Hydraulic control system of AGV (Automatic Guided Vehicle) carrier

Abstract

The utility model discloses an AGV (automatic guided vehicle) carrier hydraulic control system, which belongs to the technical field of stereo garages and comprises a three-position four-way electromagnetic reversing proportional valve, an oil inlet of the three-position four-way electromagnetic reversing proportional valve is connected with an oil inlet path, and an oil return port of the three-position four-way electromagnetic reversing proportional valve is connected with an oil return path. One working oil port of the three-position four-way electromagnetic reversing proportional valve is connected with a first control oil way, the other working oil port of the three-position four-way electromagnetic reversing proportional valve is connected with a second control oil way, and rodless cavities of the two hydraulic oil cylinders connected with the same shear fork set are connected with the first control oil way. And rod cavities of the two hydraulic oil cylinders connected with the same group of shear forks are connected with the second control oil way. The lifting device solves the technical problem that when the vehicle load distribution is not uniform or the shear fork operation is not synchronous, the theoretical lifting height of the hydraulic oil cylinder is not consistent with the actual lifting height, so that the vehicle carrying plate is inclined, and is widely applied to the vehicle carrying plate stereo garage.

Description

Technical Field

[0001] The utility model belongs to the technical field of stereo garages, and in particular relates to an AGV transporter hydraulic control system. Background Art

[0002] At present, in the stereo garage, in order to improve the handling efficiency, AGV carriers have begun to be used, so that the vehicle storage and retrieval is flexible and efficient. The existing AGV carrier plate carrier is hydraulically driven. In order to store the carrier plate carrying the vehicle in the second-floor parking space, it is also necessary to lift the carrier plate with the lifting mechanism of the AGV carrier plate carrier. The commonly used lifting mechanism is a scissor lift driven by four hydraulic cylinders. When the vehicle load is unevenly distributed or the scissor lifts are not synchronized, the theoretical lifting height of the hydraulic cylinder is inconsistent with the actual lifting height, causing the carrier plate to tilt, affecting the normal storage of the vehicle.

[0003] Therefore, in the field of stereo garage technology, there is still a need for research and improvement of the AGV transporter hydraulic control system, which is also a research hotspot and focus in the current stereo garage technology field, and is also the starting point for the completion of the present utility model. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is: to provide an AGV transporter hydraulic control system to solve the technical problem that when the vehicle load is unevenly distributed or the scissors operation is asynchronous, the theoretical lifting height of the hydraulic cylinder is inconsistent with the actual lifting height, resulting in the tilt of the vehicle loading plate.

[0005] In order to solve the above technical problems, the technical solution of the utility model is: an AGV carrier hydraulic control system, comprising a three-position four-way electromagnetic reversing proportional valve, the oil inlet of the three-position four-way electromagnetic reversing proportional valve is connected to the oil inlet oil circuit, the oil return port of the three-position four-way electromagnetic reversing proportional valve is connected to the oil return oil circuit, a motor oil pump is provided on the oil inlet oil circuit, the oil inlet of the motor oil pump is connected to the oil tank, the oil outlet of the motor oil pump is connected to the oil inlet of the three-position four-way electromagnetic reversing proportional valve, the oil return port of the three-position four-way electromagnetic reversing proportional valve is connected to the oil tank through the oil return oil circuit, one working oil port of the three-position four-way electromagnetic reversing proportional valve is connected to the first control oil circuit, the other working oil port of the three-position four-way electromagnetic reversing proportional valve is connected to the second control oil circuit, the rodless chambers of the two hydraulic cylinders connected to the same group of scissors are connected to the first control oil circuit, and the rod chambers of the two hydraulic cylinders connected to the same group of scissors are connected to the second control oil circuit.

[0006] As an improvement, the first control oil circuit and the second control oil circuit are connected to a two-way hydraulic lock, the oil inlet of the two-way hydraulic lock on the first control oil circuit is connected to one working oil port of the three-position four-way electromagnetic reversing proportional valve, and the oil inlet of the two-way hydraulic lock on the second control oil circuit is connected to another working oil port of the three-position four-way electromagnetic reversing proportional valve.

[0007] As a further improvement, a first two-position two-way solenoid reversing valve is provided between the first control oil circuit and the second control oil circuit, the oil inlet of the first two-position two-way solenoid reversing valve is connected to the second control oil circuit, the oil outlet of the first two-position two-way solenoid reversing valve is connected to the first control oil circuit, and a second two-position two-way solenoid reversing valve is provided on the second control oil circuit.

[0008] As a further improvement, the oil inlet of the second two-position two-way solenoid reversing valve is connected to the oil outlet of the two-way hydraulic lock on the second control oil circuit, the oil inlet of the first two-position two-way solenoid reversing valve is connected to the oil outlet of the second two-position two-way solenoid reversing valve, and the oil outlet of the first two-position two-way solenoid reversing valve is connected to the oil outlet of the two-way hydraulic lock on the first control oil circuit.

[0009] After adopting the above technical solution, the beneficial effects of the utility model are:

[0010] The AGV transporter hydraulic control system provided by the utility model is provided with a three-position four-way electromagnetic reversing proportional valve. When the vehicle load is unevenly distributed or the scissors-type forklifts are not in sync, the theoretical lifting height of the hydraulic cylinder is inconsistent with the actual lifting height, and there is a large deviation at both ends of the vehicle loading plate, the system can adjust the opening of the three-position four-way electromagnetic reversing proportional valve, change the extension amount of the corresponding hydraulic cylinder piston rod, and adjust the actual lifting height of the scissors-type forklifts to ensure that the vehicle loading plate remains in a horizontal state.

[0011] Since a first-position two-way solenoid reversing valve is provided between the first control oil circuit and the second control oil circuit, the hydraulic oil in the rod chamber of the hydraulic cylinder can flow directly into the rodless chamber, thereby effectively increasing the flow rate of the hydraulic oil in the rodless chamber and significantly improving the extension speed of the hydraulic cylinder piston rod, thereby improving the lifting speed of the carrier plate. This design not only optimizes the performance of the hydraulic system, but also improves work efficiency, providing a strong guarantee for the efficient and stable operation of the pump station. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0013] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment in size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0014] Figure 1 It is a hydraulic principle diagram of an embodiment of the utility model;

[0015] In the figure: 1. oil tank, 2. motor oil pump, 3. three-position four-way solenoid directional proportional valve, 4. oil inlet circuit, 5. oil return circuit, 6. first control oil circuit, 7. second control oil circuit, 8. two-way hydraulic lock, 9. overflow valve, 10. first two-position two-way solenoid directional valve, 11. second two-position two-way solenoid directional valve, 12. one-way throttle valve, 13. hydraulic cylinder. DETAILED DESCRIPTION

[0016] The following is a specific embodiment of the present invention. People familiar with the technology can easily understand the other advantages and functions of the present invention from the contents disclosed in this specification. Obviously, the described embodiment is a part of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] The terms such as "front", "back", "left", "right", "inside", "outside", "middle", etc. cited in this specification are only for the convenience of description and are not intended to limit the scope of application of the present invention. Changes or adjustments to their relative relationships shall be regarded as within the scope of application of the present invention without substantially changing the technical content.

[0018] like Figure 1As shown, the utility model provides an AGV carrier hydraulic control system, including a three-position four-way electromagnetic reversing proportional valve 3, the oil inlet of the three-position four-way electromagnetic reversing proportional valve 3 is connected to the oil inlet oil circuit 4, and the oil return port of the three-position four-way electromagnetic reversing proportional valve 3 is connected to the oil return oil circuit 5. Here, the three-position four-way electromagnetic reversing proportional valve 3 is preferably a Y-type electromagnetic reversing valve, and a motor oil pump 2 is provided on the oil inlet oil circuit 4. The motor and the oil pump can be directly connected, or the motor and the oil pump can be connected through a coupling, which is not limited here. The oil inlet of the motor oil pump 2 is connected to the oil tank 1, and the oil outlet of the motor oil pump 2 is connected to the oil inlet of the three-position four-way electromagnetic reversing proportional valve 3. The oil return port of the three-position four-way electromagnetic reversing proportional valve 3 is connected through the return oil circuit 5. The oil circuit 5 is connected to the oil tank 1, one working oil port of the three-position four-way electromagnetic reversing proportional valve 3 is connected to the first control oil circuit 6, the other working oil port of the three-position four-way electromagnetic reversing proportional valve 3 is connected to the second control oil circuit 7, the rodless chambers of the two hydraulic cylinders 13 connected to the same group of scissors are connected to the first control oil circuit 6, and the rod chambers of the two hydraulic cylinders 13 connected to the same group of scissors are connected to the second control oil circuit 7, and an overflow valve 9 is provided between the oil inlet circuit 4 and the oil return circuit 5, the oil inlet of the overflow valve 9 is connected to the oil inlet circuit 4, and the oil outlet of the overflow valve 9 is connected to the oil return circuit 5. Specifically, the oil inlet of the overflow valve 9 is connected to the oil inlet of the three-position four-way electromagnetic reversing proportional valve 3, and the oil outlet of the overflow valve 9 is connected to the oil tank 1. Here, the AGV transporter is provided with two sets of scissors forks, each set of scissors forks is controlled by a set of three-position four-way electromagnetic reversing proportional valve 3. When the vehicle load is unevenly distributed or the scissors forks are not running synchronously, the theoretical lifting height of the hydraulic cylinder 13 is inconsistent with the actual lifting height, and there is a large deviation at both ends of the vehicle loading plate, the system can adjust the opening of the three-position four-way electromagnetic reversing proportional valve 3, change the extension amount of the corresponding hydraulic cylinder piston rod, and adjust the actual lifting height of the scissors forks to ensure that the vehicle loading plate remains in a horizontal state.

[0019] A one-way throttle valve 12 is provided on the return oil circuit 5, the oil outlet of the one-way throttle valve 12 is connected to the oil tank 1, and the oil outlet of the overflow valve 9 is connected to the oil outlet of the one-way throttle valve 12, so as to realize the return oil throttling control, and further realize the control of the lifting speed of each set of scissors.

[0020] The first control oil circuit 6 and the second control oil circuit 7 are connected to the two-way hydraulic lock 8. The oil inlet of the two-way hydraulic lock 8 on the first control oil circuit 6 is connected to one working oil port of the three-position four-way electromagnetic reversing proportional valve 3, and the oil inlet of the two-way hydraulic lock 8 on the second control oil circuit 7 is connected to the other working oil port of the three-position four-way electromagnetic reversing proportional valve 3, to ensure that the hydraulic cylinder 13 is always in a locked state when no oil is supplied.

[0021] A first two-position two-way solenoid reversing valve 10 is provided between the first control oil circuit 6 and the second control oil circuit 7, the oil inlet of the first two-position two-way solenoid reversing valve 10 is connected to the second control oil circuit 7, the oil outlet of the first two-position two-way solenoid reversing valve 10 is connected to the first control oil circuit 6, and a second two-position two-way solenoid reversing valve 11 is provided on the second control oil circuit 7. Specifically, the oil inlet of the second two-position two-way solenoid reversing valve 11 is connected to the oil outlet of the two-way hydraulic lock 8 on the second control oil circuit 7, the oil inlet of the first two-position two-way solenoid reversing valve 10 is connected to the oil outlet of the second two-position two-way solenoid reversing valve 11, and the oil outlet of the first two-position two-way solenoid reversing valve 10 is connected to the oil outlet of the two-way hydraulic lock 8 on the first control oil circuit 6, so that the hydraulic oil in the rod chamber of the hydraulic cylinder 13 can directly flow into the rodless chamber, thereby effectively increasing the flow rate of the hydraulic oil in the rodless chamber, significantly improving the extension speed of the piston rod of the hydraulic cylinder 13, and then improving the lifting speed of the carrier plate. This design not only optimizes the performance of the hydraulic system, but also improves the work efficiency, providing a strong guarantee for the efficient and stable operation of the pump station.

[0022] Under normal conditions, the valve core of the three-position four-way solenoid directional proportional valve 3 is in the middle position, and the hydraulic oil in the oil tank 1 is pumped out by the motor oil pump 2 and flows back to the mailbox through the oil return port of the relief valve 9. When the vehicle loading plate needs to be lifted, the valve core of the three-position four-way solenoid directional proportional valve 3 moves to the right position, and the hydraulic oil is pumped out by the motor oil pump 2, and enters the first control oil circuit 6 through the working oil port of the three-position four-way solenoid directional proportional valve 3, opens the two-way hydraulic lock 8, and enters the rodless chamber of the two hydraulic cylinders 13 of the same group of scissors, pushing the piston rod to extend, at this time, the first two-position two-way solenoid directional valve 10 is opened, and the second two-position two-way solenoid directional valve 11 is closed at the same time, and the hydraulic oil in the rod chamber flows into the rodless chamber, increasing the inflow of hydraulic oil in the rodless chamber, and the scissors are lifted quickly, so that the vehicle loading plate rises, and after rising to the right position, the valve core of the three-position four-way solenoid directional proportional valve 3 returns to the middle position, so that the vehicle loading plate stays in this position. When the vehicle loading plate needs to be lowered, the valve core of the three-position four-way electromagnetic reversing proportional valve 3 is controlled to move to the left position, and the hydraulic oil enters the rod chamber of the hydraulic cylinder 13 through the two-way hydraulic lock 8. The hydraulic oil in the rodless chamber flows back to the oil tank 1 through the two-way hydraulic lock 8 and the three-position four-way electromagnetic reversing proportional valve 3, the piston rod retracts, the scissors fork falls back, and the vehicle loading plate descends.

[0023] Although the utility model has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the utility model. Therefore, these modifications or improvements made without departing from the spirit of the utility model are within the scope of protection claimed by the utility model.

Claims

1. An AGV carrier hydraulic control system, characterized in that: It comprises a three-position four-way solenoid reversing proportional valve, the oil inlet of the three-position four-way solenoid reversing proportional valve is connected to the oil inlet circuit, the oil return port of the three-position four-way solenoid reversing proportional valve is connected to the oil return circuit, a motor oil pump is arranged on the oil inlet circuit, the oil inlet of the motor oil pump is connected to the oil tank, the oil outlet of the motor oil pump is connected to the oil inlet of the three-position four-way solenoid reversing proportional valve, the oil return port of the three-position four-way solenoid reversing proportional valve is connected to the oil tank through the oil return circuit, one working oil port of the three-position four-way solenoid reversing proportional valve is connected to the first control oil circuit, the other working oil port of the three-position four-way solenoid reversing proportional valve is connected to the second control oil circuit, the rodless chambers of the two hydraulic cylinders connected to the same group of scissors are connected to the first control oil circuit, and the rod chambers of the two hydraulic cylinders connected to the same group of scissors are connected to the second control oil circuit.

2. The AGV carrier hydraulic control system according to claim 1, characterized in that: The first control oil circuit and the second control oil circuit are connected to a two-way hydraulic lock, the oil inlet of the two-way hydraulic lock on the first control oil circuit is connected to one working oil port of the three-position four-way electromagnetic reversing proportional valve, and the oil inlet of the two-way hydraulic lock on the second control oil circuit is connected to the other working oil port of the three-position four-way electromagnetic reversing proportional valve.

3. The AGV carrier hydraulic control system according to claim 2, characterized in that: A first two-position two-way solenoid reversing valve is provided between the first control oil circuit and the second control oil circuit, an oil inlet of the first two-position two-way solenoid reversing valve is connected to the second control oil circuit, an oil outlet of the first two-position two-way solenoid reversing valve is connected to the first control oil circuit, and a second two-position two-way solenoid reversing valve is provided on the second control oil circuit.

4. The AGV carrier hydraulic control system according to claim 3, characterized in that: The oil inlet of the second two-position two-way solenoid reversing valve is connected to the oil outlet of the two-way hydraulic lock on the second control oil circuit, the oil inlet of the first two-position two-way solenoid reversing valve is connected to the oil outlet of the second two-position two-way solenoid reversing valve, and the oil outlet of the first two-position two-way solenoid reversing valve is connected to the oil outlet of the two-way hydraulic lock on the first control oil circuit.

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