electric cylinder, a pallet fork height measuring device and a driving control system. The lifting frame is slidably connected with the door frame, the pallet fork is slidably connected with the lifting frame, and the lifting frame reciprocates up and down under the action of a hydraulic oil cylinder; the pallet fork reciprocates up and down under the action of the electric cylinder; and the fork height measuring device is used for measuring the height of the fork and is arranged on the portal below the fork. The invention provides a flexible and high-precision device capable of controlling the parking position of a pallet fork in a large range and a control method. The problem that a motor may be burnt out during hydraulic low-speed high-power operation during low-speed lifting of the pallet fork is solved through the use of the electric cylinder; in addition, as the control precision of the electric cylinder is higher than that of the hydraulic cylinder, the target height can be directly and accurately reached during lifting, steps are simplified, time is shortened, and the lifting and stopping precision of the pallet fork is improved.

Description

technical field [0001] The invention relates to the field of industrial transport vehicles with an automatic guiding function, in particular to an AGV lifting high-precision parking device and a control method thereof. Background technique [0002] The field of industrial handling vehicles refers to trackless vehicles used for short-distance handling of goods, also known as industrial vehicles, is a widely used material handling machinery, including trolleys, tractors and trailers, lifting vehicles, electric pallet trucks, internal combustion trucks and unmanned vehicles Driving a van, etc. With the improvement of the level of automation and intelligence in various industries, industrial transport vehicles with automatic guidance functions are more and more widely used. Typical industrial transport vehicles with automatic guidance functions are such as AGV. AGV (Automated Guided VeH1cle) refers to a transport vehicle equipped with automatic navigation devices such as electr...

AI Technical Summary

Problems solved by technology

[0003] In the operation of the fork-type AGV, the control of the lifting and stopping accuracy of the fork has an important impact on safety and work efficiency. However, the current product fork lifting mainly depends on the hydraulic pump station, and there is inertia in the lifting method during use. Large, there is overshoot and cannot be avoided, and the parking position is not accurate; when the load of the same equipment is different every time, it is difficult to control the lifting and parking accuracy; the oil pump motor equipped with the existing hydraulic lifting system runs at a low speed for a long time, The motor is easily damaged, and it is impossible to achieve the purpose of lifting and stopping accurately by long-term low-speed operation; when the fork reaches the stop position, if the stop position deviates from the target position, the characteristics of the hydraulic system make it impossible to adjust the fork to continue to lift at a small distance, etc.

In addition, the cost of hydraulic cylinders with higher position accuracy is generally higher

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