CN109025439A - A kind of intelligent robot of carrier vehicle - Google Patents

A kind of intelligent robot of carrier vehicle Download PDF

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Publication number
CN109025439A
CN109025439A CN201811058532.5A CN201811058532A CN109025439A CN 109025439 A CN109025439 A CN 109025439A CN 201811058532 A CN201811058532 A CN 201811058532A CN 109025439 A CN109025439 A CN 109025439A
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CN
China
Prior art keywords
robot
shaped
vehicle frame
intelligent robot
vehicle
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Pending
Application number
CN201811058532.5A
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Chinese (zh)
Inventor
王晨
曹力
郭雨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Polar Wood Technology Co Ltd
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Hangzhou Polar Wood Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Polar Wood Technology Co Ltd filed Critical Hangzhou Polar Wood Technology Co Ltd
Priority to CN201811058532.5A priority Critical patent/CN109025439A/en
Publication of CN109025439A publication Critical patent/CN109025439A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36Garages 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
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/305Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means

Abstract

The invention discloses a kind of intelligent robots of carrier vehicle, include U-shaped vehicle frame, hoisting system, clamping system, drive system and steering system;U-shaped two side bottom of vehicle frame is equipped with four wheels, and is equipped with drive system and steering system;U-shaped vehicle frame is connected at the top of hoisting system, bottom connects wheel, drive system and steering system by bracket, U-shaped vehicle frame integral lifting or landing are realized by the stretching motion of hoisting system, or, hoisting system is set to U-shaped frame inside, it is connect with clamping system, for driving clamping system to lift or landing;Clamping system includes four groups of catching units, and every group of catching unit is used to clamp a tire of automobile;Robot of the present invention can carrying vehicle under outdoor scene indoors, do not restricted by weather environment factor, be flexibly applicable in a variety of models, access vehicle speed is fast, and stable and safe in operation, maintenance cost is low, and road surface adaptability is good, and place improvement cost is low, energy conservation and environmental protection.

Description

A kind of intelligent robot of carrier vehicle
Technical field
The invention belongs to robotic technology field more particularly to a kind of intelligent robots of carrier vehicle.
Background technique
With social high speed development, automobile is more more and more universal, but the following parking problem has become major, middle city Problem.In order to solve the problem of existing storage parking lot and car parking area parking difficulty low efficiency, intelligent parking robot Using more and more common.Transport Vehicle intelligent robot mainly has board-like carrier vehicle, comb-tooth-type, rail mounted these types form at present.Its In, the board-like robot of carrier vehicle will head on always vehicle-carrying plate, be minimum in space utilization rate and conevying efficiency.Comb-tooth-type machine People needs to build special landing, and vehicle is lifted, then carries out lifting delivery, and it is less economical to thereby result in space utilization rate.
On the other hand the vehicle transport in current auto producer offline new car garage and automobile logistics garage is basic Upper to use the mode for manually driving to park, since majority is open-air atmosphere in this case, worker will be faced in all weather of the year High-intensitive work is carried out under weather environment.In the prior art, corresponding robot substantially belongs under indoor environment and uses, and leads to Chang Wufa is travelled under outdoor sleet environment and on roughness pavement.People is used in the garage and logistics garage of auto producer Work moves vehicle, and operation intensity degree is big, and personnel rate is high, and operation cost of enterprises increases year by year.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of intelligent robot of carrier vehicle, this hair Bright robot can carrying vehicle under outdoor scene indoors, do not restricted by weather environment factor, be flexibly applicable in a variety of models, Access vehicle speed is fast, and stable and safe in operation, maintenance cost is low, and road surface adaptability is good, and place improvement cost is low, energy conservation and environmental protection, fits For parking lot, the car carryings such as automobile logistics field.
The purpose of the present invention is achieved through the following technical solutions: a kind of intelligent robot of carrier vehicle, includes U Type vehicle frame, hoisting system, clamping system, drive system and steering system;
Two side bottom of U-shaped vehicle frame is equipped with four wheels, and is equipped with drive system and steering system;
The drive system is used to provide power for robot, and the steering system is turned to for robot;
The realization of the hoisting system includes two ways:
Mode one: connecting U-shaped vehicle frame at the top of the hoisting system, bottom connects wheel, drive system by bracket and turns To system, U-shaped vehicle frame integral lifting or landing are realized by the stretching motion of hoisting system;
Mode two: the hoisting system is set to U-shaped frame inside, connect with clamping system, for driving clamping system Lifting or landing;
The clamping system includes four groups of catching units, and every group of catching unit is used to clamp a tire of automobile;
The headstock or the tailstock of automobile enter U-shaped vehicle frame from the open end of U-shaped vehicle frame, complete to carry.
Further, the drive form of the drive system includes forerunner, rear-guard, 4 wheel driven, the steering of the steering system Form includes that front-wheel steer, rear-axle steering, four-wheel turn to entirely, and drive form combines selection with steering form on demand.
Further, described hoisting system employing mode a period of time, including four groups of independent lift units, every group of lift unit One wheel of corresponding robot;
When the hoisting system employing mode two, including four groups of independent lift units, every group of lift unit connect one group Catching unit.
Further, which further includes that wheelbase adapts to system, is divided into three kinds of forms to adapt to vehicle wheel base;
The first: by the way that U-shaped vehicle frame is divided at least two parts, being connected realization between each section by telescoping mechanism;
Second: the catching unit of U-shaped vehicle frame open end can integrally be moved forward and backward or four groups of catching units can before After move, wheelbase is adapted to by mobile catching unit, to adapt to vehicle engine compartments/boot different length vehicle, and Total length can be saved;
The third: the combination of first two mode is applicable in overlength special type vehicle.
Further, two groups of bilateral symmetries before four groups of catching units, rear two groups of bilateral symmetries;Clamping list positioned at closed end Member is made of a fixed arm and a clamp arm that can be rotated, the folder that the catching unit positioned at open end can be rotated by two Arm composition.
Further, which further includes the suspension fork mechanism with wheel cooperation, is transmitted to vehicle frame for buffering road surface Bad impact force, and vibration caused by reducing thus, to guarantee that robot can be travelled smoothly, to guarantee that complete machine is mechanical Reliability and service life.
Further, the inoperative horizontal layout frame reinforcement structure of the U-shaped vehicle frame, or utilize inoperative plane Other equipment are arranged, comprising: solar panel, battery, charging unit, display screen etc. in space.
Further, which further includes ultrasonic vision guided navigation obstacle avoidance system, the ultrasound vision guided navigation avoidance System is arranged in complete machine surrounding, under the guide of parking lot intelligent dispatching system, is automatically performed the access of vehicle, when encountering obstacle When object or emergency, judgement can be carried out by perception and take avoidance measure, and planning path again, to guarantee parking lot Normal operation and ensure access vehicle security reliability.
Further, which further includes battery system and automatic charging system, and the electric power as robot comes Source;Robot uses idle automatic charging, low battery automatic charging, moves the various modes such as electricity certainly.
Further, which is suitable for outdoor environment, and the wheel of robot can select 10 inches -50 inches of diameter Pneumatic tire, to adapt to the surface conditions of the complexity such as outdoor sleet, sand and dust, stone;Automobile head or the tailstock are from U-shaped vehicle frame Open end enter U-shaped frame interior after, hoisting system cooperation clamping system acting after carry out vehicle lifting, guarantee vehicle with There are enough gaps on ground, to guarantee the passability of complete machine in the handling process.
The beneficial effects of the present invention are:
1, robot of the present invention is not necessarily to build particular platform structure in cross-connecting area and parking area, can complete the support of vehicle It lifts and mobile, space utilization rate is very high.
2, the parking lot of automobile production main engine plants, logistics the outdoor environments such as parking lot can use robot of the present invention substitution driver Vehicle conveying is carried out, solving auto producer and complete vehicle logistics industry can only be removed in outdoor garage using manual type progress vehicle The status of fortune reduces business administration and human cost, improves the safety of vehicle in the handling process.
3, robot of the present invention can complete to stop pick-up automatically, automatically under the guidance of parking lot intelligent dispatching system Avoidance, automatic route planning, to make to stop that speed being taken to be substantially improved, Parking quantity is substantially improved.
4, electric mode is moved using automatic charging mode or certainly by robot, can preferably improve the utilization rate of robot, But also robot is more convenient in maintenance.
5, Robot Design has ultrasonic vision guided navigation obstacle avoidance system, movement avoidance can be effectively carried out, to protect vehicle And robot body safety during exercise.
Detailed description of the invention
Fig. 1 is A humanoid robot shaft side figure (before clamping);
Fig. 2 is A humanoid robot top view (before clamping);
Fig. 3 is A humanoid robot cross-sectional view (before clamping);
Fig. 4 is A humanoid robot bottom view (before clamping);
Fig. 5 is A humanoid robot shaft side figure (after clamping);
Fig. 6 is A humanoid robot top view (after clamping);
Fig. 7 is A humanoid robot cross-sectional view (after clamping);
Fig. 8 is A humanoid robot bottom view (after clamping);
Fig. 9 is that A humanoid robot carries vehicle view on the back;
Figure 10 is Type B manipulator shaft mapping (before clamping);
Figure 11 is Type B manipulator shaft mapping (after clamping);
Figure 12 is that Type B robot carries axle side figure on the back;
Figure 13 is c-type robot shaft side figure (before clamping);
Figure 14 is c-type robot shaft side figure (after clamping);
Figure 15 is that c-type robot carries axle side figure on the back;
Figure 16 is the schematic diagram of the U-shaped vehicle frame of hoisting system integral lifting;
In figure, U-shaped vehicle frame 1, hoisting system 2, it is right before lift unit 21, it is right after lift unit 22, left front lift unit 23, Left back lift unit 24, clamps system 3, it is right before No.1 arm 31, right the first two number arm 32, it is right after No.1 arm 33, it is right after No. two arms 34, Left front No.1 arm 35, left front No. two arms 36, left back No.1 arm 37, left back No. two arms 38, wheel 4, the near front wheel 41, left rear wheel 42, Off-front wheel 43, off hind wheel 44, drive system 45, suspension fork mechanism 46, steering system 47, wheelbase adapt to system 5, and right-hand axis is away from adaptation Unit 51, left-hand axis is away from adaptation unit 52, ceiling 6.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, shown in Figure 5, the intelligent robot of a kind of carrier vehicle provided by the invention includes U-shaped vehicle frame 1, lifting System 2, clamping system 3, drive system and steering system;1 liang of side bottom of the U-shaped vehicle frame is equipped with four wheels 4, such as Fig. 4 institute The near front wheel 41, left rear wheel 42, off-front wheel 43 and the off hind wheel 44 shown, and it is equipped with drive system and steering system;The driving system For providing power for robot, the steering system turns to system for robot;
The realization of the hoisting system 2 includes two ways:
Mode one: connecting U-shaped vehicle frame 1 at the top of the hoisting system 2, bottom connects wheel 4, drive system 45 by bracket With steering system 47, U-shaped 1 integral lifting of vehicle frame or landing are realized by the stretching motion of hoisting system 2, as shown in figure 16;
Mode two: the hoisting system 2 is set to U-shaped 1 inside of vehicle frame, connect with clamping system 3, for driving clamping system 3 lifting of system or landing;Lift unit 21 before the right side as shown in Figures 3 and 4, it is right after lift unit 22,23 and of left front lift unit Left back lift unit 24 is the example of mode two;
The clamping system 3 includes four groups of catching units, and every group of catching unit is used to clamp a tire of automobile;
The headstock or the tailstock of automobile enter U-shaped vehicle frame 1 from the open end of U-shaped vehicle frame 1, complete to carry.
Further, the drive form of the drive system includes forerunner, rear-guard, 4 wheel driven, the steering of the steering system Form includes that front-wheel steer, rear-axle steering, four-wheel turn to entirely, and drive form combines selection with steering form on demand.
Further, described 2 employing mode of hoisting system a period of time, including four groups of independent lift units, every group of lifting list The corresponding wheel 4 of member;
When 2 employing mode two of hoisting system, including four groups of independent lift units, every group of lift unit connect one group Catching unit.
Further, which further includes that wheelbase adapts to system 5, is divided into three kinds of forms to adapt to vehicle wheel base;
The first: being at least two parts by dividing U-shaped vehicle frame 1, is connected realization between each section by telescoping mechanism, For adapting to vehicle wheel base;
Second: the catching unit of U-shaped 1 open end of vehicle frame can integrally be moved forward and backward or four groups of catching units can before After move, wheelbase is adapted to by mobile catching unit, to adapt to vehicle engine compartments/boot different length vehicle, and Total length can be saved;If Fig. 3, Fig. 4, right-hand axis shown in Fig. 7, away from adaptation unit 52, are second away from adaptation unit 51 and left-hand axis The example of kind form;
The third: the combination of first two mode is applicable in overlength special type vehicle.
Further, two groups of bilateral symmetries before four groups of catching units, rear two groups of bilateral symmetries;Clamping list positioned at closed end The clamp arm composition that member can be rotated by a fixed arm and one and (be rotated to 90 degree, realization tire clamping parallel with fixed arm), What the catching unit positioned at open end can be rotated by two and (be rotated to 90 degree, two clamp arm are parallel, realize tire clamping) Clamp arm composition.As shown in Figure 2,6, No.1 arm 31 and left front No.1 arm 35 are the fixed arm of closed end catching unit before right, before right No. two arms 32 and left front No. two arms 36 are the clamp arm that closed end catching unit can rotate, No. two arms behind No.1 arm 33, the right side behind the right side 34, left back No.1 arm 37 and left back No. two arms 38 are the clamp arm that open end catching unit can rotate.Before clamping, such as Fig. 2 institute Show, only fixed arm is vertical with vehicle commander direction (or near normal), remaining clamp arm is horizontal (or level of approximation) with vehicle commander direction, After clamping, as shown in Fig. 6, Fig. 8, all clamp arm keep the state of (or near normal) vertical with vehicle commander direction.
Further, which further includes the suspension fork mechanism 46 cooperated with wheel 4, for transmitting wheel and vehicle frame Between power and power turn round, and buffer and be transmitted to the impact force of vehicle frame or vehicle body by uneven road surface, and vibration caused by reducing thus, To guarantee that robot can be travelled smoothly, to guarantee the reliability and service life of complete machine machinery.
Further, the inoperative horizontal layout frame reinforcement structure of the U-shaped vehicle frame 1, is denoted as A humanoid robot, can be with Enhance complete machine stability, or using inoperative plane space, arrange other equipment, comprising: solar panel, battery, Charging unit, display screen etc. are denoted as Type B robot.As shown in figure 9, being the example of A humanoid robot, by being fixed on U-shaped vehicle frame The vertical beam on 1 top, and the crossbeam of connection vertical beam, are preferably utilized the space of short transverse, reduce to parking stall width direction It occupies, stable structure;It as shown in figs. 10-12, is the example of Type B robot, by adding the design of ceiling 6, ceiling 6 can be arranged too Positive energy solar panel, larger utilizes the advantage of outdoor environment, carries out the energy energy storage of day sun.It is U-shaped when not arranging frame reinforcement structure The structure of vehicle frame 1 as illustrated in figs. 13-15, is denoted as c-type robot, and front junction structural strength is high, and complete machine is stablized.
Further, which further includes ultrasonic vision guided navigation obstacle avoidance system, the ultrasound vision guided navigation avoidance System is arranged in complete machine surrounding, can be using the Multi-sensor Fusions such as ultrasound, vision, laser, RTK GPS composition, in parking lot Under the guide of intelligent dispatching system, it is automatically performed the access of vehicle, when encountering barrier or emergency, perception can be passed through It carries out judgement and takes avoidance measure, and planning path again, to guarantee the normal operation in parking lot and ensure access vehicle Security reliability.
Further, which further includes battery system and automatic charging system, and the electric power as robot comes Source;Robot uses idle automatic charging, low battery automatic charging, moves the various modes such as electricity certainly.Due to not needing dragging line fortune Row, robot can be more flexible, the carrying of the far and near different distance of more autonomous progress.Due to using intelligent charge mode, machine The sum of device people can control in floor level.The operation cost for further saving parking lot, reduces occupied space.
Further, which can select variety classes vehicle according to surface state, use environment, rate request etc. Wheel 4.
The robot is particularly suitable for outdoor environment, and in outdoor environment, wheel 4 can be selected 10 inches -50 inches of diameter The pneumatic tire for having good tread contour, to adapt to the surface conditions of the complexity such as outdoor sleet, sand and dust, stone.Automobile head Or after the tailstock enters U-shaped 1 inside of vehicle frame from the open end of U-shaped vehicle frame 1, hoisting system 2 carries out after cooperating the movement of clamping system 3 The lifting of vehicle guarantees that vehicle and ground have enough gaps, realizes the carrying of vehicle quickly, safe under outdoor environment.
The present invention is not only limited to above-mentioned specific embodiment, and persons skilled in the art are disclosed interior according to the present invention Hold, the present invention can be implemented using other a variety of specific embodiments.Therefore, all using design structure and think of of the invention Road does the design of some simple variations or change, both falls within the scope of the present invention.

Claims (10)

1. a kind of intelligent robot of carrier vehicle, which is characterized in that include U-shaped vehicle frame, hoisting system, clamping system, driving System and steering system;
Two side bottom of U-shaped vehicle frame is equipped with four wheels, and is equipped with drive system and steering system;
The realization of the hoisting system includes two ways:
Mode one: connecting U-shaped vehicle frame at the top of the hoisting system, bottom connects wheel, drive system and steering system by bracket System realizes U-shaped vehicle frame integral lifting or landing by the stretching motion of hoisting system;
Mode two: the hoisting system is set to U-shaped frame inside, connect with clamping system, for driving clamping system to lift Or landing;
The clamping system includes four groups of catching units, and every group of catching unit is used to clamp a tire of automobile;
The headstock or the tailstock of automobile enter U-shaped vehicle frame from the open end of U-shaped vehicle frame, complete to carry.
2. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the drive of the drive system Dynamic form includes forerunner, rear-guard, 4 wheel driven, and the steering form of the steering system includes that front-wheel steer, rear-axle steering, four-wheel turn entirely To drive form combines selection with steering form on demand.
3. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the hoisting system uses Mode a period of time, including four groups of independent lift units, every group of lift unit correspond to a wheel of robot;
When the hoisting system employing mode two, including four groups of independent lift units, every group of lift unit connect one group of clamping Unit.
4. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the intelligent robot also wraps It includes wheelbase and adapts to system, be divided into three kinds of forms to adapt to vehicle wheel base;
The first: by the way that U-shaped vehicle frame is divided at least two parts, being connected realization between each section by telescoping mechanism;
Second: the catching unit of U-shaped vehicle frame open end can be integrally moved forward and backward or four groups of catching units being capable of front and back shifting It is dynamic, wheelbase is adapted to by mobile catching unit;
The third: the combination of first two mode.
5. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that two before four groups of catching units Group bilateral symmetry, rear two groups of bilateral symmetries;Catching unit positioned at closed end is by a fixed arm and a folder that can be rotated Arm composition, the clamp arm that the catching unit positioned at open end can be rotated by two form.
6. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the intelligent robot also wraps Include the suspension fork mechanism with wheel cooperation.
7. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the U-shaped vehicle frame it is non- Working face arranges frame reinforcement structure, or using the space of inoperative plane, arranges other equipment, comprising: solar-electricity Pond plate, battery, charging unit, display screen etc..
8. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the intelligent robot also wraps Ultrasonic vision guided navigation obstacle avoidance system is included, the ultrasound vision guided navigation obstacle avoidance system is arranged in complete machine surrounding, intelligently adjusts in parking lot Under the guide of degree system, it is automatically performed the access of vehicle, when encountering barrier or emergency, judgement is carried out by perception and is adopted Avoidance measure is taken, and planning path again, guarantee the normal operation in parking lot and ensures the security reliability of access vehicle.
9. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the intelligent robot also wraps Battery system and automatic charging system are included, the power source as robot;Robot uses idle automatic charging, low battery certainly The various modes such as electricity are moved in dynamic charging certainly.
10. a kind of intelligent robot of carrier vehicle according to claim 1, which is characterized in that the robot is suitable for Outdoor environment, the wheel of robot selects 10 inches -50 inches of diameter of pneumatic tire, to adapt to outdoor sleet, sand and dust, stone Deng complicated surface conditions;After automobile head or the tailstock enter U-shaped frame interior from the open end of U-shaped vehicle frame, hoisting system is matched Co-clip takes the lifting of progress vehicle after system acting, guarantees that vehicle and ground have enough gaps.
CN201811058532.5A 2018-09-11 2018-09-11 A kind of intelligent robot of carrier vehicle Pending CN109025439A (en)

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CN113296516A (en) * 2021-05-24 2021-08-24 淮阴工学院 Robot control method for automatically lifting automobile

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CN112987745A (en) * 2021-03-04 2021-06-18 苏州车泊特智能科技有限公司 Quick vehicle access system based on RTK technology
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CN113296516B (en) * 2021-05-24 2022-07-12 淮阴工学院 Robot control method for automatically lifting automobile

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