CN113431404A - Intelligent garage based on double-layer parking AGV carrier - Google Patents

Intelligent garage based on double-layer parking AGV carrier Download PDF

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Publication number
CN113431404A
CN113431404A CN202110645916.2A CN202110645916A CN113431404A CN 113431404 A CN113431404 A CN 113431404A CN 202110645916 A CN202110645916 A CN 202110645916A CN 113431404 A CN113431404 A CN 113431404A
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CN
China
Prior art keywords
double
frame
comb
layer
vehicle
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Pending
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CN202110645916.2A
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Chinese (zh)
Inventor
***
匡汝佳
张香河
***
冯赞
谭旺军
沈曙光
罗洋
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Hunan Tianqiao Liheng Parking Equipment Co ltd
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Hunan Tianqiao Liheng Parking Equipment Co ltd
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Application filed by Hunan Tianqiao Liheng Parking Equipment Co ltd filed Critical Hunan Tianqiao Liheng Parking Equipment Co ltd
Priority to CN202110645916.2A priority Critical patent/CN113431404A/en
Publication of CN113431404A publication Critical patent/CN113431404A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages 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
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages 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
    • E04H6/185Garages 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 using comb-type transfer means
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages 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
    • E04H6/24Garages 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 characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422Automatically operated car-parks

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides an intelligent garage based on a double-layer parking AGV carrier, which comprises an intelligent detection entrance, an intelligent detection exit, a vehicle lifting system and a double-layer automobile storage rack, wherein a first-layer comb tooth structure and a second-layer comb tooth structure are overlapped, and when a vehicle is placed on the second-layer comb tooth structure, the interference of the comb tooth structure is avoided, and unsafe factors are generated. According to the invention, the two-layer comb tooth structure is set as the turnover comb tooth structure, and the turnover comb tooth frame is positioned and supported through the locking structure, so that the vehicle is effectively parked, and the vehicle storing and taking mode is stable, safe and reliable, and the safety performance is high. This intelligent garage can utilize parking stall upper space effectively, has increased the parking stall of one time than the garage of current one deck AGV carrier of parkking, and safe and reliable, and the price/performance ratio is very high, and the cooperation has the AGV carrier of double-deck parking function to use, simple structure, and is safe convenient, and manufacturing cost is lower, easy maintenance, easy installation, and construction cycle is short.

Description

Intelligent garage based on double-layer parking AGV carrier
Technical Field
The invention relates to the technical field of three-dimensional parking devices, in particular to an intelligent garage based on a double-layer parking AGV carrier.
Background
The comb teeth type is a carrying form of a stereo garage product, the structure is divided into a lifting channel and a parking space, a lifting comb tooth frame and a lifting system are arranged in the lifting channel, and the lifting comb teeth are divided into front wheel comb teeth and rear wheel comb teeth. The berth is that the sideslip broach frame distributes in promoting the passageway both sides. The entrance and exit are set in the ground layer lifting channel or fixed rotary disc. When the parking vehicle is stored, the lifting comb-tooth frame and the transverse moving comb-tooth frame are exchanged to reach an appointed layer, the transverse moving comb-tooth frame is transversely moved to carry the parking lot from a channel, the transverse moving rotary disc is used for turning the vehicle around, and the vehicle moves forwards to be stored in or out of a warehouse.
With the development of the AGV self-guiding vehicle, the parking lot based on the AGV self-guiding vehicle realizes the full automation of vehicle storage and taking, and greatly facilitates the vehicle storage and taking operation of a vehicle owner. However, the AGV self-guided vehicle is only suitable for automatic parking and retrieval in a single-deck parking lot, and does not improve the space utilization of the parking lot and increase the parking capacity. Based on the above, the parking system for parking and taking vehicles by using an AGV self-guided vehicle can only realize single-layer parking, so that the space utilization rate of the garage is not high.
Above-mentioned problem can be solved to double-deck broach frame, but current AGV guide car only is applicable to the individual layer garage parking and uses, in order to be applicable to the use of double-deck broach frame, needs provide an intelligent garage based on double-deck AGV carrier that parks.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent garage based on a double-layer parking AGV carrier, which mainly comprises the double-layer parking AGV carrier, an intelligent detection entrance, a vehicle lifting system, a double-layer automobile storage rack, an intelligent garage management system and the like. The intelligent garage is suitable for underground garages, urban vacant spaces (below overpasses, parks and the like), ground and underground parking lots reconstructed from shopping mall parking lots and old communities, and automatic access from a vehicle access to a double-layer storage rack is realized by utilizing double-layer parking AGV carriers.
The purpose of the invention is realized by the following technical scheme:
the intelligent garage based on the double-layer parking AGV carrier comprises an intelligent detection passageway, a vehicle lifting system and a double-layer automobile storage rack, wherein the detection passageway comprises an inlet end and an outlet end, and a detection sensor is arranged at the inlet end; the outlet end is provided with a vehicle lifting system; the method comprises the following steps that when an automobile to be stored enters through an intelligent detection entrance, the automobile or a double-layer parking AGV carrier for bearing the automobile is conveyed to different floors through a vehicle lifting system, the automobile is carried through the double-layer parking AGV carrier, and the automobile is stored on a plurality of groups of double-layer automobile storage racks in each floor;
the automobile storage rack comprises a first-layer comb structure and a second-layer comb structure, wherein the first-layer comb structure and the second-layer comb structure are arranged up and down through a storage rack body; the two-layer comb structure is an overturning comb structure, the overturning comb structure comprises an overturning comb rack and a locking structure arranged below the overturning comb rack, and the locking structure stretches up and down along the direction of the storage rack body; a plurality of groups of overturning comb teeth are arranged on the outer side of the frame of the overturning comb tooth frame;
the double-layer parking AGV carrier comprises a frame and a lifting platform, wherein the frame is movably connected with the lifting platform through a scissor structure connecting rod with the height of the frame adjustable, the lifting platform comprises a lifting comb rack and two sides of the lifting comb rack are respectively provided with a fixed comb tooth, a wheel centering device is arranged on the lifting comb rack and comprises centering rods arranged on the fixed comb teeth on the two sides, and the paired centering rods on the two sides are connected through an adjuster arranged in the lifting comb rack; the connecting rod is of a scissors fork structure and is provided with power through a push rod to change the height.
Further, the sensor is a vehicle ultra-high and ultra-wide vehicle position and living body detection sensor.
Furthermore, one deck broach structure is for laying the group broach one between the storage rack support body of two relative settings, broach one is installed on supporting the support body and stretches out in the both sides of supporting the support body.
Furthermore, the support frame body is of a segmented structure and is respectively arranged at two sides of the two storage frame bodies, and the middle part of the support frame body is an empty section without the first comb teeth; the middle part of the turnover comb tooth structure is provided with an empty avoiding structure.
Further, the locking structure is the linkage self-locking case, the linkage self-locking case includes the lead screw lift that contacts with convertible broach frame and places the box body of lead screw lift.
Furthermore, the connecting rods are two groups of supporting rods which are crossed and in an X shape, one end of each supporting rod is fixedly connected with the frame or the lifting platform through a shaft, a sliding block is arranged at the end part of the other end of each supporting rod, and the sliding block slides on a slide way inside the frame or the lifting comb rack.
Furthermore, the fixed comb teeth comprise front comb teeth and rear comb teeth, and the number of the front comb teeth is different from that of the rear comb teeth; two sets of the stiff end of bracing piece sets up in the front one side of broach or back broach simultaneously, the slide sets up in one side of back broach or preceding broach.
Furthermore, the scissors structure connecting rods which are oppositely arranged on two sides are connected, an installation shaft which is parallel to the bottom surface of the frame is arranged, and the installation shaft is connected with the telescopic rod part of the push rod; and a fixed shaft for mounting the push rod fixing part is arranged in the frame.
Further, the adjuster comprises a gear driven by a servo motor, rack structures are arranged on two sides of the gear, and the extending end of each rack structure is vertically and fixedly connected with the centering rod.
Further, still include intelligent garage management system, intelligent garage management system is including depositing and getting car control program, parking stall intelligence configuration program, vision, laser navigation and the dispatch system of double-deck parking AGV carrier route dynamic optimization algorithm, and emergent obstacle-avoiding program and system of double-deck parking AGV carrier, double-deck parking AGV carrier battery management system, intelligent garage cell-phone APP and other auxiliary system.
This intelligent garage based on double-deck parking AGV carrier also can dispose floor operating system, realizes people's car separation on ground, and this system is to underground or multilayer garage configuration use on the ground, and through this system, each floor can be arrived to double-deck parking AGV carrier. The floor lifting system mainly comprises: the elevator comprises a lifting car component, a lifting power component, a guide rail component, a counterweight component, an electrical control system and an auxiliary component, and is divided into two modes of tractor type lifting and chain lifting.
This intelligent garage based on double-deck parking AGV carrier generally disposes many double-deck parking AGV carriers according to the parking stall that the garage set up, by the unified overall management of scheduling procedure of intelligent garage system to the operation route of every double-deck parking AGV carrier of real-time dynamic planning.
Compared with the prior art, the invention has the following beneficial effects:
this intelligent garage based on double-deck parking AGV carrier generally configures a plurality of intellectual detection system and detects out the entry, and this access & exit is people's car separation region, also connects the vehicle region for double-deck parking AGV carrier. The area is provided with a vehicle ultra-high and ultra-wide vehicle position and living body detection sensor, when the overall dimension or the parked position of the vehicle exceeds a limited range, the detection system can give an alarm in real time, and the subsequent parking process is stopped. The entrance and exit are provided with a front automatic door and a rear automatic door, so that people can be prevented from entering the car parking and taking area by mistake.
This intelligent garage based on double-deck parking AGV carrier is with frame and lift platform through connecting rod swing joint cooperation push rod with adjustable height, preferably hydro-cylinder drive, makes the distance of whole lift platform and frame according to actual demand height-adjusting, and it is nimble convenient to use.
This intelligent garage based on double-deck parking AGV carrier provides the mode of one deck broach structure and two layers of broach structure superposes mutually, for the vehicle of parking more conveniently, makes the vehicle place can not receive the interference of broach structure when two layers of broach, produces unsafe factor. According to the invention, the two-layer comb tooth structure is set as the turnover comb tooth structure, and the turnover comb tooth frame is positioned and supported through the locking structure, so that the vehicle is effectively parked, and the vehicle storing and taking mode is stable, safe and reliable, and the safety performance is high.
One deck broach structure among this intelligent garage is relative setting, and the segmentation is laid in the support body both sides to the intermediate portion is the vacant section that does not set up broach one. The arrangement is to leave an operation position for a carrier for carrying the vehicle to be parked, the carrier carries the vehicle to be parked, the carrier is parked in the vacant section, the vacant section is equivalent to a parking space of the carrier, and the arrangement can effectively utilize the space of the parking garage.
This double-deck car storage rack in intelligent garage sets up two layers of broach frame and can utilize parking stall upper space effectively, has increased the parking stall of one time than the garage of current one deck AGV carrier that parks, and safe and reliable, the price/performance ratio is very high, and the cooperation has the AGV carrier of double-deck parking function to use, constitutes a brand-new intelligent garage.
Simultaneously, this intelligent garage's based on double-deck parking AGV carrier connecting rod adopts the form setting of crossing, simple structure, and the cooperation slide structure is used, and is safe convenient, and manufacturing cost is lower, easy maintenance, easy installation, and construction cycle is short.
Drawings
Fig. 1 is a schematic overall structure diagram of an intelligent garage based on a double-layer parking AGV carrier according to the present invention.
FIG. 2 is a schematic diagram of the overall configuration of the double-deck parked AGV transport of the present invention.
FIG. 3 is a side view of the overall configuration of a double-deck parked AGV transport according to the present invention.
FIG. 4 is a schematic diagram of an adjuster for a double-deck parked AGV according to the present invention.
Fig. 5 is a first structural schematic diagram of the double-layer automobile storage rack of the invention.
Fig. 6 is a second schematic structural view of the double-deck automobile storage rack of the present invention.
FIG. 7 is a schematic view of an installation of an intelligent garage based on a double-deck parking AGV handler according to the present invention.
In the figure, 1-double car storage rack, 2-double parking AGV carrier, 3-vehicle lifting system, 4-intelligent detection gateway, 21-vehicle frame, 22-servo steering wheel, 23-walking steering wheel, 24-lifting comb rack, 25-fixed comb, 26-wheel centering device, 27-servo motor, 28-connecting rod, 29-hydraulic system, 210-storage battery, 211-control cabinet, 212-push rod, 213-telescopic rod part, 214-push rod fixing part, 215-mounting shaft, 216-gear, 217-rack structure, 218-roller, 219-slideway, 220-slide block, 31-support rack body, 311-comb one, 32-storage rack body, 33-turnover comb rack, 331-comb two, 34-an idle section, 35-a self-locking motor, 36-a linkage rod, 37-a locking structure, 371-a screw rod lifter, 372-a box body, 38-a motor and 39-an idle avoiding structure.
Detailed Description
The following specific examples further illustrate the invention in detail. Unless otherwise indicated, the various materials used in the examples of the present invention are either commercially available or prepared according to conventional methods in the art using equipment commonly used in the laboratory. Unless defined or stated otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Example 1
As shown in fig. 1 to 7, the intelligent garage based on the double-deck parking AGV carrier of the embodiment includes an intelligent detection entrance 4, a vehicle lifting system 3 and a double-deck vehicle storage rack 1, wherein the detection entrance 4 includes an entrance end and an exit end, and a detection sensor is arranged at the entrance end; the exit end is provided with a vehicle lifting system 3; the method comprises the following steps that when a vehicle to be stored enters through an intelligent detection entrance 4, the vehicle is carried and transported through a double-layer parking AGV carrier 2, the double-layer parking AGV carrier 2 is delivered to different floors through a vehicle lifting system 3, and the vehicle is stored on a plurality of groups of double-layer vehicle storage racks 1 in each floor;
the automobile storage rack 1 comprises a first-layer comb structure and a second-layer comb structure, wherein the first-layer comb structure and the second-layer comb structure are arranged up and down through a storage rack body 32; the two-layer comb structure is an overturning comb structure, the overturning comb structure comprises an overturning comb rack 33 and a locking structure 37 arranged below the overturning comb rack 33, and the locking structure 37 extends up and down along the direction of the storage rack body 32; a plurality of groups of overturning comb teeth are arranged on the outer side of the frame of the overturning comb tooth frame 33;
double-deck parking AGV carrier 2 includes frame 21 and lift platform, and frame 21 and lift platform are through making lift platform and the connecting rod 28 swing joint of frame 21 height-adjustable, and lift platform includes that lift broach frame 24 and lift broach frame 24 both sides respectively are provided with fixed broach 25, and fixed broach 25 includes preceding broach and back broach, and the preceding broach in this embodiment is different with the broach quantity of back broach. Each comb rack of the front comb teeth is arranged in parallel, a roller 218 is arranged on each comb rack, and the roller 218 is convenient for the wheel to move on the comb teeth 25 and provides guidance for the wheel to slide on the comb teeth 25.
The lifting comb-tooth frame 24 is provided with a wheel centering device 26, the wheel centering device 26 comprises centering rods arranged on the fixed comb teeth 25 at two sides, and the centering rods in pairs at two sides are connected through an adjuster arranged in the lifting comb-tooth frame 24; the link 28 is a scissors configuration link that is powered by the push rod 212 to change height. In the embodiment, a rack structure 217 is adopted, and paired centering rods at two sides are connected through an adjuster arranged in the lifting comb-tooth frame 24; the adjuster comprises a gear 216 driven by the servo motor 27, rack structures 217 are arranged on two sides of the gear 216, and the extending ends of the rack structures 217 are vertically and fixedly connected with the centering rod. The connecting rod 28 is powered for height change by a push rod 212 (preferably a hydraulic cylinder in this embodiment).
The connecting rods 28 of this embodiment are two sets of crossed supporting rods in an X shape, one end of each supporting rod is fixedly connected with the vehicle frame 21 or the lifting platform through a shaft, the end part of the other end of each supporting rod is provided with a sliding block 220, and the sliding block 220 slides on a slide 219 inside the vehicle frame 21 or the lifting comb-tooth frame 24. In order to make the connecting rods 28 slide to meet the consistency, the fixed ends of the two sets of supporting rods are arranged on one side of the front comb teeth or the rear comb teeth, and the slide 219 is arranged on one side of the rear comb teeth or the front comb teeth.
The connecting rod of the scissors structure, which is connected with the two opposite sides, is provided with a mounting shaft 215 parallel to the bottom surface of the frame 21, and the mounting shaft 215 is connected with a telescopic rod part 213 of the push rod 212. The entire push rod 212 is an electric push rod, and the telescopic rod portion 213 thereof is telescopic inside the push rod fixing portion 214. The fixed shaft of the push rod fixing part 214 is mounted inside the frame 21.
For the convenience of transportation, the bottom parts of the two ends of the frame 21 are symmetrically provided with walking steering wheels 23, and a servo steering wheel 22 is arranged between the two walking steering wheels 23.
The power supply battery (such as a storage battery 210 in the figure) and the control cabinet 211 are installed on two sides of the frame 21, and the hydraulic system 29 is arranged in the frame 21. The whole carrier is more intelligent and controllable.
The one-layer comb structure of the present embodiment is a group of first comb teeth 311 laid between two oppositely disposed storage rack bodies 32, and the first comb teeth 311 are installed on the support rack body 31 and extend out of two sides of the support rack body 31.
The support frame body 31 of this embodiment is a segmented structure, and is disposed on two sides of the two turnover comb tooth frames 33, and the middle portion of the support frame body 31 is an empty section 34 without the first comb tooth 311.
The middle part of the turnover comb tooth structure of the embodiment is provided with an idle avoiding structure 39.
Its convertible broach frame is installed at the top of support body 32 in pairs, and with the support body 32 centre gripping between the convertible broach structure of symmetry setting, including two 331 of broach and upset broach frame 33.
The locking structure 37 that chooses for use in this implementation is the linkage self-locking case, and the linkage self-locking case includes lead screw lift 371 and the box body 372 of placing lead screw lift 371 that contacts with convertible broach frame. The box body 372 is arranged on a supporting frame fixedly arranged on one side of the frame body. The locking structure 37 drives the screw rod to move up and down through the self-locking motor 35.
The one end of upset broach frame 33 of convertible broach structure is provided with motor 38, is provided with gangbar 36 between two motors 38 in this example, makes the locking structure 37 of both sides go up and down simultaneously, guarantees that the level height of the broach two 331 of both sides is the same, and the convenience will wait to park the vehicle and effectively park not squint, and stability is strong.
Storage rack support body 32 in this embodiment is the bearing basis of two layers of broach structure, and storage rack support body 32 is front and back stand structure, disposes two sets of broach framves about on the stand in front and back, two adjacent parking stalls share a stand promptly. The supporting frame body (namely the lower-layer fixed comb-tooth frame) is fixedly arranged on the ground and is divided into a front part and a rear part, the adjacent comb-tooth frames are shared by the parking spaces, and the height of the supporting frame body is suitable for the double-layer parking comb-tooth type AGV carrier to penetrate through the lower part. The two-layer rack can be turned over to the horizontality upwards by the flagging state, and it mainly comprises motor, main part, bearing frame and limit switch of upset rack, and its upset is as long as can realize that the rack upset is all usable. The self-locking mechanism 33 utilizes the principle of a screw rod lifter to upgrade a screw rod or a trapezoidal screw rod, and the linkage self-locking boxes on two sides transmit power through the linkage rods.
In order to make the whole intelligent garage convenient to use, a vehicle ultrahigh and ultra-wide vehicle position and living body detection sensor is arranged at an intelligent detection entrance 4, so that the entrance is a human-vehicle separation area and is also an AGV carrier parking vehicle area. When the overall dimension or the parked position of the vehicle exceeds a limited range, the detection system gives an alarm in real time and stops the subsequent parking process. The entrance and exit are provided with a front automatic door and a rear automatic door, so that people can be prevented from entering the car parking and taking area by mistake.
According to the vehicle lifting system 3 configured for the intelligent garage, people and vehicles are separated on the ground, the system is configured and used for underground or overground multi-layer garages, and the AGV carriers can reach all floors through the vehicle lifting system 3. The floor lifting system is a common device of a parking garage, mainly comprises a lifting car part, a lifting power part, a guide rail part, a counterweight part, an electrical control system and an auxiliary part, and is divided into two modes of tractor type lifting and chain lifting.
This intelligent garage based on double-deck parking AGV carrier still is provided with its function of management system and includes: the parking and taking control program, the parking space intelligent configuration program, the double-layer parking AGV carrier visual navigation technology, an AGV carrier path dynamic optimization algorithm, an AGV carrier emergency obstacle avoidance program, an AGV carrier battery management system, an intelligent garage mobile phone APP and other auxiliary systems and the like. The method can be used for the parking garage as long as the method can realize the functions. This embodiment is not described in detail. The double-layer parking AGV carrier 2 analyzes and recognizes the acquired real-time images by the vehicle-mounted vision system, performs object recognition on the AGV, the guide path, the barrier and the like by taking the whole working environment as a target, performs feature-based image fusion on the images acquired by the cameras, and obtains a global map. In the generated global map, the absolute coordinates of each AGV unit, the guidance line and the obstacle can be acquired in real time. Compared with a local vision method for installing a camera on a vehicle body, the global vision method has more advantages in the aspects of multi-AGV scheduling, obstacle detection (fixing and moving), obstacle avoidance and global monitoring. The lifting comb-tooth frame 24 is provided with a wheel centering device 26, the wheel centering device 26 comprises centering rods arranged on the fixed comb teeth 25 at two sides, and the centering rods in pairs at two sides are connected through an adjuster arranged in the lifting comb-tooth frame 24; the connecting rod 28 is an adjustable supporting rod, and the height of the adjustable supporting rod is changed by the power provided by the push rod 212.
Example 2
This embodiment is similar to embodiment 1, and its difference lies in, waits to deposit the car and gets into through intellectual detection system entry 4, reaches each different floor with the car through vehicle operating system 3, and double-deck parking AGV carrier 2 is deposited between different floors, and it is to wait that the car reaches the appointed floor, and double-deck parking AGV carrier 2 deposits the car to the intraformational multiunit double-deck car storage rack 1 of target floor on.
This AGV carrier intelligent garage that double-deck parkked compares in the advantage in the AGV carrier garage in traditional two layers lifting and horizontal moving garage, two layers of simple and easy lifting and lowering garages and one deck and has:
1. the cost of each single parking space is low, the installation is simple, the operation efficiency is high, and the intelligent degree is high;
2. the AGV carrier automatically carries out the whole process of vehicle storage and taking, and the driver has good vehicle storage and taking experience and high safety;
3. compared with the one-layer AGV carrier garage, the parking space is doubled, and the parking quantity is obviously improved.
When this AGV carrier intelligent garage that double-deck parkked uses, the access car in-process of two layers of broach structure all requires one deck broach structure not to stop. The parking process of the two-layer comb tooth structure is as follows: AGV carrier carries on the vehicle and reachs appointed parking stall, and the fixed broach is a little higher than the broach one of one deck broach structure on the carrier this moment, and the upset broach frame of two layers of broach structure is in the vertical state, and the carrier is gone straight and is reachd the parking stall below. Then, a push rod of the carrier is driven by an oil cylinder to move, the comb-tooth frame on the carrier and the vehicle are lifted, and when the lifting height is slightly higher than the horizontal height of the overturning comb-tooth frame with the two-layer comb-tooth structure, the movement is stopped. At the moment, the second comb teeth of the turnover comb tooth frame with the two-layer comb tooth structure act, the vertical state turns upwards to reach the horizontal state, the self-locking motor is started to drive the self-locking box to act, and the screw rod rises until the bottom of the main beam of the turnover comb tooth frame is propped. Then, the carrier lifting system slightly descends, the lifting comb-tooth frame moves downwards to complete comb tooth exchange with the overturning comb-tooth frame, the vehicle stops on the overturning comb-tooth frame with the two-layer comb-tooth structure, and the weight of the vehicle is borne by four self-locking boxes. The process of taking the vehicle by the two-layer comb tooth structure is opposite to the process, and whether the vehicle exists in the two-layer comb tooth structure or not does not influence the vehicle taking and storing of the one-layer comb tooth structure.
The same or similar reference numerals correspond to the same or similar parts; the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent. It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The intelligent garage based on the double-layer parking AGV carrier is characterized by comprising an intelligent detection access (4), a vehicle lifting system (3) and a double-layer automobile storage rack (1), wherein the detection access (4) comprises an inlet end and an outlet end, and a detection sensor is arranged at the inlet end; the outlet end is provided with a vehicle lifting system (3); the method comprises the following steps that when an automobile to be stored enters through an intelligent detection entrance (4), the automobile or double-layer parking AGV carriers (2) bearing the automobile are delivered to different floors through a vehicle lifting system (3), the automobile is carried through the double-layer parking AGV carriers (2), and the automobile is stored on a plurality of groups of double-layer automobile storage racks (1) in each floor;
the automobile storage rack (1) comprises a first-layer comb tooth structure and a second-layer comb tooth structure, wherein the first-layer comb tooth structure and the second-layer comb tooth structure are arranged up and down through a storage rack body (32); the two-layer comb tooth structure is an overturning comb tooth structure, the overturning comb tooth structure comprises an overturning comb tooth frame (33) and a locking structure (37) arranged below the overturning comb tooth frame (33), and the locking structure (37) stretches up and down along the direction of the storage rack body (32); a plurality of groups of overturning comb teeth are arranged on the outer side of the frame of the overturning comb tooth frame (33);
the double-layer parking AGV carrier (2) comprises a frame (21) and a lifting platform, wherein the frame (21) is movably connected with the lifting platform through a connecting rod (28) which enables the lifting platform to be adjustable in height with the frame (21), the lifting platform comprises a lifting comb-tooth frame (24) and two sides of the lifting comb-tooth frame (24) are respectively provided with fixed comb teeth (25), the lifting comb-tooth frame (24) is provided with a wheel centering device (26), the wheel centering device (26) comprises centering rods arranged on the fixed comb teeth (25) on the two sides, and the centering rods in pairs on the two sides are connected through an adjuster arranged on the lifting comb-tooth frame (24); the connecting rod (28) is a scissors structure connecting rod, and the scissors structure connecting rod provides power through the push rod to change the height.
2. The intelligent garage based on double-deck parking AGV carriers of claim 1, wherein said sensors are vehicle height, ultra-wide vehicle position and liveness detection sensors.
3. The intelligent garage based on double-deck parking AGV carriers of claim 1, wherein said one-layer comb structure is a set of first comb teeth (311) laid between two oppositely disposed storage rack bodies (32), said first comb teeth (311) are mounted on the support rack body (31) and protrude from both sides of the support rack body (31).
4. The intelligent garage based on the double-deck parking AGV carrier of claim 3, characterized in that the supporting frame (31) is a segmented structure and is respectively arranged on two sides of two storage frame bodies (32), and the middle part of the supporting frame body (31) is an empty section (34) without a first comb tooth (311); the middle part of the turnover comb tooth structure is provided with a vacant avoiding structure (39).
5. The intelligent garage based on double-deck parking AGV carrier of claim 4, characterized in that locking structure (37) is the linkage self-locking case, the linkage self-locking case includes lead screw lift (371) and box body (372) of placing lead screw lift (371) that contact with convertible broach frame.
6. The intelligent garage based on double-deck parking AGV carrier of claim 1, characterized in that connecting rod (28) are two sets of alternately X-shaped bracing pieces, the one end of bracing piece is fixed through the hub connection with frame (21) or lift platform, and the tip of the other end sets up slider (220), slider (220) slide at frame (21) or inside slide (219) of lift broach frame (24).
7. The intelligent garage based on double-deck parking AGV handlers of claim 6, wherein said fixed comb (25) comprises front and rear comb teeth, the number of comb teeth of the front and rear comb teeth being different; two sets of the stiff end of bracing piece sets up in the front one side of broach or back broach simultaneously, slide (219) set up in the back broach or one side of preceding broach.
8. The intelligent garage based on the double-layer parking AGV carrier of claim 7, wherein the connecting rod of the scissors structure, which is arranged on two opposite sides, is connected, and a mounting shaft (215) is arranged in parallel with the bottom surface of the frame (21), and the mounting shaft (215) is connected with a telescopic rod part (213) of the push rod (212); a fixed shaft for installing a push rod fixing part (214) is arranged in the frame (21).
9. The intelligent garage based on double-deck parking AGV carriers of claim 1, wherein said adjuster includes a gear (216) driven by a servo motor (27), rack structures (217) are provided on both sides of said gear (216), and the extended end of said rack structures (217) is vertically and fixedly connected to the centering rod.
10. The intelligent garage based on double-layer parking AGV carriers further comprises an intelligent garage management system, the intelligent garage management system comprises an access vehicle control program, a parking space intelligent configuration program, a double-layer parking AGV carrier visual navigation technology, a dynamic optimization algorithm of double-layer parking AGV carrier paths, an emergency obstacle avoidance program of the double-layer parking AGV carriers, a double-layer parking AGV carrier battery management system, an intelligent garage mobile phone APP and other auxiliary systems.
CN202110645916.2A 2021-06-10 2021-06-10 Intelligent garage based on double-layer parking AGV carrier Pending CN113431404A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR9104166A (en) * 1990-09-28 1992-06-02 Coenco Sa SYSTEM FOR AUTOMATED PARKING OF VEHICLES IN SILOS AND SILOS
CN208502364U (en) * 2018-06-28 2019-02-15 武汉轻工大学 Fixed device and stereo garage
CN109653581A (en) * 2018-12-29 2019-04-19 青岛茂源停车设备制造有限公司 A kind of stereo garage is with into car room platform
CN209723756U (en) * 2018-12-10 2019-12-03 广州达泊智能科技有限公司 Layer comb formula shutdown system
CN112081437A (en) * 2020-10-14 2020-12-15 深圳市伟创自动化设备有限公司 Comb tooth type intelligent carrier

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR9104166A (en) * 1990-09-28 1992-06-02 Coenco Sa SYSTEM FOR AUTOMATED PARKING OF VEHICLES IN SILOS AND SILOS
CN208502364U (en) * 2018-06-28 2019-02-15 武汉轻工大学 Fixed device and stereo garage
CN209723756U (en) * 2018-12-10 2019-12-03 广州达泊智能科技有限公司 Layer comb formula shutdown system
CN109653581A (en) * 2018-12-29 2019-04-19 青岛茂源停车设备制造有限公司 A kind of stereo garage is with into car room platform
CN112081437A (en) * 2020-10-14 2020-12-15 深圳市伟创自动化设备有限公司 Comb tooth type intelligent carrier

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Application publication date: 20210924