CN204715827U - A kind of can the intelligent robot of side direction carrier vehicle - Google Patents
A kind of can the intelligent robot of side direction carrier vehicle Download PDFInfo
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Abstract
本实用新型涉及一种可侧向搬运汽车的智能机器人,该智能机器人包括中心主体和支撑支架,支撑支架与中心主体通过水平直线驱动机构连接,支撑支架位于中心主体的两侧并能够相对中心主体水平地运动,支撑支架与所述中心主体的长度比值为0.05-1;在中心主体上还设有板叉架,板叉架通过滑轨与中心主体连接并能沿中心主体做垂直升降运动;板叉架上连接有能够进行垂直升降运动和横向水平移动的板叉;板叉上连接有夹板,夹板能够绕其支点旋转45度至90度。采用本实用新型的可侧向搬运汽车的智能机器人存取车速度快,效率高,服务安全,具有建设及维护费用低廉、节能环保等特点,适用于汽车搬运的技术领域。
The utility model relates to an intelligent robot capable of laterally transporting automobiles. The intelligent robot comprises a central body and a supporting bracket. The supporting bracket is connected to the central body through a horizontal linear drive mechanism. The supporting brackets are located on both sides of the central body and can be opposite to the central body. Moving horizontally, the length ratio between the support bracket and the central body is 0.05-1; the central body is also provided with a plate fork frame, which is connected to the central body through a slide rail and can perform vertical lifting movement along the central body; The plate fork frame is connected with a plate fork capable of vertical lifting movement and lateral and horizontal movement; the plate fork is connected with a splint, and the splint can rotate 45 degrees to 90 degrees around its fulcrum. The utility model adopts the intelligent robot capable of laterally transporting cars to access cars with fast speed, high efficiency, safe service, low construction and maintenance costs, energy saving and environmental protection, etc., and is suitable for the technical field of car handling.
Description
技术领域technical field
本实用新型涉及一种智能停车设备,尤其涉及一种可侧向搬运汽车的智能机器人,适用于汽车搬运的技术领域。The utility model relates to an intelligent parking device, in particular to an intelligent robot capable of laterally transporting automobiles, which is suitable for the technical field of automobile transportation.
背景技术Background technique
随着汽车的迅速普及与发展,城市停车位供应严重不足,停车位的需求越来越大,传统的停车方式逐渐向智能机械化立体停车方式发展。现有的全自动化立体停车库主要有平面移动类,巷道堆垛类,垂直升降类。它们的工作原理就是,有一台或多台搬运器,可以从汽车底部把汽车抬升起来搬运,然后一起移动到升降机上,升降机再把搬运器连同汽车运往不同的停车层,再由搬运器把汽车送入指定的停车位。With the rapid popularization and development of automobiles, the supply of urban parking spaces is seriously insufficient, and the demand for parking spaces is increasing. The traditional parking method is gradually developing into an intelligent and mechanized three-dimensional parking method. Existing fully automated three-dimensional parking garages mainly include plane movement, roadway stacking, and vertical lifting. Their working principle is that there are one or more carriers, which can lift the car from the bottom of the car, and then move it to the elevator together. into the designated parking space.
上述几类停车设备的主要缺陷是:(1)搬运器、堆垛机或者横移车都只能在轨道上做直线运动,不能转弯,运动路径受到限制,不能利用停车楼里有转角的空间。(2)因为设备是基于轨道运行的,所以需要铺设大量轨道,库位数量越多,巷道越长,用于铺设轨道的钢材和土木工程量也会相应增加,消耗大量材料、人工和时间。(3)同一个停车楼里,需要配置搬运器、横移车、升降机多种设备,设备安装比较复杂,需要较高精度的安装才能保证搬运器在各个设备以及走行轨道上顺利移动过渡,安装稍有不当,设备的衔接配合就会出问题,甚至要重新修改设备的尺寸。(4)这几种立体机械车库中的设备及机构过于庞大笨重,安装以及维修量大,不易于随时拆卸更换,一旦某个机械部件出了问题,就会造成整个系统瘫痪。(5)这种立体机械停车库受到自身停车方式的制约,多个搬运器之间的协同工作效率较低,尚不足以达到超高密度的空间利用效能。(6)以上几种全自动立体车库,造价及维护成本都较高,不易于超大规模扩展使用。The main defects of the above-mentioned several types of parking equipment are: (1) carrier, stacker or traversing vehicle can only move in a straight line on the track, cannot turn, and the movement path is limited, so the corner space in the parking building cannot be utilized . (2) Because the equipment is based on track operation, a large number of tracks need to be laid. The more storage locations and the longer the roadway, the amount of steel and civil engineering used to lay the tracks will increase accordingly, consuming a lot of materials, labor and time. (3) In the same parking building, it is necessary to configure a variety of equipment such as carriers, traversing vehicles, and elevators. The installation of the equipment is relatively complicated, and high-precision installation is required to ensure the smooth movement and transition of the carrier on various devices and running tracks. If it is a little improper, there will be problems with the connection and coordination of the equipment, and even the size of the equipment will have to be re-modified. (4) The equipment and mechanisms in these three-dimensional mechanical garages are too large and heavy, and the installation and maintenance volume is large, so it is not easy to disassemble and replace at any time. Once a certain mechanical component has a problem, the entire system will be paralyzed. (5) This three-dimensional mechanical parking garage is restricted by its own parking mode, and the collaborative work efficiency among multiple carriers is low, which is not enough to achieve ultra-high density space utilization efficiency. (6) The above several fully automatic three-dimensional garages have high cost and maintenance costs, and are not easy to expand and use on a large scale.
如专利号为201010622917.7的“一种机械车库智能搬运小车”公开了:“它包括控制系统、轮距定位机构,以及结构相同的前轮搬运器和后轮搬运器;所述前轮搬运器和后轮搬运器均包括架体、双向行走机构、夹臂机构和四个可旋转的夹臂,双向行走机构设置于架体底部,夹臂机构装设于所述架体,每两个夹臂为一组分别设置于架体两边,所述夹臂机构驱动连接所述四个夹臂;所述轮距定位机构连接所述前轮搬运器和后轮搬运器。”然而该搬运器同样是采用有线连接,只能在轨道上直线运行,搬运器在行进过程中由于受卷线器电缆长度的限制,最多能直线运行距原始状态2辆车长度左右的距离,这就给密集型停车、远距离搬运车辆及任意空间停车带来了困扰;同时,还由于搬运器自身厚度所限,只能适用于底盘较高的汽车,无法用来搬运底盘过低的车辆。For example, the patent No. 201010622917.7 "a kind of intelligent transport trolley in mechanical garage" discloses: "It includes a control system, a wheel base positioning mechanism, and a front wheel carrier and a rear wheel carrier with the same structure; the front wheel carrier and the The rear wheel carriers all include a frame body, a two-way traveling mechanism, a clamping arm mechanism and four rotatable clamping arms. The two-way traveling mechanism is arranged at the bottom of the frame body, and the clamping arm mechanism is installed on the frame body. One set is respectively arranged on both sides of the frame body, and the clamp arm mechanism drives and connects the four clamp arms; the track positioning mechanism connects the front wheel carrier and the rear wheel carrier." However, the carrier is also With wired connection, it can only run in a straight line on the track. Due to the limitation of the cable length of the reel, the carrier can run in a straight line at most a distance of about 2 car lengths from the original state, which gives intensive parking, Long-distance transport of vehicles and parking in any space have brought troubles; at the same time, due to the thickness of the transporter itself, it can only be used for vehicles with a high chassis, and cannot be used to transport vehicles with a low chassis.
另外,如专利号为201410134130.4的“立体车库轿厢上的汽车搬运装置”公开了:“一种立体车库轿厢上的汽车搬运装置,汽车搬运装置由托盘、托架、托座、托架上的升降机构、托架的水平移动机构组成,托架上的升降机构让托板在托架上升降,托座固定在车厢地板上”。该搬运器更是不能够自由移动。In addition, as the patent No. 201410134130.4 "vehicle handling device on the car of the three-dimensional garage" discloses: "a car handling device on the car of the three-dimensional garage. It is composed of a lifting mechanism and a horizontal moving mechanism of the bracket. The lifting mechanism on the bracket allows the pallet to lift on the bracket, and the bracket is fixed on the floor of the carriage.” The carrier is even less able to move freely.
因此,一种适用于各种车型,能自主导引及自由行径路线的、节省空间、存取车快速、性能安全、维护简便的智能机器人亟待提出。Therefore, an intelligent robot suitable for various types of vehicles, capable of autonomous guidance and free-roaming, space-saving, fast access to vehicles, safe performance, and easy maintenance needs to be proposed urgently.
实用新型内容Utility model content
本实用新型所要解决的技术问题是,克服现有技术的不足,设计一种高度智能化的停车设备,这种智能停车设备的结构简单,建设及维护成本低廉,汽车存取方便,能够快速搬取汽车、停放汽车,能智能规划汽车搬运路径,不受直线轨道约束,能充分利用不规则空间,并具有如下特征:大面积、高密度紧凑的停车位;多个搬运器高效率协同合作;适用于各种轴距和任意底盘形式的车型。The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and design a highly intelligent parking device. Pick up and park a car, intelligently plan the path of the car, not restricted by the straight track, and make full use of the irregular space, and has the following characteristics: large-area, high-density and compact parking spaces; efficient collaboration of multiple carriers; It is suitable for vehicles with various wheelbases and any chassis form.
为达到上述目的,本实用新型采用以下技术方案实现的:In order to achieve the above object, the utility model is realized by adopting the following technical solutions:
本实用新型涉及一种可侧向搬运汽车的智能机器人,包括中心主体和支撑支架,支撑支架与中心主体通过水平直线驱动机构连接,支撑支架位于中心主体的两侧并能够相对中心主体水平地运动,所述支撑支架与所述中心主体的长度比值为0.05-1;在中心主体上还设有板叉架,板叉架通过滑轨与中心主体连接并能沿中心主体做垂直升降运动;板叉架上连接有能够进行垂直升降运动和横向水平移动的板叉;板叉上连接有夹板,夹板能够绕其支点旋转45度至90度。The utility model relates to an intelligent robot capable of laterally transporting automobiles, comprising a central body and a supporting bracket, the supporting bracket is connected with the central body through a horizontal linear drive mechanism, the supporting brackets are located on both sides of the central body and can move horizontally relative to the central body , the length ratio of the support bracket to the central body is 0.05-1; the central body is also provided with a plate fork frame, which is connected to the central body through a slide rail and can perform vertical lifting motion along the central body; The fork frame is connected with a plate fork capable of vertical lifting movement and lateral and horizontal movement; the plate fork is connected with a splint, and the splint can rotate 45 degrees to 90 degrees around its fulcrum.
优选地,智能机器人还包括安装于支撑支架的端部的安全检测装置和/或导航装置。智能机器人还可以包括供电装置,供电装置包括安装于中心主体中央的蓄电池及与蓄电池电连接的充电接口。Preferably, the intelligent robot further includes a safety detection device and/or a navigation device installed at the end of the support bracket. The intelligent robot may also include a power supply device, which includes a storage battery installed in the center of the central body and a charging interface electrically connected to the storage battery.
优选地,在支撑支架底部装有万向驱动轮,每个万向驱动轮带有2个电机。Preferably, universal drive wheels are installed at the bottom of the support bracket, and each universal drive wheel has 2 motors.
优选地,导航装置可以包括激光导航模块、磁钉导航模块、电磁导航模块或惯性导航模块,安全检测装置可以包括激光防撞模块、机械防撞模块、红外防撞模块或超声波防撞模块。Preferably, the navigation device may include a laser navigation module, a magnetic nail navigation module, an electromagnetic navigation module or an inertial navigation module, and the safety detection device may include a laser anti-collision module, a mechanical anti-collision module, an infrared anti-collision module or an ultrasonic anti-collision module.
优选地,中心主体内还设有中央控制系统,中央控制系统由主控制器及与主控制器电连接的行走模块、升降模块、引导定位模块、安全模块、电源和充电管理模块、通信模块、人机交互装置组成。Preferably, a central control system is also provided in the main body of the center. The central control system consists of a main controller and a walking module electrically connected to the main controller, a lifting module, a guiding and positioning module, a safety module, a power supply and charging management module, a communication module, Composition of human-computer interaction devices.
本实用新型的优点和积极效果是:Advantage and positive effect of the present utility model are:
1、本智能立体停车设备,在停车场布置上采用多行多列多巷道结构,智能机器人的旋转空间很小,所以智能机器人的运动巷道空间很小,同时停车位相邻得很紧密,相比现有机械立体停车库,在相同面积的停车场地中,腾出了更多的停车位空间,增加了停车场的空间使用效率。1. This intelligent three-dimensional parking equipment adopts a multi-row, multi-column, and multi-lane structure in the layout of the parking lot. The rotation space of the intelligent robot is very small, so the space for the movement of the intelligent robot is very small, and the parking spaces are closely adjacent to each other. Compared with the existing mechanical three-dimensional parking garage, more parking space is vacated in the same area of the parking lot, and the space utilization efficiency of the parking lot is increased.
2、智能机器人使用导航模块进行路径导航,不依赖于特定的地面直线轨道,省去了铺设大量钢轨的工作量,其结构简单、成本低廉、施工方便同时便于维护,智能机器人如出现故障也易于随时更换整台机器人,实现快速故障修复。可以通过控制系统方便修改运动路径,可以任意方向直线行走、曲线行走和原地中心旋转,从而可以把停车场带有转角的空间和各种不规则的空间利用起来,达到极高的空间利用率。2. The intelligent robot uses the navigation module for path navigation, does not depend on a specific linear track on the ground, and saves the workload of laying a large number of rails. It has a simple structure, low cost, convenient construction and easy maintenance. If the intelligent robot fails, it is easy to The entire robot can be replaced at any time for fast fault repair. The motion path can be easily modified through the control system, and it can walk in a straight line in any direction, curve and rotate on the spot center, so that the space with corners and various irregular spaces in the parking lot can be utilized to achieve extremely high space utilization. .
附图说明Description of drawings
图1是本实用新型所述智能机器人的立体结构图;Fig. 1 is the three-dimensional structural diagram of intelligent robot described in the utility model;
图2是本实用新型所述智能机器人的后视图;Fig. 2 is the back view of intelligent robot described in the utility model;
图3是本实用新型所述智能机器人的另一视角的立体结构图;Fig. 3 is a three-dimensional structure diagram of another perspective of the intelligent robot described in the utility model;
图4是本实用新型所述智能机器人的载车状态图;Fig. 4 is the car-loading state diagram of intelligent robot described in the utility model;
图5是本实用新型所述智能机器人的中央控制系统原理图;Fig. 5 is the schematic diagram of the central control system of the intelligent robot described in the utility model;
图6是应用本实用新型所述智能机器人的板叉侧插入汽车时的状态图;Fig. 6 is a state diagram when the plate fork side of the intelligent robot described in the utility model is inserted into the automobile;
图7是应用本实用新型所述智能机器人的夹板旋转时的状态图;Fig. 7 is a state diagram when the splint of the intelligent robot described in the present invention is used to rotate;
图8是应用本实用新型所述智能机器人的夹板夹持汽车时的状态图;Fig. 8 is a state diagram when applying the splint of the intelligent robot described in the present invention to clamp the automobile;
图9是应用本实用新型所述智能机器人的停车层示意图;Fig. 9 is a schematic diagram of a parking floor applying the intelligent robot described in the present invention;
图10是应用本实用新型所述智能机器人的立体停车场结构图。Fig. 10 is a structural diagram of a three-dimensional parking lot using the intelligent robot described in the utility model.
图中:In the picture:
中心主体100、支撑支架(121、122)、直线滚道1211、滚轮(101、102)、链轮103、齿条1212、垂直升降装置130、板叉150、夹板(151、152)、万向驱动轮161、蓄电池170Center body 100, supporting brackets (121, 122), linear raceways 1211, rollers (101, 102), sprockets 103, racks 1212, vertical lifting devices 130, plate forks 150, splints (151, 152), universal Drive wheel 161, storage battery 170
具体实施方式Detailed ways
以下结合附图对本实用新型实施例做进一步详述:Below in conjunction with accompanying drawing, the utility model embodiment is described in further detail:
如图1所示,其中显示了根据本实用新型的一种可侧向搬运汽车的智能机器人,该智能机器人包括1个中心主体100及2个支撑支架121、122,中心主体100内设有中央控制系统。支撑支架121、122与中心主体100通过水平直线驱动机构连接,支撑支架位于中心主体的两侧并能够相对中心主体水平地运动。支撑支架121、122与中心主体100的长度比值为0.05-1。As shown in Figure 1 , which shows a kind of intelligent robot according to the utility model that can transport cars laterally, the intelligent robot includes a central body 100 and two supporting brackets 121, 122, and a central body is provided in the central body 100. Control System. The supporting brackets 121, 122 are connected with the central body 100 through a horizontal linear drive mechanism, and the supporting brackets are located on both sides of the central body and can move horizontally relative to the central body. The length ratio of the supporting brackets 121, 122 to the central body 100 is 0.05-1.
在智能机器人的中心主体上还设有板叉架110,板叉架110通过滑轨与中心主体连接,板叉架110可沿中心主体做垂直升降运动,例如可以由涡轮蜗杆螺旋顶升机构或链轮齿条机构等驱动。板叉架110上固接有板叉150,板叉150既可跟随板叉架110一起沿中心主体做垂直升降运动,又可独立地横向水平移动。在板叉上连接有2个夹板151、152,夹板151、152通过链条传动可绕其支点153旋转45度至90度并接触到汽车轮胎,从而把汽车轮胎夹持起来。Also be provided with plate fork frame 110 on the central body of intelligent robot, plate fork frame 110 is connected with central body by slide rail, plate fork frame 110 can do vertical lifting motion along central body, for example can be lifted by worm screw screw jacking mechanism or Driven by sprocket and rack mechanism, etc. The plate fork 150 is fixedly connected to the plate fork frame 110, and the plate fork 150 can follow the plate fork frame 110 to perform vertical lifting movement along the central body, and can independently move horizontally and horizontally. Be connected with 2 clamping plates 151,152 on plate fork, clamping plates 151,152 can rotate 45 degrees to 90 degrees around its fulcrum 153 by chain transmission and contact automobile tire, thereby automobile tire is clamped.
以下描述一种可行的水平直线驱动机构的实施方式。如图2所示,2个支撑支架121、122位于中心主体100外侧,每个支撑支架上具有一个直线滚道1211,中心主体每侧具有4对滚轮,第一滚轮101的轴端固定于中心主体上,第一滚轮101嵌入直线滚道1211内侧的滑槽中;第二滚轮102的轴端也固定于中心主体上,第二滚轮102与直线滚道的外侧面保持滑动接触,直线滚道1211可在第二滚轮102上水平滚动。此外,中心主体100的两侧各设有一个链轮103,链条104的上端连接在左侧直线滚道上(如图2中所示的A点),链条104的下端连接在右侧直线滚道上(如图2中所示的B点),链条与链轮互相啮合,链轮与链条的传动配合可保证两侧直线滚道相对于中心主体的水平横向距离相等。另外,链轮103上还带有一个电磁制动器,当电磁制动器锁定链轮的转动时,则可锁定支撑支架相对中心主体的位置;当电磁制动器松开,链轮可以自由转动,这时位于支撑支架底部两侧的万向驱动轮161沿着横向方向往相反方向运动,带动两侧的支撑支架相对中心主体发生横向位移,从而实现2个支撑支架之间的间距可根据汽车的长度自主调节,以使汽车可容纳在2个支撑支架之间。每个万向驱动轮161带有2个电机,在万向驱动轮的协同运动下,智能机器人可以在平面上做任意方向的直线行走、任意方向的曲线行走、以及原地中心旋转。A possible implementation of the horizontal linear drive mechanism is described below. As shown in Figure 2, two supporting brackets 121, 122 are located outside the central body 100, each supporting bracket has a linear raceway 1211, each side of the central body has 4 pairs of rollers, and the shaft end of the first roller 101 is fixed in the center On the main body, the first roller 101 is embedded in the chute inside the linear raceway 1211; the shaft end of the second roller 102 is also fixed on the central body, and the second roller 102 maintains sliding contact with the outer surface of the linear raceway, and the linear raceway 1211 can be scrolled horizontally on the second scroll wheel 102 . In addition, both sides of the central body 100 are respectively provided with a sprocket 103, the upper end of the chain 104 is connected on the left linear raceway (point A shown in Figure 2), and the lower end of the chain 104 is connected on the right linear raceway (B point shown in Figure 2), the chain and the sprocket are meshed with each other, and the transmission cooperation between the sprocket and the chain can ensure that the horizontal and lateral distances of the linear raceways on both sides relative to the central body are equal. In addition, there is also an electromagnetic brake on the sprocket 103. When the electromagnetic brake locks the rotation of the sprocket, it can lock the position of the supporting bracket relative to the central body; The universal driving wheels 161 on both sides of the bottom of the bracket move in the opposite direction along the lateral direction, driving the supporting brackets on both sides to have a lateral displacement relative to the central body, so that the distance between the two supporting brackets can be adjusted independently according to the length of the car. so that the car can be accommodated between 2 supporting brackets. Each universal drive wheel 161 has 2 motors, and under the coordinated movement of the universal drive wheels, the intelligent robot can walk in a straight line in any direction, walk in a curve in any direction, and rotate centrally on the plane.
根据本发明的智能机器人还带有供电装置、导航装置及安全检测装置,从而实现机器人的自主充电、自主行走。According to the intelligent robot of the present invention, it also has a power supply device, a navigation device and a safety detection device, so as to realize autonomous charging and autonomous walking of the robot.
如图3所示,供电装置包括安装于中心主体中央的蓄电池170及与蓄电池电连接的充电接口。机器人在空闲状态下,可前往停车层上设置的充电位上进行充电。As shown in FIG. 3 , the power supply device includes a battery 170 installed in the center of the center body and a charging interface electrically connected to the battery. When the robot is idle, it can go to the charging position set on the parking floor for charging.
如图1所示,支撑支架121、122的一端安装有导航装置181,此装置可以包括激光导航模块,也可包括磁钉导航模块或电磁导航模块或惯性导航模块,尤其是陀螺仪。As shown in FIG. 1 , a navigation device 181 is installed at one end of the supporting brackets 121 , 122 , which may include a laser navigation module, or a magnetic nail navigation module, an electromagnetic navigation module or an inertial navigation module, especially a gyroscope.
激光导航模块的原理为:在机器人运动的空间中放置有若干个人工标记(如反射胶贴),机器人在行走过程中,其激光导航模块通过发射及反射回的激光光束来测量各个反射标记的距离和角度,然后通过几何计算得出自身的位置信息,从而进行位置导航。The principle of the laser navigation module is: a number of artificial marks (such as reflective stickers) are placed in the moving space of the robot. During the walking process of the robot, its laser navigation module measures the position of each reflective mark through the emitted and reflected laser beams. Distance and angle, and then obtain its own position information through geometric calculation, so as to perform position navigation.
支撑支架121、122的另一端安装有安全检测装置182,此装置可以包括激光防撞模块,也可包括机械防撞模块或红外防撞模块或超声波防撞模块,对智能机器人前后左右四个方向上的物体进行扫描、识别。The other end of support bracket 121,122 is equipped with safety detection device 182, and this device can comprise laser anti-collision module, also can comprise mechanical anti-collision module or infrared anti-collision module or ultrasonic anti-collision module. Objects on the screen are scanned and recognized.
激光防撞模块的工作原理为:激光防撞模块发射激光束,照射周围的物体,通过探测激光束的反射光来设别障碍物的有无,并向控制系统反馈信号,以便控制系统发出指令,控制机器人的行进及停止。The working principle of the laser anti-collision module is: the laser anti-collision module emits a laser beam, illuminates the surrounding objects, detects the presence or absence of obstacles by detecting the reflected light of the laser beam, and sends a feedback signal to the control system so that the control system can issue instructions , to control the movement and stop of the robot.
如图5所示,中央控制系统由主控制器及与主控制器电连接的行走模块、升降模块、引导定位模块、安全模块、电源和充电管理模块、通信模块、人机交互装置组成。其中,引导定位模块用于对智能机器人的行进路径进行引导和定位;安全模块用于防止智能机器人行进期间与周围物体发生碰撞,保证其安全;通信模块用于智能机器人与外部进行无线通讯;人机交互装置用于对智能机器人参数进行设定并显示智能机器人的运行状态。As shown in Figure 5, the central control system consists of a main controller and a walking module electrically connected to the main controller, a lifting module, a guidance and positioning module, a safety module, a power supply and charging management module, a communication module, and a human-computer interaction device. Among them, the guidance and positioning module is used to guide and locate the travel path of the intelligent robot; the safety module is used to prevent the intelligent robot from colliding with surrounding objects during the travel and ensure its safety; the communication module is used for the wireless communication between the intelligent robot and the outside; The computer interaction device is used to set the parameters of the intelligent robot and display the running status of the intelligent robot.
下面介绍引导定位模块的工作流程:上位系统通过无线网络、电台等发送任务表/行走段表,通信模块监听这些数据,并存入段表队列中。AGV从段表队列取出段表参数、点信息、操作码信息等,以此实现速度生成、目的点确定、搬运操作码命令输出。主控制器实现位置计算,其原理如下:采用两个位置计算器完成对位置的准确估算和计算,其中主位置计算器采用航位推算法,根据上次的位置信息和编码器信息(速度编码器、角度编码器)和车体的运动学模型对AGV的理论方位进行实时计算。不过,由于理论位置会随着时间的推移而产生累计误差,因此还需要辅助计算器进行位置修正。辅助位置计算器根据导航装置的激光头/磁点传感器等信息获得真实位置。主控制器将速度信息转换成电信号,发送至行走模块的转向伺服驱动器和驱动伺服驱动器,伺服控制器控制马达完成行走。The following introduces the working process of the guidance and positioning module: the host system sends the task list/walking segment list through the wireless network, radio, etc., and the communication module monitors these data and stores them in the segment list queue. The AGV takes out segment table parameters, point information, opcode information, etc. from the segment table queue, so as to realize speed generation, destination point determination, and transport operation code command output. The main controller realizes the position calculation, and its principle is as follows: use two position calculators to complete the accurate estimation and calculation of the position. encoder, angle encoder) and the kinematics model of the car body to calculate the theoretical orientation of the AGV in real time. However, a secondary calculator is required for position correction, as the theoretical position will accumulate errors over time. The auxiliary position calculator obtains the real position according to information such as the laser head/magnetic point sensor of the navigation device. The main controller converts the speed information into an electrical signal, and sends it to the steering servo driver and the driving servo driver of the walking module, and the servo controller controls the motor to complete walking.
如图4、图6、图7、图8所示,应用本实用新型的可侧向搬运汽车的智能机器人搬运汽车的方法包括如下步骤:As shown in Fig. 4, Fig. 6, Fig. 7, and Fig. 8, the method for using the intelligent robot that can transport the car laterally of the present utility model includes the following steps:
S1:智能机器人从汽车的侧面把2根板叉150伸入汽车底部;S1: The intelligent robot extends two plate forks 150 into the bottom of the car from the side of the car;
S2:2根板叉150根据汽车的尺寸水平地移动;S2: 2 plate forks 150 move horizontally according to the size of the car;
S3:当板叉150接触到汽车轮胎时,板叉上的夹板151、152经链条传动旋转45度至90度,把汽车的4个轮胎分别夹持起来;S3: When the plate fork 150 touches the tires of the car, the splints 151 and 152 on the plate fork are rotated by 45 degrees to 90 degrees through the chain drive to clamp the four tires of the car respectively;
S4:智能机器人根据停车场控制系统的命令和调度,把汽车从出入口室搬运到指定停车位或从指定停车位搬运到出入口室。S4: The intelligent robot transports the car from the entrance and exit room to the designated parking space or from the designated parking space to the entrance and exit room according to the order and scheduling of the parking lot control system.
如图7、图8所示,应用本智能机器人的立体停车场,每一停车层上可设置多台升降机、多台智能机器人,实现多台车辆同时存取车。这样就将平面停车场及立体停车库的优势结合了起来,实现大密度、高效率存取车。As shown in Fig. 7 and Fig. 8, in the three-dimensional parking lot using the intelligent robot, multiple elevators and multiple intelligent robots can be set on each parking floor, so as to realize the simultaneous access of multiple vehicles. In this way, the advantages of the flat parking lot and the three-dimensional parking garage are combined to achieve high-density and high-efficiency access to cars.
需要强调的是,以上内容是结合具体的优选实施方式对本实用新型所作的进一步详细说明,不能认定本实用新型的具体实施只局限于这些说明。对于本实用新型所属技术领域的普通技术人员来说,在不脱离本实用新型构思的前提下,还可以做出若干简单推演或替换,都应当视为属于本实用新型的保护范围。It should be emphasized that the above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be assumed that the specific implementation of the utility model is limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105386625A (en) * | 2015-10-27 | 2016-03-09 | 山东天辰智能停车设备有限公司 | Sliding-plate parallel clamping auto tire carrier |
WO2016197611A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰自动化科技有限公司 | Intelligent robot capable of laterally transferring vehicle |
CN106677577A (en) * | 2017-02-23 | 2017-05-17 | 上海卡驱久祎机器人科技有限公司 | Self-adaptive fixed type U-shaped vehicle moving system |
CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
CN108298468A (en) * | 2018-01-23 | 2018-07-20 | 张子涵 | A kind of parking auxiliary robot and its control method |
CN112814438A (en) * | 2021-01-29 | 2021-05-18 | 武汉科技大学 | Quick vehicle moving equipment |
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2015
- 2015-06-10 CN CN201520401031.8U patent/CN204715827U/en not_active Expired - Lifetime
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2016197611A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰自动化科技有限公司 | Intelligent robot capable of laterally transferring vehicle |
CN105386625A (en) * | 2015-10-27 | 2016-03-09 | 山东天辰智能停车设备有限公司 | Sliding-plate parallel clamping auto tire carrier |
CN106677577A (en) * | 2017-02-23 | 2017-05-17 | 上海卡驱久祎机器人科技有限公司 | Self-adaptive fixed type U-shaped vehicle moving system |
CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
CN108298468A (en) * | 2018-01-23 | 2018-07-20 | 张子涵 | A kind of parking auxiliary robot and its control method |
CN108298468B (en) * | 2018-01-23 | 2019-09-13 | 张子涵 | A kind of control method for the auxiliary robot that stops |
CN112814438A (en) * | 2021-01-29 | 2021-05-18 | 武汉科技大学 | Quick vehicle moving equipment |
CN112814438B (en) * | 2021-01-29 | 2025-06-24 | 武汉科技大学 | A fast car moving device |
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