CN111099525A - Double portal AGV - Google Patents
Double portal AGV Download PDFInfo
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- CN111099525A CN111099525A CN201911360467.6A CN201911360467A CN111099525A CN 111099525 A CN111099525 A CN 111099525A CN 201911360467 A CN201911360467 A CN 201911360467A CN 111099525 A CN111099525 A CN 111099525A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Transportation (AREA)
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- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to a double-portal AGV comprising: first portal, second portal, first oil pump, second oil pump, first hydro-cylinder, second hydro-cylinder, first portal height detector, second portal height detector and main control unit, main control unit controls respectively first oil pump and second oil pump operation, in order to further control respectively first hydro-cylinder drives first portal rises, the second hydro-cylinder drives the second portal rises, first oil pump with second oil pump moving speed is according to following formula: the speed of first oil pump = basic value-adjustment value, and the speed of second oil pump = basic value + adjustment value, the basic value is a predetermined fixed numerical value, the adjustment value with first portal with the difference in height of second portal is positive correlation, first portal with the difference in height of second portal = the height of first portal-the height of second portal. The double-portal AGV can enable the two portals to synchronously ascend and descend.
Description
Technical Field
The invention relates to the technical field of Automatic Guided Vehicles (AGV), in particular to an AGV with double door frames.
Background
Conventional AGV is single portal, adopts single oil pump can control the portal and rise and descend. However, in some application scenarios, for example, because the cargo is relatively long and runs in narrow roadways, it is necessary to design the double gantry. For a double-portal AGV, two portals are required to ascend synchronously in the ascending process, one oil cylinder cannot meet the lifting requirement, and two oil pumps are required to be adopted to control the two oil cylinders. Namely, one oil pump controls one oil cylinder and lifts one gantry. In the whole lifting process, two oil cylinders are required to run simultaneously, the lifting height must be ensured to be synchronous, and the gantry is blocked if the lifting height is asynchronous. However, in practice, the distances between the two oil pumps relative to the cylinders controlled by the oil pumps are not consistent, so that the oil pipe of one oil cylinder is relatively long, and the oil pipe of one oil cylinder is relatively short, so that the two gantries are often difficult to synchronize.
Disclosure of Invention
In view of the above, it would be desirable to provide a dual gantry AGV that is easily synchronized to the above-mentioned limitations.
A dual gantry AGV comprising: first portal, second portal, first oil pump, second oil pump, first hydro-cylinder, second hydro-cylinder, first portal height detector, second portal height detector and main control unit, first portal height detector real-time detection the height of first portal is sent for the main control unit, second portal height detector real-time detection the height of second portal is sent for the main control unit, the main control unit controls respectively first oil pump and second oil pump operation, in order to further control respectively first hydro-cylinder drives first portal rises, the second hydro-cylinder drives the second portal rises, first oil pump with second oil pump moving speed is according to following formula: the speed of first oil pump is basic value-adjustment value, and the speed of second oil pump is basic value + adjustment value, basic value is a predetermined fixed numerical value, the adjustment value with the difference in height of first portal with the second portal is positive correlation, the first portal with the difference in height of second portal is the height of first portal-second portal.
Further, the main control unit respectively controls the first oil pump and the second oil pump to operate so as to further respectively control the first oil cylinder to drive the first portal frame to descend, the second oil cylinder to drive the second portal frame to descend, and the operating speeds of the first oil pump and the second oil pump are according to the following formula: the speed of the first oil pump is equal to the base value + the adjustment value, and the speed of the second oil pump is equal to the base value-the adjustment value.
Further, the first oil pump and the second oil pump operate at speeds according to the following equations: judging whether the height of the first portal frame is equal to that of the second portal frame or not, if the height of the first portal frame is larger than that of the second portal frame, the speed of the first oil pump is equal to a basic value-an adjustment value, and if not, the speed of the first oil pump is equal to the basic value; if the height of the first gantry is smaller than that of the second gantry, the speed of the second oil pump is equal to the basic value-the adjusting value, otherwise the speed of the second oil pump is equal to the basic value.
Further, the main control unit respectively controls the first oil pump and the second oil pump to operate so as to further respectively control the first oil cylinder to drive the first portal frame to descend, the second oil cylinder to drive the second portal frame to descend, and the operating speeds of the first oil pump and the second oil pump are according to the following formula: judging whether the height of the first portal frame is equal to that of the second portal frame or not, if the height of the first portal frame is larger than that of the second portal frame, the speed of the second oil pump is equal to a basic value-an adjustment value, and if not, the speed of the second oil pump is equal to a basic value; if the height of the first portal is smaller than that of the second portal, the speed of the first oil pump is equal to the basic value-the adjusting value, otherwise, the speed of the first oil pump is equal to the basic value. .
Further, the adjustment value is positively correlated with the height difference between the first gantry and the second gantry, and is: the adjustment value is a (height of the first gantry-height of the second gantry), where a is a predetermined fixed factor.
Further, the adjustment value is positively correlated with the height difference between the first gantry and the second gantry, and is a relationship of a numerical range mapping table.
Further, the relation of the numerical range mapping table is that when the height difference is in a first range, the adjustment value takes a first numerical value; when the height difference is in a second range, the adjusting value is a second value; when the height difference is in a third range, the adjustment value is a third numerical value; and so on.
Further, when the height difference exceeds the maximum limit value, the main control unit controls to stop running.
Furthermore, the first portal height detector and the second portal height detector are height stay wire encoders and are fixedly installed on the double-portal AGV body.
Further, the first portal is a front portal, the second portal is a rear portal, the first oil pump is a front oil pump, the second oil pump is a rear oil pump, the first oil cylinder is a front oil cylinder and is arranged on the front portal and integrated with the front portal, the second oil cylinder is a rear oil cylinder and is arranged on the rear portal and integrated with the rear portal, the first portal height detector is a front portal height detector, the second portal height detector is a rear portal height detector, the front oil pump and the rear oil pump are arranged on one side close to the front portal, and the distance between the front oil cylinder and the front oil pump is smaller than the distance between the rear oil cylinder and the rear oil pump.
According to the double-portal AGV, the two portals are respectively controlled to ascend and descend through the double oil pump, whether the heights of the two portals are consistent or not is detected in real time through the portal height detector in the ascending and descending processes, and if the heights of the two portals are inconsistent, the operating speed of the oil pump is adjusted, so that the two portals synchronously ascend and descend. And if the height difference reaches the maximum limit value, the operation is stopped to prevent the portal from being blocked.
Drawings
FIG. 1 is a functional block diagram of a dual gantry AGV according to one embodiment of the present invention;
FIG. 2 is a flowchart illustrating operation of a dual door rack AGV according to one embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to FIG. 1, a double door rack AGV according to one embodiment of the present invention comprises: first portal, second portal, first oil pump, second oil pump, first hydro-cylinder, second hydro-cylinder, first portal height detector, second portal height detector and main control unit, first portal height detector real-time detection the height of first portal is sent for the main control unit, second portal height detector real-time detection the height of second portal is sent for the main control unit, the main control unit controls respectively first oil pump and second oil pump operation, in order to further control respectively first hydro-cylinder drives first portal rises, the second hydro-cylinder drives the second portal rises, first oil pump with second oil pump moving speed is according to following formula: the speed of first oil pump is basic value-adjustment value, and the speed of second oil pump is basic value + adjustment value, basic value is a predetermined fixed numerical value, the adjustment value with the difference in height of first portal with the second portal is positive correlation, the first portal with the difference in height of second portal is the height of first portal-second portal.
Wherein the adjustment value is positively correlated with the height difference between the first gantry and the second gantry, specifically: the adjustment value is a (height of the first gantry-height of the second gantry), where a is a predetermined fixed factor.
In a specific embodiment, first portal is front portal 11, the second portal is back portal 21, first oil pump is preceding oil pump 12, the second oil pump is back oil pump 22, first hydro-cylinder is preceding hydro-cylinder 13, set up in on the preceding portal 11 with preceding portal 11 is as an organic whole, the second hydro-cylinder is back hydro-cylinder 23, set up in on the back portal 21 with back portal 21 is as an organic whole, first portal height detector is front portal height detector 14, and second portal height detector is back portal height detector 24, preceding portal height detector 14 and back portal height detector 24 are high stay wire encoder, and fixed mounting is on two portal AGV automobile bodies, and its actual specifically measured difference is the height of front and back hydro-cylinder, namely the height of portal around promptly, sends for main control unit 30. The front oil pump 12 and the rear oil pump 22 are located on one side close to the front door frame 11, and the distance between the front oil cylinder 13 and the front oil pump 12 is smaller than the distance between the rear oil cylinder 23 and the rear oil pump 22. Referring to fig. 2, a flowchart of a master control unit of a dual portal AGV controlling the ascending of a dual portal according to an embodiment of the present invention is shown. When the operation is started, the heights of the two door frames are consistent, and the adjusting value is 0. As the oil pump runs and the two gantries rise, the heights of the two gantries may be inconsistent. If the front portal rises fast, the height value detected by the front portal height detector is large, the height value detected by the rear portal height detector is small, the adjustment value obtained by calculation according to the height of the front portal and the height of the rear portal is a positive number, the speed after the front portal is adjusted is a basic value, and the positive number is subtracted, namely the speed is reduced, so that the rising speed of the front portal is slowed down. Correspondingly, the speed of the rear door frame after adjustment is increased, so that the rising speed of the rear door frame is increased. Therefore, bidirectional adjustment is realized, continuous circulation control is realized in the operation process, and the ascending heights of the front and rear door frames are ensured to be consistent. On the contrary, if the front portal rises slowly, the height value detected by the front portal height detector is small, the height value detected by the rear portal height detector is large, the adjustment value obtained by calculation according to the height of the front portal and the height of the rear portal is a negative number, the speed after the front portal is adjusted is the basic value minus the negative number, namely the speed is increased, and therefore the rising speed of the front portal is increased. Correspondingly, the speed of the rear door frame after adjustment is speed reduction so as to reduce the speed of the rear door frame during rising. Therefore, bidirectional adjustment is realized, continuous circulation control is realized in the operation process, and the ascending heights of the front and rear door frames are ensured to be consistent.
In the scheme, as long as the front door frame and the rear door frame have any height difference, the speed can be adjusted in response. In practice, the accuracy of the oil pump is not so sensitive. Therefore, the adjustment value is positively correlated with the height difference between the first gantry and the second gantry, and can also be a relation of a numerical range mapping table. When the height difference is in a first range, the adjustment value is a first value; when the height difference is in a second range, the adjusting value is a second value; when the height difference is in a third range, the adjustment value is a third numerical value; and so on.
In one embodiment, the speed range of the oil pump is 0-255, (unit is not), the base value of the speed is set to 200, and the mapping table relationship of the value range between the height difference and the adjustment value is shown in the following table:
| difference of height | Adjustment value |
| 0-5mm | 1-3 |
| 6-10mm | 4-8 |
| 11-20mm | 9-15 |
The adjustment value is a value range, and means that a specific value is selected from the value range as the adjustment value of the product for each specific product. This is because the actual conditions of each specific product are different from each other, so that the adjustment can be carried out according to the actual conditions of each specific product.
And furthermore, when the height difference exceeds the maximum limit value, the main control unit controls to stop operation so as to prevent the locking. For example, in the above embodiment, the maximum limit is 20mm, and when the height difference exceeds 20mm, the main control unit controls to stop operating.
In addition, among the above-mentioned technical scheme, first portal and second portal are both two-way regulation simultaneously, and this increases the complexity and the burden of master control unit to a certain extent. In fact, when the two gantries generate a height difference, mainly because one gantry rises too fast relative to the other gantry, the gantry which rises faster is adjusted to make the rising speed of the gantry slower, so as to try to keep the two gantries rising synchronously. Therefore, the main control unit respectively controls the first oil pump and the second oil pump to operate so as to further respectively control the first oil cylinder to drive the first portal frame to ascend, the second oil cylinder to drive the second portal frame to ascend, and the operating speeds of the first oil pump and the second oil pump are according to the following formula: judging whether the height of the first portal frame is equal to that of the second portal frame or not, if the height of the first portal frame is larger than that of the second portal frame, the speed of the first oil pump is equal to a basic value-an adjustment value, and if not, the speed of the first oil pump is equal to the basic value; if the height of the first gantry is smaller than that of the second gantry, the speed of the second oil pump is equal to the basic value-the adjusting value, otherwise the speed of the second oil pump is equal to the basic value. Wherein the adjustment value is the same as the technical scheme.
Furthermore, the technical solutions just describe the process of gantry ascending, and when the gantry descends, the adjustment strategy is opposite. Correspondingly, for the scheme that two gantries are adjusted in two directions at the same time, the main control unit respectively controls the first oil pump and the second oil pump to operate so as to further respectively control the first oil cylinder to drive the first gantry to descend, the second oil cylinder to drive the second gantry to descend, and the operating speeds of the first oil pump and the second oil pump are according to the following formula: the speed of the first oil pump is equal to the base value + the adjustment value, and the speed of the second oil pump is equal to the base value-the adjustment value.
And for the scheme of only adjusting a single fast portal, the main control unit respectively controls the first oil pump and the second oil pump to operate so as to further respectively control the first oil cylinder to drive the first portal to descend, the second oil cylinder to drive the second portal to descend, and the operating speeds of the first oil pump and the second oil pump are according to the following formula: judging whether the height of the first portal frame is equal to that of the second portal frame or not, if the height of the first portal frame is larger than that of the second portal frame, the speed of the second oil pump is equal to a basic value-an adjustment value, and if not, the speed of the second oil pump is equal to a basic value; if the height of the first portal is smaller than that of the second portal, the speed of the first oil pump is equal to the basic value-the adjusting value, otherwise, the speed of the first oil pump is equal to the basic value.
According to the double-portal AGV, the two portals are respectively controlled to ascend and descend through the double oil pump, whether the heights of the two portals are consistent or not is detected in real time through the portal height detector in the ascending and descending processes, and if the heights of the two portals are inconsistent, the operating speed of the oil pump is adjusted, so that the two portals synchronously ascend and descend. And if the height difference reaches the maximum limit value, the operation is stopped to prevent the portal from being blocked.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A dual gantry AGV, comprising: first portal, second portal, first oil pump, second oil pump, first hydro-cylinder, second hydro-cylinder, first portal height detector, second portal height detector and main control unit, first portal height detector real-time detection the height of first portal is sent for the main control unit, second portal height detector real-time detection the height of second portal is sent for the main control unit, the main control unit controls respectively first oil pump and second oil pump operation, in order to further control respectively first hydro-cylinder drives first portal rises, the second hydro-cylinder drives the second portal rises, first oil pump with second oil pump moving speed is according to following formula: the speed of first oil pump = basic value-adjustment value, and the speed of second oil pump = basic value + adjustment value, the basic value is a predetermined fixed numerical value, the adjustment value with first portal with the difference in height of second portal is positive correlation, first portal with the difference in height of second portal = the height of first portal-the height of second portal.
2. The AGV of claim 1, wherein the main control unit controls the first oil pump and the second oil pump to operate respectively, so as to further control the first oil cylinder to drive the first door frame to descend and the second oil cylinder to drive the second door frame to descend, respectively, and the operating speeds of the first oil pump and the second oil pump are determined according to the following formula: the speed of the first oil pump = base + adjustment value, and the speed of the second oil pump = base-adjustment value.
3. The double gantry AGV of claim 1, wherein the first oil pump and the second oil pump operate at a speed according to the following equation: judging whether the height of the first gantry is equal to that of the second gantry or not, if the height of the first gantry is larger than that of the second gantry, the speed of the first oil pump = basic value-adjusting value, and if not, the speed of the first oil pump = basic value; if the height of the first mast is less than the height of the second mast, the speed of the second oil pump = base value — adjusted value, otherwise the speed of the second oil pump = base value.
4. The AGV of claim 3, wherein the main control unit controls the first oil pump and the second oil pump to operate respectively, so as to further control the first oil cylinder to drive the first door frame to descend and the second oil cylinder to drive the second door frame to descend, respectively, and the operating speeds of the first oil pump and the second oil pump are determined according to the following formula: judging whether the height of the first gantry is equal to that of the second gantry or not, if the height of the first gantry is larger than that of the second gantry, the speed of the second oil pump = basic value-adjusting value, and if not, the speed of the second oil pump = basic value; if the height of the first mast is less than the height of the second mast, the speed of the first oil pump = base value — adjusted value, otherwise the speed of the first oil pump = base value.
5. A double gantry AGV according to any one of claims 1 to 4, wherein said adjustment value is positively correlated to the difference in height of said first and second gantries by: the adjustment value = a (height of the first portal-height of the second portal), where a is a preset fixed factor.
6. The double gantry AGV of any one of claims 1-4, wherein said adjustment value is positively correlated to a difference in height between said first gantry and said second gantry, as a function of a value range mapping table.
7. The AGV of claim 6, wherein the range map has a relationship such that when the height difference is within a first range, the adjustment value takes a first value; when the height difference is in a second range, the adjusting value is a second value; when the height difference is in a third range, the adjustment value is a third numerical value; and so on.
8. A double-gantry AGV according to claim 1, wherein the master control unit controls the operation to be stopped when said height difference exceeds a maximum limit.
9. The dual gantry AGV of claim 1 wherein said first gantry height detector and said second gantry height detector are height stay wire encoders fixedly mounted to said dual gantry AGV body.
10. The double-portal AGV of claim 1, wherein said first portal is a front portal, said second portal is a rear portal, said first oil pump is a front oil pump, said second oil pump is a rear oil pump, said first oil cylinder is a front oil cylinder, said first oil cylinder is a rear oil cylinder, said second oil cylinder is arranged on said front portal and integrated with said front portal, said rear oil cylinder is arranged on said rear portal and integrated with said rear portal, said first portal height detector is a front portal height detector, said second portal height detector is a rear portal height detector, said front oil pump and said rear oil pump are located near said front portal, said front oil cylinder and said front oil pump are located in a distance between said rear oil cylinder and said rear oil pump.
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| CN201911360467.6A CN111099525A (en) | 2019-12-25 | 2019-12-25 | Double portal AGV |
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| CN109973471A (en) * | 2019-04-11 | 2019-07-05 | 南通大学 | A kind of more fulcrum synchronisation control means of large size hoistable platform and control system |
| CN110407097A (en) * | 2019-07-22 | 2019-11-05 | 中国电建集团河南工程有限公司 | The construction method of the novel phase modifier of lifting based on portal frame and Lao Xinge device |
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Application publication date: 20200505 |