An automobile carrier

Abstract

The application discloses a kind of car carriers, it is related to the mobile and handling technical field of vehicle, comprising: at least two AGV car bodies, telescopic mechanism is connected between two AGV car bodies, telescopic mechanism is compressed by the action of one AGV car body to another AGV car body close, by one AGV car body to another AGV car body direction away from the movement realizes stretching;Locking assembly is connected with telescopic mechanism, by the component for locking to keep the stretching length of telescopic mechanism;The technical scheme of the present application, by telescopic mechanism connecting two AGV car bodies, telescopic mechanism is compressed by the mutual approach of two AGV car bodies, by the mutual away of two AGV car bodies stretching, and with locking assembly, when telescopic mechanism stretches to certain length, by locking assembly for locking to keep the stretching length of telescopic mechanism.Such setting, simplify the structure and control logic of car carrier.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle movement and handling, and particularly relates to a car handler. BACKGROUND

[0002] AGV is an automated handling equipment, which is widely used in material handling from production workshop to intelligent parking and other fields. As a complex mechanical component, the car needs to be moved and handled in the production, processing, logistics, maintenance and intelligent parking process. The car handler is an intelligent equipment specially designed for precise handling of cars. Its core feature is the ultra-thin structure and the clamping type tire fixing technology, which can efficiently complete the tasks of vehicle displacement and direction adjustment in a small space.

[0003] For example, Chinese patent document CN117985148B discloses an ultra-thin heavy-duty car transfer robot based on online edge detection, which includes two AGVs arranged in front and back, a telescopic connecting device connecting the two AGVs, and an adjusting mechanism for adjusting the distance between the two AGVs.

[0004] However, in the above-mentioned scheme, the telescopic connecting device connecting the two AGVs needs to be independently designed with an adjusting mechanism, which is used to control the extension and contraction of the telescopic mechanism and the locking function. This results in a relatively complex structure and control logic. SUMMARY

[0005] Therefore, the present application provides a car handler to solve the problem that the telescopic connecting device between the two AGVs of the existing car handler needs to be independently designed with an adjusting mechanism.

[0006] The car handler provided by the present application comprises:

[0007] At least two AGV bodies, the AGV body is provided with a driving wheel mechanism, the driving wheel mechanism drives the corresponding AGV body to move towards or away from the adjacent another AGV body;

[0008] A telescopic mechanism connected between the two AGV bodies, the telescopic mechanism is compressed by the action of at least one AGV body moving towards another AGV body, and is stretched by at least one AGV body moving away from another AGV body;

[0009] A locking assembly connected with the telescopic mechanism, the locking assembly is used to lock and keep the stretching or compression length of the telescopic mechanism.

[0010] The application provides a vehicle carrier, two AGV bodies are connected through a telescopic mechanism, the telescopic mechanism is not equipped with a driving device, and compression is realized by the mutual approach of the two AGV bodies, stretching is realized by the mutual separation of the two AGV bodies, and a locking assembly is arranged, the locking assembly is used for locking and keeping the stretching length of the telescopic mechanism when the telescopic mechanism is stretched to a certain length, so that the mechanical structure and the control logic are simplified.

[0011] Optionally, the telescopic mechanism comprises a first fixed beam, a second fixed beam and a scissor type assembly, the first fixed beam is fixedly connected with one AGV body, the second fixed beam is fixedly connected with the other AGV body, and the two ends of the scissor type assembly are connected between the first fixed beam and the second fixed beam through guide rail pair assemblies, the guide rail pair assemblies comprise sliders and guide rails, the guide rails are respectively arranged on the first fixed beam and the second fixed beam, the sliders are slidingly arranged on the guide rails, and the sliders are connected with the scissor type assembly.

[0012] Optionally, the two ends of the guide rail are respectively provided with a blocking piece for blocking the slider.

[0013] Optionally, the locking assembly comprises a mechanical brake device, a speed reducer, a chain wheel and a chain, the mechanical brake device is connected with the chain wheel through the speed reducer, the chain is rotationally arranged on the chain wheel, and the chain is connected with the slider.

[0014] Optionally, the scissor type assembly has two groups arranged side by side, and the two groups of scissor type assemblies are provided with a compression limiting mechanism, the compression limiting mechanism is used for limiting the scissor type assembly when the scissor type assembly is compressed to a position.

[0015] Optionally, the compression limiting mechanism comprises a limiting rod, a locking rod and a third driving device, one end of the limiting rod is connected with the second fixed beam, the other end of the limiting rod extends towards the first fixed beam, the side of the extending end of the limiting rod is provided with a limiting groove, the locking rod is connected with the first fixed beam, one end of the locking rod extends towards a direction perpendicular to the limiting rod, the extending end of the locking rod is adapted to be inserted into the limiting groove, and the driving end of the third driving device is connected with the locking rod, and the third driving device is used for driving the locking rod to move towards the limiting rod.

[0016] Optionally, the first fixed beam is provided with a position sensor, the driving end of the third driving device is provided with a connecting block, and the connecting block is provided with a detection area matched with the position sensor.

[0017] Optionally, two sides of the limiting rod are respectively arranged with a group of the locking rods and the third driving device.

[0018] Optionally, a spring is sleeved on the locking rod, one end of the spring is in abutment with the shaft sleeve, and the other end is in abutment with the connecting block, the spring has an elastic force for driving the connecting block to move away from the fixing piece.

[0019] Optionally, the diagonal positions of the two AGV bodies are respectively provided with laser scanners, and the two end positions of the two AGV bodies are respectively provided with magnetic nail sensors. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0021] Figure 1 A bottom view of the automobile carrier provided by the embodiment of the present application is provided.

[0022] Figure 2 A Figure 1 An enlarged view of the driving wheel mechanism is provided.

[0023] Figure 3 A Figure 2 A perspective view of the driving wheel mechanism is provided.

[0024] Figure 4 A Figure 3 A bottom view of the driving wheel mechanism is provided.

[0025] Figure 5 A Figure 1 A perspective view of the second supporting wheel is provided.

[0026] Figure 6 A Figure 1 A perspective view of the charging mechanism is provided.

[0027] Figure 7 A Figure 6 A perspective view of the charging mechanism hidden installation cover is provided.

[0028] Figure 8 A Figure 1 A perspective view of the telescopic mechanism is provided.

[0029] Figure 9 For Figure 8 The perspective view of the locking assembly in the hidden part structure;

[0030] Figure 10 For Figure 9 The perspective view of the locking assembly in the hidden part structure;

[0031] Figure 11 For Figure 8 The perspective view of the second fixed beam hidden in the telescopic mechanism;

[0032] Figure 12 For Figure 11 The enlarged view of the A area;

[0033] Figure 13 For Figure 11 The enlarged view of the B area;

[0034] Figure 14 The perspective view of the automobile carrier provided by the embodiment of the application.

[0035] Explanation of reference signs:

[0036] 1, AGV vehicle body;

[0037] 2, drive wheel mechanism; 201, drive frame; 202, drive wheel; 203, gear; 204, inner gear ring; 205, encoder;

[0038] 3, clamping mechanism;

[0039] 4, first supporting wheel;

[0040] 5, second supporting wheel; 501, mounting plate; 502, rotating frame; 503, pin shaft; 504, wheel frame; 505, roller; 506, elastic member; 507, limiting member;

[0041] 6, charging mechanism; 601, mounting cover; 602, fixed frame; 603, lifting frame; 604, second driving device; 605, first connecting rod; 606, second connecting rod; 607, brush plate;

[0042] 7, telescopic mechanism; 701, first fixed beam; 702, second fixed beam; 703, scissor assembly; 704, synchronous connecting rod; 705, distance sensor; 706, limiting rod; 707, locking rod; 708, third driving device; 709, connecting block; 710, position sensor; 711, chain; 712, second sliding block; 713, sliding rail; 714, locking assembly; 715, first sliding block; 716, fixing member;

[0043] 8, laser scanner;

[0044] 9. Magnetic nail sensor. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] like Figure 1 The image shows a specific implementation of the car transporter provided in this embodiment, comprising: two AGV bodies 1, each AGV body 1 equipped with a drive wheel mechanism 2, which drives the corresponding AGV body 1 to move closer to or away from the adjacent AGV body 1. Of course, the drive wheel mechanism 2 also has the function of driving the AGV body 1 to move in a straight line, turn, etc., and is not limited to driving the two AGV bodies 1 closer to or away.

[0050] like Figure 1As shown, the two AGV bodies 1 are connected by a telescopic mechanism 7. The telescopic mechanism 7 itself is not equipped with a drive device. The telescopic mechanism 7 is compressed by the action of at least one AGV body 1 moving closer to the other AGV body 1, and stretched by the action of at least one AGV body 1 moving away from the other AGV body 1.

[0051] Specifically, in some embodiments, when one of the AGV bodies 1 is stationary, the telescopic mechanism 7 is compressed by controlling the second AGV body 1 to move closer to the first AGV body 1, and stretched by moving the second AGV body 1 away from the first AGV body 1. Conversely, the second AGV body 1 can also be stationary, and the compression or stretching of the telescopic mechanism 7 can be achieved by driving the first AGV body 1.

[0052] Of course, in other embodiments, the compression or extension of the telescopic mechanism 7 can also be achieved by simultaneously driving two AGV bodies 1.

[0053] like Figure 1 As shown in this embodiment, a drive wheel mechanism 2 is provided at the centerline position of each AGV body 1. The AGV body 1 has clamping mechanisms 3 on both sides for gripping the wheels. During operation, the clamping mechanisms 3 clamp the front and rear sides of the wheels, thereby lifting the wheels to facilitate vehicle movement.

[0054] It should be noted that the clamping mechanism 3 is a conventional technology, such as the clamping mechanism 3 in the prior art described in the background section. This embodiment does not improve the structure of the existing clamping mechanism 3, and will not be described in detail here.

[0055] like Figures 2-4 As shown, the drive wheel mechanism 2 has a drive frame 201 and drive wheels 202 rotatably mounted on the drive frame 201. At least two drive wheels 202 are symmetrically arranged, and the centers of symmetry of the two drive wheels 202 are located on the same center line as the rotation center of the drive frame 201. Each of the two drive wheels 202 is driven by a separate first drive device, thereby achieving independent driving of the two drive wheels 202.

[0056] The drive frame 201 is rotatably connected to the AGV body 1. Specifically, the drive frame 201 rotates horizontally, thereby adjusting the steering angle of the drive wheel 202 according to the rotation angle of the drive frame 201.

[0057] like Figure 3 , Figure 4As shown, the AGV body 1 has an inner ring gear 204, the center of which coincides with the rotation center of the drive frame 201, and the drive frame 201 is connected with an encoder 205, the rotation axis of which is engaged with the inner ring gear 204 through a gear 203.

[0058] Specifically, in this embodiment, when the two drive wheels 202 rotate by differential, the gear 203 rotates around the inner ring gear 204 while self-rotating through the engagement of the gear 203 and the inner ring gear 204, so that the encoder 205 can detect the rotation angle of the drive frame 201 in real time, and further accurately control the steering of the AGV body 1. In this technical solution, the drive frame 201 of the drive wheel mechanism 2 is rotationally connected to the center line of the AGV body 1, so that when steering, only the drive frame 201 needs to be rotated to achieve the steering of the AGV body 1 with a small radius, thereby better adapting to the application in a narrow space. Specifically, through the differential rotation of the two symmetrically arranged drive wheels 202 and the detection of the encoder 205, the rotation angle of the drive frame 201 can be accurately controlled.

[0059] As shown in Figure 3 , Figure 4 , the drive frame 201 has at least two symmetrically arranged drive wheels 202, and the symmetry centers of the two drive wheels 202 are located on the same center line as the rotation center of the drive frame 201. The two drive wheels 202 can evenly share the weight they bear, avoiding the inclination or shaking of the AGV body 1 due to uneven force.

[0060] As shown in Figure 1 , in some embodiments, the AGV body 1 has two butt-jointed AGV bodies 1, and the drive wheel mechanism 2 is arranged at the bottom of the end of each AGV body 1 away from each other. During steering, the two drive wheel mechanisms 2 can work cooperatively to realize various steering modes such as normal steering and in-place steering by different combinations of steering angles and speeds of the drive wheels 202.

[0061] As shown in Figure 1 , the bottom of the end of each AGV body 1 close to each other is also provided with a first support wheel 4. The bottom of the end of each AGV body 1 close to each other is provided with a first support wheel 4, which cooperates with the drive wheel 202 at the end to form multiple support points. These support points can evenly share the weight of the vehicle being transported, reducing the pressure on a single support component.

[0062] Further, the first support wheel 4 is symmetrically arranged on each AGV body 1, making the AGV body 1 more evenly stressed when carrying a vehicle.

[0063] AsFigure 1 As shown, a second support wheel 5 is provided between the drive wheel mechanism 2 and the first support wheel 4, in the region near the drive wheel mechanism 2. The second support wheel 5 can play an auxiliary role during steering. When the vehicle transporter turns, the second support wheel 5 near the drive wheel mechanism 2 can assist the drive wheel 202 to better adjust its direction, providing additional steering force and stability.

[0064] Furthermore, the second support wheel 5 has two symmetrically arranged on each of the AGV bodies 1. During steering, the two symmetrical support wheels can work together with the drive wheel 202 to adjust the direction, providing a more uniform steering force and making the steering action smoother and more precise.

[0065] like Figure 5 As shown, in some embodiments, the second support wheel 5 is a floating wheel. During steering, the floating wheel can more flexibly cooperate with the drive wheel 202 and other support wheels. When the vehicle transporter turns, the floating wheel can automatically adjust its position and direction according to changes in steering angle and centrifugal force, providing additional steering assistance and stability.

[0066] like Figure 5 As shown, the floating wheel includes a mounting plate 501 and a rotating frame 502 rotatably connected to the mounting plate 501. The rotating frame 502 is vertically arranged at the rotation center on the mounting plate 501. A wheel frame 504 is rotatably connected to the rotating frame 502 via a pin 503. A roller 505 is rotatably mounted on the wheel frame 504. The end of the wheel frame 504 away from the roller 505 is connected to the rotating frame 502 via an elastic element 506. The elastic element 506 has an elastic force that drives the wheel frame 504 to rotate so that the roller 505 moves downward.

[0067] In addition, in some embodiments, the rotating frame 502 has a limiting member 507 located above the wheel frame 504 to limit the range of upward rotation of the wheel frame 504.

[0068] like Figure 1 As shown, in some embodiments, each of the AGV bodies 1 has a charging mechanism 6 at its bottom. The charging mechanism 6 has a brush plate 607 that can move up and down. After the brush plate 607 moves down, it contacts the brush block on the ground to charge.

[0069] like Figure 6 , Figure 7 As shown, the charging mechanism 6 includes a mounting cover 601 and a lifting mechanism. The mounting cover 601 is fixedly connected to the AGV body 1, the lifting mechanism is connected to the mounting cover 601, and the lifting end of the lifting mechanism is connected to the brush plate 607.

[0070] Specifically, the lifting mechanism comprises a fixed frame 602, a scissor assembly and a lifting frame 603, the fixed frame 602 is connected with a second driving device 604, the second driving device 604 is linear driving, and the driving end is connected with the scissor assembly.

[0071] The scissor assembly comprises a first connecting rod 605 and a second connecting rod 606, the first connecting rod 605 and the second connecting rod 606 are crossed and connected through a rotating shaft hinge, the upper end of the first connecting rod 605 is connected with the fixed frame 602 in a horizontal direction, and the lower end is connected with the lifting frame 603 in a rotating mode; the upper end of the second connecting rod 606 is connected with the fixed frame 602 in a rotating mode, and the lower end is connected with the lifting frame 603 in a horizontal direction.

[0072] In use, the linear driving of the second driving device 604 drives the scissor assembly to move, thereby driving the lifting frame 603 to move up and down. The brush plate 607 is installed on the bottom surface of the lifting frame 603, thereby driving the brush plate 607 to move up and down through the lifting frame 603.

[0073] Of course, the above description is not restrictive, and in some embodiments, the lifting mechanism can also adopt other conventional lifting structures, such as a structure of a lead screw and a sliding table module.

[0074] As shown in the drawings, Figure 1 In this embodiment, two AGV bodies 1 are connected through a telescopic mechanism 7. Through the setting of the telescopic mechanism 7, the distance between the two AGV bodies 1 can be accurately controlled. The telescopic mechanism 7 is connected with a locking assembly 714, which is used to lock and keep the stretching length of the telescopic mechanism 7.

[0075] As shown in the drawings, Figure 8 In some embodiments, the telescopic mechanism 7 comprises two fixed beams for connecting with the AGV bodies 1 and a scissor assembly 703 connected between the two fixed beams. Specifically, the fixed beam comprises a first fixed beam 701 and a second fixed beam 702, the first fixed beam 701 is used to connect with one AGV body 1, the second fixed beam 702 is used to connect with another AGV body 1, and when the two AGV bodies 1 move away from each other, the scissor assembly 703 is stretched.

[0076] As shown in the drawings, Figure 8As shown, in the embodiment, the scissors assemblies 703 are arranged in two groups in parallel, and each group is connected to the first fixed beam 701 and the second fixed beam 702 through a guide rail pair assembly. The two groups of the scissors assemblies 703 are connected through a synchronous connecting rod 704, so that the two groups of the scissors assemblies 703 can be synchronously stretched or compressed. The two groups of the scissors assemblies 703 arranged in parallel can improve the stability of the connection between the two AGV bodies 1.

[0077] As shown in the drawings, Figure 8 In the embodiment, a distance sensor 705 is arranged between the two fixed beams. The distance sensor 705 can be a laser sensor. A laser sensor is arranged on one fixed beam, and a corresponding reflecting member is arranged on the other fixed beam. The working principle is as follows: the laser sensor integrates a laser emitter and a photoelectric receiver. The laser emitter emits a short pulse of laser light. The laser light is reflected after reaching the reflecting member, and the reflected light is captured by the laser receiver.

[0078] As shown in the drawings, Figure 8 , Figure 9 A compression limiting mechanism is arranged between the two groups of the scissors assemblies 703. The compression limiting mechanism is used to limit the compression of the scissors assemblies 703 when the scissors assemblies 703 are compressed to a position. The compression limiting mechanism includes a limiting rod 706, a locking rod 707, and a third driving device 708. One end of the limiting rod 706 is connected to the second fixed beam 702, and the other end of the limiting rod 706 extends towards the first fixed beam 701. The first fixed beam 701 has an avoiding hole for inserting the limiting rod 706.

[0079] As shown in the drawings, Figure 9 , Figure 10 The limiting rod 706 has a limiting groove on each side of the end close to the first fixed beam 701. The first fixed beam 701 has a locking rod 707. The locking rod 707 is driven by the third driving device 708 to move linearly, so as to be inserted into or extracted from the limiting groove.

[0080] As shown in the drawings, Figure 8 In the embodiment, a group of the locking rod 707 and the third driving device 708 are arranged on each side of the limiting rod 706. The first fixed beam 701 has a fixing member 716 at a middle position. The fixing member 716 has an insertion opening opposite to the limiting rod 706. The two ends of the fixing member 716 also have locking openings for inserting the locking rod 707. The locking openings are detachably connected to shaft sleeves.

[0081] As shown in the drawings, Figure 10As shown, in some embodiments, the third driving device 708 may be a cylinder or an electric push rod. The driving end of the third driving device 708 can be connected to the locking rod 707 through a buffer mechanism. This arrangement allows the locking rod 707 to remain elastically abutting against the groove of the limiting rod 706. Specifically, the buffer mechanism includes a connecting block 709, one end of which is connected to the driving end of the third driving device 708, and the other end is connected to the locking rod 707.

[0082] like Figure 10 As shown, in some embodiments, a spring is fitted on the locking rod 707, one end of the spring abutting against the bushing and the other end abutting against the connecting block 709, and the spring has an elastic force that drives the connecting block 709 to move away from the fixing member 716.

[0083] like Figure 10 In some embodiments, the first fixed beam 701 has a position sensor 710, and the connecting block 709 has a detection area for cooperating with the position sensor 710. The position sensor 710 allows for accurate determination of whether the limiting rod 706 is locked.

[0084] like Figure 11 , Figure 12 As shown, in this embodiment, in the scissor-type assembly 703, one end of the first set of connecting rods is slidably connected to the first fixed beam 701 via a first slider 715, and the second set of connecting rods is slidably connected to the second fixed beam 702 via a second slider 712. Specifically, a slide rail 713 is connected to the second fixed beam 702, and a second slider 712 is slidably connected to the slide rail 713. The ends of the second set of connecting rods are rotatably connected to the second slider 712.

[0085] like Figure 11 As shown, in this embodiment, the locking assembly 714 includes: a mechanical brake device, a reducer, a sprocket, and a chain 711 rotatably connected to the sprocket. The mechanical brake device is connected to the sprocket via the reducer, and the chain 711 is connected to either the first slider 715 or the second slider 712. Specifically, both ends of the chain 711 are connected to the sprocket, and one of the sprockets is connected to the locking assembly 714, thereby locking the rotation of the sprocket. Specifically, the second fixed beam 702 is provided with a mounting base for mounting the reducer. The reducer is mounted on the second fixed beam 702, with its input end connected to the mechanical brake device and its output end connected to the sprocket.

[0086] like Figure 12 , Figure 13As shown, the guide rail pair assembly comprises a guide rail, a sliding block and a stopper, the guide rail is arranged on the first fixed beam 701 and the second fixed beam 702, the sliding block is slidingly arranged on the guide rail, the sliding block is connected with the scissor assembly 703, and the stopper is arranged at the end of the guide rail and forms a blocking and limiting cooperation with the sliding block.

[0087] As shown in Figure 12 , Figure 13 As shown, the sprocket comprises a driving wheel and a tension wheel, the chain 711 is rotationally arranged between the driving wheel and the tension wheel, the driving wheel is arranged at one end of the second fixed beam 702 close to the speed reducer, the driving wheel is connected with the output end of the speed reducer, the tension wheel is arranged at one end of the second fixed beam 702 away from the speed reducer, the chain 711 is sleeved on the driving wheel and the tension wheel, and the sliding block on the second fixed beam 702 is connected with the chain 711. The sliding block slides along the guide rail, and the stopper at the end of the guide rail can prevent the sliding block from sliding out of the guide rail.

[0088] The driving wheel and the tension wheel tension the chain 711, when the telescopic length of the scissor assembly 703 reaches the specified requirement, the speed reducer cooperates with the mechanical brake device, locks the sliding block through the chain 711, so as to realize the locking of the telescopic assembly, and avoid the change of the telescopic length of the scissor assembly 703 in the use process.

[0089] As shown in Figure 12 As shown, the second sliding block 712 connected with the end of the second group of connecting rods in the first group of scissor assemblies 703 is fixedly connected with the lower chain 711 of the chain 711.

[0090] As shown in Figure 13 As shown, the second sliding block 712 connected with the end of the second group of connecting rods in the second group of scissor assemblies 703 is fixedly connected with the lower chain 711 of the chain 711.

[0091] In this way, when the two groups of scissor assemblies 703 are synchronously stretched or compressed, the two second sliding blocks 712 are close to or away from each other, and the chain 711 is driven by the two second sliding blocks 712 to rotate forward or reversely. When locking is needed, the mechanical brake device in the locking assembly 714 is used to tightly hold the speed reducer, so as to lock the sprocket connected with the speed reducer, thereby completing the locking of the distance between the two AGV vehicle bodies 1.

[0092] As shown in Figure 14As shown, in this embodiment, the two AGV bodies 1 are diagonally provided with laser scanners 8. The laser scanner 8 can be a laser radar. The laser radar constructs a real-time map (SLAM, simultaneous localization and mapping) by scanning the surrounding environment (such as walls, columns, reflectors, etc.), and uses particle filtering or Kalman filtering algorithm for dynamic path planning. The advantage of laser navigation is real-time obstacle avoidance and adaptation to dynamic environmental changes.

[0093] Specifically, the front and rear laser scanners 8 of the AGV body 1 can support reflector navigation and SLAM navigation.

[0094] When using reflector navigation, the laser scanner 8 emits a laser beam to detect the pre-installed reflector (flat / cylindrical) in the environment. By measuring the angle and distance between the reflector and the AGV body 1, and combining the known global coordinates (X, Y, θ) of the reflector, the real-time position of the AGV body 1 can be calculated. The encoder 205 data (drive wheel / steering wheel displacement) and laser measurement results are fused, and the position estimation is corrected by Kalman filtering. The detected reflector is matched with the known reflector in the layout map (excluding false reflections), and the position (X, Y, θ) is updated every 60 ms.

[0095] When using SLAM navigation, the laser scanner 8 obtains the environment point cloud, and matches the real-time point cloud with the pre-built map through the iterative closest point (ICP) or NDT (normal distribution transformation) algorithm to calculate the pose of the AGV body 1. The encoder 205 data is fused to predict the motion trajectory of the AGV body 1, and the laser scanning delay is compensated. The positioning reliability is judged based on the point cloud matching rate (such as ≥70%), and if the matching fails, repositioning is triggered. The position (X, Y, θ) is updated every 60 ms.

[0096] Arranging two laser scanners 8 at diagonal positions can scan a larger range, thereby more accurately positioning the position of the AGV body 1. Figure 14 As shown, the middle positions of the ends of the two AGV bodies 1 are respectively provided with magnetic nail sensors 9. The magnetic nail sensor 9 is used in cooperation with the magnetic nails (usually permanent magnets or electromagnets) pre-buried in the ground or environment. When working, the magnetic field signal of the magnetic nail is detected by the magnetic sensor on the AGV body 1, and the current position is calculated in combination with the odometer data.

[0097] The magnetic nail sensor 9 can provide absolute position information with a positioning accuracy of millimeter level. In this embodiment, the absolute position information of the magnetic nail sensor 9 is used to correct the cumulative error of the laser scanner 8, and the environmental perception capability of the laser scanner 8 makes up for the deficiency of the magnetic nail sensor 9 in path flexibility. When the device detects a magnetic nail, the magnetic nail navigation is preferentially used to improve the speed; when an obstacle is encountered, the laser scanner 8 navigation is automatically switched to re-plan the path.

[0098] The magnetic nail inertial navigation module used in the embodiment includes a magnetic nail absolute position correction unit and an inertial measurement unit (gyroscope), and fuses absolute position correction and heading angle compensation. The magnetic nail (magnetic body) is pre-buried on the ground and serves as an absolute position reference point with known coordinates. When the magnetic sensor installed on the front and rear bottom of the AGV vehicle body passes the magnetic nail, the magnetic field of the magnetic nail can be detected, and the offset of the magnetic nail relative to the vehicle can be calculated accordingly.

[0099] Subsequently, the controller of the AGV compares the detected magnetic nail position with the coordinates in the pre-stored map, thereby correcting the current pose (X, Y, θ) of the AGV vehicle body and effectively eliminating the cumulative error. At the same time, the angular velocity of the vehicle is measured in real time by the gyroscope, which replaces the traditional steering encoder to calculate the change of the heading angle.

[0100] The gyroscope can directly measure the rotational motion of the vehicle body, avoiding the heading angle error caused by factors such as wheel slip and mechanical clearance. Based on the displacement calculated by the drive wheel encoder and the heading angle provided by the gyroscope, the vehicle position can be continuously estimated, and the position information (X, Y, θ) can be output. When the magnetic nail is used to correct the position, the integral error of the gyroscope is reset synchronously to prevent the angular velocity from drifting.

[0101] The working principle of the embodiment is summarized as follows.

[0102] Steering principle: The drive frame 201 is rotationally connected to the center line of the AGV vehicle body 1, and the accurate meshing transmission of the gear 203 and the inner ring gear 204 accurately transmits the steering angle to the encoder 205, thereby accurately controlling the rotation angle of the drive frame 201. At least two drive wheels 202 are symmetrically arranged on the drive frame 201, and the symmetry center and the rotation center of the drive frame 201 are located on the same center line. When steering, the rotation of the drive frame 201 is realized by the differential rotation of the two drive wheels 202, which can realize small-radius steering and adapt to narrow spaces. The drive wheel mechanisms 2 at both ends of the AGV vehicle body 1 work cooperatively, and through the combination of the steering angles and speeds of the different drive wheels 202, various steering modes such as normal steering and in-place steering can be realized.

[0103] That is, the drive and steering system design of the embodiment can realize flexible steering and stable driving. Specifically, the rotational connection of the drive frame 201 to the center line of the AGV vehicle body 1 and the matching transmission of the gear 203 and the inner ring gear 204 realize small-radius steering and adapt to narrow spaces for operation. The symmetrically arranged drive wheels 202 balance the weight and ensure the stable driving of the AGV vehicle body 1, avoiding tilting and shaking.

[0104] Support principle: two AGV bodies 1 are symmetrically provided with two first support wheels 4 at one end close to each other, which jointly act with the end driving wheel 202 to evenly share the weight of the vehicle being transported. Two second support wheels 5 are symmetrically provided between the driving wheel mechanism 2 and the first support wheel 4 close to the driving wheel mechanism 2, which assist the driving wheel 202 to adjust the direction when turning. In some embodiments, the second support wheel 5 is a floating wheel, which is composed of a mounting plate 501, a rotating frame 502, a wheel frame 504, a roller 505 and an elastic member 506. The floating wheel can automatically adjust the position and direction according to the change of turning, provide turning assistance and stability, and the upper limiting member 507 on the rotating frame 502 limits the upward rotation range of the wheel frame 504.

[0105] That is, the support system design of the present embodiment can realize the functions of uniform load bearing and auxiliary turning. Specifically, the multiple support wheels are reasonably distributed to evenly share the weight of the vehicle being transported, reduce the pressure on individual components, and improve the load bearing capacity and stability of the equipment. The second support wheel 5 (especially the floating wheel) provides auxiliary force and stability when turning, making the turning more stable and accurate.

[0106] Charging principle: a charging mechanism 6 is provided at the bottom of each AGV body 1, which is composed of a mounting cover 601 and a lifting mechanism. The lifting mechanism includes a fixed frame 602, a scissor assembly and a lifting frame 603. The second driving device 604 (linear driving) drives the scissor assembly to move, so that the lifting frame 603 rises and falls, and the brush plate 607 mounted on the bottom surface of the lifting frame 603 moves up and down to contact the ground brush block to realize charging. The lifting mechanism can also use other conventional structures such as a lead screw and a sliding table module.

[0107] That is, the charging system design of the present embodiment can realize the function of automatic charging. Specifically, the automatic charging is realized by the cooperation of the liftable brush plate 607 and the ground brush block, which is convenient and fast, and ensures the continuous operation of the equipment.

[0108] Telescopic docking principle: two AGV bodies 1 are connected by a telescopic mechanism 7, which is composed of two fixed beams and a scissor type assembly 703. Two parallel scissor type assemblies 703 are connected by a synchronous connecting rod 704, which can be stretched or compressed synchronously to improve the stability of the connection. Distance sensors 705 (such as laser sensors and reflecting elements) are provided between the fixed beams to detect the distance. The limiting rod 706 is connected to the second fixed beam 702 at one end and inserted into the limiting hole of the first fixed beam 701 at the other end. The locking rod 707 is driven by the third driving device 708 (such as a pneumatic cylinder or an electric push rod) to be inserted or withdrawn from the limiting groove on both sides of the limiting rod 706, realizing the locking of the two AGV bodies 1 when maintaining the minimum distance. The two sets of scissor type assemblies 703 are driven by the approach or departure of the two AGV bodies 1, and the locking assembly 714 (reducer + mechanical brake device) can lock the rotation of the chain wheel to realize the locking of the distance between the two AGV bodies 1.

[0109] That is, the telescopic docking system of the embodiment can realize the functions of precise adjustment, stable connection and safety detection. Specifically, the telescopic mechanism 7 cooperates with the locking assembly 714 to precisely control the distance between the two AGV bodies 1 and lock them to meet the size requirements of different carrying vehicles.

[0110] Navigation positioning principle: two laser scanners 8 are arranged at the diagonal positions of the two AGV bodies 1 to construct a real-time map and dynamically plan a path by scanning the environment, thereby realizing real-time obstacle avoidance and adapting to dynamic environmental changes. A magnetic nail sensor 9 is arranged at the middle position of the end of each AGV body 1 to detect the magnetic field signal in cooperation with the pre-buried magnetic nails and calculate the current position in combination with the odometer data to provide an absolute position reference and correct the cumulative error of the laser scanner 8. When the device is running, the magnetic nail navigation is preferentially used to improve the speed, and the laser scanner 8 navigation is switched to re-plan the path when an obstacle is encountered.

[0111] That is, the navigation positioning system of the embodiment can realize the functions of complementary navigation and intelligent switching. Specifically, the laser scanner 8 and the magnetic nail sensor 9 are combined to exert their respective advantages, improve the positioning accuracy and path planning flexibility, and adapt to complex environments. The navigation mode is automatically switched according to the environmental changes to improve the efficiency and safety of the device operation.

[0112] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the present application.

Claims

1. A car transporter, characterized in that, include: At least two AGV bodies (1), each AGV body (1) is provided with a drive wheel mechanism (2), the drive wheel mechanism (2) drives the corresponding AGV body (1) to move closer to or away from the other adjacent AGV body (1); A telescopic mechanism (7) is connected between two AGV bodies (1). The telescopic mechanism (7) is compressed by the action of at least one AGV body (1) moving closer to the other AGV body (1), and stretched by the movement of at least one AGV body (1) away from the other AGV body (1). The telescopic mechanism (7) includes: a first fixed beam (701) and a second fixed beam (702). The first fixed beam (701) is fixedly connected to one AGV body (1), and the second fixed beam (702) is fixedly connected to the other AGV body (1). A locking component (714) is connected to the telescopic mechanism (7) and is used to lock and maintain the extended or compressed length of the telescopic mechanism (7). The compression limiting mechanism includes: a limiting rod (706), a locking rod (707), and a third driving device (708). One end of the limiting rod (706) is connected to the second fixed beam (702), and the other end extends toward the first fixed beam (701). The side of the extended end of the limiting rod (706) has a limiting groove. The locking rod (707) is connected to the first fixed beam (701). One end of the locking rod (707) extends in a direction perpendicular to the limiting rod (706), and the extended end of the locking rod (707) is adapted to be inserted into the limiting groove. The driving end of the third driving device (708) is connected to the locking rod (707), and the third driving device (708) is used to drive the locking rod (707) to move toward the limiting rod (706).

2. The car transporter according to claim 1, characterized in that, The telescopic mechanism (7) includes a scissor-type assembly (703), the two ends of which are connected between the first fixed beam (701) and the second fixed beam (702) through a guide rail assembly. The guide rail assembly includes a slider and a guide rail. The guide rail is installed on the first fixed beam (701) and the second fixed beam (702) respectively. The slider is slidably disposed on the guide rail and is connected to the scissor-type assembly (703).

3. The car transporter according to claim 2, characterized in that, The guide rail has stops at both ends for blocking the slider.

4. The car transporter according to claim 2, characterized in that, The locking assembly (714) includes: a mechanical brake device, a reducer, a sprocket, and a chain (711). The mechanical brake device is connected to the sprocket through the reducer. The chain (711) is rotatably mounted on the sprocket and is connected to the slider.

5. The car transporter according to claim 2, characterized in that, The scissor lift assembly (703) has two sets arranged side by side, and a compression limiting mechanism is provided between the two sets of scissor lift assemblies (703). The compression limiting mechanism is used to limit the scissor lift assembly (703) after it is compressed into place.

6. The car transporter according to claim 1, characterized in that, The first fixed beam (701) has a position sensor (710), and the driving end of the third driving device (708) has a connecting block (709), and the connecting block (709) has a detection area that cooperates with the position sensor (710).

7. The car transporter according to claim 6, characterized in that, On both sides of the limiting rod (706), a set of locking rods (707) and the third driving device (708) are respectively arranged. The first fixed beam (701) has a fixing member (716) at the middle position. The fixing member (716) has an insertion port opposite to the limiting rod (706). Both ends of the fixing member (716) also have locking ports for inserting the locking rods (707). A bushing is detachably connected to the locking port.

8. The car transporter according to claim 7, characterized in that, A spring is fitted on the locking rod (707), one end of the spring abuts against the bushing and the other end abuts against the connecting block (709), and the spring has an elastic force that drives the connecting block (709) to move away from the fixing member (716).

9. The car transporter according to any one of claims 1-8, characterized in that, Laser scanners (8) are provided at the diagonal positions of the two AGV bodies (1), and magnetic nail sensors (9) are provided at both ends of the two AGV bodies (1).

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