CN108699852A - Automated guided vehicle robot and its clamping device - Google Patents
Automated guided vehicle robot and its clamping device Download PDFInfo
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- CN108699852A CN108699852A CN201880000322.2A CN201880000322A CN108699852A CN 108699852 A CN108699852 A CN 108699852A CN 201880000322 A CN201880000322 A CN 201880000322A CN 108699852 A CN108699852 A CN 108699852A
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- Prior art keywords
- clamp arm
- agv robots
- agv
- clamping device
- platform
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
-
- 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
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping 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
-
- 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
- E04H6/426—Parking guides
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of automated guided vehicle (AGV) robots, and motor vehicles or automobile are lifted from a place and are transported to another place.The AGV robots are guided by navigation device, are controlled by electronic control system, and prevent from colliding by anticollision device, collision-prevention device.The AGV robots include the platform for lifting automobile to be transported and the frame for accommodating various electrically and mechanically components.The AGV robotic equipments have the clamping device that can be stretched, and automobile are pushed to or removed platform.
Description
Technical field
The present invention relates to the robots for transporting automobile or vehicle, relate more specifically to automatic guided vehicle (AGV) machine
Device people, the AGV robots can lift and transport vehicle to designated space.
Background technology
In densely populated Hub in Metropolitan Area, parking stall is rare and expensive.In general, in the fillet between building is converted into
There is the high-rise garage parking on parking stall in portion.AGV robots are used for these garages, to facilitate parking.For example, customer can be by vehicle
It is placed on inlet, and sends AGV robots to pick up vehicle.AGV robots lift and transport vehicle to specified parking stall.
When client returns, AGV robots take out parked vehicle and are consigned to the customer waited in inlet.
A type of AGV used at present is so-called comb forklift AGV.Such AGV is needed from stopping
The vehicular sideview put, which enters, can just lift vehicle.Therefore, such AGV needs reserve enough between two parking stalls
Vehicle is put down or picks up in space, this makes them not be suitable for city garage.
Another type of common parking device is the sweep that can be kept vehicle and can be lifted by AGV machines.
When customer puts down automobile in garage, automobile will travel on sweep.Then, sweep is lifted by AGV machines and is transported to sky
Parking stall.When customer returns, the sweep for parking vehicle is lifted to gate and vehicle is consigned to customer by AGV machines.This
The distinct disadvantage of the parking apparatus of type is that the construction cost of sweep is excessively high.Each parking stall in garage is required for one piece
Plate.
Need the better AGV robots more suitable for the garage parking with parking stall.The present invention disclose it is a kind of flexibly and
Cheap AGV robots can operate and be suitable for all types of garage parkings in a narrow space.
Invention content
According to various embodiments of the present invention, the shortcomings that overcoming currently available AGV machines above-mentioned is provided
Advanced AGV robots.
In one embodiment, a kind of AGV robots for automobile to be lifted to and is transported to designated space are disclosed.
AGV robots include platform, electronic control system, locomotive apparatus, conveying device and clamping device.The platform packet of AGV robots
Include frame, one or more conveyers and multiple wheels.Conveyer is mounted on platform.Wheel support platform.
In some embodiments, only there are one conveyers for installation on platform.In other embodiments, platform includes two defeated
Send machine.Two conveyers are mounted in parallel and run parallel.In some embodiments, one or more conveyers are roll-type conveyings
Machine.In other embodiments, conveyer is linear steering/sliding unit or system.
In some embodiments, electronic control unit includes navigation device and anticollision device, collision-prevention device.Navigation device is configured to draw
AGV robots are led, and anticollision device, collision-prevention device is configured to work as and detects that obstruction collision Shi Shi AGV robots stop or turn to.In a reality
It applies in example, AGV robots include truss, and navigation device and anticollision device, collision-prevention device are mounted on truss.In one embodiment, electronics fills
It further includes laser aid to set.Laser aid generates laser beam and receives the laser beam of reflection to be drawn with detecting barrier and providing navigation
It leads.
In some embodiments, AGV robots include clamping device.Clamping device includes two clamp arm, clamp arm pedestal, folder
Arm motor and the telescopic mounting for being connected to clamp arm motor.Clamp arm motor can be electric drive motor or hydraulic motor.Two folders
Arm is connected on push rod, and can be opened and closed under the control of electronic control system.Telescopic mounting pushes and pulls push rod
To position clamp arm.Clamp arm can be positioned at the lower section of automobile tire and automobile pushed to move.
In some embodiments, AGV robots include two clamping devices.Two clamping devices can be configured to it is synchronous or
It independently moves.Two clamping devices may be mounted at the opposite end of platform.
In some embodiments, locomotive apparatus is placed on frame and is controlled by electronic control system.Locomotive apparatus drives
AGV robots.In one embodiment, locomotive apparatus includes four driving devices for being connected respectively to four wheels.Preferably,
Wheel is omnidirectional so that AGV robots can move in all directions.Each driving device includes servo motor, is driven
Movable sprocket, driven sprocket, chain, driving wheel, spring system and driving linear slide block system.In one embodiment, AGV machines
People further includes two driven wheels being mounted on platform side and one or more bearing wheels.
AGV robots can be by electric power or battery powered.In some embodiments, AGV robots use lead base or lithium base
Battery.
In some embodiments, clamping device further includes that front-wheel moves and be used to support clamping dress in order to clamping device
The support wheel set.
In some embodiments, clamping device includes the telescopic mounting made of guide rail and flexible leading screw by sliding block.Guide rail
On platform, and sliding block is connected to guide rail.Flexible leading screw is also connected on platform.In one embodiment, flexible leading screw
It is connected by screw platform.
The details of one or more embodiments of the invention proposes in following attached drawing and description.Other spies of the present invention
Sign, objects and advantages will become apparent from specification, attached drawing and claims.
Description of the drawings
By the way that further combined with following description and attached drawing, these and other features of the invention will become obvious.
In the accompanying drawings, identical reference numeral indicates corresponding part in entire view.In addition, component in attached drawing not necessarily press than
Example is drawn, but is focused on and be clearly shown in the principle of the present invention.
Fig. 1 is the upward view of exemplary AGV robots, and wherein clamping device is in retracted position and clamp arm component is increased to
Above the ground.
Fig. 2 a are the vertical views of exemplary AGV robots, and wherein clamping device is in retracted position and clamp arm component increases
To above the ground.
Fig. 2 b are the side views of the AGV robots of Fig. 2 a.
Fig. 3 a are the vertical views of exemplary AGV robots, and one of clamping device is at extended position and another
In retracted position.
Fig. 3 b are the side views of the AGV robots of Fig. 3 a.
Fig. 4 is the structure chart for the exemplary AGV robots for including a clamping device.
Fig. 5 is the exploded view of exemplary gripping device.
Fig. 6 is the structure chart of the platform of exemplary AGV robots.
Fig. 7 is the exploded view of the exemplary locomotive device used in exemplary AGV robots.
Fig. 8 is shown the process on the platform of lorry loading to exemplary AGV robots.
Specific implementation mode
The embodiment of the present invention is described more fully below with reference to relevant drawings.The present invention is given in attached drawing
Preferred embodiment.But various embodiments of the present invention can be realized in many different forms, however it is not limited to this paper institutes
The embodiment of description.Keep the understanding to the disclosure more thorough on the contrary, purpose of providing these embodiments is
Comprehensively, it and will fully convey the scope of the invention to those skilled in the art.
Referring to Fig.1, the upward view of exemplary AGV robots 100 is shown.Exemplary AGV robots 100 shown in FIG. 1
Including platform 1, there are two conveyers 3 for installation thereon.Two conveyers 3 are shown as roller conveyor in Fig. 1, but other classes
The conveyer of type is also suitable.It is, for example, possible to use linear steering/sliding system replaces roller conveyor.In addition to conveyer 3 it
Outside, the platform 1 of AGV robots 100 further includes different electronics for accommodating AGV robots 100 and mechanical part (such as electronics
Control device 7, locomotive apparatus 2 and two clamping devices 4) frame 101.
When vehicle is pulled in AGV robots 100, the vehicle is moved along two conveyers 3.In exemplary AGV
In robot 100, each conveyer 3 includes pipe fitting 60, chain 91, sprocket wheel 61, conveying motor 44 and bearing and bearing block.Bearing
It is not shown with bearing block.
In Fig. 1, AGV robots 100 are equipped with there are two clamping device 4, and two clamping devices 4 are located at the phase of frame 101
To both ends.Clamping device 4 is controlled by electronic control unit 7.Clamping device 4 is telescopic.When clamping device 4 is in retraction position
When setting, two arms 147 of clamping device are thus lifted to above bottom surface and remain static down.It is stretched out when clamping device 4 is in
When position, two arms 147 of clamping device are in running order and closer to ground.It is for reference referring to Fig. 2 a and Fig. 3 a.When
When in operating position, two arms 147 can be positioned at below the tire of vehicle and vehicle be pushed to or pushed conveyer 3.
In Fig. 1, two clamping devices 4 are in retracted position.In some embodiments, two clamping devices 4 are mutually coordinated and same
Moved further.In other embodiments, two clamping devices 4 are configured to independent movement.In other embodiments, two clamping devices
4 can under the control of electronic control unit 7 independence or synchronizing moving.For example, in fig. 3 a, one in two clamping devices 4
In extended position, another is in retracted position.Fig. 3 a are the vertical views of AGV robots 100.
Fig. 2 a and Fig. 3 a, which are all illustrated from top, watches AGV robots 100.Truss 280 be located at the top of platform 1 and
It can be used for accommodating for navigating and the radar of detection of obstacles, laser or infrared facility.When having vehicle parking on the platform 1
When, these devices will not be blocked, to enable them to clearly detect ambient enviroment.
In Fig. 2 b and Fig. 3 b, the side view of AGV robots 100 is all illustrated.In fig. 2 a, two clamping devices 4 show
Go out to be in retracted position.When clamping device 4 is in retracted position, clamp arm 147 is thus lifted to above the ground and in static
State.In fig. 3 a, the clamping device 4 on only right side is in retracted position and the static position being above the ground level after the lifting.It is left
The clamping device 4 of side is in extended position and closer to ground, and its clamp arm 147 can be positioned at below the tire of vehicle.
As shown in Figure 2 b, when clamping device 4 is in the position after being promoted, 147 side of resting on the ground of clamp arm, one spacing
It can stop from place and when on conveyer 3 vehicle at vehicle parking or prevent vehicle from rolling.In addition, AGV robots 100 are equipped with
There is the retention device 6 that can be arranged when vehicle parking is on conveyer 3 (referring to Fig. 6).
In fig. 1-3, AGV robots 100 are shown as two clamping devices 4 with the opposite end positioned at platform 1.When
When two clamping devices are symmetrically positioned, AGV robots 100 can be brought to platform 1 in vehicle or push on the direction of platform 1 more
It is flexible.For example, AGV robots 100 can be from front or behind close to parked vehicle.When discharging vehicle, it is assumed that vehicle
Speed changer is in neutral position, and vehicle can be pushed downward upon ground by AGV robots 100 in any direction.When parking stall is narrow
When narrow or close, this provides desired operability to AGV robots 100.
Optionally, in some embodiments, as shown in figure 4, AGV robots 100 can only be equipped with a clamping device 4.
Using the configuration, AGV robots 100 can shift vehicle onto conveyer 3 from the end of the platform 1 where clamping device.When releasing
When putting vehicle, clamping device 4 is pushed, so that platform 1 is left in the end where automobile from clamping device 4.Which has limited AGV
Robot 100 can such as orientation towards automobile or parking stall.There are one 100 ratios of AGV robots of clamping device to have for tool
The AGV robots of two clamping devices are cheap, therefore can be used for that bidirectional operation is inessential or unnecessary garage.
In some embodiments, AGV robots 100 can be equipped only with a clamping device 4, and clamping device 4 can court
It is folded to the either end (not shown) of platform 1.In such a configuration, AGV robots 100 can load or release from both direction
Put vehicle.Clamping device 4 can be connected to platform 1 by the mechanism different from Fig. 1 and arm screw bearing 40 shown in fig. 5.So
And, it is to be understood that those of ordinary skill in the art can design the clamping device 4 of permission AGV robots 100 along either one
To the bindiny mechanism of folding.
Fig. 5 shows that Exemplary connection mechanisms, exemplary gripping device 4 are connected to platform 1 by the bindiny mechanism.Scheming
In 5, it is located at the promotion motor 275 among platform 1 and between two conveyers 3 and drives clamping device 4.In some embodiments
In, it is electric drive motor to push the servo motor in motor 275.In other embodiments, servo motor is hydraulic motor.Connection
It is an arm screw bearing 40 to push motor 275.It is a telescopic leading screw 36 to be fixed on arm screw bearing 40.
One end of leading screw 36 is connected to arm screw bearing 40, and the other end is covered by flexible block 116.Leading screw 36 will push motor 275
Convert rotational motion is linear movement.Leading screw 36 is telescopic, and can push and pull pedestal 41.Guide rail 37 is also parallel with scalable
Leading screw 36 is installed and attached to arm screw bearing 40.Pedestal 41 is fixed to the sliding block 273 being located on guide rail 37.Since pedestal 41 exists
It is slided along guide rail 37 when being pushed or pulled on back forward by scalable leading screw 36, therefore, the linear movement of 37 guide base 41 of guide rail.
Two bars 193 are attached to pedestal 41.Pedestal 41 is connected to clamp arm component 500 and by the line of pedestal 41 by bar 193
Property movement be transmitted to clamp arm component 500.Each in two bars 193 is connected to clamp arm component 500 by fixing piece 152.
Clamp arm component 500 include arm pedestal 156, upper arm pedestal 157 (as shown in Figure 6), clamp arm promotion motor 130, two clamp arm 147,
Multiple screws of the different components of two arms 146, two arm cylinders 160, multiple wheels and connection clip arm component 500, bearing or connect
Head.
When clamping device 4 is in retracted position, the arm pedestal 156 of clamp arm component 500 is kept or support clamp arm 147.Folder
Arm 147 is shelved on arm pedestal 156 and is promoted to above the ground.When in position of rest, clamp arm 147 can stop be parked in it is defeated
The vehicle on machine 3 is sent to roll.
Arm pedestal 156 supports the clamp arm for the movement for being controlled by electronic control unit 7 and being driven clamp arm 147 to push motor
130.Clamp arm 147 is connected to clamp arm by push rod 145 and pushes motor 130.Clamp arm 147 and push rod 145 pass sequentially through the company of arm 146
It connects.Folder cylinder 160 is connected in each clamp arm 147 and on the side of object platform 1.When clamp arm 147 be located at below tire with
When pushing vehicle, folder cylinder 160 provides the contact surface with automobile tire.
The all parts of clamping device 4 use screw, and bearing, the assemblings such as connector are as follows:
Sliding block 273 is connected to the guide rail 37 being attached by screws on platform 1;
One end of leading screw 36 is connected to scalable block 116, and the other end is connected to the screw bearing 40 fixed to platform 1;
It pushes 41 side of pedestal to be connected to sliding block 273 and is connected to two connecting rods 193 by connecting bearing 195;
Connecting rod 193 is connected to the fixed plate 152 that screw is connected to clamp base 156;
In clamp arm component 500, each cylinder 160 that presss from both sides is attached to a clamp arm 147.The clamp arm 147 is connected to clamp arm branch
Support wheel 169 is simultaneously connected to clamp base 156 by machanical fastener (such as pin, dowel, peg etc.).
Each arm 146 is connected to clamp arm 147 by machanical fastener and is also connected to push rod by machanical fastener
145;
Leading screw 148 is connected to clamp arm drive motor 130, and flexible block 117 is connected to push rod 145;
Clamp arm drive motor 130 is fixed on using screw on clamp arm pedestal 156;
Clamp arm pedestal 156 is connected to the upper arm pedestal 157 of protection leading screw 148, and supports and reinforce clamping device 4.
Clamp arm component 500 further includes multiple wheels.Multiple wheels include the support wheel 178 for being located at 145 lower section of push rod, are located at
The clamp arm support wheel 169 of 146 lower section of arm, push arm support wheel 196 are located at two front support wheels on 130 side of clamp arm drive motor
179, two preceding push arm support wheels 197 (as shown in Figure 1) for being located at 156 lower section of clamp arm pedestal.Multiple wheels are clamp arm component 500
It provides and supports and clamping device 4 is allowed to stretch out or retract under the control of electronic control unit 7.
The movement of clamping device 4 explained below.It pushes motor 275 to rotate and drives scalable leading screw 36.Scalable silk
Thick stick 36 will push the rotary motion of motor 275 to convert linear movement.Scalable leading screw 36 then drives scalable block 116,
Linear movement will be transmitted to pedestal 41, pedestal 41 is pushed and pulled.Pedestal 41 is connected to the bar being connected with clamp arm pedestal 156
193.One end of connecting rod 193 is connected to by connecting bearing 195 on pedestal 41.The other end of connecting rod 193 is sleeved on fixing sleeve.Even
Bar 193 and fixing sleeve can rotate relative to each other.Before the stretching of clamping device 4, clamp arm support wheel 169 and frame 101
The surface of the triangular ramp of tip/end contacts, to support and guide clamping device 4.When clamping device 4 stretches out,
Clamp arm support wheel 169 is removed from triangle inclined-plane.Support wheel 178, clamp arm support wheel 169, push arm support wheel 196 and front support wheel
179 contact with ground.When clamp arm drive motor 130 drives scalable leading screw 36 to rotate, scalable leading screw 36 drives scalable
Block 116 moves linearly, and pedestal 41 is pushed to be displaced outwardly.41 actuating arm 146 of pedestal is pushed to retract forward or backward.When
When clamping device 4 extends, clamp arm pushes motor driven arm 146, to drive clamp arm 147 to rotate and open.
The foregoing describe the stretching, extension of clamping device 4 and open movements.Mobile sequence for retracting and closing arm device 4
It is an opposite process.
As shown in fig. 6, electronic control unit 7 includes three subsystems:Positioned at the electronic control subsystem 269 of left-front corner,
The electronics control of the right anterior angle of electronic control subsystem 270 positioned at left rear corner and the frame 101 positioned at exemplary AGV robots
Subsystem 271.Electronic control unit 7 further includes master controller, which can be divided into navigation system, communication system
System, electric system and user interface.
Navigation system may include laser anti-impact device 278 and supplied laser navigation apparatus 282.Two devices all use laser beam
To detect road conditions.These devices send laser beam and detect the light beam of reflection to measure AGV robots 100 and surrounding objects (example
The distance between such as wall, cylinder and barrier).These devices can also detect its position using triangulation calculation, and use
Location information navigates.In some embodiments, other kinds of testing agency/device can be used.For example, infrared facility
Or radar installations may be used as detection device.In one embodiment, these detection devices (such as anticollision device, collision-prevention device, navigation device
Deng) may be mounted on truss 280 so that these detection devices are located above parked vehicle to ensure that the open of environment regards
It is wild.
Communication system may include wireless transceiver and processing unit.Wireless transceiver sends and connects from garage scheduling system
Receive wireless signal.For example, garage scheduling System Reports vehicle is parked in inlet and sends instruction to AGV robots 100 to pick up
Vehicle is simultaneously conveyed to specified parking stall.Scheduling system in garage can also send retrieval request to retrieve vehicle and transfer cart
To inlet.Exemplary processing unit is configured to be decoded the wireless signal received, before being transmitted to wireless communication
It number is encoded, and the request for dispatching system from garage is converted into the order for electronic control system 7.
Electric system may include power supply 35 and power-supply management system.In some embodiments, power supply 35 can be lead base
Or lithium-base battery.Whether the power level that power-supply management system can detect battery 35 is low, thus needs to recharge.This
In the case of, AGV robots 100 can be guided to be moved to charging station to charge to battery 35.Electric power management system may be implemented
For a part for electronic control system 7.
Electronic control system 7 further includes user interface, and by the user interface, user can be arranged systematic parameter and monitor
The state and situation of AGV robots 100.
Exemplary AGV robots 100 in Fig. 6 further include the locomotive apparatus 2 shown in the right anterior angle of frame 101.Fig. 7
It is the exploded view of locomotive apparatus 2.Locomotive apparatus 2 is bolted to planetary reducer 43 including servo motor 42.Planet tooth
Wheel decelerator 43 is bolted on the holder 23 on frame 101.Planetary reducer 43 also passes through key connection
Part is connect with drive sprocket 36.Drive sprocket 36 is connected to driven sprocket 25 by chain.The tension of chain can pass through tensioning
Block 33 is adjusted.Driven sprocket 25 is connected to wheel 26, such as Mecanum wheel using screw.When servo motor 42 starts,
The servo motor driven planetary reducer 43, and then drive drive sprocket 36.The movement of drive sprocket 36 passes through chain
It is transmitted on driven sprocket 25.The wheel 26 for being fixed on driven sprocket 25 is rolled or is rotated under the driving force of driven sprocket 25.
Servo motor 42, planetary reducer 43, wheel 26 and two sprocket wheels 36 and 25 are placed in holder 23 simultaneously
It is supported by spring system.Spring system shown in Fig. 7 includes spring 10, and the spring 10 is sleeved on spring guide pillar 29 and 22.Bullet
Spring guide post 29 is mounted on lower jacking block 28, and spring guide pillar 22 is mounted on upper jacking block 21.Lower top fast 28 is mounted on holder 23
In locating slot, lower jacking block 21 is mounted in the locating slot of holder 30.
Locomotive drive device 2 further includes the linear slide system being installed to using left socle 34 and right support 30 on frame 101
38.Linear slide system 38 includes two linear slide units 27.The guide rail of two linear slide units 27 is installed by bolt
In the locating slot of holder 23, and it is symmetrically disposed on four angles of holder 23.Sliding block be mounted on guide rail on and can on move down
It is dynamic.
In exemplary AGV robots 100, there are one group of four locomotive apparatus 2.Each locomotive apparatus includes AGV machines
The wheel 26 of people 100.In some embodiments, it can be installed in AGV robots 100 more than four wheels or less than four wheels
Son.In some embodiments, the wheel 26 of AGV robots 100 is omnidirectional so that AGV robots 100 can be all
It is moved on direction.The example of omnidirection wheel includes universal wheel, Mecanum wheel etc..The wheel of these types allows AGV machines
People 100 smoothly forwardly and rearwardly rolls and lateral duction, to provide desired mobility and operability.In addition, AGV machines
Device people 100 includes (not showing mounted on the passive travel wheel or driven wheel 20 in outside and the passive travel wheel mounted on inside
Go out), for carrying and supporting.
With reference to figure 6, AGV robots 100 further include two retention devices 6.Retention device 6 prevents vehicle being parked in platform
It is rolled when on 1.Each retention device 6 includes blocking cylinder 276, sliding block 277 and guide post 281.Guide post 281 is fixed to frame
101.Blocking cylinder 276 is configured to swing to open position, and as the grid being applied in front of the tire of parked vehicle.Stop cylinder
276 can swing back into closed position to allow the movement of parked vehicle.Sliding block 277 moves back and forth stops cylinder 276 to position, and makes
It must stop that cylinder 276 can be positioned close to the tire of vehicle.Guide post 281 draws when sliding block 277 is moved along the edge of frame 101
Slider guide 277.Guide post 281 is also that sliding block 277 and blocking cylinder 276 provide support.
In conjunction with Fig. 8, process vehicle being moved on the platform 1 of AGV robots 100 is described below.For the process
Each step, depicts side view and upward view, shows vehicle relative to the position of platform 1 and the construction of clamping device 4
The position and.
In step 1, after the vehicle of such as automobile is parked in inlet, AGV robots 100 connect from garage scheduling system
Instruction is received to pick up vehicle.The vehicle can be the automobile of four-wheel automobile or motorcycle or any other type with side vehicle.
As shown in side view and upward view, AGV robots 100 are from front close to vehicle.
In step 2, when AGV robots 100 are in a spacing of the vehicle detected by navigation device and/or anticollision device, collision-prevention device
From it is interior when, clamping device 4 extends forward.As shown in side view, clamp arm is in retracted position and is promoted to above the ground.
In step 3, AGV robots 100 are moved to the rear of vehicle.In some embodiments, 4 front of clamping device is wrapped
Photoelectric sensor is included to detect the position whether clamping device has arrived at vehicle front.When reaching the position, AGV machines
Device people stops movement.At this location, the clamp arm 147 of clamping device 4 is at the front-wheel rear of vehicle.
In step 4, clamping device 4 is closed and is retracted, and clamping device 4 is provided with before being used to whether reach detection vehicle
Take turns the photoelectric sensor of position.After clamping device 4 is in place, clamping device 4 stops.
In steps of 5, clamp arm 147 is opened.Clamping device 4 is retracted, and clamp arm shifts vehicle on platform 1 onto.Work as vehicle contact
When conveyer, conveyer starts to move, and vehicle is carried on platform 1.AGV robots itself are also moved towards the rear of vehicle
It is dynamic.These three move while occurring, and the front-wheel of automobile is promoted onto the platform 1 of AGV robots 100.Three movements are mutual
Coordinate to ensure that vehicle will not be relative to ground moving.
In step 6, clamp arm closes and no longer pushes vehicle.Vehicle is further loaded on platform 1.When AGV machines
When people 100 moves towards rear of vehicle, conveyer is rotated so that vehicle to be transported further on platform 1.The two movements are simultaneously
Occur.
In step 7, AGV robots 100 are moved towards the rear of vehicle.Moreover, when clamping device 4 is close to trailing wheel,
Arm device extends but remains turned-off.
In step 8, AGV robots 100 continue to move towards the rear of vehicle.Photoelectric sensor detects AGV robots
Whether 100 arrived rear wheel position.If had reached, AGV robots 100 stop movement.
In step 9, clamping device 4 is closed and is retracted.Electrooptical device detects clamping device 4 whether after vehicle
Wheel.
In step 10, electrooptical device detects that clamping device 4 is contacting the trailing wheel of vehicle.Clamping device 4 is opened simultaneously
Continue to retract.The conveyer of AGV robots 100 starts to rotate, and AGV robots 100 itself are moved towards rear of vehicle.This three
It is a to move while occurring, the trailing wheel of vehicle is promoted onto the platform 1 of AGV robots, while ensuring vehicle not relative to ground
It moves in face.When vehicle is loaded into completely in AGV robots, clamping device 4 is retracted and is stopped.Clamping device 4, which becomes, prevents vehicle
The retention device rolled backward.
In a step 11, the blocking cylinder 276 of retention device 6 in front swing open and extends.Retention device 6 is equipped with
It is useful for the photoelectric sensor whether detection blocking cylinder reaches vehicle front wheel positions.If arrived, retention device 6 stop and
The block piece of front-wheel as blocking vehicle, to prevent vehicle rolls forward.In another embodiment, blocking cylinder 276 can
To extend at the rear of front-wheel, to prevent vehicle from rolling backward.
In step 12, vehicle is loaded into completely in AGV robots 100.Loading process is completed.
In uninstall process, vehicle is pushed down the platform 1 of AGV robots 100 with the sequence opposite with above-mentioned steps.When
AGV robots 100 equipped with the opposite end positioned at platform 1 two clamping devices 4 when, vehicle can in either direction quilt
It pushes.
Although the present invention be explained with respect to specific embodiments and describe, be not limited to shown in particular content.Phase
Instead, it can be carried out in claim limited range and its equivalency range each without departing from the inventive concept of the premise
Kind modification.
Claims (20)
1. a kind of automated guided vehicle (AGV) robot for lifting and transporting automobile to designated space, the AGV robots
Including:
Platform comprising frame;
The one or more conveyers of installation on the platform,
Support multiple wheels of the platform;
The electronic control system of placement on said frame, wherein the electronic control system controls the AGV robots;
Placement is controlled to drive the locomotive apparatus of the AGV robots on said frame and by the electronic control system;
Conveying device comprising conveying motor and one or more chain, wherein one or more of chains are by the conveying
The movement of motor is transmitted to one or more of conveyers;And
At least one clamping device, including:
Two clamp arm being connected on push rod, wherein described two clamp arm beat on and off under the control of the electronic control system
It closes;
Clamp arm motor;And
The telescopic mounting being connect with the clamp arm motor, and the push rod is pushed and pulled to position the clamp arm;
Wherein, when the clamp arm is opened and each clamp arm is located in below the tire of the automobile, the clamp arm pushes away
The automobile is moved to be moved on the platform or remove from the platform.
2. AGV robots according to claim 1, which is characterized in that at least one clamping device includes being configured to
Two clamping devices of the automobile are pushed, wherein described two clamping devices are configured to move independently of one another.
3. AGV robots according to claim 1, which is characterized in that at least one clamping device includes being configured to
Two clamping devices for pushing the automobile, wherein described two clamping devices are configured to synchronizing moving.
4. AGV robots according to claim 2 or 3, which is characterized in that described two clamping devices are located at described
The opposite end of frame.
5. AGV robots according to claim 1, which is characterized in that one or more of conveyers are mounted in parallel simultaneously
And parallel operation.
6. AGV robots according to claim 5, which is characterized in that one or more of conveyers are roll-type conveyings
Machine or linear slide unit.
7. AGV robots according to claim 1, which is characterized in that further include additional blocking dress on said frame
It sets, for preventing the automobile from sliding when transporting the automobile.
8. AGV robots according to claim 1, which is characterized in that the electronic control unit further includes for guiding
The navigation device of the AGV robots and for detect barrier and prevent collision anticollision device, collision-prevention device.
9. AGV robots according to claim 8, which is characterized in that the navigation device and collision prevention device peace
On truss.
10. AGV robots according to claim 8, which is characterized in that the electronic control unit further includes generating laser
Beam and the laser aid for receiving the laser beam after reflection, wherein the laser beam is for navigation and detection of obstacles.
11. AGV robots according to claim 1, which is characterized in that the wheel is omnidirectional, and the machine
Vehicle device includes the multiple driving devices for being connected to the wheel.
12. AGV robots according to claim 11, which is characterized in that further include one or more driven wheels and use
In one or more bearing wheels of support.
13. AGV robots according to claim 1, which is characterized in that the locomotive apparatus includes multiple driving devices,
Wherein, each driving device includes servo motor, planetary reducer, drive sprocket, driven sprocket, chain, driving wheel, bullet
Spring system and driving linear slide system.
14. AGV robots according to claim 1, which is characterized in that the AGV robots are by lead base or lithium-base battery
Power supply.
15. AGV robots according to claim 1, which is characterized in that the clamp arm motor is electric drive motor or hydraulic pressure
Motor.
16. a kind of clamping device in AGV robots, the platform for automobile to be pushed to the AGV robots
And the automobile is positioned, the clamping device includes:
Two clamp arm, wherein described two clamp arm open and close under the control of electronic control system;
Clamp arm motor;And
The telescopic mounting being connect with the clamp arm motor, for positioning the clamp arm;
Wherein, when the clamp arm is opened and each clamp arm is located in below the tire of automobile, the clamp arm pushes automobile sliding
It moves on the platform or is removed from the platform.
17. clamping device according to claim 16, which is characterized in that further include being configured to transport convenient for the clamping device
It dynamic front-wheel and is configured to support the support wheel of the clamping device.
18. clamping device according to claim 16, which is characterized in that the telescopic mounting includes sliding block, guide rail and
Flexible leading screw, wherein the sliding block is connected to the guide rail of installation on the platform, and the flexible leading screw is connected to
The platform.
19. clamping device according to claim 16, which is characterized in that when the clamp arm pushes the automobile to be put down to described
When on platform, the driving device of the clamp arm motor and the AGV robots is coordinated to ensure the automobile relative to ground with zero
Speed moves.
20. clamping device according to claim 16, which is characterized in that the clamp arm motor is electric drive motor or hydraulic pressure
Motor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/081746 WO2019191899A1 (en) | 2018-04-03 | 2018-04-03 | Automated guided vehicle robot and clamping device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108699852A true CN108699852A (en) | 2018-10-23 |
Family
ID=63841384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880000322.2A Pending CN108699852A (en) | 2018-04-03 | 2018-04-03 | Automated guided vehicle robot and its clamping device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108699852A (en) |
| WO (1) | WO2019191899A1 (en) |
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| CN109823318A (en) * | 2019-03-25 | 2019-05-31 | 南京博内特信息科技有限公司 | A kind of Internet of Things moves vehicle mobile robot device and its localization method |
| CN110466933A (en) * | 2019-08-14 | 2019-11-19 | 中建钢构有限公司 | A kind of automobile carrying device |
| CN112627610A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
| CN113934184A (en) * | 2020-07-14 | 2022-01-14 | 金刚自动化科技有限公司 | Automatic guided vehicle with variable support |
| CN113954790A (en) * | 2021-11-05 | 2022-01-21 | 河南艾泰科技发展有限公司 | Safe anticollision type vehicle feeding equipment for car washer |
| CN115103789A (en) * | 2020-02-14 | 2022-09-23 | 威欧.艾姆伊有限公司 | Transport device for transporting objects on a surface |
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| CN112356648B (en) * | 2020-11-12 | 2021-11-16 | 北京特种机械研究所 | AGV and method for replacing battery of transfer robot |
| CN113003496B (en) * | 2021-03-12 | 2023-04-07 | 机械工业第九设计研究院股份有限公司 | Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism |
| CN114212167B (en) * | 2021-12-24 | 2023-06-16 | 重庆复融科技有限公司 | Translational wheel clamping method |
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| CN113934184A (en) * | 2020-07-14 | 2022-01-14 | 金刚自动化科技有限公司 | Automatic guided vehicle with variable support |
| CN112627610A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
| CN113954790A (en) * | 2021-11-05 | 2022-01-21 | 河南艾泰科技发展有限公司 | Safe anticollision type vehicle feeding equipment for car washer |
| CN113954790B (en) * | 2021-11-05 | 2024-05-03 | 河南艾泰科技发展有限公司 | Car washer is with safe crashproof formula vehicle sending into equipment |
Also Published As
| Publication number | Publication date |
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| WO2019191899A1 (en) | 2019-10-10 |
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Application publication date: 20181023 |