Task
Cartoned goods on standard EU pallets are provided on roller and chain conveyors in front of the production halls. The automated forklift (AGV—Automated Guided Vehicle) has to transport the pallets to the intermediate storage and transfer them to the conveyor system for storage.
Implementation
Vehicle
A Linde E20 Li-Ion forkliſt truck of the 387 series was equipped for the transport task
Job creation
The AGV operates without a control system and creates transport orders based on the waiting pallets reported by the materials handling system. The processing takes place automatically without user interaction according to a definable priority list.
Alignment between target position (leſt) and actual position (right)
Load transfer to conveyor with bearing marks
Load transfer sequence
Navigation
Transportation takes place between the pick-up and delivery points along predefined routes. Environmental navigation is realized by a laser scanner mounted on the AGV.
Load handling
To pick up and deliver the pallets in the exact position,the AGV “takes bearings” on bearing marks on the conveyorsystem with the safety laser scanners close to theground (Figure 2). Monitoring for the exact position ofthe waiting pallet or checking for completeness of theload was not implemented in this project scope. Theload transfer area is designated as a hazardous area.The main direction of travel when loaded is backwardsso that the load is not thrown off in the event of emergencybraking.
Safety
A comprehensive safety concept, derived from risk and hazard analyses as well as current, applicable standards, guarantees an operation free of personal injury and material damage. The safety concept is based, among other things, on the standards listed to the right.
Other functions
Other system functions round off the use of the AGV and guarantee high availability.
- Navigation tower with laser scanner for environmental navigation
- Sensor taps for safe speed and steering angle detection
- Safety laser scanner for person detection
- Laser scanner on the roof structure for machine protection
- Four emergency stop buttons
- Signal light on the roof structure for visual and acoustic signaloutput
- WLAN communication with existing material handling equipment
- Processing and provision of release and blocking signals to the conveyor equipment
- Spacers on the fork with reflex light scanners for pallet detection
- Sensors for monitoring fork height and inclination
- Automated charging of the vehicle battery in a charging station (modified roof structure)
- Control display in the driver’s cab
- Control panel on the outside of the AGV with illuminated buttons
- The possibility of manual operation is still given
The automated electric forklift for transporting pallets in use
OptIn: When you click on the video, it is loaded by the YouTube server, which collects your IP address and other data (s. privacy policy).
