CN104878970A - Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange - Google Patents
Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange Download PDFInfo
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- CN104878970A CN104878970A CN201510317731.3A CN201510317731A CN104878970A CN 104878970 A CN104878970 A CN 104878970A CN 201510317731 A CN201510317731 A CN 201510317731A CN 104878970 A CN104878970 A CN 104878970A
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- vehicle
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- car
- car carrying
- agv
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a car conveying robot provided with an AGV (automatic guided vehicle) and adopting car carrying board exchange. The car conveying robot comprises a main frame body, a car carrying board lifting mechanism mounted in the main frame body, an omnibearing traveling driving mechanism mounted beside the car carrying board lifting mechanism as well as a control system, wherein the car carrying board lifting mechanism comprises lifting plates mounted at two ends of the main frame body and a lifting driving device. The conveying robot can further comprise a navigation device, a power supply device, a safety detection device and the like. Compared with the traditional car conveying equipment, the car conveying robot can improve the conveying efficiency substantially, reduce system faults and realize intelligent parking. The car conveying robot is applicable to the technical field of car conveying.
Description
Technical field
The present invention relates to a kind of car carrying equipment, particularly relate to a kind of AGV vehicle-containing and exchange car carrying robot, be applicable to the technical field of car carrying.
Background technology
Along with the universal rapidly of automobile and development, city parking position supply wretched insufficiency, the demand on parking space is increasing, and traditional parking mode develops to intelligent machine solid parking mode gradually.Existing full-automatic parking systems mainly contains planar movement class, tunnel stacking class, vertical lifting.Their operating principle is exactly in simple terms, there is one or more handling equipment, automobile lifting can be got up carry from bottom of car, then move to together on hoist, hoist transports different parking tiers handling equipment to together with automobile again, then by handling equipment, automobile is sent into the parking space of specifying.
Vehicle-containing formula car carrying is widely used a kind of car carrying mode in multi-storied garage.This carrying working method is: automobile parking is on vehicle-containing, and conveyer is together placed on automobile and vehicle-containing on parking spot.But, the many needs of existing vehicle-containing formula car carrying equipment are laid walking track and are connected electricity cable, and handling equipment can only realize advancing or retreating walking, it is extremely low that this just causes handling efficiency, fault rate is higher, be difficult to the high efficiency access car realizing garage, do not embody intelligent parking truly.
Summary of the invention
The object of the invention is to provide a kind of AGV vehicle-containing car carrying robot for the deficiencies in the prior art, this transfer robot can independently be guided, free travel route, saves that space, Transport Vehicle are fast, performance safety, easy maintenance.
For achieving the above object, the present invention realizes by the following technical solutions:
Car carrying robot is exchanged according to AGV vehicle-containing of the present invention, comprise main body of vehicle frame, the vehicle-containing elevating mechanism be installed in main body of vehicle frame, be installed on the other omnibearing ambulation driving mechanism of vehicle-containing elevating mechanism and control system, vehicle-containing elevating mechanism comprises the lifter plate and lifting drive that are installed on main body of vehicle frame two ends.More preferably, lifting drive is hydraulic drive mechanism or spiral lift or price scissors hoist or electric pushrod, and wherein, hydraulic drive mechanism comprises the lifting guide pillar be connected with hydraulic pump and lifter plate.
Preferably, transfer robot also comprises guider, electric supply installation and safety detection device, and electric supply installation comprises the battery be installed in main body of vehicle frame and the charging inlet be connected with storage battery.Guider can comprise laser navigation module or electromagnetic navigation module or magnetic and follow closely navigation module or inertial navigation module.Safety detection device can comprise the laser anti-collision module or mechanical crashproof module or infrared anti-collision module or ultrasonic anti-collision module that are installed on main body of vehicle frame edge.
Preferably, 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.
Preferably, can also comprise vehicle-containing, vehicle-containing is made up of plate face and suspension column, and the central authorities in plate face are provided with carries power crossbeam.Plate face is preferably checkered steel plate.Suspension column upper end can for the suspension column jack be inwardly recessed, and suspension column bottom can be the suspension column latch with projection.
Implement a kind of AGV vehicle-containing of the present invention and exchange car carrying robot, there is following beneficial effect:
This transfer robot can realize autonomous guiding, free travel route under the guiding of parking ground control system, both saves parking lot space, again can safely, Transport Vehicle fast, easy maintenance, realizes intelligent parking truly.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of transfer robot of the present invention;
Fig. 2 is the upward view of transfer robot of the present invention;
Fig. 3 is the control system schematic diagram of transfer robot of the present invention.
Fig. 4 is transfer robot pivot stud schematic diagram of the present invention;
Fig. 5 is the three-dimensional structure diagram of vehicle-containing of the present invention;
Fig. 6 is the elevation of vehicle-containing of the present invention;
Fig. 7 is the schematic diagram of the multi-storied garage applying transfer robot of the present invention.
In figure: vehicle-containing 1, plate face 11, suspension column 12, suspension column jack 121, suspension column latch 122, transfer robot 2, main body of vehicle frame 21, lifter plate 22, lifting guide pillar 23, hydraulic pump 24, battery 25, charging mechanism 26, driving wheels 27, control system 28.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
As shown in Figure 1, this vehicle-containing exchanges that car carrying robot 2 comprises main body of vehicle frame 21, the vehicle-containing elevating mechanism be installed in main body of vehicle frame 21, be installed on vehicle-containing elevating mechanism other omnibearing ambulation driving mechanism, control system 28, electric supply installation, preferably can also comprise guider, safety detection device etc.
The vehicle-containing elevating mechanism of this transfer robot comprises the lifter plate 22 and hydraulic drive mechanism that are installed on main body of vehicle frame two ends, wherein hydraulic drive mechanism also can be replaced spiral lift or price scissors hoist or electric pushrod, and hydraulic drive mechanism comprises the lifting guide pillar 23 be connected with hydraulic pump 24 and lifter plate 22.
The guider of this transfer robot comprises the laser navigation module (not shown) being installed on main body of vehicle frame one jiao, and this module also can be magnetic nail navigation module or electromagnetic navigation module or inertial navigation module, especially gyroscope.
The principle of laser navigation module is: in the space of transfer robot motion, be placed with multiple handmarking (as reflection sticker), robot in the process of walking, its laser navigation module measures the Distance geometry angle of each reflecrtive mark by the laser beam launched and be reflected back, then calculated the positional information of self by geometry, thus carry out position navigation.
The electric supply installation of this transfer robot comprises the battery 25 be installed in main body of vehicle frame and the charging mechanism 26 be connected with storage battery, the charging inlet that charging mechanism is connected with external power source is positioned on the bottom surface of main body of vehicle frame, realizes automatic charging in the charge position of transfer robot on parking floor of stereo garage.
The charging flow of electric supply installation is divided into two kinds: one is fast charge mode: when transfer robot detects that its voltage is not enough, walk to charging zone, be full of fast with high electric current, transfer robot leaves charging zone; One shallowly fills shallow mode playback: transfer robot charges to rest area at every turn, no matter voltage levels all arrives charge point.
The safety detection device of this transfer robot comprises the laser anti-collision module (not shown) being installed on main body of vehicle frame edge, this module also can be mechanical crashproof module or infrared anti-collision module or ultrasonic anti-collision module, scans the object on transfer robot all around four direction, identifies.
The operating principle of laser anti-collision module is: laser anti-collision module Emission Lasers bundle, irradiate object around, carried out the presence or absence of cognitive disorders thing by the reverberation of exploring laser light bundle, and to control system feedback signal, so that control system sends instruction, the advancing and stop of control.
As shown in Figure 2, the hoofing part mechanism of this transfer robot comprises driving wheel, is preferably 4 and drives wheels 27.
As shown in Figure 3, the control system 28 of this transfer robot 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.Wherein, walking module comprises 4 differential modules, controls respectively 4 driving wheel groups; Lifting module is used for controlling vehicle-containing elevating mechanism; Locating module is guided to be used for guiding the travel path of transfer robot and locating; Security module collides with surrounding objects during being used for preventing transfer robot from advancing, and ensures its safety; Communication module is used for transfer robot and wireless telecommunications are carried out in outside; Human-computer interaction device is used for setting transfer robot parameter and showing the running status of transfer robot.
Introduce the workflow guiding locating module below: Upper system sends task list/walking segment table by wireless network, radio station etc., and communication module monitors these data, and stored in segment table queue.AGV takes out segment table parameter, dot information, opcode information etc. from segment table queue, realizes speed generation, point of destination is determined, carries command code order output with this.Master controller realizes position calculation, its principle is as follows: adopt two position calculators to complete accurate estimation to position and calculating, wherein master site calculator adopts dead reckoning, calculates in real time according to the positional information of last time and the theoretical orientation of kinematics model to AGV of encoder information (speed encoder, angular encoder) and car body.But, because As time goes on theoretical position can produce cumulative errors, aided solving device is therefore also needed to carry out position correction.Aided location calculator is according to the laser head/magnetic dot sensor information acquisition actual position of guider.Master controller converts velocity information to the signal of telecommunication, and be sent to turning to servo-driver and driving servo-driver of walking module, servo controller controls motor and completes walking.
As seen in figs. 5-6, which show the vehicle-containing 1 for bearing automobile.Vehicle-containing is made up of plate face 11 and suspension column 12, and plate face central authorities are provided with carries power crossbeam, and plate face is checkered steel plate.
Suspension column upper end is provided with the suspension column jack 121 be inwardly recessed, and suspension column bottom is provided with the suspension column latch 122 with projection.When vehicle-containing piling is stacked, the suspension column latch of upper strata vehicle-containing can insert in the suspension column jack of lower floor's vehicle-containing just, realizes the neat stacking of vehicle-containing.
As illustrated in figures 4 and 7, in parking tier, carrying has the transfer robot of automobile under the guiding of navigation system, can realize the action such as front, rear, left and right and pivot stud, according to certain rule by extremely idle for car carrying parking stall.Also be provided with automatic charging position in parking tier, when dolly is without task, can automatically go to charge position to supplement electricity.
The course of work applying this transfer robot Transport Vehicle is:
Bicycle parking process: after car parks on the vehicle-containing of stacking machine position, stacking machine is by vehicle-containing upwards lifting one deck platen height, transfer robot sails into bottom vehicle-containing and by vehicle-containing lifting, then vehicle-containing and car are carried to the diamond of planning by transfer robot.
To pick up the car process: after system obtains instruction of picking up the car, transfer robot drives to bottom the vehicle-containing on appointment parking space, vehicle-containing and car lifting get up by elevating mechanism, vehicle-containing and car are transported on stacking machine and then leave by transfer robot, stacking machine declines a platen height, and car can leave.
It is emphasized that above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. an AGV vehicle-containing exchanges car carrying robot, comprise main body of vehicle frame, the vehicle-containing elevating mechanism be installed in main body of vehicle frame, be installed on the other omnibearing ambulation driving mechanism of vehicle-containing elevating mechanism and control system, it is characterized in that, described vehicle-containing elevating mechanism comprises the lifter plate and lifting drive that are installed on main body of vehicle frame two ends.
2. AGV vehicle-containing as claimed in claim 1 exchanges car carrying robot, it is characterized in that, described transfer robot also comprises guider, electric supply installation and safety detection device, and described electric supply installation comprises the battery be installed in main body of vehicle frame and the charging inlet be connected with storage battery.
3. AGV vehicle-containing as claimed in claim 2 exchanges car carrying robot, it is characterized in that, described guider comprises laser navigation module or electromagnetic navigation module or magnetic and follows closely navigation module or inertial navigation module.
4. AGV vehicle-containing as claimed in claim 2 exchanges car carrying robot, and it is characterized in that, described safety detection device comprises the laser anti-collision module or mechanical crashproof module or infrared anti-collision module or ultrasonic anti-collision module that are installed on main body of vehicle frame edge.
5. the AGV vehicle-containing as described in any one of claim 1-4 exchanges car carrying robot, it is characterized in that, described 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.
6. AGV vehicle-containing as claimed in claim 1 exchanges car carrying robot, and it is characterized in that, also comprise vehicle-containing, described vehicle-containing is made up of plate face and suspension column, and the central authorities in described plate face are provided with carries power crossbeam.
7. AGV vehicle-containing as claimed in claim 6 exchanges car carrying robot, and it is characterized in that, described plate face is checkered steel plate.
8. AGV vehicle-containing as claimed in claim 6 exchanges car carrying robot, and it is characterized in that, described suspension column upper end is provided with the suspension column jack be inwardly recessed, and suspension column bottom is provided with the suspension column latch with projection.
9. AGV vehicle-containing as claimed in claim 1 exchanges car carrying robot, it is characterized in that, described lifting drive is hydraulic drive mechanism or spiral lift or price scissors hoist or electric pushrod.
10. AGV vehicle-containing as claimed in claim 9 exchanges car carrying robot, and it is characterized in that, described hydraulic drive mechanism comprises the lifting guide pillar be connected with hydraulic pump and lifter plate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510317731.3A CN104878970A (en) | 2015-06-10 | 2015-06-10 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
| PCT/CN2016/071396 WO2016197612A1 (en) | 2015-06-10 | 2016-01-20 | Agv carrying board exchange type vehicle transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510317731.3A CN104878970A (en) | 2015-06-10 | 2015-06-10 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104878970A true CN104878970A (en) | 2015-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510317731.3A Pending CN104878970A (en) | 2015-06-10 | 2015-06-10 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104878970A (en) |
| WO (1) | WO2016197612A1 (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105239810A (en) * | 2015-11-06 | 2016-01-13 | 厦门市海陆工程有限公司 | Piggy-back intelligent vehicle carrier and intelligent vehicle carrying system employing the same |
| WO2016197612A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰机器人科技有限公司 | Agv carrying board exchange type vehicle transfer robot |
| CN106245958A (en) * | 2016-09-19 | 2016-12-21 | 沈阳通用机器人技术股份有限公司 | A kind of automatic parking device |
| CN106483965A (en) * | 2016-09-23 | 2017-03-08 | 苏州兄友智能科技有限公司 | Inertia combined navigation system based on magnetic nail correction and position coder auxiliary |
| CN106774300A (en) * | 2016-11-18 | 2017-05-31 | 广西大学 | A kind of AGV anti-collision device for trolley |
| 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 |
| CN108487750A (en) * | 2018-06-08 | 2018-09-04 | 深圳市鼎泰智能机械停车***有限公司 | A kind of novel intelligent three-dimensional garage AGV floor trucks |
| CN108625646A (en) * | 2018-06-08 | 2018-10-09 | 深圳市鼎泰智能机械停车***有限公司 | Novel intelligent charging stereo garage |
| CN109544970A (en) * | 2017-09-22 | 2019-03-29 | 深圳市奇见科技有限公司 | A kind of parking stall code device of vertical circulation stereo garage and coding method |
| CN109681011A (en) * | 2019-01-10 | 2019-04-26 | 仓智（上海）智能科技有限公司 | A kind of Intelligent parking system and intelligent parking method |
| CN110306846A (en) * | 2018-03-27 | 2019-10-08 | 广州达泊智能科技有限公司 | Stereo parking facility and its automatic guided vehicle |
| CN111734185A (en) * | 2020-06-24 | 2020-10-02 | 广西仙人球能源科技有限公司 | Avoidance-free vehicle carrying plate and posture adjusting method thereof |
| CN112937514A (en) * | 2021-02-22 | 2021-06-11 | 上海应用技术大学 | Intelligent parking equipment |
| CN113238542A (en) * | 2021-04-06 | 2021-08-10 | 江苏普腾停车设备有限公司 | Sub-control system |
| CN115199114A (en) * | 2022-06-27 | 2022-10-18 | 安徽鸿杰威尔停车设备有限公司 | Vehicle-carrying plate type AGV double-layer parking equipment and working method thereof |
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| CN107355103B (en) * | 2017-07-31 | 2022-12-23 | 江西丹巴赫机器人股份有限公司 | Parking robot |
| CN114575646B (en) * | 2020-10-16 | 2023-09-05 | 安徽鸿杰威尔停车设备有限公司 | Gravity type vertical lifting stereo garage based on AGV (automatic guided vehicle) fast parking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10273704B2 (en) * | 2011-12-22 | 2019-04-30 | Park Plus, Inc. | Automated parking garage/self-storage apparatus |
| JP6019929B2 (en) * | 2012-08-24 | 2016-11-02 | 株式会社Ihi | Mobile parking facilities |
| CN203806302U (en) * | 2014-03-20 | 2014-09-03 | 胡国政 | Novel five-hole tray |
| CN204715826U (en) * | 2015-06-10 | 2015-10-21 | 深圳怡丰机器人科技有限公司 | A kind of AGV vehicle-containing exchanges car carrying robot |
| CN104878970A (en) * | 2015-06-10 | 2015-09-02 | 深圳怡丰机器人科技有限公司 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
-
2015
- 2015-06-10 CN CN201510317731.3A patent/CN104878970A/en active Pending
-
2016
- 2016-01-20 WO PCT/CN2016/071396 patent/WO2016197612A1/en active Application Filing
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016197612A1 (en) * | 2015-06-10 | 2016-12-15 | 深圳怡丰机器人科技有限公司 | Agv carrying board exchange type vehicle transfer robot |
| CN105239810A (en) * | 2015-11-06 | 2016-01-13 | 厦门市海陆工程有限公司 | Piggy-back intelligent vehicle carrier and intelligent vehicle carrying system employing the same |
| CN106245958A (en) * | 2016-09-19 | 2016-12-21 | 沈阳通用机器人技术股份有限公司 | A kind of automatic parking device |
| CN106483965A (en) * | 2016-09-23 | 2017-03-08 | 苏州兄友智能科技有限公司 | Inertia combined navigation system based on magnetic nail correction and position coder auxiliary |
| CN106774300A (en) * | 2016-11-18 | 2017-05-31 | 广西大学 | A kind of AGV anti-collision device for trolley |
| CN109544970A (en) * | 2017-09-22 | 2019-03-29 | 深圳市奇见科技有限公司 | A kind of parking stall code device of vertical circulation stereo garage and coding method |
| 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 |
| CN110306846A (en) * | 2018-03-27 | 2019-10-08 | 广州达泊智能科技有限公司 | Stereo parking facility and its automatic guided vehicle |
| CN110306846B (en) * | 2018-03-27 | 2021-07-06 | 广州达泊智能科技有限公司 | Three-dimensional parking device and automatic guided vehicle thereof |
| CN108487750A (en) * | 2018-06-08 | 2018-09-04 | 深圳市鼎泰智能机械停车***有限公司 | A kind of novel intelligent three-dimensional garage AGV floor trucks |
| CN108625646A (en) * | 2018-06-08 | 2018-10-09 | 深圳市鼎泰智能机械停车***有限公司 | Novel intelligent charging stereo garage |
| CN109681011A (en) * | 2019-01-10 | 2019-04-26 | 仓智（上海）智能科技有限公司 | A kind of Intelligent parking system and intelligent parking method |
| CN111734185A (en) * | 2020-06-24 | 2020-10-02 | 广西仙人球能源科技有限公司 | Avoidance-free vehicle carrying plate and posture adjusting method thereof |
| CN112937514A (en) * | 2021-02-22 | 2021-06-11 | 上海应用技术大学 | Intelligent parking equipment |
| CN113238542A (en) * | 2021-04-06 | 2021-08-10 | 江苏普腾停车设备有限公司 | Sub-control system |
| CN115199114A (en) * | 2022-06-27 | 2022-10-18 | 安徽鸿杰威尔停车设备有限公司 | Vehicle-carrying plate type AGV double-layer parking equipment and working method thereof |
| CN115199114B (en) * | 2022-06-27 | 2023-05-05 | 安徽鸿杰威尔停车设备有限公司 | Vehicle-carrying plate type AGV double-layer parking equipment and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016197612A1 (en) | 2016-12-15 |
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Effective date of registration: 20160808 Address after: Longgang District of Shenzhen City, Guangdong province 518116 Longgang Street Wulian Road No. 9 high tech Industrial Park, Yifeng Industrial Zone D Applicant after: Shenzhen Science and Technology Ltd. of Yi Feng robot Address before: Longgang District of Shenzhen City, Guangdong province 518116 Longgang Street Wulian Road No. 9 high tech Industrial Park, Yifeng Industrial Zone D Applicant before: Shenzhen Science and Technology Ltd. of Yi Feng robot Applicant before: Shenzhen Yee Fung Automation Technology Co., Ltd. |
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Application publication date: 20150902 |