CN211691701U

CN211691701U - Manipulator automated guided transporting vehicle

Info

Publication number: CN211691701U
Application number: CN201921973087.5U
Authority: CN
Inventors: 樊友鹏
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2019-11-15
Filing date: 2019-11-15
Publication date: 2020-10-16
Anticipated expiration: 2029-11-15

Abstract

The utility model discloses a manipulator automated guided transporting vehicle, be provided with the tray on the base on the bottom surface, be provided with pressure sensor on the tray, base width direction's both sides respectively are provided with two fixed vehicle tire manipulators, the both sides of base are close to both ends and respectively are provided with one and add and hold fixed car front and back manipulator, add and hold fixed car front and back manipulator and snatch the mechanism through manipulator transport mechanism and manipulator and rotate and be connected, after the car stops to land on the tray, fixed vehicle tire manipulator stretches out and grasps the tire of car, the locomotive and the rear of a vehicle of car are stretched out and are held respectively to the manipulator around holding fixed car of both ends. The utility model discloses set up front and back manipulator on the base, can guarantee in the automated guided transport vechicle transportation that loaded vehicle is more stable, the manipulator withdraws the transport vechicle bottom when not carrying the vehicle, does not influence and gets the car next time, and the manipulator inner wall has damping device, guarantees that the vehicle outside of carrying does not receive the manipulator wearing and tearing.

Description

Manipulator automated guided transporting vehicle

Technical Field

The utility model relates to a parking robot technical field, concretely relates to manipulator automated guided transporting vehicle.

Background

The current common automatic guide transport vehicle is a tray type automatic guide transport vehicle, comprises a rectangular base and a plurality of power devices, is provided with an electromagnetic or optical automatic guide device, can automatically run along a specified guide path, accurately runs and stops at a specified place to complete related transfer and exchange operations, and has the main functions of vehicle positioning, vehicle moving, exchange, parking and vehicle taking.

Generally, in order to obtain enough power, certain power storage capacity is needed, the design volume of the transport vehicle is large, when the transport vehicle does not work, the ground accumulation occupies too much area in the garage, the designed special three-dimensional garage is not in line with economic benefit, but the small volume has weak power storage capacity, the moving capacity of the vehicle is poor, the moving speed is low, and the special three-dimensional garage is not suitable for large three-dimensional intelligent garages with the translation function. In addition, the existing transport vehicle lacks certain flexibility in the aspect of being suitable for different vehicle shapes and sizes, and the integration level among all the parts is too high, so that the local maintenance and overhaul are not facilitated.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the access speed that transport vechicle exists among the prior art and slow, it is too big, the local big scheduling problem of maintenance degree of difficulty that overhauls, and provide an automated guided transport vechicle of manipulator and tray formula combination, can guarantee to have the safety when multiple customer gets the car simultaneously.

In order to solve the technical problem, the utility model discloses a following technical scheme realizes:

the utility model provides a manipulator automated guided transporting vehicle, the on-line screen storage device comprises a base, connect the tire that is used for the walking under the base on the bottom surface, be provided with the tray on the base on the bottom surface, be provided with pressure sensor on the tray, base width direction's both sides respectively are provided with two fixed vehicle tire manipulators, the both sides of base are close to both ends and respectively are provided with one and add and hold fixed car front and back manipulator, add and hold fixed car front and back manipulator and snatch the mechanism through manipulator transport mechanism and manipulator and rotate and be connected, after the car stops on the tray, fixed vehicle tire manipulator stretches out and grasps the tire of car, the holding of both ends is stretched out and is grasped the locomotive and the rear of a vehicle of car respectively around the fixed.

Preferably, the base is also provided with a signal indicator light, and the signal indicator light flickers after the automobile is parked on the tray.

Preferably, solar panels are adhered to two side faces of the base in the length direction, and a storage battery and a photoelectric conversion device are arranged at the bottom of the base. The solar panel can be designed to be foldable and extensible around the base, and the solar panel is a foldable and extensible solar panel in an energy storage state, so that the light sensing area is increased, the energy utilization rate of the energy storage module is improved, the moving capacity is improved, and the moving speed is increased.

Preferably, the manipulator conveying mechanism is provided with a containing cavity for containing the manipulator grabbing mechanism. When not in use, the utility model is stored, and the space is saved.

Preferably, a damping device is arranged on one side of the manipulator grabbing mechanism clamped with the automobile.

The utility model discloses a theory of operation:

the transport vehicle is parked at the bottom of the customer vehicle, the tray is lifted to support the vehicle to be parked, the customer vehicle is taken out of the vehicle carrying table, and the next customer can park the vehicle on the object carrying table to wait for other transport vehicles to come in front of the vehicle to be parked. The user's car is transferred to the tray, and pressure sensor senses the car when transferring on the tray, and signal indicator twinkles, stops to transfer the tray, and fixed vehicle tire manipulator takes out from the base below, and signal indicator extinguishes, and fixed vehicle tire manipulator takes out from the base below, adjusts two manipulator widths according to customer automobile tire size, reaches the fixed tire effect. And the front and rear manipulators for clamping and fixing the vehicle are positioned at the front and rear ends of the base, and are taken out from the lower part of the base after the width of the manipulator for fixing the vehicle tire is adjusted, and clamped at the front and rear ends of the customer vehicle. Solar panel lasts the energy storage at the transport vechicle during operation, and circuit system continues the journey for the transport vechicle, and when the transport vechicle was out of work, under the energy storage state, base collapsible extension formula solar panel all around expandes, improves energy storage efficiency.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses set up front and back manipulator on the base, can guarantee in the automated guided transport vechicle transportation that loaded vehicle is more stable, the manipulator withdraws the transport vechicle bottom when not carrying the vehicle, does not influence and gets the car next time, and the manipulator inner wall has damping device, guarantees that the vehicle outside of carrying does not receive the manipulator wearing and tearing. And a solar energy storage module is added, so that the storage capacity is increased, the moving capacity of the transport vehicle is improved, and the moving speed is increased.

Drawings

Fig. 1 is a front view structure of the present invention;

fig. 2 is a schematic view of the actual loading effect.

Detailed Description

The present invention will be described in detail with reference to the attached drawings and the working state of the transportation vehicle during the parking and picking up process of the customer. It is obvious that the described examples are only a part of the present invention, and not all examples.

As shown in fig. 1 and fig. 2, manipulator automated guided transporting vehicle, including fixed vehicle tire manipulator 1, base 2, pressure sensor 3, solar panel 4, tray 5, tire 6, add around holding fixed car manipulator electric drive 7, manipulator transport mechanism 8, signal indication lamp 9, manipulator snatch technical characteristics such as mechanism 10 and manipulator damping device 11.

The tray 5 is positioned above the base, the coverage area is smaller than that of the base, the tray can be flexibly assembled and disassembled and is convenient to maintain, carbon steel is adopted, the hardness of materials is high, and a layer of shock absorption pad made of carbon fibers is covered on the tray, so that friction or extrusion of an automobile bottom caused by assembling and disassembling customers is prevented. The pressure sensor 3 is positioned in the center of the tray 5, a piezoelectric force transducer is adopted, and the fixed height is unchanged. The signal indicator lamp 9 is arranged in the center of the front of the base, and an LED lamp is adopted, so that the environment is protected, and the energy is saved. The tray 5 is raised and lowered to support the customer's car. When having the car to fall on the tray 5, pressure sensor 3 senses the car and transfers, and signal indicator 9 glimmers, and fixed vehicle tire manipulator 1 takes out from base 2 below, and signal indicator 9 extinguishes.

Fixed vehicle tire manipulator 1 sets up in the transport vechicle both sides, and totally four groups, every side symmetric distribution is two sets of, and every group comprises two crossbar-type manipulators, and the manipulator can stretch out and draw back around, control, oscilaltion, can load and unload in a flexible way, the maintenance of being convenient for, and the parcel slipmat increases places vehicle stability on the manipulator. The manipulator is taken out from the lower part of the base, and the widths of the two manipulators are adjusted according to the sizes of automobile tires of customers, so that the effect of fixing the tires is achieved.

The front and rear mechanical arms of the fixed vehicle are hinged and driven by electric power, the mechanical arms can be flexibly assembled and disassembled, and the maintenance is convenient. The front manipulator and the rear manipulator of the holding and fixing vehicle are integrally made of injection molding materials, the materials are light, the maintenance period is long, the manipulator is electrically driven 7 to be located below the base, and the manipulator is controlled to stretch back and forth, pitch up and down, swing left and right, and retract, retract and open. The manipulator damping device 11 is provided with a layer of carbon fiber damping pad to prevent the transport vehicle from braking and accelerating the extrusion of the surface of the customer vehicle. The manipulator grabbing mechanism 10 is normally arranged around the transport vehicle, two in front and two in back. The manipulator conveying mechanism 8 is internally provided with a groove, so that the manipulator is convenient to recover and the manipulator grabbing mechanism 10 is convenient to store.

Solar panel 4 is at the transport vechicle during operation, and the distribution does not relate to fixed vehicle tire manipulator 1 around base 2 and adds the manipulator region around holding fixed car, and circuit system is the transport vechicle continuation of the journey, and when the transport vechicle was out of work, under the energy storage state, base 2 is collapsible extension formula solar panel all around, can expand and increase photosensitive area, improves energy storage efficiency.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

The unexplained portions related to the present invention are the same as those of the prior art.

Claims

1. The utility model provides a manipulator automated guided transporting vehicle, includes the base, connects the tire that is used for the walking under the base on the bottom surface, characterized by: be provided with the tray on the bottom surface on the base, be provided with pressure sensor on the tray, base width direction's both sides respectively are provided with two fixed vehicle tire manipulators, the both sides of base are close to both ends and respectively are provided with one and add and hold fixed car front and back manipulator, add and hold fixed car front and back manipulator and snatch the mechanism through manipulator transport mechanism and manipulator and rotate and be connected, after the car stops to fall on the tray, fixed vehicle tire manipulator stretches out and grasps the tire of car, the holding of both ends is held around fixed car manipulator and is stretched out and grasp the locomotive and the rear of a vehicle of car respectively.

2. The automated guided vehicle robot of claim 1, further comprising: still be provided with a signal indicator lamp on the base, after the car stops to fall on the tray, signal indicator lamp scintillation.

3. The automated guided vehicle robot of claim 1, further comprising: solar panels are pasted on two side faces in the length direction of the base, and a storage battery and photoelectric conversion equipment are arranged at the bottom of the base.

4. The automated guided vehicle robot of claim 1, further comprising: and the manipulator conveying mechanism is provided with a containing cavity for containing the manipulator grabbing mechanism.

5. The automated guided vehicle robot of claim 1, further comprising: and a damping device is arranged on one side of the manipulator grabbing mechanism and clamped by the automobile.