CN107100403A - AGV transfer robots and the positioning and guiding method for it - Google Patents
AGV transfer robots and the positioning and guiding method for it Download PDFInfo
- Publication number
- CN107100403A CN107100403A CN201710414918.4A CN201710414918A CN107100403A CN 107100403 A CN107100403 A CN 107100403A CN 201710414918 A CN201710414918 A CN 201710414918A CN 107100403 A CN107100403 A CN 107100403A
- Authority
- CN
- China
- Prior art keywords
- arm
- seat
- vehicle frame
- transfer robots
- push
- 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.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
Abstract
A kind of AGV transfer robots and the positioning and guiding method for it, the AGV transfer robots include vehicle frame and the running gear, arm device, preceding retention device, conveying device and the electric-control system that are respectively arranged on vehicle frame；Arm device and preceding retention device are located at the two ends of vehicle frame respectively, and conveying device is located at the top of vehicle frame；Arm device includes gripper arm seat, the push arm mechanism for being respectively arranged on two jig arm of gripper arm seat both sides, being installed on gripper arm seat, the connecting rod for pushing away seat mechanism and connection gripper arm seat being installed on vehicle frame；One end of each jig arm is pivotally connected with seat body and push arm mechanism respectively, and connecting rod, which is hinged, pushes away seat mechanism；Jig arm can rotate under the driving of push arm mechanism around gripper arm seat, drive gripper arm seat to extend and retract vehicle frame by pushing away seat mechanism, then coordinate conveying device conveying to act, it is possible to achieve to shaped automobile access.The present invention, which can eliminate traditional garage, must the vehicle-carrying plate for Gong parking cars and pectination frame, reduce the cost in garage.
Description
Technical field
The present invention relates to parking of automobile device technical field, more particularly to a kind of AGV transfer robots and the positioning for it
Guidance method.
Background technology
As automobile quantity is growing, the parking problem that each big city faces is more and more severeer, therefore, develops cost
It is low, take up an area less, the garage parking of efficiency high turns into various circles of society's focus of attention.
At present in automatic garage field, there is the garage of two classes, a kind of is traditional three-dimensional machinery garage, another
It is the intelligent garage existed with AGV machines person form.The intelligent garage of AGV machine person forms has more flexibly, more efficient
Advantage, be the main flow direction for automating parking in the future.
It is preceding to have two kinds of AGV transfer robots on the market：Comb-tooth-type AGV transfer robots horizontal stroke and the board-like AGV carrying implements of carrier vehicle
Device people, in actual use, comb-tooth-type AGV transfer robots need mounting broach frame, this meeting on each parking stall and gateway
Causing the manufacturing cost in parking lot increases；In each parking stall placement vehicle-carrying plate and in setup of entrances and exits carrier vehicle the need for carrier vehicle is board-like
Plate, this also results in the manufacturing cost increase in parking lot.
The content of the invention
Based on this, the present invention is in view of the above-mentioned problems, provide a kind of in traditional parking layout, and accomplishing need not setting broach
Frame or vehicle-carrying plate can complete to stop the AGV transfer robots picked up the car, and it can substantially reduce the manufacturing cost in parking lot, and with compared with
High flexibility, can be used whenever and wherever possible, adapt to the demand of different occasions.
The present invention also provides a kind of positioning and guiding method for AGV transfer robots, and this method can make AGV conveying robots
People moves to destination exactly.
In order to realize the purpose of the present invention, the present invention uses following technical scheme：
A kind of AGV transfer robots, including vehicle frame and be respectively arranged on the vehicle frame running gear, arm device,
Preceding retention device, conveying device and electric-control system；The arm device and preceding retention device are located at the two ends of the vehicle frame respectively,
The conveying device is located at the top of the vehicle frame；The arm device includes gripper arm seat, the difference being installed on the vehicle frame
Two jig arm located at the gripper arm seat both sides, the push arm mechanism being installed on gripper arm seat, it is installed on the vehicle frame and pushes away seat
The connecting rod of mechanism and the connection gripper arm seat；One end of each jig arm is pivotally connected with seat body and push arm mechanism respectively, another
End is hanging to be set, and the connecting rod, which is hinged, described pushes away seat mechanism；Jig arm can rotate under the driving of push arm mechanism around gripper arm seat, lead to
Cross to push away seat mechanism driving gripper arm seat and do and stretch out and contract or frame movement, then coordinate conveying device conveying to act, to realize automobile
Access；When automobile is carried on vehicle frame completely, retention device stops the front wheels and rear wheels of automobile respectively before jig arm coordinates, and realizes
To the spacing of automobile.
Above-mentioned AGV transfer robots have the following advantages that：1st, AGV transfer robots of the invention can make automobile direct
It is parked on the bearing-surfaces such as floor, the vehicle-carrying plate for Gong parking cars and pectination frame must be had by eliminating traditional garage, be greatly reduced
The cost in garage；2nd, using the present invention AGV transfer robots because so that garage be not required to for storing cycle vehicle-carrying plate and
Broach frame, reduces the floor height in garage, improves effective utilization in garage；3rd, AGV transfer robots of the invention are by opening
Jig arm and it is moveable before retention device automobile is carried out on vehicle frame it is spacing, it is ensured that automobile will not be easily when being handled upside down
Because extraneous factor is shifted over, it is ensured that automobile can be accurately transported to destination.
In a wherein embodiment, the electric-control system includes Electronic Control Assembly, laser navigation module and laser anti-collision module；
The Electronic Control Assembly includes master controller and connects the communication module of the master control, and the master controller connects the laser and led
Model plane block and laser anti-collision module.
In a wherein embodiment, the gripper arm seat includes being hinged the seat body of the jig arm and on the seat body
Seat supports wheel, the seat body has an accommodating cavity, and the accommodating cavity runs through the both sides of the seat body；Each jig arm is hinged
One end of the seat body is stretched in accommodating cavity；The push arm mechanism is installed on a body, and is stretched into the accommodating cavity
It is hinged two jig arm.
In a wherein embodiment, the push arm mechanism is described including the push rod in the accommodating cavity, threaded connection
The push arm screw mandrel of push rod and the push arm motor being fixed on the seat body, the output shaft of the push arm motor connect the push arm
Screw mandrel.
In a wherein embodiment, each jig arm is provided with jig arm support wheel, the car close to one end of the gripper arm seat
Each jig arm support wheel of correspondence is respectively equipped with a lead-in chamfered on frame.
In a wherein embodiment, the quantity of the connecting rod is two, respectively positioned at the both sides for pushing away seat mechanism.
In a wherein embodiment, it is described push away seat mechanism include pushing away a motor, positioned at it is described push away a motor and gripper arm seat it
Between two bearing bracket, the connection output shaft for pushing away a motor push away a screw mandrel, be threadedly coupled described in push away a screw mandrel thread bush,
And the push guide bracket of the connection thread bush；The thread bush is located between the bearing block；The two ends for pushing guide bracket point
Two connecting rod is not hinged.
In a wherein embodiment, the preceding retention device includes the pin.
In a wherein embodiment, the conveying device includes two respectively positioned at the carrying roller transmission of the both sides of the gripper arm seat
Mechanism, each carrying roller transport mechanism includes some carrying rollers, some chains and a conveying motor, and the carrying roller is along the vehicle frame
Length direction is arranged at intervals, and the two ends of each carrying roller are pivotally connected the vehicle frame；The adjacent carrying roller is close to the end of gripper arm seat
Between connected by chain drive described in one；The output shaft of the conveying motor connects the end of carrying roller wherein described in one.
A kind of positioning and guiding method for AGV transfer robots as described above, comprises the following steps：
Step one：Backstage is sent by wireless network, radio station to the communication module of the electric-control system of AGV transfer robots appoints
Business/walking segment table；
Step 2：Communication module receives task/walking segment table, and task/walking segment table is sent to the section of master controller
In table queue store, master controller extracted from segment table queue segment table parameter, point information, operation information formation speed instruction,
Point of destination instructs and carried operational order, and is delivered to running gear, and control running gear is walked according to specified route.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the AGV transfer robots described in a preferred embodiment of the present invention；
Fig. 2 is the schematic perspective view in another orientation of AGV transfer robots shown in Fig. 1；
Fig. 3 is the dimensional structure diagram of the active walking mechanism of the AGV transfer robots shown in Fig. 2；
Fig. 4 is the exploded view of the active walking mechanism shown in Fig. 3；
Fig. 5 is part sectional drawing of the AGV transfer robots after arm device decomposition shown in Fig. 1；
Fig. 6 is another part sectional drawing of the AGV transfer robots shown in Fig. 1；
Fig. 7 is the structure principle chart of the Electronic Control Assembly of the AGV transfer robots shown in Fig. 1；
Fig. 8 is the first working state figure that the AGV transfer robots shown in Fig. 1 take out；
Fig. 9 is the second working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 10 is the 3rd working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 11 is the 4th working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 12 is the 5th working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 13 is the 6th working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 14 is the 7th working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 15 is the 8th working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 16 is the 9th working state figure that the AGV transfer robots shown in Fig. 1 take out；
Figure 17 is the tenth working state figure that the AGV transfer robots shown in Fig. 1 take out.
In figure：
10th, vehicle frame；11st, lead-in chamfered；12nd, shield；21st, active walking mechanism；22nd, balancing stand；23rd, mounting bracket；231、
Guide plate；232nd, side plate；24th, Power Component；241st, movable plate；242nd, power drive structure；243rd, road wheel；25th, buffer outstanding
Hanging hang structure；26th, driven pulley；30th, gripper arm seat；31st, seat body；32nd, upper plate；33rd, lower plate；34th, connecting plate；35th, accommodating cavity；36、
Seat pivoted hole；37th, seat supports wheel；40th, jig arm；41st, arm pivoted hole；42nd, jig arm support wheel；50th, push arm mechanism；51st, push rod；
52nd, push arm screw mandrel；53rd, push arm motor；60th, seat mechanism is pushed away；61st, a motor is pushed away；62nd, thread bush；63rd, a screw mandrel is pushed away；64th, bearing
Seat；65th, guide bracket is pushed；66th, guide rail；67th, sliding block；70th, connecting rod；80th, carrying roller transport mechanism；81st, carrying roller；82nd, chain；83、
Convey motor；90th, preceding retention device；91st, pin；92nd, push rod electric cylinders；93rd, guide rod；100th, electric-control system；110th, Electronic Control Assembly；
111st, master controller；112nd, power module；113rd, charge management module；114th, communication module；115th, human-computer interaction device；120、
Laser navigation module；130th, laser anti-collision module.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give presently preferred embodiments of the present invention.But, the present invention can be realized in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
It is a kind of AGV transfer robots of a preferred embodiment of the present invention, the AGV conveying robots as shown in Fig. 1 to Figure 17
People includes vehicle frame 10 and the running gear, arm device, preceding retention device 90, conveying device and the electricity that are respectively arranged on vehicle frame 10
Control system 100；Arm device and preceding retention device 90 are located at the two ends of vehicle frame 10 respectively, and conveying device is located at the top of vehicle frame 10
Portion.Arm device is used for the wheel lift of automobile to conveying device, after whole automobile is located in conveying device, jig arm dress
Put the trailing wheel for stopping automobile；Conveying device is used to drive wheel disposed thereon to move；Preceding retention device 90 is used to stop automobile
Front-wheel, and pass through the trailing wheel of arm device secondary retention automobile so that automobile will not be on vehicle frame 10 during carrying
It is moved.
Referring to Fig. 2, running gear includes at least one row of active walking mechanism 21 and two for being located at the middle part of vehicle frame 10
It is respectively arranged on the driven pulley 26 of the both sides of vehicle frame 10.In the present embodiment, the quantity of active walking mechanism 21 is two, driven pulley 26
Preferably McCrum wheel.
Specifically, referring to Fig. 3 and Fig. 4, active walking mechanism 21 includes a balancing stand for being used to be arranged on vehicle frame 10
22nd, the mounting bracket 23 that is pivotally connected with balancing stand 22, two Power Components 24 and two being connected are slided up and down with mounting bracket 23 connect respectively
The buffering suspended structure 25 of the mounting bracket 23 and Power Component 24；Mounting bracket 23 includes two parallel guide plates 231 and two points
The side plate 232 of other connecting guide plate 231；Each Power Component 24 includes the movable plate being slidably connected with corresponding guide plate 231
241st, the road wheel 243 and power drive structure 242 on movable plate 241；Road wheel 243 is Mecanum wheel.Mike
The motion move mode of Na Mu wheels is that have many in the centre wheel principle of the wheel shaft on wheel periphery based on one, utilizes these
A part of wheel steering force of angled periphery wheel shaft is transformed into above a wheel normal force, by the direction of respective wheel
And speed, one reasonable vector of generation on the direction of any requirement may finally be synthesized, so as to ensure that this platform most
Moved freely through on the direction of whole resultant force vector, the direction without changing wheel itself.Mecanum wheel compact conformation, motion
Flexibly, it is a kind of very successful directional wheel.By setting road wheel 243 to use Mecanum wheel so that active walking mechanism
21 more flexible easily can realize all-around mobile function.By setting each Power Component 24 respectively by a buffering suspended structure
25 connection mounting brackets 23, the shake that out-of-flatness ground is brought to AGV transfer robots can be reduced by the one hand buffering suspended structure 25
Dynamic, it is to avoid AGV transfer robots are badly shaken, on the other hand, buffering suspended structure 25 enables Power Component 24 relative to installation
Frame 23 moves up and down, when AGV dollies run into the ground of injustice, because all Power Components 24 of active walking mechanism are equal
Each via a buffering connection mounting bracket 23 of suspended structure 25, therefore the road wheel of each Power Component 24 of active walking mechanism 21
243 can contact with ground all the time in the presence of buffering suspended structure 25, even if this causes the vehicle frame of AGV transfer robots to install
Many set active walking mechanisms 21, all road wheels 243 also can be contacted when running into the ground of out-of-flatness with ground, be not in
The phenomenon that some road wheel 243 vacantly skids, it is ensured that the stability of AGV transfer robots motion.
Referring to Fig. 5, arm device include be installed on vehicle frame 10 gripper arm seat 30, be respectively arranged on the both sides of gripper arm seat 30
Two jig arm 40, the push arm mechanism 50 being installed on gripper arm seat 30, be installed on vehicle frame 10 push away seat mechanism 60 and connection jig arm
Two connecting rods 70 of seat 30；Gripper arm seat 30 includes seat body 31 and the seat supports wheel 37 on seat body 31；Seat body 31 has
There is accommodating cavity 35, accommodating cavity 35 runs through the both sides of seat body 31；One end of each jig arm 40 stretches to hinged seat sheet in accommodating cavity 35
Body 31, the other end is vacantly set；Push arm mechanism 50 is hinged two jig arm 40, open for driving jig arm 40 to be done on gripper arm seat 30 and
Closing action；Seat mechanism 60 is pushed away positioned at gripper arm seat 30 close to the side of preceding retention device 90；Connecting rod 70 is located at respectively pushes away base
The both sides of structure 60, and be hinged and push away seat mechanism 60, stretched out so as to push away seat mechanism 60 and by connecting rod 70 gripper arm seat 30 can be driven to do
With the motion of retraction vehicle frame 10；Seat supports wheel 37, which is used to pushing away the driving of seat mechanism 60 jig arm 40, to be stretched out or plays branch during retraction vehicle frame 10
The effect of gripper arm seat 30 is supportted, reduces the frictional force between gripper arm seat 30 and ground；Jig arm 40, push arm mechanism 50 and push away seat mechanism 60
Cooperation completes the lift action of the wheel of automobile together.
Seat body 31 includes upper plate 32, lower plate 33 and connection upper plate 32 and the connecting plate of lower plate 33 positioned at the lower section of upper plate 32
34, upper plate 32, lower plate 33 and connecting plate 34 surround accommodating cavity 35, and accommodating cavity 35 is located at connecting plate 34 away from pushing away the one of seat mechanism 60
Side；Each jig arm 40 of the seat correspondence of body 31 is respectively arranged on a pivoted hole 36, and each seat pivoted hole 36 runs through upper plate 32 and lower plate 33.
The respective seat pivoted hole 36 of jig arm 40 is provided with arm pivoted hole 41, and jig arm 40 and gripper arm seat 30 connect through latch insertion
Realized in seat pivoted hole 36 and arm pivoted hole 41；
Each jig arm 40 is provided with each jig arm support wheel 42 of correspondence on jig arm support wheel 42, vehicle frame 10 close to one end of gripper arm seat 30
It is respectively equipped with a lead-in chamfered 11.When pushing away the driving stretching vehicle frame 10 of gripper arm seat 30 of seat mechanism 60, jig arm support wheel 42 existed before this
Slided in lead-in chamfered 11, gripper arm seat 30 is stably dropped down onto on ground down under the collective effect of support wheel and lead-in chamfered 11,
Now the seat supports wheel 37 of gripper arm seat 30 is also contacted with ground, and is rolled on the ground；Pass through connection when pushing away seat mechanism 60
When bar 70 drives 30 retraction vehicle frame 10 of gripper arm seat, when gripper arm seat 30 touches vehicle frame 10, the lead-in chamfered 11 first with vehicle frame 10
Contact, and move under the guide effect of lead-in chamfered 11 top of vehicle frame 10.When whole automobile moves to vehicle frame 10 completely
Top when, jig arm 40 and preceding retention device 90 can stop the trailing wheel and front-wheel of automobile respectively, make automobile will not when being handled upside down
It is moved on vehicle frame 10.
Push arm mechanism 50 is including the push rod 51 being located in accommodating cavity 35, the push arm screw mandrel 52 of threaded connection push rod 51 and fixes
In the push arm motor 53 on connecting plate 34；In the present embodiment, push arm motor 53 is located at connecting plate 34 close to pushing away seat mechanism 60
Side, the output shaft of push arm motor 53 is extended in accommodating cavity 35 through connecting plate 34, and connects push arm screw mandrel 52.During work, lead to
The rotating for crossing push arm motor 53 drives the rotating of push arm screw mandrel 52, is opened or closing action so as to realize that two jig arm 40 are done.
Seat mechanism 60 is pushed away between the connecting rod 70, pushing away seat mechanism 60 includes pushing away a motor 61, positioned at pushing away the and of a motor 61
The push away screw mandrel 63, threaded connection that two bearing bracket 64, connection between gripper arm seat 30 push away the output shaft of a motor 61 push away a screw mandrel
The push guide bracket 65 of 63 thread bush 62 and connection screw thread set 62；Thread bush 62 is located between bearing block 64；Push guide bracket 65
Two ends are respectively articulated with two connecting rods 70.During work, the rotating by pushing away a motor 61, which drives, pushes away the rotating of a screw mandrel 63, so that
Realization pushes away a screw mandrel 63 and does and stretch out or retraction vehicle frame by thread bush 62, the push guide bracket 65 and two driving gripper arm seat 30 of connecting rod 70
10 motions.
Pushing away seat mechanism 60 also includes two guidance sets for being located at push guide bracket 65 two ends respectively, and respectively stating guidance set is included admittedly
The sliding block 67 of guide bracket 65 is pushed due to the guide rail 66 on vehicle frame 10 and connection, sliding block 67 is slidedly arranged on guide rail 66.Guidance set
Set, can make to push away the linear motion that the driving gripper arm seat 30 of seat mechanism 60 does stabilization.
Referring to Fig. 6, preceding retention device 90 is installed on the push rod electric cylinders 92 on vehicle frame 10 including pin 91 and at least one, push away
The output shaft connection pin 91 of bar electric cylinders 92, the position for changing pin 91 according to the length of automobile, so that the He of pin 91
Two jig arm 40 can limit the automobile of various different lengths on vehicle frame 10, the versatility of retention device 90 before improving.
Preceding retention device 90 also includes the photoelectric sensor switch on pin 91, and photoelectric sensor switch is used to sense pin
Whether 91 reach the position where the front-wheel of automobile, after photoelectric sensor switch senses the position of the front-wheel of automobile, gripper arm seat
Stop extending action.
In order that push rod electric cylinders 92 can be protected, push rod electric cylinders 92 are installed in the shield 12 of the setting of vehicle frame 10；In order to
Pin 91 is set stably to move, preceding retention device 90 also includes guide rod 93, what guide rod 93 was slidedly arranged on that shield 12 is correspondingly arranged leads
Into hole.
Conveying device includes two respectively positioned at the carrying roller transport mechanism 80 of the both sides of gripper arm seat 30, each carrying roller transport mechanism 80
Including some carrying rollers 81, the conveying motor 83 of some chains 82 and one, length direction of the carrying roller 81 along vehicle frame 10 is arranged at intervals, each support
The two ends of roller 81 are pivotally connected vehicle frame 10；Adjacent carrying roller 81 is connected between the end of gripper arm seat 30 by a chain 82；
Convey an output shaft connection wherein carrying roller 81 for motor 83.
Electric-control system 100 includes Electronic Control Assembly 110, laser navigation module 120 and laser anti-collision module 130, refers to figure
7, Electronic Control Assembly 110 includes main control 111, power module 112, charge management module 113, communication module 114 and man-machine interaction
Device 115, power module 112, charge management module 113, communication module 114 and human-computer interaction device 115 are all connected with main control
Device 111, master controller 111 is also connected with laser navigation module 120 and laser anti-collision module 130.Laser navigation module 120 is used to lead to
The laser beam crossed its own transmitting and be reflected back comes the distance and angle of the objects such as metope in measuring environment, pillar, and will survey
The range information and angle information obtained is sent to master controller 111, and master controller 111 is sent according to laser navigation module 120
Range information and angle information calculate the positional information of AGV transfer robots, so as to carry out position navigation；Laser anti-collision mould
Block 130 is used to launch the object around laser beam irradiation, by the reflected light of exploring laser light beam come the presence or absence of cognitive disorders thing, and
Instruction is sent to master controller 111, master controller 111 controls the traveling and stopping of AGV transfer robots；Power module 112 is used
In providing power supply for AGV transfer robots；Charge management module 113 is used to be power source charges；Communication module 114 is used for carrying implement
Device people communicates wirelessly with outside；Human-computer interaction device 115 is used to carry out parameter setting to AGV transfer robots and display is removed
Transport the running status of robot.
The pick-up of above-mentioned AGV carriers includes following steps：
Step one：Referring to Fig. 8, automobile is parked at berth, AGV transfer robots stretch out gripper arm seat 30 in advance, and close up
Two jig arm 40；
Step 2：Referring to Fig. 9, AGV transfer robots are run to by running gear on the chassis of berth automobile, until
Jig arm 40 moves to the rear of the front-wheel of automobile；
Step 3：Referring to Fig. 10, push arm mechanism 50 drives two jig arm 40 mutually to open；When two jig arm 40 are opened completely
Afterwards, the driving retraction vehicle frame 10 of gripper arm seat 30 of seat mechanism 60 is pushed away, during holder retraction vehicle frame 10, the front-wheel of automobile is opening
Jig arm 40 and the extruding of vehicle frame 10 is lower departs from ground, and contacted with conveying device；
Step 4：Figure 11 is referred to, conveying device operation drives the front-wheel of automobile to be moved towards the direction of preceding retention device 90
It is dynamic；Figure 12 is referred to, when the front-wheel of automobile is moved in conveying device completely, the driving gripper arm seat 30 of seat mechanism 60 is pushed away and stretches out one
Segment distance, afterwards, refers to Figure 13, push arm mechanism 50 drives two jig arm 40 to close up, in this process, conveying device continues to transport
OK；14 are referred to, after jig arm 40 moves to the rear of the trailing wheel of automobile, conveying device is just out of service；
Step 6：Figure 15 is referred to, push arm mechanism 50 drives two jig arm 40 to open, and after jig arm 40 is opened, pushes away seat mechanism 60
Drive the retraction vehicle frame 10 of gripper arm seat 30, the trailing wheel of automobile departs from ground under the extruding of vehicle frame 10 and the jig arm 40 opened, and with
Conveying device is contacted；Please from refering to Figure 16, subsequent conveying device operation, the trailing wheel of conveying device driving automobile is moved thereon,
After in rear wheel movement to the conveying device of whole automobile, conveying device is out of service；
Step 7：Refer to Figure 17, the driving pin 91 of push rod electric cylinders 92 of preceding retention device 90 close to automobile trailing wheel, when
Pin 91 is touched after the trailing wheel of automobile, and push rod electric cylinders 92 are out of service, because the jig arm 40 now opened is located at vehicle frame 10
Top, so automobile is limited on vehicle frame 10 under the common barrier effect of the pin 91 of jig arm 40 and preceding retention device 90,
So that will not be moved during AGV transfer robot carrier vehicles；
Step 8：AGV transfer robots are walked, and automobile is moved to from berth after entrance and are put down automobile.
It is to be understood that the step of AGV transfer robots put down automobile is firm the step of taking automobile with AGV transfer robots
It is good opposite.
Above-mentioned AGV transfer robots have the following advantages that：
1st, AGV transfer robots of the invention can be such that automobile is directly parked on the bearing-surfaces such as floor, eliminate traditional vehicle
Storehouse must have the vehicle-carrying plate for Gong parking cars and pectination frame, greatly reduce the cost in garage；
2nd, using the AGV transfer robots of the present invention, because so that garage is not required to vehicle-carrying plate and comb for storing cycle
Braces, reduces the floor height in garage, improves effective utilization in garage；
3rd, AGV transfer robots of the invention by the jig arm 40 opened and it is moveable before retention device 90 in vehicle frame 10
On to automobile carry out it is spacing, it is ensured that automobile will not be shifted over because of extraneous factor easily when being handled upside down, it is ensured that automobile energy
Accurately it is transported to destination.
The invention also discloses a kind of positioning and guiding method of AGV transfer robots as above, including:
Step one：Backstage by wireless network, communication module 114 from radio station to the electric-control system 100 of AGV transfer robots
Transmission task/walking segment table；
Step 2：Communication module 114 receives task/walking segment table, and task/walking segment table is sent to master controller
Stored in 111 segment table queue, master controller 111 extracts segment table parameter, point information, operation information generation from segment table queue
Speed command, point of destination instruction and carrying operational order, and running gear is delivered to, control running gear is according to specified route
Walking.
Above-mentioned positioning navigation method can cause AGV transfer robots accurately to move to purpose according to specified track
Ground.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of AGV transfer robots, it is characterised in that including vehicle frame and the running gear being respectively arranged on the vehicle frame,
Arm device, preceding retention device, conveying device and electric-control system；The arm device and preceding retention device are located at the car respectively
The two ends of frame, the conveying device is located at the top of the vehicle frame；The arm device includes the folder being installed on the vehicle frame
Arm seat, two jig arm for being respectively arranged on the gripper arm seat both sides, the push arm mechanism being installed on gripper arm seat, it is installed on the vehicle frame
On the connecting rod for pushing away seat mechanism and the connection gripper arm seat；One end of each jig arm respectively with seat body and push arm mechanism pivot
Connect, the other end is vacantly set, the connecting rod, which is hinged, described pushes away seat mechanism；Jig arm can be around gripper arm seat under the driving of push arm mechanism
Rotation, drives gripper arm seat to extend and retract frame movement by pushing away seat mechanism, then coordinates conveying device conveying to act, to realize
The access of automobile；When automobile is carried on vehicle frame completely, retention device stops the front-wheel of automobile with after respectively before jig arm coordinates
Wheel, is realized to the spacing of automobile.
2. AGV transfer robots according to claim 1, it is characterised in that the electric-control system includes Electronic Control Assembly, swashed
Light guide module and laser anti-collision module；The Electronic Control Assembly includes master controller and connects the communication module of the master control,
The master controller connects the laser navigation module and laser anti-collision module.
3. AGV transfer robots according to claim 2, it is characterised in that the gripper arm seat includes being hinged the jig arm
Seat body and the seat supports wheel on the seat body, the seat body has an accommodating cavity, and the accommodating cavity is through described
The both sides of seat body；One end that each jig arm is hinged the seat body is stretched in accommodating cavity；The push arm mechanism is installed on
On seat body, and stretch into two jig arm is hinged in the accommodating cavity.
4. AGV transfer robots according to claim 3, it is characterised in that the push arm mechanism includes being located at described hold
The push rod, the push arm screw mandrel of the threaded connection push rod and the push arm motor being fixed on the seat body of intracavitary are put, it is described to push away
The output shaft of arm motor connects the push arm screw mandrel.
5. AGV transfer robots according to claim 3, it is characterised in that each jig arm is close to the gripper arm seat
One end is provided with each jig arm support wheel of correspondence on jig arm support wheel, the vehicle frame and is respectively equipped with a lead-in chamfered.
6. AGV transfer robots according to claim 2, it is characterised in that the quantity of the connecting rod is two, respectively
Positioned at the both sides for pushing away seat mechanism.
7. AGV transfer robots according to claim 6, it is characterised in that the seat mechanism that pushes away includes pushing away a motor, position
A screw mandrel, screw thread are pushed away in the output shaft that a motor is pushed away described in a two bearing bracket pushed away between motor and gripper arm seat, connection
The thread bush of a screw mandrel and the push guide bracket of the connection thread bush are pushed away described in connection；The thread bush is located at the bearing block
Between；The two ends for pushing guide bracket are respectively articulated with two connecting rod.
8. AGV transfer robots according to claim 2, it is characterised in that the preceding retention device includes the pin.
9. AGV transfer robots according to claim 2, it is characterised in that the conveying device is located at respectively including two
The carrying roller transport mechanism of the both sides of the gripper arm seat, it is defeated that each carrying roller transport mechanism includes some carrying rollers, some chains and one
Power transmission machine, length direction of the carrying roller along the vehicle frame is arranged at intervals, and the two ends of each carrying roller are pivotally connected the vehicle frame；Institute
Adjacent carrying roller is stated to connect by chain drive described in one between the end of gripper arm seat；The output shaft connection of the conveying motor
The end of carrying roller wherein described in one.
10. a kind of be used for the positioning and guiding method of the AGV transfer robots as described in any one of claim 2 to 9, its feature exists
In comprising the following steps：
Step one：Backstage by wireless network, communication module from radio station to the electric-control system of AGV transfer robots send task/
Walking segment table；
Step 2：Communication module receives task/walking segment table, and task/walking segment table is sent to the segment table team of master controller
Stored in row, master controller extracts segment table parameter, point information, the instruction of operation information formation speed, purpose from segment table queue
Point instruction and carrying operational order, and running gear is delivered to, control running gear is walked according to specified route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414918.4A CN107100403A (en) | 2017-06-05 | 2017-06-05 | AGV transfer robots and the positioning and guiding method for it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414918.4A CN107100403A (en) | 2017-06-05 | 2017-06-05 | AGV transfer robots and the positioning and guiding method for it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107100403A true CN107100403A (en) | 2017-08-29 |
Family
ID=59660412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710414918.4A Pending CN107100403A (en) | 2017-06-05 | 2017-06-05 | AGV transfer robots and the positioning and guiding method for it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107100403A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989433A (en) * | 2017-11-21 | 2018-05-04 | 成都凯景智能设备有限公司 | A kind of parking method |
| CN108571218A (en) * | 2017-12-29 | 2018-09-25 | 中国国际海运集装箱(集团)股份有限公司 | Garage carrier vehicle plate conveying device |
| CN108699852A (en) * | 2018-04-03 | 2018-10-23 | 松灵机器人（东莞）有限公司 | Automated guided vehicle robot and its clamping device |
| CN108792606A (en) * | 2018-07-26 | 2018-11-13 | 深圳怡丰机器人科技有限公司 | A kind of folder lifts conveying-type transfer robot and its method for carrying |
| CN110374380A (en) * | 2019-07-29 | 2019-10-25 | 佛山市诺行科技有限公司 | A kind of outside folder tire cooperation roller structure of AGV |
| CN110466933A (en) * | 2019-08-14 | 2019-11-19 | 中建钢构有限公司 | A kind of automobile carrying device |
| CN112478571A (en) * | 2020-12-09 | 2021-03-12 | 成都联星技术股份有限公司 | Automatic push-pull device of comprehensive sorting unit and control method thereof |
| CN112609611A (en) * | 2020-12-11 | 2021-04-06 | 广东嘉腾机器人自动化有限公司 | Roadblock transport AGV |
| CN113818729A (en) * | 2021-09-10 | 2021-12-21 | 安徽鸿杰威尔停车设备有限公司 | Rearrangement type PCS garage uses intelligent handling device based on AGV parks fast |
| CN115116254A (en) * | 2022-05-26 | 2022-09-27 | 安徽鸿杰威尔停车设备有限公司 | AGV double-deck parking robot driving and parking track monitored control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1888357A (en) * | 2006-07-31 | 2007-01-03 | 江苏双良停车设备有限公司 | Cars hand-over transporting robot |
| CN104358448A (en) * | 2014-10-30 | 2015-02-18 | 王洋 | Vehicle fetching platform used for cylinder-type stereo garage |
| CN204715836U (en) * | 2015-06-10 | 2015-10-21 | 深圳怡丰机器人科技有限公司 | A kind of AGV combed transfer robot |
| CN205276960U (en) * | 2015-12-22 | 2016-06-01 | 铃木电梯（中国）有限公司 | Domestic convenient knapsack formula stereo garage |
| CN105937326A (en) * | 2016-06-23 | 2016-09-14 | 南京湛泸科技有限公司 | Clamping type vehicle carrying robot capable of being used for stereo garage |
-
2017
- 2017-06-05 CN CN201710414918.4A patent/CN107100403A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1888357A (en) * | 2006-07-31 | 2007-01-03 | 江苏双良停车设备有限公司 | Cars hand-over transporting robot |
| CN104358448A (en) * | 2014-10-30 | 2015-02-18 | 王洋 | Vehicle fetching platform used for cylinder-type stereo garage |
| CN204715836U (en) * | 2015-06-10 | 2015-10-21 | 深圳怡丰机器人科技有限公司 | A kind of AGV combed transfer robot |
| CN205276960U (en) * | 2015-12-22 | 2016-06-01 | 铃木电梯（中国）有限公司 | Domestic convenient knapsack formula stereo garage |
| CN105937326A (en) * | 2016-06-23 | 2016-09-14 | 南京湛泸科技有限公司 | Clamping type vehicle carrying robot capable of being used for stereo garage |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989433A (en) * | 2017-11-21 | 2018-05-04 | 成都凯景智能设备有限公司 | A kind of parking method |
| CN108571218A (en) * | 2017-12-29 | 2018-09-25 | 中国国际海运集装箱(集团)股份有限公司 | Garage carrier vehicle plate conveying device |
| CN108699852A (en) * | 2018-04-03 | 2018-10-23 | 松灵机器人（东莞）有限公司 | Automated guided vehicle robot and its clamping device |
| WO2019191899A1 (en) * | 2018-04-03 | 2019-10-10 | Songling Robotics (Dongguan) Co.,Ltd. | Automated guided vehicle robot and clamping device thereof |
| CN108792606B (en) * | 2018-07-26 | 2024-01-02 | 深圳怡丰机器人科技有限公司 | Clamping and lifting conveying type carrying robot and carrying method thereof |
| CN108792606A (en) * | 2018-07-26 | 2018-11-13 | 深圳怡丰机器人科技有限公司 | A kind of folder lifts conveying-type transfer robot and its method for carrying |
| CN110374380A (en) * | 2019-07-29 | 2019-10-25 | 佛山市诺行科技有限公司 | A kind of outside folder tire cooperation roller structure of AGV |
| CN110466933A (en) * | 2019-08-14 | 2019-11-19 | 中建钢构有限公司 | A kind of automobile carrying device |
| CN112478571B (en) * | 2020-12-09 | 2022-03-04 | 成都联星技术股份有限公司 | Automatic push-pull device of comprehensive sorting unit and control method thereof |
| CN112478571A (en) * | 2020-12-09 | 2021-03-12 | 成都联星技术股份有限公司 | Automatic push-pull device of comprehensive sorting unit and control method thereof |
| CN112609611A (en) * | 2020-12-11 | 2021-04-06 | 广东嘉腾机器人自动化有限公司 | Roadblock transport AGV |
| CN112609611B (en) * | 2020-12-11 | 2022-06-14 | 广东嘉腾机器人自动化有限公司 | Roadblock transport AGV |
| CN113818729A (en) * | 2021-09-10 | 2021-12-21 | 安徽鸿杰威尔停车设备有限公司 | Rearrangement type PCS garage uses intelligent handling device based on AGV parks fast |
| CN115116254A (en) * | 2022-05-26 | 2022-09-27 | 安徽鸿杰威尔停车设备有限公司 | AGV double-deck parking robot driving and parking track monitored control system |
| CN115116254B (en) * | 2022-05-26 | 2023-06-09 | 安徽鸿杰威尔停车设备有限公司 | AGV double-deck parking robot driving and parking track monitored control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107100403A (en) | AGV transfer robots and the positioning and guiding method for it | |
| CN206971854U (en) | AGV transfer robots | |
| CN105888338B (en) | UWB-positioning-based intelligent automobile transfer robot and control method thereof | |
| CN104895369B (en) | Intelligent robot capable of moving automobiles in side directions | |
| CN206128772U (en) | Intelligent automobile transfer robot based on UWB location | |
| CN106522618A (en) | Trackless vehicle handling equipment and handling method of the same | |
| CN207228728U (en) | The traversing garage of double-layer lifting | |
| CN104912372A (en) | AGV comb type transfer robot | |
| CN205531555U (en) | Automobile stack machine people | |
| CN202000711U (en) | Intelligent carrier for mechanical car garage | |
| CN106013886A (en) | Comb telescopic longitudinal autonomous carrier of stereo garage | |
| CN102071824A (en) | Intelligent conveying trolley for mechanical garage | |
| CN108699852A (en) | Automated guided vehicle robot and its clamping device | |
| CN106760776A (en) | Vehicle tyre clamping device and automatic transporting device | |
| CN103590634A (en) | Ultra-thin transverse vehicle transfer robot | |
| CN205294745U (en) | Sheave drive thrust unit | |
| CN202347900U (en) | Carrying robot and mechanical three-dimensional garage employing carrying robot | |
| CN111960329A (en) | Transfer robot and transfer device | |
| CN206360438U (en) | Trackless vehicle conveying equipment | |
| CN106320773A (en) | Bidirectional mobile intelligent parking garage car moving robot | |
| CN204024151U (en) | Transposition tooth is from multiplayer stereo carport | |
| CN105986690A (en) | Car-carrying plate stacking machine and intelligent stereo garage using car-carrying plate stacking machine | |
| CN102358539B (en) | Automatic yarn carrier for bobbin winder | |
| CN208534149U (en) | Hold type carrier | |
| CN107268482B (en) | Device for picking and placing traffic cone and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170829 |
|
| RJ01 | Rejection of invention patent application after publication |