CN109610911B - Mechanical AGV device based on automobile self-driving - Google Patents

Mechanical AGV device based on automobile self-driving Download PDF

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Publication number
CN109610911B
CN109610911B CN201811516514.7A CN201811516514A CN109610911B CN 109610911 B CN109610911 B CN 109610911B CN 201811516514 A CN201811516514 A CN 201811516514A CN 109610911 B CN109610911 B CN 109610911B
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gear
reversing
translation
wheel
steering
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CN109610911A (en
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姚勇
曾智博
吴思宇
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • 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
    • E04H6/32Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of conveyor chains or rotatable rollers

Abstract

The invention discloses a mechanical AGV device based on automobile self-driving, which comprises a lifting device and two translation devices arranged in front of and behind the lifting device, wherein the lifting device is connected with the two translation devices through a linear guide rail sliding block mechanism, the translation devices comprise translation bottom plates and two rolling element groups arranged through one-way bearings, universal wheels are arranged at the bottoms of the translation bottom plates of the translation devices, wherein the translation bottom plate is equipped with travel driving device, travel driving device includes that central drive wheel and middle part are equipped with the steering wheel that leads to the groove, and the steering wheel passes through the bearing to be installed on the translation bottom plate, and central drive wheel is installed at logical inslot, and central drive wheel passes through power transmission and links to each other with the rolling element group, and the automobile wheel reversal passes through power transmission drive center drive wheel motion to drive mechanical type AGV device global motion, complete small-scale car removes. The invention utilizes the power of the automobile to realize multidirectional movement of the automobile in a small range, and has convenient use and low cost.

Description

Mechanical AGV device based on automobile self-driving
Technical Field
The invention belongs to the technical field of parallel parking, relates to an auxiliary parking device, and particularly relates to an Automatic Guided Vehicle (AGV) device based on automobile self-driving.
Background
The existing urban district parking modes mainly comprise an inclined type mode, a parallel type mode and a vertical type mode. The parallel parking spaces are long and narrow, are widely applied to the roadside and some temporary parking places of a community, and occupy a large proportion of the parking spaces of the community. According to the relevant regulations of national standards of the automotive industry in China, parallel parking spaces are respectively spaced by 0.6m, the length of the parking space is 6m, and the width of the parking space is 2.5m on the premise that enough space for vehicles to enter and exit is reserved, the parallel parking spaces of the existing urban districts are randomly planned, the phenomena that the front-back spacing exceeds 1m, the total length seriously exceeds the standard value and the like generally occur according to the relevant parking space regulations in China, and the space utilization efficiency is low; in addition, the phenomena of disordered parking and random placement of single vehicles occupying double parking spaces are frequent, and the phenomenon of space waste is serious; secondly, the parallel parking space needs to adopt a lateral parking mode, so that the parking time is long, and safety accidents and traffic jam are easily caused. The common problem causes a very serious parking difficulty problem in the original urban district with the extremely large gap of the parking space.
Disclosure of Invention
Aiming at the problem of difficult parking in the existing urban community, the defect of the parallel parking space is taken as an entry point, and the mechanical AGV device based on the automobile self-driving is designed from the common problems of reasonably planning the parking space, standardizing the parking mode, reducing the parallel parking difficulty and the like aiming at the rear-drive type automobile which is circulated and used in the market.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a mechanical type AGV device based on car self-driven which characterized in that: the automobile steering wheel comprises a lifting device and two translation devices arranged in front of and behind the lifting device, the lifting device is connected with the two translation devices through a transverse linear guide rail slider mechanism, so that the lifting device and the two translation devices can be transversely separated, a locking device for locking relative positions is arranged between the lifting device and the translation devices, the translation devices comprise translation bottom plates and two groups of rolling element groups arranged on the translation bottom plates through supports, rolling elements in the rolling element groups are arranged on the supports through one-way bearings, the four groups of rolling element groups of the two translation devices respectively correspond to four wheel areas of an automobile, universal wheels are arranged at the bottoms of the translation bottom plates of the translation devices, walking driving devices are arranged on the translation bottom plates of the translation devices corresponding to automobile driving wheels, each walking driving device comprises a steering wheel, a central driving wheel, a first bevel gear and a third straight gear, the steering wheel passes through bearing horizontally and installs on the translation bottom plate, and the steering wheel middle part is equipped with logical groove, the center drive wheel passes through the gear shaft and installs on the steering wheel, and the center drive wheel lower part stretches out from leading to the groove and lands with the universal wheel together, and the gear shaft both ends of center drive wheel are equipped with bevel gear two and straight-gear five respectively, bevel gear one and straight-gear three are installed on the support of steering wheel side, and bevel gear one and straight-gear three cross power transmission and link to each other with the rolling element group that corresponds with the car drive wheel, the steering wheel is rotatory through the rotation of rotary driving device, and is rotatory through the steering wheel, can make bevel gear one with bevel gear two meshing or straight-gear five with straight-gear three meshing to adjustment.
The power transmission device comprises a first straight gear, a second straight gear and a gear reversing device, wherein the first straight gear, the second straight gear and the gear reversing device are arranged on a support of the translation device, rolling elements of a rolling element group corresponding to an automobile driving wheel are connected through a belt, one rolling element is connected with a first straight gear, the second straight gear is respectively meshed and connected with a fourth straight gear and a third straight gear, the fourth straight gear and the first straight gear are coaxially fixed and keep synchronous rotation, and the first straight gear is meshed and connected with the second straight gear or the fourth straight gear through the gear reversing device.
As an improvement, the gear reversing device is a three-star reversing gear set and comprises a reversing support plate, a reversing driving device, a first reversing gear, a second reversing gear and a third reversing gear, wherein the first reversing gear, the second reversing gear and the third reversing gear are sequentially meshed and arranged on the reversing support plate, the first reversing gear is a driving gear and is meshed and connected with a first straight gear, the reversing support plate is arranged on a support of the translation device through a shaft concentric with the first reversing gear, the reversing support plate can be driven to rotate around the shaft of the first reversing gear through the reversing driving device, the second straight gear is located between the second reversing gear and the third reversing gear, and when the reversing support plate can rotate around the shaft of the first reversing gear, the second straight gear can be respectively meshed with the second reversing gear or the third reversing gear.
As an improvement, the reversing driving device comprises a cam and a reversing motor, the cam is arranged on the translation bottom plate and is in contact with the bottom of the reversing supporting plate, the cam is connected with the reversing motor shaft, the cam is driven to rotate through the reversing motor, the reversing supporting plate is driven to rotate up and down around a shaft of the reversing gear I, and the reversing gear II or the reversing gear III is meshed with the straight gear II.
As an improvement, a circle of gears are arranged on the periphery of the steering wheel and are rotating gears, the rotating driving device comprises a steering gear and a steering motor, the steering gear is meshed with outer ring teeth of the steering wheel, the steering gear is connected with a steering motor shaft, and the steering motor drives the steering wheel to rotate through the steering gear, so that the direction of the central driving wheel is adjusted.
As an improvement, the rolling element groups are roller groups, each roller group is provided with 3-8 rollers, and the rollers are arranged on a bracket arranged on the translation bottom plate through one-way bearings.
As an improvement, the lifting device comprises a lifting plate and a lifting bottom plate, the lifting plate is mounted on the lifting bottom plate through a lifting mechanism, and the lifting plate moves up and down through the lifting mechanism.
As an improvement, the lifting mechanism is a scissor rod lifting mechanism, one end of the scissor rod lifting mechanism is hinged to the lifting plate and the lifting bottom plate, the other end of the scissor rod lifting mechanism is installed on the lifting bottom plate through a screw rod nut mechanism, and the scissor rod lifting mechanism drives the lifting plate to move up and down through the screw rod nut mechanism.
As an improvement, the locking device is a guide rail brake, a translation bottom plate of one translation device is provided with a walking driving device, the other translation bottom plate is provided with a corresponding balance walking driving device, the driven walking driving device comprises balance walking wheels, a steering wheel, a steering gear and a steering motor, the steering wheel is horizontally arranged on the translation bottom plate of the translation device through a bearing, a through groove is formed in the middle of the steering wheel, the balance walking wheels are arranged on the steering wheel through the bearing, the lower parts of the balance walking wheels extend out of the through groove to land together with a universal wheel, the outer ring of the steering wheel is provided with a circle of teeth meshed with the steering gear, the steering gear is connected with a steering motor shaft, and the steering motor drives the steering wheel to rotate through the steering gear, so.
As an improvement, one end of the translation device opposite to the lifting device is provided with a slope cushion convenient for the automobile to move up and down.
The invention has the beneficial effects that: the utility model provides a parallel parking device based on car self-powered, the car wheel reversal makes the friction drum take place to rotate, the power that produces is passed to the pivot of driving pulley by the hold-in range, the dead axle rotation of cylinder is changed into the left and right sides of device and is moved the power, when the car wheel turned to, the switching of device side-to-side motion direction is realized through the cooperation of gear switching-over device, the switching of controlling means's side-to-side switching, by the car self-power supply with the device parallel entering parking stall, improve the horizontal and vertical space utilization efficiency in parking stall, avoid the vehicle phenomenon of parking at will.
Drawings
FIG. 1 is a general schematic view of a mechanical AGV device of the present invention.
FIG. 2 is a schematic angled view of the mechanical AGV device of the present invention.
Fig. 3 is a force analysis diagram of the automobile wheel between two rollers when the automobile wheel is still.
Fig. 4 is a force analysis diagram of the forward rotation of the automobile wheel according to the invention.
Fig. 5 is a force analysis diagram of the wheel reversal of the automobile according to the present invention.
Fig. 6 is a first schematic structural diagram of the power transmission device of the present invention.
FIG. 7 is a second schematic structural view of the power transmission device of the present invention.
Fig. 8 is a schematic structural view of the gear reversing device of the present invention.
Fig. 9 is a schematic structural view of the balance walking wheel of the present invention.
Fig. 10 is a schematic structural view of the rail-slider mechanism of the present invention.
Fig. 11 is a schematic structural view of the lifting device of the present invention.
FIG. 12 is a schematic view of the lifting device of the present invention separated from two translation devices.
In the figure: 1-support, 2-synchronous pulley, 3-friction roller, 4-one-way bearing, 5-slope pad, 6-balance running wheel, 7-universal wheel, 8-center driving wheel, 9-automobile wheel, 10-straight gear I, 11-reversing gear I, 12-reversing gear II, 13-reversing gear III, 14-straight gear II, 15-straight gear III, 16-straight gear IV, 17-bevel gear I, 18-bevel gear II, 19-steering wheel I, 20-straight gear V, 21-steering gear I, 22-reversing support plate, 23-guide brake, 24-lifting plate, 25-roller, 26-slide block I, 27-support, 28-screw rod, 29-lifting motor, 30-a scissor rod lifting mechanism, 31-a linear guide rail sliding block mechanism, 32-a right-angle support, 33-a sliding block II, 34-a steering wheel II, 35-a steering gear II, 36-a cam, 37-a reversing motor, 38-a steering motor, 39-a translation bottom plate, 40-a lifting device and 41-a translation device.
Detailed Description
For a better understanding of the present invention, examples of the present invention are described in detail below. It should be noted that the present embodiment takes a rear-drive vehicle as an example, and the front-drive vehicle is the same.
As shown in fig. 1, the mechanical AGV device (automatic guided vehicle) based on automobile self-driving according to the present invention includes a lifting device 40 and two translation devices 41 disposed in front of and behind the lifting device 40, the lifting device 40 is connected to the two translation devices 41 through a transverse linear guide slider mechanism 31, so that the lifting device 40 can be laterally separated from the two translation devices 41, a locking device for locking the relative position is disposed between the lifting device 40 and the translation devices 41, the translation device 41 includes a bracket 1 and a translation base plate 39, the bracket 1 is a square frame structure, the two translation devices 41 and the lifting device 40 disposed in the middle form a whole frame, two opposite sides of the bracket 1 are respectively provided with a slope pad 5 for getting on and off the vehicle, four corner positions of the whole frame are symmetrically provided with four roller sets corresponding to four wheels of the automobile, that is, two roller sets are disposed on each translation device 41, the roller group comprises a plurality of rollers which are uniformly arranged at intervals, the rollers of each roller group are all arranged on a bracket 1 through one-way bearings 4, each roller is arranged on the bracket 1 through one-way bearings 4, one roller group corresponding to the automobile driving wheels in four roller groups is a power intake module, the rollers of the roller group are connected with the one-way bearings 4 arranged on the bracket 1 through rotating shafts, the outer side ends of the rotating shafts are provided with synchronous belt wheels 2, every two adjacent rollers are connected through a synchronous belt, a power transmission device is arranged at the rear part of the bottom of the integral frame, the power input end is connected with the inner side end of the rotating shaft of a transmission roller, the power output end is connected with a central driving wheel 8, a gear reversing device is arranged at the bottom of the bracket 1 and used for reversing the power transmitted by the power transmission device, and the positions of the balance travelling wheels, the separating mechanism comprises a scissor rod lifting mechanism and a linear guide rail sliding block mechanism 31, after the automobile drives on the device, four wheels are respectively positioned on four groups of rollers, the lifting plate 24 is used for lifting the whole automobile body from bottom to top, and the linear guide rail sliding block mechanism 31 is used for separating a scissor part from the device opposite to the automobile. The universal wheels 7 are arranged at the bottoms of the translation bottom plates 39 of the translation devices 41, wherein the translation bottom plates 39 of the translation devices 41 corresponding to the driving wheels of the automobile are provided with walking driving devices, and the translation bottom plate 39 of the other translation device 41 is provided with a driven walking driving device.
As shown in fig. 2, 6 and 7, the walking driving device comprises a first steering wheel 19, a first central driving wheel 8, a first bevel gear 17 and a third spur gear 15, wherein the first steering wheel 19 is horizontally installed on a translation base plate 39 through a bearing, a through groove is formed in the middle of the first steering wheel 19, the first central driving wheel 8 is installed on the first steering wheel 19 through a gear shaft, the lower part of the first central driving wheel 8 extends out of the through groove and lands on the universal gear 7, a second bevel gear 18 and a fifth spur gear 20 are respectively arranged at two ends of the gear shaft of the first central driving wheel 8, the first bevel gear 17 and the third spur gear 15 are installed on a bracket 1 at the side of the first steering wheel 19, the first bevel gear 17 and the third spur gear 15 are connected with a rolling element group corresponding to a driving wheel of an automobile through a power transmission device, the first steering wheel 19 is driven to rotate through a rotation driving device, the first steering wheel 19 is rotated through the first steering wheel 19, thereby adjusting the traveling direction of the central driving wheel 8.
As shown in fig. 6 and 7, the power transmission device includes a first spur gear 10, a second spur gear 14 and a gear reversing device which are installed on the bracket 1 of the translation device 41, the rollers of the roller set corresponding to the driving wheels of the vehicle are connected with each other through a belt, one of the rollers is connected with the first spur gear 10 through a shaft, the second spur gear 14 is respectively connected with a fourth spur gear 16 and a third spur gear 15 in a meshing manner, the fourth spur gear 16 and the first bevel gear 17 are fixed coaxially and rotate synchronously, and the first spur gear 10 is connected with the second spur gear 14 or the fourth spur gear 16 in a meshing manner through the gear reversing device.
As shown in fig. 8, the gear reversing device is a three-star reversing gear set, and includes a reversing support plate 22, a reversing drive device, and a first reversing gear 11, a second reversing gear 12, and a third reversing gear 13 which are mounted on the reversing support plate 22 and sequentially engaged with each other, where the first reversing gear 11 is a driving gear and engaged with a first spur gear 10, the reversing support plate 22 is mounted on the bracket 1 of the translation device 41 through a shaft concentric with the first reversing gear 11, the reversing support plate 22 can be driven to rotate around the shaft of the first reversing gear 11 through the reversing drive device, the second spur gear 14 is located between the second reversing gear 12 and the third reversing gear 13, and when the reversing support plate 22 can rotate around the shaft of the first reversing gear 11, the second spur gear 14 can be engaged with the second reversing gear 12 or the third reversing gear 13, respectively.
The reversing driving device comprises a cam 36 and a reversing motor 37, the cam 36 is arranged on a translation bottom plate 39 and is in contact with the bottom of a reversing supporting plate 22, the cam 36 is connected with the reversing motor 37 through a shaft, the reversing motor 37 drives the cam 36 to rotate, and the cam 36 is in contact with the reversing supporting plate 22, so that the reversing supporting plate 22 is driven to rotate up and down around the shaft of the reversing gear I11, and the reversing gear II 12 or the reversing gear III 13 is meshed with the straight gear II 14.
The periphery of the first steering wheel 19 is provided with a circle of gears which are rotating gears, the rotating driving device comprises a first steering gear 21 and a steering motor 38, the first steering gear 21 is meshed with outer ring teeth of the first steering wheel 19, the first steering gear 21 is connected with a shaft of the steering motor 38, and the steering motor 38 drives the first steering wheel 19 to rotate through the first steering gear 21, so that the direction of the central driving wheel 8 is adjusted, the central driving wheel 8 rotates in a 90-degree direction, and the central driving wheel 8 moves in a front-back direction and a left-right translation direction.
In the embodiment of the invention, each roller group is provided with 4 rollers, the number of the rollers can be increased or decreased according to the requirement, and the number of the rollers is generally 3-8.
As shown in fig. 10, the linear guide slider mechanism 31 of the present invention is used by purchasing existing products, specifically purchasing the product types: three-section heavy steel ball slide rail. This purchase article is from taking self-locking function, can use a driving lever to fix the slider, makes the slider can not remove, reaches the auto-lock effect promptly, and linear guide slider mechanism 31 includes guide rail and slider two, and the guide rail passes through right angle support to be installed on translation bottom plate 39, and slider two links to each other with elevating gear 40's lifting bottom plate is fixed.
As shown in fig. 11, the lifting device 40 includes a lifting plate 24 and a lifting base plate, the lifting plate 24 is mounted on the lifting base plate by a lifting mechanism, the lifting plate 24 moves up and down through the lifting mechanism which is a scissor rod lifting mechanism 30, the scissor rod lifting mechanism 30 comprises a plurality of sets of scissor rods, a screw rod nut mechanism and a lifting motor 29, two rods at one end of each scissor rod are respectively connected with the lifting plate 24 and the lifting bottom plate in an intersecting way, two rods at the other end are respectively provided with a roller 25, the roller 25 is contacted with the lifting plate 24 and the lifting bottom plate, the ends of the roller 25 of each group of scissor rods on the lifting bottom plate are connected through a fixed rod, the fixed rod is fixedly connected with a nut of the feed screw nut mechanism, a feed screw of the feed screw nut mechanism is connected with a lifting motor 29 shaft, the lifting motor 29 is fixedly installed on the lifting bottom plate, and the scissor rod lifting mechanism 30 drives the lifting plate 24 to move up and down through the feed screw nut mechanism.
As shown in fig. 1 and 9, a translation bottom plate 39 of one translation device 41 is provided with a walking driving device, the other translation bottom plate 39 is provided with a corresponding driven walking driving device, the driven walking driving device comprises a balance walking wheel 6, a second steering wheel 34, a second steering gear 35 and a second steering motor 38, the second steering wheel 34 is horizontally mounted on the translation bottom plate 39 of the translation device 41 through a bearing, a through groove is formed in the middle of the second steering wheel 34, the balance walking wheel 6 is mounted on the second steering wheel 34 through a bearing, the lower portion of the balance walking wheel 6 extends out of the through groove and lands on the universal wheel 7, the outer ring of the second steering wheel 34 is provided with a circle of teeth meshed with the steering gear, the second steering gear 35 is connected with the steering motor 38, and the steering motor 38 drives the second steering wheel 34 to rotate through the second steering gear 35, so as to drive the.
The specific working principle of the embodiment of the invention is as follows:
due to the existence of the slope pad 5 and the one-way bearing 4, the automobile can normally run on the mechanical AGV device, as shown in figure 1, after the automobile runs on the mechanical AGV device from left to right, four wheels of the automobile are all positioned on four corresponding roller groups, the four roller groups are all provided with the one-way bearing 4, wherein the left rear wheel of the automobile is positioned on a friction roller 3 group of a power intake part, at the moment, a third straight gear 15 is meshed with a fifth straight gear 20, and the direction of a central driving wheel 8 is parallel to the whole length direction of the device. The automobile is driven reversely, the left rear wheel drives the lower friction roller 3 group to rotate, and power is output on the straight gear I10 through the transmission rollers in the rollers.
The first straight gear 10 finally inputs power to the central driving wheel 8 through the power transmission device, so that the central driving wheel 8 can rotate, the whole mechanical AGV device can move back and forth, the three-star reversing gear set drives the cam 36 to rotate through the reversing motor 37, so that the reversing supporting plate 22 rotates around the shaft of the first reversing gear 11, so that the second straight gear 14 can be respectively meshed with the second reversing gear 12 or the third reversing gear 13, the purpose of changing the rotating direction of the central driving wheel 8 is achieved, the mechanical AGV device can move forwards or backwards, and two states exist in meshing, namely, the state 1: the first straight gear 10, the first reversing gear 11, the second reversing gear 12 and the second straight gear 14 are meshed in sequence, and the central driving wheel 8 moves forwards; state 2: the first straight gear 10, the first reversing gear 11, the third reversing gear 13 and the second straight gear 14 are meshed in sequence, and the central driving wheel 8 reversely retreats at the moment. Compared with the two states, one transmission gear is added or reduced, the final output end can rotate towards two directions, namely the final output central driving wheel 8 rotates forwards or backwards, and the device can drive the automobile above the device to move in the front and back directions. The steering motor 38 drives the first steering gear 21 to drive the first steering wheel 19 to rotate 90 degrees, the central driving wheel 8 is rotated 90 degrees due to the fact that the central driving wheel 8 is fixedly connected with the steering gear, the transverse movement of the mechanical AGV device in the left and right directions can be achieved through the central driving wheel 8, the third straight gear 15 is separated from the fifth straight gear 20 at the moment, the first bevel gear 17 is meshed with the second bevel gear 18 to be connected, and due to the fact that the direction of the central driving wheel 8 is changed, the device can drive the automobile to move in the front and back direction and the left and right. Because the central driving wheel 8 is not positioned in the geometric center of the device, when the central output wheel is steered, the other universal wheels 7 arranged on the mechanical AGV device are steered in a disorder manner, so that the motion of the whole device cannot normally run according to an expected track, and therefore, the balanced walking wheels 6 are designed, the steering wheel II 34 is driven to rotate through the steering gear II 35, the synchronization with the central output wheel is realized, the coaxiality is kept, and the steering control is completed in a matching manner.
After the automobile is moved into the parking space by the mechanical AGV device, the lifting device 40 works, the lifting plate 24 is lifted, the automobile is jacked up to a certain height, the guide rail brake 23 is unlocked, the translation devices 41 on the front side and the rear side of the lifting device 40 are pulled out by the linear guide rail sliding block mechanism 31, then the lifting plate 24 is lowered, and the automobile is placed in the parking space until the automobile wheels 9 contact the ground; then the scissor rod lifting mechanism 30 continues to descend to be completely contracted, then the lifting device 40 is pulled out laterally, as shown in fig. 12, at this time, the mechanical AGV device is separated from the automobile as a whole, the automobile is correctly and safely parked in the parking space, the guide rail brake 23 is locked, the lifting device 40 and the two translation devices 41 are connected into a whole again, the automobile can sink and translate, when the automobile needs to be moved out of the parking space, the steps are reversed, namely, the guide rail brake 23 of the mechanical AGV is unlocked, the lifting device 40 is firstly pushed into the bottom of the automobile, the automobile is jacked up, then the two translation devices 41 are pushed into the lower part of the automobile, the automobile below is installed, and the automobile is moved out of the parking space.
The force analysis is carried out when the automobile wheel 9 is still between the two rollers, and the force is shown in figures 2 to 5:
the diameter of a roller in a proposed actual product is designed to be 100mm, the distance between two rollers is 420mm, the diameter of a wheel is generally 600mm-800mm according to the actual body specification, the value is 640mm (for convenience of calculation), an equilateral triangle with the side length of 420mm is formed by taking the circle center of an automobile wheel 9 and the circle centers of the two rollers as three vertexes, the gravity of the automobile borne by the rollers is G, and the supporting forces of the wheels borne by the two rollers are respectively as follows: f1And F2
Taking the right direction as the advancing direction of the vehicle, the roller can only rotate clockwise to realize the reverse gear of the vehicle under the limitation of the one-way bearing 4, and the roller is driven to move to complete power intake, as shown in fig. 3:
referring to the existing automobile design standard, the general weight of an automobile is 1.5t to 2.0t, we take a 1.5t common automobile model as an example, and combine the actual product of the device to set G to 2.0t, and according to looking up a general distribution table of a rolling friction system, in a general asphalt or concrete route, the rolling friction coefficient is generally 0.018 to 0.020, and the diameter of a preliminarily designed roller is 100mm, so that the following can be obtained:
the friction between the wheels and the roller is as follows: f is 0.020G 400N
The output kinetic energy of the transmission roller is as follows: t isRoller=TOutput of400N × 0.1m is 40N · m (ideal transmission without energy loss).
The friction force of the last roller in contact with the wheel is therefore: f. ofCartridgeT/r 800N (r is the radius of the friction roller 3).
Assuming that the vehicle cannot slip between the two friction rollers 3 and exit the parking device in the reverse rotation state, the wheels will not contact the rollers at this time, the stress is shown in fig. 4, and the stress analysis is continued as follows:
thus, the force in the vertical direction is calculated as F1*sin60°+FCartridge*cos60°=G/4=3750N
Wherein FCartridge=T/r=800N;
Force calculation in the horizontal direction: f1*cos60°>>FCartridge*sin60°
Therefore, the friction force provided by the friction rollers 3 when the wheels rotate reversely cannot meet the requirement of backward movement of the automobile, and the original assumption is not established, namely, the automobile is kept between the two friction rollers 3 when the wheels rotate reversely, the automobile body and the parking device cannot move relatively integrally, and the automobile cannot slide down from the device.

Claims (10)

1. The utility model provides a mechanical type AGV device based on car self-driven which characterized in that: the automobile steering wheel comprises a lifting device and two translation devices arranged in front of and behind the lifting device, the lifting device is connected with the two translation devices through a transverse linear guide rail slider mechanism, so that the lifting device and the two translation devices can be transversely separated, a locking device for locking relative positions is arranged between the lifting device and the translation devices, the translation devices comprise translation bottom plates and two groups of rolling element groups arranged on the translation bottom plates through supports, rolling elements in the rolling element groups are arranged on the supports through one-way bearings, the four groups of rolling element groups of the two translation devices respectively correspond to four wheel areas of an automobile, universal wheels are arranged at the bottoms of the translation bottom plates of the translation devices, walking driving devices are arranged on the translation bottom plates of the translation devices corresponding to automobile driving wheels, each walking driving device comprises a steering wheel, a central driving wheel, a first bevel gear and a third straight gear, the steering wheel passes through bearing horizontally and installs on the translation bottom plate, and the steering wheel middle part is equipped with logical groove, the center drive wheel passes through the gear shaft and installs on the steering wheel, and the center drive wheel lower part stretches out from leading to the groove and lands with the universal wheel together, and the gear shaft both ends of center drive wheel are equipped with bevel gear two and straight-gear five respectively, bevel gear one and straight-gear three are installed on the support of steering wheel side, and bevel gear one and straight-gear three cross power transmission and link to each other with the rolling element group that corresponds with the car drive wheel, the steering wheel is rotatory through the rotation of rotary driving device, and is rotatory through the steering wheel, can make bevel gear one with bevel gear two meshing or straight-gear five with straight-gear three meshing to adjustment.
2. The mechanical AGV apparatus of claim 1, further comprising: the power transmission device comprises a first straight gear, a second straight gear and a gear reversing device which are arranged on a support of the translation device, rolling elements of a rolling element group corresponding to an automobile driving wheel are connected through a belt, one of the rolling elements is connected with a first straight gear, the second straight gear is respectively connected with a fourth straight gear and a third straight gear in a meshed mode, the fourth straight gear and the first bevel gear keep synchronous rotation through coaxial fixation, and the first straight gear is connected with the second straight gear or the fourth straight gear in a meshed mode through the gear reversing device.
3. The mechanical AGV apparatus of claim 2, further comprising: the gear reversing device is a three-star reversing gear set and comprises a reversing support plate, a reversing driving device, a first reversing gear, a second reversing gear and a third reversing gear, wherein the first reversing gear is a driving gear and is meshed with a first straight gear, the reversing support plate is arranged on a support of the translation device through a shaft concentric with the first reversing gear, the reversing support plate can be driven to rotate around the shaft of the first reversing gear through the reversing driving device, the second straight gear is positioned between the second reversing gear and the third reversing gear, and when the reversing support plate can rotate around the shaft of the first reversing gear, the second straight gear can be meshed with the second reversing gear or the third reversing gear respectively.
4. The mechanical AGV apparatus of claim 3, further comprising: the reversing driving device comprises a cam and a reversing motor, the cam is arranged on the translation bottom plate and is in contact with the bottom of the reversing supporting plate, the cam is connected with the reversing motor shaft, the cam is driven to rotate through the reversing motor, and therefore the reversing supporting plate is driven to rotate up and down around the shaft of the reversing gear I, and the reversing gear II or the reversing gear III is meshed with the straight gear II.
5. The mechanical AGV apparatus of claim 4, further comprising: the steering wheel is provided with a circle of gears around and is a rotating gear, the rotating driving device comprises a steering gear and a steering motor, the steering gear is meshed with outer ring teeth of the rotating wheel, the steering gear is connected with a steering motor shaft, and the steering motor drives the steering wheel to rotate through the steering gear, so that the direction of the central driving wheel is adjusted.
6. The mechanical AGV apparatus of any one of claims 1 to 5, further comprising: the rolling element groups are roller groups, each roller group is provided with 3-8 rollers, and the rollers are arranged on a support arranged on the translation bottom plate through one-way bearings.
7. The mechanical AGV apparatus of claim 6, further comprising: the lifting device comprises a lifting plate and a lifting bottom plate, the lifting plate is installed on the lifting bottom plate through a lifting mechanism, and the lifting plate moves up and down through the lifting mechanism.
8. The mechanical AGV apparatus of claim 7, further comprising: the lifting mechanism is a scissor rod lifting mechanism, one end of the scissor rod lifting mechanism is hinged to the lifting plate and the lifting bottom plate, the other end of the scissor rod lifting mechanism is installed on the lifting bottom plate through a screw rod nut mechanism, and the scissor rod lifting mechanism drives the lifting plate to move up and down through the screw rod nut mechanism.
9. The mechanical AGV apparatus of claim 7, further comprising: the locking device is a guide rail brake, a translation bottom plate of a translation device is provided with a walking driving device, another translation bottom plate is provided with a corresponding driven walking driving device, the driven walking driving device comprises a balance walking wheel, a steering gear and a steering motor, the steering wheel is horizontally installed on the translation bottom plate of the translation device through a bearing, a through groove is formed in the middle of the steering wheel, the balance walking wheel is installed on the steering wheel through the bearing, the lower portion of the balance walking wheel extends out of the through groove and lands on the ground together with a universal wheel, a circle of teeth meshed with the steering gear are arranged on the outer ring of the steering wheel, the steering gear is connected with a steering motor shaft, and the steering motor drives the steering wheel to rotate through the steering gear.
10. The mechanical AGV apparatus of claim 7, further comprising: and a slope cushion convenient for the automobile to move up and down is arranged at one end of the translation device opposite to the lifting device.
CN201811516514.7A 2018-12-12 2018-12-12 Mechanical AGV device based on automobile self-driving Active CN109610911B (en)

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JPH11286262A (en) * 1998-04-01 1999-10-19 Shinichi Nogami Moving truck for motor vehicle
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CN206031351U (en) * 2016-09-12 2017-03-22 金华职业技术学院 Emergent translation device of car
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