CN108071254B - Guide rail type automatic transport vehicle and automatic parking lot - Google Patents
Guide rail type automatic transport vehicle and automatic parking lot Download PDFInfo
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- CN108071254B CN108071254B CN201711200966.XA CN201711200966A CN108071254B CN 108071254 B CN108071254 B CN 108071254B CN 201711200966 A CN201711200966 A CN 201711200966A CN 108071254 B CN108071254 B CN 108071254B
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- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000008859 change Effects 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Classifications
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- 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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
Abstract
The invention relates to a guide rail type automatic transport vehicle and an automatic parking lot, wherein the guide rail type automatic transport vehicle comprises: a transport vehicle body; the steering wheel mechanism is arranged on the transport vehicle body; the support mechanism comprises a first support component, a second support component and a control module, wherein the first support component, the second support component and the control module are arranged on the transport vehicle body, the first support component can be in movable fit with the guide rail in the X-axis direction, and the second support component can be in movable fit with the guide rail in the Y-axis direction; the distance sensing module is arranged on the transport vehicle body; and the energy supply element is arranged on the transport vehicle body and is used for supplying energy to other electrical components in the transport vehicle. The automatic parking lot includes: a guideway-type automatic transport vehicle as described above; an orthogonal guide rail on which the rail-type automatic transport vehicle can travel; and the parking space is communicated with the orthogonal guide rail.
Description
Technical Field
The invention relates to the technical field of transport vehicles, in particular to a guide rail type automatic transport vehicle and an automatic parking lot.
Background
At present, the problem of difficult parking exists in large cities generally, and the space utilization rate of a parking lot is the key for solving the problem, and the automatic parking solution of the existing parking lot mainly adopts an AGV (Automated Guided Vehicle, automatic guided vehicle) mode. A parking lot typically has several AGVs that automatically transport vehicles through the parking lot dispatch system and park in the parking space and transport vehicles from the parking space to the exit for vehicle owners to pick up vehicles. However, the existing AGV has high cost due to the complex sensor system and the multi-wheel driving mode, and cannot be popularized in a stationary yard with low benefit.
Disclosure of Invention
Based on the above, it is necessary to provide a guide rail type automatic transport vehicle which has a simple structure, relatively low cost, high motion precision, accurate parking position, further reduced parking space size and improved space utilization.
The technical scheme is as follows:
a guideway-type automatic transport vehicle comprising:
a transport vehicle body;
the steering wheel mechanism is arranged on the transport vehicle body and is used for driving the transport vehicle body to move;
the support mechanism comprises a first support component, a second support component and a control module which is respectively and electrically connected with the first support component and the second support component, wherein the first support component, the second support component and the control module are arranged on the transport vehicle body, the first support component can be movably matched with a guide rail in the X-axis direction and support the transport vehicle body, and the second support component can be movably matched with a guide rail in the Y-axis direction and support the transport vehicle body;
the distance sensing module is arranged on the transport vehicle body, and the steering wheel mechanism and the distance sensing module are matched with each other and used for positioning the first support assembly or the second support assembly; and
The energy supply element is arranged on the transport vehicle body and is electrically connected with the steering wheel mechanism, the control module and the distance sensing module respectively;
wherein the guide rail type automatic transport vehicle can switch the first support component contacted with the guide rail to the second support component through the control module according to the positioned position of the second support component, so that the moving direction is changed;
or the guide rail type automatic transport vehicle can change the moving direction by switching the second support assembly contacted with the guide rail to the first support assembly through the control module according to the positioned position of the first support assembly.
When the guide rail type automatic transport vehicle is used, the automobile is parked above the transport vehicle, the transport vehicle body bears the automobile, or the automobile is parked on the automobile support frame, and the transport vehicle simultaneously bears the automobile support frame and the automobile to transport the automobile to a parking space. The parking lot is provided with orthogonal guide rails, each parking space is connected with the corresponding guide rail, the first support assembly or the second support assembly is supported on the guide rails, and the steering wheel mechanism drives the transport vehicle to run on the rails. The distance sensing module is matched with the steering wheel mechanism, the position of the supporting mechanism can be positioned, the control module controls the lifting of the first supporting component and the second supporting component, the supporting component contacted with the guide rail is changed, and the steering wheel mechanism drives the transport vehicle to change the form direction, so that the transport vehicle changes the driving direction at the crossing position of the guide rail, and the vehicle is transported to a preset parking space. The transport vehicle can transport the vehicle to a specified parking space by running on the fixed track of the guide rail without using a complex sensor system and a multi-wheel driving mode. The transport vehicle has the advantages of simple structure, relatively low cost, high movement precision, accurate parking position, further reduced parking space size and improved space utilization rate.
The technical scheme is further described as follows:
in one embodiment, the transport vehicle body includes a fixing frame, where the fixing frame includes a first side surface and a second side surface that are opposite, and a third side surface and a fourth side surface that are opposite, at least one first support component is disposed on each of the first side surface and the second side surface, and at least one second support component is disposed on each of the third side surface and the fourth side surface. In this way, the transport vehicle can travel in the front-rear direction on the guide rail or in the left-right direction.
In one embodiment, the supporting component comprises a lifting driving part, a supporting rod and a first lifting driving part electrically connected with the control module, wherein the supporting rod is provided with a first end and a second end which are opposite, the first end is rotationally arranged on the transport vehicle body, one end of the first lifting driving part is rotationally arranged on the transport vehicle body, the other end of the first lifting driving part is rotationally connected with the second end, and the supporting wheel is arranged on the supporting rod. Therefore, the triangular supporting principle is adopted, and the supporting function and the lifting function of the supporting component are realized.
In one embodiment, the device further comprises a vibration damper, and the vibration damper is arranged on the supporting rod. Therefore, the influence of vibration of the transport vehicle on the supporting rod in the running process can be reduced, the stability of the device is improved, and the risk that parts fall off the vibration transport vehicle and the risk that the automobile falls off from the transport vehicle are reduced.
In one embodiment, the carrier vehicle body further includes a bearing plate disposed on the fixing frame, the bearing plate is provided with a mounting surface near the fixing frame, the mounting surface is provided with a first plate surface near the first side surface, a second plate surface near the second side surface, a third plate surface near the third side surface, and a fourth plate surface near the fourth side surface, and the first plate surface, the second plate surface, the third plate surface, and the fourth plate surface are all provided with the distance sensing module. Therefore, the distance sensing module can sense whether guide rails are arranged around the transport vehicle, and then the position of the supporting component is positioned through the steering wheel mechanism.
In one embodiment, the support wheel comprises a first support wheel and a second support wheel, the first support wheel comprises a first concave table part and two first convex table parts, and the first concave table part is arranged between the two first convex table parts; the second supporting wheel comprises a second concave table part and a second convex table part connected with the second concave table part;
the supporting wheels on the first side face are the first supporting wheels, and the supporting wheels on the second side face are the second supporting wheels; or the supporting wheel on the first side surface is the second supporting wheel, and the supporting wheel on the second side surface is the first supporting wheel;
the supporting wheels on the third side face are the first supporting wheels, and the supporting wheels on the fourth side face are the second supporting wheels; or the supporting wheel on the third side surface is the second supporting wheel, and the supporting wheel on the fourth side surface is the first supporting wheel. Therefore, the first supporting wheels and the second supporting wheels are respectively arranged on the opposite sides of the transport vehicle body, and the single boss form of the second supporting wheels on one side can reserve allowance for the matching precision between the supporting wheels on the opposite sides and the guide rail, so that the phenomenon that the wheels and the guide rail cannot be accurately matched due to machining or construction errors is avoided. Meanwhile, the first supporting wheel and the second supporting wheel can realize the reversing function of the transport vehicle.
In one embodiment, the supporting mechanism further comprises a second lifting driving member, one end of the second lifting driving member is connected with the transport vehicle body, the other end of the second lifting driving member is connected with the steering wheel mechanism, and the second lifting driving member is electrically connected with the control module. Therefore, the height of the transport vehicle body can be reduced, so that the transport vehicle can travel to the lower part of the vehicle, the height of the transport vehicle body is raised, and the vehicle is lifted and transported to a preset parking space.
In one embodiment, the carrier body is further provided with a receiving surface, and the receiving surface is provided with a connecting portion, and the supporting frame for supporting the automobile can be connected to the receiving surface through the connecting portion. Therefore, the stable connection of the support frame and the transport vehicle body can be realized, and the side turning of the vehicle from the transport vehicle is avoided.
The technical scheme also provides an automatic parking lot, which comprises:
a guideway-type automatic transport vehicle as described above;
the rail type automatic transport vehicle can run on the orthogonal guide rail; and
And the parking space is communicated with the orthogonal guide rail.
Through being equipped with the quadrature type guide rail at the parking area, every parking stall links to each other with corresponding guide rail, and supporting mechanism supports on the guide rail, through steering wheel mechanism, makes the transport vechicle travel on the guide rail. The distance sensing module is matched with the steering wheel mechanism to position the supporting mechanism, and then the control module controls the lifting of the supporting assembly to change the supporting assembly contacted with the guide rail, so that the transport vehicle changes the driving direction at the crossing position of the guide rail, and the automobile is transported to a preset parking space.
The technical scheme is further described as follows:
in one embodiment, the device further comprises an automatic charging area, an automatic charging device is arranged on the automatic charging area, the automatic charging area is communicated with the guide rail, and the automatic charging device can be electrically connected with the energy supply element. When the transport vehicle does not work, the transport vehicle can automatically go to the automatic charging area, the automatic charging device positioned on the automatic charging area can charge the transport vehicle, the transport vehicle is kept to have sufficient electric quantity at all times, and the energy requirement of normal work of the transport vehicle is met.
Drawings
FIG. 1 is a schematic view of a guideway-type automatic transport according to the present invention;
FIG. 2 is a schematic side view of a guideway automatic transport according to the present invention;
FIG. 3 is a schematic bottom view of a guideway automatic transport according to the present invention;
FIG. 4 is a functional schematic diagram of a guideway-type automatic transport vehicle according to the present invention;
FIG. 5 is a schematic diagram of the cooperation of the guide rail type automatic transport vehicle and the guide rail according to the present invention;
fig. 6 is a schematic structural view of an automatic parking lot according to the present invention.
Reference numerals illustrate:
10. the automatic transport vehicle comprises an automatic transport vehicle body 100, a transport vehicle body 110, a fixing frame, 111, a first side surface, 112, a second side surface, 113, a third side surface, 114, a fourth side surface, 120, a bearing plate, 121, a mounting surface, 1211, a first plate surface, 1212, a second plate surface, 1213, a third plate surface, 1214, a fourth plate surface, 200, a steering wheel mechanism, 310, a first supporting component, 311, a supporting wheel, 312, a supporting rod, 313, a first lifting driving component, 314, a vibration damper, 315, a first supporting wheel, 3151, a first concave portion, 3152, a first boss portion, 316, a second supporting wheel, 3161, a second concave portion, 3162, a second boss portion, 320, a control module, 330, a second supporting component, 400, a distance sensing module, 500, a power supply element, 600, a second lifting driving component, 700, an automobile, 800, a supporting frame, 20, an automatic parking lot, 21, an orthogonal guide rail, 22, a parking space, 23 and an automatic charging area.
Detailed Description
The present invention will be further described in detail with reference to the drawings and the detailed description, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" in this specification do not denote a particular quantity or order, but rather are used for distinguishing between similar or identical items.
As shown in fig. 1 to 5, the track-type automatic transport vehicle 10 according to the present invention includes a transport vehicle body 100, a steering wheel mechanism 200, a supporting mechanism, a distance sensing module 400 and an energy supply element 500.
The carrier body 100 includes two parts, a fixing frame 110, and a bearing plate 120 disposed on the fixing frame 110. The bearing plate 120 is generally square in shape and may be used to support a vehicle 700 or other device. For example, when the automatic transporter 10 of the present embodiment is used in a parking lot, the car 700 may be first placed on the car supporting frame 800, and the bearing plate 120 is adapted to be connected with the car supporting frame 800, so as to transport the car 700 from the parking lot entrance to the parking lot 22, or transport the car 700 from the parking lot 22 to the parking lot exit. Of course, the automatic transport vehicle 10 in the present embodiment may also be applied to the field of warehouse logistics transportation.
The supporting mechanism includes a first supporting component 310, a second supporting component 330, and a control module 320 electrically connected to the first supporting component 310 and the second supporting component 330, wherein the first supporting component 310, the second supporting component 330 and the control module 320 are disposed on the transporter body 100. The first support member 310 may be movably coupled to the X-axis guide rail and support the transporter body 100, and the second support member 330 may be movably coupled to the Y-axis guide rail and support the transporter body 100.
In this embodiment, the first support assembly 310 and the second support assembly 330 each include a support wheel 311, a support bar 312, and a first lifting driving member 313 electrically connected to the control module 320. The control module 320 is configured to control the expansion and contraction of the first lifting driving member 313, and the first lifting driving member 313 may be a hydraulic cylinder in a hydraulic driving manner or an electric cylinder in a motor driving manner. The fixing frame 110 has a square shape, and the fixing frame 110 includes a first side 111 and a second side 112 opposite to each other, and a third side 113 and a fourth side 114 opposite to each other. At least one first support element 310 is disposed on each of the first side 111 and the second side 112, and at least one second support element 330 is disposed on each of the third side and the fourth side.
Optionally, the support rod 312 is provided with a first end and a second end opposite to each other, the first end is rotatably disposed on the carrier body 100, one end of the first lifting driving member 313 is rotatably disposed on the carrier body 100, the other end is rotatably connected with the second end, and the support wheel 311 is disposed on the support rod 312. Specifically, the first end of the supporting rod 312 is hinged to the fixed frame 110, the second end is hinged to the first telescopic driving member, the fixed end of the first lifting driving member 313 is hinged to the fixed frame 110, the telescopic end is hinged to the second end of the supporting rod 312, and the supporting wheel 311 is arranged at the second end of the supporting rod 312. In this way, the supporting function and the lifting function of the supporting component 310 are realized by adopting the triangle supporting principle.
The bottom of the fixed frame 110 is also provided with a mounting groove, and the control module 320, the steering wheel mechanism 200 and the energy supply element 500 are all arranged on the groove wall of the mounting groove. The energy supply element 500 is electrically connected to the steering wheel mechanism 200, the control module 320 and the distance sensing module 400, respectively, for supplying electric energy to other electrical components in the vehicle.
The bearing plate 120 is provided with a bearing surface and a mounting surface 121 opposite to the bearing surface, the bearing surface is provided with a connecting part, and the automobile support frame 800 for supporting an automobile can be connected to the bearing surface through the connecting part. Optionally, the bearing surface is provided with a first positioning hole, the automobile support frame 800 is provided with a second positioning hole matched with the first positioning hole, the first positioning hole on the bearing surface is connected with the second positioning hole on the automobile support frame 800 through a positioning pin, and the connection mode is simple in structure and easy to realize.
The bearing plate 120 is provided with a mounting surface 121 near the fixing frame 110, the mounting surface 121 is provided with a first plate 1211 near the first side 111, a second plate 1212 near the second side 112, a third plate 1213 near the third side 113, and a fourth plate 1214 near the fourth side 114, and the first plate 1211, the second plate 1212, the third plate 1213, and the fourth plate 1214 are provided with the distance sensing module 400. In this embodiment, the distance sensing module 400 is a distance measuring sensor, and a probe of the distance measuring sensor is disposed downward. In this way, the distance sensing module 400 senses whether there are rails around the transport vehicle, and then positions the support assembly 310 through the steering wheel mechanism 200. Wherein the guideway-type automatic transport 10 can change the moving direction by switching the support assemblies in contact with the track according to the positioned first support assembly 310 or second support assembly 330. Wherein, the guideway-type automatic transport 10 can change the moving direction by switching the first support assembly 310 contacting the guideway to the second support assembly 330 through the control module 320 according to the positioned position of the second support assembly 330; or the guideway-type automatic transport 10 may change the moving direction by switching the second support assembly 330 contacting the guideway to the first support assembly 310 through the control module 320 according to the positioned position of the first support assembly 310.
As shown in fig. 5, the driving principle of the rail-type automatic transport vehicle 10 in the present embodiment is described as follows:
the state of the support mechanism when the automated guided vehicle 10 moves:
in state 1, when the automatic transport vehicle 10 moves forward and backward, the left and right wheels are lowered, the front and rear wheels are retracted, and the steering wheel is driven in the forward and backward direction.
In state 2, when the automatic transport vehicle 10 moves left and right, the left and right wheels are retracted, the front and rear wheels are lowered, and the steering wheel is driven in the left and right direction.
When the truck 10 reaches the track crossing and the direction of movement is changed, for example from state 2 to state 1, the distance sensing module 400 detects the track position, and in combination with the steering wheel position feedback, the truck 10 aligns all the wheels with the underlying track. After settling, the support assembly is switched by the control module 320.
For example, when the truck moves leftwards, the distance sensing module 400 located on the third plate 1213 detects the track below the track, because the track is depressed, an abrupt change in position can be detected, and the truck 22 can be positioned to the right of the track at this time, and the position of the left supporting wheel 311 can be positioned, then the steering wheel mechanism 200 drives the truck leftwards for a distance so that the left supporting wheel 311 is aligned with the track below, then the second supporting component 330 is lowered and contacted with the track by the control module 320, and the first supporting component 310 is retracted, thereby completing the switching.
When the above-mentioned rail-type automatic transporter 10 is used, the car 700 is parked above the transporter, the transporter body 100 is used for carrying the car 700, or the car 700 is parked on the car support 800, and the transporter is used for carrying the car 700 to the parking space 22 in a manner of simultaneously carrying the car support 800 and the car 700. By providing the guide rails in the parking lot, each parking space 22 is connected to a corresponding guide rail, on which the support mechanism is supported, and the transport vehicle is driven along the track of the guide rail by the steering wheel mechanism 200. The distance sensing module 400 and the steering wheel mechanism 200 are matched with each other to position the supporting mechanism, the control module 320 controls the first supporting component 310 and the second supporting component 330 to lift and lower, the supporting components contacted with the guide rail are changed, and the steering wheel mechanism 200 drives the transport vehicle to change the running direction, so that the transport vehicle changes the running direction at the crossing position of the guide rail, and the automobile 700 is transported to the preset parking space 22. The vehicle 700 can be transported to the designated parking space 22 by running on the fixed rail of the guideway without using a complex sensor system and a multi-wheel driving method. The transport vehicle has the advantages of simple structure, relatively low cost, high movement precision, accurate placement of the parking space 22, further reduction of the size of the parking space 22 and improvement of the space utilization rate.
Further, a damping member 314, specifically, a damping spring, is also included. The damping spring is sleeved on the supporting rod 312. In this way, the influence of vibration of the carrier vehicle on the support rod 312 during running can be reduced, the stability of the device is increased, and the risk of falling of parts on the carrier vehicle due to vibration and the risk of the automobile 700 falling from the carrier vehicle are reduced.
Referring to fig. 2, in one embodiment, the supporting wheel 311 includes a first supporting wheel 315 and a second supporting wheel 316, the first supporting wheel 315 includes a first concave portion 3151 and two first convex portions 3152, and the first concave portion 3151 is disposed between the two first convex portions 3152; the second support wheel 316 includes a second concave portion 3161, and a second convex portion 3162 connected to the second concave portion 3161;
the supporting wheel 311 positioned on the first side 111 is a first supporting wheel 315, and the supporting wheel 311 positioned on the second side 112 is a second supporting wheel 316; or the supporting wheel 311 on the first side 111 is a second supporting wheel 316, and the supporting wheel 311 on the second side 112 is a first supporting wheel 315;
the supporting wheel 311 on the third side 113 is a first supporting wheel 315, and the supporting wheel 311 on the fourth side 114 is a second supporting wheel 316; or the supporting wheel 311 on the third side 113 is the second supporting wheel 316, and the supporting wheel 311 on the fourth side 114 is the first supporting wheel 315. In this way, the first supporting wheel 315 and the second supporting wheel 316 are respectively disposed on opposite sides of the carrier body 100, and a single boss form of the second supporting wheel 316 on one side can reserve allowance for the matching precision between the supporting wheels 311 on opposite sides and the guide rail, so as to avoid the wheel and the guide rail from being unable to be accurately matched due to processing or construction errors.
In one embodiment, the support mechanism further includes a second lifting driving member 600, one end of the second lifting driving member 600 is connected to the transporter body 100, the other end is connected to the steering wheel mechanism 200, and the second lifting driving member 600 is electrically connected to the control module 320. The second is that the lifting drive may be a hydraulic cylinder in the form of a hydraulic drive or an electric cylinder in the form of a motor drive. The control module 320 is configured to control the expansion and contraction of the second lifting driving member 600. In this way, the height of the vehicle body 100 can be lowered, so that the vehicle can travel under the vehicle 700, and then the vehicle body 100 is raised to lift the vehicle 700 and transport the vehicle to the predetermined parking space 22.
As shown in fig. 6, the present technical solution further provides an automatic parking lot 20, including:
a guideway-type automatic transfer vehicle 10 as described above; a cross rail 21 on which the automated guided vehicle 10 can travel; and the parking space 22, wherein the parking space 22 is communicated with the guide rail.
By providing the guide rail 21 in the parking lot, it can be understood that the guide rail 21 corresponds to a map. The track-type automated guided vehicle 10 may travel on rails under control of a dispatch system. Each parking space 22 is connected to a corresponding guideway on which a support mechanism is supported for movement of the truck along the path of the guideway by the steering wheel mechanism 200. The distance sensing module 400 and the steering wheel mechanism 200 are matched with each other to position the supporting mechanism, and then the control module 320 controls the lifting of the supporting component 310 to change the supporting component 310 contacted with the guide rail, so that the transportation vehicle changes the driving direction at the position where the guide rail is crossed, and the transportation vehicle 700 is transported to the preset parking space 22. The technical scheme is further described as follows:
in one embodiment, the device further comprises an automatic charging area 23, an automatic charging device is arranged on the automatic charging area, the automatic charging area 23 is communicated with the guide rail 21, and the automatic charging device can be electrically connected with the energy supply element 500. Specifically, the automatic charging area 23 is provided at the edge of the parking lot. When the transport vehicle is not working, the transport vehicle can automatically go to the automatic charging area 23 for charging, and the transport vehicle is kept to have sufficient electric quantity all the time, so that the energy requirement of normal working of the transport vehicle is met.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A guideway-type automatic transport vehicle, comprising:
a transport vehicle body;
the steering wheel mechanism is arranged on the transport vehicle body and is used for driving the transport vehicle body to move;
the support mechanism comprises a first support component, a second support component and a control module which is respectively and electrically connected with the first support component and the second support component, wherein the first support component, the second support component and the control module are arranged on the transport vehicle body, the first support component can be movably matched with a guide rail in the X-axis direction and support the transport vehicle body, and the second support component can be movably matched with a guide rail in the Y-axis direction and support the transport vehicle body;
the distance sensing module is arranged on the transport vehicle body, and the steering wheel mechanism and the distance sensing module are matched with each other and used for positioning the first support assembly or the second support assembly; and
The energy supply element is arranged on the transport vehicle body and is electrically connected with the steering wheel mechanism, the control module and the distance sensing module respectively;
wherein the guide rail type automatic transport vehicle can switch the first support component contacted with the guide rail to the second support component through the control module according to the positioned position of the second support component, so that the moving direction is changed;
or the guide rail type automatic transport vehicle can change the moving direction by switching the second support assembly contacted with the guide rail to the first support assembly through the control module according to the positioned position of the first support assembly.
2. The guideway automatic transport of claim 1, wherein the transport body comprises a mount comprising opposing first and second sides, and opposing third and fourth sides, each of the first and second sides having at least one of the first support assemblies disposed thereon, and each of the third and fourth sides having at least one of the second support assemblies disposed thereon.
3. The guideway automatic transport according to claim 2, wherein the first support assembly and the second support assembly each comprise a support wheel, a support bar, and a first lifting drive member electrically connected to the control module, the support bar is provided with a first end and a second end opposite to each other, the first end is rotatably disposed on the transport vehicle body, one end of the first lifting drive member is rotatably disposed on the transport vehicle body, the other end of the first lifting drive member is rotatably connected to the second end, and the support wheel is disposed on the support bar.
4. The guideway automatic transport of claim 3, further comprising a vibration reduction member disposed on the support bar.
5. The automatic guided vehicle according to claim 2, wherein the vehicle body further comprises a bearing plate disposed on the fixing frame, a mounting surface near the fixing frame is disposed on the bearing plate, a first plate surface near the first side surface, a second plate surface near the second side surface, a third plate surface near the third side surface, and a fourth plate surface near the fourth side surface are disposed on the mounting surface, and the distance sensing modules are disposed on the first plate surface, the second plate surface, the third plate surface, and the fourth plate surface.
6. The guideway automatic transport of claim 3, wherein the support wheel comprises a first support wheel and a second support wheel, the first support wheel comprises a first concave station portion and two first convex station portions, the first concave station portion is disposed between the two first convex station portions; the second supporting wheel comprises a second concave table part and a second convex table part connected with the second concave table part;
the supporting wheels on the first side face are the first supporting wheels, and the supporting wheels on the second side face are the second supporting wheels; or the supporting wheel on the first side surface is the second supporting wheel, and the supporting wheel on the second side surface is the first supporting wheel;
the supporting wheels on the third side face are the first supporting wheels, and the supporting wheels on the fourth side face are the second supporting wheels; or the supporting wheel on the third side surface is the second supporting wheel, and the supporting wheel on the fourth side surface is the first supporting wheel.
7. The guideway automatic transport of claim 1, wherein the support mechanism further comprises a second lift drive having one end coupled to the transport body and the other end coupled to the steering wheel mechanism, the second lift drive being electrically coupled to the control module.
8. The automatic guided vehicle according to claim 1, wherein the vehicle body is further provided with a receiving surface, the receiving surface is provided with a connecting portion, and the supporting frame for supporting the vehicle is connected to the receiving surface through the connecting portion.
9. An automated parking lot, comprising:
a guideway-type automatic transport according to any one of claims 1-8;
the guide rail type automatic transport vehicle can run on the orthogonal guide rail; and
And the parking space is communicated with the orthogonal guide rail.
10. The automated parking lot of claim 9, further comprising an automated charging area having an automated charging device disposed thereon, the automated charging area in communication with the orthogonal guide rail, the automated charging device in electrical communication with the energy supply element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711200966.XA CN108071254B (en) | 2017-11-23 | 2017-11-23 | Guide rail type automatic transport vehicle and automatic parking lot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711200966.XA CN108071254B (en) | 2017-11-23 | 2017-11-23 | Guide rail type automatic transport vehicle and automatic parking lot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108071254A CN108071254A (en) | 2018-05-25 |
| CN108071254B true CN108071254B (en) | 2024-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201711200966.XA Active CN108071254B (en) | 2017-11-23 | 2017-11-23 | Guide rail type automatic transport vehicle and automatic parking lot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207067799U (en) * | 2017-07-05 | 2018-03-02 | 广州智轮科技有限公司 | The new omnidirectional's track transport vehicle driven by steering wheel drive device |
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