CN108487750A - A kind of novel intelligent three-dimensional garage AGV floor trucks - Google Patents
A kind of novel intelligent three-dimensional garage AGV floor trucks Download PDFInfo
- Publication number
- CN108487750A CN108487750A CN201810585254.2A CN201810585254A CN108487750A CN 108487750 A CN108487750 A CN 108487750A CN 201810585254 A CN201810585254 A CN 201810585254A CN 108487750 A CN108487750 A CN 108487750A
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- Prior art keywords
- vehicle
- agv floor
- floor trucks
- traversing
- agv
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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
- E04H6/24—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 dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
-
- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of novel intelligent three-dimensional garage AGV floor trucks, walking main frame including that can realize longitudinal movement, it can realize the traversing component of transverse shifting, realize the upper lifting body of jacking vehicle-carrying plate, the lower lifting body of switching longitudinal movement and transverse shifting, the laser system for the correction of transverse shifting guide-localization.The AGV floor trucks of the present invention are relative to traditional haulage equipment, have the characteristics that simple in structure, stable, load-carrying is big, thickness is small, it is low to require civil engineering ground, the function of installation charging pile can be realized together with mating vehicle-carrying plate, be suitable for the vehicle conveying field of intelligent three-dimensional garage.
Description
Technical field
The present invention relates to mechanical parking equipment technical fields, are removed more particularly to a kind of novel intelligent three-dimensional garage AGV
Transport trolley.
Background technology
More and more with the ownership of city vehicle, the notch on parking stall is increasing, huge parking stall demand pole
The big development for promoting mechanical intelligence stereo garage.The mechanical intelligence stereo garage of country's mainstream has planar movement class at present,
Tunnel stacking class, vertical lifting.Floor truck is the core equipment of mechanical intelligence stereo garage, and major function is to complete vehicle
In the vehicle Room and elevator, the handing-over between elevator and parking stall.
Existing carrier receiving delivery system mainly has clamping-arm, comb-tooth-type and the board-like three kinds of forms of carrier vehicle.Wherein clamping-arm
Carrier is by way of being directly clamped vehicle tyre, it can be achieved that vehicle is in the vehicle Room and elevator, between elevator and parking stall
Directly join, but its is complicated, and to the bad adaptability of vehicle wheelbase, the entrance vehicle Room need to retain carrier walking groove and right
Middle mechanism, parking experience are poor；Comb-tooth-type carrier by way of directly jacking vehicle tyre, it can be achieved that vehicle the vehicle Room with
Elevator, direct between elevator and parking stall exchange, simple in structure, but carrier thickness is high, lifting row when vehicle hand-ing over
Cheng great, it is not high to garage height utilization rate, and the entrance vehicle Room needs to retain carrier walking groove and centering body, parking experience
Poor, part comb-tooth-type carrier carries centering body, complicated；Carrier vehicle is board-like need to utilize vehicle-carrying plate to realize vehicle in the vehicle Room
With elevator, the handing-over between elevator and parking stall, that is, vehicle are parked on vehicle-carrying plate, and carrier is vehicle and vehicle-carrying plate one
It rises and is transported on parking stall, be not necessarily to centering body, it is simple in structure, and the entrance vehicle Room can make entire plane, reduce parking difficulty,
Promote parking experience.
AGV trolleies are all made of omni-directional wheel or steering wheel to realize the planar movement of AGV trolleies, complicated, load-carrying at present
It is low, high energy consumption, and the requirement to running environment, control system is all very high, causes the cost of AGV trolleies high.
Whole world car ownership goes up every year at present, and fuel-engined vehicle exhaust emissions is increasingly severe to the pollution of air,
The notch of energy demand is also increasing.New-energy automobile is greatly developed, replacing oil by electricity reduces discharge, is world car industry
The direction of development, the whole world is especially Chinese, and electric vehicle sales volume goes up year by year, and the demand to charging pile is also increasing, so
And up to the present, it is built up there has been no the mechanical intelligence stereo garage with charging pile, only minimal amount of lifting cross sliding type is built up
There is the sample library with charging pile, but its using effect is not satisfactory.
Invention content
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of novel intelligent three-dimensional garage AGV carryings are small
Vehicle.The floor truck utilizes vehicle-carrying plate realization vehicle in the vehicle Room and elevator, the handing-over between elevator and parking stall.The carrying is small
Vehicle have load-carrying is big, simple in structure, performance safety is stable, easy to maintain, automatic positioning, autonomous guiding, can coordinate with vehicle-carrying plate
Establish charging pile for electric vehicle etc..In future, can also be used in products storage circulation system.
To achieve the above objectives, the technical solution adopted in the present invention is as follows.
On the one hand, a kind of novel intelligent three-dimensional garage AGV floor trucks, including：
Walking main frame, installation vertical shift driving wheel and vertical shift driving motor, vertical shift driven wheel, upper jack on walking frame
Structure, lower lifting body.Under the driving of vertical shift driving motor, AGV floor trucks realize vertical shift action；
Traversing component is equipped with traversing driving wheel and traversing driving motor, traversing driven wheel on traversing component.Traversing component only has
It is just jacked down by lower lifting body when floor truck needs traversing, traversing driving wheel, driven wheel contact ground, main frame of walking
Frame lifting is liftoff, and under the driving of traversing driving motor, AGV floor trucks realize traversing action.
Preferably, the lifting body of AGV floor trucks uses spiral lift or hydraulic system.
Preferably, supplying cell group, switch board, charging interface are installed in AGV floor trucks.
Preferably, reflector is posted at carrier side both ends, and Laser Measuring is disposed on tunnel end or elevator
Away from navigation module.
On the other hand, the present invention relates to a kind of methods of above-mentioned AGV floor trucks Transport Vehicle.
Parking method is as follows.
1, car owner opens vehicle to the entrance vehicle Room, and car owner gets off, and plugs charging pile interface, by swiping the card, the side such as fingerprint, APP
Formula confirms bicycle parking.
2, system receives bicycle parking instruction, and host computer distributes parking stall, and vehicle hall door is closed, and vertical shift driving motor rotates forward, and AGV is carried
Trolley is moved to the vehicle Room.
3, upper lifting body jacking, vehicle-carrying plate and vehicle lifting is liftoff, vertical shift driving motor reversion, AGV floor trucks
Carrying vehicle is to tunnel.
4, lower lifting body starts, traversing component touch ground, and walking main frame lifting is liftoff, and traversing driving motor is just
Turn, AGV floor trucks are moved to face target parking stall.
5, lower lifting body recycling, walking frame landing, vertical shift driving motor rotate forward, and AGV floor trucks are moved to target
Parking stall.
6, upper lifting body recycling, vehicle-carrying plate landing, AGV floor truck pick-up and down machines.
Pick-up method is as follows.
1, car owner is opened by fingerprint, brush, the modes such as APP send out pick-up instruction, and system receives instruction of picking up the car, and distribution is nearest
AGV floor trucks are picked up the car.
2, lifting body pushes under AGV floor trucks, traversing component touch ground, and traversing driving motor rotates forward, and traveling is extremely
Face target parking stall.
3, lower lifting body recycling, walking main frame ground connection, vertical shift driving motor rotate forward, and AGV floor trucks are travelled to load
Immediately below sweep.
4, upper lifting body jacking, vehicle-carrying plate and vehicle lifting is liftoff, and vertical shift motor reversal, AGV floor trucks return to
Tunnel.
5, lifting body pushes under AGV floor trucks, traversing component touch ground, and traversing driving motor hair turns, and AGV is carried
Trolley is travelled to face vehicle Room entrance.
6, vertical shift driving motor rotates forward, and AGV floor trucks send vehicle to vehicle Room entrance, upper lifting body recycling, and vertical shift is driven
Dynamic motor anyway, AGV floor truck pick-up and down machines.
7, vehicle Room entrance door is opened, and car owner enters the vehicle Room, pulls up charging gun, is driven vehicle and is left.
Compared with prior art, the invention has the advantages that.
1, the present invention solves the problems, such as that intelligent three-dimensional garage can not build charging pile.
2, AGV floor trucks of the invention are simplified structure, are reduced the whole of floor truck using common encapsulated traveling wheel
Body thickness improves operation stability, there is the load-carrying of bigger, and road has been paved for the carrying of new-energy automobile.
3, AGV floor trucks of the invention are simple and reliable for structure, safeguard simple and convenient.
4, AGV floor trucks of the invention can use laser ranging navigation correction.
5, AGV floor trucks of the invention are not necessarily to track, low to ground level requirement, reduce civil engineering cost.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is AGV floor truck outside drawings.
Fig. 2 is AGV floor truck internal structure charts.
Fig. 3 is AGV floor truck internal structure vertical views.
Fig. 4 is traversing assembly assumption diagram.
Fig. 5 is driving wheel and driving motor structure chart.
Fig. 6 is driven wheel structure figure.
Fig. 7 is vehicle-carrying plate structure chart.
Fig. 8 is vehicle-carrying plate charging pile connecting device schematic diagram.
Fig. 9 is the stereo garage car carrying schematic diagram 1 using this AGV floor trucks.
Figure 10 is the stereo garage car carrying schematic diagram 2 using this AGV floor trucks.
Figure 11 is the stereo garage car carrying schematic diagram 3 using this AGV floor trucks.
Figure 12 is the stereo garage car carrying schematic diagram 4 using this AGV floor trucks.
Figure 13 is the stereo garage car carrying schematic diagram 5 using this AGV floor trucks.
Figure 14 is the stereo garage car carrying schematic diagram 6 using this AGV floor trucks.
In figure：111 shields, 12 walking main frames
It is 13 traversing components, lifting body, 15 times lifting bodies, 16 vertical shift driving wheels and driving motor on 14,17 driven wheels, 18 anti-
Tabula rasa, 19 electric control boxes, 20 battery packs
131 traversing pipes, 132 traversing driving wheels and driving motor, 133 traversing driven wheels
161 driving wheels, 162 driving wheel mounting plates, 163 motor mounting plates, 164 driving motors
171 driven wheels, 172 follower shafts
21 vehicle-carrying plates, 22 charging piles, 23 are plugged into male connector
241 plug into female, 242 compression springs, 243 fixed seats.
Specific implementation mode
The following further describes the present invention with reference to the drawings.
As shown in Figure 1, AGV floor trucks include shield 11 and walking main frame 12.
As Figure 2-3, electric control box 19 is installed inside walking main frame, battery pack 20, both ends are equipped with traversing
Component 13 and the lower lifting body 15 of driving traversing component landing, vertical shift driving wheel and driving motor 16, four it is independent on
Lifting body 14, driven wheel 17, the reflector 18 for laser ranging navigation correction.
AGV floor trucks drive driving wheel by vertical shift driving motor, realize the longitudinal movement of AGV floor trucks, four solely
Vertical upper lifting body 14 uses spiral lift or hydraulic cylinder, vehicle-carrying plate 21 can be driven to rise and fall, lower lifting body
15 use spiral lift or hydraulic cylinder, and traversing component 13 can be driven to decline or recycle.
Laser ranging navigation deviating correcting principle be：Carrier tunnel both sides are provided with laser ranging instrument, in carrier cross
It during movement, according to the data that light meter is fed back, is calculated by geometry, the traversing driving wheel in adjustment both ends and driving electricity
The output rotating speed of machine 132, to carry out navigation correction.
As shown in figure 4, traversing component 13 is by traversing pipe 131, traversing driving wheel and driving motor 132 and 133 groups of driven wheel
At.
When AGV floor trucks need traversing, lower lifting body 15 starts, and traversing component 13 is driven to contact to earth, and will walking
Main frame 12 is lifted liftoff, then traversing driving wheel and the startup of driving motor 132, driving AGV floor truck transverse shiftings.
As seen in figs. 5-6, vertical shift driving wheel and driving motor 16, including driving wheel 161, driving wheel mounting plate 162, motor
Mounting plate 163, driving motor 164.Driven wheel 17, including driven wheel 171, follower shaft 172.
As shown in fig. 7, the carrier loader platform to park cars includes vehicle-carrying plate 21, charging pile 22, electric interconnecting male connector 23.
As shown in figure 8, electric interconnecting part includes plug into male connector 23, female of plugging into 241, compression spring 242, fixed seat 243,
There is micro-driving motor in fixed seat, and is connect with power supply system.
New-energy automobile charging principle is：It parks and finishes in vehicle Room entrance when vehicle, car owner plugs the charging of charging pile 22
Interface.Vehicle and vehicle-carrying plate 21 are carried to the parking stall of Upper system distribution by AGV floor trucks, fixed after vehicle-carrying plate 21 lands
Micromotor in seat 243 drives the extension of female 241 of plugging into, and male connector 23 is in close contact with plugging into, and circuit is connected, and automobile starts
Charging, when charging complete, female of plugging into 241 is withdrawn, and female is detached with male connector, completion charging operations.
In conjunction with attached drawing 9-14, the Transport Vehicle flow of the AGV floor trucks of the application is as follows.
Bicycle parking flow is as follows.
As shown in figure 9, AGV floor truck C1 initial position face vehicles Room entrance B1.
As shown in Figure 10, vehicle is reached vehicle Room entrance B1 by car owner, plugs charging gun, is swiped the card or by fingerprint identification bicycle parking.
As shown in figure 11, AGV floor trucks C1 moves to vehicle Room entrance B1, and upper lifting body 14 rises, and holds up vehicle-carrying plate.
As shown in figure 12, AGV floor trucks C1 retracts tunnel.
As shown in figure 13, lower lifting body 15 pushes, and traversing component 13 is made to contact ground, traversing driving wheel and driving motor
Driving, makes AGV floor trucks C1 be moved to the parking stalls face A1.
As shown in figure 14, AGV floor trucks C1 carryings trolley enters A1, puts down vehicle-carrying plate, and AGV floor trucks return just
Beginning position.
Pick-up flow is as follows.
As shown in figure 14, it is that upper lifting body 14 rises that AGV floor trucks C1, which enters A1, holds up vehicle-carrying plate.
As shown in figure 13, AGV floor trucks C1 retracts tunnel.
As shown in figure 12, lower lifting body 15 pushes, and traversing component 13 is made to contact ground, traversing driving wheel and driving motor
Driving, makes AGV floor trucks C1 be moved to face vehicle Room entrance.
As shown in figure 11, AGV floor trucks C1 moves to vehicle Room entrance B1, and upper lifting body 14 declines, and puts down vehicle-carrying plate.
As shown in Figure 10, AGV floor trucks retract tunnel, and vehicle Room turntable rotates 180 degree.
As shown in figure 9, car owner pulls up charging gun, drives vehicle and leave.
It is emphasized that the above content is combine specific preferred embodiment made for the present invention further detailed
Illustrate, and it cannot be said that the specific implementation of the present invention is confined to these explanations.For the common skill of the technical field of the invention
For art personnel, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all should be considered as
It belongs to the scope of protection of the present invention.
Claims (7)
1. a kind of novel intelligent three-dimensional garage AGV floor trucks, which is characterized in that the main frame of walking including that can realize longitudinal movement
Frame 12 can realize the traversing component 13 of transverse shifting, the upper lifting body 14 of realization jacking vehicle-carrying plate, switching longitudinal movement and cross
To mobile lower lifting body mechanism 15, for the vertical shift driving wheel and driving motor 16, driven wheel 17 of longitudinal movement, for cross
To the reflector 18 of mobile guide positioning and rectifying.
2. novel intelligent three-dimensional garage AGV floor trucks according to claim 1, which is characterized in that described traversing group
Part 13 further includes traversing pipe 131, traversing driving wheel and driving motor 132, traversing driven wheel 133, and traversing component 13 is in lower jacking
Under the driving of mechanism 15, traversing driven wheel and driving wheel contact ground, and walking main frame lifting is three-dimensional, and traversing driving motor opens
Dynamic, driving AGV floor trucks realize transverse shifting.
3. novel intelligent three-dimensional garage AGV floor trucks according to claim 1, which is characterized in that walking main frame 12
On vertical shift driving wheel and driving motor 16, driven wheel 17 for longitudinal movement are installed, under the driving of vertical shift driving motor,
AGV floor trucks realize longitudinal movement.
4. novel intelligent three-dimensional garage AGV floor trucks according to claim 1, which is characterized in that AGV floor trucks one
Reflector 18 is posted in side, and laser range finder is equipped on tunnel end or elevator, in the mistake of AGB floor truck transverse shiftings
Cheng Zhong is calculated according to the data that laser range finder is fed back by geometry, the traversing driving wheel in adjustment both ends and driving motor 132
Rotating speed is exported, to carry out navigation correction and positioning.
5. novel intelligent three-dimensional garage AGV floor trucks according to claim 1, which is characterized in that AGV floor trucks
Upper lifting body 14, lower lifting body 15 use spiral lift or hydraulic system.
6. a kind of method using the AGV floor truck bicycle parking described in any one of claim 1-5, which is characterized in that the party
Method includes the following steps：
AGV floor trucks slip into below the entrance vehicle-carrying plate of the vehicle Room, and upper lifting body 14 rises, and hold up vehicle-carrying plate, after jacking in place,
AGV floor trucks leave the vehicle Room, reach tunnel；
Lifting body 15 starts under AGV floor trucks, and traversing component 13 contacts ground, and walking main frame lifting is liftoff, and AGV is carried
Trolley is traversing to target parking stall, and lower lifting body 15 is withdrawn, and traversing component 13 is withdrawn；
AGV floor trucks are travelled to target parking stall, and upper lifting body 14 is withdrawn, and puts down vehicle-carrying plate, AGV floor trucks leave vehicle
Position.
7. a kind of method that AGV floor trucks using described in any one of claim 1-5 are picked up the car, which is characterized in that the party
Method includes the following steps：
AGV floor trucks slip into below the vehicle-carrying plate of target parking stall, and upper lifting body 14 rises, and hold up vehicle-carrying plate, after jacking in place,
AGV floor trucks leave parking stall, reach tunnel；
Lifting body 15 starts under AGV floor trucks, and traversing component 13 contacts ground, and walking main frame lifting is liftoff, and AGV is carried
Trolley is traversing to vehicle Room entrance, and lower lifting body 15 is withdrawn, and traversing component 13 is withdrawn；
AGV floor trucks are travelled to vehicle Room entrance, and upper lifting body 14 is withdrawn, and puts down vehicle-carrying plate, AGV floor trucks leave the vehicle Room
Entrance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810585254.2A CN108487750A (en) | 2018-06-08 | 2018-06-08 | A kind of novel intelligent three-dimensional garage AGV floor trucks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810585254.2A CN108487750A (en) | 2018-06-08 | 2018-06-08 | A kind of novel intelligent three-dimensional garage AGV floor trucks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108487750A true CN108487750A (en) | 2018-09-04 |
Family
ID=63342196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810585254.2A Pending CN108487750A (en) | 2018-06-08 | 2018-06-08 | A kind of novel intelligent three-dimensional garage AGV floor trucks |
Country Status (1)
| Country | Link |
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| CN (1) | CN108487750A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259230A (en) * | 2019-07-04 | 2019-09-20 | 南京伺开泰机电科技研发中心（有限合伙企业） | It is a kind of for loading and unloading, accessing the side-feeding type intelligence carrier of vehicle |
| CN110539652A (en) * | 2019-09-05 | 2019-12-06 | 北京特种机械研究所 | extended-range type traction Automatic Guided Vehicle (AGV) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104878970A (en) * | 2015-06-10 | 2015-09-02 | 深圳怡丰机器人科技有限公司 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
| CN106114263A (en) * | 2016-07-13 | 2016-11-16 | 陕西隆翔停车设备集团有限公司 | A kind of Multifunctional stereo garage power connection |
| WO2016197610A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰机器人科技有限公司 | Agv comb-type transfer robot |
| CN206489449U (en) * | 2016-10-14 | 2017-09-12 | 深圳力子机器人有限公司 | AGV is carried in a kind of logistics with automatic charging stake |
-
2018
- 2018-06-08 CN CN201810585254.2A patent/CN108487750A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104878970A (en) * | 2015-06-10 | 2015-09-02 | 深圳怡丰机器人科技有限公司 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
| WO2016197610A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰机器人科技有限公司 | Agv comb-type transfer robot |
| CN106114263A (en) * | 2016-07-13 | 2016-11-16 | 陕西隆翔停车设备集团有限公司 | A kind of Multifunctional stereo garage power connection |
| CN206489449U (en) * | 2016-10-14 | 2017-09-12 | 深圳力子机器人有限公司 | AGV is carried in a kind of logistics with automatic charging stake |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259230A (en) * | 2019-07-04 | 2019-09-20 | 南京伺开泰机电科技研发中心（有限合伙企业） | It is a kind of for loading and unloading, accessing the side-feeding type intelligence carrier of vehicle |
| CN110259230B (en) * | 2019-07-04 | 2023-12-22 | 南京伺开泰机电科技研发中心（有限合伙企业） | Side-entering type intelligent carrier for loading, unloading and storing vehicles |
| CN110539652A (en) * | 2019-09-05 | 2019-12-06 | 北京特种机械研究所 | extended-range type traction Automatic Guided Vehicle (AGV) |
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