CN204715826U - A kind of AGV vehicle-containing exchanges car carrying robot - Google Patents
A kind of AGV vehicle-containing exchanges car carrying robot Download PDFInfo
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- CN204715826U CN204715826U CN201520399665.4U CN201520399665U CN204715826U CN 204715826 U CN204715826 U CN 204715826U CN 201520399665 U CN201520399665 U CN 201520399665U CN 204715826 U CN204715826 U CN 204715826U
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Abstract
The utility model relates to a kind of AGV vehicle-containing and exchanges car carrying robot, comprise main body of vehicle frame, the vehicle-containing elevating mechanism be installed in main body of vehicle frame, be installed on the other omnibearing ambulation driving mechanism of vehicle-containing elevating mechanism and control system, vehicle-containing elevating mechanism is made up of the lifter plate and lifting drive being installed on main body of vehicle frame two ends, and the length and width ratio of lifter plate is 1 ~ 50.Transfer robot of the present utility model can also comprise guider, electric supply installation and safety detection device etc.Transfer robot of the present utility model compares traditional car carrying equipment significantly can promote handling efficiency, reduces the system failure, realizes intelligent parking.The utility model is applicable to the technical field of car carrying.
Description
Technical field
The utility model relates to a kind of car carrying equipment, particularly relates to a kind of AGV vehicle-containing and exchanges car carrying robot, be applicable to the technical field of car carrying.
Background technology
Along with the universal rapidly of automobile and development, city parking position supply wretched insufficiency, the demand on parking space is increasing, and traditional parking mode develops to intelligent machine solid parking mode gradually.Existing full-automatic parking systems mainly contains planar movement class, tunnel stacking class, vertical lifting.Their operating principle is exactly in simple terms, there is one or more handling equipment, automobile lifting can be got up carry from bottom of car, then move to together on hoist, hoist transports different parking tiers handling equipment to together with automobile again, then by handling equipment, automobile is sent into the parking space of specifying.
Vehicle-containing formula car carrying is widely used a kind of car carrying mode in multi-storied garage.This carrying working method is: automobile parking is on vehicle-containing, and conveyer is together placed on automobile and vehicle-containing on parking spot.But, the many needs of existing vehicle-containing formula car carrying equipment are laid walking track and are connected electricity cable, and handling equipment can only realize advancing or retreating walking, it is extremely low that this just causes handling efficiency, fault rate is higher, be difficult to the high efficiency access car realizing garage, do not embody intelligent parking truly.
Utility model content
The purpose of this utility model is to provide a kind of AGV vehicle-containing car carrying robot for the deficiencies in the prior art, and this transfer robot can independently be guided, free travel route, saves that space, Transport Vehicle are fast, performance safety, easy maintenance.
For achieving the above object, the utility model realizes by the following technical solutions:
Car carrying robot is exchanged according to AGV vehicle-containing of the present utility model, comprise main body of vehicle frame, the vehicle-containing elevating mechanism be installed in main body of vehicle frame, be installed on the other omnibearing ambulation driving mechanism of vehicle-containing elevating mechanism and control system, vehicle-containing elevating mechanism comprises the lifter plate and lifting drive that are installed on main body of vehicle frame two ends, and the length and width ratio of lifter plate can be 1 ~ 50.More preferably, lifting drive is hydraulic drive mechanism or spiral lift or price scissors hoist or electric pushrod, and wherein, hydraulic drive mechanism comprises the lifting guide pillar be connected with hydraulic pump and lifter plate.
Preferably, transfer robot also comprises guider, electric supply installation and safety detection device, and electric supply installation comprises the battery be installed in main body of vehicle frame and the charging inlet be connected with storage battery.Guider can comprise laser navigation module or electromagnetic navigation module or magnetic and follow closely navigation module or inertial navigation module.Safety detection device can comprise the laser anti-collision module or mechanical crashproof module or infrared anti-collision module or ultrasonic anti-collision module that are installed on main body of vehicle frame edge.
Preferably, control system by master controller and the walking module be electrically connected with master controller, be elevated module, guide locating module, security module, power supply and charge management module, communication module, human-computer interaction device to form.
Preferably, can also comprise vehicle-containing, vehicle-containing is made up of plate face and suspension column, and the central authorities in plate face are provided with carries power crossbeam.Dapple steel plate is preferably with in plate face.Suspension column upper end can for the suspension column jack be inwardly recessed, and suspension column bottom can be the suspension column latch with projection.
Implement a kind of AGV vehicle-containing of the present utility model and exchange car carrying robot, there is following beneficial effect:
This transfer robot can realize autonomous guiding, free travel route under the guiding of parking ground control system, both saves parking lot space, again can safely, Transport Vehicle fast, easy maintenance, realizes intelligent parking truly.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of transfer robot described in the utility model;
Fig. 2 is the upward view of transfer robot described in the utility model;
Fig. 3 is the control system schematic diagram of transfer robot described in the utility model.
Fig. 4 is transfer robot pivot stud schematic diagram described in the utility model;
Fig. 5 is the three-dimensional structure diagram of vehicle-containing described in the utility model;
Fig. 6 is the elevation of vehicle-containing described in the utility model;
Fig. 7 is the schematic diagram of the multi-storied garage applying transfer robot described in the utility model.
In figure: vehicle-containing 1, plate face 11, suspension column 12, suspension column jack 121, suspension column latch 122, transfer robot 2, main body of vehicle frame 21, lifter plate 22, lifting guide pillar 23, hydraulic pump 24, battery 25, charging mechanism 26, driving wheels 27, control system 28.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model embodiment is further described:
As shown in Figure 1, this vehicle-containing exchanges that car carrying robot 2 comprises main body of vehicle frame 21, the vehicle-containing elevating mechanism be installed in main body of vehicle frame 21, be installed on vehicle-containing elevating mechanism other omnibearing ambulation driving mechanism, control system 28, electric supply installation, preferably can also comprise guider, safety detection device etc.
The vehicle-containing elevating mechanism of this transfer robot comprises the lifter plate 22 and hydraulic drive mechanism that are installed on main body of vehicle frame two ends, wherein, hydraulic drive mechanism also can be replaced spiral lift or price scissors hoist or electric pushrod, the length and width ratio of lifter plate 22 can be 1 ~ 50, and fluid pressure drive device comprises the lifting guide pillar 23 be connected with hydraulic pump 24 and lifter plate 22.
The guider of this transfer robot comprises the laser navigation module (not shown) being installed on main body of vehicle frame one jiao, and this module also can be magnetic nail navigation module or electromagnetic navigation module or inertial navigation module, especially gyroscope.
The principle of laser navigation module is: in the space of transfer robot motion, be placed with multiple handmarking (as reflection sticker), robot in the process of walking, its laser navigation module measures the Distance geometry angle of each reflecrtive mark by the laser beam launched and be reflected back, then calculated the positional information of self by geometry, thus carry out position navigation.
The electric supply installation of this transfer robot comprises the battery 25 be installed in main body of vehicle frame and the charging mechanism 26 be connected with storage battery, the charging inlet that charging mechanism is connected with external power source is positioned on the bottom surface of main body of vehicle frame, realizes automatic charging in the charge position of transfer robot on parking floor of stereo garage.
The charging flow of electric supply installation is divided into two kinds: one is fast charge mode: when transfer robot detects that its voltage is not enough, walk to charging zone, be full of fast with high electric current, transfer robot leaves charging zone; One shallowly fills shallow mode playback: transfer robot charges to rest area at every turn, no matter voltage levels all arrives charge point.
The safety detection device of this transfer robot comprises the laser anti-collision module (not shown) being installed on main body of vehicle frame edge, this module also can be mechanical crashproof module or infrared anti-collision module or ultrasonic anti-collision module, scans the object on transfer robot all around four direction, identifies.
The operating principle of laser anti-collision module is: laser anti-collision module Emission Lasers bundle, irradiate object around, carried out the presence or absence of cognitive disorders thing by the reverberation of exploring laser light bundle, and to control system feedback signal, so that control system sends instruction, the advancing and stop of control.
As shown in Figure 2, the hoofing part mechanism of this transfer robot comprises driving wheel, is preferably 4 and drives wheels 27.
As shown in Figure 3, the control system 28 of this transfer robot by master controller and the walking module be electrically connected with master controller, be elevated module, guide locating module, security module, power supply and charge management module, communication module, human-computer interaction device to form.Wherein, walking module comprises 4 differential modules, controls respectively 4 driving wheel groups; Lifting module is used for controlling vehicle-containing elevating mechanism; Locating module is guided to be used for guiding the travel path of transfer robot and locating; Security module collides with surrounding objects during being used for preventing transfer robot from advancing, and ensures its safety; Communication module is used for transfer robot and wireless telecommunications are carried out in outside; Human-computer interaction device is used for setting transfer robot parameter and showing the running status of transfer robot.
Introduce the workflow guiding locating module below: Upper system sends task list/walking segment table by wireless network, radio station etc., and communication module monitors these data, and stored in segment table queue.AGV takes out segment table parameter, dot information, opcode information etc. from segment table queue, realizes speed generation, point of destination is determined, carries command code order output with this.Master controller realizes position calculation, its principle is as follows: adopt two position calculators to complete accurate estimation to position and calculating, wherein master site calculator adopts dead reckoning, calculates in real time according to the positional information of last time and the theoretical orientation of kinematics model to AGV of encoder information (speed encoder, angular encoder) and car body.But, because As time goes on theoretical position can produce cumulative errors, aided solving device is therefore also needed to carry out position correction.Aided location calculator is according to the laser head/magnetic dot sensor information acquisition actual position of guider.Master controller converts velocity information to the signal of telecommunication, and be sent to turning to servo-driver and driving servo-driver of walking module, servo controller controls motor and completes walking.
As seen in figs. 5-6, which show the vehicle-containing 1 for bearing automobile.Vehicle-containing is made up of plate face 11 and suspension column 12, and plate face central authorities are provided with carries power crossbeam, and plate face is the dapple steel plate of band.
Suspension column upper end is provided with the suspension column jack 121 be inwardly recessed, and suspension column bottom is provided with the suspension column latch 122 with projection.When vehicle-containing piling is stacked, the suspension column latch of upper strata vehicle-containing can insert in the suspension column jack of lower floor's vehicle-containing just, realizes the neat stacking of vehicle-containing.
As illustrated in figures 4 and 7, in parking tier, carrying has the transfer robot of automobile under the guiding of navigation system, can realize the action such as front, rear, left and right and pivot stud, according to certain rule by extremely idle for car carrying parking stall.Also be provided with automatic charging position in parking tier, when dolly is without task, can automatically go to charge position to supplement electricity.
The course of work applying this transfer robot Transport Vehicle is:
Bicycle parking process: after car parks on the vehicle-containing of stacking machine position, stacking machine is by vehicle-containing upwards lifting one deck platen height, transfer robot sails into bottom vehicle-containing and by vehicle-containing lifting, then vehicle-containing and car are carried to the diamond of planning by transfer robot.
To pick up the car process: after system obtains instruction of picking up the car, transfer robot drives to bottom the vehicle-containing on appointment parking space, vehicle-containing and car lifting get up by elevating mechanism, vehicle-containing and car are transported on stacking machine and then leave by transfer robot, stacking machine declines a platen height, and car can leave.
It is emphasized that above content is in conjunction with concrete preferred embodiment further detailed description of the utility model, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, some simple deduction or replace can also be made, all should be considered as belonging to protection domain of the present utility model.
Claims (10)
1. an AGV vehicle-containing exchanges car carrying robot, comprise main body of vehicle frame, the vehicle-containing elevating mechanism be installed in main body of vehicle frame, be installed on the other omnibearing ambulation driving mechanism of vehicle-containing elevating mechanism and control system, it is characterized in that, described vehicle-containing elevating mechanism comprises the lifter plate and lifting drive that are installed on main body of vehicle frame two ends, and the length and width ratio of described lifter plate is 1 ~ 50.
2. AGV vehicle-containing as claimed in claim 1 exchanges car carrying robot, it is characterized in that, described transfer robot also comprises guider, electric supply installation and safety detection device, and described electric supply installation comprises the battery be installed in main body of vehicle frame and the charging inlet be connected with storage battery.
3. AGV vehicle-containing as claimed in claim 2 exchanges car carrying robot, it is characterized in that, described guider comprises laser navigation module or electromagnetic navigation module or magnetic and follows closely navigation module or inertial navigation module.
4. AGV vehicle-containing as claimed in claim 2 exchanges car carrying robot, and it is characterized in that, described safety detection device comprises the laser anti-collision module or mechanical crashproof module or infrared anti-collision module or ultrasonic anti-collision module that are installed on main body of vehicle frame edge.
5. the AGV vehicle-containing as described in any one of claim 1-4 exchanges car carrying robot, it is characterized in that, described control system by master controller and the walking module be electrically connected with master controller, be elevated module, guide locating module, security module, power supply and charge management module, communication module, human-computer interaction device to form.
6. AGV vehicle-containing as claimed in claim 1 exchanges car carrying robot, and it is characterized in that, also comprise vehicle-containing, described vehicle-containing is made up of plate face and suspension column, and the central authorities in described plate face are provided with carries power crossbeam.
7. AGV vehicle-containing as claimed in claim 6 exchanges car carrying robot, it is characterized in that, described plate face is the dapple steel plate of band.
8. AGV vehicle-containing as claimed in claim 6 exchanges car carrying robot, and it is characterized in that, described suspension column upper end is provided with the suspension column jack be inwardly recessed, and suspension column bottom is provided with the suspension column latch with projection.
9. AGV vehicle-containing as claimed in claim 1 exchanges car carrying robot, it is characterized in that, described lifting drive is hydraulic drive mechanism or spiral lift or price scissors hoist or electric pushrod.
10. AGV vehicle-containing as claimed in claim 9 exchanges car carrying robot, and it is characterized in that, described hydraulic drive mechanism comprises the lifting guide pillar be connected with hydraulic pump and lifter plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520399665.4U CN204715826U (en) | 2015-06-10 | 2015-06-10 | A kind of AGV vehicle-containing exchanges car carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520399665.4U CN204715826U (en) | 2015-06-10 | 2015-06-10 | A kind of AGV vehicle-containing exchanges car carrying robot |
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| CN204715826U true CN204715826U (en) | 2015-10-21 |
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| CN201520399665.4U Active CN204715826U (en) | 2015-06-10 | 2015-06-10 | A kind of AGV vehicle-containing exchanges car carrying robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105383588A (en) * | 2015-11-02 | 2016-03-09 | 武汉理工大学 | AGV car needed by automatic parking system |
| WO2016197612A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰机器人科技有限公司 | Agv carrying board exchange type vehicle transfer robot |
| CN108919791A (en) * | 2018-05-16 | 2018-11-30 | 江苏科技大学 | Cultivate operation ship electromagnetic navigation system and air navigation aid |
| CN112160634A (en) * | 2020-10-14 | 2021-01-01 | 陕西理工大学 | Intelligent parking system based on NB-IOT system and parking robot thereof |
-
2015
- 2015-06-10 CN CN201520399665.4U patent/CN204715826U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016197612A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰机器人科技有限公司 | Agv carrying board exchange type vehicle transfer robot |
| CN105383588A (en) * | 2015-11-02 | 2016-03-09 | 武汉理工大学 | AGV car needed by automatic parking system |
| CN108919791A (en) * | 2018-05-16 | 2018-11-30 | 江苏科技大学 | Cultivate operation ship electromagnetic navigation system and air navigation aid |
| CN112160634A (en) * | 2020-10-14 | 2021-01-01 | 陕西理工大学 | Intelligent parking system based on NB-IOT system and parking robot thereof |
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Effective date of registration: 20160808 Address after: Longgang District of Shenzhen City, Guangdong province 518116 Longgang Street Wulian Road No. 9 high tech Industrial Park, Yifeng Industrial Zone D Patentee after: Shenzhen Science and Technology Ltd. of Yi Feng robot Address before: Longgang District of Shenzhen City, Guangdong province 518116 Longgang Street Wulian Road No. 9 high tech Industrial Park, Yifeng Industrial Zone D Patentee before: Shenzhen Science and Technology Ltd. of Yi Feng robot Patentee before: Shenzhen Yee Fung Automation Technology Co., Ltd. |