Control circuit for AGV to automatically pick and place goods

Abstract

The utility model discloses a control circuit for automatic goods picking and placing of an AGV. The control circuit comprises a lithium battery, a traction pump electric controller, a DCDC converter, a VCU controller, an upper computer, a traction motor and a lifting pump motor. The lithium battery is electrically connected with the traction pump electric controller and the DCDC converter, and the output end of the DCDC converter is electrically connected with the VCU controller so as to supply 24V power to the VCU controller. The VCU controller is in communication connection with the upper computer and the traction pump in an electric control mode through a CAN bus, and the VCU controller sends a control message to the traction pump in an electric control mode according to the goods taking and placing requirement preset in the upper computer. And the traction pump electric controller is in signal connection with the traction motor and the lifting pump motor and correspondingly controls operation or stopping of the traction motor and the lifting pump motor according to the control message sent by the VCU controller so as to control a pallet fork of the AGV to conduct automatic storage and taking operation on a goods shelf. According to the utility model, the intelligence of the AGV can be improved, and the operation safety can be enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of AGV taking and placing goods control, more particularly to a kind of AGV automatic taking and placing goods control circuit. BACKGROUND

[0002] AGV is automatic guided vehicle, and AGV realizes unmanned, automation handling in logistics transfer in industrial application, to achieve the purpose of reducing production cost, improving the economic efficiency of industry. Under automatic state, it automatically travels along predetermined route, and automatically transports goods or materials from starting point to destination, if equipped with loading and unloading mechanism, it can be automatically interfaced with other logistics equipment, to realize the automatic of goods and material loading and unloading and handling process. But the existing AGV taking and placing goods control is different in different working scenes, which is easy to cause AGV shelf taking and placing goods inaccurately, and there is a security risk. Therefore, how to realize the control of AGV automatic accurate taking and placing of materials between shelves has important significance. CONTENT OF UTILITY MODEL

[0003] The utility model provides a kind of AGV automatic taking and placing goods control circuit, solve the existing AGV and carry out the problem of inaccurate and inconvenient in the automatic storage and retrieval control between shelves, can improve the convenience and accuracy of AGV automatic storage and retrieval control, improve the intelligence of AGV, increase the safety of operation.

[0004] To achieve the above purpose, the utility model provides the following technical scheme:

[0005] A kind of AGV automatic taking and placing goods control circuit, comprising: lithium battery, traction pump electric control, DCDC converter, VCU controller, host computer, traction motor and hoist pump motor;

[0006] The lithium battery is electrically connected with the traction pump electric control and the DCDC converter respectively, and the output end of the DCDC converter is electrically connected with VCU controller, to supply 24V power supply to the VCU controller;

[0007] The VCU controller is communicatedly connected with the host computer and the traction pump electric control respectively by CAN bus, and the VCU controller sends control message to the traction pump electric control according to the preset taking and placing goods requirement in the host computer;

[0008] The traction pump electric control is signal connected with the traction motor and the hoist pump motor respectively, and according to the control message sent by the VCU controller, the operation or stop of the traction motor and the hoist pump motor is controlled, to control the automatic storage and retrieval operation of the fork of AGV to shelf.

[0009] Preferably, it further includes: hoist solenoid valve;

[0010] The first output end of the VCU controller is connected with the control end of the lifting electromagnetic valve, and the lifting electromagnetic valve is arranged on the forward rotation control oil circuit of the lifting pump motor.

[0011] When the first output end of the VCU controller is high, the lifting electromagnetic valve is closed, the lifting pump motor is rotated forward, and the lifting action of the forks of the AGV is controlled.

[0012] Preferably, the application further comprises a descending electromagnetic valve.

[0013] The second output end of the VCU controller is connected with the control end of the descending electromagnetic valve, and the descending electromagnetic valve is arranged on the reverse rotation control oil circuit of the lifting pump motor.

[0014] When the second output end of the VCU controller is high, the descending electromagnetic valve is closed, the lifting pump motor is reversed, and the descending action of the forks of the AGV is controlled.

[0015] Preferably, the application further comprises an electromagnetic brake.

[0016] The electromagnetic brake is arranged on the motor shaft of the traction motor, and the third output end of the VCU controller is connected with the electromagnetic brake.

[0017] When the third output end of the VCU controller is high, the electromagnetic brake is powered off and locked, and the AGV stops moving forward and backward.

[0018] Preferably, the application further comprises a touch sensor.

[0019] The touch sensor is arranged in front of the fork tip of the AGV forks, and the output end of the touch sensor is connected with the first input end of the VCU controller, which is used for detecting whether the position of the pallet on the forks is normal when the forks are used to take goods.

[0020] Preferably, the application further comprises a load sensor.

[0021] The load sensor is arranged at the root of the AGV forks, and the output end of the load sensor is connected with the second input end of the VCU controller, which is used for detecting whether the forks complete the action of taking goods.

[0022] Preferably, the application further comprises a first fuse.

[0023] The first fuse is connected in series between the positive electrode of the lithium battery and the traction pump electric control.

[0024] Preferably, the application further comprises a second fuse.

[0025] The second fuse is connected in series between an output end of the DCDC converter and the VCU controller.

[0026] Preferably, the control circuit further comprises a lifting encoder.

[0027] The lifting encoder is connected in communication with the VCU controller and the traction pump electric control through a CAN bus.

[0028] The lifting encoder is arranged at the bottom of a portal frame of the AGV and is used for feeding back the lifting height of the forks in real time.

[0029] Preferably, the control circuit further comprises a key switch.

[0030] The key switch is connected in series at a positive output end of the lithium battery and is used for controlling the whole vehicle power-on or power-off of the AGV.

[0031] The utility model provides a kind of control circuit of AGV automatic goods taking and placing, VCU controller is connected in communication with host computer and traction pump electric control through CAN bus respectively, and according to the pre-stored goods taking and placing requirement in host computer, control message is sent to traction pump electric control, traction pump electric control corresponding control traction motor and the operation or stop of lifting pump motor, to realize automatic storage and taking job.Solve the problem of inaccuracy and inconvenience of existing AGV in the automatic storage and taking control between goods shelves, can improve the convenience and accuracy of AGV automatic storage and taking control, improve the intelligence of AGV, increase the security of operation. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the utility model, the following will be needed to use the drawings in the embodiment briefly introduced.

[0033] Figure 1 It is a kind of control circuit schematic diagram of AGV automatic goods taking and placing provided by the utility model. DETAILED DESCRIPTION

[0034] In order to make the personnel in the technical field better understand the scheme of the embodiment of the utility model, the following will be further detailed to the embodiment of the utility model with the drawings and implementation.

[0035] In view of the problem of inaccuracy and inconvenience of current AGV automatic goods taking and placing control, and the potential safety hazard, the utility model provides a kind of control circuit of AGV automatic goods taking and placing, solves the problem of inaccuracy and inconvenience of existing AGV in the automatic storage and taking control between goods shelves, can improve the convenience and accuracy of AGV automatic storage and taking control, improve the intelligence of AGV, increase the security of operation.

[0036] As Figure 1As shown, the control circuit of the AGV automatic picking and placing of goods includes a lithium battery 1, a key switch 2, a DC-DC converter 7, a fuse, a VCU controller 9, a traction pump electric control 4, a traction motor 5, a lifting pump motor 6, a lifting encoder 13, a solenoid valve, a solenoid brake 12, a load sensor 15, a touch sensor 14, an upper computer 16, etc. The lithium battery supplies power to the traction pump electric control 4, which is a two-in-one electric control, respectively controlling the operation of the traction motor 5 and the lifting pump motor 6. The DC-DC converter converts and stabilizes the voltage to supply power to the VCU and other electrical devices. The VCU controller sends instructions to the lifting electric control through CAN communication to control the operation of the lifting pump motor. The lifting encoder feeds back the lifting height to the VCU controller through CAN communication for program judgment. The solenoid valve controls the lifting and lowering action of the forks. The solenoid brake controls the running state of the traction motor. The load sensor judges whether the AGV has completed picking up goods. The touch sensor judges whether the forks are placed in the tray. The upper computer sends automatic control instructions to the VCU controller through CAN communication. The AGV automatically runs to the goods shelf picking position, the forks are lifted to the height of the goods position, the goods are picked up, and after confirming that the goods are picked up, the goods are placed on another goods shelf.

[0037] Specifically, the lithium battery 1, the series key switch 2, the first fuse 3 supply power to the two-in-one traction pump electric control 4. The traction motor 5 and the lifting pump motor 6 are connected to the traction pump electric control 4 through a cable, and the traction pump electric control 4 provides power and operation instructions. The DC-DC converter 7 provides 24V stabilized power supply for the VCU controller 9 and other electrical devices through the second fuse 8. The lifting solenoid valve 10 and the lowering solenoid valve 11 are connected to the output OUT1 and OUT2 of the VCU controller 9 respectively to control the on-off of the oil circuit. The solenoid brake 12 is installed on the traction motor shaft and is locked when power is off. The output OUT3 of the VCU controller 9 controls the on-off of the solenoid brake 12 to realize the running state of the traction motor. The lifting encoder 13 is installed at the bottom of the portal frame and is connected to the VCU controller 9 through CAN communication to provide real-time feedback of the lifting height for program judgment by the VCU controller 9. The touch sensor 14 is installed in front of the fork tip and the signal is connected to the input IN1 of the VCU controller 9 to detect whether the tray position is normal when picking up goods in the fork. The load sensor 15 is installed at the root of the fork and the signal is connected to the input IN2 of the VCU controller 9 to detect whether the goods are picked up. The upper computer 16 is connected to the VCU controller 9 through CAN communication to provide automatic operation control instructions.

[0038] In an embodiment, the picking height is 3000mm and the placing height is 1000mm. The specific control process is as follows:

[0039] The key switch 2 is closed, the whole vehicle is powered on, the AGV automatically runs to the site under the shelf, the upper computer 16 sends a specified height 3000mm picking task to the VCU controller 9 through CAN communication, the VCU controller 9 sends a lifting message 01 to the traction pump electric control 4, and sends a lifting pump motor 2000 rpm instruction through the traction pump electric control 4, the VCU controller 9 controls the OUT1 port to output low level, the lifting electromagnetic valve 10 is opened, the lifting pump motor 6 rotates, and the fork is lifted. When the lifting encoder 13 feedbacks the height of 3000mm, the VCU controller 9 sends a lifting pump motor 0 rpm instruction through the traction pump electric control 4, and controls the OUT1 port to output high level, the lifting electromagnetic valve 10 is closed, the lifting pump motor 6 stops rotating, and the fork stops. The VCU controller 9 sends a forward message 03 to the traction pump electric control 4, and sends a traction motor 500 rpm instruction through the traction pump electric control 4, the AGV moves forward, and it is judged whether the touch sensor 14 is triggered or not. When the tray is detected to be triggered, the VCU controller 9 receives the touch sensor 14 signal, the IN1 port inputs high level, the OUT3 port outputs high level, the electromagnetic brake 12 is lost and locked, the AGV stops running, and the AGV stopping height or tray position needs to be detected again. When the touch sensor 14 is not triggered, the AGV continues to move forward until the load sensor 15 is triggered, the VCU controller 9 receives the load sensor 15 signal, the IN2 port inputs high level, and it is considered that the picking is successful at this time. The VCU controller 9 sends a stop message 00 to the traction pump electric control 4, and sends a traction motor 0 rpm instruction through the traction pump electric control 4, and the AGV stops running. The VCU controller 9 continues to send a lifting message 01 to the traction pump electric control 4, and sends a lifting pump motor 200 rpm instruction through the traction pump electric control 4, the VCU controller 9 controls the OUT1 port to output low level, the lifting electromagnetic valve 10 is opened, the lifting pump motor 6 rotates, and the fork is lifted. When the lifting encoder 13 feedbacks the height of 3050mm, the tray leaves the shelf, the fork is tilted backward, and the picking is successful.

[0040] VCU controller 9 sends a backward message 04 to traction pump electric control 4, and sends a traction motor 500 rpm instruction through traction pump electric control 4, and the AGV backs up to the goods depositing station. VCU controller 9 sends a lowering message 02 to traction pump electric control 4, and VCU controller 9 controls the OUT2 port to output a low level, and the lowering solenoid valve 11 is opened, and the forks are lowered. When the height feedback by the lifting encoder 13 is 1050mm, VCU controller 9 controls the OUT2 port to output a high level, and the lowering solenoid valve 11 is closed, and the forks are stopped. VCU controller 9 sends an advancing message 03 to traction pump electric control 4, and sends a traction motor 5 500 rpm instruction through traction pump electric control 4, and after the AGV advances to the goods depositing station, VCU controller 9 sends a stop message 00 to traction pump electric control 4, and sends a traction motor 0 rpm instruction through traction pump electric control 4, and the AGV stops running. The forks are inclined forward, VCU controller 9 continues to send a lowering message 02 to traction pump electric control 4, and VCU controller 9 controls the OUT2 port to output a low level, and the lowering solenoid valve 11 is opened, and the forks are lowered. When the height feedback by the lifting encoder 13 is 1000mm, VCU controller 9 controls the OUT2 port to output a high level, and the lowering solenoid valve 11 is closed, and the forks are stopped. At this time, VCU controller 9 sends a backward message 04 to traction pump electric control 4, and sends a traction motor 500 rpm instruction through traction pump electric control 4, and the AGV backs up and detects that the load sensor is not triggered, and the goods depositing is successful.

[0041] It can be seen that the control circuit for AGV automatic goods taking and depositing is provided, the VCU controller is communicated with the upper computer and the traction pump electric control through the CAN bus, control messages are sent to the traction pump electric control according to the pre-stored goods taking and depositing requirements in the upper computer, the traction pump electric control controls the running or stopping of the traction motor and the lifting pump motor, so that the automatic storage and taking operation is realized. The problems of inaccuracy and inconvenience of the existing AGV automatic storage and taking control between goods shelves are solved, the convenience and accuracy of the AGV automatic storage and taking control are improved, the intelligence of the AGV is improved, and the safety of the operation is improved.

[0042] The above describes only the preferred embodiment of the utility model, but the utility model is not limited to the drawings shown, any change or modification made according to the concept of the utility model, or the equivalent embodiment of equivalent change, as long as it is within the scope of the utility model, should be within the protection scope of the utility model.

Claims

1. An AGV automatic picking and placing control circuit, characterized in that, Comprise: Lithium battery, traction pump electric control, DCDC converter, VCU controller, host computer, traction motor and lifting pump motor; The lithium battery is electrically connected with the traction pump electric control and the DCDC converter respectively, and the output end of the DCDC converter is electrically connected with the VCU controller to supply 24V power to the VCU controller; The VCU controller is communicatively connected with the host computer and the traction pump electric control through CAN bus respectively, and the VCU controller sends control messages to the traction pump electric control according to the preset picking and placing requirements in the host computer; The traction pump electric control is signal connected with the traction motor and the lifting pump motor respectively, and controls the running or stopping of the traction motor and the lifting pump motor according to the control messages sent by the VCU controller, so as to control the automatic storage and taking operation of the forks of AGV on the goods shelf.

2. The AGV automatic picking and placing control circuit according to claim 1, characterized in that, Also include: Lifting solenoid valve; The first output end of the VCU controller is signal connected with the control end of the lifting solenoid valve, and the lifting solenoid valve is arranged on the positive rotation control oil circuit of the lifting pump motor; When the first output end of the VCU controller is high level, the lifting solenoid valve is closed, the lifting pump motor is rotated positively, and the lifting action of the forks of AGV is controlled.

3. The AGV automatic picking and placing control circuit according to claim 2, characterized in that, Also include: Lowering solenoid valve; The second output end of the VCU controller is signal connected with the control end of the lowering solenoid valve, and the lowering solenoid valve is arranged on the reverse rotation control oil circuit of the lifting pump motor; When the second output end of the VCU controller is high level, the lowering solenoid valve is closed, the lifting pump motor is reversed, and the lowering action of the forks of AGV is controlled.

4. The AGV automatic picking and placing control circuit according to claim 3, characterized in that, Also include: Electromagnetic brake; The electromagnetic brake is arranged on the motor shaft of the traction motor, and the third output end of the VCU controller is signal connected with the electromagnetic brake; When the third output end of the VCU controller is high level, the electromagnetic brake is powered off and locked, so that AGV stops advancing and retreating.

5. The AGV automatic picking and placing control circuit according to claim 4, characterized in that, Also include: Touch sensor; The touch sensor is arranged in front of the fork tip of AGV fork, and the output end of the touch sensor is connected with the first input end of the VCU controller, which is used for detecting whether the position of the tray on the fork is normal when the goods are taken.

6. The AGV automatic picking and placing control circuit according to claim 5, characterized in that, Also include: Load sensor; The load sensor is arranged at the root of the AGV fork, and the output end of the load sensor is connected with the second input end of the VCU controller, which is used for detecting whether the fork completes the taking action.

7. The AGV automatic picking and placing control circuit according to claim 6, characterized in that, Also include: First fuse; The first fuse is connected in series between the positive electrode of the lithium battery and the traction pump electric control.

8. The AGV automatic picking and placing control circuit according to claim 7, characterized in that, Also include: Second fuse; The second fuse is connected in series between the output end of the DCDC converter and the VCU controller.

9. The AGV automatic picking and placing control circuit according to claim 8, characterized in that, Also include: Lifting encoder; The lifting encoder is communicatively connected with the VCU controller and the traction pump electric control through CAN bus respectively; The lifting encoder is arranged at the bottom of the portal frame of AGV, which is used for real-time feedback of the lifting height of the fork.

10. The AGV automatic picking and placing control circuit according to claim 9, characterized in that, Also include: Key switch; The key switch is connected in series on the positive output end of the lithium battery, and is used for controlling the whole vehicle power-on or power-off of the AGV.

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