WO2016197611A1

WO2016197611A1 - Intelligent robot capable of laterally transferring vehicle

Info

Publication number: WO2016197611A1
Application number: PCT/CN2016/071395
Authority: WO
Inventors: 吴昊; 蔡颖杰; 王谦
Original assignee: 深圳怡丰自动化科技有限公司
Priority date: 2015-06-10
Filing date: 2016-01-20
Publication date: 2016-12-15
Also published as: CN104895369B; CN104895369A

Abstract

An intelligent robot capable of laterally transferring a vehicle. The intelligent robot comprises a central main body (100) and supporting brackets (121, 122). The supporting brackets (121, 122) are connected to the central main body (100) by means of a horizontal linear drive mechanism. The supporting brackets (121, 122) are located at two sides of the central main body (100) and can horizontally move relative to the central main body (100). The central main body (100) is also provided with a pallet fork frame (110). The pallet fork frame (110) is connected to the central main body (100) by means of a slide way and can move vertically along the central main body (100). Pallet forks (150) capable of moving vertically and horizontally are connected to the pallet fork frame (110). Clamps (151, 152) are connected to the pallet forks (150). The clamps (151, 152) can rotate for 45 to 90° around a fulcrum (153) of the clamps (151, 152). The intelligent robot can quickly store and retrieve vehicles, is highly efficient, and has the characteristics of low construction cost and maintenance cost, energy conservation and environment friendliness.

Description

Intelligent robot capable of laterally moving a vehicle

[0001] The present invention relates to a smart parking device, and more particularly to an intelligent robot capable of laterally transporting a vehicle, which is suitable for the technical field of automobile handling.

[0002]

BACKGROUND

[0004] With the rapid popularization and development of automobiles, the supply of parking spaces in cities is seriously insufficient, and the demand for parking spaces is increasing. The traditional parking modes are gradually developing toward intelligent mechanized three-dimensional parking modes. The existing fully automated vertical parking garages mainly include plane moving type, roadway stacking type, and vertical lifting type. They work like

There are one or more carriers that can lift the car from the bottom of the car and carry it to the elevator. The lift then transports the carrier along with the car to a different parking floor, and then the carrier delivers the car to the designated parking. Bit.

[0005] The main drawbacks of the above types of parking equipment are: (1) The carrier, stacker or traverse vehicle can only move linearly on the track, can not turn, the movement path is limited, can not be used in the parking building Corner space. (2) Because the equipment is based on orbital operation, a large number of tracks need to be laid. The more the number of storage spaces, the longer the roadway, the corresponding increase in the amount of steel and civil engineering used for laying the track, consuming a large amount of materials, labor and daytime. . (3) In the same parking building, it is necessary to configure a variety of equipments such as carriers, traverse vehicles and elevators. The installation of the equipment is complicated, and high-precision installation is required to ensure smooth transition of the carrier on each equipment and the running track. If it is slightly inappropriate, the connection of the equipment will be problematic, and even the size of the equipment will be re-modified. (4) The equipment and mechanisms in these three-dimensional mechanical garages are too bulky and heavy, and the installation and maintenance are large. It is not easy to disassemble and replace them. Once a mechanical component has a problem, the whole system will be paralyzed. (5) This kind of three-dimensional mechanical parking garage is restricted by its own parking mode. The synergistic work efficiency between multiple carriers is not enough to achieve ultra-high-density space utilization efficiency. (6) The above-mentioned automatic three-dimensional garages have high cost and maintenance costs, and are not easy to expand and use.

[0006] As disclosed in Patent No. 201010622917.7, "A Mechanical Garage Smart Handling Car" is disclosed: "It includes a control system, a track positioning mechanism, and a front wheel carrier and a rear wheel carrier of the same structure; the front wheel carrier and the rear wheel carrier each include a frame body, a bidirectional traveling mechanism, a clamp arm mechanism, and four rotatable The clamping arm is disposed at the bottom of the frame body, and the clamping arm mechanism is disposed on the frame body, and each of the two clamping arms is respectively disposed on two sides of the frame body, and the clamping arm mechanism drives and connects the four a clamp arm; the wheel positioning mechanism connects the front wheel carrier and the rear wheel carrier. "However, the carrier is also wired, and can only run linearly on the track. Due to the length of the cable of the reel, the carrier can travel up to 2 inches from the original state. This has caused problems for intensive parking, long-distance transportation vehicles and any space parking. At the same time, due to the thickness of the carrier itself, it can only be applied to cars with higher chassis, and can not be used to transport chassis too low. vehicle.

[0007] In addition, as disclosed in the "Car Handling Device on a Stereo Garage Car" of Patent No. 201410134130.4: "A car handling device on a three-dimensional garage car, the car handling device consists of a tray, a bracket, a bracket The lifting mechanism on the bracket and the horizontal moving mechanism of the bracket, the lifting mechanism on the bracket allows the pallet to be lifted and lowered on the bracket, and the bracket is fixed on the floor of the cabin. The carrier is not free to move.

[0008] Therefore, an intelligent robot that is suitable for various types of vehicles, capable of self-guided and free-travel routes, space-saving, fast access, safe performance, and easy maintenance is urgently needed.

[0009]

SUMMARY OF THE INVENTION

[0011] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and design a highly intelligent parking device, which has a simple structure, low construction and maintenance cost, and convenient access to automobiles. Quickly move cars and park cars, intelligently plan car handling paths, are not constrained by linear tracks, can make full use of irregular spaces, and have the following features: Large area, high density and compact parking space; Multiple carriers with high efficiency coordination Cooperation; Suitable for all types of wheelbase and any chassis type.

[0012] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0013] In one aspect, the present invention relates to an intelligent robot that can laterally transport an automobile, including a center body and a support bracket. The support bracket and the center body are connected by a horizontal linear drive mechanism, and the support brackets are located on both sides of the center body and are opposite to each other. The central body moves horizontally, and a fork plate is further arranged on the central body. The plate fork frame is connected with the central body through the slide rail and can vertically move along the central body; the plate fork frame is connected with vertical lifting movement and horizontal direction. a fork that moves horizontally; a splint is attached to the fork, and the splint can Rotate 45 degrees to 90 degrees around its pivot point.

[0014] Preferably, the intelligent robot further comprises a safety detecting device and/or a navigation device mounted at an end of the support bracket. The intelligent robot may further include a power supply device including a battery installed in the center of the center body and a charging interface electrically connected to the battery.

[0015] Preferably, a universal driving wheel is mounted on the bottom of the support bracket, and each of the universal driving wheels has two motors.

[0016] Preferably, the navigation device may comprise a laser navigation module, a magnetic nail navigation module, an electromagnetic navigation module or an inertial navigation module, and the safety detection device may comprise a laser anti-collision module, a mechanical anti-collision module, an infrared anti-collision module or an ultrasonic anti-collision Module.

[0017] Preferably, the central control system is further provided with a central control system, and the central control system comprises a main controller and a walking module, a lifting module, a guiding positioning module, a safety module, a power supply and a charging management module electrically connected with the main controller, The communication module and the human-machine interaction device are composed.

[0018] In another aspect, the present invention is directed to a method of transporting a vehicle using an intelligent robot capable of laterally transporting a vehicle as described above, comprising the steps of:

[0019] S1: The intelligent robot extends two forks from the side of the car into the bottom of the car;

[0020] S2: 2 plate forks are horizontally moved according to the size of the car;

[0021] S3: When the fork is in contact with the automobile tire, the splint on the fork is rotated by the chain drive by 45 to 90 degrees, and the four tires of the automobile are respectively clamped;

[0022] S4: The intelligent robot transports the car from the entrance and exit room to the designated parking space or from the designated parking space to the entrance and exit room according to the command and dispatch of the parking lot control system.

[0023] Advantages and positive effects of the present invention are:

[0024] 1. The intelligent stereo parking device adopts a multi-row, multi-row and multi-lane structure in the parking lot layout, and the rotating space of the intelligent robot is small, so the moving tunnel space of the intelligent robot is small, and the parking space is adjacent to the parking space. Very close, compared with the existing mechanical three-dimensional parking garage, in the same area of the parking lot, more parking space is freed, which increases the space efficiency of the parking lot.

[0025] 2. The intelligent robot uses the navigation module to perform path navigation, does not depend on a specific ground linear track, and saves the workload of laying a large number of rails, and has the advantages of simple structure, low cost, convenient construction and easy maintenance, and intelligent robots such as In the event of a fault, it is easy to replace the entire robot with it, enabling quick fault repair. The movement path can be easily modified by the control system, and the line can be walked in any direction, curved and original. The ground center rotates, so that the parking space with corners and various irregular spaces can be utilized to achieve extremely high space utilization.

[0026]

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a perspective structural view of an intelligent robot according to the present invention;

2 is a rear elevational view of the intelligent robot of the present invention;

3 is a perspective structural view of another perspective of the intelligent robot of the present invention;

4 is a vehicle state diagram of the intelligent robot according to the present invention;

[0032] FIG. 5 is a schematic diagram of a central control system of the intelligent robot of the present invention;

6 is a state diagram in which a fork side of a smart robot according to the present invention is inserted into a vehicle cymbal;

7 is a state diagram of a splint rotation cymbal of an intelligent robot to which the present invention is applied;

8 is a state diagram of a gripper holding a car sill using the smart robot of the present invention;

9 is a schematic diagram of a parking layer of an intelligent robot to which the present invention is applied;

10 is a structural diagram of a three-dimensional parking lot to which the intelligent robot of the present invention is applied.

[0038] In the figure, the center body 100, the support brackets (121, 122), the linear races 1211, the rollers (101, 10 2), the sprocket 103, the rack 1212, the vertical lifting device 130, the plate fork 150, the splint ( 151, 152), universal drive wheel 161, battery 170.

[0039]

DETAILED DESCRIPTION

[0041] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0042] As shown in FIG. 1, there is shown an intelligent robot capable of laterally transporting a vehicle according to the present invention, the smart robot comprising a central body 100 and two support brackets 121, 122, and the central body 100 is provided There is a central control system. The support brackets 121, 122 are coupled to the center body 100 by a horizontal linear drive mechanism that is located on either side of the center body and that is horizontally movable relative to the center body.

[0043] The central body of the intelligent robot is further provided with a plate fork 110. The plate fork 110 is connected to the central body through a sliding rail, and the plate fork 110 can be vertically moved up and down along the central body, for example, the worm can be screwed up. Driven by a lifting mechanism or a sprocket rack mechanism. The plate fork 110 is fixed with a plate fork 150. The plate fork 150 can follow the plate fork 110 to perform vertical lifting movement along the center body, and can independently horizontally move horizontally. On the fork There are two splints 151, 152 connected thereto, and the splints 151, 152 are rotated by the chain to rotate the fulcrum 153 by 45 to 90 degrees and contact the tire of the automobile, thereby clamping the tire of the automobile.

[0044] An embodiment of a possible horizontal linear drive mechanism is described below. As shown in FIG. 2, two support brackets 121, 122 are located outside the center main body 100, each support bracket has a linear raceway 1211, and the center main body has four pairs of rollers on each side, and the axial end of the first roller 101 is fixed at the center. In the main body, the first roller 101 is embedded in the sliding groove inside the linear raceway 1211; the axial end of the second roller 102 is also fixed on the central body, and the second roller 102 is in sliding contact with the outer side surface of the linear raceway, the linear raceway The 1211 can be horizontally scrolled on the second roller 102. In addition, a sprocket 103 is disposed on each side of the center body 100, and the upper end of the chain 104 is connected to the left linear raceway (point A shown in FIG. 2), and the lower end of the chain 104 is connected to the right linear raceway. (point B shown in Fig. 2), the chain and the sprocket are in mesh with each other, and the transmission of the sprocket and the chain ensures that the horizontal lateral distances of the linear races on both sides are equal with respect to the central body. In addition, the sprocket 103 also has an electromagnetic brake. When the electromagnetic brake locks the rotation of the sprocket, the position of the support bracket relative to the central body can be locked. When the electromagnetic brake is loose, the sprocket can rotate freely. The universal driving wheel 161 on both sides of the bottom of the bracket moves in the opposite direction along the lateral direction, and the lateral support of the supporting brackets on the two sides is laterally displaced, so that the spacing between the two supporting brackets can be independently adjusted according to the length of the vehicle. So that the car can be accommodated between 2 support brackets. Each of the universal driving wheels 161 has two motors. Under the coordinated movement of the universal driving wheels, the intelligent robot can perform straight walking in any direction, curved walking in any direction, and center rotation in the plane.

[0045] The intelligent robot according to the present invention further includes a power supply device, a navigation device, and a safety detecting device, thereby realizing autonomous charging and autonomous walking of the robot.

As shown in FIG. 3, the power supply device includes a battery 170 installed in the center of the center body and a charging interface electrically connected to the battery. When the robot is idle, it can go to the charging position set on the parking floor to charge.

[0047] As shown in FIG. 1, one end of the support brackets 121, 122 is mounted with a navigation device 181, which may include a laser navigation module, may also include a magnetic nail navigation module or an electromagnetic navigation module or an inertial navigation module, especially a gyroscope .

[0048] The principle of the laser navigation module is: a plurality of personal work marks (such as reflective stickers) are placed in the space of the robot movement, and the laser navigation module transmits and reflects the laser light back during the walking process. The beam is used to measure the distance and angle of each reflective marker, and then geometrically calculate its position information for position navigation.

[0049] The other end of the support brackets 121, 122 is mounted with a safety detecting device 182, which may include a laser anti-collision module, and may also include a mechanical anti-collision module or an infrared anti-collision module or an ultrasonic anti-collision module. Objects in four directions are scanned and identified.

[0050] The working principle of the laser anti-collision module is as follows: The laser anti-collision module emits a laser beam to illuminate surrounding objects, and detects the presence or absence of an obstacle by detecting the reflected light of the laser beam, and feeds back signals to the control system for control. The system issues commands to control the robot's travel and stop.

[0051] As shown in FIG. 5, the central control system is composed of a main controller and a walking module, a lifting module, a guiding positioning module, a safety module, a power supply and a charging management module, a communication module, and a human-machine interaction device electrically connected to the main controller. composition. The guiding and positioning module is used for guiding and positioning the traveling path of the intelligent robot; the safety module is used to prevent the intelligent robot from colliding with surrounding objects during the traveling, and ensuring the safety thereof; the communication module is used for wireless communication between the intelligent robot and the outside; The machine interaction device is used to set the intelligent robot parameters and display the operating state of the intelligent robot.

[0052] The following describes the workflow of the boot positioning module: The upper system sends the task table/walking segment table through the wireless network, the radio station, etc., and the communication module monitors the data and stores it in the segment table queue. The AGV takes the segment table parameters, point information, and operation code information from the segment table queue to realize speed generation, destination point determination, and handling operation code command output. The main controller implements the position calculation. The principle is as follows: The position estimation is accurately estimated and calculated by using two position calculators. The main position calculator uses the dead reckoning algorithm, based on the last position information and encoder information (speed coding). The angular orientation of the A GV is calculated by the kinematic model of the vehicle and the body. However, since the theoretical position will accumulate errors as time passes, the auxiliary calculator is also required for position correction. The auxiliary position calculator obtains the real position based on information such as the laser head/magnetic point sensor of the navigation device. The main controller converts the speed information into an electrical signal, sends it to the steering servo driver of the walking module and drives the servo driver, and the servo controller controls the motor to complete the walking.

[0053] As shown in FIG. 4, FIG. 6, FIG. 7, and FIG. 8, a method for carrying an automobile with an intelligent robot capable of laterally transporting a vehicle according to the present invention includes the following steps:

[0054] S1: The intelligent robot extends two forks 150 from the side of the car into the bottom of the car; [0055] S2: the two forks 150 are horizontally moved according to the size of the automobile;

[0056] S3: When the plate fork 150 contacts the car tire 吋, the splint 1511 and 152 on the plate fork are rotated by 45 to 90 degrees by the chain drive, and the four tires of the car are respectively clamped;

[0057] S4: The intelligent robot transports the car from the entrance and exit room to the designated parking space or from the designated parking space to the entrance and exit room according to the command and dispatch of the parking lot control system.

[0058] As shown in FIG. 7 and FIG. 8 , by using the stereo parking lot of the intelligent robot, a plurality of elevators and a plurality of intelligent robots can be arranged on each parking floor to realize multiple vehicles to access the vehicle. This combines the advantages of a flat parking lot and a three-dimensional parking garage to achieve a high-density, high-efficiency access vehicle.

[0059] It is to be noted that the foregoing is a further detailed description of the present invention in conjunction with the specific preferred embodiments. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

technical problem

Problem solution

Advantageous effects of the invention

Claims

An intelligent robot capable of laterally transporting a vehicle includes a center body and a support bracket, the support bracket being coupled to the center body by a horizontal linear drive mechanism, the support bracket being located on both sides of the center body and opposite The center body moves horizontally,

The utility model is further characterized in that: the plate main body is further provided with a plate fork frame, wherein the plate fork frame is connected to the central body through the slide rail and can vertically move up and down along the central body; the plate fork frame is provided with horizontal and horizontal directions a moving plate fork; the plate fork is provided with a rotatable splint that is rotatable about its fulcrum by 45 to 90 degrees.

The intelligent robot for laterally transporting a vehicle according to claim 1, further comprising a safety detecting device and/or a navigation device mounted to the end of the support bracket.

An intelligent robot for laterally transporting a vehicle according to claim 1, further comprising: a power supply device comprising a battery installed in a center of the center body and a charging interface electrically connected to the battery.

The intelligent robot for laterally transporting a vehicle according to claim 1, wherein a universal driving wheel is mounted on the bottom of the support bracket, and each of the universal driving wheels has two motors.

[Claim 5] The intelligent robot capable of laterally transporting a vehicle according to claim 2, wherein the navigation device comprises a laser navigation module, a magnetic nail navigation module, an electromagnetic navigation module or a inertial navigation module.

[Claim 6] The intelligent robot capable of laterally transporting a vehicle according to claim 2, wherein the safety detecting device comprises a laser anti-collision module, a mechanical anti-collision module, an infrared anti-collision module or an ultrasonic anti-collision module .

[Claim 7] The intelligent robot capable of laterally transporting a vehicle according to claim 6, wherein the central body is further provided with a central control system, and the central control system is controlled by the main controller and the main control The utility model is composed of a walking module, a lifting module, a guiding positioning module, a safety module, a power supply and a charging management module, a communication module and a human-machine interaction device.

[Claim 8] A method for transporting a vehicle using an intelligent robot capable of laterally transporting a vehicle according to claim 1, comprising the steps of: S 1: The intelligent robot extends two forks from the side of the car into the bottom of the car;

S2: 2 forks move horizontally according to the size of the car;

S3: When the fork is in contact with the car tire, the splint on the fork is rotated 45 degrees to 90 degrees by the chain drive, and the four tires of the car are respectively clamped;

S4: The intelligent robot transports the car from the entrance and exit room to the designated parking space or from the designated parking space to the entrance and exit room according to the command and dispatch of the parking lot control system.