CN214402938U - Automatic warehouse entry and exit device of automatic driving equipment offline acceptance workshop - Google Patents

Abstract

The utility model discloses an automatic warehouse entry and exit device of an off-line inspection and acceptance workshop of automatic driving equipment, which is characterized in that a workshop main body of the off-line inspection and acceptance workshop is a square workshop with three walls and one side serving as an entrance and exit, the automatic warehouse entry and exit device comprises an equipment parking platform and an equipment traction device, and the equipment traction device is used for drawing the automatic driving equipment from the equipment parking platform into the workshop main body or from the workshop main body to the equipment parking platform, and the equipment traction device is respectively arranged on two opposite walls in the workshop main body; the equipment parking platform is arranged outside an entrance and an exit of the workshop main body and is used for adjusting the parking direction of the automatic driving equipment before entering the workshop main body. The automatic warehouse entry and exit device with the structure is stable and reliable in overall structure setting, can automatically adjust the warehouse entry and exit direction of the automatic driving equipment, automatically pulls the automatic driving equipment to perform warehouse entry and exit operation, and can effectively improve the working efficiency.

Description

Automatic warehouse entry and exit device of automatic driving equipment offline acceptance workshop

Technical Field

The utility model relates to an automatic warehouse entry device that goes out for autopilot equipment.

Background

Along with the rapid development of intelligent science and technology, the application of the multi-line laser radar is more and more extensive, and especially the use on some autopilot equipment is indispensable more, and the multi-line laser radar reaches the laser scanning in 360 degrees scopes through launching and receiving multibeam laser simultaneously in autopilot equipment, obtains the laser scanning data and is used for the judgement of vehicle surrounding environment, object. Therefore, the accurate installation and the normal use of the functions of the multi-line laser radar on the automatic driving equipment are very important, and the basic requirements of safe and effective automatic driving of the automatic driving equipment are met, so that the offline acceptance check of the multi-line laser radar is required before the automatic driving equipment is manufactured and offline.

Because the autopilot equipment is mostly unmanned driving of taking, autopilot function when can not directly use under the condition of confirming installation and function of multi-line laser radar are qualified, consequently, on the station in production and manufacturing completion unable direct autopilot to multi-line laser radar's off-line acceptance detection workshop, can only be through drawing or transport vechicle pull autopilot equipment or transport to off-line acceptance detection workshop gate, the rethread is artifical or on moving autopilot equipment to off-line acceptance detection station with the help of other moving means, this kind of mode removes the troublesome inefficiency of operation, artifical intensity of labour is big, the inconvenient problem of existence is more.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic warehouse entry and exit device in workshop is tested and accepted to autopilot equipment unloading, its warehouse entry and exit direction adjustment that can automatic adjustment autopilot equipment, automatic traction autopilot equipment warehouse entry and exit operation to solve the problem that exists among the above-mentioned background art.

In order to achieve the above purpose, the technical scheme of the utility model is that: an automatic warehouse entry and exit device of an off-line inspection and acceptance workshop of automatic driving equipment is characterized in that a workshop main body of the off-line inspection and acceptance workshop is a square workshop with three walls and one side serving as an entrance and exit, the automatic warehouse entry and exit device comprises an equipment parking platform and an equipment traction device, the equipment traction device is used for drawing the automatic driving equipment from the equipment parking platform into the workshop main body or from the workshop main body to the equipment parking platform, and the equipment traction device is respectively arranged on two opposite walls in the workshop main body; the equipment parking platform is arranged outside an entrance and an exit of the workshop main body and is used for adjusting the parking direction of the automatic driving equipment before entering the workshop main body.

The equipment traction device comprises a traction moving track arranged on the inner side surface of the wall body, a traction moving block sliding on the moving track, a traction connecting rod hinged on the traction moving block, a pushing cylinder arranged on the traction moving block and connected with the traction connecting rod, and a movement driving mechanism arranged on the traction moving block and the traction moving track; and the traction connecting rod and the automatic driving equipment are respectively provided with a traction matching part.

The traction matching component comprises a U-shaped component and a square frame component, wherein the U-shaped component is detachably arranged on two side surfaces of the automatic driving equipment, the square frame component is arranged on the end part of the traction connecting rod, and a side rod of the square frame component is embedded into the U-shaped component during matching.

The equipment parking platform comprises a bearing platform for bearing the automatic driving equipment, an orientation adjusting mechanism which is connected and arranged below the bearing platform and used for driving the bearing platform to rotate and a transverse moving adjusting mechanism for driving the bearing platform to transversely move.

A sinking space for mounting a bearing platform is formed in the ground outside the entrance and exit of the workshop main body, and the transverse moving adjusting mechanism comprises a transverse moving rail arranged at the bottom of the sinking space, a transverse moving platform sliding on the transverse moving rail and a transverse moving driving mechanism connected with the transverse moving platform and driving the transverse moving platform to transversely move; the bearing platform is a circular bearing platform and covers the sinking space, and the orientation adjusting mechanism comprises a rotary supporting connecting disc and a rotary driving mechanism which are connected and arranged between the lower surface of the bearing platform and the upper surface of the transverse moving platform.

By adopting the technical scheme, utility model's beneficial effect is: the automatic warehouse entry and exit device with the structure is characterized in that an equipment traction device is arranged in a workshop main body of the automatic warehouse entry and exit device, an equipment parking platform is arranged outside an entrance and exit, automatic driving equipment which is subjected to offline inspection and acceptance during use is firstly transported to the platform, the head orientation of the automatic driving equipment is adjusted through the platform to enable the automatic driving equipment to be right to the entrance and exit position, the automatic driving equipment which is parked on the equipment parking platform is pulled into the workshop main body through the equipment traction device, the automatic driving equipment which is similar to the traction and exit to the equipment parking platform after inspection and acceptance detection are finished, the further equipment traction device and the equipment parking platform are structurally arranged, the automatic warehouse entry and exit device is easy to put into manufacturing use, the whole structure is stable and reliable in arrangement, the automatic driving equipment with different sizes can be used, the adjustment required by different positions can be achieved, the universality is high, and better can be achieved The automatic traction automatic driving equipment is used for entering and exiting the garage, and the aim effect of effectively improving the working efficiency is achieved.

Drawings

Fig. 1 is a schematic structural diagram of an off-line acceptance workshop of the multi-line laser radar automatic driving equipment related to the utility model;

fig. 2 is a schematic structural view of the equipment parking platform of the acceptance parking platform according to the present invention;

fig. 3 is a schematic structural view of the traction device of the acceptance and stop platform of the present invention.

In the figure:

the automatic driving apparatus 100; a workshop body 1; an entrance 11;

checking and accepting the parking platform 2; a horizontal platform 21; a front wheel positioning section groove 211; a rear wheel alignment section slot 212;

parking positioning device 22; a load-bearing steel beam 221; a support drive cylinder 222; a guide structure 223;

a pressure sensor 224; a wheel groove 225;

a parking pointing device 23; a rear wheel fixed point adjusting device 231; the rear wheel moving push block 2311;

a rear wheel pusher drive 2312; a rear wheel pusher guide 2313; a front wheel fixed point adjusting device 232;

a front wheel moving push block 2321; a front wheel push block drive 2322;

a front wheel pusher guide 2323; a T-shaped mobile push-block 2324;

a T-shaped push block drive 2325; a T-shaped pusher guide 2326; a sliding slot 2327; a connecting rod 2328;

acceptance detection means 3; a function detection device 31; a moving track 311;

a mobile cart 312; a target object 313; a mounting detection device 32;

a device parking platform 4; a load-bearing platform 41;

an orientation adjusting mechanism 42; a rotation support coupling 421; a rotation driving mechanism 422;

a traverse movement adjusting mechanism 43; a traverse rail 431; a traverse platform 432;

a plant pulling device 5; a traction movement rail 51; a pulling movement block 52;

a traction link 53; a push cylinder 54; the drive mechanism 55 is moved.

Detailed Description

In order to further explain the technical solution of the utility model, the following describes the utility model in detail through specific embodiments.

The utility model discloses a have the utility model discloses an automatic multi-thread laser radar autopilot equipment's off-line acceptance workshop of going out warehouse entry device of autopilot equipment off-line acceptance workshop, as shown in figure 1, figure 2, figure 3, including workshop main part 1, acceptance parking platform 2, acceptance detection device 3, equipment parking platform 4, equipment draw gear 5 and acceptance control system (this system mainly includes circuit structure's electrical system and the detecting system of the program part that work goes on, is invisible in the picture). This off-line inspection and acceptance workshop is used for some unmanned autopilot who has multi-thread laser radar to patrol and examine, the detection of the multi-thread laser radar of working vehicle such as cleanness, it can use off the production line to detect qualified autopilot equipment, detect unqualifiedly then adjust on the return wire and change, often the automobile body bottom of these autopilot equipment includes front wheel and rear wheel, the rear wheel includes left rear wheel and right rear wheel usually, the front wheel then has two kinds, one kind is just in the middle part before only one, another kind is then including left front wheel and right front wheel, its multi-thread laser radar is installed the top surface middle part that sets up at the locomotive usually.

The utility model discloses in workshop main part 1 is the independent workshop of square, and its three sides are equipped with the wall body, unify the surrounding environment through the wall body, avoid other materials that influence the laser scanning result, avoid influencing the factor existence of testing result, and workshop main part 1's another side is access & exit 11. The acceptance detection device 3 is arranged close to a side wall body opposite to the gateway 11 in the workshop main body 1, the front end of the automatic driving equipment faces the acceptance detection device 3 when in detection use, and the acceptance control system is used for controlling the equipment traction device 5, the acceptance parking platform 2 and the acceptance detection device 3 in the workshop main body 1 to work.

The acceptance detection device 3 in the utility model comprises a function detection device 31 for detecting whether the laser scanning using function of the multi-line laser radar is normal or not and an installation detection device 32 for detecting whether the installation position of the multi-line laser radar is accurate or not; the installation detection device 32 is composed of a plurality of scanning marker posts vertically arranged according to a set distance position, the spacing distance between the scanning marker posts and the acceptance parking platform 2 is preferably not longer than the better scanning distance detected by laser scanning, the scanning marker posts are correspondingly transversely arranged in front of the acceptance parking platform 2, 3 spacing vertical arrangement is set as shown in the figure, the middle one is arranged right in front of a 0-direction angle of the multi-line laser radar during working, the two adjacent scanning marker posts are arranged at the same spacing distance, the height of each scanning marker post is preferably higher than the height of a vehicle when calculated from the height of the horizontal plane of the acceptance parking platform 2 so as to meet the scanning range of the multi-line laser radar, and the width of each scanning marker post is preferably about 5 cm; the function detecting device 31 includes a moving track 311, a moving cart 312, and a target object 313, where the moving track 311 is disposed at a preset distance position between the front of the checking and parking platform 2 and the mounting detecting device 31 according to the preset distance position, preferably, the preset distance position is set horizontally, so as not to exceed a preferable scanning distance detected by laser scanning, the length of the moving track 311 is preferably greater than the width of the vehicle 1, in this embodiment, the moving stroke of the moving track is 2 meters, the moving cart 312 is mounted with a driving device for driving the moving cart 312 to move on the moving track 311, and the target object 313 is vertically mounted on the moving cart 312. The target object 313 is vertically arranged on the movable trolley 312, the target object 313 can be a human-shaped prop or other profiling props, the scanning marker post is arranged behind the target object 313, and the influence of the scanning marker post when the multi-line laser radar scans the target object can be avoided due to the structural arrangement.

The acceptance parking platform 2, as shown in the figure, is arranged on the bottom surface in the workshop main body 1 and is used for parking the automatic driving equipment 100, and comprises a horizontal platform 21 for bearing the automatic driving equipment 100, a parking positioning device 22 for automatically adjusting the forward parking position of the automatic driving equipment 100 and a parking positioning device 23 for automatically adjusting the tire positioning position of the automatic driving equipment 100; as shown in the figure, the specific structure related to the present embodiment is such that:

a rear wheel positioning section groove 212 is transversely formed in one side, facing the entrance 11, of the horizontal platform 21, and a front wheel positioning section groove 211 is transversely formed in the opposite side, facing the entrance 11, of the horizontal platform, the forming distances of the two grooves are set according to the axle distance range of a front wheel and a rear wheel of a common automatic driving equipment vehicle, and the forming widths of the grooves can be the same or different, so that the acceptance parking platform 2 can be suitable for positioning parking of various vehicles with different sizes; the parking positioning device 22 is respectively arranged in the front wheel positioning section groove 211 and the rear wheel positioning section groove 212, and comprises a plurality of bearing steel beams 221 which are arranged and filled in the front wheel positioning section groove 211 or the rear wheel positioning section groove 212, a supporting driving cylinder 222 which is respectively arranged at the bottom of each steel beam 221, a guide structure 223 which is respectively arranged at two ends of each steel beam 221, and a pressure sensor 224 which is arranged on each steel beam 221, as shown in the figure, the bearing steel beams 221 can be lifted under the driving support of the supporting driving cylinder 222 and the limitation of the guide structure 223, the bearing steel beams 221 can be lifted until the upper surfaces thereof are flush with the upper surface of the horizontal platform 21 or are lowered until the upper surfaces of the plurality of bearing steel beams 221 form wheel grooves 225 which are staggeredly concave, so as to achieve the positioning of the front wheels and the rear wheels of the vehicle in the front and rear direction of the horizontal platform 21, because the plurality of bearing steel beams 221 are arranged, therefore, when the wheel groove 225 is sunken, one bearing steel beam 221 at the lowest part of the wheel groove 225 can be controlled according to the wheel base of the vehicle, so that the wheel groove can be used for positioning the wheels of the vehicles with different sizes, in addition, each bearing steel beam 221 is provided with a pressure sensor 224 which can be used for sensing the positions of the front wheels and the rear wheels, namely the positions of the vehicles, and the bearing steel beam 221 at the lowest part can be automatically judged by the pressure sensors so as to form the wheel groove 225 when the wheels fall off or fall off, wherein the sunken shape formed by the falling or the falling of the wheel groove 225 is an arc shape fitting the circumferential surface of the wheel, the wheels can not move back and forth after being embedded into the wheel groove 225, so that the positioning in the direction can be completed, through the structural arrangement, an acceptance control system can quickly and accurately determine the positions of the front wheels and the rear wheels, the positioning in the front and rear direction is carried out, so that the automatic positioning effect of automatic adjustment and adaptation is achieved, and after the detection is finished, all the descending bearing steel beams 221 are driven to ascend and reset to be horizontal through the action of the support driving cylinder 222, so as to be matched with the horizontal position The platform 21 is flush for easy ejection.

The parking pointing device 23 is used for positioning the vehicle in the left-right direction, and the final positioning in this direction is the final positioning position of the vehicle, and the parking position for detection includes a rear wheel pointing adjustment device 231 and a front wheel pointing adjustment device 232, where the rear wheel is usually two wheels, in this embodiment, the rear wheel pointing adjustment device 231 is respectively disposed at two ends of the rear wheel positioning section groove 212, and includes a rear wheel moving push block 2311 and a rear wheel push block drive 2312, the rear wheel moving push block 2311 is a rectangular block as illustrated in the figure, and is disposed on the upper surface of the horizontal platform 21 and vertically crosses the rear wheel positioning section groove 212, the rear wheel push block drive 2312 is disposed outside the end of the rear wheel positioning section groove 212 and is connected to the rear wheel moving push block 2311 for driving the rear wheel moving push block to move, the rear wheel moving push block 2311 is provided with a rear wheel push block guide structure 2313 so that the rear wheel moving push block 2311 can move smoothly, when the rear wheel moving push block 2311 works, the side face of the rear wheel moving push block 2311 is in contact with the corresponding outer side face of the rear wheel, so that the rear wheel is pushed to move left and right, and when the two rear wheels are pushed and clamped by the two rear wheel moving push blocks 2311 according to the setting, the rear wheel moving push block is the fixed point position.

Since the front wheels of the vehicle have two cases, one wheel and two wheels, the present embodiment discloses that the two front wheel set point adjusting devices 232 are actually disposed according to the needs, and may be disposed in both cases or only one case. First, as shown in the figure, the front wheel fixed point adjusting device 232 is disposed at two ends of the front wheel positioning section groove 211, and includes a front wheel moving push block 2321 and a front wheel push block drive 2322, the front wheel moving push block 2321 is disposed on the upper surface of the horizontal platform 21 and vertically crosses the front wheel positioning section groove 211, the front wheel push block drive 2322 is disposed outside an end of the front wheel positioning section groove 211 and is connected to the front wheel moving push block 2321 for driving the front wheel moving push block to move, the front wheel moving push block 2321 is provided with a front wheel push block guiding structure 2323, the structure is the same as the structure of the rear wheel fixed point adjusting device 231, and is suitable for adjusting the front wheel of a vehicle whose front wheel is two wheels, and the action and the using principle are the same, and are not repeated herein. Secondly, the front wheel fixed point adjusting device 232 is symmetrically arranged on both sides of the middle point of the front wheel positioning section groove, as shown in the figure, it includes a T-shaped moving push block 2324, a T-shaped push block driver 2325 and a T-shaped push block guiding structure 2326, the T-shaped moving push block 234 is in a T-shaped section, it is arranged on the upper surface of the horizontal platform 21 and vertically crosses the front wheel positioning section groove 211, two sides of the front wheel positioning section groove 211 are respectively provided with a sliding groove 2327, two ends of the T-shaped vertical arm of the T-shaped moving push block 2324 are respectively provided with a connecting rod 2328 embedded into the corresponding sliding groove 2327, a mounting cavity is arranged in the sliding groove 2327, the T-shaped push block drivers 2325 are respectively arranged in the mounting cavity of the sliding groove and connected with the connecting rod 2328 for driving the movement thereof, the T-shaped push block guiding structure 2326 is arranged between the connecting rod 2328 and the sliding groove 2327, the action of the front wheel fixed point adjusting device 232 is the same principle as the previous one, however, such a structure can realize adjustment of the front wheel in two directions, when the front wheel is a one-wheel vehicle, the front wheel is correspondingly arranged between the two T-shaped moving push blocks 2324, so that during adjustment, the two T-shaped moving push blocks 2324 move to clamp the front wheel, that is, the front road is positioned, and when the front wheel is a two-wheel vehicle, the two T-shaped moving push blocks 2324 move away from each other, and move to be close to the inner side surface of the front wheel on the corresponding side, that is, the front wheel is adjusted.

The rear wheel set point adjusting device 231 and the front wheel set point adjusting device 232 are driven by a driving force which can achieve a good driving force to move the vehicle at the same time, and the detection of the resetting of the rear wheel set point adjusting device 231 and the front wheel set point adjusting device 232 is finished.

In this embodiment, the equipment parking platform 4 and the equipment traction device 5 are mainly used for automatically adjusting traction when a vehicle enters or exits the acceptance parking platform, and the two parts can be correspondingly removed in a workshop in which the traction is not needed to be automatically adjusted. The present embodiment discloses a structure provided with these two parts, specifically, as shown in the figure, the device towing device 5 is used for towing an automatic driving device (i.e. the vehicle mentioned above) from the device parking platform 4 to the acceptance parking platform 2 or from the acceptance parking platform 2 to the device parking platform 4, and is respectively arranged on the two opposite walls on the left and right sides, and includes a towing moving track 51 arranged on the inner side surface of the wall, a towing moving block 52 sliding on the moving track 51, a towing connecting rod 53 hinged on the towing moving block 52, a pushing cylinder 54 arranged on the towing moving block 52 and connected to the towing connecting rod 53, and a moving driving mechanism 55 arranged on the towing moving block 52 and the towing moving track 51, where the moving driving mechanism 55 may be a structure of a motor-driven driving mechanism, and the driving mechanism may be a gear-rack matching manner, the structure is prior art, and can be obtained by those skilled in the art at present, and will not be described in detail herein, the towing connecting rod 53 and the automatic driving device are respectively provided with towing matching parts, as shown in the figure, the towing matching parts on the automatic driving device are U-shaped blocks fixedly provided on the side surface of the vehicle, when the vehicle needs to be towed, the towing moving block 52 is driven to move by the moving driving mechanism 55, so that the towing matching parts on the towing connecting rod 53 correspond to the U-shaped blocks (the function of automatic correspondence can be achieved through sensor setting), the pushing cylinder 54 is controlled to act, the towing matching parts on the towing connecting rod 53 are embedded into the U-shaped grooves of the U-shaped blocks, and after the towing connection is completed on both sides, the moving driving mechanism 55 is started to drive the towing moving block 52 to move, so as to achieve the work of towing entry and exit.

The device parking platform 4 is used for parking adjustment before the automatic driving device enters the workshop body, the adjustment can facilitate accurate alignment of traction work, and comprises a bearing platform 41 for bearing the automatic driving device, a direction adjusting mechanism 42 for driving the rotation angle of the bearing platform 41 and a transverse moving adjusting mechanism 43 for driving the transverse moving position of the bearing platform 41, as shown in the figure, a sinking space for installing the bearing platform 41 is arranged on the ground outside an entrance 11 of the workshop body 1, the transverse moving adjusting mechanism 43 comprises a transverse moving rail 431 arranged at the bottom of the sinking space (the transverse moving direction is consistent with the left and right directions in the workshop body 1 as shown in the figure), a transverse moving platform 432 sliding on the transverse moving rail 431 and a transverse moving driving mechanism (not visible in the figure) for connecting the transverse moving platform 432 to drive the transverse moving platform to move; the bearing platform 432 is a circular bearing platform and covers the sinking space, the orientation adjusting mechanism 42 comprises a rotary supporting connecting plate 421 and a rotary driving mechanism 422 which are connected and arranged between the lower surface of the bearing platform 41 and the upper surface of the transverse moving platform 432, the rotary driving mechanism 422 drives the bearing platform 41 to rotate to adjust the direction of the vehicle head, the transverse moving driving mechanism drives the transverse moving platform 432 to move on the transverse moving track 431 so as to adjust the position of the vehicle head to be in a central position corresponding to the passageway, and the adjustment can also realize automatic induction through sensing equipment whether to adjust to a required position, so that the traction action of the equipment traction device 5 can be realized.

The utility model discloses a use method in multi-line laser radar autopilot equipment's the workshop of checking and accepting of rolling off production line.

The use method of the offline acceptance workshop of the multi-line laser radar automatic driving equipment is characterized by comprising the following steps of:

firstly, initially, the off-line acceptance workshop is in an initial state, and the automatic driving equipment 100 is moved to the bearing platform 41 of the equipment parking platform 4;

secondly, controlling the direction adjusting mechanism 42 to act to enable the bearing platform 41 to rotate to the direction that the front end of the automatic driving device 100 faces the entrance 11, wherein the direction is the direction corresponding to the vertical parallel direction, but not the direction of the directivity;

thirdly, controlling the transverse movement adjusting mechanism 43 to move to enable the bearing platform 41 to transversely move until the automatic driving device 100 is corresponding to the access 11 in the middle section;

fourthly, controlling the equipment traction device 5 to control the action of the equipment traction device to be overlapped with the automatic driving equipment 100, wherein the detailed action is described in the structural part, then controlling the traction movement action to pull the automatic driving equipment 100 from the entrance 11 to be parked on the acceptance parking platform 2, and when the automatic driving equipment 100 is parked, the front wheel and the rear wheel are respectively correspondingly arranged on the parking positioning device 22;

fifthly, controlling the parking positioning device 22 to act to position the front wheels and the rear wheels in the front-rear direction so that the front wheels and the rear wheels can not move forwards or backwards;

sixthly, controlling the parking pointing device 23 to act so that the front wheels and the rear wheels are adjusted to fixed positions on the parking positioning device 22;

starting scanning work of the multi-line laser radar 101 on the automatic driving equipment 100, wherein the scanning work comprises the steps of carrying out laser scanning on a plurality of scanning benchmarks by the multi-line laser radar and generating installation detection laser scanning data, and starting the movable trolley to move according to a set moving speed, carrying out laser scanning on the multi-line laser radar simultaneously and generating function detection laser scanning data;

eighthly, acquiring installation detection laser scanning data and function detection laser scanning data by the acceptance control system to perform data processing analysis judgment, wherein the processing analysis judgment comprises frequency judgment, cluster judgment, level judgment and orientation judgment;

after the detection is finished, if the automatic driving equipment 100 does not pass the off-line acceptance check, firstly controlling the parking positioning device 22 and the parking positioning device 23 to reset, then controlling the equipment traction device 5 to act to pull the automatic driving equipment 100 from the entrance 11 to exit the acceptance check parking platform 2 and exit to the bearing platform 41 of the equipment parking platform 4, selectively controlling the orientation adjusting mechanism 42 to act to rotate the bearing platform 41 according to the orientation requirement of the automatic driving equipment 100, and then moving the automatic driving equipment 100 away from the off-line acceptance check workshop;

if the automatic driving equipment 100 passes the off-line acceptance check, the equipment can realize normal automatic driving, so that the parking positioning device 22, the parking positioning device 23 and the equipment traction device 5 can be controlled to reset firstly, and then the automatic driving equipment 100 is directly controlled to automatically drive and move to leave the off-line acceptance check workshop; or the operation can be carried out in a mode which does not pass through the above, the parking positioning device 22 and the parking positioning device 23 are controlled to reset, then the device traction device 5 is controlled to act to pull the automatic driving device 100 from the entrance 11 to exit the acceptance check parking platform 2 and exit the automatic driving device to the bearing platform 41 of the device parking platform 4, the orientation adjusting mechanism 42 is selectively controlled to act to rotate the bearing platform 41 according to the orientation requirement of the automatic driving device 100, and then the automatic driving device 100 is moved away from the off-line acceptance check workshop. Similarly, for the offline acceptance check, technicians perform corresponding processing of the multi-line laser radar according to unqualified judgment data given by the acceptance control system, such as the processing of replacement, parameter adjustment, installation adjustment and the like of the multi-line laser radar, and after the processing is completed, the steps are returned to perform laser scanning detection again.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.

Claims (5)

1. The automatic warehouse entry and exit device of the offline acceptance workshop of the automatic driving equipment is characterized in that a workshop main body of the offline acceptance workshop is a square workshop with three walls and one inlet and outlet on one side, the automatic warehouse entry and exit device comprises an equipment parking platform and an equipment traction device, and the equipment traction device is used for drawing the automatic driving equipment from the equipment parking platform into the workshop main body or from the workshop main body to the equipment parking platform and is respectively arranged on two opposite walls in the workshop main body; the equipment parking platform is arranged outside an entrance and an exit of the workshop main body and is used for adjusting the parking direction of the automatic driving equipment before entering the workshop main body.

2. The automatic warehouse entry and exit device for the offline acceptance workshop of the automatic driving equipment as claimed in claim 1, wherein the equipment traction device comprises a traction moving track arranged on the inner side surface of the wall body, a traction moving block sliding on the moving track, a traction connecting rod hinged on the traction moving block, a pushing cylinder arranged on the traction moving block and connected with the traction connecting rod, and a movement driving mechanism arranged on the traction moving block and the traction moving track; and the traction connecting rod and the automatic driving equipment are respectively provided with a traction matching part.

3. The automated garage door assembly of an acceptance shop for automated guided equipment according to claim 2, wherein the towing engagement member comprises a U-shaped member detachably provided on both sides of the automated guided equipment and a square member provided on an end of the towing connecting rod, and a side rod of the square member is embedded in the U-shaped member when engaged.

4. The automatic warehouse entry and exit device of the offline acceptance workshop of the automatic driving equipment as claimed in claim 1, 2 or 3, wherein the equipment parking platform comprises a bearing platform for bearing the automatic driving equipment, a direction adjusting mechanism connected and arranged below the bearing platform for driving the bearing platform to rotate and a traverse moving adjusting mechanism for driving the bearing platform to traverse move.

5. The automatic warehouse entry and exit device of the offline acceptance workshop of the automatic driving equipment as claimed in claim 4, wherein a sinking space for installing the bearing platform is arranged on the ground outside the gateway of the main body of the workshop, and the traverse adjustment mechanism comprises a traverse rail arranged at the bottom of the sinking space, a traverse platform sliding on the traverse rail, and a traverse driving mechanism connected with the traverse platform and driving the traverse platform to traverse; the bearing platform is a circular bearing platform and covers the sinking space, and the orientation adjusting mechanism comprises a rotary supporting connecting disc and a rotary driving mechanism which are connected and arranged between the lower surface of the bearing platform and the upper surface of the transverse moving platform.

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