Automatic parking AGV device and parking method
By designing an automatic parking AGV device and using a pallet mechanism and a traction mechanism to realize automatic parking of vehicles, the problem of poor AGV stability in the prior art is solved, better control and stability are achieved, and parking space is saved.
Patent Information
- Application Number
- CN202411812857.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-10-31
- Filing Date
- 2024-12-10
- Publication Date
- 2025-04-04
AI Technical Summary
The existing AGV devices need to enter the vehicle as a whole during automatic parking, resulting in thinner AGV body, smaller wheels, inconvenient control, and poor stability.
An automatic parking AGV device is designed, including a flatbed car, an intelligent control drive system, a pallet mechanism and a traction mechanism. The pallet mechanism lifts the vehicle tires through the roller ramp, and the flatbed trolley is equipped with a traction mechanism and wheel limiting device, which realizes automatic parking of the vehicle through an intelligent control drive system.
Automatic parking of ordinary vehicles is achieved, and there is no need to enter the bottom of the vehicle as a whole. The wheels are larger, easy to control, good stability, and save parking space.
Smart Images
Figure CN119754616A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of AGV technology, and in particular to an automatic parking AGV device and a parking method. Background Art
[0002] Automated Guided Vehicle (AGV), also known as automatic guided transporter or automatic guided transporter, refers to a transport vehicle equipped with an automatic guidance device that can travel along a specified guide path and has various transfer functions. Under computer monitoring, it can accurately travel and stop at a designated location according to path planning and operation requirements to complete a series of operation functions.
[0003] Automatic parking usually refers to an intelligent control drive system, which is a system that can automatically park without human intervention. Autonomous driving technology is one of the important directions of automobile technology development, and automatic parking technology, as an important branch, is also developing continuously.
[0004] Typically, an intelligent control drive system is installed on a car to control the vehicle's automatic parking.
[0005] An existing clamping tire integrated AGV, such as Figure 1 As shown, it includes a first vehicle body 1 and a second vehicle body 2, each of which is provided with a tire clamping arm 4, and the first vehicle body 1 and the second vehicle body 2 are connected by a scissor mechanism 3. The disadvantages of this tire clamping integrated AGV are: 1. Affected by the height of the vehicle chassis and AGV, a parking rack is usually required on the parking space, and the AGV cannot directly transport the car on the ground.
[0006] 2. Limited by the distance between the front and rear tire clamping arms of the AGV, it is only suitable for transporting passenger cars with a certain wheelbase range (2400-3200mm).
[0007] 3. Both the first vehicle body and the second vehicle body need to enter under the vehicle as a whole. Due to the limitation of the vehicle chassis, the overall height of the AGV is low, the chassis is thin, the wheels are small, it is not easy to control, and the stability is poor.
[0008] There is also an integrated flat-panel AGV, which has the following disadvantages: this integrated flat-panel AGV needs to enter under the vehicle as a whole, and is restricted by the vehicle chassis. Therefore, the overall height of the AGV is low, the chassis is thin, and the wheels are relatively small, which is not easy to control and has poor stability.
[0009] In addition, there is a mother-child AGV device, which has the following disadvantages: 1. Two AGVs are needed to achieve collaborative handling. The AGVs are clumsy and the workflow is complicated.
[0010] 2. It is necessary to build a transport track for the "sub-AGV" on the parking space;
[0011] 3. The overall structure of the two AGVs is relatively complex, and the manufacturing process and control system have high requirements, which increases the R&D and production costs of the equipment. Summary of the invention
[0012] In view of the above problems, the present invention provides an automatic parking AGV device to solve the problems in the prior art that the AGV needs to enter under the vehicle as a whole, the AGV body is thin, the wheels are small, it is not easy to control, and the stability is poor.
[0013] The automatic parking AGV device is characterized by comprising a flatbed trolley, an intelligent control drive system, a tray mechanism and a traction mechanism; The flatbed trolley is used to park the vehicle, and the intelligent control drive system is installed on the flatbed trolley to drive the flatbed trolley to move; The rear end of the flatbed trolley is connected to a tray mechanism corresponding to the position of the wheel, and the tray mechanism includes two sets of roller ramps with an inclination so as to be smoothly inserted under the wheel, one end of the roller ramp is rotatably connected to the rear end of the flatbed trolley, and the other end of the roller ramp is a free end; by controlling the movement of the flatbed trolley, the roller ramp is extended under the tire of the vehicle, and the flatbed trolley is continuously driven to move, so that the tire of the vehicle moves along the roller ramp to the flatbed trolley; The flatbed trolley is provided with a traction mechanism for driving the vehicle to move forward and backward along the direction of the flatbed trolley body; the flatbed trolley is provided with a wheel limiting device; The traction mechanism is connected with an intelligent control drive system.
[0014] Preferably, the flatbed trolley is also connected to a lifting device for lifting the free end of the roller ramp, the front end of the traction member of the lifting device is connected to the free end of the roller ramp, and the lifting device is connected to the intelligent control drive system.
[0015] Preferably, the flatbed trolley is tilted with the front higher and the rear lower; the size of its front wheels is larger than that of its rear wheels.
[0016] Preferably, the traction mechanism comprises a movable plate which can move forward and backward relative to the flatbed trolley, and the movable plate is connected to a movable plate driving device.
[0017] Preferably, the wheel limiting device is arranged on the traction mechanism. The wheel limiting device includes a folding plate arranged along the forward direction of the wheel. When the wheel moves into position, the folding plate tilts up to limit the position of the wheel. Furthermore, one end of the folding plate is rotatably connected to the moving plate, and the other end is connected to a jacking cylinder.
[0018] The automatic parking method of the automatic parking AGV device is characterized in that: A. The parked vehicle enters the temporary parking area and engages the parking brake; B. The roller ramp of the automatic parking AGV device is facing the vehicle tires; the automatic parking AGV device is reversed; C. After both front wheels or rear wheels of the parked vehicle enter the tray mechanism, the automatic parking AGV device reverses so that the front wheels or rear wheels of the vehicle move along the roller ramp to the flatbed trolley; D. Continue to reverse until the front or rear wheels of the vehicle enter the traction mechanism on the flatbed trolley and are fixed. At this time, the rear or front wheels of the vehicle just touch the roller ramp, and the traction mechanism drives the vehicle forward until the rear or front wheels of the parked vehicle are pressed on the roller ramp; F. The roller ramp rotates upward under the drive of the lifting device to lift the parked vehicle to facilitate the movement of the automatic parking AGV device; G. After the automatic parking AGV device moves to the parking space, the roller ramp is lowered and the rear wheels or front wheels of the vehicle land on the ground; H. The traction mechanism moves backward and resets, driving the vehicle backward; until the rear wheels or front wheels of the vehicle are off the roller ramp; I. The wheel limit device on the traction mechanism is reset, and the front or rear wheels of the vehicle are unlocked; J. The automatic parking AGV device moves forward until the front wheel or rear wheel of the vehicle passes through the roller ramp and lands on the flatbed trolley.
[0019] Beneficial effects of the present invention: 1. The present invention can realize automatic parking for ordinary vehicles;
[0020] 2. The present invention does not need to enter under the vehicle as a whole, but only needs to enter under the tire via a roller ramp, which is not limited by the height of the vehicle chassis. The wheels are relatively large, easy to control, and have better stability.
[0021] 3. The present invention lifts the roller ramp through a lifting device to facilitate the movement of the AGV trolley;
[0022] 4. After arriving at the parking space, the roller ramp of the AGV is lowered, and the rear wheels of the vehicle are lowered accordingly. The traction device on the AGV device moves back and resets, so that the rear wheels of the vehicle are separated from the roller ramp and fall to the ground. Then the AGV trolley moves forward until the front wheels of the vehicle are separated from the AGV trolley. The present invention does not require the installation of a parking space frame, saving parking space. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a schematic diagram of the prior art.
[0024] Figure 2 Schematic diagram of the automatic parking AGV device Figure 3 This is a top view of the automatic parking AGV device.
[0025] Figure 4 Schematic diagram of the traction mechanism.
[0026] Figure 5 This is a schematic diagram of automatic parking.
[0027] Figure 6 This is a schematic diagram of automatic parking.
[0028] Figure 7 This is a schematic diagram of automatic parking.
[0029] Figure 8 This is a schematic diagram of automatic parking.
[0030] Fig. 9 This is a schematic diagram of automatic parking.
[0031] Fig.10 This is a schematic diagram of automatic parking.
[0032] Fig.11 This is a schematic diagram of automatic parking.
[0033] Fig.12 This is a schematic diagram of automatic parking. DETAILED DESCRIPTION
[0034] The technical solution of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the implementation methods of the present application, not all of the implementation methods; and the structures shown in the accompanying drawings are only schematic and do not represent physical objects. It should be noted that based on these embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.
[0035] It should be noted that the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion in this article, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical or equivalent elements in the process, method, article or device including the elements.
[0036] The terms "upper", "lower", "inner", "outer", etc. do not constitute absolute spatial relationship limitations, but are only concepts of relative positions, which can be understood by those skilled in the art.
[0037] See also Figure 2-4, the automatic parking AGV device mainly includes a flatbed trolley 100, an intelligent control drive system, a tray mechanism and a traction mechanism 300; The flatbed trolley 100 is mainly made of steel structural parts, including a frame 110, wheels, and a vehicle placement seat 120. The wheels include at least a front wheel 111 and a rear wheel 112, which are installed under the frame 110. The flatbed trolley is tilted with the front higher and the rear lower to facilitate the movement of the vehicle; the size of the front wheel 111 is larger than that of the rear wheel 112. The vehicle placement seat 120 is installed on the frame 110 for parking the vehicle. An intelligent control drive system is installed on the flatbed trolley to drive the flatbed trolley to move.
[0038] The rear end of the flatbed trolley is connected with a tray mechanism, which includes two sets of roller ramps 200 with an inclination so as to be smoothly inserted under the wheel. The roller ramp 200 is a bending structure with good force. One end of the roller ramp 200 is rotatably connected (such as hinged) to the rear end of the flatbed trolley 100, and the other end of the roller ramp is a free end; the free end of the roller ramp is thinner to facilitate insertion under the vehicle tire. There is sliding friction between the wheel and the roller ramp. Anti-skid patterns can be set on the surface of the roller ramp 200.
[0039] By controlling the movement of the flatbed trolley 100, the roller ramp 200 is extended under the tires of the vehicle, and the flatbed trolley 100 is continuously driven to move, so that the tires of the vehicle move along the roller ramp to the flatbed trolley.
[0040] The flatbed trolley 100 is also connected with a lifting device 400 (such as a winch) for lifting the free end of the roller ramp. The side wall of the frame 110 is provided with a support arm 113. The front end of the traction member 401 (traction rope or chain) of the winch passes over the top of the support arm 113 and is connected to the side connection point 201 of the free end of the roller ramp. The lifting device (winch) is connected to the intelligent control drive system. When the rear wheels of the vehicle are also pressed on the roller ramp, the lifting device is controlled by the intelligent control drive system to lift the roller ramp. The rear wheels of the vehicle are off the ground, which is convenient for vehicle transportation.
[0041] The flatbed trolley is provided with a traction mechanism 300 for driving the vehicle to move; the traction mechanism 300 is connected to the intelligent control drive system. The traction mechanism includes a moving plate 301 that can move forward and backward relative to the flatbed trolley, and the moving plate 301 is connected to a moving plate driving device (such as a screw mechanism driven by a motor). The moving plate and the vehicle placement seat can be connected through a slide rail mechanism.
[0042] The traction mechanism 300 is provided with a wheel limiting device. The wheel limiting device includes a folding plate 302 arranged along the forward direction of the wheel. There are two groups of folding plates 302, which are arranged at a certain distance. The two groups have the same structure, different directions, and are symmetrically arranged. One end of each group of folding plates 302 is hinged to the vehicle body, and the other end is connected to a jacking cylinder, which is pre-buried under the folding plate 302. When the wheel moves into position, the jacking cylinder pushes the folding plate out and tilts it up, and the two groups of folding plates 302 sandwich the wheel in the middle, which plays a role in limiting the position of the wheel.
[0043] See also Figure 5-12 ,Automatic parking method: A. The parked vehicle 500 enters the temporary parking area and engages the parking brake; B. The roller ramp 200 of the automatic parking AGV device is directly opposite to the vehicle tire; the automatic parking AGV device is reversed; C. After both front wheels 501 of the parked vehicle enter the tray mechanism, the automatic parking AGV device reverses so that the front wheels of the vehicle move along the roller ramp 200 onto the flatbed trolley 100; D. Continue to reverse until the front or rear wheels of the vehicle enter the traction mechanism on the flatbed trolley and are fixed. At this time, the rear or front wheels of the vehicle just touch the roller ramp, and the traction mechanism drives the vehicle forward until the rear or front wheels of the parked vehicle are pressed on the roller ramp; F. The roller ramp rotates upward under the drive of the lifting device to lift the parked vehicle to facilitate the movement of the automatic parking AGV device; After the vehicle arrives at the parking space, it is lowered and the process is as follows: G. The roller ramp is lowered, and the rear wheels or front wheels of the vehicle touch the ground; H. The traction mechanism moves backward and resets, driving the vehicle backward; until the rear wheels or front wheels of the vehicle are off the roller ramp; I. The wheel limit device on the traction mechanism is reset, and the front or rear wheels of the vehicle are unlocked; J. The automatic parking AGV device moves forward until the front wheel or rear wheel of the vehicle passes through the roller ramp and lands on the flatbed trolley.
[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.
Claims
1. Automatic parking AGV device, characterized in that: It includes a flatbed trolley, an intelligent control drive system, a tray mechanism and a traction mechanism; The flatbed trolley is used to park the vehicle, and the intelligent control drive system is installed on the flatbed trolley to drive the flatbed trolley to move; The rear end of the flatbed trolley is connected to a tray mechanism corresponding to the position of the wheel, and the tray mechanism includes two sets of roller ramps with an inclination so as to be smoothly inserted under the wheel, one end of the roller ramp is rotatably connected to the rear end of the flatbed trolley, and the other end of the roller ramp is a free end; by controlling the movement of the flatbed trolley, the roller ramp is extended under the tire of the vehicle, and the flatbed trolley is continuously driven to move, so that the tire of the vehicle moves along the roller ramp to the flatbed trolley; The flatbed trolley is provided with a traction mechanism for driving the vehicle to move forward and backward along the direction of the flatbed trolley body; the flatbed trolley is provided with a wheel limiting device; The traction mechanism is connected with an intelligent control drive system.
2. The automatic parking AGV device according to claim 1 is characterized in that: The flatbed trolley is also connected to a lifting device for lifting the free end of the roller ramp, the front end of the traction member of the lifting device is connected to the free end of the roller ramp, and the lifting device is connected to the intelligent control drive system.
3. The automatic parking AGV device according to claim 1 is characterized in that: The flatbed trolley is tilted with the front higher and the rear lower, and the size of the front wheels is larger than that of the rear wheels.
4. The automatic parking AGV device according to claim 1 is characterized in that: The traction mechanism comprises a moving plate which can move forward and backward relative to the flatbed trolley, and the moving plate is connected to a moving plate driving device.
5. The automatic parking AGV device according to claim 4 is characterized in that: The wheel limiting device is arranged on the traction mechanism.
6. The automatic parking AGV device according to claim 5 is characterized in that: The wheel limiting device includes a folding plate arranged along the forward direction of the wheel. When the wheel moves into position, the folding plate tilts up to limit the position of the wheel.
7. The automatic parking AGV device according to claim 6 is characterized in that: One end of the folding plate is rotatably connected to the vehicle body, and the other end is connected to a jacking cylinder.
8. An automatic parking method using the automatic parking AGV device according to any one of claims 1 to 7, characterized in that: A. The parked vehicle enters the temporary parking area and engages the parking brake; B. The roller ramp of the automatic parking AGV device is facing the vehicle tires; the automatic parking AGV device is reversed; C. After both front wheels or rear wheels of the parked vehicle enter the tray mechanism, the automatic parking AGV device reverses so that the front wheels or rear wheels of the vehicle move along the roller ramp to the flatbed trolley; D. Continue to reverse until the front or rear wheels of the vehicle enter the traction mechanism on the flatbed trolley and are fixed, and the traction mechanism drives the vehicle forward until the rear or front wheels of the parked vehicle are pressed on the roller ramp; F. The roller ramp rotates upward under the drive of the lifting device to lift the parked vehicle to facilitate the movement of the automatic parking AGV device; G. After the automatic parking AGV device moves to the parking space, the roller ramp is lowered and the rear wheels or front wheels of the vehicle land on the ground; H. The traction mechanism moves backward and resets, driving the vehicle backward; until the rear wheels or front wheels of the vehicle are off the roller ramp; I. The wheel limit device on the traction mechanism is reset, and the front or rear wheels of the vehicle are unlocked; J. The automatic parking AGV device moves forward until the front wheel or rear wheel of the vehicle passes through the roller ramp and lands on the flatbed trolley.