CN108316721A - A kind of c-type homing guidance carrying vehicle device - Google Patents
A kind of c-type homing guidance carrying vehicle device Download PDFInfo
- Publication number
- CN108316721A CN108316721A CN201810317938.4A CN201810317938A CN108316721A CN 108316721 A CN108316721 A CN 108316721A CN 201810317938 A CN201810317938 A CN 201810317938A CN 108316721 A CN108316721 A CN 108316721A
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- longeron
- clamping limb
- walking
- type main
- module
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- 238000001514 detection method Methods 0.000 claims abstract 5
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 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
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
- E04H6/225—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes without transverse movement of the parking palette after leaving the transfer means
-
- 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
Abstract
The invention discloses a kind of c-type homing guidance carrying vehicle devices (1), it is characterised in that：Including c-type main body frame (2), embrace clamping limb module (3), walking support unit (4), detection control unit (5).C-type main body frame is in envelope target vehicle structure, there is extension longeron (2c), and according to the wheelbase information that detection control unit is fed back, it is scalable to adapt to different wheelbase vehicles to extend longeron (2c).Multiple armfuls of clamping limb modules (3) are respectively arranged at c-type main body frame both sides, it is provided at least two and embraces clamping limb (3b) unit, by showing and moving towards so that target vehicle tire is lifted by clamping limb (3b) unit is embraced from outside.Multiple walking support units (4) are arranged on c-type main body frame (2) bottom, and each support unit of walking can be rotated by 360 ° around the axis perpendicular to walking surface allow the actions such as device completes straight trip, row, original place rotates, S types are walked about.
Description
Technical field
The present invention relates to intelligent parking technical field, more particularly to it is a kind of can homing guidance walking carrying target vehicle
Device.
Background technology
The present invention relates to a kind of C frame-type homing guidance carrying vehicle devices.
The development advanced by leaps and bounds with china's overall national strength, national quality of the life are also gradually increased.According to national statistics
From the point of view of the data of office's publication, when 2007, national motor vehicles for civilian use owning amount is 4358.36 ten thousand, until 2012 then send out
10933.09 ten thousand have been opened up, until 2016 are even more fulminant growth, has reached 18574.54 ten thousand.2007~
In 10 years in 2016, China's motor vehicles for civilian use owning amount increases nearly 14216.18 ten thousand, and growth rate is up to 326%.Phase
Burst compared with motor vehicles for civilian use owning amount increases, and the quantity on parking stall there is no breaking through therewith, by the end of the year 2014, Beijing
Parking stall notch amount alreadys exceed 2,500,000；The parking stall notch in the cities such as Shenzhen, Shanghai, Guangzhou, Nanjing is more than 1,500,000
It is a.Parking difficulty problem becomes motor vehicles for civilian use owning amount burst and increases behind China urgent problem.
The essence being currently known solves the problems, such as that stereo garage is mainly built in the measure of parking difficulty, and stereo garage is divided into
Stereo garage for civil engineering formula and mechanical stereo garage.Wherein mechanical stereo garage is because of low cost, construction period
Short, the features such as space availability ratio is high, is received step by step by everybody, become the preference that essence solves the problems, such as parking difficulty.Machine
Tool formula stereo garage is divided into the stereo garage of auto-manual system and the stereo garage of full rotation type.With the development of science and technology, entirely
The ratio that the stereo garage of self-action accounts in newly-built garage is increasing.
Full rotation type stereo garage point traditional intelligent base and novel AGV formulas garage parking.What is be currently known is traditional
Intelligent parking garage include tunnel stacking type, planar movement type, vertical lifting type etc., these traditional intelligent parking garages have one
A general character --- a set of transporting equipment serves a garage parking, and such feature has the shortcomings that apparent is exactly to work as transporting equipment
When breaking down, entire garage parking will directly paralyse, and can not be done having more set transporting equipments to serve a garage parking
It is independent of each other to more set transporting equipments.The AGV forms being currently known have U-shaped AGV and support sweep type AGV.U-shaped AGV's
Operation principle is lifted and is transported from the side of vehicle by vehicle, and one in vehicle commander direction and vehicle is arranged in main support construction
Side, such that size of the whole equipment in vehicle commander direction can greatly increase, its desired walkway clearance can also increase in this way.
It is parked on an intermediate carrier vehicle medium as soon as the operation principle of support sweep type AGV is vehicle active, support sweep type AGV is moved
Below to intermediate carrier vehicle medium, transported after being lifted, such operation principle just determines how many parking stall of garage just extremely
How many intermediate carrier vehicle media are needed less, so that cost increases with the increase of parking stall number, and because of the pass of structure
System, intermediate carrier vehicle medium can be bigger than the size of target vehicle, so the parking stall size of such AGV demands can be than other type
The truck spaces in garage are big.
Mechanical stereo garage is growing day by day, but mechanical stereo garage is to solve static parking stall count issue,
The real entrance utilization rate for not solving the problems, such as mechanical intelligence stereo garage and stereo garage parking peak congestion and low ebb are not
The peaks and troughs problem used.These known AGV carriers are since it is desired that intermediate carrier vehicle medium, size ratio standard parking stall
Big relationship is only applicable to use in plane garage library.
So need to work out it is a kind of can match Parking Lot position and mechanical stereo garage be used in mixed way it is novel
AGV should meet Operating quiescent occupation of land area size and be less than standard parking stall, not need intermediate carrier vehicle medium, and can flexibly come in and go out
This 3 functions of Mechanical Three-dimensional Garage.
Invention content
Technical problems to be solved by the inivention are to provide that one kind can match Parking Lot position and mechanical stereo garage is mixed
The new A GV used is closed, Operating quiescent occupation of land area size need to be met and be less than standard parking stall, do not need intermediate carrier vehicle medium
AGV, and the Mechanical Three-dimensional Garage that can flexibly come in and go out.
In order to solve the above-mentioned technical problem, specifically, technical scheme is as follows：
A kind of C frame-type homing guidance carrying vehicle device, is arranged to a kind of c-type structure by agent structure, is in C fonts
Shape has crossbeam (2a) vertical with target vehicle travel direction, both sides have longeron (2b) and extend longeron (2c), all with target carriage
Travel direction it is parallel, extend longeron (2c) be slidably mounted on longeron (2b).
Further, the structure that automobile tire is clamped (embrace clamping limb (3b)) is designed to swingable, is needed in vehicle
It is shown before being lifted, is swung back when unwanted, be hidden in agent structure.
Clamping limb (3b) module a pair will advantageously be embraced to be fixedly mounted on longeron (2b), a pair is fixedly mounted on extension
On longeron (2c).By extending the sliding of longeron (2c), embracing clamping limb (3b) module spacing can be at adjusting, to adapt to difference
The car category of wheelbase.
Advantageously support unit of walking is arranged to surround 360 ° of rotations of axis perpendicular to walking surface, realization is set
It is standby can pivot stud, longitudinal walking, laterally walking, the actions such as S types walking.
Advantageous effect：Using above-mentioned technical proposal, parking stall can be formulated for reduced size and can multiple rows of, multiple row phase
Neighbour, passageway can be compressed to minimum, to obtain the peak use rate in equal unit areas place；The schedulable in same system
Multiple equipment cooperates, and in the case where individual plants break down, entire garage parking remains able to operate；The whole series are transported
System is fully integrated on one device, reduces engineering construction amount, increases the migration and expansion of equipment；By target carriage
Package in a device, the safety of increased target vehicle；In addition the equipment can come in and go out mechanical stereo garage, solve three-dimensional
Garage parking peak congestion and the not used peaks and troughs problem of low ebb.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of overall structure diagram of preferred embodiment of the present invention；
Fig. 2 is a kind of overall structure diagram of preferred embodiment full load of the present invention；
Fig. 3 is pick-up schematic diagram of the present invention；
Fig. 4 is to clasp a kind of preferred embodiment structural schematic diagram of arm module (3) in the present invention；
Fig. 5 is a kind of preferred embodiment structure principle chart of support unit in the present invention；
Fig. 6,7,8,9 are a kind of a kind of pick-up flow diagram of preferred embodiment of the present invention in parking lot；
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but does not constitute limitation of the invention.In addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but does not constitute limitation of the invention.In addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Fig. 6,7,8,9, entrance target vehicle is deposited by describing No. I c-type self-navigation carrying vehicle device (1)
Enter the detailed process of the parking stalls A come the function of embodying the present invention and a kind of specific implementation case：
1. No. I c-type self-navigation carrying vehicle device (1) receives, " carrying inlet target vehicle is carried to the parking stalls A and stops
Put " instruction.
2. as shown in fig. 7, No. I c-type self-navigation carrying vehicle device (1) passes through the dynamic of straight trip --- rotation --- straight trip
Make to arrive inlet later, i.e., c-type self-navigation carrying vehicle device (1) when ingress parking stall slows down.In the mistake of deceleration
Cheng Zhong, the safe distance detecting system of measurement and control unit can automatically detect position and the width of target vehicle, it is ensured that c-type is led automatically
Boat carrying vehicle device (1) can accurately drive into inlet parking stall.
3. after the completion of " 2. " detecting, No. I c-type self-navigation carrying vehicle device (1) starts to drive into inlet parking stall at a slow speed,
When the wheelbase detecting system of measurement and control unit passes through target vehicle pair of tyres, wheelbase detecting system can keep records of target carriage
The location information of pair of tyres, when wheelbase detecting system by target vehicle second to tire when, wheelbase detecting system meeting
It keeps records of location information of the target vehicle second to tire, and passes through the location information of two pairs of tires and No. I c-type self-navigation
The travel speed of carrying vehicle device (1), calculates the wheelbase of two pairs of tires, and measurement and control unit keeps records of feedback after obtaining wheelbase
Wheelbase information.
4. No. I c-type self-navigation carrying vehicle device (1) is automatically adjusted according to the wheelbase information that wheelbase detecting system is fed back
Section clasps arm module (3) position near second pair of tire, it is made to clasp arm module near pair of tyres
Spacing is equal to wheelbase.
It is unfolded and moves towards 5. clamping limb (3b) is embraced in module drive component (3d) driving so that 4 tire of target vehicle
Clamp arm (3b) is clasped by 4 groups simultaneously to pick up.
6. as shown in figure 8, No. I c-type self-navigation carrying vehicle device (1) passes through straight trip --- spinning movement continues carrier vehicle
For traveling on passageway, the navigation system of measure and control device gets the driving path of No. I c-type self-navigation carrying vehicle device (1)
On have No. II c-type self-navigation carrying vehicle device (1), navigation system can distribute evacuation task automatically at this time, i.e., evacuation appoint
No. I C type self-navigation carrying vehicle device (1) is distributed in business.Receive No. I c-type self-navigation carrying vehicle dress of evacuation instruction
It sets (1) and S types track is walked out by the transformation for support wheel angle of walking, achieve the purpose that avoid barrier.
7. as shown in figure 9, the navigation system of measurement and control unit can feed back the parking stalls A location information, safe distance detecting system meeting
Detect the morpheme information of peripheral obstacle so that No. I c-type self-navigation carrying vehicle device (1) is accurate accessible by target
Vehicle stops in the parking stalls A.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (5)
1. a kind of c-type homing guidance carrying vehicle device (1), it is characterised in that：Including c-type main body frame (2), embrace clamping limb mould
Group (3), walking support unit (4), detection control unit (5).There are multiple armfuls of clamping limb modules (3) to be arranged in c-type main body frame
(2) both sides, longeron (2b) of the c-type main body frame (2) along vehicle commander direction can be according to being arranged on c-type main body frame (2)
The wheelbase information of detection control unit (5) feedback is flexible, to adapt to the vehicle of different wheelbases.Multiple walking support units (4) set
It sets in c-type main body frame (2) bottom, support unit (4) of each walking can be around 360 ° of rotations of vertical axis perpendicular to walking surface so that
Device can complete the actions such as straight trip, row, original place rotation, the walking of S types.Detection control unit includes navigation system, measures
System.
2. c-type main body frame (2) as described in claim 1, it is characterised in that：In C word shapes, there are crossbeam at one (2a), two
Locate longeron (2b), extend longeron (2c) at two.The longeron (2b) is rigidly connected perpendicular to crossbeam (2a), the extension longeron
(2c) is parallel to longeron (2b) and is slidably connected.When lifting target vehicle, crossbeam (2a) be parallel to target vehicle width direction and
It is parallel to ground.
3. embracing clamping limb module (3) as described in claim 1, it is characterised in that：A pair is fixedly mounted on the longeron (2b)
On, a pair is fixedly mounted on the extension longeron (2c).By the telescopic slide for extending longeron (2c) so that be mounted on same
The clamping limb module (3) of embracing of side has relative displacement, to achieve the purpose that adapt to different wheelbase vehicles.
4. walking support unit as described in claim 1, it is characterised in that：It is arranged in two side girder of c-type main frame (2b), prolongs
Stretch on longeron (2c), including traveling wheel (4a), driving walking component (4b), driving runner assembly (4c), movable motor (4d) and
Rotary electric machine (4e), wherein movable motor (4d) drive traveling wheel (4a) to rotate by driving walking component (4b), driving rotation
Component (4c) is rigidly connected with (2) two side girder (2b) of c-type main frame, extension longeron (2c), is cut with scissors with driving walking component (4b)
It connects, rotary electric machine (4e) drives runner assembly (4c) so that rotation traveling wheel (4a) turns for 360 ° along walking surface vertical axis by driving
To.
5. embracing clamping limb module (3) as claimed in claim 3, it is characterised in that：Including module rack (3a), embrace clamping limb
(3b), module driving source (3c), module drive component (3d), pinboard (3e).It includes embracing clamping arm body to embrace clamping limb (3b)
(3ba), guide wheel (3bb).The module drive component (3d) is fixedly mounted in module rack (3a), and the pinboard (3e) is sliding
Dynamic to be installed on module drive component (3d), described armful of clamping limb (3b) is articulated and connected with pinboard (3e).The module rack
(3a) has guide groove, described armful of clamping limb (3b) to be slidably installed with guide groove by guide wheel (3bb).Module driving source (3c) drives
For module drive component (3d) so that pinboard (3e) is slided along the direction longeron (2b), drive guide groove limitation track embraces clamping limb
(3b) realizes expansion, withdrawal action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317938.4A CN108316721A (en) | 2018-04-10 | 2018-04-10 | A kind of c-type homing guidance carrying vehicle device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317938.4A CN108316721A (en) | 2018-04-10 | 2018-04-10 | A kind of c-type homing guidance carrying vehicle device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108316721A true CN108316721A (en) | 2018-07-24 |
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ID=62896294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810317938.4A Pending CN108316721A (en) | 2018-04-10 | 2018-04-10 | A kind of c-type homing guidance carrying vehicle device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108316721A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109386155A (en) * | 2018-09-20 | 2019-02-26 | 同济大学 | Nobody towards automated parking ground parks the alignment method of transfer robot |
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | A kind of gripping arm and clamping method |
| CN110984654A (en) * | 2019-12-05 | 2020-04-10 | 深圳精智机器有限公司 | Vehicle handover system of mechanical garage and vehicle carrying method thereof |
| CN112938371A (en) * | 2021-03-09 | 2021-06-11 | 机械工业第九设计研究院有限公司 | Multi-vehicle traveling vehicle receiving machine |
| CN110497375B (en) * | 2019-09-12 | 2024-05-03 | 杭州极木科技有限公司 | Clamping arm and clamping method |
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| CN201593325U (en) * | 2010-01-07 | 2010-09-29 | 金华法 | Omnidirectional automobile transportation tool |
| US20130280018A1 (en) * | 2010-11-29 | 2013-10-24 | Serva Transport Systems Gmbh | Device and method for automatically laterally storing a motor vehicle in a storing device |
| CN204212496U (en) * | 2014-10-30 | 2015-03-18 | 王洋 | A kind of automated machine garage vehicle conveying platform |
| CN104631893A (en) * | 2015-02-10 | 2015-05-20 | 广州信邦汽车装备制造有限公司 | Longitudinal parking robot |
| CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
-
2018
- 2018-04-10 CN CN201810317938.4A patent/CN108316721A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201593325U (en) * | 2010-01-07 | 2010-09-29 | 金华法 | Omnidirectional automobile transportation tool |
| US20130280018A1 (en) * | 2010-11-29 | 2013-10-24 | Serva Transport Systems Gmbh | Device and method for automatically laterally storing a motor vehicle in a storing device |
| CN204212496U (en) * | 2014-10-30 | 2015-03-18 | 王洋 | A kind of automated machine garage vehicle conveying platform |
| CN104631893A (en) * | 2015-02-10 | 2015-05-20 | 广州信邦汽车装备制造有限公司 | Longitudinal parking robot |
| CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109386155A (en) * | 2018-09-20 | 2019-02-26 | 同济大学 | Nobody towards automated parking ground parks the alignment method of transfer robot |
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | A kind of gripping arm and clamping method |
| CN110497375B (en) * | 2019-09-12 | 2024-05-03 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN110984654A (en) * | 2019-12-05 | 2020-04-10 | 深圳精智机器有限公司 | Vehicle handover system of mechanical garage and vehicle carrying method thereof |
| CN110984654B (en) * | 2019-12-05 | 2021-11-23 | 深圳精智机器有限公司 | Vehicle handover system of mechanical garage and vehicle carrying method thereof |
| CN112938371A (en) * | 2021-03-09 | 2021-06-11 | 机械工业第九设计研究院有限公司 | Multi-vehicle traveling vehicle receiving machine |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518000 15 / F, block a, building 6, Shenzhen International Innovation Valley, Dashi Road, Nanshan District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN JINGZHI MACHINE Co.,Ltd. Address before: 518000 Beek science and technology building, 9 research road, Nanshan District hi tech Development Zone, Guangdong, Shenzhen, 1101-B Applicant before: SHENZHEN JINGZHI MACHINE Co.,Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180724 |