CN115199113A - Clamping type AGV double-layer parking robot and working method thereof - Google Patents
Clamping type AGV double-layer parking robot and working method thereof Download PDFInfo
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- CN115199113A CN115199113A CN202210769559.5A CN202210769559A CN115199113A CN 115199113 A CN115199113 A CN 115199113A CN 202210769559 A CN202210769559 A CN 202210769559A CN 115199113 A CN115199113 A CN 115199113A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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Abstract
The invention relates to the technical field of parking robots, and particularly discloses a clamping type AGV double-layer parking robot and a working method thereof. According to the invention, the upper and lower layers of space are effectively utilized, a plurality of AGV transport vehicles and the parking frame can be configured to be used together, and the cooperation operation is performed in the vehicle storing and taking process, so that the number of parking places can be increased, certain efficiency can be improved for the traditional garage with the simple lifting type and the like, the manual parking of the vehicle on the tire support is not needed, the parking of the vehicle is completed by utilizing the AGV transport vehicles, the parking efficiency is improved, the overall parking effect of the vehicle is improved, and the parking time is saved.
Description
Technical Field
The invention relates to the technical field of parking robots, in particular to a clamping type AGV double-layer parking robot and a working method thereof.
Background
The parking robot gathers various service resources by a construction idea of unattended and cloud management and novel intelligent application, and the operation and the vehicle owner can easily enjoy safe and convenient intelligent passage through the intelligent parking management robot, the parking lot visual intelligent control system, the vehicle owner mobile APP, the property toll collector APP and the parking management cloud platform; through mobile information-based construction, the management and control capacity of property to the parking lot is enhanced, so that the parking passing efficiency is increased, the labor cost is reduced, and the charge loophole is avoided.
In recent years, with the rapid development of the automobile industry in China, the mismatch between the increase of the automobile keeping quantity and the construction of parking facilities causes the rapid rise of a supply and demand gap of a parking space, and the difficulty in parking becomes a social problem commonly faced by large and medium-sized cities; the method is characterized in that an intelligent parking robot system is applied to improve the car containing rate of an existing garage, an effective mode for relieving the problem of shortage of current parking spaces is adopted, an upper layer parking mode and a lower layer parking mode are adopted, when the existing parking robot is used, the parking robot divides a car into an upper layer and a lower layer to park the car, when the car on the upper layer is in an accident or a parking frame of the parking robot breaks down, the car on the upper layer is prone to falling, the car on the lower layer is damaged, and the working safety of workers on the lower layer is greatly influenced.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a clamp type AGV double-layer parking robot and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a clamping type AGV double-layer parking robot comprises two AGV transporters and a parking frame, wherein the two AGV transporters are connected through a telescopic mechanism, clamping mechanisms used for clamping automobile tires are arranged on the two AGV transporters, a lifting mechanism used for lifting the automobiles is installed between supporting legs of the parking frame in a sliding mode, and a safety protection mechanism is arranged on the parking frame;
safety protection mechanism is including fixing two fixed plates between the supporting leg of jiffy stand, a fixed plate side-mounting has rubber inflatable packer, another fixed plate side-mounting has the second electro-magnet, rubber inflatable packer is close to one side of second electro-magnet and installs the first electro-magnet of mutually supporting absorption with the second electro-magnet, it is equipped with carbon dioxide gas to fill in the rubber inflatable packer, set up the venthole that a plurality of and rubber inflatable packer are linked together on the rubber inflatable packer, install electronic valve in the venthole, rubber inflatable packer surface parcel has the fire-retardant cloth of one deck.
Preferably, a mounting shell is fixed on the side face of the fixing plate, the rubber inflatable cushion is mounted in the mounting shell, a carbon dioxide tank is mounted on the side face of the fixing plate, and the carbon dioxide tank is communicated with the rubber inflatable cushion through an inflator pump.
Preferably, the lifting mechanism comprises a guide rail arranged on the side face of the supporting leg of the parking frame, an electric sliding block is arranged on the guide rail in a sliding mode, a tire support is arranged on the side face of the electric sliding block, a speed detection sensor and a temperature sensor are arranged on the side face of the supporting leg of the parking frame, and the temperature sensor and the speed detection sensor are both in signal connection with the inflator pump.
Preferably, fixture is including fixing two connecting plates on the AGV transport vechicle, and the connecting plate side is rotated and is installed the two-way lead screw of positive and negative tooth, and two sections screw threads of the two-way lead screw of positive and negative tooth revolve to equal screwed cap on the opposite threaded rod has the internal thread piece, and the arm lock is all installed to internal thread piece both sides, is provided with between two connecting plates to be used for carrying out spacing subassembly to the internal thread piece.
Preferably, the limiting assembly comprises a fixing rod fixed between the two connecting plates, a mounting hole is formed in the side face of the internal thread block, and the fixing rod is slidably mounted in the mounting hole.
Preferably, one the connecting plate side-mounting has the bearing, and another connecting plate side-mounting has the motor, and the two-way lead screw tip of positive and negative tooth is installed at the bearing inner circle, and the output shaft of motor is connected with the two-way lead screw of positive and negative tooth, and the internal thread piece side is fixed with the connecting rod, and the arm lock is installed at the connecting rod tip, and the mounting groove has been seted up to the clamping face of arm lock, installs the rubber pad in the mounting groove.
Preferably, the mounting plate is installed on the internal thread block, the strip-shaped plate is installed on the mounting plate, and the strip-shaped plate is provided with the plurality of soft brushes.
Preferably, the telescopic mechanism comprises an electric telescopic rod arranged on the side face of one AGV transporting vehicle, and the tail end of a piston rod of the electric telescopic rod is fixedly connected to the side face of the other AGV transporting vehicle.
Preferably, two the sliding hole has all been seted up to the opposite face of AGV transport vechicle, and slidable mounting has the slide bar in two sliding holes, and rectangular frame is installed at the jiffy stand top, and rectangular frame inner wall parcel has one deck anticollision sponge.
The invention relates to a working method of a clamp type AGV double-layer parking robot, which further comprises the following steps:
the method comprises the following steps: the method comprises the following steps that a vehicle drives into a parking house, when the vehicle is in an initial state, clamping arms on an AGV are in an open state, the AGV directly drills to the bottom of the vehicle through a specified path, and the clamping arms are moved to two sides of a tire of the vehicle;
step two: starting a motor, wherein an output shaft of the motor drives a positive and negative tooth bidirectional screw rod to rotate so that two internal thread blocks move close to each other, and then two clamping arms move close to each other to clamp and fix an automobile tire;
step three: starting the electric sliding block, and driving the tire support to move downwards to the lower part by the electric sliding block;
step four: conveying the automobile clamped and fixed to the position right below the parking frame by using the AGV (automatic guided vehicle) again, and moving the automobile tire to the position right above the tire support;
step five: the electric sliding block is started again, the motor is started again, the clamping arm loosens the clamped and fixed automobile tire, and the electric sliding block drives the tire support to move upwards;
step six: and the AGV transport vehicle is used again to transport the other automobile to the position right below the parking frame for parking.
Compared with the prior art, the invention has the beneficial effects that:
1: according to the invention, the upper and lower layers of space are effectively utilized, a plurality of AGV transport vehicles and the parking frame can be configured to be used together, and the cooperation operation is performed in the vehicle storing and taking process, so that the number of parking places can be increased, certain efficiency can be improved for the traditional garage with the types of simple lifting and the like, manual parking of the vehicle on the tire support is not needed, parking of the vehicle is completed by utilizing the AGV transport vehicles, the parking efficiency is improved, the overall parking effect of the vehicle is improved, and the parking time is saved.
2: according to the invention, the speed detection sensor detects that the automobile falls to the outside of the parking frame and other equipment and workers below the parking frame are damaged, and meanwhile, the rubber inflatable cushion is used for providing flexible support and falling barrier for the automobile falling from the upper layer, so that the automobile falling from the upper layer can be effectively prevented from falling to the outside of the parking frame and causing damage to other equipment and workers below the parking frame, and the safety device is improved when the device is used.
3: when the upper layer automobile or the lower layer automobile has spontaneous combustion, the temperature sensor detects that the temperature is higher than a preset temperature value, a signal is transmitted to the inflator pump, the inflator pump is started again, the rubber inflatable cushion is used for separating the upper layer automobile from the lower layer automobile, the flame-retardant cloth on the outer surface of the rubber inflatable cushion is used for preventing the upper layer automobile or the lower layer automobile which has spontaneous combustion from igniting the normal automobile, the protection performance of the upper layer automobile and the lower layer automobile is improved, the electronic valve in the air outlet hole formed in the rubber inflatable cushion is started simultaneously, so that the carbon dioxide in the rubber inflatable cushion is sprayed out to spray carbon dioxide to the upper layer automobile or the lower layer automobile which has spontaneous combustion to extinguish the fire, the automobile which has spontaneous combustion can be automatically extinguished, and the safety of the device in the using process is improved.
Drawings
FIG. 1 is an isometric view of a clamp type AGV double-deck parking robot according to the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a partial enlarged view of portion B of FIG. 1;
FIG. 4 is an isometric view of a clamp type AGV double-deck parking robot according to the present invention;
FIG. 5 is a schematic structural diagram of an AGV transporting vehicle of a clamp type AGV double-layer parking robot according to the present invention;
fig. 6 is a schematic structural diagram of an AGV transport vehicle of a clamp-type AGV double-deck parking robot according to the present invention.
In the figure: 1. an AGV transport vehicle; 2. a parking frame; 3. a rectangular frame; 4. a fixing plate; 5. mounting a shell; 6. a guide rail; 7. an electric slider; 8. a tire support; 9. a rubber inflatable cushion; 10. a first electromagnet; 11. an air outlet; 12. a second electromagnet; 13. an electric telescopic rod; 14. a slide bar; 15. a connecting plate; 16. a motor; 17. a positive and negative teeth bidirectional screw rod; 18. fixing the rod; 19. mounting a plate; 20. a connecting rod; 21. clamping arms; 22. a rubber pad; 23. a strip-shaped plate; 24. a soft brush; 25. an internal thread block; 26. and a bearing.
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.
Referring to fig. 1-6, the clamping type AGV double-layer parking robot comprises two AGV transport vehicles 1 and a parking frame 2, wherein the two AGV transport vehicles 1 are connected through a telescopic mechanism, clamping mechanisms for clamping automobile tires are arranged on the two AGV transport vehicles 1, a lifting mechanism for lifting the automobiles is slidably arranged between supporting legs of the parking frame 2, and a safety protection mechanism is arranged on the parking frame 2;
safety protection mechanism is including fixing two fixed plates 4 between the supporting leg of jiffy stand 2, 4 side-mounting of a fixed plate has rubber inflatable packer 9, 4 side-mounting of another fixed plate has second electro-magnet 12, rubber inflatable packer 9 is close to one side of second electro-magnet 12 and installs the first electro-magnet 10 of mutually supporting absorption with second electro-magnet 12, it is equipped with carbon dioxide gas to fill in the rubber inflatable packer 9, set up the venthole 11 that a plurality of and rubber inflatable packer 9 are linked together on the rubber inflatable packer 9, install electronic valve in the venthole 11, rubber inflatable packer 9 surface parcel has the fire-retardant cloth of one deck.
As a technical optimization scheme of the invention, a mounting shell 5 is fixed on the side surface of a fixed plate 4, a rubber inflatable cushion 9 is mounted in the mounting shell 5, a carbon dioxide tank is mounted on the side surface of the fixed plate 4 and is communicated with the rubber inflatable cushion 9 through an inflator pump, a speed detection sensor detects that an automobile falls abnormally, the speed detection sensor transmits a signal to the inflator pump, the inflator pump is started to extract carbon dioxide gas in the carbon dioxide tank and fill the carbon dioxide gas into the rubber inflatable cushion 9, the rubber inflatable cushion 9 gradually expands under the injection of the carbon dioxide gas, so that the rubber inflatable cushion 9 pops out of the mounting shell 5, the popped rubber inflatable cushion 9 divides a parking frame 2 into an upper layer and a lower layer by starting a first electromagnet 10 and a second electromagnet 12, and the first electromagnet 10 and the second electromagnet 12 are mutually adsorbed, so as to separate an upper automobile from a lower automobile, damage of the two automobiles caused by collision of the upper automobile and the lower automobile is avoided, and the rubber inflatable cushion 9 can provide a flexible supporting force for the upper automobile falling and a lower automobile, thereby improving the safety of the upper automobile and the outer side of the upper automobile when the lower automobile falls, and the upper layer can be used as a safety protection device for preventing the falling of the upper automobile from falling.
As a technical optimization scheme of the invention, the lifting mechanism comprises a guide rail 6 arranged on the side surface of a supporting leg of the parking frame 2, an electric slider 7 is arranged on the guide rail 6 in a sliding way, a tire support 8 is arranged on the side surface of the electric slider 7, a speed detection sensor and a temperature sensor are arranged on the side surface of the supporting leg of the parking frame 2, the temperature sensor and the speed detection sensor are both in signal connection with an inflator pump, and whether the automobile normally falls or not and whether the temperature of the automobile is normal or not can be conveniently detected through the matching use of the speed detection sensor, the temperature sensor and the inflator pump, so that whether the automobile abnormally falls or not and whether spontaneous combustion occurs or not can be judged.
As a technical optimization scheme of the invention, the clamping mechanism comprises two connecting plates 15 fixed on the AGV transport vehicle 1, a positive and negative two-way screw rod 17 is rotatably installed on the side surface of each connecting plate 15, inner thread blocks 25 are respectively sleeved on two threaded rods with opposite thread rotating directions of the positive and negative two-way screw rod 17 in a threaded manner, clamping arms 21 are respectively installed on two sides of each inner thread block 25, and a limiting component for limiting the inner thread blocks 25 is arranged between the two connecting plates 15.
As a technical optimization scheme of the invention, the limiting assembly comprises a fixing rod 18 fixed between two connecting plates 15, a mounting hole is formed in the side surface of the inner thread block 25, the fixing rod 18 is slidably mounted in the mounting hole, and the inner thread block 25 can be limited by matching the mounting hole formed in the side surface of the inner thread block 25 and the fixing rod 18, so that the inner thread block 25 keeps moving transversely in the rotation of the bidirectional screw rod 17 with the positive and negative teeth.
As a technical optimization scheme of the invention, a bearing 26 is arranged on the side surface of one connecting plate 15, a motor 16 is arranged on the side surface of the other connecting plate 15, the end part of a positive and negative tooth bidirectional screw rod 17 is arranged at the inner ring of the bearing 26, an output shaft of the motor 16 is connected with the positive and negative tooth bidirectional screw rod 17, a connecting rod 20 is fixed on the side surface of an internal thread block 25, a clamping arm 21 is arranged at the end part of the connecting rod 20, a mounting groove is formed in the clamping surface of the clamping arm 21, a rubber pad 22 is arranged in the mounting groove, the bearing 26 can provide guiding and supporting functions for the positive and negative tooth bidirectional screw rod 17, the rubber pad 22 can improve the friction force between the clamping arm 21 and an automobile tire, and the stability when the clamping arm 21 clamps and fixes the automobile tire is improved.
As a technical optimization scheme of the invention, the mounting plate 19 is arranged on the internal thread block 25, the strip-shaped plate 23 is arranged on the mounting plate 19, the strip-shaped plate 23 is provided with the plurality of soft hairbrushes 24, and when the internal thread block 25 transversely moves in the rotation of the positive and negative two-way screw rods 17, the strip-shaped plate 23 can be driven to transversely move, so that the strip-shaped plate 23 drives the soft hairbrushes 24 to clean the automobile chassis, the dust attached to the automobile chassis can be cleaned and removed, the phenomenon that the automobile falls off due to the fact that a large amount of dust, impurities and the like are attached to the chassis when the automobile is lifted to the upper later stage is avoided, the protective performance of the automobile at the lower stage is improved, meanwhile, the chassis of the automobile at the upper stage can be cleaned and brushed to a certain extent, the cleanness of the chassis of the automobile at the upper stage is ensured, and multiple purposes are achieved.
As a technical optimization scheme of the invention, the telescopic mechanism comprises an electric telescopic rod 13 arranged on one AGV transporting vehicle 1 side, the tail end of a piston rod of the electric telescopic rod 13 is fixedly connected to the other AGV transporting vehicle 1 side, one AGV transporting vehicle 1 is pushed to move transversely through the piston rod of the electric telescopic rod 13, the distance between the two AGV transporting vehicles 1 can be adjusted, and the automatic adjustment can be carried out according to the actual use condition.
As a technical optimization scheme of the invention, the opposite surfaces of two AGV transporters 1 are respectively provided with a sliding hole, a sliding rod 14 is slidably arranged in the two sliding holes, the top of a parking frame 2 is provided with a rectangular frame 3, the inner wall of the rectangular frame 3 is wrapped with a layer of anti-collision sponge, the rectangular frame 3 can provide a position limit for an automobile parked on the upper layer, so that the automobile on the upper layer is prevented from deviating and sliding off from the side surface, meanwhile, the anti-collision sponge on the inner wall of the rectangular frame 3 can provide a flexible limit for the automobile, the automobile is prevented from being damaged due to interference with the inner wall of the rectangular frame 3 when the automobile on the upper layer is subjected to sliding deviation, and the protection performance of the automobile is improved.
The invention relates to a working method of a clamp type AGV double-layer parking robot, which further comprises the following steps:
the method comprises the following steps: the method comprises the following steps that a vehicle drives into a parking room, when the vehicle is in an initial state, clamping arms 21 on an AGV (automatic guided vehicle) 1 are in an open state, the AGV 1 directly drills to the bottom of the vehicle through a specified path, and the clamping arms 21 are moved to two sides of tires of the vehicle;
step two: starting the motor 16, wherein an output shaft of the motor 16 drives the positive and negative thread bidirectional screw rod 17 to rotate so that the two internal thread blocks 25 move close to each other, and then the two clamping arms 21 move close to each other to clamp and fix an automobile tire;
step three: starting the electric sliding block 7, and driving the tire support 8 to move downwards to the lower part by the electric sliding block 7;
step four: the AGV transport vehicle 1 is used again to transport the clamped and fixed automobile to the position right below the parking frame 2, and the automobile tire is moved to the position right above the tire support 8;
step five: the electric sliding block 7 is started again, the motor 16 is started again, the clamping arm 21 is enabled to loosen the automobile tire clamped and fixed, and the electric sliding block 7 drives the tire support 8 to move upwards;
step six: the AGV transporting vehicle 1 is used again to transport another vehicle to the position right under the parking frame 2 for parking.
When the automatic guided vehicle is used, a vehicle drives into a parking room, when the automatic guided vehicle is in an initial state, the clamping arms 21 on the AGV transport vehicle 1 are in an open state, the AGV transport vehicle 1 directly drills to the bottom of the vehicle through a specified path, and the clamping arms 21 are moved to two sides of a tire of the vehicle.
At this moment, starter motor 16, motor 16's output shaft drives the two-way lead screw 17 of positive and negative tooth and rotates, and the two-way lead screw 17 of positive and negative tooth is rotatory to be made two internal thread blocks 25 and is made and be close to the motion each other to make two mounting panels 19 be the motion of being close to each other, two mounting panels 19 drive connecting rod 20 and are made and be close to the motion each other, and then make two arm lock 21 be the motion of being close to each other, and the completion is fixed to automobile tire's centre gripping, can directly press from both sides the wheel of getting and lift the vehicle off ground, moving vehicle.
At the moment, the electric slide block 7 is started, and the electric slide block 7 drives the tire support 8 to move downwards to the lower part; and (3) moving the clamped and fixed automobile to the position right below the parking frame 2 by using the two AGV transport vehicles 1, and moving the automobile tire to the position right above the tire support 8.
At the moment, the motor 16 is started again, so that the clamping arms 21 are separated from the automobile tires, the automobile tires are placed on the tire supports 8, the electric sliding blocks 7 are started again, the electric sliding blocks 7 drive the tire supports 8 to move upwards, the tire supports 8 are in contact with the automobile tires in the self-moving process, the automobile is lifted by lifting the four tires of the automobile, and the upper-layer parking step of the automobile in the parking frame 2 is completed; two-layer space about this device effectively utilizes, can dispose many AGV transport vechicles 1 and jiffy stand 2 and use jointly, at the operation in coordination of access car in-process, not only can promote parking stall quantity, more can promote certain efficiency to types garages such as traditional simple and easy lift, it does not need the manual car of will parking to tire support 8 of manual work, utilize AGV transport vechicle 1 to accomplish the parking to the car, improve the efficiency of parking, and then promote whole parking effect to the car, practice thrift down time.
When an upper automobile falls, the falling speed of the automobile is too high in the falling process, the falling speed of the automobile is detected by using a speed detection sensor arranged on the side surface of a supporting leg of the parking frame 2, when the falling speed of the automobile exceeds the sliding speed of the electric sliding block 7 on the guide rail 6, the speed detection sensor detects that the automobile falls into abnormal falling, the speed detection sensor transmits a signal to an inflator pump, the inflator pump is started to pump carbon dioxide gas in a carbon dioxide tank and fill the carbon dioxide gas into the rubber inflatable cushion 9, the rubber inflatable cushion 9 gradually expands under the injection of the carbon dioxide gas, so that the rubber inflatable cushion 9 is popped out from the mounting shell 5, and the popped rubber inflatable cushion 9 divides the parking frame 2 into an upper layer and a lower layer by starting the first electromagnet 10 and the second electromagnet 12, and utilize first electro-magnet 10 and second electro-magnet 12 adsorb each other, and then separate the car on upper strata and the car of lower floor, damage when avoiding upper automobile to fall to collide with the car of lower floor and cause two cars, and rubber inflatable packer 9 can provide a flexible holding power for the car that the upper strata falls, thereby it produces rigidity striking and damages to avoid the upper automobile to take place to fall, improve the protectiveness to upper automobile and lower floor's car simultaneously, utilize rubber inflatable packer 9 to provide flexible support and block for the car that the upper strata takes place to fall, can effectively avoid the car that the upper strata takes place to fall to the jiffy stand 2 outside and cause the injury to other equipment and staff of below, improve the security of this device when using.
When the upper layer automobile or the lower layer automobile has spontaneous combustion, after the temperature detected by the temperature sensor is higher than a preset temperature value, a signal is transmitted to the inflator pump, the inflator pump is started again and the steps are repeated, the upper layer automobile and the lower layer automobile are separated by the rubber inflatable cushion 9, the automobile which has spontaneous combustion on the upper layer or the lower layer is prevented from igniting the normal automobile by the flame-retardant cloth on the outer surface of the rubber inflatable cushion 9, the protectiveness of the upper layer automobile and the lower layer automobile is improved, the electronic valve in the air outlet 11 formed in the rubber inflatable cushion 9 is started at the same time, so that the carbon dioxide in the rubber inflatable cushion 9 is sprayed to the automobile which has spontaneous combustion on the upper layer or the lower layer to extinguish fire, the automobile which has spontaneous combustion can be automatically extinguished, and the safety of the device in the use process is improved.
When needing to get the car, the vehicle that is located the lower floor can transport to getting the car position under the transportation of two AGV transport vechicles 1, and when the car of upper strata got the car, can restart electric slider 7 again, and then makes tire support 8 move down under electric slider 7's effect to make the car move down and place subaerially in jiffy stand 2 below, reuse two AGV transport vechicles 1 and transport to getting the car position to the vehicle.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A clamping type AGV double-layer parking robot comprises two AGV transport vehicles (1) and a parking frame (2), and is characterized in that the two AGV transport vehicles (1) are connected through a telescopic mechanism, clamping mechanisms used for clamping automobile tires are arranged on the two AGV transport vehicles (1), lifting mechanisms used for lifting the automobiles are slidably mounted between supporting legs of the parking frame (2), and a safety protection mechanism is arranged on the parking frame (2);
safety protection mechanism is including fixing two fixed plate (4) between the supporting leg of jiffy stand (2), a fixed plate (4) side-mounting has rubber inflatable packer (9), another fixed plate (4) side-mounting has second electro-magnet (12), rubber inflatable packer (9) are close to one side of second electro-magnet (12) and install first electro-magnet (10) of mutually supporting absorption with second electro-magnet (12), it is equipped with carbon dioxide gas to fill in rubber inflatable packer (9), venthole (11) that a plurality of and rubber inflatable packer (9) are linked together are seted up on rubber inflatable packer (9), install electronic valve in venthole (11), rubber inflatable packer (9) surface parcel has the fire-retardant cloth of one deck.
2. A clamping AGV double-layer parking robot according to claim 1, wherein a mounting shell (5) is fixed to the side of the fixing plate (4), a rubber inflatable cushion (9) is mounted in the mounting shell (5), and a carbon dioxide tank is mounted to the side of the fixing plate (4) and communicated with the rubber inflatable cushion (9) through an inflator pump.
3. The clamp type AGV double-layer parking robot according to claim 2, wherein the lifting mechanism comprises a guide rail (6) installed on the side of a support leg of the parking frame (2), an electric slider (7) is installed on the guide rail (6) in a sliding mode, a tire support (8) is installed on the side of the electric slider (7), a speed detection sensor and a temperature sensor are installed on the side of the support leg of the parking frame (2), and the temperature sensor and the speed detection sensor are both in signal connection with the inflator pump.
4. The double-deck parking robot of claim 3, characterized in that, fixture includes two connecting plates (15) fixed on AGV transport vechicle (1), and connecting plate (15) side is rotated and is installed two-way lead screw (17) of positive and negative tooth, and two sections screw threads of two-way lead screw (17) of positive and negative tooth revolve to equal screw thread cup joint on the opposite threaded rod has interior thread piece (25), and arm lock (21) are all installed to interior thread piece (25) both sides, are provided with between two connecting plates (15) and are used for carrying out spacing subassembly to interior thread piece (25).
5. A clamp-holding AGV double-layer parking robot according to claim 4, wherein the limiting component comprises a fixing rod (18) fixed between the two connecting plates (15), a mounting hole is formed in the side surface of the internal thread block (25), and the fixing rod (18) is slidably mounted in the mounting hole.
6. The double-deck parking robot of claim 5, characterized in that one said connecting plate (15) side-mounting has bearing (26), another connecting plate (15) side-mounting has motor (16), the two-way lead screw (17) end of positive and negative tooth is installed at the inner circle of bearing (26), the output shaft of motor (16) is connected with the two-way lead screw (17) of positive and negative tooth, the side of internal thread block (25) is fixed with connecting rod (20), arm lock (21) is installed at the end of connecting rod (20), the clamping face of arm lock (21) has been seted up the mounting groove, install rubber pad (22) in the mounting groove.
7. A clamp-holding AGV double-layer parking robot according to claim 6, wherein the mounting plate (19) is installed on the internal thread block (25), the strip-shaped plate (23) is installed on the mounting plate (19), and the strip-shaped plate (23) is provided with a plurality of soft brushes (24).
8. A clamping AGV double-layer parking robot according to claim 7, wherein the telescopic mechanism comprises an electric telescopic rod (13) installed at the side of one AGV transport vehicle (1), and the end of a piston rod of the electric telescopic rod (13) is fixedly connected to the side of the other AGV transport vehicle (1).
9. The clamping type AGV double-layer parking robot according to claim 8, wherein sliding holes are formed in opposite surfaces of the two AGV transporters (1), sliding rods (14) are slidably mounted in the two sliding holes, a rectangular frame (3) is mounted at the top of the parking rack (2), and a layer of anti-collision sponge is wrapped on the inner wall of the rectangular frame (3).
10. An operating method of a clamp-type AGV double-deck parking robot, the operating method comprising the clamp-type AGV double-deck parking robot as claimed in claim 9, the operating method further comprising the steps of:
the method comprises the following steps: the method comprises the following steps that a vehicle drives into a parking room, when the initial state is achieved, clamping arms (21) on an AGV transport vehicle (1) are in an open state, the AGV transport vehicle (1) directly drills to the bottom of the vehicle through a specified path, and the clamping arms (21) are moved to the two sides of a tire of the vehicle;
step two: starting a motor (16), wherein an output shaft of the motor (16) drives a positive and negative tooth bidirectional screw rod (17) to rotate so as to enable two internal thread blocks (25) to move close to each other, and then two clamping arms (21) move close to each other to clamp and fix an automobile tire;
step three: starting the electric sliding block (7), and driving the tire support (8) to move downwards to the lower part by the electric sliding block (7);
step four: the AGV transporting vehicle (1) is used again to transport the clamped and fixed vehicle to the position right below the parking frame (2), and the automobile tire is moved to the position right above the tire support (8);
step five: the electric sliding block (7) is started again, the motor (16) is started again, the clamping arm (21) loosens the clamped and fixed automobile tire, and the electric sliding block (7) drives the tire support (8) to move upwards;
step six: and the AGV transporting vehicle (1) is used again to transport another vehicle to the position right below the parking frame (2) for parking.
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| CN202210769559.5A CN115199113B (en) | 2022-06-30 | 2022-06-30 | Clamping type AGV double-layer parking robot and working method thereof |
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| CN202210769559.5A CN115199113B (en) | 2022-06-30 | 2022-06-30 | Clamping type AGV double-layer parking robot and working method thereof |
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| CN115199113B CN115199113B (en) | 2023-05-19 |
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| Publication number | Publication date |
|---|---|
| CN115199113B (en) | 2023-05-19 |
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