一种POC集构造的AGV并联机构卸运装置

An AGV Parallel Mechanism Unloading Device Constructed by Position and Orientation Characteristics(POC)Theory

以用于城市停车场的车辆抬升装置为研究对象,提出将车轮与托举机构末端间接触姿态、相对运动抽象为支链末端运动副;将搬运车体、搬运车体操作机构、被搬运车整体分别映射为并联机构的动静平台;将车辆托举机构、车轮夹持、车长自适应、车宽调整过程中的车辆运载姿态维持特性视作多任务、多工作状态的设计需求及任务目标并抽象为并联机构结构综合问题;根据其任务空间、工作状态所需实现最大方位特征集,进行机构的结构综合,推导出托举装置的基本结构;构造了保证被卸运车辆姿态的2T2R机构。这里将并联机构综合理念引入到托举系统设计,完成了可适应被搬运车辆的宽度和轴距的结构设计,为AGV搬运卸运车辆研制提供了新的思路。

The research focuses on the vehicle lifting device which is used for rolling on transporting vehicles in the parking lots,we propose a theory that the contacted posture and the relative motion between the wheels and the end of the lifting mechanism are abstracted as the ending kinematic pair of the branched chain;the moving platform,the operating mechanism of the moving platform,and the whole vehicle are mapped to the moving and static platform of the parallel mechanism separately.The vehicle gesture maintenance characteristics during vehicle lifting,wheel clamping,vehicle length adaptation,vehicle width adjustment,transportation are considered as multi-task,multi-working condition design requirement and purpose,which are abstracted into parallel mechanism structure synthesis.According to the mechanism structural synthesis based on the position and orientation characteristics required to be achieved by task space and working condition,the basic structure of the lifting device is deduced.Constructing a 2T2R mechanism to maintain the gesture of the unloaded vehicle.It introduces the synthesis process of the parallel mechanism into the structural design of lifting system,which can be applied in transporting the vehicle with different width and wheelbase.This provides a new idea for AGV to transport and unload vehicles.