An automobile carrier

Abstract

The utility model discloses a kind of vehicle handlers, it is related to the movement and handling technical field of vehicle, comprising: AGV car body, with at least two, the end of two the AGV car body is connected by telescopic mechanism butt joint;Compression limiting mechanism, between two the AGV car body, the compression limiting mechanism is used to when the telescopic mechanism is compressed to position limit it;The utility model technical scheme, two AGV car bodies are connected by telescopic mechanism, when compression, two AGV car bodies are connected as a whole, when stretching, the spacing between two AGV car bodies can be guaranteed to adapt to the wheelbase of different vehicle models.And with compression limiting mechanism, it can be compressed to limit it after telescopic mechanism, so as to avoid the problem of collision of two AGV car bodies.

Description

Technical Field

[0001] This utility model relates to the field of vehicle movement and handling technology, and specifically to a car transporter. Background Technology

[0002] A car transporter is an intelligent device designed for precise car transport. Its core features are its ultra-thin structure and clamp-type tire fixing technology, which enables it to efficiently complete tasks such as vehicle relocation and reorientation in confined spaces.

[0003] For example, Chinese patent document CN213015652U discloses a split-type parking robot, which includes: a clamping mechanism, a walking mechanism, two sets of AGV body mechanisms, and a connecting cable. The two sets of AGV body mechanisms are connected by the connecting cable. The walking mechanism adopts modular sprocket drive to reduce space occupation and contribute to the overall ultra-thin design. The first / second drive wheels use sprocket drive (instead of belt drive) to avoid slippage and ensure movement accuracy.

[0004] However, with the above solution, there is no limit protection when the two AGV vehicles move close together, which can easily lead to collisions. Utility Model Content

[0005] In view of this, the present invention provides a car transporter to solve the problem that there is no limit protection when two AGV bodies of the existing car transporter move close to each other.

[0006] This utility model provides a car transporter, comprising: The AGV vehicle body has at least two, and the ends of the two AGV vehicle bodies are connected by a telescopic mechanism. A compression limiting mechanism is located between the two AGV bodies. The compression limiting mechanism is used to limit the telescopic mechanism after it is compressed into place.

[0007] This utility model's technical solution connects two AGV bodies via a telescopic mechanism. When compressed, the two AGV bodies are connected as one unit; when stretched, the distance between the two AGV bodies can accommodate the wheelbase of different vehicle models. It also features a compression limiting mechanism that can limit the compression of the telescopic mechanism to prevent collisions between the two AGV bodies.

[0008] Optionally, the compression limiting mechanism includes: a limiting rod, one end of which is connected to the first AGV body and the other end of which extends toward the second AGV body, and the side of the extended end of the limiting rod has a limiting groove. A locking rod is connected to the second AGV body, one end of which extends in a direction perpendicular to the limiting rod, and the extended end of the locking rod is adapted to be inserted into the limiting groove; The third driving device has its driving end connected to the locking rod. The third driving device is used to drive the locking rod to extend into or withdraw from the limiting groove of the limiting rod.

[0009] Optionally, the drive end of the third drive device is connected to the locking rod via a connecting block, a position sensor is connected to the second AGV body, and the connecting block has a detection area that cooperates with the position sensor.

[0010] Optionally, a set of locking rods and the third driving device are respectively arranged on both sides of the limiting rod. The second AGV body has a fixing member. Both ends of the fixing member have bushing holes for passing through the locking rod. The end of the fixing member facing the limiting rod has an insertion hole for inserting the limiting rod.

[0011] Optionally, the telescopic mechanism includes: A first fixed beam and a second fixed beam, wherein the first fixed beam is fixedly connected to one AGV vehicle body and the second fixed beam is fixedly connected to another AGV vehicle body; The scissor lift assembly is connected between the first fixed beam and the second fixed beam via a guide rail assembly. The guide rail assembly includes a slider and a guide rail. The guide rail is mounted on the first fixed beam and the second fixed beam, and the slider is slidably disposed on the guide rail. The slider is connected to the scissor lift assembly.

[0012] Optionally, the telescopic mechanism achieves compression by moving at least one AGV body closer to another AGV body, and achieves extension by moving at least one AGV body away from another AGV body; The telescopic mechanism is connected to a locking component, which is used to lock and maintain the extended or compressed length of the telescopic mechanism.

[0013] Optionally, the locking assembly includes: a mechanical brake device, a reducer, a sprocket, and a chain. The mechanical brake device is connected to the sprocket via the reducer, the chain is rotatably mounted on the sprocket, and the chain is connected to the slider. Optionally, the first fixed beam has a distance sensor that detects towards the second fixed beam, and the second fixed beam has a reflector that cooperates with the distance sensor.

[0014] Optionally, each of the AGV vehicles is provided with a charging mechanism at the bottom. The charging mechanism has a lifting frame and a brush plate connected to the bottom of the lifting frame. The brush plate can contact or separate from the ground brush block by lifting the lifting frame.

[0015] Optionally, drive wheel mechanisms are respectively provided at the center line of the bottom of the two AGV bodies at their far ends, and two symmetrical first support wheels are respectively provided at the bottom of the two AGV bodies at their close ends. Between the drive wheel mechanisms and the first support wheels, two symmetrical second support wheels are provided in the area near the drive wheel mechanisms. Both the first support wheels and the second support wheels are omnidirectional wheels, and the second support wheels are floating wheels. Attached Figure Description To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A perspective view of a car transporter from a bottom angle, provided for an embodiment of this utility model; Figure 2 for Figure 1 Enlarged view of the central drive wheel mechanism; Figure 3 for Figure 2 A 3D view of the central drive wheel mechanism; Figure 4 for Figure 3 A three-dimensional view of the central drive wheel mechanism from a low angle; Figure 5 for Figure 1 A 3D view of the second support wheel; Figure 6 for Figure 1 A 3D view of the charging mechanism; Figure 7 for Figure 6 A 3D view of the hidden mounting cover for the charging mechanism; Figure 8 for Figure 1 A three-dimensional view of the telescopic mechanism; Figure 9 for Figure 8 A 3D view of the locking component; Figure 10 for Figure 9 A 3D view of the hidden part of the locked component structure; Figure 11 for Figure 8 A 3D view showing the telescopic mechanism concealing the second fixed beam; Figure 12 for Figure 11 Enlarged view of region A in the middle; Figure 13 for Figure 11Enlarged view of region B in the middle; Figure 14 A perspective view of a car transporter provided for an embodiment of this utility model.

[0017] Explanation of reference numerals in the attached figures: 1. AGV vehicle body; 2. Drive wheel mechanism; 201. Drive frame; 202. Drive wheel; 203. Gear; 204. Internal gear ring; 205. Encoder; 3. Clamping mechanism; 4. First support wheel; 5. Second support wheel; 501. Mounting plate; 502. Rotating frame; 503. Pin; 504. Wheel frame; 505. Roller; 506. Elastic element; 507. Limiting element; 6. Charging mechanism; 601. Mounting cover; 602. Fixing frame; 603. Lifting frame; 604. Second drive device; 605. First connecting rod; 606. Second connecting rod; 607. Brush plate; 7. Telescopic mechanism; 701. First fixed beam; 702. Second fixed beam; 703. Scissor lift assembly; 704. Synchronous linkage; 705. Distance sensor; 706. Limiting rod; 707. Locking rod; 708. Third drive device; 709. Connecting block; 710. Position sensor; 711. Chain; 712. Second slider; 713. Slide rail; 714. Locking assembly; 715. First slider; 716. Fixing component; 8. Laser scanner; 9. Magnetic nail sensor. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this utility model, 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 utility model according to the specific circumstances.

[0021] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0022] like Figure 1 As shown, this is a specific implementation of the car transporter provided in this embodiment, including: two AGV bodies 1, each AGV body 1 is equipped 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. 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 to move closer or away.

[0023] like Figure 1 As shown, the two AGV bodies 1 are connected by a telescopic mechanism 7. When the telescopic mechanism 7 is compressed, the two AGV bodies 1 are connected as one unit. When stretched, it can ensure that the distance between the two AGV bodies 1 can adapt to the wheelbase of different models.

[0024] As shown in Figure 9, Figure 10 As shown, the car transporter provided in this embodiment also has a compression limiting mechanism, which can limit the telescopic mechanism 7 after it is compressed to a certain extent, thereby avoiding the problem of collision between the two AGV bodies 1.

[0025] In this embodiment, the two AGV bodies 1 are connected by a telescopic mechanism 7. When stretched, the distance between the two AGV bodies 1 can be adapted to the wheelbase of different vehicle models. When compressed, the two AGV bodies 1 can be connected, which makes it easier to drive and control the two AGV bodies 1 as a whole.

[0026] like Figure 1 As shown, in some embodiments, the AGV body 1 has a drive wheel mechanism 2 at the bottom centerline. The AGV body 1 has clamping mechanisms 3 on both sides for gripping the wheels. During operation, the clamping mechanisms 3 grip the front and rear sides of the wheels, thereby lifting the wheels to facilitate vehicle movement.

[0027] It should be noted that the clamping mechanism 3 is a conventional technology, such as the clamping mechanism 3 in the existing patent described in the background art. This embodiment does not improve the specific structure of the existing clamping mechanism 3, and will not be described in detail here.

[0028] like Figure 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.

[0029] 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.

[0030] like Figure 3 , Figure 4 As shown, the AGV body 1 has an internal gear ring 204, the center of which coincides with the rotation center of the drive frame 201. An encoder 205 is connected to the drive frame 201, and the rotation shaft of the encoder 205 meshes with the internal gear ring 204 through a gear 203.

[0031] Specifically, in this embodiment, when the two drive wheels 202 rotate differentially, the meshing of the gear 203 and the internal gear ring 204 causes the gear 203 to rotate around the internal gear ring 204 while simultaneously rotating on its own axis. This allows the encoder 205 to detect the rotation angle of the drive frame 201 in real time, thereby precisely controlling the steering of the AGV body 1. This embodiment's technical solution, by rotatably connecting the drive frame 201 of the drive wheel mechanism 2 to the centerline of the AGV body 1, allows the AGV body 1 to be steered with a small radius simply by rotating the drive frame 201 during steering, thus better adapting to applications in confined spaces. Specifically, the differential rotation of the two symmetrically arranged drive wheels 202, combined with the detection by the encoder 205, enables precise control of the rotation angle of the drive frame 201.

[0032] like Figure 3 , Figure 4 As shown, the drive frame 201 has at least two symmetrically arranged drive wheels 202, and the center of symmetry of the two drive wheels 202 and the center of rotation of the drive frame 201 are located on the same center line. The two drive wheels 202 can evenly distribute the weight they bear, avoiding tilting or swaying of the AGV body 1 due to uneven force.

[0033] like Figure 1 As shown, in some embodiments, the AGV body 1 has two docking connections, and the drive wheel mechanism 2 is respectively set at the bottom of the two AGV bodies 1 at opposite ends. During the turning process, the two drive wheel mechanisms 2 can work together to achieve various turning methods, such as conventional turning and turning in place, by different combinations of turning angles and speeds of the drive wheels 202.

[0034] like Figure 1 As shown, each of the two AGV bodies 1 has a first support wheel 4 at its bottom at one end that is close to the other. These first support wheels 4, together with the drive wheels 202 at the ends, form multiple support points. These support points can evenly distribute the weight of the transported vehicle, reducing the pressure on individual support components.

[0035] Furthermore, the first support wheel 4 has two symmetrically arranged on each AGV body 1, so that the AGV body 1 is subjected to more even force when carrying the vehicle.

[0036] like Figure 1As 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Specifically, the lifting mechanism includes: a fixed frame 602, a scissor lift assembly and a lifting frame 603. A second driving device 604 is connected to the fixed frame 602. The second driving device 604 is a linear drive, and its driving end is connected to the scissor lift assembly.

[0044] The scissor lift assembly includes a first connecting rod 605 and a second connecting rod 606. The first connecting rod 605 and the second connecting rod 606 intersect and are hinged together by a pivot. The upper end of the first connecting rod 605 is slidably connected to the fixed frame 602 in the horizontal direction, and the lower end is rotatably connected to the lifting frame 603. The upper end of the second connecting rod 606 is rotatably connected to the fixed frame 602, and the lower end is slidably connected to the lifting frame 603 in the horizontal direction.

[0045] In use, the scissor lift assembly is activated by the linear drive of the second drive device 604, 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, so the lifting frame 603 drives the brush plate 607 to move up and down.

[0046] Of course, the above description is not limiting. In some embodiments, the lifting mechanism may also adopt other conventional lifting structures, such as a structure in which a lead screw and a slide module cooperate.

[0047] like Figure 8 As shown, the telescopic mechanism 7 includes two fixed beams for connecting to the AGV body 1, and a scissor-type assembly 703 connected between the two fixed beams. Specifically, the fixed beams include a first fixed beam 701 and a second fixed beam 702. The first fixed beam 701 is used to connect to one AGV body 1, and the second fixed beam 702 is used to connect to another AGV body 1. When the two AGV bodies 1 move away from each other, the scissor-type assembly 703 is extended.

[0048] like Figure 8 As shown, in this embodiment, the scissor lift assembly 703 has two sets arranged side by side, which are connected to the first fixed beam and the second fixed beam respectively through a guide rail sub-assembly. A synchronous connecting rod 704 connects the two sets of scissor lift assemblies 703, enabling the two sets of scissor lift assemblies 703 to stretch or compress synchronously. The two sets of scissor lift assemblies 703 arranged side by side can improve the stability of the connection between the two AGV bodies 1.

[0049] like Figure 8As shown, in this embodiment, a distance sensor 705 is provided between the two fixed beams. Specifically, the distance sensor 705 can be a laser sensor. The laser sensor is installed on one fixed beam, and a corresponding reflector is installed 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 laser beam, which is reflected after reaching the reflector, and the laser receiver captures the reflected light.

[0050] like Figure 8 , Figure 9 As shown, 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. 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 toward the first fixed beam 701. The first fixed beam 701 has a clearance hole for inserting the limiting rod 706.

[0051] like Figure 9 , Figure 10 As shown, the limiting rod 706 has limiting grooves on both sides of one end near 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, thereby inserting into or pulling out of the limiting groove.

[0052] like Figure 8 As shown in this embodiment, a set of locking rods 707 and the third driving device 708 are respectively arranged on both sides of the limiting rod 706. A fixing member 716 is provided at the middle position of the first fixing beam 701. 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.

[0053] like Figure 10As shown, in some embodiments, the third driving device 708 can 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. The connection between the connecting block 709 and the locking rod 707 is slidable, and a spring is provided between the connecting block 709 and the locking rod 707. The spring has an elastic force that drives the connecting block 709 and the locking rod 707 away from each other.

[0054] 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.

[0055] like Figure 11 , Figure 12 As shown, in the scissor lift 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 the 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.

[0056] 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.

[0057] like Figure 12 , Figure 13As shown, the guide rail assembly includes a guide rail, a slider, and a stop. The guide rail is disposed on the first fixed beam 701 and the second fixed beam 702. The slider is slidably disposed on the guide rail and is connected to the scissor lift assembly 703. The stop is disposed at the end of the guide rail and forms a blocking and limiting cooperation with the slider.

[0058] like Figure 12 , Figure 13 As shown, the sprocket includes a drive sprocket and a tension sprocket. A chain 711 is rotatably disposed between the drive sprocket and the tension sprocket. The drive sprocket is located at one end of the second fixed beam 702 near the reducer and is connected to the output end of the reducer. The tension sprocket is located at the end of the second fixed beam 702 away from the reducer. The chain 711 is sleeved on the drive sprocket and the tension sprocket. A slider on the second fixed beam 702 is connected to the chain 711. The slider slides along the guide rail, and a stop at the end of the guide rail prevents the slider from sliding off the guide rail.

[0059] The drive wheel and the tension wheel tension the chain 711. When the telescopic length of the scissor lift assembly 703 reaches the specified requirement, the reducer cooperates with the mechanical brake device to lock the slider through the chain 711, thereby locking the telescopic assembly and preventing the telescopic length of the scissor lift assembly 703 from changing during use.

[0060] like Figure 12 As shown, the second slider 712 connected to the end of the second set of links in a set of scissor-type components 703 is fixedly connected to the lower chain 711 of the chain 711.

[0061] like Figure 13 As shown, the second slider 712 connected to the end of the second link in another scissor-type assembly 703 is fixedly connected to the lower chain 711 of the chain 711.

[0062] With this configuration, when the two sets of scissor lift assemblies 703 are simultaneously stretched or compressed, the two second sliders 712 move closer or further apart, causing the chain 711 to rotate forward or backward under the drive of the two second sliders 712. When locking is required, the mechanical brake device in the locking assembly 714 engages the reducer, thereby locking the sprocket connected to the reducer and achieving locking at any distance between the two AGV bodies 1.

[0063] like Figure 14As shown in this embodiment, laser scanners 8 are respectively installed at diagonal positions of the two AGV bodies 1. Specifically, the laser scanner 8 can be a lidar. The lidar constructs a real-time map (SLAM, Simultaneous Localization and Mapping) by scanning the surrounding environment (such as walls, pillars, reflectors, etc.) and uses particle filtering or Kalman filtering algorithms for dynamic path planning. The advantage of laser navigation lies in real-time obstacle avoidance and adaptation to dynamic environmental changes.

[0064] Specifically, the laser scanners 8 at the front and rear of the AGV vehicle body 1 can support reflector navigation and SLAM navigation.

[0065] When using reflector navigation, a laser beam is emitted by laser scanner 8 to detect pre-installed reflectors (planar / cylindrical) in the environment. The real-time position of AGV body 1 is calculated by measuring the angle and distance between the reflector and AGV body 1, combined with the known global coordinates (X, Y, θ) of the reflector. The position estimate is corrected by fusing encoder 205 data (drive wheel 202 / steering wheel displacement) with the laser measurement results and applying Kalman filtering. The detected reflectors are matched with known reflectors in the layout map (excluding false reflections; position (X, Y, θ) is updated every 60ms).

[0066] When using SLAM navigation, the laser scanner 8 acquires environmental point clouds. The real-time point cloud is matched with a pre-built map using an iterative nearest neighbor (ICP) or NDT (Normal Transform) algorithm to calculate the AGV vehicle body 1 pose. Data from encoder 205 is fused to predict the AGV vehicle body 1's trajectory and compensate for laser scanning delay. Positioning reliability is determined based on the point cloud matching rate (e.g., ≥70%); if matching fails, relocation is triggered. The position (X, Y, θ) is updated every 60ms.

[0067] By placing two laser scanners 8 diagonally, a larger area can be scanned, thus allowing for more precise positioning of the AGV vehicle body 1.

[0068] like Figure 14 As shown, magnetic nail sensors 9 are respectively installed at the middle of the ends of the two AGV bodies 1. The magnetic nail sensors 9 are used to cooperate with magnetic nails (usually permanent magnets or electromagnets) that are pre-buried in the ground or environment. During operation, the magnetic sensors on the AGV bodies 1 detect the magnetic field signal of the magnetic nails, and calculate the current position by combining it with the odometer data.

[0069] The magnetic nail sensor 9 provides an absolute position reference with millimeter-level positioning accuracy. 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, while the environmental perception capability of the laser scanner 8 compensates for the lack of path flexibility of the magnetic nail sensor 9. When the device detects a magnetic nail, it prioritizes magnetic nail navigation to improve speed; when encountering obstacles, it automatically switches to laser scanner 8 navigation to replan the path.

[0070] The principle of magnetic nail inertial navigation used in this embodiment is the fusion of absolute position correction of the magnetic nail and heading angle compensation of the inertial measurement unit (gyroscope). The magnetic nail (magnetic body) pre-buried in the ground serves as an absolute position reference point with known coordinates. When the magnetic sensors installed at the front and rear bottom of the AGV body 1 pass the magnetic nail, they can detect the magnetic field of the magnetic nail and calculate the offset of the magnetic nail relative to the vehicle.

[0071] Subsequently, the controller compares the detected magnetic nail positions with the coordinates in the pre-stored map to correct the current pose (X, Y, θ) of the AGV body 1, effectively eliminating accumulated errors. At the same time, the angular velocity of the vehicle is measured in real time using a gyroscope, replacing the traditional steering encoder to calculate the change in heading angle.

[0072] The gyroscope can directly measure the vehicle's rotational motion, avoiding heading angle errors caused by factors such as wheel slippage and mechanical backlash. Based on the displacement calculated by the drive wheel encoder, and combined with the heading angle provided by the gyroscope, the vehicle's position can be continuously estimated and the position information (X, Y, θ) can be output. When correcting the position using magnetic nails, the gyroscope's integration error is reset simultaneously to prevent angular velocity drift.

[0073] The working principle of this embodiment is summarized below.

[0074] Steering Principle: The drive frame 201 is rotatably connected to the centerline of the AGV body 1. Through the precise meshing of gear 203 and internal gear ring 204, the steering angle is accurately transmitted to the encoder 205, thereby precisely controlling the rotation angle of the drive frame 201. At least two drive wheels 202 are symmetrically arranged on the drive frame 201, with their center of symmetry and rotation center of the drive frame 201 located on the same centerline. During steering, the differential rotation of the two drive wheels 202 causes the drive frame 201 to rotate, achieving a small-radius steering suitable for confined spaces. The drive wheel mechanisms 2 at the ends of the two AGV bodies 1 work together, achieving various steering modes such as conventional steering and in-place steering through different combinations of steering angles and speeds of the drive wheels 202.

[0075] In other words, the drive and steering system design of this embodiment can achieve flexible steering and stable driving. Specifically, the rotational connection of the drive frame 201 to the centerline of the AGV body 1 and the engagement transmission between the gear 203 and the internal gear ring 204 enable small-radius steering, adapting to operations in confined spaces. The symmetrically arranged drive wheels 202 evenly bear the weight, ensuring the stability of the AGV body 1 and preventing tilting and swaying.

[0076] Support Principle: Two first support wheels 4 are symmetrically arranged at one end of the two AGV bodies 1, close to each other. These first support wheels 4 work together with the end drive wheels 202 to evenly distribute the weight of the transported vehicle. Two second support wheels 5 are symmetrically arranged between the drive wheel mechanism 2 and the first support wheels 4, close to the drive wheel mechanism 2. These second support wheels 5 assist the drive wheels 202 in adjusting their direction during steering. In some embodiments, the second support wheels 5 are floating wheels, constructed from a mounting plate 501, a rotating frame 502, a wheel frame 504, rollers 505, and elastic elements 506. They can automatically adjust their position and direction according to steering changes, providing steering assistance and stability. The upper limit element 507 of the rotating frame 502 limits the upward rotation range of the wheel frame 504.

[0077] In other words, the support system design in this embodiment can achieve uniform load-bearing and auxiliary steering. Specifically, the multiple support wheels are rationally arranged to evenly distribute the weight of the transported vehicle, 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 during steering, making steering smoother and more precise.

[0078] Charging principle: Each AGV body 1 is equipped with a charging mechanism 6 at its bottom, consisting of a mounting cover 601 and a lifting mechanism. The lifting mechanism includes a fixed frame 602, a scissor lift assembly, and a lifting frame 603. A second drive device 604 (linear drive) drives the scissor lift assembly, causing the lifting frame 603 to rise and fall. The brush plate 607 mounted on the bottom surface of the lifting frame 603 moves up and down accordingly, contacting the ground brush block to achieve charging. The lifting mechanism can also adopt other conventional structures such as a lead screw and a sliding table module.

[0079] In other words, the charging system design of this embodiment can realize the function of automatic charging. Specifically, automatic charging is achieved by the cooperation of the liftable brush plate 607 and the ground brush block, which is convenient, fast and ensures the continuous operation of the equipment.

[0080] Telescopic docking principle: Two AGV bodies 1 are docked through a telescopic mechanism 7, which consists of two fixed beams and scissor-type components 703. The two sets of parallel scissor-type components 703 are connected by a synchronous connecting rod 704, allowing for synchronous stretching or compression to improve connection stability. Distance sensors 705 (such as laser sensors and reflectors) are installed between the fixed beams to detect distance. One end of a limiting rod 706 is connected to the second fixed beam 702, and the other end is inserted into a clearance hole in the first fixed beam 701. A locking rod 707, driven by a third drive device 708 (such as a cylinder or electric push rod), inserts into or withdraws from the limiting grooves on both sides of the limiting rod 706, achieving locking when the two AGV bodies 1 maintain a minimum distance. The two sets of scissor-type components 703 are driven by the approach or distance of the two AGV bodies 1. The locking component 714 (reducer + mechanical brake device) can lock the sprocket rotation, achieving locking at any distance between the two AGV bodies 1.

[0081] In other words, the telescopic docking system design in this embodiment can achieve precise adjustment, stable connection, and safety detection. Specifically, the telescopic mechanism 7 cooperates with the locking component 714 to precisely control and lock the distance between the two AGV bodies 1, so as to meet the size requirements of different transport vehicles.

[0082] Navigation and positioning principle: Laser scanners 8 are installed diagonally at the two AGV bodies 1. By scanning the environment, a real-time map is constructed and dynamic path planning is performed, enabling real-time obstacle avoidance and adaptation to dynamic environmental changes. Magnetic nail sensors 9 are installed at the midpoint of the ends of the two AGV bodies 1. In conjunction with pre-embedded magnetic nails, they detect magnetic field signals and combine them with odometer data to calculate the current position, providing an absolute position reference and correcting the accumulated errors of the laser scanners 8. During operation, when magnetic nails are detected, magnetic nail navigation is prioritized to increase speed. When obstacles are encountered, navigation is switched to the laser scanners 8 to replan the path.

[0083] In other words, the navigation and positioning system design in this embodiment can achieve complementary navigation and intelligent switching functions. Specifically, the laser scanner 8 and the magnetic nail sensor 9 are combined to leverage their respective advantages, improve positioning accuracy and path planning flexibility, and adapt to complex environments. The navigation mode is automatically switched according to environmental changes, improving equipment operating efficiency and safety.

[0084] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A car transporter, characterized in that, include: The AGV vehicle body (1) has at least two, and the ends of the two AGV vehicle bodies (1) are connected by a telescopic mechanism (7); A compression limiting mechanism is located between the two AGV bodies (1). The compression limiting mechanism is used to limit the telescopic mechanism (7) after it is compressed into place.

2. The car transporter according to claim 1, characterized in that, The compression limiting mechanism includes: a limiting rod (706), one end of which is connected to the first AGV vehicle body (1), and the other end extends toward the second AGV vehicle body (1), and the side of the extended end of the limiting rod (706) has a limiting groove; A locking rod (707) is connected to the second AGV body (1). 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 third driving device (708) has its driving end connected to the locking rod (707). The third driving device (708) is used to drive the locking rod (707) to extend into or withdraw from the limiting groove of the limiting rod (706).

3. The car transporter according to claim 2, characterized in that, The drive end of the third drive device (708) is connected to the locking rod (707) via a connecting block (709). A position sensor (710) is connected to the second AGV body (1). The connecting block (709) has a detection area that cooperates with the position sensor (710).

4. The car transporter according to claim 3, 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 second AGV body (1) has a fixing member (716). Both ends of the fixing member (716) have bushing holes for passing through the locking rod (707). One end of the fixing member (716) facing the limiting rod (706) has an insertion hole for inserting the limiting rod (706).

5. The car transporter according to claim 1, characterized in that, The telescopic mechanism (7) includes: A first fixed beam (701) and a second fixed beam (702), wherein the first fixed beam (701) is fixedly connected to one AGV vehicle body (1) and the second fixed beam (702) is fixedly connected to another AGV vehicle body (1); The scissor lift assembly (703) is connected between the first fixed beam (701) and the second fixed beam (702) via 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 lift assembly (703).

6. The car transporter according to claim 5, characterized in that, The telescopic mechanism (7) is compressed by the action of at least one AGV body (1) moving closer to another AGV body (1), and stretched by the movement of at least one AGV body (1) away from another AGV body (1). The telescopic mechanism (7) is connected to a locking component (714), which is used to lock and maintain the telescopic mechanism (7) in its extended or compressed length.

7. The car transporter according to claim 6, 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.

8. The car transporter according to claim 7, characterized in that, The first fixed beam (701) has a distance sensor (705) that detects toward the second fixed beam (702), and the second fixed beam (702) has a reflector that cooperates with the distance sensor (705).

9. The car transporter according to any one of claims 1-8, characterized in that, Each of the AGV bodies (1) is provided with a charging mechanism (6) at the bottom. The charging mechanism (6) has a lifting frame (603) and a brush plate (607) connected to the bottom of the lifting frame (603). The brush plate (607) can contact or separate from the ground brush block by lifting the lifting frame (603).

10. The car transporter according to any one of claims 1-8, characterized in that, Two drive wheel mechanisms (2) are respectively provided at the center line of the bottom of the two AGV bodies (1) at the opposite ends. Two symmetrical first support wheels (4) are respectively provided at the bottom of the two AGV bodies (1) at the opposite ends. Two symmetrical second support wheels (5) are provided in the area near the drive wheel mechanism (2) between the drive wheel mechanism (2) and the first support wheel (4). The first support wheel (4) and the second support wheel (5) are both universal wheels, and the second support wheel (5) is a floating wheel.

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