The phenomenon of labor shortage has prompted many companies to deeply realize the importance and necessity of automated logistics equipment such as unmanned forklifts and AGVs in the field of industrial logistics, and has accelerated the pace of "machines to help people". Improve the automation level of the warehousing system to solve the problems of labor shortage, increase in labor costs, hidden dangers of personnel safety and low efficiency, and enhance the competitiveness and anti-risk ability of enterprises. Unable to meet the diverse market demands in the future.
(1) According to the different guiding principles, it is divided into two types: fixed path guidance and free path guidance.
①Fixed path guidance: Set up guidance information media, such as wires, light strips, etc., on the pre-planned running route, and detect guidance information (such as frequency, magnetic field strength, light intensity, etc.) through the guidance detector on the AGV, After the information is processed in real time, it is used to control the guiding mode of the vehicle walking along the specified running route.
②Free path guidance: There is no fixed running path set in advance. After the AGVS obtains the optimal path according to the position of the starting and ending points required by the handling task, after the computer management system optimizes the calculation to obtain the optimal path, the control system controls each AGV to run according to the specified path to complete the handling. Task.
(2) According to the use and structure classification, AGVs are divided into unmanned trucks, unmanned tractors and unmanned forklifts.
①Unmanned truck: It is mainly used to complete the handling operation. The goods are loaded onto the trolley by manpower or automatic transfer device. After the trolley walks to the designated place, the goods are unloaded by manpower or automatic transfer device to complete the handling. Task.
The trolley with the automatic transfer device can automatically complete the whole process of picking, placing and horizontal operation of the goods under the command of the control system, while the trolley without the transfer device can only realize the automatic operation in the horizontal direction, and the picking and placing of the goods. It needs to be done manually or with the help of other loading and unloading equipment.
②Unmanned traction trolley: The main function is to automatically pull the flatbed truck loaded with goods, and only provide traction power. When the towing trolley drives the flatbed truck to the destination, it will automatically disengage from the flatbed truck.
③Unmanned forklift: Its basic function is similar to that of a mechanical forklift, except that all actions are automatically controlled by the control system to automatically complete various handling tasks.
Structural composition of AGV
AGV consists of the following parts: car body, battery, on-board charging device, control system, drive device, steering device, precise positioning device, transfer mechanism, communication unit and guidance system.
(1) Body. It consists of the frame and the corresponding mechanical and electrical structures such as gearboxes, motors, wheels, etc. The frame is often made of welded steel structure, which requires sufficient rigidity.
(2) Battery and charging device. 24V or 48V DC industrial batteries are often used as power.
(3) Drive device. The drive is a servo-driven variable speed control system that drives the AGV and has speed control and braking capabilities. It consists of wheels, reducers, brakes, motors and speed controllers, and is controlled by computers or manually. The speed adjustment can adopt the methods of pulse width speed regulation or frequency conversion speed regulation. The speed of walking in a straight line can reach 1m/s, 0.2-0.5m/s when turning, and 0.1m/s when approaching the stop point.
(4) Steering device.
AGVs are often designed in three modes of movement: only forward; forward and backward; longitudinal, lateral, oblique and rotary motion in all directions. There are also three types of steering gear structures:
①Hinged shaft steering three-wheeled vehicle. The front part of the car body is a hinged steering wheel, which is also the driving wheel. Steering and driving are driven by two different electric motors respectively. The rear of the car body is two free wheels, and the steering is controlled by the front wheels to achieve forward driving in one direction. The structure is simple and the cost is low, but the positioning accuracy is low;
② Differential steering four-wheeled vehicles. There are two driving wheels in the middle of the car body, which are driven by two motors respectively. There is a steering wheel (free wheel) at the front and rear. By controlling the speed ratio of the two wheels in the middle, the steering of the car body can be realized, and the front and rear bidirectional driving and steering can be realized. This method has a simple structure and high positioning accuracy.
③All-wheel steering four-wheeled vehicles. There are two integrated driving and steering wheels at the front and rear of the car body, each wheel is driven by its own electric motor, which can walk along any route in the longitudinal, lateral, oblique and turning directions, and the control is more complicated.
(5) Control system. The AGV control system includes an on-board controller and a ground (outside the car) controller, both of which use microcomputers and communicate through communication.
The control commands input to the AGV are issued by the ground (outside the car) controller and stored in the on-board controller (computer); when the AGV is running, the on-board controller accepts commands from the ground station through the communication system and reports its status. The on-board controller can complete the following monitoring: manual control, safety device activation, battery status, steering limit, brake release, walking lights, drive and steering motor control and monitoring of charging contactors, etc.
(6) Transfer device. AGVs use transfer devices to load and unload goods, that is, to accept and unload loads. Common AGV loading and unloading methods can be divided into passive loading and unloading and active loading and unloading.
①The trolley in passive loading and unloading mode does not have a complete loading and unloading function, but adopts the auxiliary unloading method, that is, it is automatically loaded and unloaded with the loading and unloading device of the loading and unloading station or the receiving party. Common unloading devices include roller table and lift table.
②The automatic loading and unloading method means that the automatic trolley itself has the loading and unloading function. Common active loading and unloading methods include single-sided push-pull, double-sided push-pull, forklift and robot.
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Passive loading and unloading device
Active loading and unloading device
(7) Safety device. In order to ensure the safety of the AGV itself during operation, the safety of on-site personnel and various equipment, the AGV will take multi-level hardware and software security measures. There are infrared light non-contact anti-collision sensors and contact anti-collision sensors-bumpers on the front of the AGV. AGVs install eye-catching signal lights and sound alarm devices to alert surrounding operators. In the event of a failure, the AGV will automatically alarm with sound and light, and wireless communication will notify the AGV monitoring system.
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