CN106930582B - Go up frame structure and have its broach AGV carrier - Google Patents
Go up frame structure and have its broach AGV carrier Download PDFInfo
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- CN106930582B CN106930582B CN201710272247.2A CN201710272247A CN106930582B CN 106930582 B CN106930582 B CN 106930582B CN 201710272247 A CN201710272247 A CN 201710272247A CN 106930582 B CN106930582 B CN 106930582B
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- automobile
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- 230000000670 limiting effect Effects 0.000 claims abstract description 90
- 244000126211 Hericium coralloides Species 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000013519 translation Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000013459 approach Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an upper frame structure and a comb AGV (automatic guided vehicle) with the same, wherein the upper frame structure is symmetrically arranged at two ends of an upper frame by arranging a first comb tooth group consisting of two rows of comb teeth and a second comb tooth group consisting of two rows of comb teeth, so that the parking point of the comb AGV can be adjusted according to the center of an automobile in a parking entrance, and the center of the comb AGV overlaps with the center of the automobile during carrying, thereby being beneficial to improving the motion control of the comb AGV for carrying the automobile, enabling front wheels not to be stopped at the appointed position of the entrance, and having high fault tolerance; the invention is provided with the limiting device which is composed of the driving mechanism and the limiting arms respectively corresponding to each row of comb teeth, when the limiting device limits the motion of the automobile, the driving mechanism drives the limiting arms to rotate, so that the limiting arms are obliquely arranged relative to the frame and are driven to be close to wheels, and the automobile is not easy to move in the front-back left-right direction under the limiting action of the oblique limiting arms.
Description
Technical Field
The invention relates to the technical field of automobile carrier, in particular to an upper frame structure and a comb AGV carrier with the upper frame structure.
Background
With the rapid popularization and development of automobiles, urban parking spaces are seriously insufficient in supply, the demand for the parking spaces is increasing, and the traditional parking mode gradually develops to an intelligent mechanical three-dimensional parking mode. The existing full-automatic three-dimensional parking garage mainly comprises a plane moving type, a roadway stacking type and a vertical lifting type. The working principle of the vehicle parking system is that one or more carrying devices can lift and carry the vehicles from the bottoms of the vehicles, then the vehicles are moved onto the lifters together, the lifters are used for carrying the carrying devices and the vehicles to different parking floors, and then the vehicles are sent into appointed parking spaces through the carrying handle bars.
Comb teeth alternate automobile carrying is the most common automobile carrying mode applied to the existing stereo garage, and the automobile carrying mode is realized through a comb teeth carrying vehicle. The comb tooth carrying equipment comprises a lower frame structure, an upper frame structure and a lifting device connected with the lower frame structure and the upper frame structure, wherein the lower frame structure comprises a lower frame, a positioning device, a navigation device and a traveling device which are arranged on the lower frame, and the upper frame structure comprises an upper frame, a front comb tooth and a rear comb tooth which are arranged on the upper frame; when the vehicle is carried, the lifting and transverse moving device moves the comb teeth to carry the vehicle to a parking position, the comb fork at the parking position is staggered with the comb fork on the upper frame structure of the comb teeth carrier, and the lifting device drives the comb fork on the upper frame to descend to the position below the comb fork at the parking position, so that the vehicle is placed at the parking position. The comb fork is used for replacing the car carrying plate, and the car carrying plate is not conveyed back and forth by the carrying equipment, so that the operation efficiency is higher.
The existing comb tooth carrying equipment is generally positioned through front wheels, the distance between the front wheels is larger than that between the rear wheels, and the distance between the front wheels just enables the front wheels to sink into a certain depth; can prevent the front and back movement of the automobile. In addition, the centering mechanism is added, so that the automobile can be prevented from moving left and right. However, the length of the automobiles is not uniform, so that when the front wheel positioning carrier is used for carrying automobiles, the center of the automobiles cannot be overlapped with the center of the comb tooth carrying equipment, and the movement control performance of the comb tooth carrying equipment for carrying the automobiles is poor. This problem is not apparent on conventional trucks because it only runs back and forth, and is particularly apparent on AGVs, which require full motion. In addition, because the existing comb teeth are required to be positioned by the front wheels, when a car owner parks at an entrance, the front wheels need to be accurately parked on the corresponding detection mechanisms, an automatic parking system can work, and the use experience is poor.
Disclosure of Invention
Based on the above, the invention provides an upper frame structure capable of solving the problems and a comb AGV (automatic guided vehicle) with the upper frame structure.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
the upper frame structure comprises an upper frame, four rows of comb teeth arranged on the upper frame and limiting devices which are arranged corresponding to the rows of comb teeth and used for limiting the movement of the automobile respectively, wherein the rows of comb teeth are positioned below the corresponding limiting devices, two rows of comb teeth are positioned at one end of the upper frame and symmetrically arranged at two sides of the upper frame to form a first comb tooth group, and the other two rows of comb teeth are positioned at the other end of the upper frame and symmetrically arranged at two sides of the upper frame to form a second comb tooth group; the first comb tooth group and the second comb tooth group are respectively and symmetrically arranged at two ends of the upper frame; each limiting device comprises a limiting arm arranged on the upper frame in a sliding manner and a driving mechanism arranged on the upper frame, and the driving mechanism is connected with the limiting arm; when the limiting device does not limit the movement of the automobile, the limiting arm is parallel to the upper frame; when the limiting device limits the movement of the automobile, the driving mechanism drives the limiting arm to rotate in the direction away from the upper frame, so that the limiting arm is obliquely arranged relative to the upper frame and is driven to move towards the corresponding end part of the upper frame to be close to the wheels of the automobile, and the automobile cannot move back and forth and left and right on the upper frame under the action of the limiting arm.
According to the upper frame structure, the first comb tooth group and the second comb tooth group are symmetrically arranged at the two ends of the upper frame, so that the parking point of the comb tooth AGV at the parking entrance can be adjusted according to the center of the automobile, and therefore, when the automobile is transported, the center of the comb tooth AGV overlaps with the center of the automobile, on one hand, the improvement of the motion control property of the automobile carried by the comb tooth AGV is facilitated, on the other hand, the front wheel does not need to be stopped at the appointed position of the entrance, the fault tolerance is high, the use experience of a customer is improved, and on the other hand, the automobile is applicable to automobiles with different specifications, and the universality is improved; in addition, through setting up first broach group and second broach group symmetry respectively and locating the both ends of frame, still make the car can just go forward, need not add the revolving stage, reduced the manufacturing cost in parking area. Because the problem that the front freedom degree of the automobile cannot be limited by utilizing the comb teeth in the prior comb tooth distribution mode is solved, the limiting device comprising the driving mechanism and the limiting arms is arranged corresponding to each row of comb teeth, when the limiting device limits the motion of the automobile, the driving mechanism drives the limiting arms to rotate in the direction away from the frame, so that the limiting arms are obliquely arranged relative to the frame and are driven to move towards the corresponding end parts of the frame and are close to the wheels of the automobile, and the wheels are not easy to move in the front-back left-right direction on the upper frame under the limiting action of the oblique limiting arms, so that the aim of limiting the front-back left-right freedom degree of the automobile on the comb tooth AGV carrier is achieved.
In one embodiment, the first comb teeth group and the second comb teeth group are respectively and symmetrically arranged at two ends of the upper frame.
In one embodiment, the upper frame comprises two long rods respectively positioned at two sides of the upper frame and two cross bars respectively positioned at two ends of the upper frame, and each row of comb teeth and each limiting device are respectively arranged on the corresponding long rods.
In one embodiment, the limiting arm comprises a first arm plate and a second arm plate which are connected, the first arm plate is positioned on one side of the long rod, which is far away from the center of the upper frame, and the second arm plate is positioned above the long rod;
the driving mechanism comprises a rotation auxiliary assembly, a moving piece pivoted with the end part of the second arm plate and a translation driving assembly connected with the moving piece; the rotary auxiliary assembly comprises a limit strip arranged on the top surface of the long rod and a roller wheel arranged on the first arm plate and corresponding to the limit strip, wherein the limit strip and the roller wheel are both positioned below the first arm plate, the limit strip is provided with a roller wheel limit surface and a roller wheel guide surface which are connected, the roller wheel limit surface is positioned at one side of the limit strip away from the center of the upper frame, and the roller wheel guide surface is positioned at the end part of the limit strip; the moving piece is in sliding connection with the long rod.
In one embodiment, the roller is located on a protruding portion of the first arm plate protruding toward an end of the moving member, and the moving member is located in a yielding port formed between the protruding portion and the second arm plate.
In one embodiment, the rotation auxiliary assembly further comprises a locking block located on one side of the end portion, far away from the upper frame, of the limit bar, and a roller locking groove is formed between the locking block and the limit bar.
In one embodiment, the moving member is slidingly connected with a first guide bar and a second guide bar arranged on the long bar, the first guide bar and the second guide bar are arranged in a step shape, the first guide bar is positioned on the top surface of the long bar, a chute for accommodating the roller is arranged between the first guide bar and the limiting bar, and the second guide bar is positioned on the side surface of the long bar far away from the center of the upper frame.
In one embodiment, the thickness of the second arm plate is greater than the thickness of the first arm plate.
In one embodiment, the translation driving component is a belt driving unit, a chain driving unit or a screw driving unit.
The invention also discloses a comb AGV carrier, which comprises the upper frame structure and a lower frame structure connected with the upper frame structure and used for walking.
In one embodiment, the lower frame structure includes a lower frame connected to the upper frame of the upper frame structure and at least four running devices arranged on the lower frame, wherein the number of the running devices is even, and the running devices are respectively positioned at two sides of the lower frame.
Drawings
FIG. 1 is a schematic view of an upper frame structure according to a preferred embodiment of the present invention;
FIG. 2 is an enlarged view of the area encircled by circle A in FIG. 1;
FIG. 3 is a partially exploded view of the upper frame structure of FIG. 1;
FIG. 4 is an enlarged view of the area encircled by circle B in FIG. 3;
FIG. 5 is a schematic illustration of the upper frame structure of FIG. 1 defining a wheel of an automobile;
FIG. 6 is a partial schematic view of the upper frame structure of FIG. 5 in another operational condition;
fig. 7 is a schematic structural view of a limiting arm of the upper frame structure shown in fig. 1.
In the figure:
10. an upper frame; 11. a long rod; 12. a cross bar; 13. a first guide bar; 14. a second guide bar; 20. comb teeth; 21. a first comb set; 22. a second comb set; 30. a limiting device; 40. a limiting arm; 41. a first arm plate; 42. a protruding portion; 43. a second arm plate; 44. a yielding port; 50. a driving mechanism; 60. a rotation assist assembly; 61. a limit bar; 62. a roller limit surface; 63. a roller guide surface; 64. a roller; 65. a locking block; 66. a roller locking groove; 70. a moving member; 71. a first slide plate; 72. a second slide plate; 80. a translational drive assembly; 100. and a front wheel.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
As shown in fig. 1 to 7, an upper frame structure according to a preferred embodiment of the present invention includes an upper frame 10, four rows of comb teeth disposed on the upper frame 10, and a limiting device 30 disposed corresponding to each row of comb teeth for limiting movement of an automobile, wherein each row of comb teeth is disposed below the corresponding limiting device 30, two rows of comb teeth are disposed at one end of the upper frame 10 and symmetrically disposed at two sides of the upper frame 10 to form a first comb tooth set 21, and the other two rows of comb teeth are disposed at the other end of the upper frame 10 and symmetrically disposed at two sides of the upper frame 10 to form a second comb tooth set 22; the first comb teeth set and the second comb teeth set 22 are used for respectively bearing the front wheel 100 and the rear wheel 200 of the automobile or respectively bearing the rear wheel 200 and the front wheel 100 of the automobile; the first comb tooth group 21 and the second comb tooth group 22 are symmetrically arranged at two ends of the upper frame 10 respectively; each limiting device 30 comprises a limiting arm 40 arranged on the upper frame 10 in a sliding manner and a driving mechanism 50 arranged on the upper frame 10, wherein the driving mechanism 50 is connected with the limiting arm 40; as shown in fig. 1, when the limiting device 30 does not limit the movement of the vehicle, the limiting arm 40 is parallel to the upper frame 10; as shown in fig. 5, when the limiting device 30 limits the movement of the car, the driving mechanism 50 drives the limiting arm 40 to rotate in a direction away from the upper frame 10, so that the limiting arm 40 is obliquely arranged relative to the upper frame 10, and drives the limiting arm 40 to move along the end direction of the upper frame 10 to be close to the wheels 100 of the car, and the wheels 100 are not easy to move in the front-back and left-right directions on the upper frame 10 under the limiting action of the oblique limiting arm 40, so that the center of the car cannot easily deviate from the AGV comb carrier due to external factors when being carried, and good movement control performance of the comb AGV carrier during carrying is ensured.
According to the upper frame structure, the first comb tooth group 21 and the second comb tooth group 22 are symmetrically arranged at the two ends of the upper frame 10, so that the parking point of the comb tooth AGV carrier at the parking entrance can be adjusted according to the center of the automobile, and therefore, when the vehicle is carried, the center of the comb tooth AGV carrier is overlapped with the center of the automobile, on one hand, the movement control property of the comb tooth AGV carrier for carrying the vehicle is improved, on the other hand, the front wheel is not required to be stopped at the appointed position of the entrance, the fault tolerance is high, the use experience of customers is improved, and on the other hand, the vehicle is suitable for automobiles with different specifications, and the universality is improved; in addition, through setting up first broach group 21 and second broach group 22 symmetry respectively and locating the both ends of frame 10, still make the car can go forward just out, do not need to add the revolving stage, reduced the manufacturing cost in parking area. Because the problem that the front freedom degree of the automobile can not be limited by utilizing the comb teeth in the front wheel positioning comb teeth distribution mode is solved, the limiting device 30 consisting of the driving mechanism 50 and the limiting arms 40 is arranged corresponding to each row of comb teeth, when the limiting device 30 limits the motion of the automobile, the driving mechanism 50 drives the limiting arms 40 to rotate in the direction away from the automobile frame, so that the limiting arms 40 are obliquely arranged relative to the automobile frame, and drive the limiting arms 40 to move towards the corresponding end parts of the automobile frame and approach the wheels of the automobile, and the wheels are difficult to move in the front, rear, left and right directions on the upper automobile frame 10 under the limiting action of the oblique limiting arms 40, so that the aim of limiting the front, rear, left and right freedom degrees of the automobile on the comb teeth AGV is achieved.
As shown in FIG. 1, the upper frame 10 includes two long bars 11 located on both sides of the upper frame 10, respectively, and two cross bars 12 located on both ends of the upper frame 10, respectively. Each row of comb teeth 20 and each limiting device 30 are respectively arranged on the corresponding long rod 11.
In this embodiment, each comb tooth 20 is made of a channel steel, and the opening is downward.
As shown in fig. 2, the stopper arm 40 includes a first arm plate 41 and a second arm plate 43 connected, the first arm plate 41 being located on a side of the long rod 11 away from the center of the upper frame 10, and the second arm plate 43 being located above the long rod 11.
Further, the thickness of the second arm plate 43 is greater than the thickness of the first arm plate 41. The spacing arm 40 is rotated out and then is pushed by the second arm plate 43, and the thickness of the second arm plate 43 is larger than that of the first arm plate 41, so that on one hand, the spacing arm 40 can have enough strength to push the wheels of an automobile to perform centering operation, and on the other hand, the first arm plate 41 does not need high strength because the first arm plate 41 does not push the wheels, and the thickness of the first arm plate 41 is smaller than that of the first arm plate 41, so that materials can be saved.
The driving mechanism 50 comprises a rotation auxiliary assembly 60, a moving member 70 pivoted with the end part of the second arm plate 43 and a translation driving assembly 80 connected with the moving member 70; as shown in fig. 4, the rotation auxiliary assembly 60 includes a limit bar 61 disposed on the top surface of the long bar 11 and a roller 64 disposed on the first arm plate 41 corresponding to the limit bar 61, wherein the limit bar 61 and the roller 64 are both disposed below the first arm plate 41, the limit bar 61 has a roller limit surface 62 and a roller guide surface 63 connected with each other, the roller limit surface 62 is disposed on one side of the limit bar 61 away from the center of the upper frame 10, and the roller guide surface 63 is disposed at an end of the limit bar 61; the moving member 70 slides over the long rod 11. When the driving mechanism 50 drives the limiting arm 40, firstly, the translational driving assembly 80 drives the limiting arm 40 to horizontally move through the moving member 70, the roller 64 arranged on the limiting arm 40 also moves along with the limiting arm 40, the roller 64 firstly contacts with the roller guiding surface 63, the roller 64 drives the limiting arm 40 to rotate away from the upper frame 10 relative to the moving member 70 under the guidance of the roller guiding surface 63 to unscrew, then, as shown in fig. 6, the roller 64 moves onto the roller limiting surface 62, the limiting arm 40 does not rotate any more due to the limiting effect of the roller limiting surface 62 on the roller 64, and thereafter, the unscrewed limiting arm 40 approaches towards the wheel under the driving of the translational driving assembly 80 until contacting and pushing the wheel.
As shown in fig. 7, the roller 64 is located on the protruding portion 42 of the first arm plate 41 protruding near the end of the moving member 70, and the moving member 70 is located in the relief opening 44 formed between the protruding portion 42 and the second arm plate 43. By providing the roller 64 mounted on the protruding portion 42 of the first arm plate 41 and disposing the moving member 70 in the relief opening 44 between the protruding portion 42 and the second arm plate 43, the roller 64 contacts the roller guiding surface 63 as long as the moving member 70 slides on the long rod 11 for a small distance, so that the limiting arm 40 is screwed out from the upper frame 10 under the action of the roller 64 and the roller guiding surface 63, which can reduce the lengths of the first guide bar 13 and the second guide bar 14, and further shorten the length of the entire upper frame 10.
Referring again to fig. 4, the rotation assisting assembly 42 further includes a locking block 65 located at a side of the end of the limit bar 61 away from the upper frame 10, and a roller locking groove 66 is provided between the locking block 65 and the limit bar 61. When the limiting arm 40 completes the pushing wheel action, the translational driving unit drives the limiting arm 40 to return to the original position, and when the roller 64 moves to the roller locking groove 66, the limiting arm 40 rotates to be parallel to the frame and is locked in the roller locking groove 66 under the blocking action of the locking block 65.
The moving member 70 is slidably connected with the first guide bar 13 and the second guide bar 14 arranged on the long bar 11, the first guide bar 13 and the second guide bar 14 are arranged in a step shape, the first guide bar 13 is positioned on the top surface of the long bar 11, a sliding groove for accommodating the roller 64 is arranged between the first guide bar 13 and the limiting bar 61, and the second guide bar 14 is positioned on the side surface of the long bar 11 far from the center of the upper frame 10. By arranging the first guide bar 13 and the second guide bar 14 in a step-shaped design, the moving member 70 can drive the limiting arm 40 to stably slide on the long rod 11, so that vibration is not easy to generate.
The moving member 70 is provided with a first sliding plate 71 and a second sliding plate 72 which are connected, the first sliding plate 71 is positioned above the long rod 11, and the first sliding plate 71 is in sliding contact with the first conducting bar 13; the second slide plate 72 is located on a side of the long rod 11 away from the center of the upper frame 10, and the second slide plate 72 slides on the second guide bar 14.
The translation drive assembly 80 is a belt drive unit, a chain drive unit, or a screw drive unit. In this embodiment, the translational drive assembly 80 is a belt drive unit.
The invention also discloses a comb AGV carrier, which comprises the upper frame structure and a lower frame structure connected with the upper frame structure and used for walking.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The upper frame structure is characterized by comprising an upper frame, four rows of comb teeth arranged on the upper frame and limiting devices which are respectively arranged corresponding to the rows of comb teeth and used for limiting the movement of an automobile, wherein the rows of comb teeth are positioned below the corresponding limiting devices, two rows of comb teeth are positioned at one end of the upper frame and symmetrically arranged at two sides of the upper frame to form a first comb tooth group, and the other two rows of comb teeth are positioned at the other end of the upper frame and symmetrically arranged at two sides of the upper frame to form a second comb tooth group; the first comb tooth group and the second comb tooth group are respectively and symmetrically arranged at two ends of the upper frame; each limiting device comprises a limiting arm arranged on the upper frame in a sliding manner and a driving mechanism arranged on the upper frame, and the driving mechanism is connected with the limiting arm; the limiting arm can translate along the upper frame; when the limiting device does not limit the movement of the automobile, the limiting arm is parallel to the upper frame; when the limiting device limits the movement of the automobile, the driving mechanism drives the limiting arm to rotate in the direction away from the upper frame, so that the limiting arm is obliquely arranged relative to the upper frame and is driven to move towards the corresponding end part of the upper frame to be close to the wheels of the automobile, and the automobile cannot move back and forth and left and right on the upper frame under the action of the limiting arm;
the upper frame comprises two long rods which are respectively positioned at two sides of the upper frame and two cross bars which are respectively positioned at two ends of the upper frame, and each row of comb teeth and each limiting device are respectively arranged on the corresponding long rods;
the limiting arm comprises a first arm plate and a second arm plate which are connected, the first arm plate is located on one side, away from the center of the upper frame, of the long rod, and the second arm plate is located above the long rod.
2. The upper frame structure of claim 1, wherein,
the driving mechanism comprises a rotation auxiliary assembly, a moving piece pivoted with the end part of the second arm plate and a translation driving assembly connected with the moving piece; the rotary auxiliary assembly comprises a limit strip arranged on the top surface of the long rod and a roller wheel arranged on the first arm plate and corresponding to the limit strip, wherein the limit strip and the roller wheel are both positioned below the first arm plate, the limit strip is provided with a roller wheel limit surface and a roller wheel guide surface which are connected, the roller wheel limit surface is positioned at one side of the limit strip away from the center of the upper frame, and the roller wheel guide surface is positioned at the end part of the limit strip; the moving piece is in sliding connection with the long rod;
the thickness of the second arm plate is larger than that of the first arm plate;
the translation driving component is a belt driving unit, a chain driving unit or a screw rod driving unit.
3. The upper frame structure of claim 2, wherein the roller is located on a projection of the first arm plate extending near an end of the moving member, and the moving member is located in a relief formed between the projection and the second arm plate.
4. The upper frame structure of claim 2, wherein the rotation assisting assembly further comprises a locking block located at a side of the limit bar away from an end of the upper frame, and a roller locking groove is formed between the locking block and the limit bar.
5. The upper frame structure according to claim 2, wherein the moving member is slidably connected with a first guide bar and a second guide bar arranged on the long bar, the first guide bar and the second guide bar are arranged in a step shape, the first guide bar is located on the top surface of the long bar, a sliding groove for accommodating the roller is formed between the first guide bar and the limiting bar, and the second guide bar is located on a side surface of the long bar far away from the center of the upper frame.
6. The upper frame structure of claim 5, wherein the moving member has a first slide plate and a second slide plate connected, the first slide plate being located above the long rod, the first slide plate sliding over the first guide bar; the second sliding plate is positioned on one side of the long rod, which is far away from the center of the upper frame, and the second sliding plate is in sliding connection with the second guide bar.
7. The upper frame structure of claim 1, wherein each comb tooth is made of channel steel, and the openings are arranged downward.
8. A comb AGV carrier comprising an upper frame structure according to any one of claims 1 to 7 and a lower frame structure for walking connected to the upper frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710272247.2A CN106930582B (en) | 2017-04-24 | 2017-04-24 | Go up frame structure and have its broach AGV carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710272247.2A CN106930582B (en) | 2017-04-24 | 2017-04-24 | Go up frame structure and have its broach AGV carrier |
Publications (2)
| Publication Number | Publication Date |
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| CN106930582A CN106930582A (en) | 2017-07-07 |
| CN106930582B true CN106930582B (en) | 2023-12-12 |
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| CN201710272247.2A Active CN106930582B (en) | 2017-04-24 | 2017-04-24 | Go up frame structure and have its broach AGV carrier |
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| CN206667862U (en) * | 2017-04-24 | 2017-11-24 | 东莞松山湖国际机器人研究院有限公司 | Upper frame structure and there is its broach AGV carriers |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09125734A (en) * | 1995-10-30 | 1997-05-13 | Fuji Hensokuki Co Ltd | Wheel stopping device for carrying machine |
| JP2004211513A (en) * | 2003-01-09 | 2004-07-29 | Shin Meiwa Ind Co Ltd | Elevator type parking system |
| CN104912372A (en) * | 2015-06-10 | 2015-09-16 | 深圳怡丰机器人科技有限公司 | AGV comb type transfer robot |
| CN106013886A (en) * | 2016-04-04 | 2016-10-12 | 上海大学 | Comb telescopic longitudinal autonomous carrier of stereo garage |
| CN205713355U (en) * | 2016-06-12 | 2016-11-23 | 江苏中泰停车产业有限公司 | A kind of without comb top folding turntable lift machine |
| CN106285120A (en) * | 2016-09-13 | 2017-01-04 | 北京首钢机电有限公司 | Haulage equipment for vehicle |
| CN206667862U (en) * | 2017-04-24 | 2017-11-24 | 东莞松山湖国际机器人研究院有限公司 | Upper frame structure and there is its broach AGV carriers |
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