技术领域technical field
本发明涉及运输领域，具体而言，涉及一种一种AGV搬运系统及停车系统。The invention relates to the field of transportation, in particular to an AGV handling system and a parking system.
背景技术Background technique
随着城市建设的不断发展和居民生活质量的普遍提高，城市汽车数量急剧增加，但与汽车配套的停车场或停车位却难以满足汽车的急剧增加，对停车位的需求越来越大，解决停车难的方式即为由传统停车方式向智能化立体停车方式转变。现有立体停车方式有升降横移类、简易升降类、垂直循环类、水平循环类、多层循环类、平面移动类、巷道堆垛类、垂直升降类和汽车专用升降机。最为常用的类型有升降横移类、平面移动类、巷道堆垛类、垂直升降类。以上停车方式可简单概括为通过搬运设备将汽车搬运至升降处，再由升降设备将汽车升降至目标高度，最终再次通过搬运设备将汽车搬运至目标位置，即完成汽车的存放。With the continuous development of urban construction and the general improvement of the quality of life of residents, the number of urban cars has increased sharply, but the parking lot or parking space supporting the car is difficult to meet the sharp increase of cars, and the demand for parking spaces is increasing. The difficult way to park is to change from traditional parking to intelligent three-dimensional parking. The existing three-dimensional parking methods include lifting and moving, simple lifting, vertical circulation, horizontal circulation, multi-layer circulation, plane movement, roadway stacking, vertical lifting and car-specific elevators. The most commonly used types are lifting and moving, plane moving, roadway stacking, and vertical lifting. The above parking methods can be simply summarized as transporting the car to the lifting place by the handling equipment, then lifting the car to the target height by the lifting equipment, and finally transporting the car to the target position by the handling equipment again, that is, completing the storage of the car.
在汽车搬运方式中，最为常用的是梳齿式结构搬运。梳齿式结构搬运方式是通过搬运机构中设置梳齿架，同时在存放位置上设置梳齿架，再利用两者梳齿的错位组合方式，仅通过搬运机构的升降运动实现了将汽车或其他搬运品存放在规定位置，使得搬运存放便捷高效。In the vehicle handling method, the most commonly used is the comb-tooth structure handling. Comb-tooth structure handling method is to set the comb rack in the transport mechanism, and set the comb rack on the storage position at the same time, and then use the misplaced combination of the two combs to realize the lifting movement of the transport mechanism. Car or other The transported goods are stored in the specified position, making the handling and storage convenient and efficient.
在汽车搬运的升降方式中，最为常用的是通过卷扬机实现汽车的升降运动，若汽车的升降距离较短，也可以通过齿轮齿条副、液压系统等方式实现。行程较大时，通常选用卷扬机与搬运机构配合来升降汽车。In the lifting method of car handling, the most commonly used method is to realize the lifting movement of the car through the winch. If the lifting distance of the car is short, it can also be realized by means of rack and pinion pairs, hydraulic systems, etc. When the stroke is large, the winch is usually used to cooperate with the handling mechanism to lift the car.
现立体停车库大中型居多，建造周期长，成本较高、灵活度较低，很难适用于街道边、老旧小区的立体停车库。在顶升机构中多以通过交流电机控制的卷扬机实现汽车的升降，并未与搬运机构结合使用，集成度较低。Most of the current three-dimensional parking garages are large and medium-sized, with a long construction period, high cost and low flexibility, so it is difficult to apply to the three-dimensional parking garages on the side of the street and in old communities. In the jacking mechanism, the hoist controlled by the AC motor is used to realize the lifting of the car, which is not used in combination with the handling mechanism, and the integration degree is low.
发明内容Contents of the invention
本发明的目的在于提供一种AGV搬运系统，本发明提供的AGV搬运系统能够提高车位利用率，改造与制造成本低廉，使用灵活方便。The object of the present invention is to provide an AGV handling system, which can improve the utilization rate of parking spaces, has low cost of modification and manufacture, and is flexible and convenient to use.
本发明的目的在于提供一种停车系统，本发明提供的停车系统能够提高车位利用率，改造与制造成本低廉，使用灵活方便。The purpose of the present invention is to provide a parking system. The parking system provided by the present invention can improve the utilization rate of parking spaces, has low cost of transformation and manufacture, and is flexible and convenient to use.
本发明提供一种技术方案：The invention provides a technical solution:
一种AGV搬运系统，用于将被载物运输至钢架车库的存放单元上，所述AGV搬运系统包括驱动装置、举升机构、伸缩机构、载车板存取机构及控制装置，所述驱动装置与所述举升机构连接，所述伸缩机构与所述举升机构及所述载车板存取机构连接；An AGV handling system for transporting objects to a storage unit in a steel frame garage, the AGV handling system includes a drive device, a lifting mechanism, a telescopic mechanism, a vehicle-loading plate access mechanism and a control device, the The driving device is connected to the lifting mechanism, and the telescoping mechanism is connected to the lifting mechanism and the access mechanism of the vehicle loading plate;
所述载车板存取机构用于存放所述被载物；The vehicle loading plate access mechanism is used to store the loaded objects;
所述控制装置与所述举升机构连接，用于当所述驱动装置运动至所述存放单元时，控制所述举升机构举升，使所述载车板存取机构与所述存放单元相平齐；The control device is connected to the lifting mechanism, and is used to control the lifting mechanism to lift when the driving device moves to the storage unit, so that the vehicle-loading plate access mechanism and the storage unit phase level;
所述控制装置与所述伸缩机构连接，用于当所述载车板存取机构与所述存放单元相平齐时，控制所述伸缩机构伸缩，并搭接于所述存放单元，以使所述载车板存取机构将所述被载物运输至所述存放单元上。The control device is connected to the telescopic mechanism, and is used to control the telescopic mechanism to expand and contract when the vehicle-loading plate access mechanism is flush with the storage unit, and to overlap the storage unit, so that The vehicle loading plate access mechanism transports the loaded objects to the storage unit.
进一步地，在本发明较佳的实施例中，所述载车板存取机构包括驱动组件、顶升机构及托板组件，所述托板组件用于放置所述被载物；Further, in a preferred embodiment of the present invention, the vehicle loading plate access mechanism includes a drive assembly, a jacking mechanism and a pallet assembly, and the pallet assembly is used to place the loaded object;
所述驱动组件与所述伸缩机构连接，用于将所述载车板存取机构运输至所述存放单元远离所述驱动装置的一侧；The driving assembly is connected to the telescoping mechanism, and is used to transport the vehicle-loading plate access mechanism to the side of the storage unit away from the driving device;
所述顶升机构与所述托板组件连接，用于当所述顶升机构向靠近所述驱动装置的方向运动时，使所述托板组件将所述被载物放置在所述存放单元上。The jacking mechanism is connected with the pallet assembly, and is used to make the pallet assembly place the loaded object in the storage unit when the jacking mechanism moves toward the direction close to the driving device superior.
进一步地，在本发明较佳的实施例中，所述托板组件包括调节组件、第一托板及第二托板，所述第一托板及所述第二托板均通过所述调节组件与所述顶升机构活动连接，所述第一托板及所述第二托板均能够通过所述调节组件相对所述举升机构运动。Further, in a preferred embodiment of the present invention, the pallet assembly includes an adjustment assembly, a first pallet and a second pallet, and both the first pallet and the second pallet are adjusted through the adjustment. The component is movably connected with the lifting mechanism, and both the first support plate and the second support plate can move relative to the lifting mechanism through the adjustment component.
进一步地，在本发明较佳的实施例中，所述第一托板包括第一托板本体及第一梳齿板，所述第一梳齿板与所述第一托板本体远离所述第二托板的一端连接；Further, in a preferred embodiment of the present invention, the first pallet includes a first pallet body and a first comb plate, and the first comb plate and the first pallet body are far away from the One end of the second pallet is connected;
所述第二托板包括第二托板本体及第二梳齿板，所述第二梳齿板与所述第二托板本体远离所述第一托板的一端连接；The second pallet includes a second pallet body and a second comb plate, and the second comb plate is connected to an end of the second pallet body away from the first pallet;
所述第一梳齿板及所述第二梳齿板用于当所述顶升机构运动时，与所述钢架车库错位，以使所述被载物放置在所述钢架车库上。The first comb-tooth plate and the second comb-tooth plate are used for misalignment with the steel frame garage when the jacking mechanism moves, so that the loaded objects are placed on the steel frame garage.
进一步地，在本发明较佳的实施例中，所述调节组件为两个，所述调节组件包括调节电机、传动组件，所述调节电机设置在所述举升机构上，所述传动组件连接所述调节组件及所述第一托板和所述第二托板，用于当所述调节电机转动时，带动所述第一托板和/或所述第二托板相对于所述举升机构运动。Further, in a preferred embodiment of the present invention, there are two adjustment assemblies, the adjustment assembly includes an adjustment motor and a transmission assembly, the adjustment motor is arranged on the lifting mechanism, and the transmission assembly is connected to The adjusting assembly and the first supporting plate and the second supporting plate are used to drive the first supporting plate and/or the second supporting plate relative to the lift when the adjusting motor rotates. Lift mechanism movement.
进一步地，在本发明较佳的实施例中，所述调节组件还包括托板轨道，所述托板轨道设置在所述举升机构上，所述托板轨道与所述第一托板及所述第二托板配合，所述第一托板及所述第二托板能够在所述调节电机转动时相对于所述托板轨道运动。Further, in a preferred embodiment of the present invention, the adjustment assembly further includes a pallet rail, the pallet rail is arranged on the lifting mechanism, and the pallet rail is connected to the first pallet and The second supporting board cooperates, and the first supporting board and the second supporting board can orbitally move relative to the supporting board when the adjusting motor rotates.
进一步地，在本发明较佳的实施例中，所述顶升机构包括载车板机架、第一顶升机构及第一升降台，载车板机架通过所述第一顶升机构与所述第一升降台连接，所述驱动装置与所述载车板机架连接，所述托板组件与所述第一升降台连接，Further, in a preferred embodiment of the present invention, the jacking mechanism includes a vehicle-loading plate frame, a first jacking mechanism, and a first lifting platform, and the vehicle-loading plate frame passes through the first jacking mechanism and the first lifting platform. The first lifting platform is connected, the driving device is connected to the vehicle-carrying frame, the pallet assembly is connected to the first lifting platform,
所述第一顶升机构用于带动所述第一升降台向远离所述载车板机架的方向运动。The first jacking mechanism is used to drive the first lifting platform to move away from the vehicle-carrying board frame.
进一步地，在本发明较佳的实施例中，所述举升机构包括第二机架、第二顶升机构及第二升降台，第二机架通过所述第二顶升机构与所述第二升降台连接，所述驱动装置与所述第二机架连接，所述载车板存取机构与所述第二升降台连接，Further, in a preferred embodiment of the present invention, the lifting mechanism includes a second frame, a second lifting mechanism and a second lifting platform, and the second frame is connected to the second lifting mechanism through the second lifting mechanism. The second lifting platform is connected, the driving device is connected to the second frame, the vehicle loading plate access mechanism is connected to the second lifting platform,
所述第二顶升机构用于带动所述第二升降台向远离所述第二机架的方向运动。The second jacking mechanism is used to drive the second lifting platform to move away from the second frame.
进一步地，在本发明较佳的实施例中，所述伸缩机构包括伸缩电机及伸缩轨道，所述伸缩电机与所述伸缩轨道连接，所述钢架车库上设置有导轨，Further, in a preferred embodiment of the present invention, the telescopic mechanism includes a telescopic motor and a telescopic track, the telescopic motor is connected to the telescopic track, and guide rails are provided on the steel frame garage,
所述控制装置与所述伸缩电机连接，用于控制伸缩电机转动，使所述伸缩轨道伸长，与所述导轨选择性地配合，使所述载车板存取机构运动至所述钢架车库上。The control device is connected with the telescopic motor, and is used to control the rotation of the telescopic motor to extend the telescopic track, and selectively cooperate with the guide rail to move the vehicle-loading plate access mechanism to the steel frame On the garage.
一种停车系统，包括AGV搬运系统，所述AGV搬运系统，用于将被载物运输至钢架车库的存放单元上，所述AGV搬运系统包括驱动装置、举升机构、伸缩机构、载车板存取机构及控制装置，所述驱动装置与所述举升机构连接，所述伸缩机构与所述举升机构及所述载车板存取机构连接；A parking system, including an AGV handling system, the AGV handling system is used to transport the loaded objects to the storage unit of the steel frame garage, the AGV handling system includes a driving device, a lifting mechanism, a telescopic mechanism, a vehicle A board access mechanism and a control device, the driving device is connected to the lifting mechanism, and the telescopic mechanism is connected to the lifting mechanism and the vehicle board access mechanism;
所述载车板存取机构用于存放所述被载物；The vehicle loading plate access mechanism is used to store the loaded objects;
所述控制装置与所述举升机构连接，用于当所述驱动装置运动至所述存放单元时，控制所述举升机构举升，使所述载车板存取机构与所述存放单元相平齐；The control device is connected to the lifting mechanism, and is used to control the lifting mechanism to lift when the driving device moves to the storage unit, so that the vehicle-loading plate access mechanism and the storage unit phase level;
所述控制装置与所述伸缩机构连接，用于当所述载车板存取机构与所述存放单元相平齐时，控制所述伸缩机构伸缩，并搭接于所述存放单元，以使所述载车板存取机构将所述被载物运输至所述存放单元上。The control device is connected to the telescopic mechanism, and is used to control the telescopic mechanism to expand and contract when the vehicle-loading plate access mechanism is flush with the storage unit, and to overlap the storage unit, so that The vehicle loading plate access mechanism transports the loaded objects to the storage unit.
本发明提供的AGV搬运系统及停车系统的有益效果是：在本发明中，载车板存取机构用于存放被载物；控制装置与举升机构连接，当驱动装置运动至存放单元时，控制举升机构举升，使载车板存取机构与存放单元相平齐；当载车板存取机构与存放单元相平齐时，控制装置控制伸缩机构伸缩，并搭接于存放单元，以使载车板存取机构将被载物运输至存放单元上。本发明提供的AGV搬运系统能够提高车位利用率，改造与制造成本低廉，使用灵活方便。The beneficial effects of the AGV handling system and parking system provided by the present invention are: in the present invention, the access mechanism of the vehicle loading plate is used to store the loaded objects; the control device is connected with the lifting mechanism, and when the driving device moves to the storage unit, Control the lifting mechanism to lift, so that the access mechanism of the vehicle-loading plate is flush with the storage unit; when the access mechanism of the vehicle-loading plate is flush with the storage unit, the control device controls the expansion and contraction of the telescopic mechanism, and overlaps the storage unit, In order to make the loading and unloading mechanism of the vehicle board transport the loaded objects to the storage unit. The AGV handling system provided by the present invention can improve the utilization rate of the parking space, has low cost for transformation and manufacture, and is flexible and convenient to use.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.
图1为本发明实施例提供的停车系统的组成框图。Fig. 1 is a composition block diagram of a parking system provided by an embodiment of the present invention.
图2为本发明实施例提供的停车系统的AGV搬运系统的结构示意图。Fig. 2 is a schematic structural diagram of the AGV handling system of the parking system provided by the embodiment of the present invention.
图3为本发明实施例提供的停车系统的AGV搬运系统的载车板存取机构的结构示意图。Fig. 3 is a schematic structural diagram of the access mechanism of the vehicle loading plate of the AGV handling system of the parking system provided by the embodiment of the present invention.
图4为本发明实施例提供的停车系统的AGV搬运系统的载车板存取机构的托板组件的第一托板的结构示意图。4 is a schematic structural view of the first pallet of the pallet assembly of the pallet access mechanism of the AGV handling system of the parking system provided by the embodiment of the present invention.
图5为本发明实施例提供的停车系统的AGV搬运系统的载车板存取机构的托板组件的第二托板的结构示意图。5 is a schematic structural view of the second pallet of the pallet assembly of the pallet access mechanism of the AGV handling system of the parking system provided by the embodiment of the present invention.
图6为本发明实施例提供的停车系统的AGV搬运系统的举升机构的结构示意图。Fig. 6 is a schematic structural diagram of the lifting mechanism of the AGV handling system of the parking system provided by the embodiment of the present invention.
图7为本发明实施例提供的停车系统的钢架车库的结构示意图。Fig. 7 is a schematic structural diagram of a steel frame garage of the parking system provided by an embodiment of the present invention.
图8为本发明实施例提供的停车系统的钢架车库的存放组件的结构示意图。Fig. 8 is a schematic structural diagram of a storage assembly of a steel frame garage of the parking system provided by an embodiment of the present invention.
图9为本发明实施例提供的停车系统的钢架车库的存放组件的存放单元的结构示意图。Fig. 9 is a schematic structural diagram of a storage unit of a storage unit of a steel frame garage storage unit of the parking system provided by an embodiment of the present invention.
图10为本发明实施例提供的停车系统的钢架车库的存放组件的存放单元的支撑部的结构示意图。Fig. 10 is a schematic structural diagram of a support portion of a storage unit of a storage unit of a steel frame garage storage assembly of the parking system provided by an embodiment of the present invention.
图11为本发明实施例提供的停车系统的地槽升降平台的结构示意图。Fig. 11 is a schematic structural diagram of the underground trough lifting platform of the parking system provided by the embodiment of the present invention.
图标：10-停车系统；100-钢架车库；110-存放组件；120-连接架；130-存放单元；132-支撑架；134-支撑组件；135-导轨；136-支撑部；1362-支撑柱；1364-支撑板；1366-梳齿；138-第一组；139-第二组；200-AGV搬运系统；210-驱动装置；220-举升机构；222-第二机架；224-第二升降板；226-第二升降台；230-伸缩机构；232-伸缩电机；234-伸缩轨道；240-载车板存取机构；242-驱动组件；244-顶升机构；2442-载车板机架；2444-第一升降板；2446-第一升降台；246-托板组件；247-调节组件；2472-调节电机；2474-传动组件；248-第一托板；2482-第一托板本体；2484-第一梳齿板；249-第二托板；2492-第二托板本体；2494-第二梳齿板；250-第一距离传感器；260-第二距离传感器；300-信息获取装置；400-控制装置；500-导航模块；600-地槽升降平台；610-升降板；620-顶升机构；640-盖板。Icons: 10-parking system; 100-steel frame garage; 110-storage component; 120-connection frame; 130-storage unit; 132-support frame; 134-support component; Column; 1364-support plate; 1366-comb; 138-first group; 139-second group; 200-AGV handling system; 210-driving device; 220-lifting mechanism; 222-second rack; 224- The second lifting plate; 226-the second lifting platform; 230-telescopic mechanism; 232-telescopic motor; 234-telescopic track; Vehicle plate frame; 2444-the first lifting plate; 2446-the first lifting platform; 246-pallet assembly; 247-adjusting assembly; 2472-adjusting motor; A pallet body; 2484-the first comb plate; 249-the second pallet; 2492-the second pallet body; 2494-the second comb plate; 250-the first distance sensor; 260-the second distance sensor; 300-information acquisition device; 400-control device; 500-navigation module; 600-floor lifting platform; 610-lifting plate; 620-jacking mechanism; 640-cover plate.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.
在本发明的描述中，需要理解的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，或者是本领域技术人员惯常理解的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, or the orientation or positional relationship that is commonly understood by those skilled in the art. In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.
在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
实施例Example
请参阅图1，本实施例提供了一种停车系统10，本实施例提供的停车系统10能够提高车位利用率，改造与制造成本低廉，使用灵活方便。Please refer to FIG. 1 , this embodiment provides a parking system 10 , the parking system 10 provided by this embodiment can improve the utilization rate of parking spaces, the cost of modification and manufacture is low, and it is flexible and convenient to use.
本实施例提供的停车系统10适用于老旧小区的停车位改造，解决小区停车难，停车乱的问题，能够提高车位利用率，改造与制造成本低廉，使用灵活方便，同时也适用于街道停车位改造以及政府办事处等的停车位改造。The parking system 10 provided in this embodiment is suitable for the renovation of parking spaces in old residential quarters, solving the problems of difficult parking and chaotic parking in the community, improving the utilization rate of parking spaces, low cost of renovation and manufacturing, flexible and convenient to use, and also suitable for street parking Renovation of parking spaces and renovation of parking spaces in government offices, etc.
在本实施例中，停车系统10用于运输并存放车，停车系统10包括信息获取装置300、AGV搬运系统200(请参阅图2)及钢架车库100(请参阅图7)，AGV搬运系统200包括控制装置400。In the present embodiment, the parking system 10 is used to transport and store cars. The parking system 10 includes an information acquisition device 300, an AGV handling system 200 (seeing FIG. 2 ) and a steel frame garage 100 (seeing FIG. 7 ). 200 includes a control device 400 .
AGV搬运系统200用于运输车；The AGV handling system 200 is used for transport vehicles;
信息获取装置300用于获取车的参数信息；The information acquiring device 300 is used to acquire parameter information of the vehicle;
控制装置400与信息获取装置300连接，用于依据参数信息匹配钢架车库100的存放单元130；控制装置400与AGV搬运系统200连接，还用于控制AGV搬运系统200将车运输至与参数信息匹配的存放单元130。The control device 400 is connected with the information acquisition device 300, and is used to match the storage unit 130 of the steel frame garage 100 according to the parameter information; the control device 400 is connected with the AGV handling system 200, and is also used to control the AGV handling system 200 to transport the car to the location corresponding to the parameter information. Matching storage unit 130 .
在本实施例中，参数信息包括轴距信息，信息获取装置300用于获取车的轴距信息，控制装置400用于依据轴距信息匹配存放单元130。In this embodiment, the parameter information includes wheelbase information, the information acquiring device 300 is used to acquire the wheelbase information of the vehicle, and the control device 400 is used to match the storage unit 130 according to the wheelbase information.
在本实施例中，钢架车库100包括多个存放单元130，不同的存放单元130的尺寸不同，不同的车的尺寸也不相同，控制装置400根据车的轴距信息匹配与车的轴距相匹配的存放单元130，使车能够放置于存放单元130上。In this embodiment, the steel frame garage 100 includes a plurality of storage units 130, the sizes of different storage units 130 are different, and the sizes of different cars are also different, and the control device 400 matches the wheelbase of the car according to the wheelbase information of the car The matching storage unit 130 enables the car to be placed on the storage unit 130 .
在本实施例中，信息获取装置300可以通过扫描车的车牌，读取待存放的车的轴距信息，也可以刷卡读取待存放的车的轴距信息。In this embodiment, the information acquisition device 300 can read the wheelbase information of the car to be stored by scanning the license plate of the vehicle, or can read the wheelbase information of the car to be stored by swiping a card.
需要说明的是，在本实施例中，控制装置400依据车的轴距信息匹配存放单元130，但是不限于此，在本发明的其他实施例中，可以依据车的长度或者宽度来匹配存放单元130，与本实施例等同的方案，能够达到本实施例的效果的，均在本发明的保护范围内。It should be noted that, in this embodiment, the control device 400 matches the storage unit 130 according to the wheelbase information of the vehicle, but it is not limited thereto. In other embodiments of the present invention, the storage unit can be matched according to the length or width of the vehicle 130. A solution equivalent to this embodiment, which can achieve the effect of this embodiment, is within the protection scope of the present invention.
在本实施例中，停车系统10还包括导航模块500，导航模块500用于依据与参数信息匹配的存放单元130的位置信息以及AGV搬运系统200的位置信息规划用于路径。In this embodiment, the parking system 10 further includes a navigation module 500 for planning a route based on the location information of the storage unit 130 matched with the parameter information and the location information of the AGV handling system 200 .
控制装置400与导航模块500连接，用于依据运输路径控制AGV搬运系统200将车运输至存放单元130。The control device 400 is connected with the navigation module 500 for controlling the AGV handling system 200 to transport the vehicle to the storage unit 130 according to the transport path.
在本实施例中，导航模块500用于依据与轴距信息匹配的存放单元130的位置信息及AGV搬运系统200的位置信息规划运输路径。In this embodiment, the navigation module 500 is used to plan the transportation route according to the location information of the storage unit 130 and the location information of the AGV handling system 200 that match the wheelbase information.
在本实施例中，导航模块500安装在AGV搬运系统200上。导航装置可以是激光导航模块500、磁导航模块500或者电磁导航模块500、也可以是惯性导航模块500。In this embodiment, the navigation module 500 is installed on the AGV handling system 200 . The navigation device may be a laser navigation module 500 , a magnetic navigation module 500 or an electromagnetic navigation module 500 , or an inertial navigation module 500 .
请参阅图2，在本实施例中，AGV搬运系统200包括驱动装置210、举升机构220、伸缩机构230及载车板存取机构240，驱动装置210与举升机构220连接，伸缩机构230与举升机构220及载车板存取机构240连接；Please refer to Fig. 2, in the present embodiment, AGV handling system 200 comprises driving device 210, lifting mechanism 220, telescoping mechanism 230 and vehicle-loading board access mechanism 240, and driving device 210 is connected with lifting mechanism 220, and telescopic mechanism 230 Connected with the lifting mechanism 220 and the vehicle loading plate access mechanism 240;
载车板存取机构240用于存放车；The vehicle loading plate access mechanism 240 is used to store the vehicle;
控制装置400与举升机构220连接，用于当驱动装置210运动至存放单元130时，控制举升机构220举升，使载车板存取机构240与存放单元130相平齐；The control device 400 is connected with the lifting mechanism 220, and is used to control the lifting mechanism 220 to lift when the driving device 210 moves to the storage unit 130, so that the vehicle-loading plate access mechanism 240 is flush with the storage unit 130;
控制装置400与伸缩机构230连接，用于当载车板存取机构240与存放单元130相平齐时，控制伸缩机构230伸缩，并搭接于存放单元130，以使载车板存取机构240将车运输至存放单元130上。The control device 400 is connected with the telescopic mechanism 230, and is used to control the telescopic mechanism 230 to expand and contract when the vehicle-loading plate access mechanism 240 is flush with the storage unit 130, and to overlap the storage unit 130, so that the vehicle-loading plate access mechanism 240 transports the vehicle to the storage unit 130 .
在本实施例中，当车放到载车板存取机构240上后，驱动装置210将车运输至与车匹配的存放单元130处，然后控制装置400控制举升机构220上升，使载车板存取机构240与存放单元130在同一条水平面上，伸缩机构230伸缩，存放单元130连接形成轨道，使载车板存取机构240通过伸缩机构230将车运输至存放单元130上。In this embodiment, when the vehicle is placed on the access mechanism 240 of the vehicle-loading plate, the driving device 210 transports the vehicle to the storage unit 130 matching the vehicle, and then the control device 400 controls the lifting mechanism 220 to rise, so that the vehicle-loading The plate access mechanism 240 and the storage unit 130 are on the same horizontal plane, the telescopic mechanism 230 is telescopic, and the storage units 130 are connected to form a track, so that the vehicle-loaded plate access mechanism 240 can transport the vehicle to the storage unit 130 through the telescopic mechanism 230 .
在本实施例中，钢架车库100上设置第一限速点及第二限速点，举升机构220以第一速度快速运行，当举升机构220运动至第一限速点时，控制装置400控制举升机构220以第二速度运动，直至运动到第二限速点。In this embodiment, a first speed limit point and a second speed limit point are set on the steel frame garage 100, and the lifting mechanism 220 runs quickly at the first speed. When the lifting mechanism 220 moves to the first speed limit point, the control The device 400 controls the lifting mechanism 220 to move at the second speed until it reaches the second speed limit point.
在本实施例中，第一速度大于第二速度。In this embodiment, the first speed is greater than the second speed.
在本实施例中，举升机构220采用液压系统驱动，为剪式举升机构。In this embodiment, the lifting mechanism 220 is driven by a hydraulic system and is a scissor lifting mechanism.
请参阅图3，在本实施例中，载车板存取机构240包括驱动组件242、顶升机构244及托板组件246，托板组件246用于放置车；Please refer to Fig. 3, in this embodiment, the access mechanism 240 of the vehicle loading plate includes a drive assembly 242, a jacking mechanism 244 and a pallet assembly 246, and the pallet assembly 246 is used to place the vehicle;
驱动组件242与伸缩机构230连接，用于将载车板存取机构240运输至存放单元130远离驱动装置210的一侧；The driving assembly 242 is connected with the telescopic mechanism 230, and is used to transport the vehicle loading plate access mechanism 240 to the side of the storage unit 130 away from the driving device 210;
顶升机构244与托板组件246连接，用于当顶升机构244向靠近驱动装置210的方向运动时，使托板组件246将车放置在存放单元130上。The jacking mechanism 244 is connected with the pallet assembly 246 , and is used to make the pallet assembly 246 place the vehicle on the storage unit 130 when the jacking mechanism 244 moves towards the direction of the driving device 210 .
在本实施例中，当伸缩机构230伸长与存放单元130搭接后，驱动组件242在伸缩机构230上运动，并带动车运输至存放单元130的正上方，顶升机构244向靠近存放单元130的方向上运动，托板组件246与存放单元130错位，使车放置与存放单元130上。In this embodiment, when the telescopic mechanism 230 is elongated and overlapped with the storage unit 130, the drive assembly 242 moves on the telescopic mechanism 230 and drives the vehicle to be transported directly above the storage unit 130, and the jacking mechanism 244 approaches the storage unit 130, the pallet assembly 246 is misaligned with the storage unit 130, so that the cart is placed on the storage unit 130.
在本实施例中，顶升机构244采用液压系统驱动，为蜗轮蜗杆或者丝杆螺母传动机构。In this embodiment, the jacking mechanism 244 is driven by a hydraulic system, which is a worm gear or screw nut transmission mechanism.
在本实施例中，托板组件246包括调节组件247、第一托板248及第二托板249，第一托板248及第二托板249均通过调节组件247与顶升机构244活动连接，第一托板248及第二托板249均能够通过调节组件247相对举升机构220运动。In this embodiment, the pallet assembly 246 includes an adjustment assembly 247, a first pallet 248, and a second pallet 249, and the first pallet 248 and the second pallet 249 are both movably connected to the jacking mechanism 244 through the adjustment assembly 247. , both the first support plate 248 and the second support plate 249 can move relative to the lifting mechanism 220 through the adjustment assembly 247 .
在本实施例中，第一托板248及第二托板249均通过调节组件247与顶升机构244活动连接，可以依据车的轴距信息来调节第一托板248与第二托板249的总长度，以使托板组件246能够承载车。In this embodiment, both the first pallet 248 and the second pallet 249 are movably connected with the jacking mechanism 244 through the adjustment assembly 247, and the first pallet 248 and the second pallet 249 can be adjusted according to the wheelbase information of the vehicle. The overall length, so that the pallet assembly 246 can carry the car.
请参阅图4，在本实施例中，第一托板248包括第一托板本体2482及第一梳齿板2484，第一梳齿板2484与第一托板本体2482远离第二托板249的一端连接；Please refer to FIG. 4. In this embodiment, the first pallet 248 includes a first pallet body 2482 and a first comb plate 2484. The first comb plate 2484 and the first pallet body 2482 are far away from the second pallet 249. one end of the connection;
请参阅图5，第二托板249包括第二托板本体2492及第二梳齿板2494，第二梳齿板2494与第二托板本体2492远离第一托板248的一端连接；Please refer to FIG. 5 , the second pallet 249 includes a second pallet body 2492 and a second comb plate 2494 , the second comb plate 2494 is connected to the end of the second pallet body 2492 away from the first pallet 248 ;
第一梳齿板2484及第二梳齿板2494用于当顶升机构244运动时，与钢架车库100错位，以使车放置在钢架车库100上。The first comb plate 2484 and the second comb plate 2494 are used to displace the steel frame garage 100 when the jacking mechanism 244 moves, so that the car is placed on the steel frame garage 100 .
在本实施例中，顶升机构244带动车向靠近存放单元130的方向运动时，第一梳齿板2484及第二梳齿板2494与存放单元130错位，使车放置于存放单元130上。In this embodiment, when the jacking mechanism 244 drives the vehicle to move toward the storage unit 130 , the first comb plate 2484 and the second comb plate 2494 are misaligned with the storage unit 130 , so that the vehicle is placed on the storage unit 130 .
请继续参阅图3，在本实施例中，调节组件247为两个，分别与所调节组件247包括调节电机2472、传动组件2474，调节电机2472设置在举升机构220上，传动组件2474连接调节组件247及第一托板248和第二托板249，用于当调节电机2472转动时，带动第一托板248和/或第二托板249相对于举升机构220运动。Please continue to refer to FIG. 3. In this embodiment, there are two adjustment assemblies 247, which respectively include an adjustment motor 2472 and a transmission assembly 2474 with the adjusted assembly 247. The adjustment motor 2472 is arranged on the lifting mechanism 220, and the transmission assembly 2474 is connected to adjust The component 247 and the first supporting plate 248 and the second supporting plate 249 are used to drive the first supporting plate 248 and/or the second supporting plate 249 to move relative to the lifting mechanism 220 when the adjusting motor 2472 rotates.
需要说明的是，在本实施例中，调节组件247为两个，但是不限于此，在本发明的其他实施例中，调节组件247可以为一个或者三个，与本实施例等同的方案，能够达到本实施例的效果的，均在本发明的保护范围内。It should be noted that, in this embodiment, there are two adjusting components 247, but it is not limited thereto. In other embodiments of the present invention, there may be one or three adjusting components 247, which is equivalent to this embodiment, Those that can achieve the effect of this embodiment are within the protection scope of the present invention.
在本实施例中，调节组件247还包括托板轨道，托板轨道设置在举升机构220上，托板轨道与第一托板248及第二托板249配合，第一托板248及第二托板249能够在调节电机2472转动时相对于托板轨道运动。In this embodiment, the adjustment assembly 247 also includes a pallet rail, which is arranged on the lifting mechanism 220, and the pallet rail cooperates with the first pallet 248 and the second pallet 249, and the first pallet 248 and the second pallet 249 The second pallet 249 can move relative to the pallet rail when the adjusting motor 2472 rotates.
在本实施例中，顶升机构244包括载车板机架2442、第一升降板2444及第一升降台2446，载车板机架2442通过第一升降板2444与第一升降台2446连接，驱动装置210与载车板机架2442连接，托板组件246与第一升降台2446连接，In this embodiment, the jacking mechanism 244 includes a vehicle-loading plate frame 2442, a first lifting plate 2444, and a first lifting platform 2446, and the vehicle-loading plate frame 2442 is connected to the first lifting platform 2446 through the first lifting plate 2444. The driving device 210 is connected to the vehicle-carrying board frame 2442, the pallet assembly 246 is connected to the first lifting platform 2446,
第一升降板2444用于带动第一升降台2446向远离载车板机架2442的方向运动。The first lifting plate 2444 is used to drive the first lifting platform 2446 to move away from the vehicle loading plate frame 2442 .
请参阅图6，在本实施例中，举升机构220包括第二机架222、第二升降板224及第二升降台226，第二机架222通过第二升降板224与第二升降台226连接，驱动装置210与第二机架222连接，载车板存取机构240与第二升降台226连接，Please refer to FIG. 6 , in this embodiment, the lifting mechanism 220 includes a second frame 222 , a second lifting plate 224 and a second lifting platform 226 , and the second frame 222 passes through the second lifting plate 224 and the second lifting platform. 226 is connected, the driving device 210 is connected with the second frame 222, the vehicle-loading plate access mechanism 240 is connected with the second lifting platform 226,
第二升降板224用于带动第二升降台226向远离第二机架222的方向运动。The second lifting plate 224 is used to drive the second lifting platform 226 to move away from the second frame 222 .
在本实施例中，伸缩机构230包括伸缩电机232及伸缩轨道234，伸缩电机232与伸缩轨道234连接，钢架车库100上设置有导轨，控制装置400与伸缩电机232连接，用于控制伸缩电机232转动，使伸缩轨道234伸长，与导轨选择性地配合，使载车板存取机构240运动至钢架车库100上。In this embodiment, the telescopic mechanism 230 includes a telescopic motor 232 and a telescopic track 234, the telescopic motor 232 is connected to the telescopic rail 234, a guide rail is arranged on the steel frame garage 100, and the control device 400 is connected to the telescopic motor 232 for controlling the telescopic motor 232 rotates to make the telescopic track 234 elongate, and selectively cooperates with the guide rail to make the vehicle-loading plate access mechanism 240 move to the steel frame garage 100.
AGV搬运系统200的两端分别设置第一距离传感器250及第二距离传感器260，钢架车库100设置有第一检测点及第二检测点；The two ends of the AGV handling system 200 are respectively provided with a first distance sensor 250 and a second distance sensor 260, and the steel frame garage 100 is provided with a first detection point and a second detection point;
第一距离传感器250与控制装置400连接，用于检测第一检测点与AGV搬运系统200的第一距离值，并传输至控制装置400；The first distance sensor 250 is connected to the control device 400 for detecting the first distance value between the first detection point and the AGV handling system 200, and transmitting it to the control device 400;
第二距离传感器260与控制装置400连接，用于检测第二检测点与AGV搬运系统200的第二距离值，并传输至控制装置400；The second distance sensor 260 is connected to the control device 400 for detecting the second distance value between the second detection point and the AGV handling system 200, and transmitting it to the control device 400;
控制装置400用于依据第一距离值及第二距离值控制驱动装置210。The control device 400 is used for controlling the driving device 210 according to the first distance value and the second distance value.
在本实施例中，通过第一距离传感器250及第二距离传感器260调整AGV搬运系统200与存放单元130之间的位置，使AGV搬运系统200的延伸方向与存放单元130的延伸方向一致。In this embodiment, the position between the AGV transport system 200 and the storage unit 130 is adjusted by the first distance sensor 250 and the second distance sensor 260 so that the extension direction of the AGV transport system 200 is consistent with the extension direction of the storage unit 130 .
请参阅图7及图8，在本实施例中，钢架车库100包括多个存放组件110，存放组件110包括连接架120及多个存放单元130，多个存放组件110均连接架120连接，相邻的两个存放组件110通过连接架120连接，多个存放单元130间隔设置。Please refer to Fig. 7 and Fig. 8, in this embodiment, the steel frame garage 100 includes a plurality of storage assemblies 110, the storage assembly 110 includes a connecting frame 120 and a plurality of storage units 130, and a plurality of storage assemblies 110 are connected to the connecting frame 120, Two adjacent storage assemblies 110 are connected by a connecting frame 120, and a plurality of storage units 130 are arranged at intervals.
在本实施例中，多个相邻的存放组件110依次连接，两个相邻的存放组件110通过连接架120连接，多个存放组件110之间依次连接，使得多个存放组件110位于同一条直线上。In this embodiment, a plurality of adjacent storage assemblies 110 are connected sequentially, two adjacent storage assemblies 110 are connected through a connecting frame 120, and a plurality of storage assemblies 110 are connected in sequence, so that a plurality of storage assemblies 110 are located on the same in a straight line.
需要说明的是，在本实施例中，多个存放组件110位于同一直线上，但是不限于此，在本发明的其他实施例中，多个存放组件110可以不用位于同一条直线上，只需满足相邻的两个存放组件110连接即可。与本实施例等同的方案，能够达到本实施例的效果的，均在本发明的保护范围内。It should be noted that in this embodiment, multiple storage components 110 are located on the same straight line, but it is not limited thereto. In other embodiments of the present invention, multiple storage components 110 may not be located on the same straight line, only need It is only necessary to connect two adjacent storage components 110 . The solutions equivalent to this embodiment, which can achieve the effect of this embodiment, are within the protection scope of the present invention.
在本实施例中，相邻的两个存放单元130沿连接架120的延伸方向排布。即在本实施例中，存放单元130在竖直方向上是层叠设置，存放单元130层叠设置能够节约空间，提高被载物的容纳量。In this embodiment, two adjacent storage units 130 are arranged along the extending direction of the connecting frame 120 . That is to say, in this embodiment, the storage units 130 are stacked in the vertical direction, and the stacked storage units 130 can save space and increase the capacity of the loaded objects.
请参阅图9，在本实施例中，存放单元130包括支撑架132及支撑组件134，支撑架132与支撑组件134连接，支撑架132与连接架120连接，支撑组件134用于存放被载物。Please refer to FIG. 9, in this embodiment, the storage unit 130 includes a support frame 132 and a support assembly 134, the support frame 132 is connected to the support assembly 134, the support frame 132 is connected to the connecting frame 120, and the support assembly 134 is used to store the loaded objects .
在本实施例中，支撑组件134包括多个支撑部136，多个支撑部136相对设置在支撑架132上。In this embodiment, the support assembly 134 includes a plurality of support portions 136 , and the plurality of support portions 136 are relatively disposed on the support frame 132 .
在本实施例中，支撑部136为四个，四个支撑部136两两相对设置。In this embodiment, there are four supporting parts 136 , and the four supporting parts 136 are arranged opposite to each other.
在本实施例中，四个支撑部136分为两组，每组为两个支撑部136，分别为第一组138及第二组139，第一组138及第二组139相对设置，即在本实施例中，第一组138的其中一个支撑部136与第二组139的其中一个支撑部136相对设置。第一组138的另一个支撑部136与第二组139的另一个支撑部136相对设置。In this embodiment, the four supporting parts 136 are divided into two groups, and each group is two supporting parts 136, which are respectively the first group 138 and the second group 139, and the first group 138 and the second group 139 are arranged oppositely, namely In this embodiment, one of the support portions 136 of the first group 138 is opposite to one of the support portions 136 of the second group 139 . The other supporting portion 136 of the first group 138 is opposite to the other supporting portion 136 of the second group 139 .
请参阅图10，在本实施例中，支撑部136包括支撑柱1362及支撑板1364，支撑板1364通过支撑柱1362与支撑架132连接，支撑板1364用于存放被载物。Please refer to FIG. 10 , in this embodiment, the support portion 136 includes a support column 1362 and a support plate 1364 , the support plate 1364 is connected to the support frame 132 through the support column 1362 , and the support plate 1364 is used for storing the loaded objects.
在本实施例中，第一组138中的支撑部136的支撑柱1362设置在支撑板1364远离第二组139的支撑部136的一端。容易理解的是，第二组139中的支撑部136的支撑柱1362设置在支撑板1364远离第一组138的支撑部136的一端。In this embodiment, the supporting columns 1362 of the supporting parts 136 in the first group 138 are disposed on the end of the supporting plate 1364 away from the supporting parts 136 of the second group 139 . It is easy to understand that the support column 1362 of the support portion 136 in the second group 139 is disposed on the end of the support plate 1364 away from the support portion 136 of the first group 138 .
需要说明的是，在本实施例中，第一组138中的支撑部136的支撑柱1362设置在支撑板1364远离第二组139的支撑部136的一端。但是不限于此，支撑柱1362可以设置在支撑板1364的任意位置，与支撑板1364的任意位置连接，与本实施例等同的方案，能够达到本实施例的效果的，均在本发明的保护范围内。It should be noted that, in this embodiment, the support columns 1362 of the support portions 136 in the first group 138 are disposed at the end of the support plate 1364 away from the support portions 136 of the second group 139 . But it is not limited to this, the support column 1362 can be arranged at any position of the support plate 1364, and connected with any position of the support plate 1364, the scheme equivalent to this embodiment, which can achieve the effect of this embodiment, is under the protection of the present invention within range.
容易理解的是，在本实施例中，第二组139中的支撑部136的支撑柱1362设置在支撑板1364远离第一组138的支撑部136的一端。但是不限于此，支撑柱1362可以设置在支撑板1364的任意位置，与支撑板1364的任意位置连接，与本实施例等同的方案，能够达到本实施例的效果的，均在本发明的保护范围内。It is easy to understand that, in this embodiment, the support column 1362 of the support portion 136 in the second group 139 is disposed at the end of the support plate 1364 away from the support portion 136 of the first group 138 . But it is not limited to this, the support column 1362 can be arranged at any position of the support plate 1364, and connected with any position of the support plate 1364, the scheme equivalent to this embodiment, which can achieve the effect of this embodiment, is under the protection of the present invention within range.
在本实施例中，支撑板1364上设置有梳齿1366，梳齿1366用于当被载物放置在支撑板1364上后，用于与载车板存取机构240错位，以使载车板存取机构240撤回。In this embodiment, the support plate 1364 is provided with comb teeth 1366, and the comb teeth 1366 are used for misalignment with the vehicle loading plate access mechanism 240 after the loaded object is placed on the support plate 1364, so that the vehicle loading plate Access Authority 240 withdraws.
在本实施例中，当载车板存取机构240运动至支撑板1364的上方时，载车板存取机构240向靠近支撑板1364的方向运动，当载车板存取机构240将被载物放置至支撑板1364上时，载车板存取机构240通过支撑板1364上的梳齿1366，与支撑板1364错位，使载车板存取机构240将被载物放置于支撑板1364上后，载车板存取机构240继续向下运动，以使支撑板1364承载被载物，从而将被载物放置与钢架车库100上。In this embodiment, when the vehicle-loaded plate access mechanism 240 moves to the top of the support plate 1364, the vehicle-loaded plate access mechanism 240 moves toward the direction close to the support plate 1364, when the vehicle-loaded plate access mechanism 240 will be loaded When an object is placed on the support plate 1364, the vehicle-loaded plate access mechanism 240 is misaligned with the support plate 1364 through the comb teeth 1366 on the support plate 1364, so that the vehicle-loaded plate access mechanism 240 will place the loaded object on the support plate 1364 Afterwards, the vehicle loading plate access mechanism 240 continues to move downwards, so that the supporting plate 1364 carries the loaded objects, so that the loaded objects are placed on the steel frame garage 100 .
请继续参阅图8，在本实施例中，存放单元130还包括导轨，导轨与支撑架132连接，导轨使载车板存取机构240可相对于支撑架132滑动。Please continue to refer to FIG. 8 , in this embodiment, the storage unit 130 further includes guide rails, which are connected to the support frame 132 , and the guide rails enable the vehicle plate access mechanism 240 to slide relative to the support frame 132 .
在本实施例中，导轨与支撑架132连接，载车板存取机构240与导轨连接，载车板存取机构240在导轨上运动，使得载车板存取机构240将被载物运输至支撑架132的正上方。In this embodiment, the guide rail is connected with the support frame 132, the vehicle-loaded plate access mechanism 240 is connected with the guide rail, and the vehicle-loaded plate access mechanism 240 moves on the guide rail, so that the vehicle-loaded plate access mechanism 240 will be transported to Just above the support frame 132.
在本实施例中，导轨上设置有限位块，限位块用于限制载车板存取机构240在导轨上的位移。In this embodiment, a limit block is arranged on the guide rail, and the limit block is used to limit the displacement of the vehicle-loading plate access mechanism 240 on the guide rail.
在本实施例中，当载车板存取机构240运动至限位块处时，载车板存取机构240停止运动，使载车板存取机构240正好位于支撑板1364的正上方。In this embodiment, when the access mechanism 240 for the vehicle-mounted plate moves to the limit block, the access mechanism 240 for the vehicle-loaded plate stops moving, so that the access mechanism 240 for the vehicle-loaded plate is just above the support plate 1364 .
请参阅图11，在本实施例中，停车系统10还包括地槽升降平台600，地槽升降平台600用于选择性存放AGV搬运系统200。Please refer to FIG. 11 , in this embodiment, the parking system 10 further includes a trough lifting platform 600 , and the trough lifting platform 600 is used for selectively storing the AGV handling system 200 .
在本实施例中，地槽升降平台600包括地槽升降平台600包括升降板610及顶升机构620，升降板610与顶升机构620连接，In this embodiment, the trough lifting platform 600 includes the trough lifting platform 600 including the lifting plate 610 and the jacking mechanism 620, the lifting plate 610 is connected with the jacking mechanism 620,
升降板610用于存放AGV搬运系统200；The lifting plate 610 is used to store the AGV handling system 200;
顶升机构620用于当信息获取装置300获取参数信息时，顶升机构620带动AGV搬运系统200运动，以使AGV搬运系统200承载车。The jacking mechanism 620 is used to drive the AGV transport system 200 to move when the information acquisition device 300 acquires parameter information, so that the AGV transport system 200 carries the vehicle.
在本实施例中，地槽升降平台600还包括蓄电组件，蓄电组件选择性的与顶升机构620及AGV搬运系统200连通，用于给升级机构及AGV搬运系统200充电。In this embodiment, the trough lifting platform 600 also includes an electrical storage component, which selectively communicates with the jacking mechanism 620 and the AGV transport system 200 for charging the upgrading mechanism and the AGV transport system 200 .
在本实施例中，地槽升降平台600还包括盖板640，当信息获取装置300接受到车的参数信息时，地槽升降平台600的盖板640打开，AGV搬运系统200的第一托板248及第二托板249通过调节组件247调节距离，使第一梳齿板2484及第二梳齿板2494的距离正好满足车的轴距。调节好第一梳齿板2484及第二梳齿板2494的距离后，顶升机构620升起，将AGV搬运系统200抬升至地平面，承载并运输车。In this embodiment, the trough lifting platform 600 also includes a cover plate 640. When the information acquisition device 300 receives the parameter information of the car, the cover plate 640 of the trough lifting platform 600 is opened, and the first pallet of the AGV handling system 200 248 and the second supporting plate 249 adjust the distance by the adjusting assembly 247, so that the distance between the first comb tooth plate 2484 and the second comb tooth plate 2494 just meets the wheelbase of the car. After the distance between the first comb plate 2484 and the second comb plate 2494 is adjusted, the jacking mechanism 620 is raised to lift the AGV handling system 200 to the ground level to carry and transport the vehicle.
本实施例提供的停车系统10的工作原理：在本实施例中，当信息获取装置300获取到车的参数信息后，控制装置400控制调节组件247调节第一梳齿板2484及第二梳齿板2494的距离，以满足车的轴距。调节好第一梳齿板2484及第二梳齿板2494的距离后，顶升机构620升起，将AGV搬运系统200抬升至地平面，承载并运输车。控制装置400控制AGV搬运系统200依据规划的运输路径将车运输至存放单元130的位置。The working principle of the parking system 10 provided in this embodiment: In this embodiment, after the information acquisition device 300 obtains the parameter information of the car, the control device 400 controls the adjustment component 247 to adjust the first comb plate 2484 and the second comb The distance of the plate 2494 to meet the wheelbase of the car. After the distance between the first comb plate 2484 and the second comb plate 2494 is adjusted, the jacking mechanism 620 is raised to lift the AGV handling system 200 to the ground level to carry and transport the vehicle. The control device 400 controls the AGV transport system 200 to transport the vehicle to the storage unit 130 according to the planned transport route.
运输至存放单元130处后，通过第一距离传感器250及第二距离传感器260调整AGV搬运系统200与存放单元130之间的位置，使AGV搬运系统200的延伸方向与存放单元130的延伸方向一致。After being transported to the storage unit 130, adjust the position between the AGV handling system 200 and the storage unit 130 through the first distance sensor 250 and the second distance sensor 260, so that the extension direction of the AGV handling system 200 is consistent with the extension direction of the storage unit 130 .
当AGV搬运系统200与存放单元130的尺寸匹配后，控制装置400控制举升机构220举升，是载车板存取机构240与存放单元130相平齐。当载车板存取机构240与存放单元130相平齐时，控制装置400控制伸缩机构230伸缩，并搭接于存放单元130，使载车板存取机构240与存放单元130连同。When the AGV handling system 200 matches the size of the storage unit 130 , the control device 400 controls the lifting mechanism 220 to lift, so that the vehicle-loading plate access mechanism 240 is flush with the storage unit 130 . When the vehicle-loading plate access mechanism 240 is flush with the storage unit 130 , the control device 400 controls the telescopic mechanism 230 to expand and contract, and overlap the storage unit 130 , so that the vehicle-loading plate access mechanism 240 and the storage unit 130 are connected.
当伸缩机构230伸长与存放单元130搭接后，驱动组件242在伸缩机构230上运动，并带动车运输至存放单元130的正上方，顶升机构244带动车向靠近存放单元130的方向运动时，第一梳齿板2484及第二梳齿板2494与四个支撑板1364上的错位，使车放置于存放单元130上。When the telescopic mechanism 230 stretches and overlaps with the storage unit 130, the driving assembly 242 moves on the telescopic mechanism 230 and drives the vehicle to be transported directly above the storage unit 130, and the jacking mechanism 244 drives the vehicle to move towards the storage unit 130 At this time, the first comb-tooth plate 2484 and the second comb-tooth plate 2494 are misaligned with the four support plates 1364 so that the vehicle is placed on the storage unit 130 .
容易理解的是，取车的过程与上述存车的过程相反。It is easy to understand that the process of picking up the car is opposite to the above-mentioned process of storing the car.
综上所述，本实施例提供的停车系统10能够提高车位利用率，改造与制造成本低廉，使用灵活方便。To sum up, the parking system 10 provided by this embodiment can improve the utilization rate of the parking space, the cost of modification and manufacture is low, and it is flexible and convenient to use.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165657.3ACN107724751A (en) | 2017-11-21 | 2017-11-21 | A kind of AGV handling systems and shutdown system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165657.3ACN107724751A (en) | 2017-11-21 | 2017-11-21 | A kind of AGV handling systems and shutdown system |
| Publication Number | Publication Date |
|---|---|
| CN107724751Atrue CN107724751A (en) | 2018-02-23 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711165657.3APendingCN107724751A (en) | 2017-11-21 | 2017-11-21 | A kind of AGV handling systems and shutdown system |
| Country | Link |
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| CN (1) | CN107724751A (en) |
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| CB02 | Change of applicant information | Address after:610000 Chengdu City, Jinniu District Province, North Bridge Road, No. Applicant after:XIHUA University Applicant after:CHENGDU KAI JING INTELLIGENT EQUIPMENT Co.,Ltd. Address before:No. 5, No. 35, three section, Wuhou District people south road, Wuhou District, Chengdu, Sichuan Applicant before:CHENGDU KAI JING INTELLIGENT EQUIPMENT Co.,Ltd. Applicant before:Xihua University | |
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20180223 |