阅读说明：本技术 夹抱机构及其激光、磁钉复合导航agv和控制方法 (Clamping mechanism, laser and magnetic nail combined navigation AGV and control method thereof ) 是由 潘军 缪欣呈 王焜 于 2019-10-23 设计创作，主要内容包括：本发明公开了一种夹抱机构及其激光、磁钉复合导航AGV和控制方法。一种夹抱机构,包括安装板,滑动联接于安装板的至少二个夹抱臂,及设置在安装板的夹抱动力件；所述夹抱动力件与二个夹抱臂传动联接,以使二个夹抱臂相向或背向运动；所述安装板上设有载货检测开关；所述夹抱臂设有货位占位感应器。本发明在夹抱臂与安装板滑动联接,并且通过夹抱油缸驱动运动,以对货物进行夹抱。夹抱机构设置在AGV上,能牢固的对货物进行夹抱,并且AGV准确的进行定位,使得能准确的对货物进行叠放。本发明对货物夹抱牢固,定位、识别准确,叠放货物准确整齐,工作效率高。(The invention discloses a clamping mechanism, a laser and magnetic nail combined navigation AGV and a control method thereof. A clamping and holding mechanism comprises a mounting plate, at least two clamping and holding arms connected with the mounting plate in a sliding mode, and a clamping and holding power piece arranged on the mounting plate; the clamping power piece is in transmission connection with the two clamping arms so as to enable the two clamping arms to move in the opposite direction or in the opposite direction; a cargo detection switch is arranged on the mounting plate; the clamp arm is provided with a cargo space occupying inductor. The clamping arm is connected with the mounting plate in a sliding mode and driven to move through the clamping oil cylinder so as to clamp and clamp the goods. Press from both sides and embrace the mechanism and set up on AGV, can be firm press from both sides to embrace the goods to AGV is accurate fixes a position, makes can be accurate stack the goods. The invention has the advantages of firm clamping and holding of the goods, accurate positioning and identification, accurate and orderly stacking of the goods and high working efficiency.)

1. The clamping and holding mechanism is characterized by comprising a mounting plate, at least two clamping and holding arms which are connected to the mounting plate in a sliding mode, and a clamping and holding power piece arranged on the mounting plate; the clamping power piece is in transmission connection with the two clamping arms so as to enable the two clamping arms to move in the opposite direction or in the opposite direction; a cargo detection switch is arranged on the mounting plate; the clamp arm is provided with a cargo space occupying inductor.

2. A clamp holding mechanism as claimed in claim 1, wherein the mounting plate is provided with a height switch for determining the height of the goods and a proximity switch for limiting the position of the clamp holding arm.

3. The clamping and holding mechanism as claimed in claim 2, wherein the actuating member of the clamping and holding power member is a clamping and holding cylinder; the clamping cylinder is controlled by a reversing valve.

4. A clamp arm mechanism according to claim 3, wherein the clamp arm is provided with a crash stop switch at its distal end.

5. A laser and magnetic nail composite navigation AGV with a clamping and holding mechanism is characterized by comprising an AGV body and the clamping and holding mechanism as claimed in any one of claims 1 to 4; the AGV body and the clamping and holding mechanism are provided with a lifting mechanism, so that the clamping and holding mechanism has lifting motion; the navigation mode of AGV body is magnetic nail and laser hybrid navigation.

6. A control method for AGV with laser and magnetic nail composite navigation is characterized in that,

clamping and holding the goods: the empty AGV reaches the front position of the goods according to the system instruction path, and before reaching the front position, the clamping arm of the AGV opens to the maximum width and is lifted to the height corresponding to the goods; when the AGV runs to the clamping and holding position, the AGV stops after the goods touch the cargo detection switch, and the clamping and holding arms move oppositely to fix the goods and lift the set height;

carrying goods: the AGV moves to a goods placement area according to a route set by a system;

unloading the goods: before the AGV clamps the goods and moves to the appointed bottom layer placing point, the AGV detects whether the bottom layer placing point has an obstacle or not; if no obstacle exists, the lifting mechanism drives the clamping mechanism and the goods to descend, and when the goods descend to the placing surface, the clamping arm is opened to unload the goods; the AGV travels away from the floor placement point.

7. The method for controlling the AGV according to claim 6, further comprising non-bottom placement points for stacking the goods transported by the AGV; before the AGV carries the goods to a non-bottom layer placing point, the AGV judges whether a barrier exists or not; if no obstacle exists, the AGV moves to a non-bottom layer placing point; at the moment, the clamping and holding mechanism and the goods descend under the action of the lifting mechanism, the clamping and holding arm is unfolded, the goods are stacked on the bottom goods, and the AGV drives away from a non-bottom placing point.

8. The method for controlling the AGV according to claim 7, wherein the load is moved to a position above the non-bottom placement point by the clamping mechanism, and the clamping mechanism drives the load to move laterally, so that a distance measuring sensor arranged on the clamping arm detects a distance H1 between the load and the bottom load; the clamping and holding mechanism clamps and holds the goods and then moves transversely, so that the distance H2 between the distance measuring sensor on the clamping and holding arm and the ground is detected, the difference between H1 and H2 is larger than a set value, whether the distance measuring sensor exceeds the edge of the bottom goods is detected, and the edge of the bottom goods at the moment is taken as a reference point; the AGV continues to move according to the datum point so that the goods clamped by the AGV are aligned with the bottom goods.

9. The control method of the AGV with the laser and magnetic nail composite navigation function according to claim 7, wherein when the AGV clamps a load, the clamping arm is controlled by a clamping cylinder, and the clamping cylinder is controlled by a reversing valve; the clamping arm gradually clamps the goods and feeds back the goods through the arranged pressure sensor; when the pressure of the clamping cylinder reaches a set value, the reversing valve is closed, the clamping cylinder is locked, and the clamping arm finishes the clamping action; when the pressure of the clamping cylinder is reduced and the pressure reduction value reaches a set threshold value, the reversing valve continues to work and pressurize.

10. The method for controlling the AGV with the laser and magnetic nail combined navigation system according to claim 9, wherein when the load is unloaded, the clamping mechanism and the load are lowered under the action of the lifting mechanism, and the lifting mechanism is controlled by a hydraulic oil circuit; wherein, the hydraulic oil circuit of the lifting mechanism is provided with a pressure sensor; when the pressure of the hydraulic oil circuit changes suddenly, the numerical value of the stay cord displacement sensor is combined, if the deviation of the feedback height of the stay cord displacement sensor and the reference value is large, and the pressure sensor does not change, the vehicle is stopped and an alarm is given; when the pressure of the hydraulic oil circuit changes suddenly, the numerical value of the stay cord displacement sensor is combined, and if the deviation between the feedback height of the stay cord displacement sensor and the reference value is small, the fact that the box-type container contacts the lower-layer container is indicated; at the moment, the lifting valve of the lifting mechanism is closed, the clamping mechanism stops descending, and the AGV opens a reversing valve controlling the clamping mechanism to open the clamping arms to finish unloading the box-type container.

Technical Field

The invention relates to the technical field of AGV trolleys, in particular to a clamping mechanism, a laser and magnetic nail combined navigation AGV and a control method thereof.

Background

At present, few domestic manufacturers develop large-load capacity and completely clamp and embrace type AGV, in box type goods carrying, manual driving forklift clamping and embracing carrying is mostly adopted, the efficiency is low, the clamping and embracing strength cannot be well grasped, and box type goods are clamped and embraced to deform. And some semi-automatic transports often have to press from both sides to embrace shakiness, insecure phenomenon for when carrying the goods, can have location, discernment inaccurate inadequately, the goods is piled up neatly, leads to repetitive operation, and efficiency is not high.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a clamping mechanism, a laser and magnetic nail combined navigation AGV and a control method thereof.

In order to achieve the purpose, the invention adopts the following technical scheme:

a clamping and holding mechanism comprises a mounting plate, at least two clamping and holding arms connected with the mounting plate in a sliding mode, and a clamping and holding power piece arranged on the mounting plate; the clamping power piece is in transmission connection with the two clamping arms so as to enable the two clamping arms to move in the opposite direction or in the opposite direction; a cargo detection switch is arranged on the mounting plate; the clamp arm is provided with a cargo space occupying inductor.

The further technical scheme is as follows: the mounting panel is equipped with and is used for the high switch of judging the goods height to and be used for embracing the spacing proximity switch of arm to the clamp.

The further technical scheme is as follows: the actuating member of the clamping power member is a clamping oil cylinder; the clamping cylinder is controlled by a reversing valve.

The further technical scheme is as follows: and an emergency stop switch is arranged at the tail end of the clamping arm.

The further technical scheme is as follows: the clamping arm is connected with the mounting plate in a sliding manner; one end of the clamping arm is provided with a sliding block, and the mounting plate is provided with a sliding chute; the sliding block at one end of each clamping arm is connected with the sliding groove of the mounting plate in a sliding mode, and the clamping arms are connected with the power output end of each clamping cylinder, so that the clamping cylinders push the clamping arms to move transversely along the sliding grooves; the two clamping arms move towards or away from each other so as to clamp or release the goods.

The further technical scheme is as follows: the system also comprises a control center; cargo detection switch, goods position occupy-place inductor, height switch, proximity switch all with control center electric connection.

A laser and magnetic nail composite navigation AGV with a clamping mechanism comprises an AGV body and the clamping mechanism; the AGV body and the clamping and holding mechanism are provided with a lifting mechanism, so that the clamping and holding mechanism has lifting motion.

The further technical scheme is as follows: the AGV body is magnetic nail and laser hybrid navigation.

The further technical scheme is as follows: the AGV body is driven by a single steering wheel; an obstacle avoidance radar is arranged at the advancing direction end of the AGV body and used for detecting obstacles in the advancing direction; and, the upper end of the elevating system of AGV body is equipped with navigation module.

A laser and magnetic nail composite navigation AGV with a clamping mechanism comprises an AGV body and the clamping mechanism; the AGV body and the clamping and holding mechanism are provided with a lifting mechanism, so that the clamping and holding mechanism has lifting motion.

A control method of AGV (automatic guided vehicle) by laser and magnetic nail composite navigation,

clamping and holding the goods: the empty AGV reaches the front position of the goods according to the system instruction path, and before reaching the front position, the clamping arm of the AGV opens to the maximum width and is lifted to the height corresponding to the goods; when the AGV runs to the clamping position, the AGV stops after the goods touch the detection switch, and the clamping arms move oppositely to fix the goods and lift the set height;

carrying goods: the AGV moves to a goods placement area according to a route set by a system;

unloading the goods: before the AGV clamps the goods and moves to the appointed bottom layer placing point, the AGV detects whether the bottom layer placing point has an obstacle or not; if no obstacle exists, the lifting mechanism drives the clamping mechanism and the goods to descend, and when the goods descend to the placing surface, the clamping arm is opened to unload the goods; the AGV travels away from the floor placement point.

The further technical scheme is as follows: the AGV comprises an AGV and is characterized by also comprising non-bottom layer placing points, wherein the non-bottom layer placing points are used for stacking cargoes carried by the AGV; before the AGV carries the goods to a non-bottom layer placing point, the AGV judges whether a barrier exists or not; if no obstacle exists, the AGV moves to a non-bottom layer placing point; at the moment, the clamping and holding mechanism and the goods descend under the action of the lifting mechanism, the clamping and holding arm is unfolded, the goods are stacked on the bottom goods, and the AGV drives away from a non-bottom placing point.

The further technical scheme is as follows: the goods move to the position above the non-bottom-layer placing point under the action of the clamping and holding mechanism, and the clamping and holding mechanism drives the goods to move transversely, so that a distance measuring sensor arranged on the clamping and holding arm detects the distance H1 between the goods and the bottom layer; the clamping and holding mechanism clamps and holds the goods and then moves transversely, so that the distance H2 between the distance measuring sensor on the clamping and holding arm and the ground is detected, the difference between the H1 and the H2 is larger than a set value, whether the distance measuring sensor exceeds the edge of the bottom goods is detected, and the edge of the bottom goods at the moment is taken as a reference point; the AGV continues to move according to the datum point so that the goods clamped by the AGV are aligned with the bottom goods.

The further technical scheme is as follows: when the AGV clamps the goods, the clamping arm is controlled by the clamping oil cylinder, and the clamping oil cylinder is controlled by the reversing valve; the clamping arm gradually clamps the goods and feeds back the goods through the arranged pressure sensor; when the pressure of the clamping cylinder reaches a set value, the reversing valve is closed, the clamping cylinder is locked, and the clamping arm finishes the clamping action; when the pressure of the clamping cylinder is reduced and the pressure reduction value reaches a set threshold value, the reversing valve continues to work and pressurize.

The further technical scheme is as follows: when the goods are unloaded, the clamping mechanism and the goods descend under the action of the lifting mechanism, and the lifting mechanism is controlled by a hydraulic oil circuit; wherein, the hydraulic oil circuit of the lifting mechanism is provided with a pressure sensor; when the pressure of the hydraulic oil circuit changes suddenly, the numerical value of the stay cord displacement sensor is combined, if the deviation of the feedback height of the stay cord displacement sensor and the reference value is large, and the pressure sensor does not change, the vehicle is stopped and an alarm is given; when the pressure of the hydraulic oil way changes suddenly, the numerical value of the stay cord displacement sensor is combined, if the deviation between the feedback height of the stay cord displacement sensor and the reference value is small, the fact that the goods contact the lower-layer container is indicated, the lifting valve is closed, the clamping mechanism stops descending, the AGV opens the reversing valve for controlling the clamping mechanism, the clamping arm is opened, and unloading of the goods is completed.

Compared with the prior art, the invention has the beneficial effects that: the clamping arm is connected with the mounting plate in a sliding mode and driven to move through the clamping oil cylinder so as to clamp and clamp the goods. Press from both sides and embrace the mechanism and set up on AGV, can be firm press from both sides to embrace the goods to AGV is accurate fixes a position, makes can be accurate stack the goods. The invention has the advantages of firm clamping and holding of the goods, accurate positioning and identification, accurate and orderly stacking of the goods and high working efficiency.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more apparent, the following detailed description will be given of preferred embodiments.

Drawings

FIG. 1 is a perspective view of a clamping mechanism according to the present invention;

FIG. 2 is a perspective front view of a clamping mechanism of the present invention;

FIG. 3 is a perspective rear view of a clamping mechanism of the present invention;

FIG. 4 is a three-dimensional structure diagram of a clamping and holding state of a laser and magnetic nail composite navigation AGV with a clamping and holding mechanism according to the present invention;

FIG. 5 is a side view of a clamped load state of a laser and magnetic nail composite navigation AGV with a clamping mechanism according to the present invention;

FIG. 6 is a discharging flow chart of a control method of the AGV with laser and magnetic nail composite navigation according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

FIGS. 1 to 6 are drawings of the present invention.

Referring to fig. 1 to 3, a clipping mechanism 10 includes a mounting plate 11, at least two clipping arms 12 slidably coupled to the mounting plate 11, and a clipping power member 13 disposed on the mounting plate 11. The clamping power piece 13 is in transmission connection with the two clamping arms 12, so that the two clamping arms 12 move towards or away from each other. The mounting plate 11 is provided with a cargo detection switch 14. The clamp arm 12 is provided with a cargo space occupying sensor 15 for detecting whether a cargo placing point has a cargo or an obstacle.

Wherein, the clipping arm 12 is connected with the mounting plate 11 in a sliding way. Specifically, one end of the clasping arm 12 is provided with a sliding block 121, and the mounting plate 11 is provided with a sliding groove 111. The slide block 121 at one end of the clamping arm 12 is slidably coupled with the sliding slot 111 of the mounting plate 11, and the clamping arms 12 are both coupled with the power output end of the clamping cylinder 131, so that the clamping cylinder 131 pushes the clamping arm 12 to move transversely along the sliding slot 111. The two clasping arms 12 move towards or away from each other, so that the clasping arms 12 clamp or release the goods.

A clamping sensor 16 for positioning the clamping arm 12 is arranged between the clamping arm 12 and the mounting plate 11 so as to position the goods.

The mounting plate 11 is provided with a height switch 19 for determining the height of the cargo and a proximity switch 17 for limiting the position of the clasping arm 12.

The actuating member of the clamping power member 13 is a clamping cylinder 131. The clamping cylinder 131 is controlled by a reversing valve 132.

Preferably, the end of the clasping arm 12 is provided with a scram switch 18.

Preferably, the inner side of the clamping arm 12 is provided with an anti-slip layer so as to firmly clamp and hold the goods.

The cargo detection switch 14, the cargo occupancy sensor 15, the height switch 19 and the proximity switch 17 are electrically connected with the control center.

Specifically, since the two clasping arms 12 are slidably coupled to the mounting plate 12 and each slidably coupled to the corresponding clasping cylinder 131, the clasping arms 12 can be automatically slidably coupled. Because the two clamping arms 12 respectively have transverse movement, the clamping mechanism 10 can clamp the goods to move transversely when clamping the goods.

Referring to fig. 4 to 6, the laser and magnetic nail composite navigation AGV with a clamping mechanism includes an AGV body 20 and the clamping mechanism 10. The AGV body 20 and the clamp mechanism 10 are provided with a lifting mechanism 21 to provide the clamp mechanism 10 with a lifting motion.

The AGV body 20 may be a magnetic spike and laser hybrid navigation during travel. The laser navigation is utilized in the process of moving the carried goods, and the magnetic nail navigation is utilized when the goods are clamped or unloaded. When the AGV body 20 is close to the unloading area or the loading area, the laser navigation is closed, the magnetic nail navigation is opened, when the AGV body 20 leaves the unloading area or the loading area, the magnetic nail navigation is closed, and the laser navigation is opened, so that the navigation accuracy is improved.

The AGV body 20 is a single steerable wheel drive 22 to facilitate steering. The AGV body 20 is provided with an obstacle avoidance radar 23 in the forward direction for detecting an obstacle in the forward direction. A navigation module 24 is provided at the upper end of the elevator mechanism 21 of the AGV main body 20.

The lifting mechanism 21 includes a lifting cylinder 211, a lifting valve 212 for controlling the lifting cylinder 211, and a lifting frame 213. The lift frame is fixedly coupled with the AGV body 20, and the lift cylinder 211 is fixed on the price lift frame 213. The clamping mechanism 10 is fixed at the power output end of the lift cylinder 211.

The lifting mechanism 21 is provided with a rope displacement sensor for detecting the rising or falling height.

A control method for a laser and magnetic nail combined navigation AGV comprises the following specific steps:

clamping and holding the goods: the empty AGV reaches the front position of the goods according to the system instruction path, and before the empty AGV reaches the front position, the clamping arm 12 of the AGV opens to the maximum width and is lifted to the height corresponding to the goods; when the AGV travels to the clamping and holding position, the AGV stops after the goods touch the cargo detection switch 14, and the clamping and holding arms 12 move oppositely to fix the goods and lift the set height.

Specifically, the process of expanding the clasping arms 12 to the maximum width and lifting the arms to the corresponding height of the cargo can be completed during the driving process. The AGV then continues to move backwards, and stops immediately after the load contacts the load detection switch 14 at the front end of the mounting plate. The AGV controls the reversing valve 132 of the clamping arm 12 to work, the clamping mechanism 10 starts to clamp the goods, the reversing valve 132 stops acting after the pressure of the clamping cylinder 131 reaches a set value through the feedback of the pressure sensor, the oil path is closed, the clamping arm 12 is locked, and the clamping action is completed. When the pressure of the clamping cylinder 131 is reduced and the descending value reaches a set threshold value, the reversing valve 132 continues to work and pressurize, so that the oil pressure of the clamping cylinder 131 continues to rise to a set value. After the clamping and holding mechanism 10 is ensured to clamp the goods, the clamping and holding mechanism 10 of the AGV lifts the goods, and after a certain lifting stroke is reached, the lifting oil cylinder 121 stops acting, and the action of clamping and holding the goods is completed.

Carrying goods: the AGV moves to a goods placing area according to a route set by the system. In the process, the AGV travels to the goods placement area according to the set route according to the laser navigation.

During the unloading process, two situations can be divided, wherein some goods are directly placed on the ground of the placing point, and some goods are stacked on other goods. The specific processes for these two cases are different.

Unloading the goods: referring to fig. 6, before the AGV clamps the goods to the designated bottom layer placing point, the AGV detects whether the bottom layer placing point has an obstacle; if no obstacle exists, the lifting mechanism 21 drives the clamping mechanism 10 and the goods to descend, and when the goods descend to the placing surface, the clamping arm 12 is opened to unload the goods; the AGV travels away from the floor placement point.

Specifically, when the AGV clamps and embraces the goods and reaches a position before the placement point according to a system instruction, the obstacle avoidance radar 23 installed backward below the middle of the clamping and embracing mechanism 10 starts to work, whether goods exist in the target storage point is judged, if an AGV alarm exists, if no obstacle exists, the AGV continues to retreat to the target placement point, and the lifting valve 212 for controlling the AGV clamping and embracing mechanism 10 to descend starts to work.

When the pressure of the lifting oil path or the lifting oil cylinder 211 changes suddenly, and the numerical reference of the pull rope displacement sensor needs to be combined, if the deviation between the feedback height of the pull rope displacement sensor and the reference value is large, and the pressure sensor does not change, the vehicle is stopped and an alarm is given; if the pressure of the lifting oil circuit or the lifting oil cylinder 211 changes suddenly, the deviation between the feedback height of the pull rope displacement sensor and the reference value is small, and the fact that goods contact the ground is indicated. The clamping mechanism 10 cannot descend, at this time, the lifting valve 212 for controlling descending is closed, the AGV opens the reversing valve 132 for controlling the clamping arm 12, the clamping arm 12 is opened to the limit, then all the reversing valves 132 are cut off, unloading of goods is completed, and the AGV moves forward and moves away from the placing point and returns to the standby point.

The AGV comprises a plurality of AGV placing points, wherein the AGV placing points are used for placing cargos; before the AGV carries the goods to a non-bottom layer placing point, the AGV judges whether a barrier exists or not; if there are no obstacles, the AGV moves to a non-floor placement point. At this time, the goods in the clipping and holding mechanism 10 move transversely, so that the distance H1 between the goods and the bottom layer is detected by the distance measuring sensor arranged on the clipping and holding arm 12; the clamping and holding mechanism 10 clamps and holds the goods and then moves transversely, so that a distance H2 between the distance measuring sensor on the clamping and holding arm and the ground is detected; then the AGV continues to move, so that the goods clamped by the AGV are aligned with the bottom goods, at this time, the clamping mechanism 10 and the goods descend under the action of the lifting mechanism 21, the clamping arm 12 is unfolded, the goods are stacked on the bottom goods, and the AGV drives away from the non-bottom placing point.

Specifically, when the AGV clamps and embraces the goods and arrives a place before the storage point according to a system instruction, the obstacle avoidance radar 23 installed backward below the middle of the clamping and embracing mechanism 10 starts to work, whether goods exist at the target placement point is judged, if so, the AGV gives an alarm, and if not, the AGV continues to retreat to the target placement point. Then the clamping and holding mechanism 10 clamps and holds the whole goods and moves to the right side, after the transverse movement is in place, the reversing valve is switched, so that the clamping and holding mechanism 10 clamps and holds the whole goods and moves to the right side, at the moment, a downward ranging sensor arranged on a right clamping arm of the clamping and holding mechanism 10 directly irradiates on the bottom goods, a measured value H1 is detected, then the clamping and holding mechanism 10 continues to move to the right side, when a measuring point of the ranging sensor is changed from a goods box to the ground, the measured value H1 changes into H2, and the difference between H1 and H2 is larger than a set value, which indicates that the ranging sensor just exceeds the edge of the bottom goods and takes the edge of the bottom goods as a reference point; then the goods are transversely moved by a fixed distance (the distance between the laser ranging sensor and the edge of the bottom goods) to compensate, thereby ensuring that the stacked goods are aligned with the bottom goods in a centering way. That is, the AGV continues to traverse the set distance X with the reference point as a reference point, determines that the clamped goods and the bottom goods are centered and aligned, and then the clamping mechanism 10 starts to descend.

When the pressure of the lifting oil path or the lifting oil cylinder 211 changes suddenly, and the numerical reference of the pull rope displacement sensor needs to be combined, if the deviation between the feedback height of the pull rope displacement sensor and the reference value is large, and the pressure sensor does not change, the vehicle is stopped and an alarm is given; if the pressure of the lifting oil circuit or the lifting oil cylinder 211 changes suddenly, the deviation between the feedback height of the pull rope displacement sensor and the reference value is small, and the fact that goods contact the ground is indicated. The clamping mechanism 10 cannot descend, at this time, the lifting valve 212 for controlling descending is closed, the AGV opens the reversing valve 132 for controlling the clamping arm 12, the clamping arm 12 is opened to the limit, then all the reversing valves 132 are cut off, unloading of goods is completed, and the AGV moves forward and moves away from the placing point and returns to the standby point.

Compared with the prior art, the clamping arm is connected with the mounting plate in a sliding mode and driven to move through the clamping oil cylinder so as to clamp and clamp the goods. Press from both sides and embrace the mechanism and set up on AGV, can be firm press from both sides to embrace the goods to AGV is accurate fixes a position, makes can be accurate stack the goods. The invention has the advantages of firm clamping and holding of the goods, accurate positioning and identification, accurate and orderly stacking of the goods and high working efficiency.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.