Application of Forklift Electronic Scale in Narrow Passage

Application of Forklift Electronic Scale in Narrow Passage

Since the 1980s, automated guided forklifts (AGV) have gradually developed into one of the largest professional branches in the production logistics system, and there is a trend of industrialization. Due to its good environmental adaptability, strong anti-interference ability and target recognition ability, forklift AGVs have been used to a certain extent in the fields of industry, military, and transportation.

However, in the factory areas of some production companies, due to the constraints of the spatial layout, or the large storage capacity requirements and the narrow distance between the shelves, ordinary electric forklift AGVs cannot achieve steering operation in narrow lanes. Weigh forks It cannot be effectively docked with the racking station, and manual or other equipment assistance is required in the middle, so that the AGV cannot give full play to its advantages. Under such circumstances, the research and application of the automatic guided three-way stacking forklift electronic scale technology is particularly critical.

The characteristics of ordinary AGV

1. Overall structure analysis

Ordinary AGV is a typical mechatronics product that combines electronic scale technology and mechanical technology. It consists of a car body, a battery, a charging system, a driving device, a steering device, a precision parking device, an electronic scale weighing module device, a motion controller, a communication device, a transfer system and a navigation system.

2. Analysis of the overall control method

Ordinary AGV adds an intelligent navigation system and an electronic scale control system to the traditional electric stacker forklift. The operation of the fork and the body is controlled by the controller. There is no independent steering control system for the fork and the body. The steering of the heavy fork must run synchronously with the steering of the vehicle body, and the flexibility of the entire vehicle is poor.

Turning path analysis

When the ordinary electric forklift AGV accesses the goods with the normal electronic scale in the shelf aisle, it needs the whole body of the car to turn before changing the direction of the fork. Therefore, its turning radius is large and can only be within the wide space of the cargo area aisle Application, and the turn takes a long time, which is not conducive to the improvement of work efficiency.

Ordinary electric forklift AGV steering running track in the wider shelf aisle. According to the above analysis, how to change the steering mode of the ordinary AGV in the shelf aisle and realize the precise docking of the fork and the shelf station has become the key and difficult point of technology research and development.

technical analysis

The three-way stacker forklift electronic scale has forward, left and right three-way operation functions, and can work in narrower passages. It can effectively use the height and width of the warehouse to increase the storage area, thereby improving the efficiency of the warehouse. , Has been widely used in machinery manufacturing, pharmaceuticals and other industries, as well as supermarkets, shopping malls, food cold storage and other places to implement loading and unloading, storage, handling, and stacking operations.

Therefore, using the advantages of the three-way stacker forklift electronic scale, under the premise of minimizing the operating costs of plant transformation, construction, maintenance, management, etc., we have The head is modified, and its control method is changed, and the automatic guided three-way stacking intelligent forklift has been developed. The limitation of the space range of the AGV solves the problem that it is difficult to turn to complete the loading and unloading of goods in a narrow aisle.

1. Navigation

Due to the limited space of the narrow lanes in the cargo area, in order to ensure the more accurate navigation route and save ground space, the automatic guided three-way stacking balance forklift designed by us uses the laser automatic navigation method. Laser guidance technology is more advanced, accurate positioning, no other positioning facilities on the ground, can adapt to complex path conditions and working environment, can quickly change the driving path and modify operating parameters. Of course, there are many navigation methods for automatically guided three-way stacking intelligent forklifts, which can be changed as needed in practical applications.

2. Overall structure design

Automatically guided three-way stacking battery forklift electronic scale is a modification of the three-way stacking head of an ordinary three-way stacking forklift and adding a servo drive and other devices, making the movement of the fork more sensitive and accurate. The overall size of the equipment is adapted to the cargo carried and the width of the aisle. The fork size is appropriately adjusted to reduce the space occupied, but it is still suitable for pallets of various specifications. It can be stored in multiple layers of shelves or goods in the aisle. Applications where the difference is large.

The forks of the auto-guided three-way stacker forklift can rotate 0 to 180 degrees in the X axis direction. There is no need to repeatedly plan the steering path of the vehicle body. It can be on the left and right sides without changing the overall direction of the forklift. Change the movement direction of the forks between the shelves to successfully complete the loading and unloading tasks; the horizontal side shift of the forks can still be realized in the Y-axis direction, helping the forks to dock more accurately; the hydraulic cylinder lifting type is used in the Z-axis direction , Connect the fork frame with a chain and drive the fork. The fork is lifted to the shelf position required by the task according to the instructions issued by the controller, so as to realize the movement from the ground to the high-level shelf. Automatically guide the fork steering form of the three-way stacking intelligent forklift.

3. Control method

The driving and steering operation of the whole body of the automatic guided three-way stacking battery forklift is completed by the main controller, but in terms of overall control and fork control, the main controller has done sub-management, and the specific system control structure is as follows Shown in Figure 4.

The forks and the body of the automatically guided three-way stacking balance forklift are independently installed with rotating motors and driving servo devices. The fork makes steering, acceleration and deceleration, forward, backward, ascending, descending, loading and unloading actions under the program set by the controller to complete the corresponding tasks.

The controller controls the automatic guided three-way stacking electric forklift to complete the task in the narrow aisle as follows: enter the shelf station number and position in the control system, and specify the operating speed and cargo of the automatically guided three-way stacking forklift. Fork operating speed. According to the task arrangement, the controller controls the straight forward or backward movement of the electric forklift in the narrow aisle, and stops running after positioning it at the point to be operated at the shelf station. If the shelf station is at the bottom of the shelf, the controller only needs to control the steering and speed of the fork, and the fork movement is aligned with the target station, then the loading and unloading operations can be implemented; after the loading and unloading is completed, the controller will control the cargo. The fork lowers and moves sideways or turns from 0 to 180 degrees to make the fork direction consistent with the next task point of the forklift. The battery forklift continues to move forward or back in the narrow roadway to reach another task point. When the target station is at the high-level position of the rack, the three-way stacking electric forklift is automatically guided to reach the bottom of the target station and then stop running. The controller then controls the fork to lift in the vertical direction to complete the loading at the target station. After unloading the task, it descends to the initial position on the ground, the fork returns to the position required by the next task point of the forklift, and the battery forklift continues to the next task point.

4. Path analysis

The independent steering function of the forks makes the automatic guided three-way stacking electric forklift in narrow lanes do not need to do the path planning of the overall steering of the forklift. The overall running trajectory of the intelligent forklift AGV only needs to be straight forward or backward, which can be used in narrow lanes. The transportation operation is repeated between each station point without considering the limitation of the space range, which avoids the waste of time caused by the electronic overall steering of the electric forklift, improves the operating efficiency of the intelligent forklift, and also reduces the workload of cumbersome steering path programming.

Advantages and prospects

Compared with the ordinary intelligent forklift AGV, the electronic platform scale of the automatic guided three-way stacking electric forklift has its advantages in the following aspects.

1. Environmental adaptability

The research and development of the electronic scale of the automatic guided three-way stacking electric forklift is pertinent. It can solve the limitation of environmental space in a special working environment, and can also play the role of a stacking forklift in a normal working environment, and is extremely adaptable to the environment. .

2. Reliability

The structure design and system control of the automatic guided three-way stacking electric forklift electronic scale are carried out on the basis of stable and mature technology, with strong reliability and flexible application.

3. Application cost

The automatic guided three-way stacking balance forklift is a component transformation and program change under the premise of minimizing the operating costs of factory transformation, construction, maintenance, management, etc. The application cost is low, and it is used in many small and medium-sized enterprises and The plant area can be widely used. At the same time, non-standard customization can be made according to the on-site environment to make it more flexible.

Due to various reasons, the space layout design of many enterprise factories often has special working areas such as narrow aisle racks. In the future application of electric forklift AGV, the automatic guided three-way stacker forklift with automatic steering function will become the dominant force in the market.

Concluding remarks

The application theory of the automatic guided three-way stacking electric forklift is pertinent. The transformation of the intelligent forklift body structure and the three-way stacking head is easy to realize and produce, and the requirements for the working environment are low. The automatic guided three-way stacking balance forklift from theoretical establishment to practical application proves that it can solve the problem that ordinary intelligent forklift AGV cannot steer in the narrow lane of the shelf, expand the environmental adaptability of intelligent forklift AGV, and give full play to the intelligent forklift. The intelligence of AGV is an effective way to solve existing problems;