CN207568281U - A kind of support-board type electromagnetism guiding parking transfer robot - Google Patents
A kind of support-board type electromagnetism guiding parking transfer robot Download PDFInfo
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- CN207568281U CN207568281U CN201721262548.9U CN201721262548U CN207568281U CN 207568281 U CN207568281 U CN 207568281U CN 201721262548 U CN201721262548 U CN 201721262548U CN 207568281 U CN207568281 U CN 207568281U
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Abstract
The utility model is related to support-board type electromagnetism to guide parking transfer robot, including being responsible for connection and supporting a symmetrical frame shape rack of each system unit；It is responsible for walking and four groups of totally eight independent drivings and steering units turning to；It is responsible for robot and a set of airborne communication system of floor control scheduling system communication links；One power battery pack of power of the whole machine and attached automatic charge device are provided；It is responsible for a set of aircraft mounted control system that entire robot electromechanical integration performs collaboration instruction；It is responsible for jacking up or falling front and rear totally two groups of 4 synchronization lifting mechanisms of vehicle-carrying plate and vehicle；It is responsible for a set of co-ordinate-type electromagnetism guidance system of traveling navigation；It is responsible for a set of detection and the guard system of all operation process safety of complete machine, the electromagnetism guide mode that support-board type parking transfer robot uses, it can be in the case where computer management system controls scheduling, and flexible, efficient, safety is automatically performed a series of function missions such as parking, pick-up.
Description
Technical field
The utility model belongs to wisdom parking robotic technology field, and in particular to a kind of support-board type electromagnetism guiding parking is removed
Transport robot and method for running, for parking industry completely nobody be turned into the public parking garage of industry system, can be in compliant tube
It is flexible, efficient, safe under the control scheduling of reason system, it is automatically performed a series of parking carrying implement of function missions such as parking, pick-up
Device people and method for running.
Background technology
The full-automatic unmanned shutdown system operating type of existing parking industry is mainly divided to two big types：
First, traditional electro-mechanical product：The traditional electro-mechanical equipment of material flows automation and system settling mode are used for reference, with various planes
The equipment such as conveying equipment, track transfer equipment, Plane Rotation realize the transfer of horizontal cross level and commutation of parking vehicle；With liter
It drops the equipment such as equipment, stacking apparatus, stereo rotating and realizes the longitudinal different level transfer of the solid of parking vehicle；By program and patrol
Control is collected, realizes parking, the unmanned automation of pick-up process.
2nd, intelligent robot：Using parking transfer robot（AGV）And system, it controls and dispatches in computer management system
Under, flexible, efficient, safety is automatically performed a series of function missions such as parking, pick-up.At present, stop transfer robot（AGV）
The transfer mode of practical application is mainly comb-tooth-type and support-board type, and guide mode is mainly that las er-guidance either laser adds auxiliary
Guiding.
Different transfer modes are stopped transfer robot feature：
First, comb-tooth-type：1）Load is loaded and unloaded by broach crisscross motion；2）Carrying vehicle does not need to pass through carrier；3）Off-position essence
Degree and the cooperation requirement of broach mechanism are high；4）It is higher to store parking stall cost；5）The driving experience of vehicle access mouth is poor.
2nd, support-board type：1）Using vehicle-carrying plate as carrier；2）Off-position required precision height is different；3）Store parking stall cost free；
4）Vehicle-carrying plate is cost；5）The driving experience of vehicle access mouth is preferable；6）Convenient for extending Additional Services.
Different guide modes parking transfer robot features：
First, las er-guidance：1）Guidance accuracy is high；2）Adapt to diversified vehicle line and walking posture；3）Route diversion side
Just flexibly；4）State information response real-time is good；5）It is convenient that midway reinserts system；6）System is relative complex, and cost is higher；
7）It is more sensitive to guide area ambient environmental conditions, it is anti-interference to have limitation.
2nd, las er-guidance adds auxiliary to guide：1）The guiding security problem under complicated environmental condition is well solved.2）System
System is complicated, of high cost.
In the application of practical garage parking, storage parking stall quantity, access efficiency, returns of investment are that three most important evaluations refer to
Mark, while be also the paradox of mutual close association.Under the conditions of equal ambient, the driving path planning of parking transfer robot is set
Meter has a direct impact and acts on to storage parking stall quantity and access efficiency.How to select preferably take into account these three aspect contradictions,
And to inquire into more competitive designing scheme be parking industry future development simple, practical, safe and reliable, feasible etc.
It direction and pursues a goal.
Invention content
The utility model is for current parking transfer robot（AGV）The support-board type las er-guidance used in practical application is removed
Transport robot technology limitation, provide it is simple in structure, it is practical, reliable, pratical and feasible, suitable for full-automatic unmanned garage parking use
A kind of support-board type electromagnetism guiding parking transfer robot and method for running.
The utility model is achieved through the following technical solutions：A kind of support-board type electromagnetism guiding parking transfer robot, it is special
Sign is that the robot includes the symmetrical frame shape rack be responsible for connection and support each system unit（1）；It is responsible for walking
With four groups of steering totally eight independent drivings and steering units（2）；It is responsible for robot and dispatches system ditch communications and liaison with floor control
A set of airborne communication system of network（3）；One power battery pack of power of the whole machine and attached automatic charge device are provided（4）；It is negative
Blame a set of aircraft mounted control system that entire robot electromechanical integration performs collaboration instruction（5）；It is responsible for jacking up or falling vehicle-carrying plate
And front and rear totally two groups of 4 synchronization lifting mechanisms of vehicle（6）；It is responsible for a set of co-ordinate-type electromagnetism guidance system of traveling navigation
（7）；It is responsible for a set of detection and the guard system of all operation process safety of complete machine, the support-board type parking transfer robot uses
Electromagnetism guide mode.
The electromagnetism guide mode is：Electromagnetic sensor（8）Pass through rack（1）Rear and front end, left and right ends four are symmetrical
The co-ordinate-type arrangement at center, tie surface（10）Under electromagnetism guide path（15）Straight line in length and breadth 90o square crossings spread
If driving path be all it is front and rear take the air line or 90o or so laterally takes the air line, when only entire vehicle needs commutation, just pass through original
180o spins in ground are realized.
The support-board type electromagnetism guides parking transfer robot method：It is in transfer robot rack first（1）It powers on
Magnetic Sensor（8）Arrangement and in advance on ground（10）Arrange electromagnetism guide path（15）It plans Aided design, allows conveying robot
People directly walks, it is horizontal walk, can all pass through electromagnetic sensor always（8）Grouping switching realize precisely navigation and complete machine posture it is inclined
Difference control；Secondly electromagnetism guide path（15）Square crossing mesh design in length and breadth, allow transfer robot in bicycle parking reservoir area
（14）In straight-line travelling route and lead to the lateral path of the right and left storage parking stall and organically combine, maintain the achievements of one's predecessors economical, efficient
Carry and store target.
Every group of driving and steering unit（2）By mounting base（2a）, rotor（2b）, first driving wheel（2c）It is driven with second
Wheel（2e）It forms；Mounting base（2a）It is fixed on rack（1）On, first driving wheel（2c）With second driving wheel（2e）Mounted on rotor
（2b）On.
A kind of support-board type electromagnetism guiding parking transfer robot, the robot include being responsible for connection and support each system unit
A symmetrical frame shape rack, be responsible for walking with turn to four groups totally eight independent drivings and steering unit, be responsible for robot
A set of in-vehicle communication system with floor control scheduling system communication links provides a set of power battery pack of power of the whole machine and attached
Belong to automatic charge device, a set of vehicle control syetem for being responsible for entire robot electromechanical integration execution collaboration instruction, be responsible for top
Rise or fall front and rear two groups of vehicle-carrying plate and vehicle 4 synchronization lifting mechanisms, be responsible for a set of matrix form electromagnetism of traveling navigation
Guidance system, a set of detection for being responsible for all operation process safety of vehicle and guard system.
A kind of support-board type electromagnetism guiding parking transfer robot method, transfer robot are normally electric in wisdom shutdown system
It awaits orders under magnetic guidance system environments and in-vehicle communication system environment operation.When there is vehicle needs parking, floor control scheduling system
System can assign job instruction by airborne communication system to transfer robot, and under electromagnetic signal guiding, transfer robot is by finger
It enables first driving to vehicle-carrying plate automatically and keeping in position and takes out a unloaded sweep, be transported to the vehicle access mouth specified and unload, remove
Fortune robot is withdrawn, and after confirming safety through system, vehicle could be allowed to drive into access port；Treat that vehicle accurately comes to a complete stop in vehicle-carrying plate
On, all personnel withdraws, and after confirming safety through system, ground system could dispatch transfer robot and reenter, by carrier vehicle
Plate takes out together with vehicle, and after being transported to specified storage parking stall and unloading, terrestrial system report is completed a vehicle and entered
Library instructs.Equally, when there is user to require to pick up the car, floor control scheduling system can be by airborne communication system to transfer robot
Assign job instruction, transfer robot first drives to specified storage parking stall by instruction is automatic, by vehicle-carrying plate together with vehicle from
Reservoir area is taken out, and after being transported to the vehicle access mouth specified and unloading, terrestrial system report is completed a vehicle outbound and referred to
It enables.It treats that robot withdraws access port, after confirming safety through system, user could be allowed to enter access port, vehicle is driven away.
The utility model is to pass through car body rear and front end, a left side with support-board type parking transfer robot power-up magnetic guidance mode
The co-ordinate-type electromagnetic sensor arrangement of the right each symmetrical centre in both ends coordinates the whole line of electromagnetism guide path under ground surface
90o square crossings are laid in length and breadth, driving path be substantially it is front and rear take the air line or 90o or so laterally（To storage parking stall）It is also
It takes the air line, it is to spin to realize by original place 180o to be driven for convenience when only vehicle deposits, withdraws and need commutation, therefore, substantially
It can complete entirely to carry access operation without traditional curved path, but fundamentally be solved because of length from guiding is allowed to control
Car body extension size caused by the deflection of shape entirety vehicle body attitude is amplified, and is easily collided or is interfered with peripheral facilities equipment
The problem of；Las er-guidance is effectively evaded under garage parking environmental condition because intensive parking stall is also easy to produce the interference of multipath reflection source
The drawbacks of.
The utility model uses four groups of drivings and steering unit, and every group uses two independent driving wheels, is realized by differential
Turn to, frictional dissipation is few, running ground is damaged light, can flexibly and comfortably realize directly to walk, it is horizontal walk, the comprehensive row such as spin
It sails；Also there is superior ground-grabbing antiskid, prevent wheel hanging.
The utility model has good standardization, modularization, batch production and assembling base using symmetrical frame shape rack
Plinth.Its theory is novel, unique structure, practical reliable, mature and feasible.It is that a kind of can be widely portable to full-automatic unmanned garage parking
The support-board type electromagnetism guiding transfer robot method of project.
Description of the drawings
Fig. 1 is support-board type electromagnetism guiding parking transfer robot structure diagram；
Fig. 2 prepares status diagram for support-board type electromagnetism guiding parking transfer robot；
Fig. 3 carries status diagram for support-board type electromagnetism guiding parking transfer robot；
Fig. 4 forms schematic diagram for support-board type electromagnetism guiding parking handling robot system；
Fig. 5 is driving and steering unit fundamental diagram.
Specific embodiment
Support-board type electromagnetism guiding parking transfer robot structure described in the utility model is as shown in Figure 1, include responsible company
Connect and support one of each system unit symmetrical frame shape rack 1, be responsible for walking with turn to four groups totally eight independent drivings with
Steering unit 2 is responsible for robot and a set of airborne communication system 3 of floor control scheduling system communication links, provides complete machine electricity
One power battery pack and attached automatic charge device 4 in source are responsible for entire robot electromechanical integration and perform collaboration instruction
A set of aircraft mounted control system 5 is responsible for jacking up or falling front and rear totally two groups of 4 synchronization lifting mechanisms 6 of vehicle-carrying plate and vehicle, is born
A set of co-ordinate-type electromagnetism guidance system 7 of duty traveling navigation is responsible for a set of detection and protection of all operation process safety of complete machine
System.Wherein, rack 1 is the skeleton and ontology of entire robot, other than accommodating all subsystems and mechanism, to have and remove enough
Transport the intensity of load of vehicle and vehicle-carrying plate；Driving and the dynamic condition that steering unit 2 is normally travel；Airborne communication system 3 is
Realize that ground command system keeps in touch and receive the communication condition of instruction with transfer robot；Power battery pack and attached automatic
Charging unit 4 is to provide the electrical source of power of complete machine work and the guarantee condition of midway electric energy supplement；Aircraft mounted control system 5 is complete machine
Control axis；Elevating mechanism 6 will have the ability for normally jacking up, holding vehicle-carrying plate and vehicle, until transfer robot reaches
Decline unloading behind destination；Co-ordinate-type electromagnetism guidance system 7 is by being separately mounted to rack surrounding end surface symmetric center all around
Electromagnetic sensor forms on line, is responsible for the track homing in horizontal and vertical electromagnetic induction path；Detection is to carry with guard system
Robot system safety, personal safety, operational safety basic guarantee.
Support-board type electromagnetism guiding parking transfer robot described in the utility model prepares state signal as shown in Fig. 2, when being
During system preparation work, the elevating mechanism 6 on support-board type electromagnetism guiding parking transfer robot is in low level 6a states, vehicle-carrying plate 9
On ground 10, support-board type electromagnetism guiding parking transfer robot safely can drive into or sail from 9 lower section of vehicle-carrying plate initial placement
Go out, all around four any directions.Wherein, vehicle-carrying plate 9 will can support the weight of suitable parking, and ensure that vehicle is opened
Deformation when under above, opening is in allowed band.
Support-board type electromagnetism guiding parking transfer robot described in the utility model carries state signal as shown in figure 3, working as vehicle
11 come to a complete stop in vehicle-carrying plate 9 and when needing to carry, and the jacking of elevating mechanism 6 on support-board type electromagnetism guiding parking transfer robot is arrived
Vehicle-carrying plate 9 is left ground 10 by high-order 6b states together with vehicle 11, and support-board type electromagnetism guiding parking transfer robot enters
Carrying state.
Support-board type electromagnetism guiding parking handling robot system described in the utility model forms signal as shown in figure 4, system
By bicycle parking reservoir area 14, electromagnetism guide path 15, empty parking space 16, unloaded sweep 17, vehicle body reversal point 18, vehicle access area 19, vehicle
Access point 20, automatic charging position 12 and floor control scheduling system 13 form.Wherein, bicycle parking reservoir area 14 is unmanned garage parking
All storage parking stall ranges；Electromagnetism guide path 15 is the fortune of all support-board type electromagnetism guiding parking transfer robots of shutdown system
Row activity route, is characterized in square crossing web form in length and breadth；Empty parking space 16 refers to the vacancy for allowing to store vehicle 11；Unloaded vehicle
Plate 17 refers to do not have vehicle 11 on vehicle-carrying plate 9；Vehicle body reversal point 18 refers to user's bicycle parking for convenience（Headstock can be protected during bicycle parking
Hold direction inwardly）Or reversing is not had to when picking up the car（Headstock has rotated 180 o holdings direction outwardly during pick-up）, in storage or outbound
Arrange transfer robot that vehicle-carrying plate 9 is rotated in place to the special point position of 180 o u-turn commutations together with vehicle 11 in journey；Vehicle
Access section 19 is the special field of designated user's bicycle parking or pick-up；Vehicle access point 20 refers in vehicle access area 19, carries
Vehicle-carrying plate 9 is treated that bicycle parking is transported to the starting point or in turn and transfer robot of bicycle parking reservoir area 14 by robot together with user
Vehicle-carrying plate 9 is treated into the terminal that vehicle access area 19 is transported to from bicycle parking reservoir area 14 of picking up the car together with user.
It is described in the utility model driving with steering unit operation principle as shown in figure 5, every group of driving with steering unit 2 by pacifying
Seat 2a, rotor 2b, first driving wheel 2c and second driving wheel 2e is filled to form.Mounting base 2a is fixed on vehicle frame, first driving wheel 2c and
Second driving wheel 2e is mounted on rotor 2b.When driving walk keep straight on path when such as Fig. 5 in（a）Shown, first driving wheel 2c and second are driven
Driving wheel 2e synchronous drivings in the same direction, rotor 2b is motionless, four groups of complete machine simultaneously, in the same direction, it is synchronous；When driving will walk 90o lateral paths
When such as Fig. 5 in（b）Shown, first driving wheel 2c and second driving wheel 2e reversed, synchronous drivings each other drive rotor 2b rotation 90o,
Four groups of complete machine is similary, simultaneously, it is synchronous, i.e. complete machine posture is constant, but drive system rotates in place 90o, repeats later aforementioned
Keep straight on path walking mode a）, so that it may realize horizontal shifting.Equally, when driving needs 180o u-turn commutations, four groups of drivings with
Steering unit 2 will simultaneously, in the same direction, differential, rotate around fuselage central point.In actual moving process, to guiding deviation
It needs that amendment is adjusted in real time, can equally be realized according to the driving of combination with 2 each differential control of steering unit.
Support-board type electromagnetism described in the utility model guides parking transfer robot method for running：It requires to deposit when there is vehicle 11
Che Shi, floor control scheduling system 13 can first pass through airborne communication system 3 and assign parking preparation instruction to transfer robot, in electricity
Under 7 working environment of magnetic guidance system, transfer robot drives to parking garge area 14 by instruction and takes out specified unloaded sweep 17, removes
The vehicle access point 20 transported in designated vehicle access section 19 simultaneously unloads, and transfer robot withdraws vehicle access area 19, earthward
The report parking preparation instruction of management scheduling system 13 is completed；Through safety verification, Parking permitted in vehicle access area 19, floor control tune
Degree system 13 is assigned parking license and is enabled, and user drives vehicle 11 and drives into designated vehicle access section 19, comes to a complete stop deposited in vehicle as required
It takes on a little 20 vehicle-carrying plate 9, all personnel withdraws vehicle access area 19, and after safety verification, parking finishes；Floor control tune
Degree system 13 assigns warehouse-in instruction to transfer robot, and transfer robot drives into the vehicle access point in designated vehicle access section 19
20, vehicle-carrying plate 9 together with vehicle 11 is held up, bicycle parking reservoir area 14 is transported to and specifies empty parking space 16 and unload, earthward management and dispatching
System 13 reports that warehouse-in instruction is completed.Equally, when there is user to require to pick up the car, floor control dispatches system 13 to transfer robot
Outbound instruction is assigned, transfer robot first drives to parking garge area 14 by instruction and specifies parking stall, by vehicle-carrying plate 9 together with 11 support of vehicle
It rises, the vehicle access point 20 being transported in designated vehicle access section 19 simultaneously unloads, and earthward management scheduling system 13 reports outbound
Instruction is completed；Robot to be handled sails out of vehicle access area 19 and after safety verification, and floor control scheduling system 13, which is assigned, to be taken
Vehicle license enables, and user enters the vehicle access area 19, vehicle is driven away, pick-up finishes.
Support-board type parking transfer robot described in the utility model, which powers up magnetic guidance method, is：Electromagnetic sensor 8 passes through machine
1 rear and front end of frame, the co-ordinate-type arrangement of the symmetrical centre of left and right ends four, electromagnetism guide path 15 under tie surface 10
Straight line 90o square crossings are laid in length and breadth, driving path be all it is front and rear take the air line or 90o or so laterally takes the air line, only vehicle
It is to spin to realize by original place 180o when needing commutation.
The key point of support-board type electromagnetism described in the utility model guiding parking transfer robot is：It is transfer robot first
The electromagnetism guide path 15 on the arrangement of electromagnetic sensor 8 and ground 10 plans Aided design in rack 1, allow transfer robot no matter
Directly walk, it is horizontal walk, all always can by the grouping of electromagnetic sensor 8 switch realize precisely navigation and complete machine attitude misalignment control；Its
Secondary is the square crossing mesh design in length and breadth of electromagnetism guide path 15, makes straight-line travelling of the transfer robot in bicycle parking reservoir area 14
Route is organically combined with leading to the lateral path of the right and left storage parking stall, realizes economic, efficient carrying and storage target.
The utility model is suitable for the automated handling different areas of activity of the full-automatic unmanned parking garage systems of parking industry.
Claims (4)
1. a kind of support-board type electromagnetism guiding parking transfer robot, which is characterized in that the robot, which includes, is responsible for connection and branch
Hold a symmetrical frame shape rack of each system unit（1）；Be responsible for walking with turn to four groups totally eight independent drivings with turning
To unit（2）；It is responsible for robot and a set of airborne communication system of floor control scheduling system communication links（3）；Complete machine is provided
One power battery pack of power supply and attached automatic charge device（4）；It is responsible for entire robot electromechanical integration execution collaboration to refer to
The a set of aircraft mounted control system enabled（5）；It is responsible for jacking up or falling front and rear totally two groups of 4 synchronous elevators of vehicle-carrying plate and vehicle
Structure（6）；It is responsible for a set of co-ordinate-type electromagnetism guidance system of traveling navigation（7）；It is responsible for a set of of all operation process safety of complete machine
Detection and guard system, the electromagnetism guide mode that the support-board type parking transfer robot uses.
A kind of 2. support-board type electromagnetism guiding parking transfer robot according to claim 1, which is characterized in that the electromagnetism
Guide mode is：Electromagnetic sensor（8）Pass through rack（1）Rear and front end, the co-ordinate-type arrangement of the symmetrical centre of left and right ends four
Mode, tie surface（10）Under electromagnetism guide path（15）Straight line in length and breadth 90o square crossings be laid with, before driving path is all
After take the air line or 90o or so laterally takes the air line, when only entire vehicle needs commutation, just pass through original place 180o spins and realize.
3. a kind of support-board type electromagnetism guiding parking transfer robot according to claim 1 or 2, which is characterized in that described
Support-board type electromagnetism guides parking transfer robot method：It is in transfer robot rack first（1）Upper electromagnetic sensor（8）'s
It arranges and in advance on ground（10）Arrange electromagnetism guide path（15）It plans Aided design, transfer robot is allowed no matter directly to walk, is horizontal
It walks, can all pass through electromagnetic sensor always（8）Grouping switching realize precisely navigation and complete machine attitude misalignment control；Secondly
Electromagnetism guide path（15）Square crossing mesh design in length and breadth, allow transfer robot in bicycle parking reservoir area（14）In straight-line travelling
Route is organically combined with leading to the lateral path of the right and left storage parking stall, maintain the achievements of one's predecessors economic, efficient carrying and storage target.
4. a kind of support-board type electromagnetism guiding parking transfer robot according to claim 1, which is characterized in that described every group
Driving and steering unit（2）By mounting base（2a）, rotor（2b）, first driving wheel（2c）With second driving wheel（2e）It forms；Installation
Seat（2a）It is fixed on rack（1）On, first driving wheel（2c）With second driving wheel（2e）Mounted on rotor（2b）On.
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| CN201721262548.9U CN207568281U (en) | 2017-09-28 | 2017-09-28 | A kind of support-board type electromagnetism guiding parking transfer robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107448041A (en) * | 2017-09-28 | 2017-12-08 | 云南昆船智能装备有限公司 | A kind of support-board type electromagnetism guiding parking transfer robot and method for running |
| CN109501777A (en) * | 2018-10-25 | 2019-03-22 | 蔚来汽车有限公司 | The transport of power battery and operation post, vehicle production assembly line and method |
-
2017
- 2017-09-28 CN CN201721262548.9U patent/CN207568281U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107448041A (en) * | 2017-09-28 | 2017-12-08 | 云南昆船智能装备有限公司 | A kind of support-board type electromagnetism guiding parking transfer robot and method for running |
| CN109501777A (en) * | 2018-10-25 | 2019-03-22 | 蔚来汽车有限公司 | The transport of power battery and operation post, vehicle production assembly line and method |
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