CN109458023A - AGV automobile carrying device - Google Patents
AGV automobile carrying device Download PDFInfo
- Publication number
- CN109458023A CN109458023A CN201910041566.1A CN201910041566A CN109458023A CN 109458023 A CN109458023 A CN 109458023A CN 201910041566 A CN201910041566 A CN 201910041566A CN 109458023 A CN109458023 A CN 109458023A
- Authority
- CN
- China
- Prior art keywords
- comb teeth
- arranged side
- bracket
- teeth frame
- traveling wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
Abstract
The present invention provides AGV automobile carrying devices, include U-shaped chassis, 4 lifting mechanisms, comb teeth frame, traveling wheel mechanism and electric control box；U-shaped chassis includes two horizontally disposed brackets arranged side by side and the linkage section for being connected to two bracket one end arranged side by side；2 slides along stent length direction arranged side by side sliding are equipped on each bracket side by side；The lower end of 4 lifting mechanisms is corresponded with 4 slides and hinged respectively；Comb teeth frame bottom is equipped with the top slide that at least two can be slided along holder orientation arranged side by side；The upper end of each two opposite lifting mechanisms of bracket side by side is corresponded with top slide and hinged respectively；The driving mechanism for being connected with 2 slides for supplying on same bracket arranged side by side on 4 slides while relatively or contrarily moving；Electric control box connection control traveling wheel mechanism and driving mechanism.Balance is high when AGV automobile carrying device part side proposed by the present invention processes, and height space is compact.
Description
Technical field
The present invention relates to technical fields, and in particular to AGV automobile carrying device.
Background technique
Automobile is increasingly becoming the common walking-replacing tool of people's trip, and the tight of parking space is caused while automobile is universal
It lacks, therefore, occurs inclined type jiffy stand at present, park automobile is oblique, reduce the occupied area of vehicle parking, alleviate
The needs of problems of parking space is more convenient for the trip of people.But inclined type jiffy stand wants driver's technology of parking
Ask higher, positioning needs more acurrate when parking, and it is artificial to find parking stall and park low efficiency, it is easy to appear crowded situation.Therefore
Occurs a kind of AGV robot for car carrying at present, by AGV location and navigation technology, bidifly light guide mode ensures vapour
Vehicle exchanges accurate positioning when parking with jiffy stand, stops, picks up the car more efficient, automobile parking is more stable.But AGV car carrying
The lifting mechanism of robot is generally electric pushrod, and comb teeth frame needs sidesway to match with fixed jiffy stand, and occupied space is big, behaviour
It is inconvenient to make.Also, existing car carrying robot uses the main action wheel drive in two groups of front end, drives the servo-actuated action in two groups of rear end
Wheel, commutating, not flexible, stroke is long.
Summary of the invention
The present invention is directed to the above problem in the presence of the prior art, and provides AGV automobile carrying device, to solve to operate
When occupied space is big, shift motion is long and the inflexible problem of commutation.
A part to achieve the above object, the technical solution adopted by the present invention are as follows:
AGV automobile carrying device includes U-shaped chassis, 4 lifting mechanisms, comb teeth frame, traveling wheel mechanism, electric control box
And power supply；U-shaped chassis includes two horizontally disposed brackets arranged side by side and the linkage section for being connected to two bracket one end arranged side by side；Each
2 slides along stent length direction arranged side by side sliding are equipped on bracket arranged side by side；The lower end of 4 lifting mechanisms respectively with 4 cunnings
Seat one-to-one correspondence is simultaneously hinged；Comb teeth frame bottom is equipped with the top slide that at least two can be slided along holder orientation arranged side by side；It is each arranged side by side
The upper end of two opposite lifting mechanisms of bracket respectively with top slide correspond and it is hinged；Use is also connected on 4 slides
In the driving mechanism that 2 slides for being located on same bracket arranged side by side relatively or contrarily move simultaneously；Traveling wheel mechanism is set to U-shaped
The lower end on chassis；The electric control box connection control traveling wheel mechanism and driving mechanism；Traveling wheel mechanism, driving mechanism and electricity
Gas control cabinet connects to power supply respectively.
Further, each lifting structure includes the activity swing arm being oppositely arranged and fixed swing arm；Activity swing arm and fixed pendulum
Arm upper end is hinged with top slide respectively；The lower end of activity swing arm and slide are hinged；It fixes swing arm lower end and is fixedly connected on simultaneously
The support seat hinge being disbursed from the cost and expenses on frame.
Further, the driving mechanism is rotary electric machine；The screw rod of threaded connection is equipped on 4 slides respectively；Turn
Dynamic motor and two screw rods export axis connection；The external screw thread of two screw rods on same bracket arranged side by side is opposite.
Further, the universal driving device for transmission is equipped between two screw rods on same bracket arranged side by side；It is universal
Transmission device includes two universal joint and drive shafts；Two screw rods pass through two universal joints respectively and connect with both ends of the drive shaft.
Further, comb teeth frame includes two comb teeth frame bodies and two groups of comb teeth cross bars；Two comb teeth frame bodies respectively with two
Bracket arranged side by side corresponds and is all connected with two lifting mechanisms on each comb teeth frame；Two groups of comb teeth cross bar one end are separately fixed at two
On a comb teeth frame body, and the other end is oppositely arranged.
Further, two bracket one end arranged side by side are equipped with the guiding mechanism for preventing comb teeth frame from deviating；Guiding mechanism includes
The guide rod and guide cylinder being vertically connected with；Guide cylinder is set to pedestal upper end arranged side by side；Guide rod is up and down to be set in guide cylinder；It leads
Guide cylinder one end, which is stretched out, to bar is fixed on comb teeth frame bottom end.
Further, the traveling wheel mechanism is 4, and is each positioned at the surrounding on U-shaped chassis, each traveling wheel mechanism
To turn to and walk.
Present invention decreases the installation spaces of lifting mechanism, compared with electric pushrod, reduce lifting mechanism in same a line
Height under journey adapts it to the vehicle exchange of the lower outer comb-tooth-type jiffy stand of height, also improves the peace parked, picked up the car
Full property and automation；The single multiple lifting structures of motor driven, realize the vertical lift of lifting structure；Pass through 4 walking turbines
Structure driving meets front and rear, left and right, the rotation of 360 ° of original place, effectively reduces stroke and activity space.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is AGV automobile carrying device schematic diagram；
Fig. 2 is described two lifting structure schematic diagrames；
Fig. 3 is traveling wheel mechanism direction of motion schematic diagram.
Appended drawing reference includes: bracket 1 arranged side by side, comb teeth frame 2, traveling wheel mechanism 3, electric control box 4, slide 5, slideway 6, top
Portion's sliding block 7, battery pack 8, activity swing arm 9, fixed swing arm 10, support base 11, rotary electric machine 12, screw rod 13, shaft coupling 14, horizontal axis
15, universal joint 16, transmission shaft 17, comb teeth frame body 18, front-wheel comb teeth cross bar 19, rear-wheel comb teeth cross bar 20, guide rod 21, guide cylinder
22, grating displacement transducer 23.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings and detailed description:
As shown in Figure 1, AGV automobile carrying device, includes U-shaped chassis, 4 lifting mechanisms, comb teeth frame 2, traveling wheel mechanism
3, electric control box 4 and power supply；U-shaped chassis includes two horizontally disposed brackets 1 arranged side by side and is connected to two brackets 1 one arranged side by side
The linkage section at end；2 slides 5 along 1 length direction of bracket arranged side by side sliding are equipped on each bracket 1 side by side；4 lifting mechanisms
Lower end corresponded respectively with 4 slides 5 and hinged；2 bottom of comb teeth frame is equipped at least two can be sliding along 1 direction of bracket arranged side by side
Dynamic top slide 7；The upper end of each two opposite lifting mechanisms of bracket 1 side by side corresponds simultaneously with top slide 7 respectively
Hingedly；It is also connected on 4 slides 5 for moving for 2 slides 5 being located on same bracket 1 arranged side by side while relatively or contrarily
Driving mechanism；Traveling wheel mechanism 3 is set to the lower end on U-shaped chassis；The electric control box 4 connection control traveling wheel mechanism 3 and
Driving mechanism structure；Traveling wheel mechanism 3, driving mechanism and electric control box 4 connect to power supply respectively.
Power supply is preferably battery pack 8, and battery pack 8 is set to the side on U-shaped chassis, and electric control box 4 is set to the two of U-shaped chassis
Between a bracket arranged side by side 1, and it is arranged lower than comb teeth frame 2.
As shown in Fig. 2, each lifting structure includes the activity swing arm 9 being oppositely arranged and fixed swing arm 10；Activity swing arm 9 and solid
10 upper end of fixed pendulum arm is hinged with top slide 7 respectively；The lower end of activity swing arm 9 and slide 5 are hinged；It fixes 10 lower end of swing arm and consolidates
Surely the support base 11 being connected on bracket 1 arranged side by side is hinged.Two lifting mechanisms on same bracket arranged side by side 1 are symmetrical arranged, and two
Lifting mechanism on bracket 1 arranged side by side is identical.
The driving mechanism is rotary electric machine 12；The screw rod 13 of threaded connection is equipped on 4 slides 5 respectively；Rotation electricity
Machine 12 and two screw rods 13 export axis connection；The external screw thread of two screw rods 13 on same bracket arranged side by side 1 is opposite.Rotary electric machine 12
It is drivingly connected by shaft coupling 14 and screw rod 13.
U-shaped chassis upper end and 2 lower end of comb teeth frame are respectively provided with the bar shaped mounting groove of installation lifting mechanism；Further subtract
The installation space of small lifting mechanism in height；Fixed swing arm 10 is one group of isometric connecting rod with activity swing arm 9；In each group connecting rod
Portion is connected with a horizontal axis 15, improves the intensity of fixed 10/ activity swing arm 9 of swing arm, enhances the stability of the lifting of comb teeth frame 2.
The universal driving device for transmission is equipped between two screw rods 13 on same bracket arranged side by side 1；Universal drive dress
It sets comprising two universal joints 16 and transmission shaft 17；Two screw rods 13 are connected by two universal joints 16 and 17 both ends of transmission shaft respectively
It connects.Two out-of-alignment screw rods 13 may be implemented by universal joint 16 to rotate synchronously.
Comb teeth frame 2 includes two 2 bodies of comb teeth frame and two groups of comb teeth cross bars；Two 2 ontologies of comb teeth frame are separately positioned on two
On 2 lifting mechanisms of 1 upper end of bracket arranged side by side；Two groups of comb teeth cross bar one end are fixed on two 2 bodies of comb teeth frame, and other end phase
To setting.The comb teeth frame 2 be it is built-in, be adapted to outer comb-tooth-type vehicle frame vehicle exchange, save operating space.Two comb teeth
2 ontology of frame is arranged in parallel in the top of two brackets 1 arranged side by side, and comb teeth cross bar is the hollow steel pipe that section is quadrangle, hollow steel
Tube edges smooth transition.Every group of comb teeth cross bar includes 19 He of front-wheel comb teeth cross bar positioned at 1 closed end of bracket arranged side by side of U-shaped chassis two
Rear-wheel comb teeth cross bar 20 positioned at the open side of two brackets 1 arranged side by side, the quantity of front-wheel comb teeth cross bar 19 are 12, and rear-wheel comb teeth is horizontal
20 quantity of bar is 5, for adapting to the vehicle parking of different wheelbases.
Two 1 one end of bracket arranged side by side are equipped with the guiding mechanism for preventing comb teeth frame 2 from deviating；Guiding mechanism includes to be vertically connected with
Guide rod 21 and guide cylinder 22；Guide cylinder 22 is set to 1 upper end of bracket arranged side by side；Guide rod 21 is up and down to be set to guide cylinder 22
It is interior；Guide rod 21 stretches out 22 one end of guide cylinder and is fixed on 2 bottom end of comb teeth frame.Further prevent two column comb teeth inclined in the horizontal direction
It moves, keeps automobile transmission more stable.
The traveling wheel mechanism 3 is 4, and is each positioned at the surrounding on U-shaped chassis, and each traveling wheel mechanism 3 can turn to
And walking.Traveling wheel mechanism 3 preferably drives steering wheel.As shown in figure 3,3 direction of motion schematic diagram of traveling wheel mechanism, when positioned at ten
When word crossing, the present apparatus can realize that front and back walking, left and right walking, the rotation of 360 ° of original place have by the traveling wheel mechanism 3 of surrounding
Effect has saved channel space, to increase the parking quantity in parking lot.
The present apparatus is in use, automobile parking on outer comb-tooth-type vehicle frame, is lower than outside at this point, comb teeth frame 2 is displaced downwardly to comb teeth frame 2
The outer comb teeth of comb-tooth-type vehicle frame, slide 5 is with support base 11 apart from farthest, the activity swing arm 9 of 4 lifting mechanisms and fixed swing arm 10
Upper end tilted to opposite side, the grating displacement transducer 23 and electric control box 4 on U-shaped chassis pass through cable signal company
It connects, grating displacement transducer 23 is connect with battery pack 8；Grating sensor is mobile relative to indication grating by scale grating
When, the light and dark Moire fringe of rule is formed, and mobile with the speed of related movement of grating, shines directly into photoelectric cell
On, the output end at them obtains a string of electric pulses, digital signal output is generated by amplification, shaping, sensing and number system,
Directly display tested displacement.Electric control box 4 passes through the displacement signal that grating displacement transducer 23 issues, control walking
The present apparatus is moved to the bottom of outer comb-tooth-type vehicle frame by wheel mechanism 3, keeps the interior comb teeth of outer comb teeth and the present apparatus interlaced.Operation
Electric control box 4 controls driving mechanism, and rotary electric machine 12 drives screw rod 13 to rotate by shaft coupling 14, and screw rod 13 is again by universal
Section 16 drives next screw rod 13 to rotate with transmission shaft 17, and the external screw thread of two screw rods 13 is on the contrary, drive respectively matched two cunnings
Seat 5 moves towards, and two 9 upper ends of activity swing arm push two top slides 5 to slide to middle part, hinged with 5 one end of top slide
Fixation swing arm 10 rotate along the vertical direction, drive comb teeth frame 2 vertically to increase to lifting automobile, be then movably walking mechanism,
Automobile transportation is gone out into jiffy stand.Similarly, comb teeth frame 2 is moved to above car stand, rotating backward screw rod 13 divides two slides 5
It is not moved along 11 opposite direction of support base, to decline comb teeth frame 2, after automobile is transmitted to next outer comb-tooth-type car stand, comb teeth
Frame 2 is passed down through the outer comb teeth of outer comb-tooth-type vehicle frame, by control traveling wheel mechanism 3 by the present apparatus below outer comb-tooth-type vehicle frame
It removes.
By the oppositely oriented of two screw rods 13, two screw rods 13 are driven by rotary electric machine 12, drive the same phase of two slides 5
To or be moved away from, fixed swing arm 10 due to top slide 7 sliding and rotated with activity swing arm 9, jointly to 2 both ends of comb teeth frame
Effect, makes the power of 2 horizontal direction of comb teeth frame cancel out each other just, only does vertical displacement movement.And slide 5 and screw rod 13 will be combed
The movement of 2 horizontal direction of braces is changed into the movement of vertical direction, is directly carried out by outer comb-tooth-type jiffy stand bottom or top
Stop/vehicle is put, reduce the occupied space of automobile exchange, keeps automobile transferring position more acurrate.
The above examples are only used to illustrate the technical scheme of the present invention and are not limiting, can to technical solution of the present invention into
Row modification or equivalent replacement, are intended to be within the scope of the claims of the invention.
Claims (7)
1.AGV automobile carrying device, which is characterized in that include U-shaped chassis, 4 lifting mechanisms, comb teeth frame, traveling wheel mechanism, electricity
Gas control cabinet and power supply；U-shaped chassis includes two horizontally disposed brackets arranged side by side and the company for being connected to two bracket one end arranged side by side
Connect section；2 slides along stent length direction arranged side by side sliding are equipped on each bracket side by side；The lower end of 4 lifting mechanisms point
It is not corresponded with 4 slides and hinged；Comb teeth frame bottom is equipped at least two can be sliding along the top that holder orientation arranged side by side is slided
Block；The upper end of each two opposite lifting mechanisms of bracket side by side is corresponded with top slide and hinged respectively；On 4 slides
The driving mechanism for being also connected with 2 slides for supplying on same bracket arranged side by side while relatively or contrarily moving；Traveling wheel
Mechanism is set to the lower end on U-shaped chassis；The electric control box connection control traveling wheel mechanism and driving mechanism；Traveling wheel mechanism,
Driving mechanism and electric control box connect to power supply respectively.
2. AGV automobile carrying device according to claim 1, which is characterized in that each lifting structure includes to be oppositely arranged
Activity swing arm and fixed swing arm；Activity swing arm and fixed swing arm upper end are hinged with top slide respectively；The lower end of activity swing arm with
Slide is hinged；Fixed swing arm lower end and the support seat hinge being fixedly connected on bracket arranged side by side.
3. AGV automobile carrying device according to claim 2, which is characterized in that the driving mechanism is rotary electric machine；4
The screw rod of threaded connection is equipped on a slide respectively；Rotary electric machine and two screw rods export axis connection；On same bracket arranged side by side
Two screw rods external screw thread it is opposite.
4. AGV automobile carrying device according to claim 3, which is characterized in that two screw rods on same bracket arranged side by side
Between be equipped with for transmission universal driving device；Universal driving device includes two universal joint and drive shafts；Two screw rods point
Not Tong Guo two universal joints connect with both ends of the drive shaft.
5. AGV automobile carrying device according to claim 1, which is characterized in that comb teeth frame include two comb teeth frame bodies and
Two groups of comb teeth cross bars；Two comb teeth frame bodies correspond with two brackets arranged side by side respectively and are all connected with two lifts on each comb teeth frame
Rise mechanism；Two groups of comb teeth cross bar one end are separately fixed on two comb teeth frame bodies, and the other end is oppositely arranged.
6. described in any item AGV automobile carrying devices according to claim 1, which is characterized in that two bracket one end arranged side by side are equipped with
Guiding mechanism for preventing comb teeth frame from deviating；Guiding mechanism includes the guide rod and guide cylinder being vertically connected with；Guide cylinder is set to
Pedestal upper end arranged side by side；Guide rod is up and down to be set in guide cylinder；Guide rod stretches out guide cylinder one end and is fixed on comb teeth frame bottom end.
7. AGV automobile carrying device according to claim 1, which is characterized in that the traveling wheel mechanism is 4, and each
Surrounding positioned at U-shaped chassis, each traveling wheel mechanism can be turned to and be walked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910041566.1A CN109458023A (en) | 2019-01-16 | 2019-01-16 | AGV automobile carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910041566.1A CN109458023A (en) | 2019-01-16 | 2019-01-16 | AGV automobile carrying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109458023A true CN109458023A (en) | 2019-03-12 |
Family
ID=65616276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910041566.1A Pending CN109458023A (en) | 2019-01-16 | 2019-01-16 | AGV automobile carrying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109458023A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115387650A (en) * | 2022-08-29 | 2022-11-25 | 山东泰鹏智能家居股份有限公司 | Intelligent double-layer folding stereo garage and use method |
| CN115387650B (en) * | 2022-08-29 | 2024-05-14 | 山东泰鹏智能家居股份有限公司 | Intelligent double-layer folding stereo garage and use method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3786930A (en) * | 1971-09-08 | 1974-01-22 | A Obregon | Underground automatic parking system for vehicles |
| CN108442776A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of comb-tooth-type stereo garage floor truck and method |
| CN208150873U (en) * | 2018-05-04 | 2018-11-27 | 金希计 | A kind of portable lifting mechanism |
| CN109025439A (en) * | 2018-09-11 | 2018-12-18 | 杭州极木科技有限公司 | A kind of intelligent robot of carrier vehicle |
| CN209723775U (en) * | 2019-01-16 | 2019-12-03 | 重庆盛捷高科技有限公司 | AGV car carrying robot |
-
2019
- 2019-01-16 CN CN201910041566.1A patent/CN109458023A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3786930A (en) * | 1971-09-08 | 1974-01-22 | A Obregon | Underground automatic parking system for vehicles |
| CN108442776A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of comb-tooth-type stereo garage floor truck and method |
| CN208150873U (en) * | 2018-05-04 | 2018-11-27 | 金希计 | A kind of portable lifting mechanism |
| CN109025439A (en) * | 2018-09-11 | 2018-12-18 | 杭州极木科技有限公司 | A kind of intelligent robot of carrier vehicle |
| CN209723775U (en) * | 2019-01-16 | 2019-12-03 | 重庆盛捷高科技有限公司 | AGV car carrying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115387650A (en) * | 2022-08-29 | 2022-11-25 | 山东泰鹏智能家居股份有限公司 | Intelligent double-layer folding stereo garage and use method |
| CN115387650B (en) * | 2022-08-29 | 2024-05-14 | 山东泰鹏智能家居股份有限公司 | Intelligent double-layer folding stereo garage and use method |
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