CN206987480U - A kind of AGV that parks lifts plate with car and has its parking apparatus - Google Patents
A kind of AGV that parks lifts plate with car and has its parking apparatus Download PDFInfo
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- CN206987480U CN206987480U CN201621364044.3U CN201621364044U CN206987480U CN 206987480 U CN206987480 U CN 206987480U CN 201621364044 U CN201621364044 U CN 201621364044U CN 206987480 U CN206987480 U CN 206987480U
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- agv
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Abstract
Plate is lifted with car and there is its parking apparatus the utility model discloses a kind of AGV that parks.The AGV that parks is provided with AGV identification signs (1) with car lift plate, the AGV identification signs (1) are used to be identified for the AGV (7) that parks, with the AGV that parked described in determination (7) and the relative positions of the AGV between car lift plate of parking.The AGV of the present utility model that parks lifts the AGV being provided with plate for being identified for the AGV that parks with car and identifies sign, with directly reliably determine to park AGV and relative positions of the AGV between car lift plate of parking.So that the AGV and AGV that parks that parks is at accurate relative position between car lift plate, to realize reliable liftings and carrying of the AGV to vehicle of parking.
Description
Technical field
Intelligent parking technical field is the utility model is related to, is lifted with car more particularly to one kind AGV that parks and plate and there is it
Parking apparatus.
Background technology
In the prior art, the AGV that parks determines that car lifts the position of plate by the guide function of ground identification signal.Specifically
Ground, car lift plate are made up of a landing and following a plurality of supporting leg, the supporting leg that the AGV that parks can be below car lifts plate
Between shuttle operation.Car owner stops vehicle according to the prompting of the electrooptics equipment of garage entrance, voice-operated device or imaging device
It is put on car lift plate, the AGV that parks adjusts the lower section that AGV arrival cars of parking lift plate by the guide function of ground identification signal, so
Afterwards by the lifting mechanism that carries by car lift plate and its vehicle lift and and surface separation, finally by leading for ground identification signal
Car is lifted plate and vehicle conveying to specified location by the effect of drawing.
In the case where the relative setting of car lift plate has skew, the AGV that parks will still perform lifting and order, and easily cause act
The problems such as rising exception or vehicle shift.
Thus, it is desirable to have a kind of technical scheme overcomes or at least mitigated the drawbacks described above of prior art.
Utility model content
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automatical pilot transportation vehicle ", refers to be equipped with
Electricity magnetically or optically waits homing guidance device.It can be travelled along defined guide path, have safeguard protection and various transfers
The transport vehicle of function, AGV belong to wheeled mobile robot (WMR-- Wheeled Mobile Robot) category.
Car lift plate is used to arrange in pairs or groups with the AGV that parks, and realizes the automatic clamping and placing of vehicle.Storing cycle is on car lift plate, and park AGV
Performing lifting order behind the space slipped under car lift plate makes car lift plate depart from ground, and car lift plate and vehicle are carried to finger immediately
Positioning is put.
The purpose of this utility model is that provide a kind of AGV that parks lifts plate to overcome or at least mitigate prior art with car
Drawbacks described above.
To achieve the above object, the utility model provide one kind park AGV with car lift plate.The AGV that parks lifts plate with car
On be provided with AGV identification signs, AGV identification sign is used to be identified for the AGV that parks, with parked described in determination AGV with
The AGV that parks lifts the relative position between plate with car.
Preferably, the supporting leg that AGV cars lift plate includes top plate and is arranged on the downside of the top plate of parking, it is described
AGV identification signs are arranged on the downside of the top plate.
Preferably, the supporting leg that AGV cars lift plate includes top plate and is arranged on the downside of the top plate of parking, it is described
AGV identification signs are arranged on the downside center position of the top plate.
Preferably, the top plate includes center projections guidance tape and the side branch positioned at the center projections guidance tape both sides
Band is supportted, wherein, the top surface of the center projections guidance tape is higher than the top surface of the lateral support band.
Preferably, the top plate one bending forming.
Preferably, the AGV cars lift plate of parking further comprises gib block, and the gib block is parallel to the top plate
Longitudinal extending, and be arranged at the outer ledge of the upper surface of the lateral support band.
Preferably, the AGV cars lift plate of parking further comprises positive stop strip, and the positive stop strip is perpendicular to the top plate
Longitudinal extending, and be arranged at longitudinal both ends of the upper surface of the lateral support band.
The utility model also provides a kind of parking apparatus, and the parking apparatus is lifted plate including AGV cars of parking and parked
AGV, the AGV that parks are AGV cars lift plates of parking as described above with car lift plate, and sensing is provided with the AGV that parks
Device, the sensing device further is used to sense the AGV identification signs of the AGV on car lift plate of parking, to determine the pool
The car AGV and AGV that parks lifts the relative position between plate with car.
Preferably, it is provided with bolster at the top of the lifting mechanism of the AGV that parks.
Preferably, band ridge design block rubber is provided with the top of the lifting mechanism of the AGV that parks or silica gel buffers
Pad.
The AGV of the present utility model that parks identifies mark with the AGV being provided with car lift plate for being identified for the AGV that parks
Show, with directly reliably determine to park AGV and relative positions of the AGV between car lift plate of parking.So that the AGV that parks is with parking
AGV is at accurate relative position between car lift plate, to realize reliable liftings and carrying of the AGV to vehicle of parking.
Brief description of the drawings
Fig. 1 is the schematic diagram for lifting plate with car according to the AGV that parks of the embodiment of the utility model one.
Fig. 2 is schematic, bottom views of the AGV with car lift plate of parking shown in Fig. 1.
Fig. 3 shows to park the schematic diagram of relative position between AGV cars lift plate and the AGV that parks.
Reference：
| 1 | AGV identification signs | 4 | Gib block |
| 2 | Top plate | 5 | Positive stop strip |
| 21 | Center projections guidance tape | 6 | Spandrel girder |
| 22 | Lateral support band | 7 | Park AGV |
| 3 | Supporting leg | 71 | Bolster |
Embodiment
In the accompanying drawings, represent same or similar element using same or similar label or there is same or like function
Element.Embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings.
In description of the present utility model, term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " top ", " bottom " " interior ", " outer " or position relationship are based on orientation shown in the drawings or position
Relation, it is for only for ease of description the utility model and simplifies description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to scope of protection of the utility model
Limitation.
Lifted according to the AGV of the present utility model that parks with car and AGV identification signs are provided with plate.The AGV identifications sign is used
It is identified in for the AGV that parks, with AGV and the relative positions of the AGV between car lift plate of parking of being parked described in determination.
The AGV identifications sign can be that corresponding sensing device further is identified to realize two on any AGV that can be parked by confession
The identification sign of the relative positioning of person.For example, AGV identification sign can be such as local crowning (such as cylindrical bump,
Or block-shaped protrusion etc.), the entity sign of magnet etc., can also be that the patterns such as bar code, Quick Response Code indicate, as long as can be by sensing
Device identification (sensing) is with both relative positions of determination.
The AGV identifications sign can be arranged on optional positions of the AGV on car lift plate of parking, as long as phase on the AGV that parks
The sensing device further answered can sense when.Advantageously, the AGV identifications sign is arranged on the AGV that parks and lifted with car on the downside of plate
Center position.In addition, the quantity of the AGV identifications sign can be arranged as required to.
The above-mentioned AGV that parks identifies sign with the AGV being provided with car lift plate for being identified for the AGV that parks, with direct
Reliably determine park AGV and relative positions of the AGV between car lift plate of parking.So that the AGV and AGV that parks that parks is lifted with car
Accurate relative position is between plate, to realize reliable liftings and carrying of the AGV to vehicle of parking.
Referring to Fig. 1 to Fig. 3, AGV cars lift plate of the present utility model of parking includes top plate 2, spandrel girder 6, supporting leg 3, led
To bar 4 and positive stop strip 5.Top plate 2 is used to directly support vehicle.Spandrel girder 6 is arranged on the lower section of top plate 2, for increasing top plate 2
Intensity.Supporting leg 3 is fixedly connected with spandrel girder 6 and/or top plate, and top plate 2 is supported on the ground of bottom surface.
It is used for referring to Fig. 2, the AGV that parks with AGV identification sign 1, AGV identifications sign 1 is provided with car lift plate for parking
AGV7 is identified, with determine to park AGV 7 and relative positions of the AGV between car lift plate of parking.So as to lift plate in hoist vehicle
When, can make to park AGV 7 and park AGV with car lift plate between there is accurate reliable relative position relation, parked with realizing
Reliable liftings and carrying of the AGV 7 to vehicle.
As it was previously stated, the quantity of AGV identifications sign 1 can be set according to being actually needed.AGV identifications sign 1 shown in Fig. 2
Quantity be arranged to three so that the AGV 7 that parks accurately determine park AGV 7 and park AGV with car lift plate between it is relative
Position.
Three AGV identifications sign 1 shown in Fig. 2 is on the width of the top plate 2 and on length direction, in being respectively positioned on
Portion.In addition, three AGV identifications sign 1 shown in Fig. 2 is arranged in order on the length direction of the top plate 2.So as to park
Sensing device senses on AGV 7 to the AGV positioned at outside identify sign when, primarily determine that the AGV and AGV that parks that parks is lifted with car
Plate is in required relative position；And the speed for further reducing the AGV that parks realizes that the AGV and AGV that parks that parks is lifted with car
Plate is more accurately positioned, until the sensing device senses on the AGV 7 that parks to the AGV identification sign controls positioned at inner side (centre)
1, complete the AGV7 final positioning of parking.
The upside (visible surface i.e. shown in Fig. 1) of top plate 2 is used to place vehicle.Advantageously, the upside (upper table of top plate 2
Face) ridge design is provided with, to increase the frictional force between top plate 2 and vehicle tyre.To improve intensity, top plate 2 is steel plate, and
It is welded on spandrel girder 6.
In a preferred embodiment, AGV identifications sign 1 is specifically located at the downside of top plate 2, to facilitate for parking
AGV 7 is identified.It should further be appreciated that AGV identifications sign 1 is arranged on the downside center position of top plate 2.Shown in Fig. 1
In embodiment, AGV identifications sign 1 is specifically located at the downside center position of top plate 2, so that the AGV 7 that parks can be accurate
Ground determines park AGV 7 and relative positions of the AGV between car lift plate of parking, to realize reliable lifting and carrying to vehicle.
Referring to Fig. 2, supporting leg 3 is arranged on the downside of top plate 2, and the quantity of supporting leg 3 is 4, and is distributed in top plate 2
Four corner portions of downside, for being supported to top plate 2 and vehicle.Meanwhile the AGV 7 that parks can enter 4 supporting legs 3 it
Between, i.e., walked between 4 supporting legs 3, the relative positioning of plate is lifted to realize the AGV and AGV that parks that parks with car, and then to parking
Vehicles of the AGV with car lift plate and thereon is lifted and carried.
Top plate 2 includes center projections guidance tape 21 and two lateral support bands 22.Two lateral support bands 22 are located at respectively
The both sides of center projections guidance tape 21.Center projections guidance tape 21 and lateral support band 22 (push up on the whole longitudinal direction of top plate 2
On the length direction of plate 2, specially on the left and right directions of Fig. 3 drawings) extension.That is, top 2 length direction (
It is referred to as longitudinal) on, extend to the other end from one end.
It is pointed out that center projections guidance tape 21 and lateral support band 22 are respectively positioned on the upper surface of top plate 2, and center
Raised guidance tape 21 protrudes from lateral support band 22.In other words, the top surface of center projections guidance tape 21 is higher than lateral support band
22 top surface, travelled with the desired guiding trajectory for guiding vehicle to be formed in the upside of top plate 2 by center projections guidance tape 21.This is easy to
Guiding vehicle is parked in the upside of top plate 2 exactly, to improve parking efficiency, while lifts the surface bulk strength of top plate 2.
In a preferred embodiment, 2 integral bending forming of top plate, i.e. center projections guidance tape 21 and two side branch
22 integral bending forming of band is supportted, machine-shaping is simple and convenient and top plate 2 is had higher-strength.Advantageously, top plate 2 is with decorative pattern
Steel plate one bending forming.
Referring to Fig. 1, gib block 4 is parallel to the Longitudinal extending of top plate 2, and gib block 4 is arranged on the upper of lateral support band 22
At the outer ledge on surface, traveling of the vehicle in the upside of top plate 2 is guided with coordinating with center projections guidance tape 21.Lead
Driver is illustrated to roll gib block 4 away to bar 4, and vehicle caused by gib block 4 beyond jolting that (i.e. tire is pressed onto guiding for sense
Sense of jolting caused by bar 4), also allow for driver and recognize vehicle left avertence or right avertence in time, so as to further prevent vehicle from existing
Travel and deviate on top plate 2.In a preferred embodiment, gib block 4 is welded on the upside of top plate 2, so that gib block 4 is firm
Ground is arranged on the upside of top plate 2.It is understood that gib block 4 is protruding upward from lateral support band 22, and the width of gib block 4
Degree is smaller, for example, gib block 4 is arranged in the range of 3mm to 10mm, and the length of gib block 4 is slightly less than the length of top plate 2.
Referring to Fig. 1, positive stop strip 5 is perpendicular to the Longitudinal extending of top plate 2, and positive stop strip 5 is arranged on the upper of lateral support band 22
At longitudinal both ends on surface, that is to say, that the longitudinal end that positive stop strip 5 closes on lateral support band 22 is set.Two positive stop strips 5 exist
Parking area is limited on the longitudinal direction of top plate 2, for prompting car owner by storing cycle within parking area.It is preferable at one
In embodiment, positive stop strip 5 is welded on the upside of top plate 2, so that positive stop strip 5 is firmly placed in the upside of top plate 2.It is appreciated that
, positive stop strip 5 is protruding upward from lateral support band 22, and the width of positive stop strip 5 is smaller, for example, in 3mm to 10mm scope
It is interior.
The utility model also provides a kind of parking apparatus, and the parking apparatus includes park AGV cars lift plate and the AGV that parks
7, the AGV that parks is AGV cars lift plate of parking as described above with car lift plate.
Sensing device further is provided with AGV 7 parking, sensing device further is used to sense AGV knowledges of the AGV on car lift plate of parking
1 is not indicated, with determine to park AGV 7 and relative positions of the AGV between car lift plate of parking.In a preferred embodiment,
Sensing device further is identification sensor.Identification sensor is arranged to multiple, and multiple identification sensors are distributed in the bottom for the AGV 7 that parks
Portion and top, be respectively intended to that ground and AGV identification signs 1 are identified or positioned, with by identification sensor to the AGV that parks
Accurately guided.Sensing device further can also be position sensor, proximity transducer or proximity switch etc..
Referring to Fig. 3, lifting mechanism is installed in the front and back ends for the AGV 7 that parks.The AGV 7 that parks is being not carried out lifting order
When, lifting mechanism can be shuttled in the AGV that parks with the downside of the top plate 2 in car lift plate to be run.In the lifting mechanism for the AGV 7 that parks
Top is provided with bolster 71, and the AGV 7 that parks is performing the lifting machine for the AGV 7 that can make to park by bolster 71 during lifting order
The downside that structure and the AGV that parks lift the top plate 2 in plate with car is fully reliably bonded, and to avoid parking in running, AGV is lifted with car
Phenomena such as plate or vehicle slide.
In another preferred embodiment, band ridge design rubber is provided with the top of the lifting mechanism for the AGV that parks
Block or silica gel cushion pad.Shock-absorbing capacity with ridge design block rubber or silica gel cushion pad is good, with to lifting mechanism and the AGV that parks
Played a protective role with car lift plate.Meanwhile there is certain adsorptivity with ridge design block rubber or silica gel cushion pad, make
The downside of lifting mechanism and top plate 2 is fully reliably bonded.It is pointed out that removed with ridge design block rubber or silica gel cushion pad
Realize outside pooling feature, can also realize antiskid function to a certain extent.
The AGV of the present utility model that parks identifies mark with the AGV being provided with car lift plate for being identified for the AGV that parks
Show, with directly reliably determine to park AGV and relative positions of the AGV between car lift plate of parking.So that the AGV that parks is with parking
AGV is at accurate relative position between car lift plate, to realize reliable liftings and carrying of the AGV to vehicle of parking.
It is last it is to be noted that：Above example is only to illustrate the technical solution of the utility model, rather than it is limited
System.It will be understood by those within the art that：Technical scheme described in foregoing embodiments can be modified, or
Person carries out equivalent substitution to which part technical characteristic；These modifications are replaced, and take off the essence of appropriate technical solution
From the spirit and scope of various embodiments of the utility model technical scheme.
Claims (10)
1. one kind is parked, AGV lifts plate with car, it is characterised in that the AGV that parks is lifted with car is provided with AGV identification signs on plate
(1), the AGV identification signs (1) are used to be identified for the AGV (7) that parks, and are parked with the AGV that parked described in determination (7) with described
AGV lifts the relative position between plate with car.
2. the AGV as claimed in claim 1 that parks lifts plate with car, it is characterised in that the AGV that parks includes top plate with car lift plate
(2) it is arranged on the supporting leg (3) that is arranged on the downside of the top plate (2), the AGV identification signs (1) under the top plate (2)
Side.
3. the AGV as claimed in claim 1 that parks lifts plate with car, it is characterised in that the AGV that parks includes top plate with car lift plate
(2) it is arranged on the supporting leg (3) that is arranged on the downside of the top plate (2), the AGV identification signs (1) under the top plate (2)
Side center position.
4. the AGV that parks as claimed in claim 2 or claim 3 lifts plate with car, it is characterised in that the top plate (2) includes center projections
Guidance tape (21) and the lateral support band (22) positioned at center projections guidance tape (21) both sides, wherein, the center projections
The top surface of guidance tape (21) is higher than the top surface of the lateral support band (22).
5. the AGV as claimed in claim 4 that parks lifts plate with car, it is characterised in that the integral bending forming of the top plate (2).
6. the AGV as claimed in claim 4 that parks lifts plate with car, it is characterised in that the AGV that parks further is wrapped with car lift plate
Include gib block (4), the gib block (4) and is arranged on the lateral support band parallel to the Longitudinal extending of the top plate (2)
(22) at the outer ledge of upper surface.
7. the AGV as claimed in claim 4 that parks lifts plate with car, it is characterised in that the AGV that parks further is wrapped with car lift plate
Include positive stop strip (5), the positive stop strip (5) and is arranged on the lateral support band perpendicular to the Longitudinal extending of the top plate (2)
(22) at longitudinal both ends of upper surface.
8. a kind of parking apparatus, it is characterised in that including AGV cars lift plate and the AGV (7) that parks of parking, the AGV cars of parking
Lift plate is that the AGV that parks as any one of claim 1-7 lifts plate with car, and sensing is provided with the AGV that parks (7)
Device, the sensing device further is used to sense the AGV identification signs (1) of the AGV on car lift plate of parking, with described in determination
The AGV (7) and the AGV that parks that parks lifts the relative position between plate with car.
9. parking apparatus as claimed in claim 8, it is characterised in that set at the top of the lifting mechanism of the AGV that parks (7)
It is equipped with bolster (71).
10. parking apparatus as claimed in claim 8, it is characterised in that set at the top of the lifting mechanism of the AGV that parks
There are band ridge design block rubber or silica gel cushion pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621364044.3U CN206987480U (en) | 2016-12-13 | 2016-12-13 | A kind of AGV that parks lifts plate with car and has its parking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621364044.3U CN206987480U (en) | 2016-12-13 | 2016-12-13 | A kind of AGV that parks lifts plate with car and has its parking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206987480U true CN206987480U (en) | 2018-02-09 |
Family
ID=61421619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621364044.3U Active CN206987480U (en) | 2016-12-13 | 2016-12-13 | A kind of AGV that parks lifts plate with car and has its parking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206987480U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200047324A (en) * | 2018-10-25 | 2020-05-07 | 주식회사 올로케이션 | Sliding puzzle parking method using a plurality of parking robots and system for same |
| KR102282758B1 (en) * | 2020-08-25 | 2021-07-29 | 주식회사 올로케이션 | Robot parking system using plate with fixing member |
| CN114104145A (en) * | 2020-08-27 | 2022-03-01 | 丰田自动车株式会社 | Conveyance system, conveyance method, and program |
-
2016
- 2016-12-13 CN CN201621364044.3U patent/CN206987480U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200047324A (en) * | 2018-10-25 | 2020-05-07 | 주식회사 올로케이션 | Sliding puzzle parking method using a plurality of parking robots and system for same |
| KR102198504B1 (en) * | 2018-10-25 | 2021-01-05 | 주식회사 올로케이션 | Sliding puzzle parking method using a plurality of parking robots and system for same |
| KR102282758B1 (en) * | 2020-08-25 | 2021-07-29 | 주식회사 올로케이션 | Robot parking system using plate with fixing member |
| CN114104145A (en) * | 2020-08-27 | 2022-03-01 | 丰田自动车株式会社 | Conveyance system, conveyance method, and program |
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: No. 555, Qianmo Road, Binjiang District, Hangzhou City, Zhejiang Province, 310052 Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |