CN113309393A

CN113309393A - AGV parking device, AGV garage and parking method

Info

Publication number: CN113309393A
Application number: CN202110727090.4A
Authority: CN
Inventors: 夏宗群; 赵阳; 陆海俊; 李子权
Original assignee: Shenyang Kewei Robot Technology Co ltd
Current assignee: Shenyang Kewei Robot Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-08-27

Abstract

The invention provides an AGV parking device, an AGV garage and a parking method, wherein the AGV parking device comprises a main body frame, wherein the main body frame is provided with an AGV driving wheel set and a limiting wheel assembly; a lifting mechanism arranged on the main body frame; the vehicle-carrying lifting plate is connected with the lifting mechanism and driven by the lifting mechanism to lift in the main body frame; on the one hand, the efficiency of parking the vehicle is improved, the process of manual operation is avoided, on the other hand, the condition that a vehicle owner enters a parking space is avoided, potential safety hazards are reduced, and further the parking is more intelligent and efficient and safe. The problem of height change of the AGV and the parking space equipment caused by the problem of ground flatness can be solved through the lifting mechanism, and therefore the stability of the automobile carrying and warehousing process equipment is ensured. In addition, the problem that the gap error between the AGV and the parking space is uncontrollable is also avoided through the AGV driving wheel set.

Description

AGV parking device, AGV garage and parking method

Technical Field

The invention relates to the technical field of parking devices, in particular to an AGV parking device, an AGV garage and a parking method.

Background

The intelligent parking lot charging management system is a general name of modern parking lot vehicle charging and equipment automatic management, and organically combines mechanical, electronic computer, automatic control equipment and intelligent IC card technology, and can realize the functions of vehicle image comparison, automatic charging, automatic data storage, automatic parking and the like under the management of a computer.

However, the existing intelligent parking lot has the following problems that the vehicle carrying device cannot plan the route according to the actual condition of the garage, so that the vehicle carrying device cannot well finish the condition of conveying the vehicle to the specified parking space. In addition, the parking lot with partial double-layer parking spaces needs to manually drive to the designated parking spaces, and then the vehicles can be lifted to the high-layer parking spaces, so that the problem of manual operation is solved, the same parking spaces can be reserved by multiple vehicles, the vehicle owner is further caused to perform the vehicle lifting process in the vehicles, and risks exist.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

To this end, a first aspect of the present invention provides an AGV parking apparatus.

In a second aspect, the present invention provides an AGV garage.

A third aspect of the invention provides a method of parking.

The invention provides an AGV parking device which comprises a main body frame, wherein the main body frame is provided with an AGV driving wheel set and a limiting wheel assembly; a lifting mechanism arranged on the main body frame; the vehicle-carrying lifting plate is connected with the lifting mechanism and driven by the lifting mechanism to lift in the main body frame; and the parking robot is placed on the vehicle-carrying lifting plate.

The AGV parking device comprises a main body frame, a lifting mechanism, a vehicle-carrying lifting plate and a parking robot. Wherein, main body frame can provide the installation station for other structures, and is provided with AGV drive wheel group and spacing wheel subassembly. Specifically, the AGV driving wheel group enters the integral structure and route of the garage in advance, and is electrically connected with the PLC controller and the dispatching system, and the PLC controller can be controlled by the background, so that the PLC controller can carry the vehicle to a specified parking space, and the carrying accuracy and the carrying efficiency are ensured. The AGV driving wheel group can adopt a standard steering wheel with a model of TYD150 produced by isoresol corporation. The AGV driving wheel set can be provided with four groups or a plurality of groups and is arranged at the bottom of the main body frame, so that the AGV driving wheel set drives the main body frame to move. The limiting wheel assembly is used for limiting the displacement of the main body frame. After main body frame moved appointed parking stall promptly, spacing wheel subassembly can walk on the appointed structure on parking stall, prevents the skew that main body frame removed to improve the precision of parking the vehicle. Specifically, be provided with the contact tank perpendicular with the direction of parking in parking stall side, make spacing wheel and contact tank contact, avoided main body frame's skew. In addition, the main body frame can be a rectangular frame structure formed by a plurality of upright posts and transverse ribs. The lifting mechanism can ensure the realization of the lifting of the vehicle, thereby ensuring that the vehicle can smoothly enter a high-rise parking space. The vehicle-carrying lifting plate is used for providing stations for carrying vehicles on one hand, and can be driven by the lifting mechanism to lift on the other hand, so that the vehicles can be lifted to high-rise parking spaces. Specifically, the vehicle-carrying lifting plate is provided with a walking surface and a wire track of the parking robot, so that the parking robot can run conveniently. The parking robot is used to carry the vehicle to the body frame, and is used to carry the vehicle to a lower or higher parking space after the body frame is moved to a designated parking space. The parking robot can adopt the existing holding clamp type parking carrying robot, and the specific model is not limited due to the mature technology. In addition, parking robot and main body frame cooperation operation have improved the efficiency that the vehicle parked on the one hand, have avoided manual operation's process, and on the other hand has avoided the car owner to enter into the condition on parking stall, has reduced the potential safety hazard, further makes the more intelligent and high-efficient safe going on of parking. The problem of height change of the AGV and the parking space equipment caused by the problem of ground flatness can be solved through the lifting mechanism, and therefore the stability of the automobile carrying and warehousing process equipment is ensured. In addition, the problem that the gap error between the AGV and the parking space is uncontrollable is also avoided through the AGV driving wheel set.

According to the technical scheme, the AGV parking device further has the following additional technical characteristics:

in the above technical scheme, the spacing wheel subassembly includes: the mounting rack is arranged at the bottom of the main body frame; the driving motor is arranged on the mounting frame; the first limiting wheel is connected with the driving motor and driven by the driving motor to rotate; the second limiting wheel is rotatably connected to the mounting frame; wherein, first spacing wheel with the second spacing wheel sets up perpendicularly.

In this technical scheme, spacing round subassembly includes mounting bracket, driving motor, first spacing round and the spacing round of second. The mounting frame is used for ensuring the connection between the mounting frame and the main body frame, and can provide mounting stations for other structures. The driving motor is used for driving the first limiting wheel to rotate. The first limiting wheel is used for ensuring to be in contact with other structures of the parking space, so that the overall deviation of the main body frame is prevented. The second limiting wheel is used for guaranteeing contact with other parking structures, so that overall deviation of the main body frame is further prevented, and parking accuracy is improved. The above process may specifically be set as follows: the side of the parking space is provided with a contact groove perpendicular to the parking direction, wherein the side wall surface of the contact groove is provided with a notch, so that when the main body frame moves, the first limiting wheel moves on the upper end surface of the contact groove, and the second limiting wheel moves in the notch, so that the moving track of the main body frame is limited, and the problem of inaccurate parking caused by the deviation track of the main body frame is avoided.

In the above technical solution, the lifting mechanism includes: the lifting motor is arranged at the upper end of the main body frame; the driving chain wheel is arranged on the lifting motor; two groups of driven chain wheels are arranged and are rotatably connected to two sides of the driving chain wheel; the chain is wound on the driving chain wheel and the driven chain wheel, and two ends of the chain are respectively positioned inside the main body frame and outside the main body frame; the lifting frame is connected with one end of the chain, which is positioned inside the main body frame, and the side wall surface of the lifting frame is connected with the vehicle-carrying lifting plate.

In this technical scheme, elevating system includes elevator motor, drive sprocket, driven sprocket, chain and crane. The lifting motor is used for driving the driving chain wheel to rotate, so that the driving chain wheel drives the chain to move. The driving chain wheel is used for providing driving force for the movement of the chain. The driven chain wheel is used for being matched with the driving chain wheel to play a role in guiding the movement of the chain. The chain is driven by the driving chain wheel to move with one end rising and the other end falling, so that the rising end drives the vehicle-carrying lifting plate to lift, and the process of lifting the vehicle is further realized. The lifting frame is used for ensuring the connection of the vehicle-carrying lifting plate and the chain and ensuring the synchronization of the lifting action. In addition, the lifting mechanism has a simple integral structure and a small number of transmission stages, and can utilize the driving force of the lifting motor to the maximum extent, thereby ensuring the efficient and stable lifting action and further improving the safety and stability of the parking process.

In the above technical solution, the mobile terminal further includes a first sliding portion, the first sliding portion including: the sliding block is connected with one end of the chain, which is positioned outside the main body frame; the spout, set up in main body frame, just the sliding block with spout sliding connection.

In this technical scheme, still include first sliding part, and first sliding part includes sliding block and spout. The sliding block plays the guide effect of the chain other end on the one hand, makes its installation appointed orbit go up and down to move, and on the other hand can also play the counter weight effect, has avoided the swing of the chain other end in the action of going up and down. The spout is used for the slip of sliding block for the other end of chain can be smooth goes up and down to move, has improved the stability that the vehicle goes up and down.

In the above technical solution, the mobile terminal further includes a second sliding portion, the second sliding portion includes: the sliding frame is arranged on the vehicle-carrying lifting plate; the pulley is connected with the sliding frame in a sliding manner; and the guide groove is arranged on the main body frame, and the pulley is connected to the guide groove in a sliding manner.

In this technical scheme, still include the second sliding part, and the second sliding part includes carriage, pulley and guide slot. The sliding frame is used for being connected with the lifting frame, so that the sliding of the lifting frame is ensured. The pulley is used for guaranteeing the sliding connection of the sliding frame, and the guide groove is used for guaranteeing the sliding connection of the pulley. The structure can ensure the smoothness and stability of the lifting frame when the lifting action is carried out, further ensure the stable lifting action of the vehicle-carrying lifting plate, and ensure the safety of the parking process.

In the above technical solution, the method further comprises: and a vehicle detection device provided to the main body frame.

In the technical scheme, the vehicle inspection device further comprises a vehicle inspection device. The vehicle detecting device is used for detecting whether the vehicle stops to an accurate position on the vehicle carrying lifting plate or not, and the condition that the vehicle is advanced or overtaken due to different vehicle specifications is avoided. Specifically, a correlation sensor with the model number of E3Z-T81 manufactured by ohm dragon manufacturers is adopted and is electrically connected with the parking robot. When the vehicle is ahead or behind, the signal is timely fed back to the parking robot to drive the vehicle to adjust the position in time.

In the above technical solution, the vehicle body further includes a radar disposed outside the bottom of the main body frame.

In the technical scheme, the system also comprises a radar. The device is used for detecting the condition of surrounding obstacles when the main body frame is displaced.

The invention also provides an AGV garage, which comprises a garage; the AGV parking device according to any one of the above technical solutions is placed in the garage; the track is arranged in the garage.

The AGV garage provided by the invention comprises a garage; an AGV parking apparatus and track as claimed in any one of the preceding claims. The garage is used for parking the vehicle. The AGV parking device has all the beneficial effects in the technical scheme, and the detailed description is omitted. The track is used for sliding connection of the AGV parking device guide wheel assembly, so that the AGV parking device can move accurately. In addition, the AGV garage provided by the invention can avoid the situation that a vehicle is manually driven to an appointed parking space, so that the parking is more intelligent and safer.

In the above technical scheme, the garage includes at least one access & exit and the double-deck parking stall of a plurality of, the track set up in one side on double-deck parking stall.

In the technical scheme, the garage at least comprises an entrance and an exit and a plurality of double-layer parking spaces. One or more gates may be provided for parking the vehicle. The AGV parking device can reach the access for vehicle carrying only by parking the vehicle at the access, so that the condition that the vehicle is manually driven to the specified parking space is avoided. The double-layer parking space is used for improving the parking rate of the vehicle, and the space of the garage is effectively utilized.

In the technical scheme, the track at least comprises a walking surface and a limiting surface, the walking surface is used for the first limiting wheel of the AGV parking device to walk, the limiting surface is used for the second limiting wheel of the AGV parking device to walk, and the walking surface is perpendicular to the limiting surface.

In the technical scheme, the track at least comprises a walking surface and a limiting surface. The running surface is used for contacting a first limiting wheel of the AGV parking device, so that the displacement of the main body frame is ensured. The limiting surface is used for contacting a second limiting wheel of the AGV parking device, so that the displacement track of the main body frame is limited, the deviation of the main body frame is avoided, and the parking accuracy is improved.

The invention also provides a parking method, which is applied to the AGV garage in any one of the technical schemes and comprises the following steps:

s1: parking the vehicle at the entrance;

s2: the AGV parking device carries the vehicle to a set double-layer parking space;

s3: the parking robot carries the vehicle to a low-level parking space; or

The AGV parking device carries out lifting action, and after the automobile is lifted to the set height, the parking robot carries the automobile to a high-rise parking space.

The parking method provided by the invention has the advantages that on one hand, the process of manually driving the vehicle to the specified parking space is avoided, so that the intelligence and the accuracy of the parking process are improved, and on the other hand, the dangerous condition that a plurality of vehicles enter the same parking space is avoided, so that the parking safety is improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of an AGV parking device according to one embodiment of the present invention;

FIG. 2 is a front view of the AGV parking device of FIG. 1;

FIG. 3 is a side view of the AGV parking device of FIG. 1;

FIG. 4 is a top view of the AGV parking device of FIG. 1;

FIG. 5 is one of the isometric views of an AGV garage of another embodiment of the present invention;

FIG. 6 is a second isometric view of an AGV garage according to another embodiment of the present invention;

FIG. 7 is an overhead view of an AGV garage according to another embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 7 is:

102 main body frame, 104AGV drive wheel group, 106 spacing wheel group, 1062 mounting bracket, 1064 drive motor, 1066 first spacing wheel, 1068 second spacing wheel, 108 elevating system, 1082 elevating motor, 1084 drive sprocket, 1086 driven sprocket, 1088 chain, 1090 crane, 110 year car lifter plate, 112 parking robot, 114 sliding block, 116 spout, 118 carriage, 120 pulley, 122 guide slot, 124 vehicle detection device, 126 radar, 202 garage, 2022 double-deck parking stall, 204AGV parking device, 206 track.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

An AGV parking apparatus, an AGV garage, and a parking method according to some embodiments of the present invention are described below with reference to fig. 1 through 7.

As shown in fig. 1, a first embodiment of the present invention provides an AGV parking apparatus, which includes a main frame 102, wherein the main frame 102 is provided with an AGV driving wheel set 104 and a limiting wheel assembly 106; an elevating mechanism 108 provided to the main body frame 102; the vehicle loading lifting plate 110 is connected with the lifting mechanism 108 and is driven by the lifting mechanism 108 to lift in the main body frame 102; and the parking robot 112 is placed on the vehicle-carrying lifting plate 110.

The AGV parking device provided by the invention comprises a main body frame 102, a lifting mechanism 108, a vehicle loading lifting plate 110 and a parking robot 112. Wherein the main body frame 102 can provide mounting stations for other structures and is provided with AGV drive wheel sets 104 and limit wheel assemblies 106. Specifically, AGV drive wheelset 104 types the holistic structure and the route in garage in advance to electricity connection PLC controller and dispatch system, and the PLC controller can be controlled by the backstage, makes it can carry the vehicle to appointed parking stall, ensures the accuracy and the high efficiency of carrying. The AGV drive wheel set 104 may be a standard steering wheel model TYD150, manufactured by Cipersevere. The AGV driving wheel sets 104 may be provided in four or more groups and at the bottom of the main body frame 102 so that they move the main body frame 102. The limit wheel assembly 106 serves to limit displacement of the body frame 102. After main body frame 102 moved appointed parking stall promptly, spacing wheel subassembly 106 can walk on the appointed structure in parking stall, prevents the skew that main body frame 102 removed to improve the precision of parking the vehicle. Specifically, a contact groove perpendicular to the parking direction is provided on the side of the parking space, so that the limit wheel is in contact with the contact groove, and the main body frame 102 is prevented from being deviated. In addition, the main body frame 102 may be a rectangular frame structure formed by a plurality of vertical columns and transverse ribs. The lifting mechanism 108 can ensure the vehicle to be lifted, so as to ensure that the vehicle can smoothly enter a high-rise parking space. The vehicle carrying lifting plate 110 is used for providing a station for carrying the vehicle on one hand, and can be driven by the lifting mechanism 108 to lift the vehicle to a high-rise parking space on the other hand. Specifically, the vehicle-carrying lifting plate 110 is provided with a walking surface and a wire track of the parking robot 112, so that the parking robot 112 can run conveniently. The parking robot 112 is used to carry the vehicle onto the body frame 102, and is used to carry the vehicle to a lower or higher parking space after the body frame 102 is moved to a designated parking space. The parking robot 112 may be a conventional clasping and clamping type parking and carrying robot, and the technology is mature, so that the specific type is not limited. In addition, the parking robot 112 and the main body frame 102 are matched to operate, so that the efficiency of vehicle parking is improved, the manual operation process is avoided, the situation that a vehicle owner enters a parking space is avoided, potential safety hazards are reduced, and the parking is more intelligent, efficient and safe. The problem of height change of the AGV and the parking space equipment caused by the problem of ground flatness can be solved through the lifting mechanism 108, and therefore the stability of the automobile carrying and warehousing process equipment is ensured. In addition, the problem that the gap error between the AGV and the parking space is uncontrollable is also avoided through the AGV driving wheel set 104.

As shown in fig. 1 to 4, a second embodiment of the present invention provides an AGV parking apparatus, which includes a main frame 102, wherein the main frame 102 is provided with an AGV driving wheel set 104 and a limiting wheel assembly 106; an elevating mechanism 108 provided to the main body frame 102; the vehicle loading lifting plate 110 is connected with the lifting mechanism 108 and is driven by the lifting mechanism 108 to lift in the main body frame 102; and the parking robot 112 is placed on the vehicle-carrying lifting plate 110.

The AGV parking device provided by the invention comprises a main body frame 102, a lifting mechanism 108, a vehicle loading lifting plate 110 and a parking robot 112. Wherein the main body frame 102 can provide mounting stations for other structures and is provided with AGV drive wheel sets 104 and limit wheel assemblies 106. Specifically, AGV drive wheelset 104 types the holistic structure and the route in garage in advance to electricity connection PLC controller and dispatch system, and the PLC controller can be controlled by the backstage, makes it can carry the vehicle to appointed parking stall, ensures the accuracy and the high efficiency of carrying. The AGV drive wheel set 104 may be a standard steering wheel model TYD150, manufactured by Cipersevere. The AGV driving wheel sets 104 may be provided in four or more groups and at the bottom of the main body frame 102 so that they move the main body frame 102. The limit wheel assembly 106 serves to limit displacement of the body frame 102. After main body frame 102 moved appointed parking stall promptly, spacing wheel subassembly 106 can walk on the appointed structure in parking stall, prevents the skew that main body frame 102 removed to improve the precision of parking the vehicle. Specifically, a contact groove perpendicular to the parking direction is provided on the side of the parking space, so that the limit wheel is in contact with the contact groove, and the main body frame 102 is prevented from being deviated. In addition, the main body frame 102 may be a rectangular frame structure formed by a plurality of vertical columns and transverse ribs. The lifting mechanism 108 can ensure the vehicle to be lifted, so as to ensure that the vehicle can smoothly enter a high-rise parking space. The vehicle carrying lifting plate 110 is used for providing a station for carrying the vehicle on one hand, and can be driven by the lifting mechanism 108 to lift the vehicle to a high-rise parking space on the other hand. Specifically, the vehicle-carrying lifting plate 110 is provided with a walking surface and a wire track of the parking robot 112, so that the parking robot 112 can run conveniently. The parking robot 112 is used to carry the vehicle onto the body frame 102, and is used to carry the vehicle to a lower or higher parking space after the body frame 102 is moved to a designated parking space. The parking robot 112 may be a conventional clasping and clamping type parking and carrying robot, and the technology is mature, so that the specific type is not limited. In addition, the parking robot 112 and the main body frame 102 are matched to operate, so that the efficiency of vehicle parking is improved, the manual operation process is avoided, the situation that a vehicle owner enters a parking space is avoided, potential safety hazards are reduced, and the parking is more intelligent, efficient and safe.

Specifically, the spacing wheel assembly 106 includes: a mounting rack 1062 disposed at the bottom of the body frame 102; a driving motor 1064 disposed at the mounting frame 1062; the first limiting wheel 1066 is connected with the driving motor 1064 and is driven by the driving motor 1064 to rotate; a second limiting wheel 1068 rotatably connected to the mounting bracket 1062; wherein, the first limiting wheel 1066 and the second limiting wheel 1068 are vertically arranged.

In this embodiment, the limiting wheel assembly 106 includes a mounting bracket 1062, a driving motor 1064, a first limiting wheel 1066, and a second limiting wheel 1068. The mounting bracket 1062 serves to secure itself to the body frame 102 and can provide a mounting station for other structures. The driving motor 1064 is used for driving the first limiting wheel 1066 to rotate. The first stopper wheel 1066 is used to ensure contact with other structures of the parking space, thereby preventing the main body frame 102 from being displaced as a whole. The second limiting wheel 1068 is used to ensure contact with other parking structures, so as to further prevent the overall deviation of the main body frame 102, thereby improving the parking accuracy. The above process may specifically be set as follows: a contact groove perpendicular to the parking direction is formed in the side of the parking space, and a slot is formed in the side wall surface of the contact groove, so that when the main body frame 102 moves, the first limiting wheel 1066 travels on the upper end surface of the contact groove, and the second limiting wheel 1068 travels in the slot, so that the moving track of the main body frame 102 is limited, and the problem of inaccurate parking caused by the fact that the track deviates from the moving track is avoided.

Specifically, the lifting mechanism 108 includes: a lift motor 1082 provided at the upper end of the main body frame 102; a driving sprocket 1084 provided to the lift motor 1082; two driven sprockets 1086, wherein the driven sprockets 1086 are provided and rotatably connected to both sides of the driving sprocket 1084; a chain 1088 wound around the driving sprocket 1084 and the driven sprocket 1086, and having two ends respectively located inside the main body frame 102 and outside the main body frame 102; the lifting frame 1090 is connected with one end, located inside the main body frame 102, of the chain 1088, and the side wall surface of the lifting frame is connected with the vehicle loading lifting plate 110.

In the present embodiment, the lifting mechanism 108 includes a lifting motor 1082, a drive sprocket 1084, a driven sprocket 1086, a chain 1088, and a lifting frame 1090. The lift motor 1082 is configured to drive the rotation of the drive sprocket 1084 such that the drive sprocket 1084 moves the chain 1088. The drive sprocket 1084 is used to provide a driving force for the movement of the chain 1088. The driven sprocket 1086 is configured to cooperate with the drive sprocket 1084 to guide the movement of the chain 1088. The chain 1088 is driven by the driving sprocket to move up at one end and down at the other end, so that the up end drives the vehicle-carrying lifting plate 110 to move up and down, and the process of lifting the vehicle is further realized. The lifting frame 1090 is used for ensuring the connection between the vehicle-carrying lifting plate 110 and the chain 1088 and ensuring the synchronization of the lifting action. In addition, the lifting mechanism 108 has a simple structure as a whole, has a small number of transmission stages, and can utilize the driving force of the lifting motor 1082 to the maximum extent, thereby ensuring efficient and stable lifting operation, and further improving the safety and stability of the parking process.

The specific process is as follows: firstly, the AGV drive wheel set 104 drives the main body frame 102 to reach the position of the vehicle, then the parking robot 112 disengages from the main body frame 102 and lifts the vehicle, then the parking robot 112 carries the vehicle back to the main body frame 102, at this time, the AGV drive wheel set 104 drives the main body frame 102 to reach the parking space, then the drive motor 1064 is started to drive the first limit wheel 1066 to travel, at this time, the first limit wheel 1066 and the second limit wheel 1068 respectively contact the limit structure at the side of the driving position, when the main body frame 102 moves to the designated position, the displacement is stopped, and when the vehicle needs to be parked at the low-level parking space, the parking robot 112 directly carries the vehicle to the low-level parking space and then returns to the main body frame 102; when the vehicle needs to park in a high-rise parking space, the lifting motor 1082 is started to drive the driving sprocket to rotate, so that the chain 1088 is driven to lift the lifting frame 1090 to move upwards, after the vehicle reaches a certain height, the lifting motor 1082 stops running, the parking robot 112 carries the vehicle to the high-rise parking space, and then returns to the main body frame 102 to complete the whole parking process.

Specifically, the sliding device further includes a first sliding portion including: a slide block 114 connected to one end of the chain 1088 located outside the main body frame 102; the sliding slot 116 is disposed on the main body frame 102, and the sliding block 114 is slidably connected to the sliding slot 116.

In this embodiment, the first sliding portion is further included, and the first sliding portion includes a sliding block 114 and a sliding groove 116. The slide block 114 serves as a guide for the other end of the chain 1088 to move up and down along a predetermined path, and also serves as a counter weight to prevent the other end of the chain 1088 from swinging during the movement. The slide groove 116 is used for sliding the slide block 114, so that the other end of the chain 1088 can smoothly move up and down, and the stability of the vehicle lifting is improved.

Specifically, the sliding device further includes a second sliding portion including: a carriage 118 disposed on the cart lifting plate 110; a pulley 120 slidably coupled to the carriage 118; the guide groove 122 is disposed on the body frame 102, and the pulley 120 is slidably connected to the guide groove 122.

In this embodiment, a second sliding portion is further included, and the second sliding portion includes a sliding frame 118, a pulley 120, and a guide groove 122. The carriage 118 is used to connect with the crane 1090, thereby ensuring sliding of the crane 1090. Pulleys 120 are used to ensure the sliding connection of carriage 118 and guide channels 122 are used to ensure the sliding connection of pulleys 120. The structure can ensure the smoothness and stability of the lifting frame 1090 when the lifting action is carried out, further ensure the stable lifting action of the vehicle-carrying lifting plate 110 and ensure the safety of the parking process.

Specifically, the method further comprises the following steps: the vehicle detection device 124 is provided to the main body frame 102.

In the embodiment, the vehicle inspection device is further included. The vehicle detecting device is used for detecting whether the vehicle stops at an accurate position on the vehicle carrying lifting plate 110 or not, and the condition that the vehicle is advanced or overtaken due to different vehicle specifications is avoided. Specifically, a correlation sensor model number E3Z-T81 manufactured by ohron manufacturers is used and electrically connected to the parking robot 112. When the vehicle is ahead or behind, the signal is timely fed back to the parking robot 112, so that the parking robot drives the vehicle to adjust the position in time.

Specifically, the radar 126 is further included and is disposed outside the bottom of the main body frame 102.

In this embodiment, a radar 126 is also included. For detecting the situation of the surrounding obstacle when the main body frame 102 is displaced.

As shown in fig. 5 to 7, a third embodiment of the present invention provides an AGV garage, including a garage 202; an AGV parking device 204 as in any of the previous embodiments, placed in a garage 202; and the track 206 is arranged on the garage 202.

The AGV garage provided by the invention comprises a garage 202; an AGV parking device 204 and track 206 as in any of the previous embodiments. The garage 202 is used to park the vehicle. The AGV parking device 204 has all the advantages of the above embodiments and will not be described in detail herein. The rails 206 provide for a sliding connection of the AGV parking device 204 to the guide wheel assembly, thereby allowing for accuracy of the AGV parking device 204 displacement motion. In addition, the AGV garage provided by the invention can avoid the situation that a vehicle is manually driven to an appointed parking space, so that the parking is more intelligent and safer.

Specifically, the garage 202 includes at least one entrance and exit and a plurality of double-deck parking spaces 2022, and the track 206 is disposed on one side of the double-deck parking spaces 2022.

In this embodiment, the garage 202 includes at least one entrance and a plurality of double-deck parking spaces 2022. One or more gates may be provided for parking the vehicle. The AGV parking device 204 can arrive at the entrance and exit for vehicle transportation only by parking the vehicle at the entrance and exit, thereby avoiding the situation that the vehicle is manually driven to the designated parking space. The double-layer parking space 2022 is used for improving the parking rate of the vehicle, and effectively utilizes the space of the garage 202.

Specifically, the track 206 at least comprises a traveling surface and a limiting surface, the traveling surface is used for traveling of a first limiting wheel of the AGV parking device 204, the limiting surface is used for traveling of a second limiting wheel of the AGV parking device 204, and the traveling surface is perpendicular to the limiting surface.

In this embodiment, the track 206 at least includes a walking surface and a limiting surface. The running surface is used for contact of the first limit wheel of the AGV parking device 204, thereby ensuring displacement of the main body frame. The limiting surface is used for contacting a second limiting wheel of the AGV parking device 204, so that the displacement track of the main body frame is limited, the deviation of the main body frame is avoided, and the parking accuracy is improved.

A fourth embodiment of the present invention provides a parking method applied to an AGV garage in any one of the above embodiments, including the steps of:

s1: parking the vehicle at the entrance;

s3: the parking robot carries the vehicle to a low-level parking space; or

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV parking apparatus comprising:

a main body frame (102), wherein the main body frame (102) is provided with an AGV drive wheel set (104) and a limit wheel assembly (106);

a lifting mechanism (108) provided to the main body frame (102);

the vehicle loading lifting plate (110) is connected with the lifting mechanism (108) and is driven by the lifting mechanism (108) to lift in the main body frame (102);

and the parking robot (112) is placed on the vehicle-carrying lifting plate (110).

2. The AGV parking device of claim 1, wherein the limit wheel assembly (106) includes:

a mounting rack (1062) arranged at the bottom of the main body frame (102);

a drive motor (1064) provided to the mounting bracket (1062);

the first limiting wheel (1066) is connected with the driving motor (1064) and driven by the driving motor (1064) to rotate;

the second limiting wheel (1068) is rotatably connected to the mounting frame (1062);

wherein the first limiting wheel (1066) and the second limiting wheel (1068) are vertically arranged.

3. The AGV parking arrangement of claim 2 wherein the elevator mechanism (108) includes:

a lifting motor (1082) arranged at the upper end of the main body frame (102);

a drive sprocket (1084) provided to the lift motor (1082);

driven sprockets (1086), wherein two sets of the driven sprockets (1086) are provided and are rotatably connected to both sides of the driving sprocket (1084);

a chain (1088) wound around the drive sprocket (1084) and the driven sprocket (1086) and having both ends respectively located inside the main body frame (102) and outside the main body frame (102);

and the lifting frame (1090) is connected with one end, positioned inside the main body frame (102), of the chain (1088), and the side wall surface of the lifting frame is connected with the vehicle-carrying lifting plate (110).

4. The AGV parking apparatus of claim 3 further comprising a first slide, the first slide comprising:

a slide block (114) connected to one end of the chain (1088) located outside the main body frame (102);

and the sliding groove (116) is arranged on the main body frame (102), and the sliding block (114) is in sliding connection with the sliding groove (116).

5. The AGV parking apparatus of claim 3 further comprising a second slide, the second slide comprising:

a carriage (118) disposed on the vehicle-carrying lifting plate (110);

a pulley (120) slidably coupled to the carriage (118);

and a guide groove (122) which is provided in the main body frame (102), and the pulley (120) is slidably connected to the guide groove (122).

6. The AGV parking apparatus of any one of claims 1 to 4, further comprising:

a vehicle detection device (124) provided to the main body frame (102); and/or

And a radar (126) provided outside the bottom of the main body frame (102).

7. An AGV garage, comprising:

a garage (202);

the AGV parking device (204) of any of claims 1 to 6 placed in the garage (202);

a track (206) disposed in the garage (202).

8. The AGV garage of claim 7, wherein the garage (202) comprises at least one access opening and a plurality of double-deck parking spaces (2022), the track (206) being provided on one side of the double-deck parking spaces (2022).

9. The AGV garage of claim 7 or 8, wherein the track (206) comprises at least a running surface and a limiting surface, the running surface is used for a first limiting wheel of the AGV parking device (204) to run, the limiting surface is used for a second limiting wheel of the AGV parking device (204) to run, and the running surface is perpendicular to the limiting surface.

10. A parking method applied to an AGV garage according to any one of claims 7 to 9, comprising the steps of:

s1: parking the vehicle at the entrance;

s2: the AGV parking device carries the vehicle to a specified double-layer parking space;

s3: the parking robot carries the vehicle to a low-level parking space; or

The AGV parking device carries out lifting action, and after the automobile is lifted to the designated height, the parking robot carries the automobile to the high-rise parking space.