Forward and backward movement control circuit of forward movement type AGV (Automatic Guided Vehicle) pallet fork

Abstract

The forward and backward movement control circuit comprises a pump motor and a VCU controller which are connected to a power source in series, and the output end of the VCU controller is in signal connection with the pump motor; the proximity switch is installed on an AGV supporting leg and used for detecting the forward and backward moving position of the pallet fork, the level input end of the VCU controller is connected with the proximity switch, and the level output end of the VCU controller is connected with a forward moving electromagnetic valve and a backward moving electromagnetic valve; the forward-moving electromagnetic valve and the backward-moving electromagnetic valve are connected with oil ways of the forward-moving oil cylinder and the backward-moving oil cylinder respectively and used for controlling forward-moving and backward-moving actions of the pallet fork. Opening and closing of the forward moving electromagnetic valve or the backward moving electromagnetic valve and the working state of the pump motor are controlled through the proximity switch signal and the load switch signal, and control over normal moving, speed reduction and stopping of the pallet fork is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of forklifts, in particular to a forward and backward movement control circuit of a forward-moving AGV fork. Background Art

[0002] AGVs come in many varieties, including reach AGVs, transport AGVs, and stacking AGVs. While transport AGVs and stacking AGVs only require the forks to be raised and lowered during operation, reach AGVs require both lifting and lowering, as well as forward and backward movement. During this movement, the forks typically move at a constant speed. At higher speeds, alignment and lifting of the forks can be difficult, leading to the risk of damage or dropping of the cargo.

[0003] AGVs operate in two modes: automatic and manual. In manual mode, the operator controls the AGV using a handheld device. This device typically features a display and buttons for displaying the AGV's status and inputting control commands to operate the AGV's forks. However, this device also doesn't allow for customized control of the fork's movement speed.

[0004] Therefore, it is necessary to design a control circuit for the forward-moving AGV to control the speed of the fork during the forward and backward movement. Utility Model Content

[0005] The purpose of the utility model is to provide a forward and backward movement control circuit of a forward-moving AGV fork, which can realize the normal operation, deceleration and stop of the fork during the forward and backward movement.

[0006] The technical solution of the utility model is:

[0007] A forward and backward movement control circuit for a forward-moving AGV fork includes a pump motor and a VCU controller respectively connected in series to a power supply, wherein the output end of the VCU controller is connected to the pump motor signal; and further includes a proximity switch installed on the AGV leg for detecting the forward and backward movement position of the fork, wherein the level input end of the VCU controller is connected to the proximity switch, and the level output end of the VCU controller is respectively connected to a forward movement solenoid valve and a backward movement solenoid valve, wherein the forward movement solenoid valve and the backward movement solenoid valve are respectively connected to the oil circuits of the forward and backward movement cylinders for controlling the forward and backward movement of the fork.

[0008] A further solution further includes a load switch installed on the fork for detecting the cargo on the fork, and the load switch is connected to the level input terminal of the VCU controller.

[0009] In a further solution, the proximity switch includes proximity switch 1 and proximity switch 2 installed on the AGV leg along the forward and backward movement direction of the fork, and a sensing block for controlling the switching of proximity switch 1 and proximity switch 2 is installed on the outer side of the fork, and the sensing block is located between proximity switch 1 and proximity switch 2; when the fork moves forward, the sensing block will trigger the signal of proximity switch 1; when the fork moves backward, the sensing block will trigger the signal of proximity switch 2.

[0010] A further solution also includes a handheld device, which is connected in series to the power supply and connected to the VCU controller via a CAN line.

[0011] In a further solution, the positive end of the power supply is connected to a key switch and a DC-DC converter in sequence; the output end of the DC-DC converter is connected to the pump motor through fuse 1, and the output end of the DC-DC converter is connected to the VCU controller, the handheld device, the forward solenoid valve and the backward solenoid valve respectively through fuse 2.

[0012] In this application, as the AGV forks move forward and backward, the VCU controller receives signals from the proximity switch and the load switch, controlling the opening and closing of the forward and reverse solenoid valves, as well as the operating state of the pump motor, to control the normal movement, deceleration, and stopping of the forks. This allows the forks to pick up the cargo while decelerating, ensuring a secure connection with the cargo.

[0013] The AGV in this application can not only realize automatic control, but also realize manual control of the fork picking, releasing and running actions through the handheld device, which increases the possibility for staff to realize control according to the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described in detail below with reference to the accompanying drawings:

[0015] Figure 1 This is a schematic diagram of the principle of the utility model.

[0016] Figure 2 This is the top view of the fork moving forward.

[0017] Figure 3 This is a top view of the fork moving backward.

[0018] In the figure: 1 lithium battery, 2 key switch, 3 DC-DC converter, 4 fuse 1, 5 pump motor, 6 fuse 1, 7 VCU controller, 8 forward solenoid valve, 9 reverse solenoid valve, 10 proximity switch 1, 11 proximity switch 2, 12 load switch, 13 handheld device, 14 AGV, 15 fork, 16 sensor block. DETAILED DESCRIPTION

[0019] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0020] See Figure 1-3 This embodiment provides a forward and backward movement control circuit for a forward-moving AGV fork, including a pump motor 5 and a VCU controller 7 respectively connected in series to a power supply 1, wherein the output end of the VCU controller 7 is connected to the pump motor 5 signal; and further includes a proximity switch installed on the AGV leg for detecting the forward and backward movement position of the fork 15, wherein the level input end of the VCU controller 7 is connected to the proximity switch, and the level output end of the VCU controller 7 is respectively connected to a forward solenoid valve 8 and a backward solenoid valve 9, wherein the forward solenoid valve 8 and the backward solenoid valve 9 are respectively connected to the oil circuits of the forward and backward oil cylinders for controlling the forward and backward movement of the fork.

[0021] The forward solenoid valve is connected in series to the oil circuit of the forward oil cylinder to control the forward movement of the fork; the backward solenoid valve is connected in series to the oil circuit of the backward oil cylinder to control the backward movement of the fork. The oil circuit of the oil cylinder is well known.

[0022] A further solution includes a load switch 12 mounted on the fork for detecting cargo on the fork, the load switch 12 being connected to the level input terminal of the VCU controller 7. The load switch 12 is used to detect whether the fork has picked up cargo, and if cargo is detected, a signal is sent to the VCU controller.

[0023] In a further solution, the proximity switch includes a proximity switch 10 and a proximity switch 11 installed on the legs of the AGV 14 along the forward and backward movement direction of the fork, and a sensing block 16 for controlling the switching of the proximity switch 10 and the proximity switch 11 is installed on the outer side of the fork 15, and the sensing block 16 is located between the proximity switch 10 and the proximity switch 11; when the fork moves forward, the sensing block 16 will trigger the signal of the proximity switch 10; when the fork moves backward, the sensing block 16 will trigger the signal of the proximity switch 11.

[0024] The elongated sensor block 16 is designed to facilitate contact with the proximity switch, triggering its signal and thus controlling the circuit. Proximity switch 1 10 and proximity switch 2 11 are independent circuits connected in parallel. The signal from proximity switch 1 controls only the forward movement of the fork, while the signal from proximity switch 2 controls only the rearward movement of the fork. In other words, the control circuits for forward and rearward movement of the fork are different. When the fork moves forward, only the signal from proximity switch 1 controls the forward movement control circuit, while the signal from proximity switch 2 has no effect. Similarly, when the fork moves rearward, only the signal from proximity switch 2 controls the rearward movement control circuit, while the signal from proximity switch 1 has no effect.

[0025] A further embodiment further includes a handheld device 13, which is connected in series to the power supply 1 and is connected to the VCU controller 7 via a CAN line. The handheld device 13 is provided with forward and reverse movement buttons, as well as lift and lowering buttons. When the corresponding buttons are operated, the relevant instructions are sent to the VCU controller via CAN communication. The VCU controller then controls the opening and closing of the forward and reverse movement solenoid valves, as well as the speed of the pump motor.

[0026] In a further solution, the positive end of the power supply 1 is connected to a key switch 2 and a DC-DC converter 3 in sequence; the output end of the DC-DC converter 3 is connected to a pump motor 5 through a fuse 1 4, and the output end of the DC-DC converter 3 is connected to a VCU controller 7, a handheld device 13, a forward solenoid valve 8 and a backward solenoid valve 9 through a fuse 2 6.

[0027] The configuration of the VCU controller 7 in the present application is: its input 24V voltage is a high level, and its input 0V voltage is a low level; its output 24V voltage is a high level, and its output 0V voltage is a low level.

[0028] In this embodiment, the power source is preferably a lithium battery, which is used to power various components, and the DC-DC converter converts the 48V voltage of the lithium battery into a 24V voltage.

[0029] The pump motor, VCU controller, handheld device, forward and reverse solenoid valves, and other components in this application are all existing components on AGV forklifts. This application does not improve their structure or principles; it merely redesigns their circuit connections to ensure safe forward and backward movement of the forks. The handheld device is equipped with forward and reverse buttons, a forward and reverse button, and a reverse button.

[0030] The specific control process is as follows:

[0031] Manually control the fork to move forward and backward:

[0032] Manually control the AGV to run to the designated pickup location, press the forward button on the handheld device 13, and send the forward instruction 05 to the VCU controller 7 through CAN communication. The VCU controller 7 controls the OUT1 port to output a low level, and the forward solenoid valve 8 is energized to open, connecting the oil circuit of the forward cylinder; at the same time, the VCU controller 7 sends a working instruction (2000rpm) to the pump motor 5, and the fork moves forward. After moving a certain distance, the sensor block 16 installed at the root of the fork contacts the proximity switch 10, triggering the proximity switch 10 to close, and the VCU controller The IN1 port of the controller 7 inputs a high level, and the VCU controller 7 sends a deceleration instruction (500 rpm) to the pump motor 5, that is, the fork decelerates and moves forward. When it continues to move forward until the proximity switch 10 is separated from the sensor block 16 without triggering its signal, the VCU controller 7 receives a low level from the IN1 port input again, and the VCU controller 7 sends a stop instruction (0 rpm) to the pump motor 5, and controls the OUT1 port to output a high level. The forward solenoid valve 8 loses power and closes, disconnecting the oil circuit. The pump motor 5 stops rotating, and the fork stops running, that is, it moves forward to the position.

[0033] At this time, the load switch 12 installed on the fork detects whether the fork has taken the goods. After taking the goods, the load switch 12 works and inputs a signal to the VCU controller 7, that is, its IN3 port inputs a high level, indicating that the goods are taken.

[0034] After the fork lifts the cargo, the rearward button on the handheld device 13 is pressed, sending a rearward instruction 06 to the VCU controller 7 via CAN communication. The VCU controller 7 controls the OUT2 port to output a low level, which opens the rearward solenoid valve 9 and connects the oil circuit of the rearward cylinder. At the same time, the VCU controller 7 sends a working instruction (2000 rpm) to the pump motor 5, causing the fork to move rearward. After moving a certain distance, the sensor block 16 installed at the base of the fork contacts the proximity switch 11, triggering the proximity switch 11 signal to close. The signal is input to the VCU controller 7, and its IN2 port inputs a high level. The VCU controller 7 sends a deceleration instruction (500 rpm) to the pump motor 5, causing the fork to slow down and move rearward. When the proximity switch 11 separates from the sensor block 16 and is no longer triggered, the VCU controller 7 receives a low level input from the IN2 port again, sends a stop instruction (0 rpm) to the pump motor 5, and simultaneously controls its OUT2 port to output a high level. The rearward solenoid valve 9 loses power and closes, the pump motor 5 stops rotating, and the fork stops running and moves rearward.

[0035] Finally, manually control the AGV to run to the delivery position to complete the delivery.

[0036] Automatically control the fork's forward and backward movement:

[0037] After the AGV receives the pick-up and release instructions from the host computer, it automatically runs to the pick-up station. After arriving at the station, the VCU controller 7 controls the OUT1 port to output a low level, the forward solenoid valve 8 is powered on and opens, and sends a working instruction (2000 rpm) to the pump motor 5, so that the fork moves forward; after the fork moves a certain distance, the proximity switch 10 encounters the sensor block 16 on the fork and triggers it to close. The signal is input into the VCU controller 7, and its IN1 port inputs a high level. The VCU controller 7 then sends a deceleration instruction (500 rpm) to the pump motor 5, that is, the fork decelerates and moves forward. When it continues to move forward until the proximity switch 10 separates from the sensor block 16 and is not triggered, the VCU controller 7 receives the IN1 port input low level again, the VCU controller 7 sends a stop instruction (0 rpm) to the pump motor 5, and at the same time controls the OUT1 port to output a high level, the forward solenoid valve 8 loses power and closes, the pump motor 5 stops rotating, and the fork stops running and moves forward to its position.

[0038] At this time, the load switch 12 installed on the fork detects whether the fork has taken the goods. After taking the goods, the load switch 12 works and inputs a signal to the VCU controller 7, that is, its IN3 port inputs a high level, indicating that the goods are taken.

[0039] After the fork scoops up the goods, the VCU controller 7 controls the OUT2 port to output a low level, the rearward movement solenoid valve 9 is powered on and opened, and a working instruction (2000rpm) is sent to the pump motor 5, and the fork moves backward; after moving a certain distance, the proximity switch 2 11 encounters the sensing block 16 on the fork and closes, and the signal is input into the VCU controller 7, the IN2 port inputs a high level, the VCU controller 7 sends a deceleration instruction (500rpm) to the pump motor 5, and the fork slows down and moves backward, and continues to move backward until the proximity switch 2 11 is separated from the sensing block 16 and is not triggered. After the VCU controller 7 receives the low level input from the IN2 port again, the VCU controller 7 sends a stop instruction (0rpm) to the pump motor 5, and at the same time controls the OUT2 port to output a high level, the rearward movement solenoid valve 9 loses power and closes, the pump motor 5 stops rotating, and the fork stops running and moves backward into place.

[0040] Finally, the AGV runs to the delivery site to complete the delivery.

[0041] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are within the scope of protection of the pending claims of the present application.

Claims

1. A forward and backward movement control circuit for a forward-moving AGV fork, comprising a pump motor (5) and a VCU controller (7) respectively connected in series to a power supply (1), wherein an output end of the VCU controller (7) is connected to a signal of the pump motor (5); characterized in that: The invention also includes a proximity switch installed on the AGV support leg for detecting the forward and backward movement position of the fork, the level input end of the VCU controller (7) is connected to the proximity switch, and the level output end of the VCU controller (7) is respectively connected to the forward movement solenoid valve (8) and the backward movement solenoid valve (9), and the forward movement solenoid valve (8) and the backward movement solenoid valve (9) are respectively connected to the oil circuits of the forward and backward movement cylinders for controlling the forward and backward movement of the fork.

2. The forward and backward movement control circuit according to claim 1, characterized in that: It also includes a load switch (12) installed on the fork for detecting the cargo on the fork, and the load switch (12) is connected to the level input end of the VCU controller (7).

3. The forward and backward movement control circuit according to claim 1, wherein: The proximity switch comprises a proximity switch 1 (10) and a proximity switch 2 (11) installed on the AGV support leg along the forward and backward movement direction of the fork, and a sensing block (16) for controlling the switching of the proximity switch 1 (10) and the proximity switch 2 (11) is installed on the outer side of the fork, and the sensing block (16) is located between the proximity switch 1 (10) and the proximity switch 2 (11); when the fork moves forward, the sensing block (16) triggers the signal of the proximity switch 1 (10); when the fork moves backward, the sensing block (16) triggers the signal of the proximity switch 2 (11).

4. The forward and backward movement control circuit according to claim 1, wherein: It also includes a handheld device (13), which is connected in series to the power supply (1) and is connected to the VCU controller (7) via a CAN line.

5. The forward and backward movement control circuit according to claim 1, characterized in that: The positive terminal of the power supply (1) is connected to a key switch (2) and a DC-DC converter (3) in sequence; the output end of the DC-DC converter (3) is connected to a pump motor (5) via a fuse 1 (4); the output end of the DC-DC converter (3) is connected to a VCU controller (7), a handheld device (13), a forward solenoid valve (8), and a backward solenoid valve (9) respectively via a fuse 2 (6).

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