CN111764713A

CN111764713A - AGV parking system

Info

Publication number: CN111764713A
Application number: CN201910824443.5A
Authority: CN
Inventors: 姜文琴
Original assignee: Guangzhou Niucha Robot Co ltd
Current assignee: Guangdong yuanneng robot Co.,Ltd.
Priority date: 2019-04-02
Filing date: 2019-09-02
Publication date: 2020-10-13

Abstract

The invention relates to the technical field of logistics carrying equipment, and discloses an AGV parking system which comprises a three-dimensional parking frame and an AGV body, wherein the three-dimensional parking frame comprises at least two layers of parking garages which are arranged up and down, the AGV body comprises a supporting frame and two lifting devices, the supporting frame is provided with a parking space for parking a vehicle, the two lifting devices are respectively arranged on two opposite sides of the supporting frame, each lifting device is provided with a clamping device for supporting and clamping the vehicle, and the lifting devices are used for driving the clamping devices to perform lifting motion in the parking space so as to drive the vehicle to perform lifting motion to be matched with the two layers of parking garages. According to the AGV parking system, when the AGV body clamps a vehicle, the vehicle enters in the length direction of the parking space and enters the parking space on the three-dimensional parking frame along the length direction, so that the width and the length of the three-dimensional parking frame only need to be slightly larger than the width and the length of a vehicle body, the size of the large three-dimensional parking frame is not needed, the requirement on the minimum width of a garage on the market is met, and the space is saved.

Description

AGV parking system

Technical Field

The invention relates to the technical field of logistics carrying equipment, in particular to an AGV parking system and an AGV thereof.

Background

Nowadays, automobiles become one of the main transportation tools for people to go out. Automobiles are often handled during their manufacture, sale, and use. Therefore, a transport facility (e.g., AGV, automated guided vehicle) for transporting an automobile has been produced.

However, in order to meet the parking requirements of a large number of automobiles and to make the best use of the space area as much as possible, many designs for constructing a multi-layer parking lot from the parking lot are available on the market. At present, most of handling equipment on the market is single-layer handling, generally can't satisfy the car and rise the certain distance in order with the high looks adaptation in multilayer parking area to when handling equipment carried the car to the parking position, still need additionally rise the car to the assigned height through jacking equipment, it is very troublesome to operate.

Disclosure of Invention

The embodiment of the invention discloses an AGV parking system, which can realize automatic vehicle lifting, is simple and convenient to operate, and can effectively reduce the size of a three-dimensional parking frame and save space by parking vehicles from the length direction of the three-dimensional parking frame when being matched with the three-dimensional parking frame.

The embodiment of the invention discloses an AGV parking system, which comprises

The three-dimensional parking frame comprises at least two layers of parking garages which are arranged up and down; and

AGV automobile body, the AGV automobile body includes braced frame and two elevating gear, braced frame erects the parking space that is used for parking the vehicle, two elevating gear divide to be located braced frame's relative both sides, each be equipped with the clamping device who is used for bearing and centre gripping vehicle on the elevating gear, elevating gear is used for the drive clamping device is in take place elevating movement in the parking space, in order to drive vehicle emergence elevating movement is with the adaptation two-layer garage parking.

The AGV parking system provided by the embodiment of the invention has the following beneficial effects:

(1) the operation is simple, the use of equipment is reduced, and the lifting cost is saved. The embodiment of the invention provides an AGV parking system, which is characterized in that a lifting device and a clamping device for clamping a vehicle are arranged, and the lifting device can be used for driving the clamping device to drive the vehicle to move up and down in a parking space formed by a supporting frame, so that the vehicle can be lifted by using parking equipment, the additional arrangement of the lifting equipment is not needed, the operation is simple, the use of the equipment is reduced, and the lifting cost is saved.

(2) The integral structure of the three-dimensional parking frame can be more compact, the minimum specification requirement of the garage on the market is matched, and the space is saved. According to the AGV parking system, the parking space for temporarily parking the vehicles is defined on the AGV body, and the vehicle access is arranged in the length direction of the parking space. When AGV body centre gripping vehicle, the vehicle gets into with the length direction of parking space, and is corresponding, also sets up on sky parking frame equally and gets into the parking along the length direction of sky parking frame to make the width of sky parking frame only need slightly be greater than the width of automobile body can, length also only need with the length looks adaptation of vehicle can, need not to do big sky parking frame's size, accord with the minimum width requirement to the garage on the market, save space.

In addition, because the maximum width in parking space of AGV body slightly is less than three-dimensional parking frame's width, consequently, the AGV body can freely pass in and out from the length direction of three-dimensional parking frame, even the vehicle has been placed to three-dimensional parking frame's bottom, but the middle part of this AGV body forms this parking space, consequently, the AGV body still can enter into the bottom to three-dimensional parking frame, place the upper strata to three-dimensional parking frame with the vehicle of centre gripping on the AGV body, need not to shift out the vehicle of bottom, operating procedure when reducing the parking, effectively improve parking efficiency.

(3) The vehicle clamping is reliable. According to the invention, the four clamping devices are arranged and are respectively arranged on the lifting device in pairs, and the four clamping devices are respectively used for clamping four tires of a vehicle, so that the vehicle falling condition is prevented in the lifting process, and the vehicle clamping is reliable. In addition, two of the clamping devices arranged on the two lifting devices are connected together through the connecting rod piece, so that the overall structural strength of the two clamping devices can be enhanced, and the tires of the vehicle are clamped on the two clamping devices and positioned.

(4) The clamping device has the advantages of simple and compact structure, small occupied space and low design difficulty. According to the clamping device, the rotating arm, the driving part and the transmission mechanism of the clamping device are all arranged on the fixed seat, and the driving part is used for driving the transmission mechanism to move to drive the rotating arm to rotate, so that the rotating arm can clamp or loosen the wheel of the vehicle to be carried, the structure is simple and compact, the occupied space is small, and the design difficulty is low. In addition, the design of the primary transmission mechanism for generating linear motion and the secondary transmission mechanism for generating curvilinear motion under the transmission of the primary transmission mechanism, the slider generates linear motion in the first plane, the transmission rod generates curvilinear motion in the second plane, and meanwhile, the first plane is perpendicular to the second plane, so that the transmission is realized by fully utilizing two mutually perpendicular planes, the space occupied by the transmission mechanism is reduced, and the overall structure of the AGV parking system is more compact.

In addition, the driving part adopts a motor, the first-stage transmission mechanism adopts a lead screw and a lead screw nut to be matched, the second-stage transmission mechanism adopts a transmission rod and a rotating rod to be matched, the driving mode and the transmission mode are simple and reliable, an additional limit structure is not required to be designed, and the design difficulty is low.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic illustration of a configuration of an AGV body parking a vehicle to a first floor according to one embodiment of the present invention;

FIG. 2 is a schematic diagram of an AGV body for parking a vehicle to a multi-level parking stand (a second-level parking garage) according to an embodiment of the present invention;

fig. 3 is a structural schematic view of multi-unit assembly of the three-dimensional parking frame disclosed by the embodiment of the invention;

FIG. 4 is a schematic diagram of the configuration of an AGV parking system (without lift) according to one embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating the lifting and lowering of an AGV parking system according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a support frame according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of the clamping device disclosed in the second embodiment of the present invention without linear movement;

FIG. 8 is a schematic structural view illustrating a linear movement of the clamping device according to the second embodiment of the present invention;

fig. 9 is a schematic structural diagram of a lifting device disclosed in the third embodiment of the invention;

FIG. 10 is a schematic structural diagram of a lifting device (ascending) according to a third embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a first fixed gantry according to a third embodiment of the present invention;

FIG. 12 is a schematic structural diagram of a first moving gantry according to a third embodiment of the present invention;

fig. 13 is a schematic structural diagram of a second moving gantry disclosed in the third embodiment of the present invention;

FIG. 14 is a schematic structural diagram of four clamping devices disclosed in the fourth embodiment of the present invention;

fig. 15 is a schematic structural diagram of a first clamping device (with a first included angle of 0 °) according to a fourth embodiment of the present invention;

FIG. 16 is a schematic view of another perspective of FIG. 15;

FIG. 17 is a schematic structural diagram of a first clamping device (with a first included angle of 90 °) according to a fourth embodiment of the present invention;

FIG. 18 is a schematic view of the structure of FIG. 17 from another perspective;

FIG. 19 is a schematic structural diagram of the connection between the first driving component and the first primary transmission mechanism according to the fourth embodiment of the present invention;

FIG. 20 is a schematic view of the first screw base coupled to the first gear base in accordance with the fourth embodiment of the present invention;

fig. 21 is a schematic structural view of a first connecting member disposed on a first slider according to the fourth embodiment of the present invention;

fig. 22 is a schematic structural diagram of a first fixing arm, a first rotating arm and a first fixing seat according to the fourth embodiment of the present invention;

fig. 23 is a schematic structural view of a first fixing seat disclosed in the fourth embodiment of the present invention;

fig. 24 is a schematic view of the first rotating rod, the first driving rod and the first sliding block moving in different moving planes according to the fourth embodiment of the present invention.

Fig. 25 is a schematic structural diagram of a second clamping device (with a second included angle of 0 °) according to a fourth embodiment of the present invention;

FIG. 26 is a schematic view of the structure of FIG. 25 from another perspective;

FIG. 27 is a schematic structural view of a second clamping device (included angle 180 °) according to a fourth embodiment of the present invention;

fig. 28 is a schematic view of the structure of fig. 27 from another perspective.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The invention belongs to the protection scope based on the embodiment of the invention.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, of embodiments of the present invention are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the invention discloses an AGV parking system, which can realize the automatic lifting of a driven vehicle, and when the AGV parking system is matched with a three-dimensional parking frame, the vehicle is parked in the length direction of the three-dimensional parking frame, so that the size of the three-dimensional parking frame can be effectively reduced, and the space is saved.

Example one

Referring to fig. 1 to fig. 3, an AGV parking system according to an embodiment of the present invention includes a three-dimensional parking frame 100 and an AGV body, where the three-dimensional parking frame 100 includes at least two parking garages arranged above and below. The AGV automobile body includes braced frame 1 and two elevating gear 2, braced frame 1 is equipped with parking space 1a that is used for parking the vehicle, and two elevating gear 2 divide and locate braced frame 1's relative both sides, are equipped with the clamping device 3 that is used for the bearing and centre gripping vehicle on each elevating gear 2, and elevating gear 2 is used for driving clamping device 3 and takes place elevating movement in parking space 1a to it takes place elevating movement in order to adapt to two-layer garage parking to drive the vehicle.

The parking space 1a for parking the vehicle is formed in the supporting frame 1, and the lifting device 2 is located in the parking space 1a, so that the lifting device 2 can be used for lifting the vehicle, the overall structure of the AGV parking system is compact, occupation of the ground space can be reduced, and the AGV parking system is applicable to a compact garage.

At present, most AGVs are in the market and when using with sky jiffy stand cooperation, in order to realize better cooperation, choose for use usually to carry out the vehicle butt joint from the side of sky jiffy stand and park. Taking the stereo parking frame as a cuboid frame matched with the automobile as an example, the length direction of the stereo parking frame is the same as the length direction of the automobile, and the width direction is also the same as the width direction of the automobile body. When an AGV is used for conveying an automobile to a three-dimensional parking frame, the automobile enters from the width direction of the three-dimensional parking frame (the automobile access opening is arranged at the side edge). By adopting the mode, in order to ensure accurate parking, the overall size of the three-dimensional parking frame is usually made to be much larger than that of an automobile; therefore, the three-dimensional parking frame occupies more space and cannot meet the requirement of saving parking space.

In addition, most AGV's structure in the market adopts and finishes when the lower floor of sky jiffy stand parks, if want to park the vehicle in the upper strata, then need shift out the vehicle of lower floor, waits that the upper strata vehicle stops to accomplish the back, parks the normal position again with lower floor's vehicle. The parking step is troublesome, and the parking efficiency is seriously influenced.

And this application adopts and to form parking space in AGV's braced frame 1, when cooperating with three-dimensional parking frame, to take three-dimensional parking frame as two-layer as the example, be first layer and second floor respectively. When the first layer of the three-dimensional parking frame is parked with the first vehicle, at the moment, as long as the second vehicle clamped on the AGV body is driven by the lifting device 2 to rise to the height matched with the second layer of the three-dimensional parking frame, the AGV body can enter the first layer of the three-dimensional parking frame from the length direction of the three-dimensional parking frame and cannot collide with the first vehicle parked on the first layer, because the first vehicle can be completely accommodated in the parking space below the second vehicle by the AGV body, therefore, by adopting the scheme of the invention, even if the first layer of the three-dimensional parking frame is parked with the vehicle, the vehicle can be parked on the second layer without moving out, the redundant operation executed during parking is reduced, and the parking efficiency is effectively improved.

In this embodiment, the supporting frame 1 includes two first supporting rods 11, 12 parallel and spaced apart from each other and a second supporting rod 13 connected between the two first supporting rods 11, 12, the two first supporting rods and the second supporting rod 13 enclose the parking space 1a, and the two lifting devices 2 are respectively disposed on the two first supporting rods 11, 12. Specifically, the two first support bars 11, 12 may be horizontally disposed on the ground, and the distance between the two first support bars 11, 12 should be substantially equal to or slightly greater than the width of the vehicle body, so that the vehicle can be parked in the parking space 1 a. The second supporting rod 13 is also horizontally disposed on the ground, and the second supporting rod 13 is connected to the two first supporting rods, thereby forming a frame similar to a "door" shape with the two first supporting rods 11 and 12. That is, the support frame 1 is substantially in a portal shape. The parking space 1a is a space formed inside the first and second support bars 13.

It can be seen that, since the two first support rods and the second support rod 13 form a frame in a shape of approximate a door, the parking space 1a has a vehicle entrance which is located in a longitudinal direction of the first support rod, and the longitudinal direction of the vehicle is the same as the longitudinal direction of the first support rod when the vehicle enters and exits the parking space 1 a.

By adopting the mode that the first supporting rod and the second supporting rod 13 form the door-shaped frame, the distance between the two first supporting rods only needs to be slightly larger than the width of a vehicle body of a vehicle, so that the AGV parking system disclosed by the invention can reduce the occupation of the ground space as much as possible, and is also suitable for compact parking spaces to reduce the occupation of the parking space.

Further, as can be seen from the above, the parking space is formed in the support frame 1, so that the space between the two first support rods forms the parking space, the space between the two first support rods 11 defines the width of the parking space, and the minimum width of the parking space 1a is slightly larger than the width of the vehicle body, so that the parking space can be ensured to accommodate the vehicle. In order to enable the support frame 1 to integrally enter the first floor of the three-dimensional parking frame when the three-dimensional parking frame is in butt joint and matched with the three-dimensional parking frame for parking, the minimum width of the at least two layers of parking garages is slightly larger than the maximum width of a parking space.

More specifically, since the second support rod 13 is connected to the two first support rods 11 and forms the parking space 1a, the distance from the second support rod to the end of the two first support rods far away from the second support rod defines the length of the parking space. Thus, the length of the parking space is approximately slightly greater than the length of the vehicle body.

As shown in fig. 1 and fig. 3, in the present embodiment, the stereo parking frame 100 includes a first frame unit, the first frame unit includes two first support frames 101 and a plurality of parking plates 102, the two first support frames 101 are disposed at intervals, the parking plates 102 are erected between the two first support frames 101 along a height direction of the two first support frames 101, the parking plate 102 and the two first support frames 101 form the at least two-layer parking garage, and an interval between the two first support frames 101 defines a width of the parking garage. Specifically, two first support frames 101 are bar-shaped rod members, and the length extending direction of two first support frames 101 is the same as the length extending direction of the first support frame of AGV body, thereby first support frame 101 and parking plate 102 form the parking garage whose length direction is the same as the length direction of the parking space of AGV body, like this, when AGV body centre gripping vehicle reaches three-dimensional parking frame 100 position, can get into from the length direction of the parking garage of three-dimensional parking frame 100 and park the vehicle, thereby make the specification of the parking garage of three-dimensional parking frame 100 can with the minimum specification looks adaptation of the garage that the market required, effectively save space.

It is understood that the number of the parking plates 102 erected between the two first support frames 101 may be one or more, and when the number of the parking plates 102 is multiple, the parking plates 102 are arranged at intervals along the height direction of the two first support frames 101, and the embodiment takes the parking plate 102 as one piece for illustration.

Further, when the jiffy stand cooperation AGV body used, the vehicle of parking on the first floor can directly utilize the AGV body to transfer and directly park, and the vehicle of parking on the second floor then is lifted and is transported to the second floor by the AGV body and park.

In addition, since the stereo parking frame 100 of the present embodiment is a non-powered parking frame, the cross section of the two first support frames 101 of the stereo parking frame 100 in the width direction can be made as small as possible under the condition that the structural strength of the support parking plate 102 is satisfied, which not only saves the floor space of the first support frame 101, but also saves the material.

Further, the vehicle entrance of the two-story parking garage of the parking rack 100 is formed along the length direction of the parking garage, so that the length direction of the vehicle body of the vehicle is always consistent with the length direction of the parking garage when the AGV carries the vehicle into the parking garage along the length direction of the vehicle body, and the tail or head of the vehicle faces the vehicle entrance when the vehicle is parked on the parking garage. By adopting the mode, the vehicles parked in the parking garage can enter and park along the length direction of the vehicle body, so that the space of the parking garage required to be reserved by the parking frame is smaller than the space of the parking garage required to be reserved by the side parking, and the space utilization rate can be effectively improved.

In order to further save space, the sky parking frame 100 further includes a plurality of second frame units 103, the plurality of second frame units 103 are sequentially coupled in a width direction of the first frame unit, and the first second frame unit 103 is coupled to the first frame unit. Specifically, when the first second frame unit 103 is spliced with the first frame unit, one of the first support frames of the first frame unit can be shared. When the second frame unit is spliced with the first frame unit, one second support frame of the first frame unit can be shared, and the like.

Adopt a plurality of second frame unit 103 to splice in proper order along the width direction of first frame unit to can share same support frame between two adjacent frame units, compact structure can practice thrift the land, and the area occupied is few.

In this embodiment, in order to mount the parking plate 102 between the two first support frames 101, the first frame unit further includes a support member 104, and the support member 104 is fixed to the two first support frames 101 and supports the parking plate 102. The support member 104 may be a horizontal support rod connected to the two first support frames 101, or support supports respectively disposed on the two first support frames 101, as long as the parking plate 102 can be horizontally fixed to the two first support frames 101, and in this embodiment, it is preferable that the support supports respectively disposed on the two first support frames 101 are the support member 104.

Further, in order that the parking plate 102 may be erected between the two first support frames 101 along the height direction of the two first support frames 101, the first support frames 101 include vertical rods 101a, and the supporting member 104 is fixed to the vertical rods of the two first support frames 101, so that the parking plate 102 is erected on the vertical rods 101a of the first support frames 101. Moreover, the supporting member 104 can be fixed to any height position of the vertical rod 101a in the vertical direction, so that the parking plate 102 can be installed at any height of the two first supporting frames 101 to meet different use requirements.

Further, the first support frame 101 further includes a horizontal strut 101b, the horizontal strut 101b is perpendicular to and fixedly connected to the vertical rod 101a, and the horizontal strut 101b is fixedly placed on the ground to support the vertical rod 101a so that the vertical rod 101a is kept in a vertical state. In order to keep the parking plate 102 horizontal for parking the vehicle, the first frame unit 1 further includes an adjusting rod 105, and both ends of the adjusting rod 105 are respectively connected to the horizontal strut 101b and the rear portion of the parking plate 102 for adjusting the parking plate 102 so that the parking plate 102 is horizontally erected on the two first supporting frames 101.

Further, since both ends of the adjustment lever 105 are connected to the horizontal bar 101b and the rear portion of the parking plate 102, respectively, the horizontal bar 101b and the parking plate 102 are connected to further support the parking plate 102.

In this embodiment, since the vehicle can enter the parking garage along the length direction of the vehicle body, the size ranges of the length and the width of the parking garage are 3700-3900 mm and 2100-2300 mm respectively under the condition that the parking requirement of the vehicle is met, and in order to maximize the space utilization rate of the parking frame, the parking frame with the length of 3000mm or 3500mm and the width of 2100mm, 2200mm or 2250mm is preferentially adopted in the embodiment.

Further, since the parking plate 102 is mainly used for parking a vehicle by contacting the wheels of the vehicle with the parking plate 102 to support the parked vehicle, in order to reduce the weight of the parking plate 102 and save raw materials, a rectangular opening 102a is opened in the central area of the parking plate 102, and the length and width of the rectangular opening 102a are smaller than the size of the rectangle surrounded by the four wheels, so that the parking plate 102 can save raw materials as much as possible without affecting the use function thereof.

Further, in order to prevent the vehicle placed on the parking plate 102 from sliding with respect to the parking plate 102, the upper surface of the parking plate 102 is provided with an anti-slip structure, which may be a raised stripe provided on the upper surface of the parking plate 102 in a stripe length direction of the same as a vehicle body width direction of the vehicle to prevent the vehicle from sliding out from a vehicle entrance direction along the vehicle body length direction. It is understood that the anti-slip structure may be in other structures, such as a form of providing a block on the upper surface of the parking plate 102, which is not illustrated herein.

In this embodiment, first frame unit is concatenation detachable construction, and foretell first parking piece, horizontal branch 101b, vertical pole 101a, regulation pole 105 and bearing part 104 etc. are the concatenation detachable component of first frame unit promptly, can install in real time as required, and it is convenient to use, and the practicality is strong. Similarly, the second frame unit 103 may also be a splice unit, and may also be installed in real time as needed.

Referring to fig. 1 and 4 to 6, in this embodiment, the first supporting rod may be a bar-shaped rod, two ends of the first supporting rod in the length direction are a first end 11a and a second end 11b, respectively, the first end 11a is connected to the second supporting rod 13, and the bottom of the second end 11b is provided with a first pulley 111. Specifically, the first pulley 111 may be disposed at an end position near the second end 11b, the first pulley 111 may be one or more, and the first pulley 111 may be a universal wheel, the first pulley 111 being used to effect movement of the AGV parking system to effect transport of the vehicle.

Further, the second supporting rod 13 is also a bar-shaped rod, and in order to enlarge the parking space 1a formed by the second supporting rod 13 and the two first supporting rods, the second supporting rod 13 is composed of three parts, namely a first rod part 13a, a second rod part 13b and a third rod part (not shown), the first rod part 13a and the third rod part are respectively connected to the two first supporting rods 11 and 12 in an inclined manner, the second rod part 13b is connected between the first rod part 13a and the third rod part, and the second rod part 13b is a horizontal rod which is vertically arranged with the two first supporting rods 11 and 12.

In this embodiment, a second pulley (not shown) is disposed at the bottom of the second support bar 13, and a connecting line between the first pulley 111 disposed on the two first support bars 11 and 12 and the second pulley disposed on the second support bar 13 forms a triangle. Specifically, the second pulley is arranged at a position of the second support rod 13 close to the middle, so that the distance between the connecting line from the second pulley to one of the first pulleys 111 and the distance between the connecting line from the second pulley to the other first pulley 111 are equal, and the formed triangle is an equilateral triangle, which not only can effectively realize the movement of the AGV parking system, but also is beneficial to keeping balance and stability of the support frame 1. It will be appreciated that the second pulley may likewise be one or more, and the second pulley may likewise be a universal wheel.

In the present embodiment, as can be seen from the above, the two lifting devices 2 are respectively disposed on the two first support rods 11 and 12, so that a reinforcing block 112 can be disposed at a position on the first support rod for disposing the lifting device 2, the reinforcing block 112 is disposed on the upper surface of the first support rod and extends outward from the first support rod, and the width of the reinforcing block 112 is greater than that of the first support rod, so that the contact area between the lifting device 2 and the reinforcing block 112 can be increased, and the fixing of the lifting device 2 on the reinforcing block 112 can be ensured.

Further, in order to further reinforce the strength of the two first support bars 11, 12, a reinforcing bar 14 is connected between the two first support bars 11, 12, the reinforcing bar 14 is located in the parking space 1a, and the reinforcing bar 14 is vertically connected to the two first support bars 11, 12.

As shown in fig. 3, in this embodiment, the supporting frame 1 further includes a protective casing 15 surrounding the first supporting rod and the second supporting rod 13, the protective casing 15 extends upward from the top surface of the first supporting rod and the second supporting rod 13, and the lifting device 2 is disposed in the protective casing 15. Specifically, the protective casing 15 may be a thin plate structure, and includes a first casing portion 15a, a second casing portion 15b, and a third casing portion 15c, the first casing portion 15a and the third casing portion 15c are respectively disposed on the two first support rods 11 and 12, the third casing portion 15c is disposed on the second support rod 13, and the third casing portion 15c is connected to the first casing portion 15a and the second casing portion 15b, an extension height of the third casing portion 15c on the second support rod 13 is greater than an extension height of the first casing portion 15a and the second casing portion 15b on the first support rod, and the first casing portion 15a and the second casing portion 15b are respectively connected to the two lifting devices 2. More specifically, the first housing portion 15a and the second housing portion 15b may be connected to the two lifting devices 2 by welding, so that the first housing portion 15a and the second housing portion 15b are connected to the lifting devices 2 more tightly, and the first housing portion 15a and the second housing portion 15b may also be used to enhance the structural strength of the lifting devices 2.

The protective shell 15 is arranged outside the lifting device 2, and the protective shell 15, the two first support rods 11 and 12 and the second support rod 13 are used for enclosing together to form the parking space 1a, so that when a vehicle is placed in the parking space 1a, the protective shell 15 can effectively protect the vehicle placed in the parking space 1a, and the vehicle is prevented from being scratched by peripheral objects in the moving and transporting process.

In this embodiment, a first obstacle sensor 113 is provided at the end of the second end 11b of the first support rod to detect surrounding obstacles and prevent a collision while the AGV parking system is transporting the vehicle.

Further, in order to enable the AGV parking system to move along a designated route during the transportation of the vehicle and to prevent collision with an obstacle in front of the route, the third housing portion 15c is provided with a laser sensor 151 and a second obstacle sensor (not shown), the laser sensor 151 is provided on a surface of the third housing portion 15c facing away from the parking space 1a, that is, the third housing portion 15c can be used as a front end of the AGV parking system during the travel of the AGV parking system, and the laser sensor 151 is provided toward the front of the travel. Similarly, the second obstacle sensor may be disposed near the laser sensor 151, and may sense an obstacle in front of the route to prevent collision.

Further, the bottom of the third housing portion 15c is provided with a cleaning brush 152, and the cleaning brush 152 is used for brushing off dust, obstacles, other sundries and the like on the traveling road of the AGV parking system, so as to prevent the sundries, dust and the like from being attached to the bottom of the AGV parking system.

Further, in order to make the overall structure of the AGV parking system more compact and facilitate control of the lifting device 2 and the clamping device 3, an electric cabinet 153 is provided on a side of the third housing portion 15c facing the parking space 1a, and the electric cabinet 153 is used for controlling power driving of the lifting device 2 and power driving of the clamping device 3.

The following is a brief description of the process of interfacing the AGV body transport vehicle with the sky parking frame 100:

vehicle alignment: the AGV body moves to the position where the vehicle is located, the vehicle is well positioned (namely the AGV body moves until the vehicle is located in a parking space), tires of the vehicle are clamped by utilizing the clamping devices, if the distance between the front tire and the rear tire of the vehicle is large, one of the clamping devices is controlled by the telescopic mechanism to move so as to adapt to the distance between the front tire and the rear tire of the vehicle, and the clamping devices are ensured to accurately clamp the tires of the vehicle (as shown in figure 1);

the AGV body is butted with the three-dimensional parking frame 100 (the vehicle is parked in the first-layer parking garage): the AGV body drives the vehicle to move to the position of the three-dimensional parking frame 100, and the first-layer parking garage of the three-dimensional parking frame 100 is determined to be empty according to the instruction, so that the vehicle can be parked to the first-layer parking garage of the three-dimensional parking frame 100. The AGV body enters the first-layer parking garage from a vehicle inlet of the first-layer parking garage, controls the clamping device to loosen the tires of the vehicles, then the AGV body exits from the first-layer parking garage, and the vehicles are parked in the first-layer parking garage and are parked completely (as shown in figure 1);

the AGV body is butted with the three-dimensional parking frame 100 (the vehicle is parked in the second-layer parking garage): the AGV body drives the vehicle to move to the position of the three-dimensional parking frame 100, and the vehicle can be parked to the second-layer parking garage of the three-dimensional parking frame 100 according to the instruction after the vehicle is parked in the first-layer parking garage of the three-dimensional parking frame 100. The AGV body controls the lifting device 2 to drive the clamping device and the vehicle to rise to the height of the parking garage on the second floor, then the AGV body enters the first-layer parking garage from the vehicle entrance of the first-layer parking garage, although the vehicles are parked in the first-layer parking garage, the AGV body can move to the first-layer parking garage from the vehicle entrance of the first-layer parking garage, because the supporting frame 1 of the AGV body is provided with a parking space, the length direction of the parking space is the same as that of the parking garage at the first floor, the width of the parking space is slightly smaller than that of the parking garage at the first floor, and because the lifting device 2 drives the clamping device to rise, when the parking space is empty, when the AGV body enters the first-layer parking garage, the parking space may be adapted exactly to the vehicle parked in the parking garage of the first floor, so that the gripping device may release the vehicle and park it on the parking plate 102, i.e. the parking garage of the second floor (as shown in fig. 2).

Therefore, by adopting the AGV parking system, even if the first-layer parking garage of the three-dimensional parking frame 100 is used for parking vehicles, the AGV body can still enter the first-layer parking garage of the three-dimensional parking frame 100 and cannot influence the vehicles parked in the first-layer parking garage, so that the traditional scheme that the vehicles are parked from the side edge of the three-dimensional parking frame 100 and the parking space is not formed due to the complex structure of the traditional AGV is replaced, and under the condition that the vehicles are parked in the first-layer parking garage, if the vehicles on the upper layer are parked, the vehicles in the first-layer parking garage need to be moved out, the operation during parking the vehicles is effectively saved, and the parking efficiency is improved.

In addition, the vehicle entrance of the three-dimensional parking frame is arranged in the length direction of the three-dimensional parking frame, and the vehicle entrance and exit of the AGV body are also arranged in the length direction of the parking space, so that the AGV body can enter and exit the three-dimensional parking frame from the length direction of the three-dimensional parking frame.

Example two

Referring to fig. 4 and fig. 6 to 8, on the basis of the first embodiment, the AGV parking system according to the second embodiment of the present invention further includes a connecting bracket 4, and the connecting bracket 4 is fixedly disposed on the lifting device 2. In the first embodiment, two lifting devices 2 are respectively disposed on the two first support rods 11 and 12. Each lifting device 2 is provided with two clamping devices 3 which are arranged side by side at intervals, and the connecting bracket 4 is connected between the two clamping devices 3 and is used for driving the two clamping devices 3 to perform lifting motion under the driving of the lifting device 2. That is, the connecting bracket 4 is used to connect two holding devices 3 arranged at an interval, and simultaneously, the two holding devices 3 can be driven to lift simultaneously under the driving of the lifting device 2, so as to lift the vehicle.

Further, the connecting bracket 4 includes a bearing part 4a and a fixing plate 4b extending upward from the bearing part 4a, the bearing part 4a is connected between the two clamping devices 3, and the fixing plate 4b is fixedly connected with the lifting device 2, so that the bearing part 4a and the clamping devices 3 are driven by the lifting device 2 to lift.

In this embodiment, the AGV parking system further includes a telescopic mechanism 5, the telescopic mechanism 5 is disposed on the connecting bracket 4, and the telescopic mechanism 5 is fixedly connected to one of the clamping devices 3, and is configured to drive the one of the clamping devices 3 to move in a linear direction relative to the other clamping device 3, so as to adjust an interval between the two clamping devices 3. Specifically, the telescopic mechanism 5 may be a piston cylinder, the telescopic mechanism 5 is fixed on the bearing part 4a, and a piston rod of the telescopic mechanism 5 is connected with one of the clamping devices 3, so that the one of the clamping devices 3 can be driven to linearly move along the length direction of the bearing part 4a, and the distance between the two clamping devices 3 can be adjusted, and further the distance can be adjusted according to the wheel base of the front wheel and the rear wheel of the vehicle, so that the AGV parking system can be suitable for vehicles with different wheel bases, and the applicability of the AGV parking system is improved.

Further, since the holding device 3 can automatically hold the tire of the vehicle, a driving device is provided in the holding device 3, and the driving device is connected to the electric control box 153 of the third housing portion 15c through an electric wire. In order to prevent the wires from moving along with the clamping device 3 to cause disorder when the clamping device moves linearly, the AGV parking system further includes a first wire track 6a, a second wire track 6b and a threading member 6c, the first wire track 6a is disposed on the bearing member 4a, the first wire track 6a is located between the two clamping devices 3, and the second wire track 6b is disposed on the fixing plate 4b in parallel to the first wire track 6a and above the first wire track 6 a. One end of the threading member 6c is slidably disposed on the first wire track 6a and connected to one of the holding devices 3, and the other end of the threading member 6c is fixedly disposed on the second wire track 6 b. When the electric wire of one of the clamping devices 3 passes through the threading part 6c from the one of the clamping devices 3 and the telescopic mechanism 5 drives the one of the clamping devices 3 to move in the linear direction relative to the other clamping device 3, one end of the threading part 6c can slide relative to the first electric wire track 6 a.

Specifically, the first wire track 6a is an elongated track having a groove therein, and one end of the threading member 6c is slidably disposed in the groove. Similarly, the second wire track 6b is also a strip-shaped track, the length extending direction of the second wire track 6b is the same as the length extending direction of the first wire track 6a, and the other end of the threading member 6c is fixedly disposed at the bottom of the second wire track 6 b.

Further, in order to realize that one end of the threading member 6c can slide relative to the first wire track 6a under the pushing action of one of the holding devices 3 when the one of the holding devices 3 is moved linearly (for example, to the right in the direction of fig. 7), and can also slide relative to the first wire track 6a under the pulling action of the one of the holding devices 3 when the one of the holding devices 3 is moved to the right, a connecting portion (not shown) is provided on the one of the holding devices 3 in a protruding manner, and the connecting portion is provided toward the groove of the first wire track 6a and connected to one end of the threading member 6 c.

In the present embodiment, the threading part 6c is a flexible pipe or a tank chain, wherein the flexible pipe is a pipe capable of deforming. Since the tank chain is low in noise, high in abrasion resistance and movable at high speed while moving, the threading part 6c in the present embodiment is preferably a tank chain. Specifically, the threading member 6c includes a first elongated portion 61, a circular arc portion 62 and a second elongated portion 63 connected in sequence, the first elongated portion 61 is disposed in the groove of the first wire track 6a, and the second elongated portion 63 is fixedly disposed on the second wire track 6 b. The threading part 6c is preferably a tank chain, which is favorable for the traction and protection of the built-in electric wire when the threading part 6c reciprocates.

In addition, because the tank chain is formed by numerous unit chain concatenations, each section of tank chain all can be opened promptly, so threading part 6c adopts the tank chain to be favorable to being convenient for install the electric wire in the tank chain, and makes things convenient for the maintenance of electric wire.

Specifically, the process of driving the one of the clamping devices 3 to move linearly by the telescopic mechanism 5 is briefly described as follows (as shown in fig. 7 and 8, fig. 7 shows an initial state of the one of the clamping devices 3, and fig. 8 shows a state in which the one of the clamping devices 3 moves for a certain displacement):

when the telescopic mechanism 5 works, the telescopic mechanism 5 drives one of the clamping devices 3 to move leftwards, and simultaneously drives the first wire track 6a to move leftwards, because the first strip part 61 of the threading part 6c is slidably arranged on the first wire track 6a and connected with one of the clamping devices 3, and the second strip part 63 of the threading part 6c is fixedly arranged on the second wire track 6b, under the pushing of one of the clamping devices 3, the first strip part 61 of the threading part 6c can slide relative to the first wire track 6a, so as to drive the wire penetrating on the threading part 6c to slide relative to the first wire track 6a, thereby keeping the positions of the wire and the threading part 6c unchanged, and further effectively avoiding the wire from winding.

That is, the second embodiment of the present invention not only can effectively adjust the distance between the two clamping devices 3 by using the telescopic mechanism 5, so that the AGV parking system can be applied to vehicles with different wheelbases, but also can make the electric wires connected to one of the clamping devices 3 connect to the electric control box 153 on the third housing portion 15c through the threading part 6c, because the first electric wire track 6a is fixedly connected to one of the clamping devices 3, and one end of the threading part 6c is slidably arranged on the first electric wire track 6a and connected to one of the clamping devices 3, and the other end is fixedly arranged on the second electric wire track 6b, one end of the threading part 6c can slide relative to the first electric wire track 6a while the first electric wire track 6a follows the telescopic mechanism 5 and one of the clamping devices 3 to perform frequent reciprocating movement, so that the electric wires threaded through the threading part 6c can keep relative to the threading part 6c, therefore, the winding condition of the electric wire can be effectively avoided in the process that one clamping device 3 does reciprocating motion, the normal operation of the AGV parking system is ensured, and the operation safety of the AGV parking system is improved.

In addition, because the electric wire is firstly threaded through the threading part 6c and then connected with one clamping device 3, the electric wire can be protected from being damaged by other external substances by adopting the structural design, and the service life of the electric wire is further prolonged.

EXAMPLE III

Referring to fig. 9 to 10, on the basis of the first and second embodiments, the lifting device 2 of the AGV parking system of the third embodiment of the present invention includes a first fixed gantry 2a, a first moving gantry 2b, a second moving gantry 2c, a chain wheel assembly and a lifting mechanism 2e, the first moving gantry 2b is slidably disposed in the first fixed gantry 2a, the second moving gantry 2c is slidably disposed in the first moving gantry 2b, the chain wheel assembly is disposed in the first moving gantry 2b and includes a chain wheel base 2d, a chain wheel 2f and a chain 2g, the chain wheel base 2d is fixedly disposed on the first moving gantry 2b, the chain wheel 2f is fixedly disposed on the chain wheel base 2d, the chain 2g is wound on the chain wheel 2f and two ends of the chain 2g are fixedly connected to the second moving gantry 2c and the first fixed gantry 2a, the lifting mechanism 2e is arranged on the first fixed portal 2a, a power output end of the lifting mechanism 2e is connected with the chain wheel base 2d, and the lifting mechanism 2e is used for driving the chain wheel base 2d to perform lifting motion so that the chain wheel base 2d drives the first movable portal 2b to perform lifting motion relative to the first fixed portal 2a, and further the chain 2g drives the second movable portal 2c to perform lifting motion relative to the first movable portal 2 b.

In particular, as can be seen from the first embodiment, when the gripping devices 3 are driven to lift the vehicle, the lifting device 2 is connected between the two gripping devices 3 mainly through the connecting bracket 4, so that the connecting bracket 4 is connected to the second moving gantry 2c and follows the second moving gantry 2c to perform lifting movement.

As shown in fig. 11 to 13, in the present embodiment, the first fixed gantry 2a includes a bottom plate 21, the first movable gantry 2b includes a top plate 22, the lifting mechanism 2e is fixed on the bottom plate 21 of the first fixed gantry 2a, and the chain wheel base 2d is fixed on the top plate 22 of the first movable gantry 2 b. Preferably, in order to improve the stability of the second moving gantry 2c in the lifting motion, two chain wheels 2f are respectively disposed on two sides of the chain wheel base 2d, and a chain 2g is wound around each of the two chain wheels 2 f.

Specifically, the lifting mechanism 2e may be an electric cylinder, and since the power output end of the lifting mechanism 2e is fixedly connected to the sprocket base 2d, and the sprocket base 2d is fixedly connected to the top plate 22 of the first moving gantry 2b, when the lifting mechanism 2e works, the lifting mechanism 2e drives the sprocket base 2d to perform a lifting motion, and meanwhile, the sprocket base 2d drives the first moving gantry 2b to perform a lifting motion; since the two ends of the chain 2g are respectively and fixedly connected to the second movable gantry 2c and the bottom plate 21 of the first fixed gantry 2a, when the lifting mechanism 2e drives the sprocket base 2d to move, the chain 2g moves around the sprocket 2f to drive the second movable gantry 2c to move, so that the moving speed of the first movable gantry 2b is greater than that of the second movable gantry 2c, and the lifting efficiency of the lifting mechanism 2e is higher.

In this embodiment, in order to facilitate the lifting and lowering of the first movable gantry 2b to be more stable and smoother, the first fixed gantry 2a further includes two first vertical rods 21a vertically disposed on the bottom plate 21, the first movable gantry 2b further includes two second vertical rods 22a vertically disposed on the top plate 22, two sides of the first vertical rods 21a are respectively provided with a first sliding portion 211, two sides of the second vertical rods 22a are respectively provided with a second sliding portion 221 corresponding to the two first sliding portions 211, and the second sliding portions 221 are slidably connected to the first sliding portions 211. The first sliding portion 211 is a slide rail or a slider, and the second sliding portion 221 is a slider or a slide rail.

Preferably, the first sliding portion 211 is a sliding rail, the second sliding portion 221 is a sliding block, sliding grooves 221a are further formed on the outer portions of both sides of the second upright rod 22a, and the second sliding portion 221 is disposed in the sliding grooves 221 a. Since the lifting mechanism 2e drives the first movable gantry 2b to move upward, and the first sliding portion 211 is communicated with the outside, so that the first movable gantry 2b may be separated from the first fixed gantry 2a, in order to prevent the first movable door from separating from the first fixed gantry 2a, the two first sliding portions 211 are provided with the limiting members 211a, the two limiting members 211a are disposed away from the bottom plate 21 of the first fixed gantry 2a, the limiting members 211a are slidably disposed in the sliding slots 221a for limiting the upward sliding distance of the first movable gantry 2b relative to the first fixed gantry 2a, that is, the limiting members 211a can limit the sliding distance of the first movable gantry 2b on the first fixed gantry 2a, so as to prevent the first movable gantry 2b from separating from the first fixed gantry 2 a.

In order to make the lifting movement of the second moving gantry 2c more stable and smoother, the third sliding portions 222 are respectively disposed inside two sides of the second vertical rod 22a, the fourth sliding portions 231 are respectively disposed at two sides of the second moving gantry 2c corresponding to the two third sliding portions 222, and the fourth sliding portions 231 are slidably connected to the third sliding portions 222. The third sliding portion 222 is a groove or a protrusion, and the fourth sliding portion 231 is a protrusion or a groove.

The upward movement of the lifting device 2 is briefly described as follows:

as shown in fig. 9, fig. 9 shows the initial condition of the lifting mechanism, when both the first mobile portal 2b and the second mobile portal 2c are positioned close to the base plate 21 of the first fixed portal 2 a.

As shown in fig. 10, fig. 10 shows the extreme state of the lifting mechanism being lifted, when both the first moving gantry 2b and the second moving gantry 2c have reached their uppermost position where they can be lifted.

When the lifting mechanism 2e is operated, the power output end of the lifting mechanism 2e is lifted upwards, so as to push the chain wheel base 2d to move upwards, so as to drive the second sliding portion 221 of the first moving gantry 2b to slide upwards along the first sliding portion 211 of the first fixed gantry 2a, and simultaneously drive the chain 2g to move around the chain wheel 2f, and since one end of the chain 2g is connected to the second moving gantry 2c, the fourth sliding portion 231 of the second moving gantry 2c can be driven to move upwards along the third sliding portion 222 of the first moving gantry 2b by pulling the chain 2g, and the first moving gantry 2b and the second moving gantry 2c simultaneously reach their opposite extreme positions, i.e. the second moving gantry 2c is similar to being simultaneously driven by the chain wheel base 2d and the chain 2g to move upwards, so that the speed of the second moving gantry 2c is twice as high as the output speed of the power output end of the lifting mechanism 2e, lifting is much quicker.

Meanwhile, since the second moving gantry 2c moves under the drive of the chain 2g, the actual moving distance for the vehicle is the moving distance h1 of the first moving gantry 2b on the first fixed gantry 2a plus the moving distance h2 of the second moving gantry 2c relative to the first moving gantry 2b under the drive of the lifting mechanism 2 e. Like this, need not to design higher removal portal, can be so that elevating gear 2 is applicable in the jiffy stand of co-altitude not, and this elevating gear 2's application scope is wider.

It can be seen that, since the lifting device 2 of the present invention is mainly used for lifting vehicles, in order to improve the bearing capacity of the first fixed gantry 2a of the lifting device 2, the outer circumference of the first fixed gantry 2a is provided with a second fixed gantry 2h, and the second fixed gantry 2h is fixed on the bottom plate 21 of the first fixed gantry 2 a. In order to save costs, the height of the second fixed portal 2h may be chosen lower than the height of the first fixed portal 2a, without affecting the carrying capacity of the first fixed portal 2 a.

Specifically, in order to further reinforce the structural strength of the second fixed gantry 2h, the second fixed gantry 2h may be fixedly connected to the first support rod by a reinforcing rib.

Further, in order to further improve the bearing capacity of the first fixed gantry 2a of the lifting device 2 and to make the lifting mechanism 2e more stable and smoother in the lifting movement of the first moving gantry 2b when the first moving gantry 2b is driven to perform the lifting movement, the lifting device 2 further includes a gantry reinforcing plate 25. Specifically, in order to realize being connected of first pole setting 21a and portal reinforcing plate 25, this first pole setting 21 a's both sides outside all is equipped with joint portion (not marking), and portal reinforcing plate 25's both ends all are equipped with buckle portion (not shown), and joint portion is close to the top setting of first pole setting 21a, and buckle portion and joint portion cooperate fixed connection, avoid first fixed portal 2a to take place to turn on one's side, ensure the security of elevating gear 2 operation. It will be appreciated that the snap-fit and snap-fit portions may be a snap-fit and projection arrangement.

The AGV parking system provided by the embodiment of the invention has the advantages that the chain wheel 2f component is arranged at the power output end of the lifting mechanism 2e, the chain wheel 2f fixing frame of the chain wheel 2f component is connected with the first movable door frame 2b, the chain 2g of the chain wheel 2f component is connected with the second movable door frame 2c, the lifting mechanism 2e is used for driving the chain wheel 2f component to move, simultaneously drives the first moving portal 2b and the second moving portal 2c to move, and by adopting the structure, the chain wheel 2f component utilizes the movable pulley principle to pull the lifting of the second moving portal 2c, the lifting speed of the second moving portal 2c can be increased, so that the speed of the second moving portal 2c is greater than that of the first moving portal 2b, so that the second moving gantry 2c can be rapidly raised to a designated height, thereby saving the time for lifting the lifting device 2.

Example four

Referring to fig. 14 to fig. 18, in addition to the first, second and third embodiments, the two lifting devices 2 of the AGV parking system according to the fourth embodiment of the present invention are the first lifting device 200 and the second lifting device 201, respectively, and as can be seen from the second embodiment, each lifting device 2 is provided with two clamping devices 3, and the two clamping devices 3 are the first clamping device 3a and the second clamping device 3b, respectively. The first clamping device 3a arranged on the first lifting device 200 is arranged opposite to the first clamping device 3a arranged on the second lifting device 201, the second clamping device 3b arranged on the first lifting device 200 is arranged opposite to the second clamping device 3b arranged on the second lifting device 201, and in order to improve the overall structural strength of the first clamping device 3a and the second clamping device 3b, the two first clamping devices 3a are connected together through a connecting rod member 7.

Specifically, as can be seen from the second embodiment, the first clamping device 3a and the second clamping device 3b of the same lifting device 2 are connected together through the connecting bracket 4, so that when the first clamping device 3a and the second clamping device 3b clamp or unclamp the tire of the vehicle, the clamping or the simultaneous opening thereof is performed simultaneously, for example, when the first clamping device 3a and the second clamping device 3b are positioned to the tire of the vehicle, the first clamping device 3a and the second clamping device 3b can simultaneously start clamping the tire of the vehicle, and after the parking of the vehicle is completed, for example, when the vehicle is parked in a parking space or lifted to a designated height and placed on a parking space or a parking frame, the first clamping device 3a and the second clamping device 3b can simultaneously unclamp the tire of the vehicle.

Further, as can be seen from the second embodiment, the second clamping device on the same lifting device 2 can move linearly relative to the first clamping device to adjust the distance between the second clamping device and the first clamping device, so as to be suitable for wheelbases of different types of vehicles.

Further, as is apparent from the second embodiment, since the vehicle entrance is provided in the longitudinal direction of the parking space, when the gripping devices grip the vehicle, the two first gripping devices grip the two front wheels of the vehicle, and the two second gripping devices grip the two rear wheels of the vehicle.

Since the two first clamping devices 3a have the same structure, the present invention will be described in detail with respect to the structure of one of the first clamping devices 3 a.

Referring to fig. 14 and 19 to 23, in the present embodiment, in order to make the first clamping device 3a compact and reduce the design difficulty, the first clamping device 3a includes a first fixed seat 31, a first fixed arm 32, a first rotating arm 33 and a first driving device, the first fixed arm 32 is fixed on the first fixed seat 31 and extends downward from the fixed seat, the first rotating arm 33 is rotatably disposed on the first fixed seat 31 and extends downward from the first fixed seat 31, the first driving device is disposed on the first fixed seat 31, and the first driving means includes a first driving member 34a, and a first transmission mechanism, which is connected to the first driving member 34a and the first rotation arm 33, for driving the first rotating arm 33 to rotate to clamp the wheel of the vehicle together with the first fixing arm 32 or to rotate to unclamp the wheel of the vehicle under the driving of the first driving part 34 a. Specifically, since the first clamping device 3a includes the first fixing arm 32 and the first rotating arm 33, the first fixing arm 32 of the first clamping device 3a on the first lifting device 200 and the first fixing arm 32 of the first clamping device 3a on the second lifting device 201 are connected together through the connecting rod member 7, so that the first fixing arms 32 of the two first clamping devices 3a are not rotatable, and thus, when positioning the tire of the vehicle, the tire of the vehicle can be quickly positioned to the connecting rod member 7, which not only plays a role in quick positioning, but also enhances the structural strength of the first clamping device 3 a. Preferably, the first fixing arm 32 is an elongated round bar member, and the connecting bar member 7 is also an elongated round bar member, so as to be attached to the tire surface of the vehicle, thereby avoiding damage to the tire surface of the vehicle. Further, the connecting rod member 7 may be integrally formed with the first fixing arm 32 or may be fixed to the first fixing arm 32 by welding or the like.

In this embodiment, the first driving member 34a may be a motor. The driving mode is simple and reliable, and the design difficulty is low. The driving transmission mechanism can drive the first rotating arm 33 to rotate to be close to the first fixing arm 32 and clamp the wheel of the vehicle together with the first fixing arm 32 or rotate to be far away from the first fixing arm 32 and release the wheel of the vehicle by controlling the forward and reverse rotation of the motor, and the control mode is simple and reliable. Compared with the mode that a bidirectional oil cylinder is adopted as a driving part of a clamping assembly of the traditional vehicle carrying equipment, and a hydraulic system needs to be designed, the clamping device 3 disclosed by the invention adopts a motor as a driving part, various hydraulic elements and complex pipelines do not need to be arranged, the structure is simpler, the manufacturing cost is low, the design difficulty is lower, and the potential safety hazard of pollution caused by easy leakage of a liquid medium of the hydraulic system does not exist.

Further, in order to reduce the rotation speed of the first driving member 34a transmitted to the first transmission mechanism and increase the torque, the first driving device further includes a first speed reducer 34b, and the first speed reducer 34b is connected to the first driving member 34a and the first transmission mechanism, so as to transmit the higher rotation speed and the lower torque output by the first driving member 34a to the first transmission mechanism, so that the first transmission mechanism obtains a smaller rotation speed and a larger torque, and the first transmission mechanism drives the first rotating arm 33 to rotate, and the rotation precision is higher, the clamping force for clamping the wheel of the vehicle is larger, and the clamping is reliable.

In this embodiment, the first rotating arm 33 includes a first rotating portion 33a and a first clamping portion 33b, the first rotating portion 33a is rotatably disposed on the first fixing base 31 and extends downward from the first fixing base 31 to connect with the first clamping portion 33b, and the first clamping portion 33b is disposed perpendicular to the first rotating portion 33 a; the first fixing arm 32 includes a first fixing portion 32a and a second holding portion 32b, the first fixing portion 32a is fixed on the first fixing base 31 and extends downward from the first fixing base 31 to connect with the second holding portion 32b, and the second holding portion 32b is perpendicular to the first fixing portion 32 a; wherein, a first included angle is formed between the first holding portion 33b and the second holding portion 32 b. Specifically, as shown in fig. 20, the first rotating portion 33a includes a first portion 331, a second portion 332, and a third portion 333 that are sequentially connected and arranged in a straight line, the first portion 331 is a square rod, and the first portion 331 is connected to the first transmission mechanism by a nut pressing manner, so as to enable the first rotating arm 33 to rotate under the driving of the first transmission mechanism. The second portion 332 is a long cylindrical shape and is rotatably disposed on the first fixing seat 31, so that the first rotating arm 33 can rotate relative to the first fixing seat 31; the third portion 333 is a substantially L-shaped rod, and has a square cross section, and is configured to be connected to the first clamping portion 33b, so as to increase a distance between the first clamping portion 33b and the first fixing seat 31, and prevent the first clamping portion 33b from interfering with the first fixing seat 31 when rotating, the first fixing portion 32a includes a fourth portion 321 and a fifth portion 322 that are sequentially connected, the fourth portion 321 is a long cylindrical shape, the fourth portion 321 is fixedly disposed on the first fixing seat 31 by a nut pressing manner, the fifth portion 322 is a long square shape, and the fifth portion 322 is connected to the fourth portion 321 and the second clamping portion 32 b.

Further, the first clamping portion 33b and the second clamping portion 32b are both long cylindrical rods, and when the first clamping portion 33b and the second clamping portion 32b clamp the wheel of the vehicle, the first clamping portion 33b and the second clamping portion 32b are tangent to the surface of the wheel, so that damage to the wheel when the first clamping portion 33b and the second clamping portion 32b clamp the wheel is avoided. By adopting the design that the first clamping part 33b and the second clamping part 32b are long-strip cylindrical, that is, the cross section of the first clamping part 33b and the cross section of the second clamping part 32b are both circular, and the cross section of the wheel is circular, when the clamping force required for clamping the wheel of the vehicle is calculated, the weight of the vehicle can be just decomposed into two components, namely, the tangent point of the cross section of the first clamping part 33b or the cross section of the second clamping part 2 and the cross section of the wheel points to the cross section of the first clamping part 33b or the cross section of the second clamping part 32b, the required clamping force can be obtained by further decomposing the two components, the calculation is simple, and the design difficulty of the first clamping device 3a is low.

Further, the first rotating arm 33 rotates to approach or separate from the first fixing arm 32 under the driving of the first driving part 34a to adjust the size of the first included angle between the first clamping portion 33b and the second clamping portion 32b, so that the clamping or releasing of the wheel of the vehicle by the first clamping portion 33b and the second clamping portion 32b can be realized by adjusting the size of the first included angle.

Specifically, in order to improve the adjustability of the included angle between the first holding portion 33b and the second holding portion 32b, the first included angle between the first holding portion 33b and the second holding portion 32b ranges from 0 ° to 90 °. When the first included angle is 0 °, the first holding portion 33b and the second holding portion 32b are disposed in parallel; when the included angle is 90 °, the first holding portion 33b and the second holding portion 32b are perpendicular to each other. The first angle between the first clamping portion 33b and the second clamping portion 32b is adjustable in a wide range, so that the first clamping device 3a can clamp wheels of different sizes, i.e., the AGV parking system of the present invention is applicable to vehicles of different models.

In the present embodiment, as shown in fig. 14, the first clamping device 3a further includes a first housing 35, the first fixing seat 31 and the first driving device are both disposed in the first housing 35, and the first rotating arm 33 and the first fixing arm 32 both partially extend out of the first housing 35. Specifically, the first housing 35 is approximately convex, the first portion 331 and the second portion 332 of the first rotating arm 33 are located inside the first housing 35, the third portion 333 thereof is located outside the first housing 35, the first clamping portion 33b is located outside the first housing 35, the fourth portion 321 of the first fixing portion 32a is located inside the first housing 35, the fifth portion 322 thereof is located outside the housing, and the second clamping portion 32b is located outside the housing. It can be understood that the first clamping device 3a only places the first clamping portion 33b and the second clamping portion 32b for clamping or releasing the vehicle, the third portion 333 of the first rotating portion 33a and the fifth portion 322 of the first fixing portion 32a for avoiding interference with the first housing 35 when the first clamping portion 33b rotates, outside the first housing 35, and other components are placed inside the first housing 35, so that the structure of the first clamping device 3a is more compact and the occupied space is reduced.

In this embodiment, the first transmission mechanism includes a first primary transmission mechanism connected to the first driving member 34a and a first secondary transmission mechanism connected to the first primary transmission mechanism and the first rotating arm 33, and the first primary transmission mechanism is configured to generate a linear motion under the driving of the first driving member 34a and transmit the linear motion to the first secondary transmission mechanism, so that the first secondary transmission mechanism generates a curved motion and drives the first rotating arm 33 to rotate.

Further, the first primary transmission mechanism includes a first lead screw 340 vertically disposed on the first fixing seat 31 and connected to the first driving member 34a, a first lead screw nut 341 engaged with the first lead screw 340, and a first slider 342 connected to the first lead screw nut 341, and the first slider 342 is configured to perform the linear motion. In order to realize the transmission of the power output by the first driving member 34a to the first primary transmission mechanism, the first driving device further comprises a first gear set 343, and the first gear set 343 is connected to the first speed reducer 34b and the first lead screw 340. Specifically, the first gear set 343 includes a first driving gear 343a disposed on the output shaft of the first speed reducer 34b, a first transmission gear 343b, and a first driven gear 343c disposed on the first lead screw 340, and the first transmission gear 343b is engaged with the first driving gear 343a and the first driven gear 343 c. More specifically, in order to support the first gear set 343, the first driving device further includes a first gear seat 343d and a first gear seat cover 343e, the first gear seat 343d is approximately square and is provided with a first supporting groove 343f, the first gear set 343 is disposed in the first supporting groove 343f, and the first gear seat cover 343e is configured to close a surface of the first gear seat 343d provided with the first supporting groove 343f, so as to protect the first gear set 343, and prevent the first gear set 343 from being exposed to the air and damaging the first gear set 343, thereby prolonging the service life of the first gear set 343.

Further, the first primary transmission mechanism further includes a first screw seat 340a and a first guide post 340b parallel to the first screw 340, the first screw seat 340a is fixed on the first fixing seat 31, the first screw 340 is connected to the first screw seat 340a, the first guide post 340b is fixed on the first fixing seat 31 and extends upward from the first fixing seat 31, and the first sliding block 342 is slidably disposed on the first guide post 340 b. Because the first lead screw 340 is vertically arranged on the first fixed seat 31, the linear motion of the first lead screw nut 341 is vertical motion along the first guide post 340b, i.e. the first primary transmission mechanism is vertical transmission, and the stroke of the first lead screw 340 is shorter, so that the first lead screw 340 can adopt a mode of supporting by a single-side lead screw seat, and further the structure of the first primary transmission mechanism is simpler and the design difficulty is lower. Specifically, the first screw seat 340a is connected to the first gear seat 343d and may be integrally formed.

Furthermore, the number of the first guide posts 340b is two, two first guide posts 340b are disposed on the first fixing base 31 at intervals, two first guide holes 310 are disposed on the first fixing base 31 corresponding to the two first guide posts 340b, and the two first guide posts 340b are respectively fixed to the two first guide holes 310. Through the design, the first sliding block 342 slides more stably on the two first guide posts 340b, the first primary transmission mechanism is prevented from being damaged due to the fact that the first screw 340 jumps when rotating, and the service life of the first primary transmission mechanism is prolonged.

It can be known that the first primary transmission mechanism is in screw nut transmission, the transmission mode is simple and reliable, and the design difficulty is low. Meanwhile, by adopting the transmission mode, the transmission precision is high, the first rotating arm 33 and the first fixing arm 32 can clamp or loosen the wheel of the vehicle together more accurately, the clamping is more reliable, and the wheel of the vehicle can be prevented from being damaged due to over-tight clamping.

In this embodiment, the first secondary transmission mechanism includes a first transmission rod 34c rotatably connected to the first sliding block 342 and a first rotation rod 34d rotatably connected to the first transmission rod 34c and connected to the first rotation arm 33, and the first rotation rod 34d is used for generating the curved motion and driving the first rotation arm 33 to rotate. In particular, the curvilinear motion is a circular motion. In order to rotatably connect the first transmission rod 34c with the first sliding block 342, the first sliding block 342 is provided with a first connecting member 342a, the first connecting member 342a includes a first fixing rod 3420 fixedly disposed on the first sliding block 342 and a first connecting rod 3421 connected with the first transmission rod 34c, and the first fixing rod 3420 is connected with the first connecting rod 3421 and is in a straight line. The first connecting piece 342a is used for rotatably connecting the first transmission rod 34c with the first sliding block 342, so that the first transmission rod 34c can be prevented from interfering with the first sliding block 342 when moving, the damage caused by collision between the first transmission rod 34c and the first sliding block 342 can be avoided, and the service life of the first transmission mechanism can be prolonged.

More specifically, in order to reduce the friction between the first rotating rod 34d and the first fixing seat 31 when the first rotating rod 34d rotates, a first friction pad 345 is disposed between the first rotating rod 34d and the first fixing seat 31, so that when the first rotating rod 34d rotates, the first friction pad 345 can separate the first rotating rod 34d and the first fixing seat 31 to reduce the friction therebetween, thereby prolonging the service life of the first clamping device 3 a.

It can be known that, this first secondary drive mechanism is link mechanism, and the transmission mode is simple reliable, and the design degree of difficulty is low, only needs first transfer line 34c and first transfer line 34d cooperation can be with rectilinear motion conversion to curvilinear motion, compares the current transmission mode that needs additional design limit structure, and this transmission mode design degree of difficulty is lower.

In this embodiment, as shown in fig. 23, the first fixing base 31 is approximately in a convex shape, the first fixing base 31 includes a first surface 31a and a second surface 31b that are oppositely disposed, the first fixing base 31 is provided with a first mounting groove 311 that penetrates through the first surface 31a and the second surface 31b, the first speed reducer 34b is located in the first mounting groove 311, the first driving member 34a is located above the first surface 31a of the first fixing base 31 and is located in a space between the two first guide posts 340b, the first driving member 34a and the first speed reducer 34b are disposed by slotting the first fixing base 31 and fully utilizing the space between the two first guide posts 340b, so as to reduce the space occupied by the first driving member 34a and the first speed reducer 34b, and further make the overall structure of the first clamping device 3a more compact.

Further, the first fixing seat 31 is provided with a second mounting groove 312 and a first screw hole 313, the second mounting groove 312 is disposed on the second surface 31b of the first fixing seat 31 and communicated with the first mounting groove 311, the first screw 340 is disposed in the first screw hole 313 and upwardly penetrates through the first surface 31a of the first fixing seat 31, the first screw seat 340a, the first gear seat 343d and the first gear seat cover 343e are disposed in the second mounting groove 312, and the first screw 340 upwardly extends from the inside of the first screw 340 to the outside of the first fixing seat 31. The first screw seat 340a, the first gear seat 343d, the first gear seat cover 343e and the first screw 340 are disposed by forming a groove and an opening in the first fixing seat 31, so as to reduce the space occupied by the first screw seat 340a, the first gear seat 343d, the first gear seat cover 343e and the first screw 340, and further make the overall structure of the first clamping device 3a more compact.

In the embodiment of the present invention, as shown in fig. 24, the plane in which the first slider 342 moves linearly is a first plane α, and fig. 24 shows the direction in which the first slider 342 moves up and down in the first plane α, as shown by the up-and-down arrow directions on the first plane α of fig. 24, the plane in which the first rotating lever 34d moves curvedly is a second plane β, and fig. 24 shows the direction in which the first rotating lever 34d moves curvedly in the second plane β, as shown by the arrow directions on the second plane β of fig. 24, the second plane β is perpendicular to the first plane α. Specifically, the first plane α is a vertical plane, and the second plane β is a horizontal plane. The design that the linear motion and the curvilinear motion are in two mutually perpendicular planes ensures that the two motions do not interfere with each other and the normal transmission of the first transmission mechanism is ensured. Meanwhile, the design fully utilizes two mutually perpendicular planes to realize transmission, so that the space occupied by the first transmission mechanism is reduced, and the overall structure of the first clamping device 3a is more compact.

Further, the plane on which the first driving rod 34c moves is a third plane γ, the third plane γ is perpendicular to the second plane β, and the third plane γ and the first plane α are the same plane or different planes. Preferably, the third plane γ is the same plane as the first plane α. It can be understood that the first driving rod 34c moves in the first plane α and the first rotating rod 34d moves in the second plane β, i.e. the first two-stage driving mechanism occupies less space by the movement of the first driving rod 34c and the first rotating rod 34d in two mutually perpendicular planes, thereby making the overall structure of the holder more compact.

It can be known that, the first clamping device 3a is provided with the first driving part 34a, the first fixing arm 32, the first rotating arm 33, the first transmission mechanism and the like through the fully utilized space on the first fixing seat 31, and the transmission is realized through the fully utilized moving plane, so that the space occupied by each part is reduced, and meanwhile, the movement of each part is ensured not to interfere with each other, so that the whole structure of the first clamping device 3a is more compact and the occupied space is small.

In the present embodiment, the process of clamping the wheel of the vehicle by the first clamping device 3a is as follows:

1. positioning the automobile: when the automobile stops until the wheel is positioned between the first clamping part 33b and the second clamping part 32b and the wheel is abutted against the second clamping part 32b, the first fixing arm 32 can determine the position of the automobile;

2. driving: the first driving member 34a rotates forward or backward, and the first speed reducer 34b reduces the rotation speed and increases the torque to be transmitted to the first gear set 343;

3. gear transmission: the first driving gear 343a rotates and drives the first driven gear 343c to rotate through the transmission of the first transmission gear 343b meshed with the first driving gear 343a and the first driven gear 343c, the first driven gear 343c drives the first lead screw 340 to rotate positively or negatively;

4. primary transmission: the first lead screw 340 rotates to drive the first lead screw nut 341 matched with the first lead screw 340 to vertically move downwards along the first guide post 340b, the first lead screw nut 341 drives the first sliding block 342 to vertically slide downwards along the first guide post 340b, and the first sliding block 342 drives the first transmission rod 34c to move through the first connecting piece 342 a.

5. Secondary transmission: the first driving rod 34c moves to drive the first rotating rod 34d to perform a circular motion, so that the first rotating arm 33 rotates and approaches the first fixing arm 32, a first included angle between the first clamping portion 33b and the second clamping portion 32b is reduced, and the first clamping portion 33b and the second clamping portion 32b clamp the wheels of the automobile.

And, the process of the first clamping device 3a releasing the wheel of the vehicle is as follows:

1. driving: the first driving member 34a rotates in a reverse direction or a forward direction, and the first speed reducer 34b reduces the rotation speed and increases the torque to transmit the torque to the first gear set 343;

2. gear transmission: the first driving gear 343a rotates and drives the first driven gear 343c to rotate through the transmission of the first transmission gear 343b meshed with the first driving gear 343a and the first driven gear 343c, the first driven gear 343c drives the first lead screw 340 to rotate reversely or positively;

3. primary transmission: the first lead screw 340 rotates to drive the first lead screw nut 341 matched with the first lead screw 340 to move vertically upwards along the first guide post 340b, the first lead screw nut 341 drives the first sliding block 342 to slide vertically upwards along the first guide post 340b, and the first sliding block 342 drives the first transmission rod 34c to move through the first connecting piece 342 a.

4. Secondary transmission: the first driving rod 34c moves to drive the first rotating rod 34d to perform a circular motion, so that the first rotating arm 33 rotates and is away from the first fixing arm 32, a first included angle between the first clamping portion 33b and the second clamping portion 32b is increased, and the first clamping portion 33b and the second clamping portion 32b release wheels of the automobile.

Similarly, the two second holding devices 3b have the same structure, and thus the present invention will be described in detail with respect to the structure of one of the second holding devices 3 b.

Referring to fig. 14 and 25 to 28, the second clamping device 3b includes a second fixing base 36, two second rotating arms 37 and a second driving device, the two second rotating arms 37 are rotatably and intermittently disposed on the second fixing base 36 and extend downward from the second fixing base 36, the second driving device is disposed on the second fixing base 36, the second driving device includes a second driving part 38 and a second transmission mechanism, the second transmission mechanism is connected to the second driving part 38 and the two second rotating arms 37, and is configured to drive the two second rotating arms 37 to rotate under the driving of the second driving part 38 to clamp or release the wheel of the vehicle. Specifically, the second rotating arm 37 includes a second rotating portion 37a and a third clamping portion 37b, the second rotating portion 37a is rotatably disposed on the second fixing seat 36 and extends downward from the second fixing seat 36 to be connected with the third clamping portion 37b, the third clamping portion 37b is perpendicular to the second rotating portion 37a, and a second included angle is formed between the two third clamping portions 37b of the two second rotating arms 37.

Since the second clamping device 3b differs from the first clamping device 3a in that: the second holding device 3b has two second rotating arms 37, and both the two second rotating arms 37 can be rotated by the second driving device. Therefore, the rotation angle between the two second rotating arms 37 is larger, that is, the adjustment range of the second included angle between the two third clamping portions 37b of the two second rotating arms 37 can be 0 to 180 °. For example, as shown in fig. 25 and 26, when the second included angle is 0 °, the two third clamping portions 37b are arranged in parallel; when the second included angle is 180 °, as shown in fig. 27 and 28, the two third clamping portions 37b are arranged in a straight line. The second included angle between these two third clamping parts 37b is adjustable in range, so that the second clamping device 3b can clamp wheels of different sizes, that is, the AGV parking system can be applied to vehicles of different models.

In addition, the second driving device of the second clamping device 3b, i.e., the second driving member 38 and the second transmission mechanism, has the same structure as the first transmission mechanism and the first driving member 34a, and thus, the description thereof is omitted.

However, it should be noted that, since the two second rotating arms 37 of the second holding device 3b need to rotate, the second transmission mechanism has the same structure as the first primary transmission mechanism, but there are two second secondary transmission mechanisms respectively connected to the two second rotating arms 37 to drive the two rotating arms to rotate.

In addition, for the specific structure of the second primary transmission mechanism, for example, the second fixed seat 36, the second lead screw nut, the second slide block, the second gear set, the second guide post and the second lead screw seat included in the second primary transmission mechanism have the same structure as the first fixed seat 31, the first lead screw 340, the first lead screw nut 341, the first slide block 342 and the first gear set 343, the first guide post 340b and the first lead screw seat 340a of the first primary transmission mechanism, moreover, the connection relationship and the position relationship between the second primary transmission mechanism and the second fixed seat are the same as those between the first primary transmission mechanism and the first fixed seat, and the transmission connection relationship between the second secondary transmission mechanism and the second primary transmission mechanism is also the same as that between the first secondary transmission mechanism and the first primary transmission mechanism, and is not described herein again.

Similarly, for the specific structure of the second secondary transmission mechanism, for example, the specific structure of the second transmission rod and the second rotation rod is also the same as the structure of the first transmission rod 34c and the first rotation rod 34d of the first secondary transmission mechanism, and the detailed description thereof is omitted here.

As shown in fig. 24, for the second primary transmission mechanism and the second secondary transmission mechanism, the plane where the second slider moves linearly may also be a fourth plane, the plane where the second rotating rod moves in a curve may also be a fifth plane, and the fourth plane is perpendicular to the fifth plane.

In a similar way, the plane on which the second transmission rod moves is a sixth plane, the sixth plane is perpendicular to the fifth plane, and the sixth plane and the fourth plane are the same plane or different planes.

The way of the second slider moving linearly, the way of the second rotating rod moving curvilinearly and the way of the second driving rod moving are respectively the same as the way of the first slider moving linearly, the way of the first rotating rod moving curvilinearly and the direction of the first driving rod moving, and the description and illustration are omitted.

In addition, the second holding device 3b also includes a second housing, the second fixing seat 36 and the second driving device are disposed in the second housing, and the two second rotating arms 37 partially extend out of the second housing, so as to hold the tire of the vehicle.

According to the AGV parking system provided by the fourth embodiment of the invention, the four clamping devices 3 are correspondingly arranged corresponding to the four tires of the vehicle, so that each tire can be accurately clamped, and the clamping reliability is effectively ensured.

In addition, adopt first clamping device 3a and second clamping device 3b all to realize the mode of rotor arm centre gripping or unclamping the tire of vehicle through motor and drive mechanism, simple structure, occupation space is little, and the design degree of difficulty is low, and can pinpoint the vehicle.

In addition, by designing a primary transmission mechanism generating linear motion and a secondary transmission mechanism generating curvilinear motion under the transmission of the primary transmission mechanism, the linear motion is generated in a first plane through the sliding block, the curvilinear motion is generated in a second plane through the transmission rod, and meanwhile, the first plane is vertical to the second plane, so that the transmission is realized by fully utilizing two mutually vertical planes, the space occupied by the transmission mechanism is reduced, and the overall framework of the first clamping device 3a and the second clamping device 3b is more compact.

In addition, the driving part adopts a motor, the first-stage transmission mechanism adopts a screw rod and a screw rod nut to be matched, the second-stage transmission mechanism adopts a transmission rod and a rotating rod to be matched, the driving mode and the transmission mode are simple and reliable, an additional design limiting structure is not needed, and the design difficulty is low.

The AGV parking system disclosed in the embodiment of the present invention is described in detail above, and the principle and the implementation of the present invention are explained herein by applying an example, and the description of the above embodiment is only used to help understanding the AGV parking system and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and as described above, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An AGV parking system, comprising

AGV automobile body, the AGV automobile body includes braced frame and two elevating gear, braced frame is equipped with the parking space that is used for parking the vehicle, two elevating gear divide to locate braced frame's relative both sides, each be equipped with the clamping device who is used for bearing and centre gripping vehicle on the elevating gear, elevating gear is used for the drive clamping device is in take place elevating movement in the parking space, in order to drive elevating movement takes place for the vehicle the two-layer garage parking with the adaptation.

2. The parking system of claim 1 wherein said support frame includes two opposing first support rods spaced apart from each other, the spacing between said two first support rods defining said parking space, the spacing between said two first support rods defining the width of said parking space, the minimum width of said parking space being greater than the width of the body of the vehicle, the minimum width of said at least two parking levels being greater than the maximum width of said parking space, and said two lifting devices being disposed on each of said two first support rods.

3. The parking system of claim 2, wherein the support frame further comprises a second support rod connected between the two first support rods, the second support rod and the two second support rods enclose the parking space, and a distance between the second support rod and one end of the two first support rods far away from the second support rod defines a length of the parking space, the parking space is provided with a vehicle entrance, and the vehicle entrance is arranged in a length direction of the parking space.

4. The parking system according to any one of claims 1 to 3 wherein said stereo parking frame further comprises a first frame unit, said first frame unit comprising two first support frames and a plurality of first parking plates, said two first support frames being spaced apart, said first parking plates being mounted between said two first support frames in the height direction of said two first support frames, said first parking plates, said two first support frames forming said at least two parking garages, and the spacing between said two first support frames defining the width of said parking garages.

5. The parking system according to claim 4, wherein the sky parking further comprises a plurality of second frame units, the plurality of second frame units are sequentially spliced in a width direction of the first frame unit, and a first one of the second frame units is connected to the first frame unit.

6. The parking system according to any one of claims 1 to 3, further comprising a connecting bracket and a telescopic mechanism, wherein the connecting bracket is fixedly arranged on the lifting device, the connecting bracket is connected between the two clamping devices, the telescopic mechanism is arranged on the connecting bracket, and the telescopic mechanism is fixedly connected with one of the clamping devices and is used for driving one of the clamping devices to move in a linear direction relative to the other clamping device so as to adjust the distance between the two clamping devices.

7. The parking system of claim 6 wherein said attachment bracket includes a carrier member and a fixed plate extending upwardly from said carrier member;

the AGV parking system further comprises a first electric wire track, a second electric wire track and a threading part, wherein the first electric wire track is arranged on the bearing part and is positioned between the two clamping devices, and the second electric wire track is arranged on the fixing plate in parallel relative to the first electric wire track and is positioned above the first electric wire track;

one end of the threading part is arranged on the first wire track in a sliding manner and is connected with one clamping device, and the other end of the threading part is fixedly arranged on the second wire track;

the wire is connected to one of the clamping devices, the wire penetrates through the threading part from one of the clamping devices, and when the telescopic mechanism drives one of the clamping devices to move in a linear direction relative to the other clamping device, one end of the threading part can slide relative to the first wire track.

8. Parking system according to one of the claims 1 to 3,

two clamping devices are arranged on each lifting device, and the two clamping devices positioned on the same lifting device are respectively a first clamping device and a second clamping device;

the two lifting devices are respectively a first lifting device and a second lifting device, the first clamping device arranged on the first lifting device is arranged opposite to the first clamping device arranged on the second lifting device, and the second clamping device arranged on the first lifting device is arranged opposite to the second clamping device arranged on the second lifting device;

the two first clamping devices are connected through a connecting rod piece.

9. The parking system of claim 8, wherein the first clamping device includes a first fixed seat, a first fixed arm, a first rotating arm, and a first driving device, the first fixed arm is fixedly arranged on the first fixed seat and extends downwards from the fixed seat, the first rotating arm is rotatably arranged on the first fixed seat, and extends downwards from the first fixed seat, the first driving device is arranged on the first fixed seat, and the first driving device comprises a first driving part and a first transmission mechanism, the first transmission mechanism is connected with the first driving part and the first rotating arm, the first rotating arm is driven by the first driving part to rotate to clamp a wheel of a vehicle together with the first fixing arm or rotate to release the wheel of the vehicle, the two first fixing arms of the two first clamping devices are connected through the connecting rod piece;

the second clamping device comprises a second fixing seat, two second rotating arms and a second driving device, the two second rotating arms are arranged on the second fixing seat in a rotatable mode at intervals, the second driving device is arranged on the second fixing seat and extends downwards from the second fixing seat, the second driving device is arranged on the second fixing seat, the second driving device comprises a second driving part and a second transmission mechanism, and the second transmission mechanism is connected to the second driving part and the two second rotating arms and is used for driving the two second rotating arms to rotate to clamp or loosen wheels of a vehicle under the driving of the second driving part.

10. The parking system of claim 9, wherein the first rotating arm comprises a first rotating portion and a first clamping portion, the first rotating portion is rotatably disposed on the first fixing base and extends downward from the first fixing base to connect with the first clamping portion, and the first clamping portion is disposed perpendicular to the first rotating portion;

the first fixing arm comprises a first fixing part and a second clamping part, the first fixing part is fixedly arranged on the first fixing seat and extends downwards from the first fixing seat to be connected with the second clamping part, the second clamping part is perpendicular to the first fixing part, and a first included angle is formed between the second clamping part and the first clamping part;

the second rotating arm comprises a second rotating part and a third clamping part, the second rotating part is rotatably arranged on the second fixed seat and extends downwards from the second fixed seat to be connected with the third clamping part, and the third clamping part is perpendicular to the second rotating part;

and a second included angle is formed between the two third clamping parts of the two second rotating arms.

11. Parking system according to claim 10,

the first rotating arm is driven by the first driving part to rotate to be close to or far away from the first fixing arm so as to adjust the size of the first included angle between the first clamping part and the second clamping part;

the two second rotating arms are driven by the second driving part to rotate simultaneously and rotate in opposite directions so as to adjust the size of the second included angle formed between the two third clamping parts.

12. Parking system according to claim 9,

the first transmission mechanism comprises a first primary transmission mechanism connected with the first driving part and a first secondary transmission mechanism connected with the first primary transmission mechanism and the first rotating arm;

the first primary transmission mechanism is used for generating linear motion under the driving of the first driving part and transmitting the linear motion to the first secondary transmission mechanism so as to enable the first secondary transmission mechanism to generate curvilinear motion and drive the first rotating arm to rotate;

the second transmission mechanism comprises a second primary transmission mechanism connected with the second driving part and a second secondary transmission mechanism connected with the second primary transmission mechanism and the two second rotating arms;

the second primary transmission mechanism is used for generating linear motion under the driving of the second driving part and transmitting the linear motion to the second secondary transmission mechanism, so that the second secondary transmission mechanism generates curvilinear motion and drives the two second rotating arms to rotate.

13. Parking system according to claim 12,

the first primary transmission mechanism comprises a first lead screw, a first lead screw nut and a first sliding block, the first lead screw is vertically arranged on the first fixed seat and is connected with the first driving part, the first lead screw nut is matched with the first lead screw, the first sliding block is connected with the first lead screw nut, and the first sliding block is used for generating linear motion;

the first secondary transmission mechanism comprises a first transmission rod rotationally connected with the first sliding block and a first rotating rod connected with the first transmission rod and the first rotating arm, and the first rotating rod is used for generating curvilinear motion and driving the first rotating arm to rotate;

the second primary transmission mechanism comprises a second screw rod vertically arranged on the second fixed seat and connected with the second driving part, a second screw rod nut matched with the second screw rod and a second sliding block connected with the second screw rod nut, and the second sliding block is used for generating linear motion;

the second secondary transmission mechanism comprises a second transmission rod and a second rotating rod, the second transmission rod is rotatably connected with the second sliding block, the second rotating rod is rotatably connected with the second transmission rod and is connected with the second rotating arm, and the second rotating rod is used for generating curvilinear motion and driving the second rotating arm to rotate.

14. The parking system of claim 13 wherein the plane of linear movement of said first slider is a first plane and the plane of curvilinear movement of said first rotating lever is a second plane, said second plane being perpendicular to said first plane;

the plane on which the first transmission rod moves is a third plane, the third plane is perpendicular to the second plane, and the third plane and the first plane are the same plane or different planes;

the plane on which the second sliding block moves linearly is a fourth plane, the plane on which the second transmission rod moves in a curve is a fifth plane, and the fifth plane is perpendicular to the fourth plane;

the plane on which the second transmission rod moves is a sixth plane, the sixth plane is perpendicular to the fifth plane, and the sixth plane and the fourth plane are the same plane or different planes.

15. The parking system of claim 12 wherein said second two-stage transmission is two and is connected to two of said second rotatable arms.

16. The parking system of claim 13, wherein the first primary transmission further comprises a first screw seat and a first guide post, the first screw seat is fixed on the first fixing seat, the first screw is connected to the first screw seat, the first guide post is parallel to the first screw, the first guide post is arranged on the first fixing seat and extends upward from the first fixing seat, and the first slide block is slidably arranged on the first guide post;

the second primary transmission mechanism further comprises a second lead screw seat and a second guide pillar, the second lead screw seat is fixedly arranged on the second fixed seat, the second lead screw is connected to the second lead screw seat, the second guide pillar is parallel to the second lead screw, the second guide pillar is arranged on the second fixed seat and extends upwards from the second fixed seat, and the second slide block is slidably arranged on the second guide pillar.

17. The parking system of claim 9 wherein said first clamping device further comprises a first housing, said second clamping device further comprises a second housing, said first fixed arm and said first actuator are both disposed within said first housing, and said first fixed arm and said first rotatable arm partially extend outside of said first housing;

the second fixed seat and the second driving device are arranged in the second shell, and the two second rotating arm parts extend out of the shell.

18. The parking system as recited in any one of claims 1 to 3, wherein the lifting device comprises a first fixed gantry, a first movable gantry, a second movable gantry, a chain wheel assembly and a lifting mechanism, the first movable gantry is slidably disposed in the first fixed gantry, the second movable gantry is slidably disposed in the first movable gantry, the chain wheel assembly is disposed in the first movable gantry and comprises a chain wheel base, a chain wheel and a chain, the chain wheel base is fixedly disposed on the first movable gantry, the chain wheel is fixedly disposed on the chain wheel base, the chain wheel is fixedly disposed on the chain wheel, two ends of the chain are respectively fixedly connected to the second movable gantry and the first fixed gantry, the lifting mechanism is disposed on the first fixed gantry, and a power output end of the lifting mechanism is connected to the chain wheel base, the lifting mechanism is used for driving the chain wheel base to perform lifting motion, so that the chain wheel base drives the first movable door frame to perform lifting motion relative to the first fixed door frame, and further the chain drives the second movable door frame to perform lifting motion relative to the first movable door frame.

19. The parking system as recited in claim 18, wherein said first fixed gantry includes a bottom plate, said first movable gantry includes a top plate, said lifting mechanism is secured to said bottom plate of said first fixed gantry, said sprocket base is secured to said top plate of said first movable gantry, and said two sprockets are disposed on opposite sides of said sprocket base, and said chain is wound around each of said two sprockets.

20. The parking system of claim 19 wherein said lift mechanism further comprises a second fixed mast secured to and extending upwardly from said base plate of said first fixed mast and disposed about an outer periphery of said first fixed mast, said second fixed mast having a height less than a height of said first fixed mast.

21. The parking system of claim 3, wherein the first support rod is a bar-shaped rod, the first end and the second end are respectively arranged at two ends of the first support rod in the length direction, the first end is connected with the second support rod, and a first pulley is arranged at the bottom of the second end.

22. The parking system of claim 21 wherein the second end is provided with a first obstacle sensor at an end thereof, and the lifting device is provided at a position of the first support rod adjacent to the end of the second end.

23. The parking system as recited in claim 21 or 22, wherein a second pulley is provided at a bottom of said second support rod, and a line connecting each of said first pulleys provided at both of said first support rods and said second pulley provided at said second support rod forms a triangle.

24. The parking system as recited in claim 21 or 22, wherein said support frame further comprises a protective casing surrounding the outer periphery of said first support rod and said second support rod, said protective casing extending upward from the top surface of said first support rod and said second support rod, said lifting device being located inside said protective casing.

25. The parking system of claim 24 wherein the protective housing includes a first housing portion, a second housing portion and a third housing portion, the first housing portion and the third housing portion are disposed on the first support bar and the third housing portion is disposed on the second support bar, the third housing portion is connected to the first housing portion and the second housing portion, the third housing portion extends over the second support bar to a height greater than the first housing portion and the second housing portion, and the first housing portion and the second housing portion are connected to the two lifting devices, respectively.

26. The parking system of claim 25 wherein the third housing portion is provided with a laser sensor and a second obstacle sensor and a bottom of the third housing portion is provided with a cleaning brush.