CN105220918A - A kind of car carrying robot - Google Patents
A kind of car carrying robot Download PDFInfo
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- CN105220918A CN105220918A CN201510702997.XA CN201510702997A CN105220918A CN 105220918 A CN105220918 A CN 105220918A CN 201510702997 A CN201510702997 A CN 201510702997A CN 105220918 A CN105220918 A CN 105220918A
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Abstract
The invention provides a kind of car carrying robot, comprise frame (307), the hoofing part mechanism (301) be installed in frame, battery pack (302), navigation module (303), control module (304), power management module (305) and safety detection module (306) are also installed in described frame, middle position in described frame is provided with hydraulic pump (308), described stands longitudinal two ends is provided with by the hydraulically powered lifting body of hydraulic pump (400); Described hoofing part mechanism (301) comprises the travel driving motor and wheels of walking that are installed in frame, and can realize omnibearing ambulation.With prior art ratio, transfer robot provided by the invention, security performance is high, intelligence degree is high, can run fast, efficiently, continuously, stably.
Description
Technical field
The present invention relates to a kind of car carrying robot, specifically relating to a kind of transfer robot for carrying vehicle-containing.
Background technology
Following two kinds are generally had with the full-automatic mechanical-type parking systems of vehicle-containing handling automobile:
The first is single vehicle-containing switch type garage parking.Each parking stall in this garage pre-sets one piece of vehicle-containing, the automobile parking of warehouse-in on the vehicle-containing of garage exit/entry, vehicle-containing carrier carry between garage exit/entry and parking space vehicle-containing to realize automobile go out warehouse-in.When vehicle is put in storage continuously, often stored in before an automobile, vehicle-containing carrier just must get one piece of vehicle-containing to garage exit/entry, uses for next warehouse-in automobile; Otherwise when vehicle needs continuous outbound, every outbound automobile, vehicle-containing carrier will send the vehicle-containing of this automobile of carrying back to garage, and the automobile that garage exit/entry can be supplied to outbound next time uses.The discrepancy of the vehicle in this garage parking is all clearance-types, is not continuous print, and efficiency is low, not energy-conservation.
The second is two vehicle-containing switch type garage parking simultaneously.This garage needs to pre-set double-layer track and one piece of vehicle-containing in each parking stall, the automobile of warehouse-in must to dock on vehicle-containing and to be placed on the upper strata track on parking space, lower floor's track is now empty, if this parking space does not park a car, then vehicle-containing will be placed on lower floor's track.Vehicle-containing carrier and garage exit/entry also must be double-deckers, and also need to arrange automatic jacking device at garage exit/entry, so that lower floor's vehicle-containing jacking is exchanged to upper strata.When automobile is put in storage, automobile parking is on the upper strata vehicle-containing of garage exit/entry, and the upper strata of double-deck vehicle-containing carrier carrying vehicle-containing and the automobile parked in the above, unloaded sweep is sent into garage exit/entry lower floor by the lower floor of double-deck vehicle-containing carrier simultaneously.When double-deck vehicle-containing carrier and parking space exchange and put in storage, vehicle-containing and the automobile parked in the above are sent into upper strata, parking space track by the upper strata of double-deck vehicle-containing carrier, and the lower floor of double-deck vehicle-containing carrier is by the unloaded sweep access of warehouse compartment lower floor track simultaneously.Automobile outbound, then on the contrary.This vehicle-containing is switch type garage simultaneously, can realize automobile faster go out warehouse-in continuously, but need to arrange double-layer track due to parking space, this adds the height on every layer of parking space undoubtedly, adds construction cost on the one hand, wastes space on the other hand.
The name that the patent No. is " ZL201220713016.3 " is called that the Chinese utility model patent of " a kind of self-navigation vehicle " discloses a kind of robot carrying vehicle-containing, the shortcoming that this technical scheme must be walked in orbit for the carrier in conventional stereo garage proposes, this vehicle-containing transfer robot can directly at ground running, and its running orbit is universal, each corner space that can make full use of building parks cars, and this multi-storied garage has at the bottom of construction cost, space availability ratio is high, can realize the advantages such as intelligent fast removal.But, because multiple lifting bodies that vehicle-containing transfer robot is arranged are respective independently drive unit, each lifting body is difficult to realize synchronously, when the transverse direction of vehicle-containing be elevated nonsynchronous situation occur time, the automobile be parked on vehicle-containing can be caused then to there will be laterally incline, fall the security incidents such as damage; When causing the longitudinal direction of vehicle-containing to be elevated asynchronous, vehicle-containing transfer robot is at cause specific during emergent stopping, and the automobile on vehicle-containing is then easy from longitudinally skidding off vehicle-containing, thus causes automobile to fall the security incidents such as damage.
Summary of the invention
In order to solve the problem, the object of the present invention is to provide a kind of car carrying robot, security performance is high, intelligence degree is high, can run fast, efficiently, continuously, stably.
the object of the invention is to adopt following technical proposals to realize:
A kind of car carrying robot, comprise frame (307), the hoofing part mechanism (301) be installed in frame, battery pack (302), navigation module (303), control module (304), power management module (305) and safety detection module (306) are also installed in described frame, middle position in described frame is provided with hydraulic pump (308), described stands longitudinal two ends is provided with by the hydraulically powered lifting body of hydraulic pump (400); Described hoofing part mechanism (301) comprises the travel driving motor and wheels of walking that are installed in frame, and can realize omnibearing ambulation.
Preferably, described lifting body (400) comprises raising plate (401), promotes Electrohydraulic push rod (402), the hydraulic drive unit (403) of raising plate lifting; The top being arranged at lifting body (400) of described raising plate (401) level.
Preferably, described power management module (305) is connected with battery pack (302); Described control module (304) is connected with navigation module (303), power management module (305), safety detection module (306), hoofing part mechanism (301) and hydraulic pump (308) respectively.
Preferably, described safety detection module (306) is arranged on frame (307) longitudinal two ends and is positioned at lifting body (400) outside.
Preferably, the electric quantity data of battery pack (302) is transferred to control module (304) by described power management module (305), described control module (304) sends instruction respectively to navigation module (303) and hoofing part mechanism (301), described hoofing part mechanism (301) drives towards battery recharge room by the guide of navigation module (303), charges to described battery pack (302).
Further, described robot (300) is longitudinally arranged on rectangle vehicle-containing (005) bottom, described raising plate (401) by the lifting of lifting body (400) first by blocking mechanism (200) jack-up of vehicle-containing (005) to the end face protruding from described vehicle-containing (005), then lift vehicle-containing (005) and carry.
Further, automobile longitudinal is arranged on vehicle-containing (005), and described blocking mechanism (200) is arranged along the diagonal of vehicle-containing (005) in pairs corresponding to the stand of doughnut.
with immediate prior art ratio, the present invention reaches following beneficial effect:
1, transfer robot provided by the invention, in robot, two ends correspondence arranges lifting body, guarantee that vehicle-containing is synchronous what be elevated by the transverse direction in jacking process, avoid vehicle-containing asynchronous due to what be laterally elevated, cause the automobile generation sideways of parking in the above to fall the security incidents such as damage.
2, transfer robot provided by the invention, when jacking vehicle-containing, energy jacking is simultaneously installed on the blocking mechanism on vehicle-containing, avoids the automobile on vehicle-containing longitudinally to skid off from it.
3, transfer robot provided by the invention, is provided with on-vehicle safety detection module, can guarantee the security of operation of robot.
4, transfer robot provided by the invention, is provided with battery pack and power management module, automatically can detect battery electric quantity, electricity not enough or idle time automatically arrive fixing battery recharge room place and charge.。
5, transfer robot provided by the invention, security performance is high, intelligence degree is high, can run fast, efficiently, continuously, stably.
Accompanying drawing explanation
Fig. 1: the plan structure schematic diagram of transfer robot provided by the invention;
Fig. 2: the side-looking structural representation of transfer robot provided by the invention;
Fig. 3: robot transport vehicle-containing provided by the invention face structural representation;
Fig. 4: the side-looking structural representation of robot transport vehicle-containing provided by the invention;
Wherein: 005, vehicle-containing; 200, blocking mechanism; 300, robot; 301, hoofing part mechanism; 302, battery pack; 303, navigation module; 304, control module; 305, power management module; 306, safety detection module; 307, frame; 308, hydraulic pump; 400, lifting body; 401, raising plate; 402, Electrohydraulic push rod; 403, hydraulic drive unit.
Detailed description of the invention
below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
The transfer robot that the embodiment of the present invention provides, as shown in Figure 1, robot 300 comprises the hoofing part mechanism 301 be arranged in rectangle frame 307, lifting body 400 and control system, the quantity of hoofing part mechanism 301 is 4 and is separately positioned on corner bottom frame 307, and lifting body 400 is symmetricly set on the longitudinal two ends of frame 307.Control system comprises battery pack 302, navigation module 303, control module 304, power management module 305 and safety detection module 306; Power management module 305 is connected with battery pack 302; Control module 304 is connected with navigation module 303, power management module 305, safety detection module 306, hoofing part mechanism 301 and hydraulic pump 308 respectively.Safety detection module 306 is arranged on the longitudinal two ends of frame 307 and is positioned at outside lifting body 400.
Hoofing part mechanism 301 comprises the travel driving motor and wheels of walking that are installed in frame, and is installed on bottom frame 307, and arranges with its transverse and longitudinal axisymmetrical.Under the coordinated drive of walking driving mechanism 301, single machine people 300 can do the motion in the directions such as straight line, rotation and turning, and namely the operation passage of robot 300 can be straight line, also can be curve, realizes omnibearing ambulation.
Safety detection module 306 detects periphery situation in real time in robot 300 driving process, avoids colliding, or avoids meeting accident when carrying vehicle-containing 005, thus guarantees the safe operation of robot 300.
When the electricity of robot 300 is not enough, the data of battery pack 302 are transferred to control module 304 by power management module 305, control module 304 sends instruction respectively to navigation module 303 and hoofing part mechanism 301, battery recharge room is driven towards by the guide of navigation module 303 in hoofing part mechanism 301, charges to battery pack 302.
As shown in Figure 2, lifting body 400 comprises raising plate 401, promotes Electrohydraulic push rod 402, the hydraulic drive unit 403 of raising plate lifting.The top being arranged at lifting body 400 of raising plate 401 level.
When control module 304 hydraulic control pump 308 is to hydraulic drive unit 403 pumps hydraulic oil plant, driver element 403 drives Electrohydraulic push rod 402 upwards jack-up, and raising plate 408 does steady vertical motion relative to vehicle frame 307.Otherwise when control module 304 hydraulic control pump 308 quits work, when the piston rod of Electrohydraulic push rod 402 is retracted, raising plate 408 does steady down maneuver relative to vehicle frame 307.Lifting body 400 makes robot 300 when carrying vehicle-containing 005, the synchronous cross lifting of vehicle-containing 005 can be guaranteed, thus the transverse direction lifting avoided due to vehicle-containing 005 is asynchronous, causes the automobile generation sideways be parked on vehicle-containing 005 to fall the security incidents such as damage.
As shown in Figs. 3-4, robot 300 is from the transverse direction of rectangle vehicle-containing 005 or longitudinally move to bottom it, and longitudinally rest in bottom vehicle-containing 005, raising plate 401 by the lifting of lifting body 400 first by blocking mechanism 200 jack-up of vehicle-containing 005 to the end face protruding from vehicle-containing 005, then lift vehicle-containing 005 and carry.Automobile longitudinal is parked on vehicle-containing 005, and the stand that blocking mechanism 200 corresponds to doughnut is arranged in pairs along the diagonal of vehicle-containing 005.
When vehicle-containing 005 is in blank state, blocking mechanism 200 horizontal is on vehicle-containing 005, and its end face consists of an integral planar, sails into park for automobile, also can be used for robot 300 to run on its surface.When vehicle-containing 005 is in loading condition, robot 300 enters bottom vehicle-containing 005, the lifting body 400 at robot 300 two ends rises and by blocking mechanism 200 jack-up to protruding from vehicle-containing 005 end face, thus makes blocking mechanism 200 in running order, serves the effect stopping automobile.When robot 300 is due to certain cause specific emergent stopping, doughnut is blocked by blocking mechanism 200 can not skid off vehicle-containing 005, thus avoids the automobile in handling process to fall and the security incidents such as damage.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; those of ordinary skill in the field are to be understood that; can modify to the specific embodiment of the present invention with reference to above-described embodiment or equivalent replacement; these do not depart from any amendment of spirit and scope of the invention or equivalent replacement, and it all should be encompassed within claims of the present invention.
Claims (7)
1. a car carrying robot, comprise frame (307), the hoofing part mechanism (301) be installed in frame, battery pack (302), navigation module (303), control module (304), power management module (305) and safety detection module (306) are also installed in described frame
It is characterized in that, the middle position in described frame is provided with hydraulic pump (308), described stands longitudinal two ends is provided with by the hydraulically powered lifting body of hydraulic pump (400); Described hoofing part mechanism (301) comprises the travel driving motor and wheels of walking that are installed in frame, and can realize omnibearing ambulation.
2. transfer robot as claimed in claim 1, is characterized in that, described lifting body (400) comprises raising plate (401), promotes Electrohydraulic push rod (402), the hydraulic drive unit (403) of raising plate lifting; The top being arranged at lifting body (400) of described raising plate (401) level.
3. the transfer robot as described in any one of claim 1-2, is characterized in that, described power management module (305) is connected with battery pack (302); Described control module (304) is connected with navigation module (303), power management module (305), safety detection module (306), hoofing part mechanism (301) and hydraulic pump (308) respectively.
4. transfer robot as claimed in claim 3, is characterized in that, described safety detection module (306) is arranged on frame (307) longitudinal two ends and is positioned at lifting body (400) outside.
5. transfer robot as claimed in claim 3, it is characterized in that, the electric quantity data of battery pack (302) is transferred to control module (304) by described power management module (305), described control module (304) sends instruction respectively to navigation module (303) and hoofing part mechanism (301), described hoofing part mechanism (301) drives towards battery recharge room by the guide of navigation module (303), charges to described battery pack (302).
6. transfer robot as claimed in claim 1, it is characterized in that, described robot (300) is longitudinally arranged on rectangle vehicle-containing (005) bottom, described raising plate (401) by the lifting of lifting body (400) first by blocking mechanism (200) jack-up of vehicle-containing (005) to the end face protruding from described vehicle-containing (005), then lift vehicle-containing (005) and carry.
7. transfer robot as claimed in claim 6, it is characterized in that, automobile longitudinal is arranged on vehicle-containing (005), and described blocking mechanism (200) is arranged along the diagonal of vehicle-containing (005) in pairs corresponding to the stand of doughnut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510702997.XA CN105220918A (en) | 2015-10-26 | 2015-10-26 | A kind of car carrying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510702997.XA CN105220918A (en) | 2015-10-26 | 2015-10-26 | A kind of car carrying robot |
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| CN105220918A true CN105220918A (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510702997.XA Pending CN105220918A (en) | 2015-10-26 | 2015-10-26 | A kind of car carrying robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105863351A (en) * | 2016-05-26 | 2016-08-17 | 山东建筑大学 | Autonomous parking system and method based on intelligent automobile transporters |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN106088747A (en) * | 2016-06-23 | 2016-11-09 | 合肥巍华智能停车设备有限公司 | Orthoscopic automobile carrier |
| CN106639444A (en) * | 2016-11-07 | 2017-05-10 | 苏州曾智沃德智能科技有限公司 | Intelligent robot for parking and transportation |
| CN107448041A (en) * | 2017-09-28 | 2017-12-08 | 云南昆船智能装备有限公司 | A kind of support-board type electromagnetism guiding parking transfer robot and method for running |
| WO2019191899A1 (en) * | 2018-04-03 | 2019-10-10 | Songling Robotics (Dongguan) Co.,Ltd. | Automated guided vehicle robot and clamping device thereof |
| CN113756624A (en) * | 2020-06-01 | 2021-12-07 | 现代自动车株式会社 | Vehicle connection system for multi-story building and control method thereof |
-
2015
- 2015-10-26 CN CN201510702997.XA patent/CN105220918A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105863351A (en) * | 2016-05-26 | 2016-08-17 | 山东建筑大学 | Autonomous parking system and method based on intelligent automobile transporters |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN106088747A (en) * | 2016-06-23 | 2016-11-09 | 合肥巍华智能停车设备有限公司 | Orthoscopic automobile carrier |
| CN106639444A (en) * | 2016-11-07 | 2017-05-10 | 苏州曾智沃德智能科技有限公司 | Intelligent robot for parking and transportation |
| CN107448041A (en) * | 2017-09-28 | 2017-12-08 | 云南昆船智能装备有限公司 | A kind of support-board type electromagnetism guiding parking transfer robot and method for running |
| WO2019191899A1 (en) * | 2018-04-03 | 2019-10-10 | Songling Robotics (Dongguan) Co.,Ltd. | Automated guided vehicle robot and clamping device thereof |
| CN113756624A (en) * | 2020-06-01 | 2021-12-07 | 现代自动车株式会社 | Vehicle connection system for multi-story building and control method thereof |
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Application publication date: 20160106 |