CN109610910A - Planer-type parking auxiliary AGV - Google Patents
Planer-type parking auxiliary AGV Download PDFInfo
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- CN109610910A CN109610910A CN201811604619.8A CN201811604619A CN109610910A CN 109610910 A CN109610910 A CN 109610910A CN 201811604619 A CN201811604619 A CN 201811604619A CN 109610910 A CN109610910 A CN 109610910A
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- planer
- holds
- agv
- wheel
- parking auxiliary
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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
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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
- E04H6/42—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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- Mechanical Engineering (AREA)
- Road Paving Structures (AREA)
Abstract
Planer-type parking auxiliary AGV is related to intelligent parking apparatus field, in particular a kind of parking lot parking auxiliary AGV, in parking lot carrier vehicle parked with car assisted.It holds mechanism, curb girder by driving wheel mechanism, driven pulley mechanism, travelling end, and fixing end holds mechanism, gantry connection frame, side vehicle body anticollision draw runner and front and back vehicle body anticollision draw runner composition.Wherein, driving wheel mechanism and driven pulley mechanism are used to adjust its direction of motion and bear the main by weight of body of a motor car; travelling end holds mechanism and fixing end holds mechanism and is distributed to the weight for holding mechanism end for lifting automotive wheel and bearing vehicle body; curb girder is used for the installation of each mechanism in its bottom; gantry connection frame is used for the connection of its two sides is integral and adjusts the distance between its two sides and body of a motor car, and side vehicle body anticollision draw runner and front and back vehicle body anticollision draw runner are for preventing it from colliding body of a motor car and protection Automobile paint.
Description
Technical field
The present invention relates to intelligent parking apparatus field, specially a kind of parking lot parking auxiliary AGV.
Background technique
The difficult problem of parking is to annoying people in recent years；Ground space ten from big city to small county town for parking
Point limited, developing sky parking gradually becomes the common recognition of people, in recent years each stereo parking lot, including lifting cross-sliding type is vertical
Body parking lot, vertical lift type sky parking, Vertical Circulating sky parking, horizontal-circulating car sky parking, plane
Mobile three-dimensional parking lot, horizontal mobile sky parking, have obtained great development.However the solid parking of these types
Field needs large-scale complex mechanical structure, has very high requirement to equipment operation, care and maintenance；Meanwhile these types is vertical
Body parking lot convenient can not must add charging pile also to meet growing electric vehicle demand.To reduce parking lot, the device is complicated
Degree, convenient for provide electric vehicle charging service, occur in a manner of laser navigation, vision guided navigation and magnetic navigation etc. both at home and abroad based on
Parking assist AGV, common type such as Dusseldorf ,Germany International airport use using side promoted vehicle mode
Parking auxiliary AGV, the towed parking of French Stanley Robotics company research and development assist AGV, the happy rich parking apparatus in Shenzhen
The comb tooth exchange type parking auxiliary AGV of Co., Ltd's research and development, the parking plate of Haikang Weishi Digital Technique Co Ltd, Hangzhou's research and development
The submarine parking auxiliary AGV that switch type parking auxiliary AGV and numerous producers are researching and developing；The AGV of these types is to solve in the future
Certainly parking problem provides direction.The development need of future parking auxiliary AGV focuses on solving some existing for above-mentioned parking apparatus
Problem, comprising: the parking plate storage problem of parking plate switch type parking auxiliary AGV, comb tooth exchange type parking auxiliary AGV need
The problem of surface construction comb teeth switching fabric, side hoisting type parking auxiliary AGV, occupy the larger problem in side space, towed
AGV increase the problem of current length requirement, submarine parking auxiliary AGV hide narrow space the problem of etc..
Summary of the invention
AGV problems faced is assisted to solve above-mentioned parking, stops the present invention provides a kind of planer-type and assists AGV,
Feature is as follows:
(1) planer-type parking auxiliary AGV, comprising: driving wheel mechanism, driven pulley mechanism, travelling end hold mechanism, and curb girder is fixed
End holds mechanism, gantry connection frame, side vehicle body anticollision draw runner and front and back vehicle body anticollision draw runner.
(2) planer-type parking auxiliary AGV described previously, it is characterised in that: during aid parking, planer-type parking is auxiliary
Help AGV that automobile is coated in its inner space, specifically gantry connection frame of planer-type parking auxiliary AGV is in the top of automobile
The two sides and；When not lifting to automobile, travelling end holds mechanism and fixing end holds mechanism and is in the state for decontroling wheel, with
Curb girder be distributed in the two sides of automobile；When lifting to automobile, travelling end holds mechanism and fixing end holds mechanism Jun Chu
In the state for clamping lift wheel, part will be below automotive wheel.
(3) planer-type parking auxiliary AGV described previously, it is characterised in that: front and back vehicle body anticollision draw runner is arranged in curb girder two
End is for detecting planer-type parking auxiliary AGV and the contact situation of body of a motor car front-back and vehicle paint being protected not stopped by planer-type
AGV is assisted to scratch；Side vehicle body anticollision strip be arranged in the side rail inners of the two sides AGV for detect planer-type parking auxiliary AGV with
The contact situation of body of a motor car side and protect vehicle paint not by planer-type stop auxiliary AGV scratch.
(4) planer-type parking auxiliary AGV described previously, it is characterised in that: there are two driving wheels by planer-type parking auxiliary AGV
Mechanism, driving wheel mechanism include at least driving wheel and driving wheel decelerating motor；Driving wheel mechanism is mounted on the both ends of curb girder, can
Diagonally arranged be mounted on two curb girders can also be used to be mounted on same curb girder；By changing driving wheel mechanism driving wheel side
It stops to achievable planer-type and assists the steering of AGV, the driving wheel decelerating motor revolving speed to two driving wheel mechanisms can also be passed through
It is adjusted, so that two driving wheels is generated speed difference and change the planer-type parking auxiliary AGV direction of motion.
(5) planer-type parking auxiliary AGV described previously, it is characterised in that: planer-type parking auxiliary AGV has multiple driving wheels
Mechanism, driven pulley mechanism include at least universal wheel；Driven pulley mechanism is mounted on the both ends of curb girder and close to middle position, close
The driven pulley mechanism in middle position can not also be installed.
(6) planer-type parking auxiliary AGV described previously, it is characterised in that: travelling end holds mechanism and fixing end holds machine
Structure is arranged on the curb girder of the two sides AGV.
(7) travelling end described previously holds mechanism, it is characterised in that: it includes clamping linear motion machine that travelling end, which holds mechanism,
Structure holds movement mechanism, holds bar, holds mechanism end universal wheel, linear guide and slide block mechanism；It is logical that travelling end holds mechanism
It crosses linear guide and slide block mechanism is mounted on curb girder, each section can be moved along guide rail；Clamp straight-line motion mechanism
In the state of stretching, and hold bar it is vertical with automotive wheel axis direction when, end of moving about holds mechanism and is respectively to Automobile
Take turns the state decontroled；Clamp straight-line motion mechanism be in retracted mode, and hold bar it is parallel with automotive wheel axis direction when, swim
Moved end holds mechanism and is respectively at the state taken in one's arms to automotive wheel.
(8) fixing end described previously holds mechanism, it is characterised in that: it includes clamping linear motion machine that fixing end, which holds mechanism,
Structure holds movement mechanism, holds bar, hold mechanism end universal wheel, hold mechanism fixing seat, linear guide and slide block mechanism；
Fixing end holds mechanism a part and is mounted on curb girder by linear guide and slide block mechanism, can move along guide rail, separately
It is a part of then be fixed on crossbeam by holding mechanism fixing seat；It clamps straight-line motion mechanism and is in stretching state, and hold bar
When vertical with automotive wheel axis direction, fixing end holds mechanism and is respectively at the state decontroled to automotive wheel；Clamp straight line
Movement mechanism is in retracted mode, and hold bar it is parallel with automotive wheel axis direction when, fixing end holds mechanism and is respectively at
The state that automotive wheel is taken in one's arms.
(9) gantry connection frame described previously, it is characterised in that: gantry connection frame includes column, external extension crossbeam, interior flexible
Crossbeam, crossbeam telescoping mechanism and another heel post install the planer-type parking auxiliary two sides AGV by column and another heel post
On curb girder；When crossbeam telescoping mechanism moves, external extension crossbeam and interior telescoping crossbeam relative motion are driven, and planer-type is driven to stop
The curb girder of the auxiliary two sides AGV is drawn close or far from automobile.
Existing parking auxiliary AGV is compared, the invention has the following advantages:
(1) planer-type parking auxiliary AGV lifts car wheel structure using holding mode, without adding additional structure on ground, without
Use the intermediate structure of the similar situation such as lift sweep.
(2) planer-type parking auxiliary AGV promotes wheel in automobile external space walk and in automobile two sides, and no AGV is latent
The problem of narrow space.
(3) it is small to occupy automobile side space by the way of the disengaging of front and back by planer-type parking auxiliary AGV.
(4) planer-type parking auxiliary AGV is not take up the space before and after vehicle without towed structure.
Detailed description of the invention
Attached drawing 1 is planer-type parking auxiliary AGV normal axomometric drawing.
Attached drawing 2 is planer-type parking auxiliary AGV front view.
Attached drawing 3 is planer-type parking auxiliary AGV top view.
Attached drawing 4 is planer-type parking auxiliary AGV driving wheel mechanism.
Attached drawing 5 is that planer-type parking auxiliary AGV travelling holds end and holds mechanism inner side view.
Attached drawing 6 is that planer-type parking auxiliary AGV travelling holds end and holds mechanism outer side view.
Attached drawing 7, which is that planer-type parking auxiliary AGV is fixed, to be held end and holds mechanism inner side view.
Gantry connection frame of 8 planer-type of attached drawing parking auxiliary AGV.
In figure: driving wheel mechanism 1, driven pulley mechanism 2, travelling end hold mechanism 3, curb girder 4, fixing end and hold mechanism 5, dragon
Door connection frame 6, front and back vehicle body anticollision draw runner 8, driving wheel electric pushrod 101, turns to handle 102, is main side vehicle body anticollision draw runner 7
Driving wheel turns to mounting base 103, steering bearing seat 104, driving wheel steering shaft 105, active wheel support 106, driving wheel 107, active
Wheel decelerating motor 108, electromagnetic brake 109, travelling end clamps electric pushrod 301, travelling end holds electric pushrod 302, travelling end
Hold mechanism rotation seat 303, travelling end holds bar 304, travelling end holds bar mandrel 305, travelling end holds mechanism end
Universal wheel 306, travelling end universal wheel mounting blocks 307, travelling end straight-line guide rail slide block 308, travelling end linear guide 309, travelling
End holds bar mounting blocks 310, travelling end holds mechanism Mobile base 311, fixing end clamps electric pushrod 501, fixing end holds electricity
Dynamic push rod 502, fixing end holds mechanism rotation seat 503, fixing end holds bar 504, fixing end holds bar mandrel 505, solid
Fixed end holds mechanism end universal wheel 506, fixing end universal wheel mounting blocks 507, fixing end straight-line guide rail slide block 508, fixing end
Linear guide 509, fixing end hold bar mounting blocks 510, fixing end holds mechanism Mobile base 511, hold mechanism fixing seat 512,
Column 601, external extension crossbeam 602, interior telescoping crossbeam 603, crossbeam telescopic electric push rod 604, another heel post 605.
Specific embodiment
To facilitate the understanding of the present invention, below in conjunction with attached drawing to invention is more fully described, so as to this hair
Bright disclosure is made deeper into thorough elaboration.Attached drawing provides preferred embodiments of the present invention.But the present invention can be with difference
Form realize, however it is not limited to embodiment described herein.
A kind of planer-type parking auxiliary AGV, main body hold mechanism by driving wheel mechanism 1, driven pulley mechanism 2, travelling end
3, curb girder 4, fixing end hold mechanism 5, gantry connection frame 6, side vehicle body anticollision draw runner and front and back vehicle body anticollision draw runner 8 and constitute.
Driving wheel mechanism 1 is mounted on the both ends of curb girder 4, may be mounted on same curb girder can also be used and diagonally arranged is mounted on two sides
Liang Shang；Preferably, two driving wheel mechanisms 1 are mounted on the curb girder of the same side.Driven pulley mechanism 2 is mounted on the both ends of curb girder 4
With close to middle position, two driven pulley mechanisms close to middle position can not also be installed；Preferably, it installs close to interposition
Two driven pulley mechanisms set, make integrally-built force dispersion.Travelling end holds mechanism 3 and fixing end holds the arrangement of mechanism 5
On the curb girder 4 of the two sides AGV, corresponding side vehicle body anticollision strip 7 then holds mechanism 3 with travelling end and fixing end holds mechanism 5
The position of arrangement is identical and in side rail inner.Front and back vehicle body anticollision draw runner 8 is arranged in curb girder both ends.
During aid parking, automobile is coated in its inner space by planer-type parking auxiliary AGV, specifically gantry
Gantry connection frame 6 of formula parking auxiliary AGV is in the top and two sides of automobile.When not lifting to automobile, travelling end holds mechanism 3
The state that mechanism 5 is in relieving wheel is held with fixing end, as curb girder 4 is distributed in the two sides of automobile.It is carried out to automobile
When lifting, travelling end holds mechanism 3 and fixing end holds mechanism 5 and is in the state for clamping lift wheel, and part will be in vapour
Below vehicle wheel.
Front and back vehicle body anticollision draw runner 8 is for detecting planer-type parking auxiliary AGV and body of a motor car during aid parking
The contact situation of front-back and protect vehicle paint not by planer-type stop auxiliary AGV scratch；Side vehicle body anticollision strip 7 is for detecting dragon
Gate-type parking auxiliary AGV and the contact situation of body of a motor car side and vehicle paint protect not assist AGV scratch by planer-type parking.
Driven pulley mechanism 2 uses universal wheel as driven wheel, meets before planer-type stops auxiliary AGV in any direction
Into when, can carry out without hindrance movement.Driven pulley mechanism 2 is typically distributed across the end of planer-type parking auxiliary AGV curb girder 4
Portion.In the present embodiment, it is equally provided with driven pulley mechanism 2 in 4 medium position of curb girder, it acts as dispersion planer-type parking is auxiliary
It helps AGV to bear vehicle weight bring active force, improves integrally-built stress condition.
The driving wheel mechanism 1 of planer-type parking auxiliary AGV is by driving wheel electric pushrod 101, steering handle 102, actively rotation
Slow down to mounting base 103, steering bearing seat 104, driving wheel steering shaft 105, active wheel support 106, driving wheel 107, driving wheel
Motor 108, electromagnetic brake 109 are constituted.Driving wheel mechanism 1 turns to mounting base 103 by driving wheel and is mounted on curb girder 4, cloth
The mode of setting can be to be arranged on same curb girder 4, be also disposed on the curb girder 4 of two sides；Preferably, driving wheel mechanism 1 is arranged
On same curb girder 4.101 one end of driving wheel electric pushrod is mounted on driving wheel and turns to the other end in mounting base 103 and turn to handle
102 connections.Handler is mounted in driving wheel steering shaft 105, and axial axis 105 is mounted on driving wheel by steering bearing seat 104
It turns in mounting base 103 and is connect with active wheel support 105.When driving wheel 101 stretching motion of electric pushrod, turns to handle 102 and send out
Raw rotation, drives driving wheel steering shaft 105, active wheel support 106 and driving wheel 107 to rotate；Thus, pass through control driving wheel electricity
Dynamic push rod 101 stretches, can be with the direction of rotary driving wheel 107, and then changes the direction of travel of planer-type parking auxiliary AGV.
Driving wheel 107 is mounted on active wheel support 106, is driven by driving wheel decelerating motor 108.Driving wheel decelerating motor 108 is pacified
Equipped with electromagnetic brake 109.There are two driving wheel mechanisms 1 by planer-type parking auxiliary AGV, pass through the driving wheel to driving wheel mechanism 1
101 push rod of electric pushrod may be implemented to turn to；It can also be carried out by the driving wheel decelerating motor 108 to two driving wheel mechanisms 1
It adjusts, two driving wheels 107 is made to generate speed difference and change the direction of motion.
Planer-type parking auxiliary AGV travelling holds end and holds mechanism 3 by travelling end clamping electric pushrod 301, travelling end folder
Embrace electric pushrod 302, travelling end holds mechanism rotation seat 303, travelling end holds bar 304, travelling end holds bar mandrel
305, travelling end hold mechanism end universal wheel 306, travelling end universal wheel mounting blocks 307, travelling end straight-line guide rail slide block 308,
Travelling end linear guide 309, travelling end hold bar mounting blocks 310 and travelling end holds the composition of mechanism Mobile base 311.The travelling
End clamps electric pushrod 301, travelling end holds electric pushrod 302 and the straight-line motion mechanism of said function can be used, including
The substitution such as hydraulic cylinder, leadscrew-nut mechanism, cylinder.
It holds end in planer-type parking auxiliary AGV travelling to hold in mechanism 3, two travelling ends hold electric pushrod 302
One end is separately mounted to travelling end and holds mechanism Mobile base 311, and the other end is mounted on travelling end and holds on mechanism rotation seat 303；
Travelling end, which holds electric pushrod 302, to be elongated or shortened, and drive travelling end to hold the opposite travelling end of mechanism rotation seat 303 and hold
Mechanism Mobile base 311 rotates.When end of moving about, which holds electric pushrod 302, is in elongation state, travelling end holds mechanism rotation seat
303 move to and hold on the vertical direction of mechanism Mobile base 311 with travelling end, and travelling end holds mechanism rotation seat 303 and drives trip
Moved end holds bar 304 and moves to position shown in Fig. 5；It is parallel with automotive wheel axis at this time that two sides travelling end holds bar 304, complete
Pairs of automotive wheel is held.When end of moving about, which holds electric pushrod 302, is in retracted mode, travelling end holds mechanism rotation seat
303 move to and hold on the parallel direction of mechanism Mobile base 311 with travelling end, and travelling end holds mechanism rotation seat 303 and drives trip
Moved end holds bar 304 and moves on the direction parallel with curb girder 4；Two sides travelling end hold bar 304 at this time with automotive wheel axis
Direction is vertical, completes the relieving to automotive wheel.
Travelling end holds mechanism Mobile base 311 and is mounted on travelling end linear guide by the end straight-line guide rail slide block 308 that moves about
It is connect on 309 and by it with curb girder 4；The end straight-line guide rail slide block 308 that moves about can move along a straight line in travelling end linear guide 309,
And travelling end is driven to hold the movement of mechanism Mobile base 311.Travelling end clamps electric pushrod 301 and can elongate or shorten.Work as travelling
When end clamping electric pushrod 301 is in elongation state, travelling end holds mechanism Mobile base 311 and passes through travelling end straight-line guide rail slide block
308 are moved to two travelling ends and hold mechanism Mobile base 311 and have longer distance in travelling end linear guide 309, and at this time two
Sidestream moved end holds bar 304 apart from big, and automotive wheel will be by ground, and realization puts down movement to wheel.When travelling end clamps
When electric pushrod 301 is in shortening state, travelling end holds mechanism Mobile base 311 and is existed by the end straight-line guide rail slide block 308 that moves about
Being moved to two travelling ends in travelling end linear guide 309 and hold mechanism Mobile base 311 has shorter distance, at this time two sides travelling
End holds bar 304 apart from small, and automotive wheel will be lifted away from ground, realizes the lift action to wheel.
Travelling end clamps electric pushrod 301 and travelling end holds 302 associated movement of electric pushrod, may be implemented to wheel
Hold and lift and put down release, it is specific to act are as follows: the end that makes to move about hold the elongation of electric pushrod 302 to travelling end hold bar 304 with
After wheel axis direction is parallel, so that travelling end is clamped the shortening of electric pushrod 301 and wheel is lifted away from ground, wheel is held lift at this time
It rises；Make travelling end clamp the elongation of electric pushrod 301 to prevent wheel after falling to the ground to longest state, travelling end is made to hold electronic push away
Bar 302 foreshortens to travelling end and holds that bar 304 is vertical with wheel axis direction, and wheel is laid down release at this time.
The fixed end that holds planer-type parking auxiliary AGV holds mechanism 5 by fixing end clamping electric pushrod 501, fixing end folder
Embrace electric pushrod 502, fixing end holds mechanism rotation seat 503, fixing end holds bar 504, fixing end holds bar mandrel
505, fixing end hold mechanism end universal wheel 506, fixing end universal wheel mounting blocks 507, fixing end straight-line guide rail slide block 508,
Fixing end linear guide 509, fixing end, which hold bar mounting blocks 510, fixing end holds mechanism Mobile base 511 and hold mechanism fixes
Seat 512 is constituted.The fixing end clamps electric pushrod 501, fixing end holds electric pushrod 502 and said function can be used
The substitution such as straight-line motion mechanism, including hydraulic cylinder, leadscrew-nut mechanism, cylinder.
It holds end in planer-type parking auxiliary AGV fixation to hold in mechanism 5, two fixing ends hold electric pushrod 502
One end is separately mounted to fixing end and holds mechanism Mobile base 511 and hold in mechanism fixing seat 512, and the other end is mounted on fixing end
It holds on mechanism rotation seat 503；Fixing end holds electric pushrod 502 and can elongate or shorten, and drives fixing end to hold mechanism and turns
Dynamic seat 503 holds mechanism Mobile base 511 relative to fixed end or holds the rotation of mechanism fixing seat 512.When fixing end holds electronic push away
When bar 502 is in elongation state, fixing end hold mechanism rotation seat 503 move to fixing end hold mechanism Mobile base 511 or
It holds on the vertical direction of mechanism fixing seat 512, fixing end holds mechanism rotation seat 503 and fixing end is driven to hold the movement of bar 504
To position shown in Fig. 7；Two sides fixing end holds that bar 504 is parallel with automotive wheel axis direction at this time, completes the folder to wheel
It embraces.When fixing end, which holds electric pushrod 502, is in retracted mode, fixing end holds mechanism rotation seat 503 and moves to and fix
End holds mechanism Mobile base 511 or holds on the parallel direction of mechanism fixing seat 512, and fixing end holds 503 band of mechanism rotation seat
Dynamic fixing end holds bar 504 and moves on the direction parallel with curb girder；Two sides fixing end hold bar 504 at this time with Automobile wheel shaft
Line direction is vertical, completes the relieving to automotive wheel.
Fixing end holds mechanism Mobile base 511 and is mounted on fixing end linear guide by fixing end straight-line guide rail slide block 508
It is connect on 509 and by it with curb girder 4；Fixing end straight-line guide rail slide block 508 can move along a straight line in fixing end linear guide 509,
And fixing end is driven to hold the movement of mechanism Mobile base 511.Mechanism fixing seat 512 is held then to be fixed on curb girder 4.Fixing end clamps
Electric pushrod 501 can elongate or shorten.When fixing end, which clamps electric pushrod 501, is in elongation state, fixing end holds machine
Structure Mobile base 511 is moved to and holds mechanism in fixing end linear guide 509 by fixing end straight-line guide rail slide block 508 and fixes
512 longer distances of seat, two sides fixing end holds bar 504 apart from big at this time, and automotive wheel will be realized by ground to wheel
Put down movement.When fixing end, which clamps electric pushrod 501, is in shortening state, fixing end holds mechanism Mobile base 511 and passes through admittedly
Fixed end straight-line guide rail slide block 508 be moved in fixing end linear guide 509 with hold mechanism fixing seat 512 it is shorter at a distance from,
Two sides fixing end holds bar 504 apart from small at this time, and automotive wheel will be lifted away from ground, realizes the lift action to wheel.
Fixing end clamps electric pushrod 501 and fixing end holds 502 associated movement of electric pushrod, may be implemented to wheel
Hold and lift and put down release, it is specific to act are as follows: make fixing end hold the elongation of electric pushrod 502 to fixing end hold bar 504 with
After wheel axis direction is parallel, so that fixing end is clamped the shortening of electric pushrod 501 and wheel is lifted away from ground, wheel is held lift at this time
It rises；Make fixing end clamp the elongation of electric pushrod 501 to prevent wheel after falling to the ground to longest state, fixing end is made to hold electronic push away
Bar 502 foreshortens to fixing end and holds that bar 504 is vertical with wheel axis direction, and wheel is laid down release at this time.
When needing to lift automobile, to the automobile for stopping at ground, planer-type parking auxiliary AGV from the front of automobile or after
Side enters automobile position, and holds mechanism 3 by aforementioned travelling end and fixing end holds mechanism 5 and holds and lift automobile
Movement automobile is lifted away from ground；When needing to put down automobile, for the automobile lifted, planer-type parking auxiliary AGV passes through
Aforementioned travelling end holds mechanism 3 and fixing end holds mechanism 5 and puts down and unclamp the movement of automobile for automobile let-down ground.
In the embodiment, planer-type parking auxiliary AGV travelling holds end and holds mechanism 3 and fixed hold end and hold mechanism 5
Hold mechanism end provided with universal wheel (travelling hold end travelling end hold mechanism end universal wheel 306 and fixation hold
End fixing end holds mechanism end universal wheel 506) as auxiliary wheel, gravity of the mechanism by wheel will be held and dispersed, dragon is made
Gate-type parking auxiliary AGV entirety stress condition is optimized.
Gantry connection frame 6 of planer-type parking auxiliary AGV includes column 601, external extension crossbeam 602, interior telescoping crossbeam
603, crossbeam telescopic electric push rod 604 and another heel post 605.Gantry connection frame 6 passes through column 601 and another heel post 605
Stopping respectively with planer-type assists the curb girder 4 of the two sides AGV to connect.External extension crossbeam 602 is mounted on column 601, interior flexible cross
Beam 603 is mounted on another heel post 605, and external extension crossbeam 602 and interior telescoping crossbeam 603 can be with relative motions；Crossbeam is flexible
Electric pushrod 604 can stretch, and drive external extension crossbeam 602 and interior telescoping crossbeam 603 that relative motion occurs, and with driven portal
The curb girder 4 of the formula parking auxiliary two sides AGV is drawn close or far from automobile.Same function can be used in the crossbeam telescopic electric push rod 604
The substitution such as straight-line motion mechanism, including hydraulic cylinder, leadscrew-nut mechanism, cylinder of energy.
Claims (9)
1. planer-type parking auxiliary AGV, comprising: driving wheel mechanism, driven pulley mechanism, travelling end hold mechanism, curb girder, fixing end
Hold mechanism, gantry connection frame, side vehicle body anticollision draw runner and front and back vehicle body anticollision draw runner.
2. planer-type parking auxiliary AGV according to claim 1, it is characterised in that: during aid parking, planer-type stops
Automobile is coated in its inner space by vehicle auxiliary AGV, and in particular gantry connection frame of planer-type parking auxiliary AGV is in automobile
Top and two sides；When not lifting to automobile, travelling end holds mechanism and fixing end holds mechanism and is in relieving wheel
State, as curb girder is distributed in the two sides of automobile；When lifting to automobile, travelling end holds mechanism and fixing end holds machine
Structure is in the state for clamping lift wheel, and part will be below automotive wheel.
3. planer-type parking auxiliary AGV according to claim 1, it is characterised in that: front and back vehicle body anticollision draw runner is arranged in side
Beam both ends are for detecting planer-type parking auxiliary AGV and the contact situation of body of a motor car front-back and protecting vehicle paint not by planer-type
Parking auxiliary AGV is scratched；Side vehicle body anticollision strip is arranged in the side rail inner of the two sides AGV for detecting planer-type parking auxiliary
AGV and the contact situation of body of a motor car side and vehicle paint is protected not scratched by the planer-type auxiliary AGV that stops.
4. planer-type parking auxiliary AGV according to claim 1, it is characterised in that: there are two main by planer-type parking auxiliary AGV
Driving wheel mechanism, driving wheel mechanism include at least driving wheel and driving wheel decelerating motor；Driving wheel mechanism is mounted on the two of curb girder
End, may be mounted on same curb girder and diagonally arranged be mounted on two curb girders can also be used；By changing driving wheel mechanism master
Driving wheel direction can realize the steering of planer-type parking auxiliary AGV, and can also be slowed down electricity by the driving wheel to two driving wheel mechanisms
Machine revolving speed is adjusted, and so that two driving wheels is generated speed difference and changes the planer-type parking auxiliary AGV direction of motion.
5. planer-type parking auxiliary AGV according to claim 1, it is characterised in that: planer-type parking auxiliary AGV has multiple masters
Driving wheel mechanism, driven pulley mechanism include at least universal wheel；Driven pulley mechanism is mounted on the both ends and close middle position of curb girder,
Driven pulley mechanism close to middle position can not also be installed.
6. planer-type parking auxiliary AGV according to claim 1, it is characterised in that: travelling end holds mechanism and fixing end folder
Arrangement of mechanism is embraced on the curb girder of the two sides AGV.
7. travelling end holds mechanism according to claim 1, it is characterised in that: it includes clamping straight line fortune that travelling end, which holds mechanism,
Motivation structure holds movement mechanism, holds bar, holds mechanism end universal wheel, linear guide and slide block mechanism；Travelling end holds machine
Structure is mounted on curb girder by linear guide and slide block mechanism, and each section can be moved along guide rail；Clamp linear motion
Mechanism is in stretching state, and hold bar it is vertical with automotive wheel axis direction when, travelling end holds mechanism and is respectively to vapour
The state that vehicle wheel is decontroled；It clamps straight-line motion mechanism and is in retracted mode, and it is parallel with automotive wheel axis direction to hold bar
When, travelling end holds mechanism and is respectively at the state taken in one's arms to automotive wheel.
8. fixing end holds mechanism according to claim 1, it is characterised in that: it includes clamping straight line fortune that fixing end, which holds mechanism,
Motivation structure holds movement mechanism, holds bar, hold mechanism end universal wheel, hold mechanism fixing seat, linear guide and sliding block machine
Structure；Fixing end holds mechanism a part and is mounted on curb girder by linear guide and slide block mechanism, can move along guide rail,
Another part is then fixed on crossbeam by holding mechanism fixing seat；It clamps straight-line motion mechanism and is in stretching state, and hold
When bar is vertical with automotive wheel axis direction, fixing end holds mechanism and is respectively at the state decontroled to automotive wheel；It clamps straight
Line movement mechanism is in retracted mode, and hold bar it is parallel with automotive wheel axis direction when, fixing end holds mechanism and locates respectively
In the state taken in one's arms to automotive wheel.
9. gantry connection frame according to claim 1, it is characterised in that: gantry connection frame includes column, external extension crossbeam, interior
Telescoping crossbeam, crossbeam telescoping mechanism and another heel post install planer-type parking auxiliary AGV two by column and another heel post
On the curb girder of side；When crossbeam telescoping mechanism moves, external extension crossbeam and interior telescoping crossbeam relative motion are driven, and drive planer-type
The curb girder of the parking auxiliary two sides AGV is drawn close or far from automobile.
Priority Applications (1)
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| CN201811604619.8A CN109610910A (en) | 2018-12-27 | 2018-12-27 | Planer-type parking auxiliary AGV |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979271A (en) * | 2019-12-12 | 2020-04-10 | 杨友夫 | All-round parking auxiliary device |
| CN113479785A (en) * | 2021-06-25 | 2021-10-08 | 宁波新松机器人科技有限公司 | Gantry crane device and control method |
| CN115635500A (en) * | 2022-11-11 | 2023-01-24 | 华晓精密工业(苏州)有限公司 | Embrace and press from both sides mechanism and move car robot |
| CN117584842A (en) * | 2024-01-19 | 2024-02-23 | 烟台港股份有限公司汽车码头分公司 | AGV for transfer vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110979271A (en) * | 2019-12-12 | 2020-04-10 | 杨友夫 | All-round parking auxiliary device |
| CN113479785A (en) * | 2021-06-25 | 2021-10-08 | 宁波新松机器人科技有限公司 | Gantry crane device and control method |
| CN115635500A (en) * | 2022-11-11 | 2023-01-24 | 华晓精密工业(苏州)有限公司 | Embrace and press from both sides mechanism and move car robot |
| CN115635500B (en) * | 2022-11-11 | 2023-12-19 | 华晓精密工业(苏州)有限公司 | Holding and clamping mechanism and car moving robot |
| CN117584842A (en) * | 2024-01-19 | 2024-02-23 | 烟台港股份有限公司汽车码头分公司 | AGV for transfer vehicle |
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Application publication date: 20190412 |
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