CN204715827U - A kind of can the intelligent robot of side direction carrier vehicle - Google Patents

Abstract

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

An intelligent robot that can carry cars sideways

technical field

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.

Background technique

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.

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.

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.

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.

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.

Utility model content

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.

In order to achieve the above object, the utility model is realized by adopting the following technical solutions:

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.

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.

Preferably, universal drive wheels are installed at the bottom of the support bracket, and each universal drive wheel has 2 motors.

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.

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.

Advantage and positive effect of the present utility model are:

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. 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. .

Description of drawings

Fig. 1 is the three-dimensional structural diagram of intelligent robot described in the utility model;

Fig. 2 is the back view of intelligent robot described in the utility model;

Fig. 3 is a three-dimensional structure diagram of another perspective of the intelligent robot described in the utility model;

Fig. 4 is the car-loading state diagram of intelligent robot described in the utility model;

Fig. 5 is the schematic diagram of the central control system of the intelligent robot described in the utility model;

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;

Fig. 7 is a state diagram when the splint of the intelligent robot described in the present invention is used to rotate;

Fig. 8 is a state diagram when applying the splint of the intelligent robot described in the present invention to clamp the automobile;

Fig. 9 is a schematic diagram of a parking floor applying the intelligent robot described in the present invention;

Fig. 10 is a structural diagram of a three-dimensional parking lot using the intelligent robot described in the utility model.

In the picture:

Center 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

Detailed ways

Below in conjunction with accompanying drawing, the utility model embodiment is described in further detail:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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: The intelligent robot extends two plate forks 150 into the bottom of the car from the side of the car;

S2: 2 plate forks 150 move horizontally according to the size of the car;

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: 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.

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.

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.

Claims (7)

1. one kind can the intelligent robot of side direction carrier vehicle, comprise central body and supporting bracket, described supporting bracket is connected by horizontal linear driving mechanism with described central body, described supporting bracket be positioned at central body both sides and can relative centre main body horizontal ground motion, the lenth ratio of described supporting bracket and described central body is 0.05-1;

It is characterized in that, described central body is also provided with plate crotch, described plate crotch to be connected with central body by slide rail and centrally main body can to do vertical displacement movement; Described plate crotch is connected with the plate fork that can carry out vertical displacement movement and transverse horizontal movement; Described plate fork is connected with clamping plate, and described clamping plate can rotate 45 degree to 90 degree around its fulcrum.

2. as claimed in claim 1 can the intelligent robot of side direction carrier vehicle, it is characterized in that, described intelligent robot also comprises safety detection device and/or the guider of the end being installed on supporting bracket.

3. as claimed in claim 1 can the intelligent robot of side direction carrier vehicle, it is characterized in that, described intelligent robot also comprises electric supply installation, and described electric supply installation comprises the battery being installed on central body central authorities and the charging inlet be connected with storage battery.

4. according to claim 1 can the intelligent robot of side direction carrier vehicle, it is characterized in that, universal driving wheel is housed bottom supporting bracket, each universal driving wheel is with 2 motors.

5. according to claim 2 can the intelligent robot of side direction carrier vehicle, it is characterized in that, described guider comprises laser navigation module, magnetic nail navigation module, electromagnetic navigation module or inertial navigation module.

6. as claimed in claim 2 can the intelligent robot of side direction carrier vehicle, it is characterized in that, described safety detection device comprises laser anti-collision module, mechanical crashproof module, infrared anti-collision module or ultrasonic anti-collision module.

7. as claimed in claim 6 can the intelligent robot of side direction carrier vehicle, it is characterized in that, also be provided with central control system in described central body, described central 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.