CN105946548A - Automatic guiding type carrying device - Google Patents

Automatic guiding type carrying device Download PDF

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Publication number
CN105946548A
CN105946548A CN201610319153.1A CN201610319153A CN105946548A CN 105946548 A CN105946548 A CN 105946548A CN 201610319153 A CN201610319153 A CN 201610319153A CN 105946548 A CN105946548 A CN 105946548A
Authority
CN
China
Prior art keywords
driving
handling device
drive mechanism
homing guidance
vehicle frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610319153.1A
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Chinese (zh)
Other versions
CN105946548B (en
Inventor
蔡颖杰
吴昊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yee Fung Automation Technology Co Ltd
Original Assignee
吴昊
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 吴昊 filed Critical 吴昊
Priority to CN201610319153.1A priority Critical patent/CN105946548B/en
Publication of CN105946548A publication Critical patent/CN105946548A/en
Application granted granted Critical
Publication of CN105946548B publication Critical patent/CN105946548B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00Arrangement or mounting of transmissions in vehicles
    • B60K17/04Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0061Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle

Abstract

The invention discloses an automatic guiding type carrying device which comprises a vehicle frame, driving mechanisms, carrying mechanisms, a coordinate recognition mechanism and a control system. The driving mechanisms are located at the two ends of the vehicle frame. Each driving mechanism comprises two parallel driving wheels, and each driving wheel is driven by an independent power part to independently rotate positively or reversely. The two driving wheels of each driving mechanism are mounted on the vehicle frame in an overall-rotatable mode, and the rotating center line of every two driving wheels is perpendicular to the connecting line of the centers of the two driving wheels. When every two driving wheels rotate in the same direction, the corresponding driving mechanism moves forwards, and when every two driving wheels rotate in opposite directions, the corresponding driving mechanism turns around in situ. Accordingly, under the control of the control system, the driving mechanisms of the carrying device can rotate to any direction, namely the carrying device can freely move in any direction.

Description

Homing guidance formula Handling device
Technical field
The application relates to a kind of material conveyance equipment, particularly relates to a kind of homing guidance Handling device (AGV).
Background technology
Along with the most universal of automobile and development, city parking position supply wretched insufficiency, the demand on parking stall is more Coming the biggest, traditional parking mode gradually develops to intelligent machine solid parking mode.Existing automatically Change parking systems and mainly have planar movement class, tunnel stacking class, vertical lifting.Their operation principle It is exactly to have one or more haulage equipment in simple terms, automobile lifting can be got up carry from bottom of car, Moving to the most together in elevator, elevator transports different parking tiers haulage equipment to together with automobile again, By haulage equipment, automobile is sent into the parking stall specified again.
Existing support board automobile carrier has track, it is necessary to drag cable is powered, and traffic direction is only Can longitudinally or laterally, it is impossible to programme path is arbitrarily walked.
Summary of the invention
The application provides a kind of novel homing guidance formula Handling device.
The homing guidance formula Handling device that the application provides, including:
Vehicle frame;
Drive mechanism, described drive mechanism is at least two, and described at least two drive mechanism is distributed in vehicle frame Two ends, described drive mechanism includes two driving wheels be arrangeding in parallel, and each driving wheel is by independent power Part is driven realizing independent forward or reverse, and two driving wheels of each drive mechanism are with can unitary rotation Mode be arranged on vehicle frame, its rotary centerline is perpendicular to two driving wheel lines of centres;
Loading mechanism, for carrying material in transportation;
Coordinate identification mechanism, for identifying the changing coordinates information of homing guidance formula Handling device;
And control system, described control system receives the information feedback of coordinate identification mechanism, and to each mechanism It is controlled, makes homing guidance formula Handling device complete homing guidance and transportation function.
As the further improvement of described homing guidance formula Handling device, described loading mechanism include jacking part and Drive the jacking actuator of jacking part raising and lowering.
As the further improvement of described homing guidance formula Handling device, described jacking actuator is motor, institute Stating motor to be connected with the gear of pinion and rack, the tooth bar of described pinion and rack is vertically arranged, described Jacking part is fixed with tooth bar.
As the further improvement of described homing guidance formula Handling device, described drive mechanism includes driving body frame And floating shelf, said two driving wheel is arranged on driving body frame, and described driving body frame passes through floating shelf and car Frame connects, and is provided with elastic shock attenuation body between described floating shelf and driving body frame, returning of described elastic shock attenuation body Multiple power can make driving body frame move earthward.
As the further improvement of described homing guidance formula Handling device, described drive mechanism also includes rocking carrier, Described floating shelf is rotatably mounted on rocking carrier, and described floating shelf is in the rotating of rocking carrier Heart line is horizontally disposed, and itself or its parallel lines are perpendicular to the line of centres of two driving wheels, institute Stating rocking carrier to be rotatably mounted on vehicle frame, the rotary centerline of described rocking carrier relative frame hangs down Straight in two driving wheel lines of centres.
As the further improvement of described homing guidance formula Handling device, also include mounting seat, described mounting seat Fixing with vehicle frame, described mounting seat is provided with floating bearing, and the outer ring of described floating bearing is fixed with mounting seat, The inner ring of described rocking carrier and floating bearing is fixed.
As the further improvement of described homing guidance formula Handling device, described drive mechanism also includes encoder; Described encoder is arranged on rocking carrier, and its output shaft connects a connecting shaft, described connecting shaft by shaft coupling The rotation centerline crossing rocking carrier relative frame is arranged;Described connecting shaft is upward through mounting seat, and it passes The part of mounting seat is provided with encoder lock shaft mechanism;Mounting seat is provided with two rotary stopper switches, Described encoder lock shaft mechanism is positioned at the centre of two rotary stoppers switches.
As the further improvement of described homing guidance formula Handling device, described coordinate identification mechanism is that laser is led Boat, Quick Response Code scanning element and/or magnetic navigation sensor.
As the further improvement of described homing guidance formula Handling device, described drive mechanism is four, four Drive mechanism squarely is distributed in the bottom of vehicle frame.
As the further improvement of described homing guidance formula Handling device, also include set of cells and for battery The charging boots of group charging.
The application provides the benefit that:
The Handling device that the application provides, including vehicle frame, drive mechanism, loading mechanism, coordinate identification mechanism And control system.This drive mechanism is distributed in the two ends of vehicle frame, and it includes two driving wheels be arrangeding in parallel, Each driving wheel is driven realizing independent forward or reverse by independent force piece, each drive mechanism Two driving wheels are can be arranged on vehicle frame in the way of unitary rotation, and its rotary centerline is perpendicular to two drivings The wheel line of centres.When two driving wheel rotating in same directions, drive mechanism is advanced;When two driving wheel directions turn Time dynamic, turn-take in drive mechanism original place.Or two driving wheel rotating speeds are not it is also possible to make drive mechanism turn Circle.Therefore, under control of the control system, the drive mechanism of this Handling device can be turned to either direction, Can move freely to either direction.
Accompanying drawing explanation
Fig. 1 is the structural representation of the application homing guidance a kind of embodiment of formula Handling device;
Fig. 2 is the structural representation of a kind of embodiment of the application drive mechanism;
Fig. 3 is along the schematic diagram after two middle cuttings of motors in embodiment illustrated in fig. 2;
Fig. 4 is along the schematic diagram after two middle cuttings of driving wheels in embodiment illustrated in fig. 2;
Fig. 5 is the exploded view of driving wheel part in embodiment illustrated in fig. 2;
Fig. 6 is schematic diagram after exploded view shown in Fig. 5 assembles;
Fig. 7 is the exploded view of floating shelf part in embodiment illustrated in fig. 2;
Fig. 8 is the schematic diagram after exploded view shown in Fig. 7 assembles;
Fig. 9 is the exploded view of rocking carrier part in embodiment illustrated in fig. 2;
Figure 10 is the schematic diagram after exploded view shown in Fig. 9 assembles;
Figure 11 is the exploded view of mounting seat part in embodiment illustrated in fig. 2;
Figure 12 is the structural representation of a kind of embodiment of the application loading mechanism;
Figure 13 is the structural representation of a kind of embodiment of the application support board;
Figure 14 is the application homing guidance formula Handling device schematic diagram when carrying out vehicle conveying.
Detailed description of the invention
Combine accompanying drawing below by detailed description of the invention the present invention is described in further detail.The application is permissible Realize with multiple different form, however it is not limited to the embodiment described by the present embodiment.Following tool is provided The purpose of body embodiment is easy for present disclosure is become apparent from thorough explanation, the most upper and lower, Left and right wait indicating position words be only for shown structure in respective figure for position.
But, those skilled in the art may be aware that one or more detail describes Can be omitted, or other method, assembly or material can also be used.In some instances, some Embodiment does not describe or is not described later in detail.
Additionally, technical characteristic described herein, technical scheme can also in one or more embodiments with The mode of any appropriate combines.For a person skilled in the art, it is easy to understand and reality provided herein Step or the operation order of executing the relevant method of example can also change.Therefore, any in drawings and Examples Order is merely illustrative purposes, does not implies that requirement in a certain order, requires unless expressly stated to press According to a certain order.
Herein for parts institute serialization number itself, such as " first ", " second " etc., it is only used for distinguishing and is retouched The object stated, does not have any order or art-recognized meanings.And the application described " connection ", " connection ", such as nothing Special instruction, all includes directly or indirectly connecting (connection).
Embodiment one:
The present embodiment one provides a kind of homing guidance formula Handling device, and this homing guidance formula Handling device can complete Self-action vehicle conveying works.
Refer to Fig. 1, this homing guidance formula Handling device includes:
Vehicle frame 100;
Drive mechanism 200, this drive mechanism 200 is at least two, and at least two drive mechanism 200 is distributed in The two ends of vehicle frame 100.Drive mechanism 200 includes two driving wheels be arrangeding in parallel, and each driving wheel is by solely Vertical force piece is driven realizing independent forward or reverse, two driving wheels of each drive mechanism 200 Can be arranged on vehicle frame 100 in the way of unitary rotation, its rotary centerline is perpendicular to two driving wheel centers Line;
Loading mechanism 300, for carrying material in transportation;
Coordinate identification mechanism, for identifying the changing coordinates information of homing guidance formula Handling device;
And control system, this control system receives the information feedback of coordinate identification mechanism, and enters each mechanism Row controls, and makes homing guidance formula Handling device complete homing guidance and transportation function.
For a drive mechanism 200, when two driving wheel rotating in same directions, before drive mechanism 200 Enter;When two driving wheel directions rotate, turn-take in drive mechanism 200 original place.
After drive mechanism 200 is installed to vehicle frame 100, such as drive mechanism 200 is four, and four are driven Motivation structure 200 squarely is distributed in the bottom of vehicle frame 100.When needs turn to, control system controls The motor forward or reverse of these four drive mechanisms 200, so that four drive mechanisms 200 turn to same Direction, the direction can be either direction, i.e. homing guidance formula Handling device can move freely to either direction. Meanwhile, the rotating speed that two driving wheels are different, also can realize turning to of drive mechanism 200.
This vehicle frame 100 plays the supporting role of whole device.In order to drive the force piece of this driving wheel to be Motor or miscellaneous part.
Refer to Fig. 2 to 6, this drive mechanism 200 includes driving body frame 218, two driving wheels 211 and driving Its motor 212 rotated dynamic is arranged on driving body frame 218.Or, two driving wheels 211 can also it His form realizes independent rotation.
As a kind of exemplary construction, two groups of live axles 217 and two groups of idler shafts 216 respectively with drive body frame The both sides welding of 218.Gear wheel 215 is fixed into driving wheel 211 by adapter sleeve, bearing and lock screw One module, and be installed on live axle 217.Little gear 213 is installed on driving motor 212 (force piece A kind of concrete example) on output shaft, idle gear 214 is installed on idler shaft 216.Two driving motors 212,213, two groups of idle pulley 214, two set gear wheel driving wheel modules of two little gears constitute two, left and right Completely self-contained power drive system.
Drive mechanism includes driving motor 212, driving wheel 211 and train of reduction gears, and train of reduction gears comprises greatly Gear 215, little gear 213, idle gear 214.This driving motor 212 is arranged on driving body frame 218, Little gear 213 is connected with driving motor 212, and driving wheel 211 is arranged on the live axle driving body frame 218 On 217, gear wheel 215 is coaxially connected with driving wheel 211, and idle gear 214 is arranged on and drives body frame 218 On idler shaft 216 and ratcheting with size gear 213.
This driving body frame 218 directly can be formed with vehicle frame 100 and be rotationally connected, such as by knots such as floating bearings Structure realizes, to ensure that two driving wheels 211 can rotate with an overall relative frame 100.
Or drive mechanism 200 may also comprise floating shelf, drive body frame 218 by floating shelf and vehicle frame 100 Connecting, be provided with elastic shock attenuation body between floating shelf and driving body frame 218, the restoring force of elastic shock attenuation body can Driving body frame 218 is made to move earthward.
Floating shelf becomes to be rotationally connected with vehicle frame 100, and drives body frame 218 be connected with floating shelf and arrange damping Structure.
Refer to Fig. 4 to 8, drive body frame 218 to have two containing cavities being oppositely arranged, floating shelf 221 Two ends are respectively protruding in corresponding containing cavity, and are provided with guide pillar 219 in containing cavity, and guide pillar 219 is through floating shelf Guide hole 223 on 221, floating shelf 221 can be movable along guide pillar 219 in containing cavity.
Further, this driving body frame 218 encloses spring installation cavity with floating shelf 221, this elastic shock attenuation Body is arranged in spring installation cavity.
Specifically, floating shelf 221 both sides are by four groups of guide pin bushings 224 and guide pillar 219 footpath driving body frame 218 To fixing, guide pin bushing 224 and guide hole 223 interference fit of floating shelf 221.Two pairs of guide holes on floating shelf 221 Blind hole position in the middle of 223 is provided with damping spring 222 (the concrete example of a kind of elastic shock attenuation body), spring 222 other ends contact with driving body frame 218.
This spring shock absorption structure can make drive mechanism 200 have certain ability that fluctuates, when carrying dress Putting when irregular movement over ground, spring shock absorption structure can make driving wheel 211 keep one with ground all the time Fixed adhesive force, it is to avoid skidding produces.
Further, for floating shelf 221, it can also directly and floating shelf 221 and vehicle frame 100 One-tenth is rotationally connected, such as, realized by structures such as floating bearings.
Or, it is also possible to include that rocking carrier, floating shelf 221 are rotatably mounted on rocking carrier, The rotary centerline of the relative rocking carrier of floating shelf 221 is horizontally disposed, and itself or its parallel lines hang down Directly in two lines of centres rotating wheel.Rocking carrier is rotatably mounted in mounting seat, rocking carrier The rotary centerline of relative frame 100 is perpendicular to two and rotates the wheel line of centres.
Or, it is also possible to it is to drive body frame to be directly connected with rocking carrier.Body frame is driven pivotally to pacify It is contained on rocking carrier, drives body frame horizontally disposed relative to the rotary centerline of rocking carrier, and itself Or its parallel lines are perpendicular to two lines of centres rotating wheel, rocking carrier is rotatably mounted to install On seat, the rotary centerline of rocking carrier relative frame is perpendicular to two and rotates the wheel line of centres.
Specifically, refer to Fig. 3,7 to 10, rocking carrier 231 has two the first side plates being oppositely arranged 232, floating shelf 221 has two the second side plates 225 being oppositely arranged.This first side plate 232 and second side Plate 225 can be that one is fixed with swinging shaft, and another is provided with the oscillation bearing coordinated with swinging shaft.
In this exemplary construction, the first side plate 232 of rocking carrier 231 is co-axially mounted two swinging shafts 221, floats Second side plate 225 of frame 221 is by oscillation bearing 226 and swinging shaft 221 matched in clearance, axially and radially Fixing, oscillation bearing 226 and floating shelf 221 interference fit.
Refer to Fig. 3,4,9,10 and 11, this drive mechanism 200 also includes mounting seat 241, mounting seat 241 fix with vehicle frame 100, and mounting seat 241 is provided with floating bearing 237, the outer ring 2371 of floating bearing 237 Fixing with mounting seat 241, rocking carrier 231 is fixing with the inner ring 2372 of floating bearing 237, thus realizes shaking The rotation of rocker 231 relative frame 100.
This mounting seat 241 can be a fixed plate, certainly, also can omit this mounting seat in other embodiments 241, and drive mechanism 200 is directly installed on vehicle frame 100.
This drive mechanism 200 also includes that encoder 233, encoder 233 are arranged on rocking carrier 231, and it is defeated Shaft 2331 connects a connecting shaft 236 by shaft coupling 235, and connecting shaft 236 crosses the relative car of rocking carrier 231 The rotation centerline of frame 100 is arranged.Connecting shaft 236 is upward through mounting seat 241, and it passes mounting seat The part of 241 is provided with encoder lock shaft mechanism 243;Mounting seat 241 is provided with two rotary stoppers open Closing 245, encoder lock shaft mechanism 243 is positioned at the centre of two rotary stoppers switches 245.
Specifically, refer to Fig. 3,4 and 11, the outer ring 2371 of floating bearing 237 is upwards connected by screw Connecing fixed plate 241, inner ring 2372 is fixed with rocking carrier 231.Encoder 233 is solid by screw and encoder Fixed rack 234 is fixed with rocking carrier 231.Encoder output shaft 2331 is by shaft coupling 235 and connecting shaft 236 Coaxially connected, fixed by encoder axle jack mechanism 243, join inside encoder lock shaft mechanism 243 scalable Close the fit angle of rotating shaft.Touching block 238 is fixed at the screw of bearing inner race 2372 upper surface by interior hexagonal. Two rotary stopper switches 245 are fixed on the both sides recess 244 of fixed plate 241 cabling mouth, and fixed form is Screw is fixed.
Refer to Fig. 3,4, drive mechanism 200 can rotate around trunnion axis X, it is also possible to around vertical axes Y rotate 360 degree.When rotary speed difference or the rotation direction difference of driving wheel 211, driver element is just around vertical axes Y rotates, and can realize that driving wheel 211 is comprehensive to be turned to;When the ground accompanying by driving wheel 211 is uneven, Driver element just rotates around trunnion axis X, to adapt to rugged state of ground, thus two driving wheels 211 Can keep contacting with ground all the time.
Independent two driving wheels 211, two driving motors, two sets of transmission mechanism are set by this drive mechanism 200 Count into a differential and run module.When two driving wheels 211 operate in the same direction, drive module straight forward, incorgruous During operating, drive the spin of module original place, so that driving module to have walking and the ability turned to.This driving Mechanism 200 solves Vehicular turn speed issue and vehicle two wheel distance minimization problem, and it is installed On four-wheel drive car body, four drivings eight can be realized and take turns close-coupled omnibearing ambulation mode, improve AGV's Any attitude locomotor activity and stability.
Further, this loading mechanism can be only platform class or the cavity inner structure of a carrying material, or Person can also be a kind of liftable elevating mechanism.
Such as, loading mechanism includes jacking part and drives the jacking actuator of jacking part raising and lowering.
Specifically, refer to Figure 12, jacking actuator is reducing motor 320, and motor 320 connects a gear Rackwork, wherein, tooth bar 332 is vertically arranged, and jacking part 310 is fixed with tooth bar 332.
Further, guide pillar 340 is fixed with vehicle frame 100, guide pin bushing 311 and lifting pin 310 (the one of jacking part Plant concrete example) fixing, guide pin bushing 311 can realize linear slide with guide pillar 340 by oil-less self-lubricating bearing, Reducing motor 320 driven gear 331 on vehicle frame 100, drives the tooth bar 332 being fixed on lifting pin 310, Thus drive lifting pin 310 to lift.
Further, refer to Fig. 1, vehicle frame 100 can also arrange some universal wheels 600 and carry out secondary row Walking, such as 4 universal wheels 600, it can also support most of weight of car body, when driving wheel 211 is toward appointing When meaning direction drives car body, universal wheel 600 can pursuit movement flexibly.Owing to the height of universal wheel 600 is solid Fixed, so Handling device is in the case of unloaded and heavy duty, Handling device car body relative to ground height not Can change.
Additionally, refer to Figure 13, also include that support board 800, support board 800 include panel 810 and at least Three from the downwardly convex suspension column 820 of panel 810, panel 810 is provided with for separately at the back side of suspension column 820 The suspension column jack 830 that one support board 800 suspension column 820 inserts, in order to multiple support boards 800 are stacked.Panel 810 can be checkered steel plate or the higher metallic plate of other skin-friction coefficients.
Refer to Figure 14, automobile 900 can be parked on support board 800, and Handling device can enter support board 800 bottoms, 310 support board 800 jack-up of Handling device lifting pin, make four supporting legs of support board 800 from Turning up the soil face, then Handling device can be packed support board 800 and moves to specify position with automobile 900.
Further, coordinate identification mechanism is laser navigation, Quick Response Code scanning element and/or magnetic navigation sensor.
Such as, this Handling device uses laser navigation technology navigate and position, environmentally undesirable in laser Under conditions of navigation, Handling device may be switched to magnetic nail navigation pattern and carries out navigator fix.
Refer to Fig. 1, laser navigation equipment 700 is positioned on vehicle frame 100, puts in the space of Handling device Being equipped with multiple laser-bounce plate, in the process of walking, laser navigation equipment 700 is rotating same for Handling device Time constantly penetrate laser, receive the laser beam that reflector is reflected back, through internal calculation, Handling device Self position and angle information can be calculated, thus realize accurate navigator fix.
Magnetic navigation sensor 410 is positioned at vehicle frame 100 side, on the ground of the walking path being unfavorable for laser navigation On face, can several magnetic nail be embedded in ground the prior walking path along Handling device, Magnetic Sensor can Reading the position of magnetic nail, feedback obtains information and is admitted to controller and carries out internal calculation, makes Handling device permissible Precisely navigate along the path indicated by magnetic nail and position.
Further, refer to Fig. 1, this Handling device also includes set of cells 500 and for set of cells 500 The charging boots of charging.
Handling device relies on set of cells 500 to provide power, has a pair charging boots, work as battery bottom Handling device When group 500 needs charging, Handling device can move to the charge position specified, have one below charge position Block charging panel, charging panel and a charger 320 connect, and the charging boots bottom Handling device connect with charging panel After touch, charger 320 just can give electricity through charging panel-charging boots-such conduction mode of set of cells 500 Pond group 500 is charged.
Walking module that the control system of Handling device by master controller and is connected with master controller, lifting module, Guide locating module, security module, power supply and charge management module, communication module, human-computer interaction device group Become.Wherein, walking module includes 4 differential modules, is respectively controlled 4 driving wheels 211 groups; Lifting module is for being controlled support board 800 elevating mechanism;Guide locating module for Handling device Travel path guide and position;Security module be used for placing during Handling device is advanced with surrounding objects Collide, it is ensured that its safety;Communication module communicates wirelessly with outside for Handling device;Man-machine friendship Device for being set and show the running status of Handling device to Handling device parameter mutually.More than control be The concrete operations of system belong to prior art, the most not in too much superfluous words.
The workflow that guide locating module is described below: Upper system is sent by wireless network, radio station etc. Task list/walking segment table, communication module is monitored these data, and is stored in segment table queue.Handling device is from section Segment table parameter, dot information, opcode information etc. are taken out in table queue, with this realize speed generate, point of destination true Fixed, carrying operation code order output.Master controller realizes position calculation, and its principle is as follows: use two positions Put computer and complete the accurately estimation to position and calculating, wherein master site computer employing dead reckoning, Positional information according to last time and encoder 233 information (speed encoder 233, angular encoder 233) and The theoretical orientation of Handling device is calculated by the kinematics model of car body in real time.But, due to theoretical position As time goes on can produce cumulative errors, therefore also need to assist computer to carry out position correction.Auxiliary Help position calculator according to information acquisition actual positions such as the laser head/magnetic nail sensors of guider.Main control Velocity information is converted into the signal of telecommunication by device, sends turning to servo-driver and driving servo to drive to walking module Dynamic device, servo controller controls motor 320 and completes walking.
This Handling device can realize autonomous guiding, free travel route under the guiding of parking tier control system, Both saved parking lot space, again can Transport Vehicle safe, quick, easy maintenance, it is achieved truly Intelligent parking.
In addition to the carrying to vehicle, this Handling device can also be used for the carrying work to unclassified stores.
Above content is to combine specific embodiment further description made for the present invention, it is impossible to recognize Determine the present invention be embodied as be confined to these explanations.Ordinary skill for the technical field of the invention For personnel, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace.

Claims (10)

1. a homing guidance formula Handling device, it is characterised in that including:
Vehicle frame;
Drive mechanism, described drive mechanism is at least two, and described at least two drive mechanism is divided Cloth is at the two ends of vehicle frame, and described drive mechanism includes two driving wheels be arrangeding in parallel, each drives Driving wheel is driven realizing independent forward or reverse, each drive mechanism by independent force piece Two driving wheels can be arranged on vehicle frame in the way of unitary rotation, its rotary centerline is vertical In two driving wheel lines of centres;
Loading mechanism, for carrying material in transportation;
Coordinate identification mechanism, for identifying the changing coordinates information of homing guidance formula Handling device;
And control system, described control system receives the information feedback of coordinate identification mechanism, and Each mechanism is controlled, makes homing guidance formula Handling device complete homing guidance and Transport work Energy.
2. homing guidance formula Handling device as claimed in claim 1, it is characterised in that Described loading mechanism includes jacking part and drives the jacking actuator of jacking part raising and lowering.
3. homing guidance formula Handling device as claimed in claim 2, it is characterised in that Described jacking actuator is motor, and described motor is connected with the gear of pinion and rack, described The tooth bar of pinion and rack is vertically arranged, and described jacking part is fixed with tooth bar.
4. homing guidance formula Handling device as claimed in claim 1, it is characterised in that Described drive mechanism includes driving body frame and floating shelf, and it is main that said two driving wheel is arranged on driving On frame, described driving body frame is connected with vehicle frame by floating shelf, described floating shelf and driving body frame Between be provided with elastic shock attenuation body, the restoring force of described elastic shock attenuation body can make driving body frame to ground Face is moved.
5. homing guidance formula Handling device as claimed in claim 4, it is characterised in that Described drive mechanism also includes that rocking carrier, described floating shelf are rotatably mounted to wave On frame, described floating shelf is horizontally disposed relative to the rotary centerline of rocking carrier, and its Body or its parallel lines are perpendicular to the line of centres of two driving wheels, and described rocking carrier is with rotating Mode is arranged on vehicle frame, and the rotary centerline of described rocking carrier relative frame is perpendicular to two and drives The driving wheel line of centres.
6. drive mechanism as claimed in claim 5, it is characterised in that also include installing , described mounting seat is fixed with vehicle frame, and described mounting seat is provided with floating bearing, described revolution The outer ring of bearing is fixed with mounting seat, and the inner ring of described rocking carrier and floating bearing is fixed.
7. homing guidance formula Handling device as claimed in claim 6, it is characterised in that Described drive mechanism also includes encoder;Described encoder is arranged on rocking carrier, its output shaft Connecting a connecting shaft by shaft coupling, described connecting shaft crosses the center of rotation of rocking carrier relative frame Line is arranged;Described connecting shaft is upward through mounting seat, and its part passing mounting seat is provided with Encoder lock shaft mechanism;Mounting seat is provided with two rotary stopper switches, described encoder Lock shaft mechanism is positioned at the centre of two rotary stopper switches.
8. homing guidance formula Handling device as claimed in claim 1, it is characterised in that Described coordinate identification mechanism is laser navigation, Quick Response Code scanning element and/or magnetic navigation sensor.
9. material conveying device as claimed in claim 1, it is characterised in that described in drive Motivation structure is four, and four drive mechanism squarelys are distributed in the bottom of vehicle frame.
10. homing guidance formula Handling device as claimed in claim 1, it is characterised in that Also include set of cells and for the charging boots charged to set of cells.
CN201610319153.1A 2016-05-12 2016-05-12 Homing guidance formula handling device Active CN105946548B (en)

Priority Applications (1)

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CN108590290A (en) * 2018-06-05 2018-09-28 深圳怡丰自动化科技有限公司 Carrier vehicle frame and its installation method

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