CN108699852A - Automatic guide vehicle robot and clamping device thereof - Google Patents

Abstract

The present application discloses an automatic guided vehicle (AGV) robot that lifts and transports motor vehicles or cars from one place to another. The AGV robot is guided by a navigation device, controlled by an electronic control system, and prevented from collision by an anti-collision device. The AGV robot includes a platform for lifting the car to be transported and a frame for accommodating various electrical and mechanical components. The AGV robot is equipped with a retractable clamping device to push the car onto or off the platform.

Description

Automatic guided vehicle robot and its clamping device

technical field

The present invention relates to robots for transporting cars or vehicles, and more particularly to automated guided vehicle (AGV) robots capable of lifting and transporting vehicles to designated spaces.

Background technique

In densely populated metropolitan areas, parking spaces are scarce and expensive. Often, narrow strips between buildings are converted into high-rise parking garages with parking spaces inside. AGV robots are used in these garages to facilitate parking. For example, a customer can drop off a vehicle at an entrance and an AGV robot is dispatched to pick it up. The AGV robot lifts and transports the vehicle to the designated parking space. When the customer returns, the AGV robot retrieves the parked vehicle and delivers it to the customer waiting at the entrance.

One type of AGV currently in use is the so-called comb fork lift AGV. This type of AGV requires side access from a parked vehicle to lift the vehicle. Therefore, this type of AGV needs to leave enough space between two parking spaces to put down or pick up the vehicle, which makes them unsuitable for urban garages.

Another type of commonly used parking device is a deck that holds a vehicle and can be lifted by an AGV machine. When a customer drops a car in the garage, the car will drive onto the deck. Then, the car board is lifted by the AGV machine and transported to the empty parking space. When the customer returns, the AGV machine lifts the car plate with the vehicle to the gate and delivers the vehicle to the customer. An obvious disadvantage of this type of parking equipment is the prohibitive construction costs of the decks. Every parking spot in the garage needs a slab.

Better AGV robots more suitable for parking garages with parking spaces are needed. The present invention discloses a flexible and inexpensive AGV robot that can operate in tight spaces and is suitable for all types of parking garages.

Contents of the invention

According to various embodiments of the present invention, advanced AGV robots are provided that overcome the above-mentioned shortcomings of currently available AGV machines.

In one embodiment, an AGV robot for lifting and transporting a car to a designated space is disclosed. AGV robot includes platform, electronic control system, locomotive device, conveying device and clamping device. The platform of an AGV robot consists of a frame, one or more conveyors, and a number of wheels. The conveyor is mounted on the platform. Wheels support the platform.

In some embodiments, only one conveyor is mounted on the platform. In other embodiments, the platform includes two conveyors. Two conveyors are installed in parallel and run in parallel. In some embodiments, the one or more conveyors are roller conveyors. In other embodiments, the conveyor is a linear guide/slide unit or system.

In some embodiments, the electronic control device includes a navigation device and a collision avoidance device. The navigation device is configured to guide the AGV robot, and the anti-collision device is configured to stop or steer the AGV robot when an obstructing collision is detected. In one embodiment, the AGV robot includes a truss, and the navigation device and the anti-collision device are installed on the truss. In one embodiment, the electronic device further includes a laser device. Laser devices generate laser beams and receive reflected laser beams to detect obstacles and provide navigation guidance.

In some embodiments, the AGV robot includes a gripping device. The clamping unit consists of two clamping arms, a clamping arm base, a clamping arm motor and a retractable device connected to the clamping arm motor. The jig motor can be an electric drive motor or a hydraulic motor. The two clamp arms are connected to the push rod and can be opened and closed under the control of the electronic control system. The retractable mechanism pushes and pulls the push rod to position the clamp arm. The clamp arm can be positioned under the tire of the car and push the car to move.

In some embodiments, the AGV robot includes two grippers. The two clamping devices can be configured to move synchronously or independently. Two clamping devices may be mounted at opposite ends of the platform.

In some embodiments, the locomotive unit is mounted on the frame and controlled by an electronic control system. The locomotive device drives the AGV robot. In one embodiment, the locomotive arrangement includes four drives connected to four wheels, respectively. Preferably, the wheels are omnidirectional so that the AGV robot can move in all directions. Each drive unit consists of a servo motor, drive sprocket, driven sprocket, chain, drive pulley, spring system and drive linear slide system. In one embodiment, the AGV robot further includes two driven wheels and one or more load wheels mounted on the sides of the platform.

AGV robots can be powered by electricity or batteries. In some embodiments, the AGV robot uses lead-based or lithium-based batteries.

In some embodiments, the clamping device further includes front wheels to facilitate movement of the clamping device and support wheels for supporting the clamping device.

In some embodiments, the clamping device comprises a telescoping device made of a slide block, a guide rail and a telescoping screw. Rails are mounted on the platform, and sliders are attached to the rails. A telescoping lead screw is also attached to the platform. In one embodiment, the telescoping lead screw is connected to the platform by screws.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the invention will be apparent from the description, drawings and claims.

Description of drawings

These and other features of the present invention will become apparent from further consideration of the following specification and drawings. In the drawings, like reference numerals designate corresponding parts throughout the views. Additionally, the components in the figures are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the invention.

Figure 1 is a bottom view of an exemplary AGV robot with the clamping device in a retracted position and the clamp arm assembly raised above the ground.

Figure 2a is a top view of an exemplary AGV robot with the clamping device in the retracted position and the clamp arm assembly raised above the ground.

Fig. 2b is a side view of the AGV robot of Fig. 2a.

Figure 3a is a top view of an exemplary AGV robot with one gripper in an extended position and the other in a retracted position.

Fig. 3b is a side view of the AGV robot of Fig. 3a.

Fig. 4 is a block diagram of an exemplary AGV robot including a clamping device.

Figure 5 is an exploded view of an exemplary clamping device.

Fig. 6 is a block diagram of an exemplary AGV robot platform.

7 is an exploded view of an example locomotive setup for use on an example AGV robot.

Figure 8 shows the process of loading a car onto the platform of an exemplary AGV robot.

Detailed ways

Embodiments of the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. Various embodiments of the invention may, however, be implemented in many different forms and are not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

Referring to FIG. 1 , a bottom view of an exemplary AGV robot 100 is shown. An exemplary AGV robot 100 shown in FIG. 1 includes a platform 1 on which two conveyors 3 are mounted. The two conveyors 3 are shown in Figure 1 as roller conveyors, but other types of conveyors are also suitable. For example, a linear guide/slide system can be used instead of a roller conveyor. In addition to the conveyor 3 , the platform 1 of the AGV robot 100 comprises a frame 101 for housing the different electronic and mechanical components of the AGV robot 100 , such as the electronic control unit 7 , the locomotive unit 2 and the two clamping units 4 .

When a vehicle is pushed onto the AGV robot 100 , the vehicle moves along the two conveyors 3 . In the exemplary AGV robot 100 , each conveyor 3 includes a tube 60 , a chain 91 , a sprocket 61 , a conveying motor 44 and bearings and housings. Bearings and housings are not shown in the drawings.

In FIG. 1 , an AGV robot 100 is equipped with two clamping devices 4 located at opposite ends of a frame 101 . The clamping device 4 is controlled by an electronic control unit 7 . The clamping device 4 is telescopic. When the clamping device 4 is in the retracted position, the two arms 147 of the clamping device are raised above the floor and are at rest. When the clamping device 4 is in the extended position, the two arms 147 of the clamping device are in working condition and are closer to the ground. See Figures 2a and 3a for reference. When in the working position, the two arms 147 can be positioned under the tires of the vehicle and push the vehicle on or off the conveyor 3 . In FIG. 1 both clamping devices 4 are in the retracted position. In some embodiments, the two clamping devices 4 coordinate with each other and move synchronously. In other embodiments, the two clamping devices 4 are configured to move independently. In other embodiments, the two clamping devices 4 can move independently or synchronously under the control of the electronic control device 7 . For example, in Fig. 3a, one of the two clamping devices 4 is in the extended position and the other is in the retracted position. FIG. 3 a is a top view of the AGV robot 100 .

Figures 2a and 3a both show the AGV robot 100 viewed from the top. Truss 280 is located on top of platform 1 and may be used to accommodate radar, laser or infrared devices for navigation and obstacle detection. These devices are not blocked when there are vehicles parked on the platform 1, thus enabling them to clearly detect the surrounding environment.

In Fig. 2b and Fig. 3b, a side view of the AGV robot 100 is shown. In Fig. 2a, the two clamping devices 4 are shown in the retracted position. When the clamping device 4 is in the retracted position, the clamping arm 147 is raised above the ground and is at rest. In Fig. 3a, only the clamping device 4 on the right side is in the retracted position and rests in the raised position above the ground. The clamping device 4 on the left is in the extended position and closer to the ground, and its clamping arm 147 can be positioned under the tire of the vehicle.

As shown in FIG. 2 b , when the clamping device 4 is in the raised position, its clamping arm 147 is located at a certain distance above the ground and can block the vehicle or prevent the vehicle from rolling when it is parked on the conveyor 3 . In addition, the AGV robot 100 is equipped with a stopper 6 (see FIG. 6 ) that can be swung open when the vehicle is parked on the conveyor 3 .

In FIGS. 1-3 , the AGV robot 100 is shown with two gripping devices 4 located at opposite ends of the platform 1 . When the two clamping devices are positioned symmetrically, the AGV robot 100 is more flexible in the direction in which the vehicle can be pushed onto or off the platform 1 . For example, the AGV robot 100 may approach a parked vehicle from the front or rear. When releasing the vehicle, the AGV robot 100 can push the vehicle down to the ground in any direction, assuming the vehicle's transmission is in a neutral position. This gives the AGV robot 100 desired maneuverability when parking spaces are tight or tight.

Optionally, in some embodiments, as shown in FIG. 4 , the AGV robot 100 may be equipped with only one clamping device 4 . With this configuration, the AGV robot 100 can push the vehicle to the conveyor 3 from the end of the platform 1 where the clamping device is located. When the vehicle is released, the gripping device 4 pushes it down so that the car leaves the platform 1 from the end where the gripping device 4 is located. This limits the orientation in which the AGV robot 100 can face, for example, a car or a parking space. An AGV robot 100 with one gripper is less expensive than an AGV robot with two grippers, and thus can be used in garages where bi-directional maneuverability is not critical or necessary.

In some embodiments, the AGV robot 100 may be equipped with only one gripping device 4 which can be folded towards either end (not shown) of the platform 1 . In such a configuration, the AGV robot 100 can load or release vehicles from two directions. The clamping device 4 may be connected to the platform 1 by a different mechanism than the arm screw bearing 40 shown in FIGS. 1 and 5 . However, it can be understood that those skilled in the art can design a connection mechanism that allows the clamping device 4 of the AGV robot 100 to be folded in any direction.

FIG. 5 shows an exemplary connection mechanism by which an exemplary clamping device 4 is connected to the platform 1 . In FIG. 5 , the push motor 275 located in the middle of the platform 1 and between the two conveyors 3 drives the clamping device 4 . In some embodiments, the servo motor in push motor 275 is an electric drive motor. In other embodiments, the servo motor is a hydraulic motor. Connected to the push motor 275 is an arm screw bearing 40 . Fixed on the arm screw bearing 40 is a telescopic lead screw 36 . One end of the lead screw 36 is connected to the arm screw bearing 40 and the other end is covered by a telescoping cap 116 . The lead screw 36 converts the rotary motion of the push motor 275 into linear motion. The lead screw 36 is telescopic and can push and pull the base 41 . Rail 37 is also mounted parallel to telescoping lead screw 36 and is connected to arm screw bearing 40 . The base 41 is fixed to a slider 273 on the guide rail 37 . The guide rail 37 guides the linear movement of the base 41 as the base 41 slides along the guide rail 37 as it is pushed forward or pulled back by the retractable lead screw 36 .

Two rods 193 are attached to the base 41 . Rod 193 connects base 41 to jaw assembly 500 and transmits linear motion of base 41 to jaw assembly 500 . Each of the two rods 193 is connected to the clamp arm assembly 500 by a mount 152 . Jaw arm assembly 500 includes arm base 156, upper arm base 157 (as shown in FIG. 6 ), jig arm push motor 130, two jig arms 147, two arms 146, two arm barrels 160, a plurality of wheels and connecting Multiple screws, bearings or joints of the different components of the clamp arm assembly 500.

The arm base 156 of the clamp arm assembly 500 holds or supports the clamp arm 147 when the clamp device 4 is in the retracted position. Jaw arm 147 rests on arm base 156 and is raised above the ground. When in the rest position, the clamp arm 147 can stop the vehicle parked on the conveyor 3 from rolling.

The arm base 156 supports the clamp arm push motor 130 which is controlled by the electronic control unit 7 and drives the movement of the clamp arm 147 . The clamp arm 147 is connected to the clamp arm push motor 130 through the push rod 145 . The clamp arm 147 and the push rod 145 are in turn connected by the arm 146 . On each clamp arm 147 and on the side facing the platform 1 a clamp cartridge 160 is attached. The collet 160 provides a contact surface with the tire of the vehicle when the clamp arm 147 is positioned under the tire to propel the vehicle.

The various components of the clamping device 4 are assembled using screws, bearings, joints, etc. as follows:

The slider 273 is connected to the guide rail 37 screwed to the platform 1;

One end of the lead screw 36 is connected to the retractable cap 116, and the other end is connected to the screw bearing 40 fixed to the platform 1;

One side of the push base 41 is connected to the slider 273 and connected to the two connecting rods 193 through the connecting bearing 195;

The link 193 is connected to the fixed plate 152 which is screwed to the clamping base 156;

In the clamp arm assembly 500 , each clamp cartridge 160 is attached to one clamp arm 147 . The clamp arm 147 is connected to the clamp arm support wheel 169 and to the clamp base 156 by mechanical fasteners (eg, pins, dowels, pegs, etc.).

Each arm 146 is connected to the clip arm 147 by a mechanical fastener and is also connected to the push rod 145 by a mechanical fastener;

The leading screw 148 is connected to the clamp arm drive motor 130, and the telescopic cap 117 is connected to the push rod 145;

The clamp arm drive motor 130 is fixed on the clamp arm base 156 by screws;

The clamp arm base 156 is connected to the upper arm base 157 of the protective lead screw 148 and supports and strengthens the clamping device 4 .

Jaw arm assembly 500 also includes a plurality of wheels. The plurality of wheels includes a support wheel 178 under the push rod 145, a jig support wheel 169 under the arm 146, a push arm support wheel 196, two front support wheels 179 next to the jig drive motor 130, two front support wheels 179 next to the clamp drive motor 130, and two Forward push arm support wheels 197 (shown in FIG. 1 ) below the arm base 156 . A plurality of wheels provide support for the clamp arm assembly 500 and allow the clamping device 4 to be extended or retracted under the control of the electronic control device 7 .

The movement of the clamping device 4 will be described below. The push motor 275 rotates and drives the telescoping lead screw 36 . The telescoping lead screw 36 converts the rotary motion of the push motor 275 into linear motion. The retractable lead screw 36 in turn drives the retractable cap 116 to transmit the linear motion to the base 41 , pushing and pulling the base 41 . The base 41 is connected to a rod 193 connected to the clamp arm base 156 . One end of the connecting rod 193 is connected to the base 41 through a connecting bearing 195 . The other end of the connecting rod 193 is sleeved on the fixed sleeve. The connecting rod 193 and the fixed sleeve are rotatable relative to each other. Before the clamping device 4 is extended, the clamping arm support wheel 169 contacts the surface of the triangular slope at the tip/end of the frame 101 to support and guide the clamping device 4 . When the clamping device 4 is stretched out, the clamp arm supporting wheel 169 moves away from the triangular slope. The support wheel 178, the clamp arm support wheel 169, the push arm support wheel 196 and the front support wheel 179 are in contact with the ground. When the arm drive motor 130 drives the telescopic lead screw 36 to rotate, the telescopic lead screw 36 drives the telescopic cap 116 to move linearly, pushing the base 41 to move outward. Pushing the base 41 drives the arm 146 to retract forward or backward. When the clamping device 4 is extended, the clamping arm pushes the motor driving arm 146 to drive the clamping arm 147 to rotate and open.

The extension and opening movement of the clamping device 4 has been described above. The sequence of movements for retracting and closing the jaw device 4 is a reverse process.

As shown in Figure 6, the electronic control device 7 includes three subsystems: the electronic control subsystem 269 located in the left front corner, the electronic control subsystem 270 located in the left rear corner, and the electronic control subsystem located in the right front corner of the frame 101 of the exemplary AGV robot. Subsystem 271. The electronic control device 7 also includes a main controller, which can be divided into a navigation system, a communication system, a power system and a user interface.

The navigation system may include a laser anti-collision device 278 and a laser navigation device 282 . Both devices use laser beams to detect road conditions. These devices send a laser beam and detect the reflected beam to measure the distance between the AGV robot 100 and surrounding objects such as walls, columns and obstacles. These devices can also use triangulation to detect their location and use the location information for navigation. In some embodiments, other types of detection mechanisms/devices may be used. For example, an infrared device or a radar device may be used as the detection device. In one embodiment, these detection devices (eg, anti-collision devices, navigation devices, etc.) may be mounted on the truss 280 such that the detection devices are located above the parked vehicle to ensure a wide view of the environment.

A communication system may include a wireless transceiver and a processing unit. The wireless transceiver sends and receives wireless signals from the garage dispatch system. For example, the garage dispatch system reports that the vehicle is parked at the entrance and sends an instruction to the AGV robot 100 to pick up the vehicle and deliver it to the designated parking space. The garage dispatch system can also send a retrieval request to retrieve the vehicle and deliver the vehicle to the entrance. The exemplary processing unit is configured to decode received wireless signals, encode the wireless signals prior to transmission, and convert requests from the garage dispatch system into commands for the electronic control system 7 .

The power system may include a power supply 35 and a power management system. In some embodiments, power source 35 may be a lead-based or lithium-based battery. The power management system can detect if the power level of the battery 35 is low and thus requires recharging. In this case, the AGV robot 100 may be guided to move to a charging station to charge the battery 35 . The power management system can be implemented as part of the electronic control system 7 .

The electronic control system 7 also includes a user interface through which a user can set system parameters and monitor the status and condition of the AGV robot 100 .

The exemplary AGV robot 100 in FIG. 6 also includes a locomotive 2 shown on the right front corner of the frame 101 . FIG. 7 is an exploded view of the locomotive device 2 . The locomotive unit 2 comprises a servo motor 42 bolted to a planetary gear reducer 43 . The planetary gear reducer 43 is bolted to the bracket 23 mounted on the frame 101 . The planetary gear reducer 43 is also connected with the drive sprocket 36 through a key connection. The driving sprocket 36 is connected to the driven sprocket 25 by a chain. The tension of the chain can be adjusted by the tension block 33. The driven sprocket 25 is connected to a wheel 26, such as a Mecanum wheel, using screws. When the servo motor 42 is activated, the servo motor drives the planetary gear reducer 43 , and then drives the drive sprocket 36 . The motion of the driving sprocket 36 is transmitted to the driven sprocket 25 through the chain. The wheel 26 fixed to the driven sprocket 25 rolls or rotates under the driving force of the driven sprocket 25 .

The servo motor 42, the planetary gear reducer 43, the wheel 26 and the two sprockets 36 and 25 are housed in the frame 23 and supported by a spring system. The spring system shown in FIG. 7 comprises a spring 10 which is sleeved on spring guide posts 29 and 22 . The spring guide post 29 is installed on the lower jacking block 28 , while the spring guide post 22 is installed on the upper jacking block 21 . The lower jack 28 is installed in the positioning groove of the support 23 , and the lower jack block 21 is installed in the positioning groove of the support 30 .

The locomotive drive 2 also includes a linear slide system 38 mounted to the frame 101 using a left bracket 34 and a right bracket 30 . The linear slide system 38 includes two linear slide units 27 . The guide rails of the two linear sliding units 27 are installed in the positioning grooves of the bracket 23 through bolts, and are symmetrically arranged on the four corners of the bracket 23 . The slider is installed on the guide rail and can move up and down.

In the exemplary AGV robot 100 there is a set of four locomotives 2 . Each locomotive includes wheels 26 of an AGV robot 100 . In some embodiments, more than four wheels or less than four wheels may be mounted on the AGV robot 100 . In some embodiments, the wheels 26 of the AGV robot 100 are omnidirectional to enable the AGV robot 100 to move in all directions. Examples of omnidirectional wheels include caster wheels, mecanum wheels, etc. These types of wheels allow the AGV robot 100 to smoothly roll forward and backward and steer sideways, thereby providing the desired mobility and maneuverability. In addition, the AGV robot 100 includes passive travel wheels or driven wheels 20 installed on the outside and passive travel wheels (not shown) installed on the inside for carrying and supporting.

Referring to FIG. 6 , the AGV robot 100 also includes two blocking devices 6 . The blocking device 6 prevents the vehicle from rolling when parked on the platform 1 . Each blocking device 6 includes a blocking cylinder 276 , a slider 277 and a guide post 281 . The guide post 281 is fixed to the frame 101 . The blocking cylinder 276 is configured to swing into an open position and act as a fence applied in front of the tires of a parked vehicle. The blocking cylinder 276 can be swung back to a closed position to allow movement of the parked vehicle. The slider 277 moves back and forth to position the blocking cylinder 276 so that the blocking cylinder 276 can be positioned proximate to the tire of the vehicle. The guide post 281 guides the slider 277 as the slider 277 moves along the edge of the frame 101 . Guide post 281 also provides support for slider 277 and blocking cylinder 276 .

With reference to FIG. 8 , the process of moving the vehicle onto the platform 1 of the AGV robot 100 is described below. For each step of the process, side and bottom views are depicted showing the position of the vehicle relative to the platform 1 and the configuration and position of the gripping device 4 .

In step 1, after a vehicle such as a car stops at an entrance, the AGV robot 100 receives an instruction from a garage dispatch system to pick up the vehicle. The vehicle can be a four wheeler or a motorcycle with a sidecar or any other type of car. As shown in side and bottom views, the AGV robot 100 approaches the vehicle from the front.

In step 2, when the AGV robot 100 is within a certain distance of the vehicle detected by the navigation device and/or the collision avoidance device, the clamping device 4 is extended forward. As seen in the side view, the clamp arm is in the retracted position and raised above the ground.

In step 3, the AGV robot 100 moves to the rear of the vehicle. In some embodiments, the front of the clamping device 4 includes a photoelectric sensor to detect whether the clamping device has reached the position of the front wheel of the vehicle. When this position is reached, the AGV robot stops moving. In this position, the clamping arms 147 of the clamping device 4 are behind the front wheels of the vehicle.

In step 4, the clamping device 4 is closed and retracted, and the clamping device 4 is provided with a photoelectric sensor for detecting whether the position of the front wheel of the vehicle has been reached. After the clamping device 4 is in place, the clamping device 4 stops.

In step 5, the clamp arm 147 is opened. The clamping device 4 is retracted and the clamping arm pushes the vehicle onto the platform 1 . When a vehicle touches the conveyor, the conveyor begins to move, carrying the vehicle onto platform 1. The AGV robot itself also moves towards the rear of the vehicle. These three movements occur simultaneously to lift the front wheels of the car onto the platform 1 of the AGV robot 100 . The three movements are coordinated to ensure that the vehicle does not move relative to the ground.

In step 6, the clamp arm closes and no longer pushes the vehicle. Vehicles are further loaded onto platform 1. When the AGV robot 100 moves towards the rear of the vehicle, the conveyor rotates to transport the vehicle further onto the platform 1 . These two movements occur simultaneously.

In step 7, the AGV robot 100 moves toward the rear of the vehicle. Also, when the clamping device 4 approaches the rear wheel, the clamping arm device extends but remains closed.

In step 8, the AGV robot 100 continues to move toward the rear of the vehicle. The photoelectric sensor detects whether the AGV robot 100 has arrived at the rear wheel position. If reached, the AGV robot 100 stops moving.

In step 9, the clamping device 4 is closed and retracted. The photoelectric device detects whether the clamping device 4 is close to the rear wheel of the vehicle.

In step 10, the optoelectronic device detects that the clamping device 4 is contacting the rear wheel of the vehicle. The clamping device 4 opens and continues to retract. The conveyor of the AGV robot 100 starts to rotate, and the AGV robot 100 itself moves toward the rear of the vehicle. These three movements occur simultaneously to lift the rear wheels of the vehicle onto the platform 1 of the AGV robot while ensuring that the vehicle does not move relative to the ground. When the vehicle is fully loaded on the AGV robot, the clamping device 4 is retracted and stopped. The clamping device 4 becomes a blocking device preventing the vehicle from rolling backwards.

In step 11, the blocking cylinder 276 of the blocking device 6 is swung open and extended in front of the front wheel. The blocking device 6 is equipped with a photoelectric sensor for detecting whether the blocking cylinder has reached the position of the front wheels of the vehicle. If reached, the blocking device 6 stops and acts as a stop against the front wheels of the vehicle, preventing the vehicle from rolling forward. In another embodiment, a blocking cylinder 276 may extend behind the front wheels to prevent the vehicle from rolling backwards.

In step 12 the vehicle is fully loaded onto the AGV robot 100 . The loading process is complete.

During the unloading process, the vehicle is pushed off the platform 1 of the AGV robot 100 in the reverse order of the above steps. When the AGV robot 100 is equipped with two clamping devices 4 located at opposite ends of the platform 1, the vehicle can be pushed down in either direction.

While the present invention has been illustrated and described in conjunction with specific embodiments, it is not limited to the specifics shown. Instead, various modifications can be made within the scope defined in the claims and the scope of equivalents thereof without departing from the inventive concept.

Claims (20)

1. a kind of automated guided vehicle (AGV) robot for lifting and transporting automobile to designated space, the AGV robots Including:

Platform comprising frame;

The one or more conveyers of installation on the platform,

Support multiple wheels of the platform;

The electronic control system of placement on said frame, wherein the electronic control system controls the AGV robots;

Placement is controlled to drive the locomotive apparatus of the AGV robots on said frame and by the electronic control system;

Conveying device comprising conveying motor and one or more chain, wherein one or more of chains are by the conveying The movement of motor is transmitted to one or more of conveyers;And

At least one clamping device, including:

Two clamp arm being connected on push rod, wherein described two clamp arm beat on and off under the control of the electronic control system It closes;

Clamp arm motor;And

The telescopic mounting being connect with the clamp arm motor, and the push rod is pushed and pulled to position the clamp arm;

Wherein, when the clamp arm is opened and each clamp arm is located in below the tire of the automobile, the clamp arm pushes away The automobile is moved to be moved on the platform or remove from the platform.

2. AGV robots according to claim 1, which is characterized in that at least one clamping device includes being configured to Two clamping devices of the automobile are pushed, wherein described two clamping devices are configured to move independently of one another.

3. AGV robots according to claim 1, which is characterized in that at least one clamping device includes being configured to Two clamping devices for pushing the automobile, wherein described two clamping devices are configured to synchronizing moving.

4. AGV robots according to claim 2 or 3, which is characterized in that described two clamping devices are located at described The opposite end of frame.

5. AGV robots according to claim 1, which is characterized in that one or more of conveyers are mounted in parallel simultaneously And parallel operation.

6. AGV robots according to claim 5, which is characterized in that one or more of conveyers are roll-type conveyings Machine or linear slide unit.

7. AGV robots according to claim 1, which is characterized in that further include additional blocking dress on said frame It sets, for preventing the automobile from sliding when transporting the automobile.

8. AGV robots according to claim 1, which is characterized in that the electronic control unit further includes for guiding The navigation device of the AGV robots and for detect barrier and prevent collision anticollision device, collision-prevention device.

9. AGV robots according to claim 8, which is characterized in that the navigation device and collision prevention device peace On truss.

10. AGV robots according to claim 8, which is characterized in that the electronic control unit further includes generating laser Beam and the laser aid for receiving the laser beam after reflection, wherein the laser beam is for navigation and detection of obstacles.

11. AGV robots according to claim 1, which is characterized in that the wheel is omnidirectional, and the machine Vehicle device includes the multiple driving devices for being connected to the wheel.

12. AGV robots according to claim 11, which is characterized in that further include one or more driven wheels and use In one or more bearing wheels of support.

13. AGV robots according to claim 1, which is characterized in that the locomotive apparatus includes multiple driving devices, Wherein, each driving device includes servo motor, planetary reducer, drive sprocket, driven sprocket, chain, driving wheel, bullet Spring system and driving linear slide system.

14. AGV robots according to claim 1, which is characterized in that the AGV robots are by lead base or lithium-base battery Power supply.

15. AGV robots according to claim 1, which is characterized in that the clamp arm motor is electric drive motor or hydraulic pressure Motor.

16. a kind of clamping device in AGV robots, the platform for automobile to be pushed to the AGV robots And the automobile is positioned, the clamping device includes:

Two clamp arm, wherein described two clamp arm open and close under the control of electronic control system;

Clamp arm motor;And

The telescopic mounting being connect with the clamp arm motor, for positioning the clamp arm;

Wherein, when the clamp arm is opened and each clamp arm is located in below the tire of automobile, the clamp arm pushes automobile sliding It moves on the platform or is removed from the platform.

17. clamping device according to claim 16, which is characterized in that further include being configured to transport convenient for the clamping device It dynamic front-wheel and is configured to support the support wheel of the clamping device.

18. clamping device according to claim 16, which is characterized in that the telescopic mounting includes sliding block, guide rail and Flexible leading screw, wherein the sliding block is connected to the guide rail of installation on the platform, and the flexible leading screw is connected to The platform.

19. clamping device according to claim 16, which is characterized in that when the clamp arm pushes the automobile to be put down to described When on platform, the driving device of the clamp arm motor and the AGV robots is coordinated to ensure the automobile relative to ground with zero Speed moves.

20. clamping device according to claim 16, which is characterized in that the clamp arm motor is electric drive motor or hydraulic pressure Motor.