CN207032990U - Multilayer garage AGV vehicle carriers - Google Patents

Abstract

The utility model discloses a novel three-dimensional garage AGV vehicle carrier, which comprises an upper vehicle frame and a lower vehicle frame, and a running mechanism is installed at the bottom of the lower vehicle frame. A four-point synchronous spiral lifting mechanism and a four-point guiding device are installed in the middle of the lower frame to drive the upper frame to move up and down; The biaxial extension DC motor at the center of the frame, the biaxial extension DC motor drives two transmission shafts, the two transmission shafts drive the rotation of two lead screws, each of which is equipped with a lead screw nut, and each lead screw nut is connected to the Two push-out connecting rods are connected, and each push-out connecting rod pushes the comb-teeth push rod to move, and the comb-teeth push rod pushes the comb-teeth connecting block to move along the guide shaft. middle detection board. The motor drives the screw nuts matched with the front and rear lead screws to perform constant speed and reverse linear motion, thereby realizing the synchronous telescopic movement of the comb teeth located at the front and rear ends of the upper frame.

Description

A new three-dimensional garage AGV vehicle carrier

technical field

The utility model discloses a novel three-dimensional garage AGV vehicle carrier.

Background technique

At present, most of the vehicle carriers in the three-dimensional garage must be moved along the fixed track. Therefore, the civil construction must lay the carrier track inside the three-dimensional garage. The overall construction cost is high. However, the AGV vehicle carrier can walk independently in the floor plane without laying tracks, and its elevator only needs to do vertical lifting movement along the longitudinal rails, which greatly simplifies the structure of the elevator and reduces the overall cost of civil engineering.

The transfer mode of the existing carrier mainly includes three types: the car-loading plate type, the comb-tooth type and the jig-arm type. Among them, the vehicle-loading plate type needs to use the vehicle-loading plate to realize the handover of the vehicle between the carrier and the parking space. The vehicle-loading board needs to be accessed and dynamically allocated separately, the control programming is complicated, and the access efficiency is low. Both the comb-tooth type and the clamp-arm type can realize the direct transfer of the vehicle between the carrier and the parking space, and the structure of the clamp-arm type is complicated, and the adaptability to the front and rear wheelbases of different vehicles is poor. The comb-tooth type has a simple structure and is highly adaptable to the front and rear wheelbases of different cars. However, at present, the fixed comb-tooth type is mostly used. Although the structure is simple, the longitudinal movement stroke is large during handover, resulting in low utilization of the garage height and the carrier is empty. When driving, the width of the car body is large, and it is inconvenient to turn. Therefore, this design adopts the telescopic comb-tooth transfer mode to avoid the disadvantages of the above-mentioned fixed comb-tooth type.

Most of the existing planar self-propelled carriers realize the direction change and in-situ rotation of the car body through four-wheel differential speed or integrated two-wheel differential speed, and its structure and control are relatively complicated. This design adopts the combination of two driving wheels and two universal driven wheels. The driving wheels can realize the functions of straight traction and rotation direction change, both of which are formed by encoder-controller-driver-DC servo motor PID closed-loop feedback control output to realize precise control of running speed and rotation angle. The two driving wheels and the two universal wheels are arranged diagonally to realize the effective combination of the driving wheels going straight and changing direction and the universal wheels following, so as to realize the full plane of the car body in straight running, lateral movement, small radius turning and in-situ rotation. Azimuth walking.

At present, the lifting mechanism of the comb-teeth carrier mainly adopts the rack-and-pinion type. The gear fixed on the lower frame drives the rack fixed on the upper frame to realize the lifting movement of the comb teeth with the upper frame. Due to the rack-and-pinion transmission It does not have the self-locking function, and must realize self-locking through front-end transmission components such as worm gears and worms, posing potential safety hazards. This design combines the two transmission mechanisms of the worm gear and the nut screw to realize double self-locking and double deceleration and improve safety. Moreover, the scheme of the central drive and the outer four-point guide post and guide sleeve guidance of this design shortens the length of the transmission system and increases the stability of the movement.

Some patents use a rack and pinion mechanism to realize the expansion and contraction of the comb teeth, but in order to realize the synchronous expansion and contraction of the front and rear comb teeth, a longer transmission chain must be used. If the transmission chain is shortened by setting the motor drive at the front and rear respectively, not only the cost will increase, but also the guarantee will need to be increased. The control link of the synchronous movement of the two, and because the gear-rack transmission does not have the self-locking function, the comb teeth may retract during the centering and loading process, which poses a safety hazard. Therefore, this design uses the lead screw nut to drive the connecting rod slider to realize the synchronous extension of the front, rear, left, and right comb teeth. Power is provided by a double-shaft extension motor, which is transmitted to the front and rear lead screws through the front and rear hollow shafts, and then two symmetrical connecting rods are connected by the nuts on the lead screws, and the other end of the connecting rods is connected to the slider. Drive the expansion and contraction of the comb teeth. Because the screw-nut pair has self-locking performance, it can prevent the retraction of the comb teeth, so the designed comb teeth have the advantages of simple structure, safety and reliability.

When the vehicle has an offset in the initial parking space, most of the current carriers do not have the function of detecting and centering it. Some patents use a push plate to push the car left and right on the parking space to achieve centering, which is possible Causes damage to car tires and axle systems. In this design, a pair of centering mechanisms are added to the comb telescopic mechanism, that is, a centering detection plate is respectively set at a distance of about one tire length from the end of each comb tooth and pushed out synchronously with the comb teeth. At this time, the detection board on one side must first touch the tire. At this time, the AGV drive wheel rotates 90 degrees, the car body enters the left and right lateral movement mode, and the whole vehicle traverses to the other side until the centering detection boards on both sides are at the same time. Until it hits the tire, it can be considered that the carrier coincides with the axis of the car after correction. In order to make the system flexible, a spring is connected to the rear of the detection board to prevent the tire from being squeezed. Since the deviation correction is to match the centered vehicle through the translational movement of the carrier, it will not cause any damage to the vehicle.

Utility model content

In order to solve the technical problems in the prior art, the utility model discloses a novel three-dimensional garage AGV vehicle carrier.

The technical scheme that the utility model adopts is as follows:

A new type of three-dimensional garage AGV vehicle carrier, including an upper frame and a lower frame that can move up and down relative to each other, a walking mechanism is installed at the bottom of the lower frame, and a four-point synchronous screw lifting mechanism is installed in the middle of the lower frame and the four-point synchronous guiding device located outside the four-point synchronous screw lifting mechanism; the four-point synchronous screw lifting mechanism drives the upper frame to move up and down, and the four-point synchronous guiding device realizes the guidance of the upper frame, and the upper A comb telescopic centering mechanism is installed on the frame, and the comb telescopic centering mechanism includes a biaxial extension DC motor installed at the center of the upper frame, and the biaxial extension DC motor drives the front and rear hollow transmission shafts, The front and rear hollow transmission shafts drive the front and rear lead screws to rotate, and a lead screw nut is installed on each of the front and rear lead screws. Each lead screw nut is connected with two push-out connecting rods at a certain angle, and each push-out connecting rod pushes a comb The tooth push rod moves, and the comb tooth push rod pushes the comb tooth connecting block to move along the guide shaft. The lever nut performs constant speed and reverse linear motion, and then realizes the telescopic motion of the comb teeth located at the front and rear ends of the upper frame.

Further, a connecting frame is installed on the screw nut, and the two ends of the connecting frame are connected with one end of the push-out connecting rod through a bush and a pin to form a rotating pair; the other end of the pushing-out connecting rod is connected with the comb in the same way. Teeth push out the stub shaft connection on the rod.

Further, the comb teeth located at the front end of the upper frame are aligned with the front wheels of the vehicle; the comb teeth located at the rear end of the upper frame are matched with the rear wheels of the vehicle.

Further, two rear guide blocks are installed on the front end of the upper frame, and two front guide blocks are installed on the outer sides of the two rear guide blocks. There are four front combs, two of which are located on one side of the frame. The other two comb teeth are located on the other side of the frame, and are supported and positioned through the front and rear guide blocks on the other side; a centering detection plate is installed at the end of the comb push rod , The centering detection plate is connected with the comb push rod through a spring.

Further, the two push-out connecting rods located at the rear end of the upper frame respectively drive three comb-toothed push rods simultaneously through the three-unit connecting plate; each comb-toothed push rod drives a comb-toothed connecting block, and each comb-toothed connecting block is installed There are two comb teeth; the back end has a total of twelve comb teeth.

Further, six rear guide blocks are installed on the rear end of the upper frame, and six front guide blocks are installed on the outer sides of the two rear guide blocks. The front and rear guide blocks are supported and positioned, and the other six comb teeth are located on the other side of the frame, and are supported and positioned by three sets of front and rear guide blocks on the other side; one set of front and rear guide blocks corresponds to two comb teeth.

Further, a centering detection plate is installed on the outer sides of the two front guide blocks, and the centering detection plate is connected with the comb push rod through a spring. When there is an initial position deviation between the vehicle carrier and the central axis of the vehicle, the Stretch out, and the centering detection plate will touch the inner side of the car tire on one side first. At this time, the AGV drive wheel rotates 90 degrees and moves laterally in the opposite direction. The comb tooth telescopic movement continues. Continue to move and adjust until the centering plates on both sides touch the tires on both sides at the same time, indicating that the vehicle carrier has been aligned with the vehicle at this time, and the AGV drive wheels are back to the right.

Further, the walking mechanism is composed of two diagonally installed driving wheels and two diagonally installed universal wheels.

The lower part of the drive wheel is the traction travel mechanism, which includes an encoder, a DC servo motor and an electromagnetic brake. The encoder controls the DC servo motor to pass through the planetary reducer by detecting the rotation speed of the DC servo motor and feeding it back to the upper controller. Output speed after deceleration, and the electromagnetic brake at the end acts as a brake.

The upper part of the driving wheel is a direction changing mechanism including a DC rotary servo motor, a planetary reducer, a steering gear, an external gear slewing bearing, an encoding gear, and a feedback encoder; the controller receives the steering signal from the upper computer to determine the direction of the DC servo After the rotation speed of the motor is output by the planetary reducer, the overall rotation of the drive wheel is realized through the meshing transmission of the steering pinion on the output shaft and the external teeth of the slewing support. The inner and outer rings of the external gear slewing ring are respectively connected with the drive wheel and the lower frame. The encoder gear cooperates with the external teeth of the slewing ring to collect the actual rotation angle of the slewing ring and feed the value back to the rotating DC servo motor controller to form a negative feedback adjustment.

Further, the four-point synchronous spiral lift table includes a biaxial extension DC motor, the biaxial extension DC motor drives the primary shaft, the primary shaft drives the driving bevel gear, and the driving bevel gear cooperates with the driven bevel gear, The driven bevel gear drives the secondary shaft after realizing the power steering, the secondary shaft is connected to the hollow transmission shaft, and the hollow transmission shaft drives the helical lifting unit to go up and down.

Further, the four-point synchronous guiding device includes four guide posts and guide sleeves, the four guide sleeves are welded on the lower frame, the guide posts cooperate with the guide sleeves, one end of the guide posts is connected to the upper frame, when the upper frame When lifting, the guide post moves in the guide sleeve to play a guiding role.

The overall working process of the utility model is as follows:

1. The driver drives the car to the parking space on the first floor of the three-dimensional garage. The parking space can be directly set in the elevator, or the car can be placed on the parking space of the elevator with a plane shifting mechanism such as a conveyor belt. The driver gets off the car and the card reader leaves. .

2. The elevator starts and reaches the floor where the system analyzes that there are more parking spaces.

3. The nearest AGV vehicle carrier on the floor enters the elevator, the sensor guides by detecting the surrounding mark points, and the AGV walking mechanism locates the specified point at the bottom of the vehicle on the parking space of the elevator through the omnidirectional walking function.

4. The front and rear combs of the carrier extend out synchronously. The combs on both sides of the front end position the front wheels of the car, and the combs on both sides of the rear end match the rear wheels of the car. When the combs extend to a certain length, the combs on one side The centering detection board will first touch the inner side of the car tire. At this time, the AGV drive wheel deflects 90 degrees, the traverse mode is activated, and the carrier will translate in the opposite direction. The above-mentioned deviation correction process continues until the detection boards on both sides touch the vehicle at the same time If the tire is inside, the alignment is successful.

5. The motor drives the four-point synchronous lifting platform to work. With the assistance of the outer four-point guiding mechanism, the inner four-point lifting mechanism realizes the overall lifting of the upper frame and the vehicle to be transported by the comb teeth of the upper frame.

6. After rising to a height greater than the diameter of the comb teeth of a parking space, the comb teeth of the carrier and the comb teeth of the parking space can be staggered, and the carrier returns along the original path and leaves the elevator.

7. The host computer transmits the trajectory program of the AGV vehicle carrier, and the AGV carrier arrives at the parking space in the garage through straight, turning, rotating and other movements.

8. The AGV vehicle carrier is handed over to the parking space, and the car is placed on the parking space.

9. The process of picking up the car is the reverse process of the process of storing the car, so it will not be described in detail.

The beneficial effects of the utility model are as follows:

(1) It can realize fully automatic and high-efficiency access to vehicles, get rid of the limitation of three-dimensional garage tracks, and reduce the cost of civil construction.

(2) It can realize the straight travel, lateral movement, small-radius turning and in-situ rotation of the carrier in all directions. The adaptability of the carrier to the working environment is improved.

(3) It can ensure the synchronization, stability and safety of the lifting mechanism.

(4) Synchronous expansion and self-locking of front and rear comb teeth can be realized. The space utilization rate of the three-dimensional garage is improved, and the safety and reliability of the work of the carrier are guaranteed.

(5) It can realize the deviation correction of the handling vehicles.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.

Figure 1 Appearance of AGV vehicle carrier;

Figure 2 The internal structure diagram of the AGV vehicle carrier;

Figure 3 Schematic diagram of AGV walking mechanism;

Figure 4 AGV drive wheel structure diagram;

Figure 5 Schematic diagram of wheel assembly;

Figure 6 Appearance of universal wheel;

The connection diagram of Fig. 7 universal wheel and car body;

Figure 8 Schematic diagram of universal wheel;

The connection diagram of Fig. 9 wheel and car body;

Figure 10 overall layout of the spiral lifting mechanism;

Figure 11 is the layout of the lifting mechanism;

Fig. 12 Coordination drawing of driving bevel gear shaft;

Fig. 13 Coordination drawing of driven bevel gear;

Figure 14 is the installation diagram of the lower frame structure;

Figure 15 Appearance of the spiral lift unit;

Figure 16 internal view of the spiral lift unit;

Figure 17 worm gear and nut diagram;

The overall unit diagram of Fig. 18 comb;

Figure 19 front comb unit diagram;

Fig. 20 Internal detail diagram of the comb unit;

Figure 21 Coordination diagram of double shaft extension motor, hollow transmission shaft and lead screw

Figure 22 rear end matching comb diagram;

Figure 23 rear guide block diagram;

Figure 24 Front guide block diagram.

In the figure: 11 upper shell, 12 lower shell;

21 Comb telescoping and centering mechanism of the upper frame, 22 AGV traveling mechanism, 23 four-point synchronous lifting mechanism of the lower frame;

31 driving wheels, 32 universal wheels;

41 DC rotary servo motor and planetary reducer, 42 steering gear, 43 coded gear, 44 feedback encoder, 45 external gear slewing bearing, 46 connecting plate, 47 right side plate, 48 left side plate, 49 electromagnetic brake, 410 wheel , 411 DC servo motor and planetary reducer, 412 encoder;

51 screws, 52 couplings, 53 bearings, 54 axle keys;

61 connecting block, 62 connecting upper plate, 63 right connecting plate, 64 left connecting plate, 65 universal wheel shaft, 66 universal wheel;

71 cover plate, 72 bolts, 73 shaft end cover, 74 deep groove ball bearing, 75 sleeve, 76 lower frame, 77 upper vertical shaft of wheel, 78 thrust ball bearing, 79 upper plate of wheel;

81 deep groove ball bearing;

91 left and right longitudinal beams, 92 triangular ribs, 93 horizontal frames, 94 connecting brackets, 95 long plate horizontal frames, 96 wheel connecting blocks;

The four-point synchronous guiding device on the outside of 101, and the four-point synchronous spiral lifting table of 102;

111 Dual-axis extension DC motor, 112 Coupling, 113 Driving bevel gear, 114 Driven bevel gear, 115 Primary shaft, 116 Secondary shaft, 117 Hollow drive shaft, 118 Spiral lifting units;

121 coupling, 122 tapered bearing, 123 key, 124 shaft end nut;

131 bearing seat, 132 bearing, 133 shaft sleeve;

141 guide column and guide sleeve, 142 long plate horizontal frame, 143 angle steel horizontal frame, 144 middle horizontal frame, 145 bracket;

151 flange top cover, 152 box body, 153 upper end cover, 154 left and right end covers;

161 sliding screw, 162 bearing, 163 worm, 164 worm gear, 165 bearing;

181 biaxial extension DC motor, 182 front hollow drive shaft, 183 front lead screw, 184 rear hollow drive shaft, 185 rear lead screw, 186 front comb part, 187 rear comb part;

191 Lead screw nut, 192 Slider guide rail, 193 Push out connecting rod, 194 Connecting frame, 195 Lead screw support seat;

201 front guide block, 202 rear guide block, 203 guide shaft, 204 comb, 205 comb connection block, 206 comb connection plate, 207 guide rail, 208 comb push rod, 209 centering spring, 210 centering detection plate ;

211 bearing and housing, 212 spline shaft;

221 three-unit connecting plate, 222 active comb unit, 223 and 224 driven comb unit.

Detailed ways

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

Below in conjunction with accompanying drawing, the utility model is described in detail:

1. Appearance and function division of AGV vehicle handler

As shown in Figure 1, the AGV vehicle carrier is composed of upper and lower frames, with an upper shell 11 and a lower shell 12 to protect the internal mechanism, and the shell is a thin steel sheet metal part.

As shown in Figure 2, the internal structure diagram of the AGV vehicle carrier is mainly composed of three parts: the comb telescopic and centering mechanism 21 of the upper frame, the AGV running mechanism 22, and the four-point synchronous lifting mechanism 23 of the lower frame.

2. AGV walking mechanism

As shown in FIG. 3 , the AGV traveling mechanism is composed of two diagonally installed driving wheels 31 and two diagonally installed universal wheels 32 .

Figure 4 is a structural diagram of the AGV drive wheel. The lower part of the drive wheel is the traction travel mechanism, and its power transmission route is: encoder 412 - DC servo motor and motor planetary reducer 411 - right side plate 47 - wheel 410 - left Side plate 48—electromagnetic brake 49 . In Fig. 5, the shaft and the wheel are matched by a key 54, the motor shaft and the wheel shaft are matched by a coupling 52, the wheel shaft is supported by a pair of bearings 53, and the side plate and the DC servo motor are detachably connected by bolts 51. When working, the photoelectric encoder 412 detects the rotation speed of the DC servo motor and feeds it back to the upper-level controller to control the output speed of the DC servo motor after being decelerated by the planetary reducer, and the electromagnetic brake 49 at the end acts as a brake.

The upper part of the driving wheel is a direction changing mechanism, and its power transmission path is: DC rotary servo motor and planetary reducer 41 - steering gear 42 - external gear slewing bearing 45 - encoding gear 43 - feedback encoder 44 . The inner and outer support rings of the external gear slewing ring are respectively connected with the driving wheel and the lower frame. The controller receives the steering signal from the upper computer, and compares the real-time rotation speed to determine the rotation speed of the DC servo motor 41. After outputting through the planetary reducer, and then through The steering pinion 42 on the output shaft is engaged with the external teeth of the slewing bearing for transmission to realize the integral rotation of the drive wheel. The encoder gear 43 cooperates with the outer teeth of the slewing bearing 45, and the encoder 44 collects the actual rotation angle of the slewing bearing, and feeds back the value to the rotating DC servo motor to form a negative feedback adjustment. The inner ring of the slewing ring is connected with the connecting plate 46, and the connecting plate and the lower two connecting side plates 47, 48 are fixedly connected to form a supporting member, thereby fixing components such as the traction traveling motor, wheels, wheel axles, and bearings.

The function of the universal wheel is to support the car body, assist steering and maintain the stability of the car body, as shown in Figure 6. The top of the universal wheel has a connection block 61 affixed to the lower vehicle frame, and the left and right connecting plates 64, 63, wheel upper plate 62 provide the support to the universal wheel shaft 65 and the universal wheel 66.

The internal structure of the universal wheel connection block is shown in assembly figure 7, including cover plate 71, shaft end cover 73, deep groove ball bearing 74, sleeve 75, lower frame 76, thrust ball bearing 78, vertical shaft on the wheel 77, wheel upper plate 79. The cover plate and the shaft end cover etc. are all detachably connected with screws 72, and the upper plate 79 of the wheel is fixedly connected with the vertical shaft 77 on the wheel, so that the universal wheel can rotate with the lower frame and act as a support for the lower frame. effect.

The universal wheel mainly bears the weight of the car body, so the thrust bearing 78 is used to transmit the force to the wheel, and the horizontal force of the car body such as steering, acceleration and deceleration and spin is borne by the deep groove ball bearing 74, and the power in the two directions They are respectively shared by two bearings to ensure the reliability of the universal wheel.

As shown in Figure 8, the two ends of the wheel shaft 65 of the universal wheel are fixedly connected to the side plate, and the middle part of the wheel shaft cooperates with the wheel through a deep groove ball bearing 81. There is a centrifugal force when the body turns, making it easier to deflect and reducing the risk of jamming.

The connection between the wheel and the vehicle body is shown in Figure 9, and there are two force transmission paths: one is the left and right longitudinal beams 91—the triangular ribs 92—the long plate horizontal frame 95—the wheel connecting block 96. The other is left and right side beams 91—connecting bracket 94—front and rear cross frame 93—wheel connecting block 96. The internal structure of the wheel connection block 96 of the AGV drive wheel and the universal wheel is different. The connection block of the AGV drive wheel is connected with the slewing support seat 45 on the upper part of the wheel, and the drive wheel can carry gravity and turn through the external tooth slewing bearing. and go straight. The wheel connecting block of universal wheel provides supporting location to deep groove ball bearing 74 and thrust ball bearing 78, and parts such as cover plate 73, sleeve 75 that cooperate with it. Long plate horizontal frame 95, connection block 96, triangular rib 92 three are affixed. Two cross frames 93 are affixed to the front and rear sides of the wheel connecting block 96, so that the four sides of the wheel connecting frame are connected to the longitudinal beams, so as to ensure the strength and rigidity of the whole vehicle.

3. Lifting mechanism

As shown in FIG. 10 , the lifting mechanism is mainly composed of a four-point synchronous spiral lifting platform 102 in the middle of the lower frame and a four-point synchronous guide device 101 on the outside.

The power transmission path of the lifting mechanism is shown in Figure 11: double-shaft extension DC motor 111—primary shaft 115—driving bevel gear 113—driven bevel gear 114—secondary shaft 116—hollow drive shaft 117— - Each helical lift unit 118 .

The cooperation between the active bevel gear and the primary shaft is shown in Figure 12. The DC motor shaft transmits power to the primary shaft 115 through the coupling 121. The end of the primary shaft 115 has the active bevel gear 113, the bearing seat 112, and the tapered bearing inside. 122.

The driven bevel gear 114 meshed with the driving bevel gear 113 transmits the power to the secondary shaft 116, and the two ends of the secondary shaft 116 are respectively splined with two hollow transmission shafts 117, and the hollow transmission shaft 117 connects the secondary shaft 116 The power is finally transmitted to the front and rear two helical lift units 118 .

Fig. 14 is the installation diagram of the lower frame structure, four guide posts and guide sleeves 142 installed on the outside play a guiding role, and the longitudinal beams on both sides of the lower frame are two channel steels 91, which are the main bearing beams. The middle horizontal frame 144 is used to support and fix the lifting motor 111, the primary shaft 115 and the shafting parts. It is formed by two angle steels arranged symmetrically. A bracket 145 is responsible for fixing the four bearing seats 112 of the first stage shaft 115. The bearing blocks of the motor 111 and the secondary shaft 116 are directly fixed on the two angle steels. The first two symmetrical horizontal frames 143 on both sides of the central horizontal frame 144 are responsible for the fixing of the four spiral lifting units 118. The spiral lifting unit 118 is the only component that directly contacts the upper frame and carries the weight of the upper frame. The root angle steel is symmetrically welded on the C-shaped channel steel 91 on both sides. The third-level horizontal frame is a symmetrical two-piece long plate horizontal frame 142. A cylindrical hole for assembling a guide sleeve is respectively opened at both ends of the plate horizontal frame 142. The guide sleeve is directly fixedly connected with the cylindrical hole by welding, and the guide sleeve matched with the guide sleeve One end of the column is connected with the upper frame, and when the upper frame is raised and lowered, the guide column moves in the guide sleeve to play a guiding role. There are four such guide posts and guide sleeves in total, two of which are arranged on each horizontal frame.

The structure of the screw lifting unit 118 is shown in Figure 15, Figure 16 and Figure 17, and the power is introduced through the cooperation of the middle hollow transmission shaft 117 and the worm screw 163, where the spline is used to cooperate to transmit a large torque. The outside of the screw lift unit is composed of a box body 152, an upper end cover 153, a left and right end cover 154, and a flange top cover 151 connected to the upper frame. - sliding lead screw 161 - flange top cover 151. The worm 163 and the worm wheel 164 are supported and positioned by two pairs of tapered roller bearings 162, 165 mounted on the casing. Process a threaded hole inside the worm gear shaft to match the sliding screw. As shown in Figure 17, the threaded part of the worm gear passes through a section of extended hollow tube beyond the width of the worm wheel itself. This extended tube is assembled with the tapered roller bearing 165 fits. The structure of the worm gear integrates the two-stage transmission as a whole, which makes the structure layout compact.

4. Comb telescopic and centering mechanism

The functions of the telescoping and centering mechanism of the comb mainly include: the synchronous telescopic telescoping of the front positioning comb and the rear matching comb; detecting whether the AGV vehicle carrier and the transported vehicle are on the same central axis and realizing adjustment and centering; the front comb alignment The front wheel alignment of the car; the rear comb matches the rear wheel of the vehicle.

As shown in Fig. 18, Fig. 19, and Fig. 20, the transmission path of the comb telescopic power is: biaxial extension DC motor 181——front and rear hollow drive shafts 182, 184——front and rear lead screws 183——nut 191——slider guide rail 192——pull out connecting rod 193——comb tooth moving block 205——comb tooth 204.

It consists of front guide block 201, rear guide block 202, guide track 207, centering detection plate 210, centering spring 209, comb tooth connection block 205, comb tooth connection plate 206, guide shaft 203, comb tooth 204, comb tooth push Rod 208 etc. are formed. The comb tooth connecting block 205 is connected with the comb tooth push rod 208, and the short shaft 211 on the comb tooth push rod is connected with one end of the push-out connecting rod 193 with a bush to form a rotating pair, and the comb tooth connecting plate 206 connects the two comb teeth 204 and the comb teeth. Block 205 is connected. The linear motion of the comb teeth is realized by the guide track 207 and the guide shaft 203 . The guide shaft 203 guides the comb connection block 206, and the front and rear guide blocks 201, 202 provide positioning support for each component.

Figure 21 is the power transmission coordination diagram on the front side. The DC double-axis extension motor 181 is connected to the hollow transmission shaft 182 through two connecting short shafts 211 at the front and rear. Both ends of the shaft are splined.

Motor rotation drives two front and back leading screws 183 to rotate symmetrically at the same speed, and the front and rear nuts 191 that cooperate with the front and rear leading screws do constant speed reverse linear motion under the guidance and support of the guide rail slider 92 . Nut is equipped with connecting frame 194, and its two ends are connected with releasing connecting rod 193 by bushing and bearing pin, form a revolving pair, and the other end of connecting rod is connected with comb tooth releasing rod shaft 211 in the same way. In FIG. 19 , the two connecting rods 193 on the left and right sides of the nut 191 move symmetrically, so as to ensure that the left and right comb tooth connecting blocks 205 and the left and right comb teeth 204 fixedly connected thereto are telescopic and telescopic synchronously. And because the structure of the front and rear lead screw nuts is consistent, the front and rear comb teeth will expand and contract at the same speed.

The front comb tooth positioning unit 186 locates the front wheel of the vehicle, which is connected by the front guide block 201, the rear guide block 202, the guide rail 207, the centering detection plate 210, the centering spring 209, the comb tooth connecting block 205, and the comb teeth. Plate 206, guide shaft 203, comb teeth 204, comb teeth push rod 208 and the like. The comb tooth connecting block 205 is connected with the comb tooth push rod 208, and the short shaft 211 on the comb tooth push rod is connected with one end of the push-out connecting rod 193 with a bush to form a rotating pair, and the comb tooth connecting plate 206 connects the two comb teeth 204 and the comb teeth. Block 205 is connected. The linear motion of the comb teeth is realized by the guide track 207 and the guide shaft 203 . The guide shaft 203 guides the comb connection block 206, and the front and rear guide blocks 201, 202 provide positioning support for each component, as shown in Fig. 23 and Fig. 24 .

There is a centering detection plate 210 connected with a spring 209 on the left and right sides of the telescopic mechanism. One side first touches the inner side of the car tire on that side. At this time, the AGV drive wheel rotates 90 degrees and moves laterally in the opposite direction. The middle plate touches the tires on both sides at the same time, indicating that the vehicle carrier has been aligned with the vehicle at this time, and the AGV drive wheel is back.

For vehicles with different front and rear wheelbases, since the front wheels have been positioned by the front comb teeth, the 6 comb teeth at the rear end can match the rear wheels. The structure of each unit of the rear comb 187 is the same as that of the front-end positioning combs, but the spacing between the combs is relatively small, and the three comb units are connected together, wherein the middle comb unit 222 is active, and the two sides are connected by the unit connecting plate 221. The connecting shafts 211 on the comb blocks of the three units are connected together to drive the comb units 223 and 224 to move together.

During normal handover, the vehicle is transported after the entire process of comb tooth telescopic alignment is completed, so the comb tooth is not stressed during the telescopic alignment process, and the motor only needs to overcome the internal friction force, so the motor load is small and the motion accuracy is high .

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (10)

1. A novel three-dimensional garage AGV vehicle carrier, is characterized in that, comprises upper vehicle frame and lower vehicle frame that can realize relative motion up and down, running gear is installed at the bottom of described lower vehicle frame, and is installed in the middle part of lower vehicle frame The four-point synchronous spiral lifting mechanism and the four-point synchronous guiding device located outside the four-point synchronous spiral lifting mechanism; the four-point synchronous spiral lifting mechanism drives the upper frame to move up and down, and the four-point synchronous guiding device realizes the alignment of the upper frame guide, the upper frame is equipped with a comb-tooth telescopic centering mechanism, and the comb-tooth telescopic centering mechanism includes a biaxial extension DC motor installed at the center of the upper frame, and the biaxial extension DC motor Drive the front and rear transmission shafts, and the front and rear transmission shafts drive the front and rear lead screws to rotate. A lead screw nut is respectively installed on the front and rear lead screws, and each lead screw nut is connected with two push-out connecting rods at a certain angle. The rod pushes a comb-toothed push rod to move, and the comb-toothed push rod pushes the comb-toothed connecting block to move along the guide shaft. The comb-toothed connecting block is provided with combs, which are driven by a motor and matched with the front and rear lead screws. The front and rear lead screw nuts do constant speed and reverse linear motion, thereby realizing the synchronous telescopic movement of the comb teeth located at the front and rear ends of the upper frame. 2. The new three-dimensional garage AGV vehicle carrier as claimed in claim 1, wherein a connecting frame is installed on the described screw nut, and the two ends of the connecting frame are connected with one end of the push-out connecting rod through a bush and a pin Connect to form a rotary pair; the other end of the push-out connecting rod is connected with the short shaft on the comb-teeth push-out rod in the same way. 3. The new three-dimensional garage AGV vehicle carrier as claimed in claim 1, wherein the comb teeth positioned at the front end of the upper frame are positioned to the front wheels of the vehicle; the comb teeth positioned at the rear end of the upper frame are matched to the rear wheels of the vehicle. 4. The new three-dimensional garage AGV vehicle carrier as claimed in claim 1 is characterized in that two rear guide blocks are installed at the front end of the upper frame, and two front guide blocks are installed on the outer sides of the two rear guide blocks. There are four combs at the front end, two of which are located on one side of the frame, and the other two are located on the other side of the frame. A centering detection plate is installed at the end of the comb push rod, and the centering detection plate It is flexibly connected with the comb push rod with a spring. 5. The new three-dimensional garage AGV vehicle carrier as claimed in claim 1 is characterized in that, two push-out connecting rods positioned at the rear end of the upper frame respectively drive three comb-teeth push rods simultaneously through three-unit connecting plates; A comb tooth push rod drives a comb tooth connecting block, and two comb teeth are installed on each comb tooth connecting block; there are twelve comb teeth altogether at the rear end. 6. The new three-dimensional garage AGV vehicle carrier as claimed in claim 5, wherein six rear guide blocks are installed at the rear end of the upper frame, and six front guide blocks are installed on the outer sides of the two rear guide blocks , where six combs are located on one side of the frame, supported and positioned through the front and rear guide blocks on this side, and the other six combs are located on the other side of the frame, supported and positioned through the front and rear guide blocks on the other side; one set The front and rear guide blocks correspond to the two comb teeth; a centering detection plate is installed at the end of the comb tooth push rod, and the two centering detection plates are flexibly connected to the comb tooth push rod through springs. 7. The new three-dimensional garage AGV vehicle carrier as claimed in claim 1, wherein the traveling mechanism is composed of two diagonally installed drive wheels and two diagonally installed universal wheels. 8. The new three-dimensional garage AGV vehicle carrier as claimed in claim 7, wherein the lower part of the drive wheel is a traction travel mechanism, which includes an encoder, a DC servo motor and an electromagnetic brake, and the encoder passes through Detect the rotation speed of the DC servo motor and feed it back to the superior controller, control the output speed of the DC servo motor after being decelerated by the planetary reducer, and the electromagnetic brake at the end acts as a brake. 9. The new three-dimensional garage AGV vehicle carrier as claimed in claim 7, wherein the upper part of the drive wheel is a direction changing mechanism, including a DC rotary servo motor, a planetary reducer, a steering gear, and an external gear rotary Support, encoding gear, feedback encoder; the controller receives the steering signal to determine the rotation speed of the DC servo motor. After outputting through the planetary reducer, the driving wheel is realized through the meshing transmission of the steering pinion on the output shaft and the external teeth of the slewing bearing. Overall rotation; the inner and outer rings of the external gear slewing ring are respectively connected with the drive wheel and the lower frame; the encoder gear cooperates with the outer teeth of the slewing ring to collect the actual rotation angle of the slewing ring and feed back the value to the rotary DC servo motor controller , forming a negative feedback regulation. 10. The new three-dimensional garage AGV vehicle carrier as claimed in claim 1, wherein the four-point synchronous screw lifting mechanism includes a biaxial extension DC motor, and the biaxial extension DC motor drives the primary shaft, The primary shaft drives the driving bevel gear, and the driving bevel gear cooperates with the driven bevel gear. The driven bevel gear realizes power change and then drives the secondary shaft. The secondary shaft is connected to the hollow transmission shaft, and the hollow The drive shaft drives the helical lifting unit up and down; The four-point synchronous guiding device includes four guide posts and guide sleeves, the four guide sleeves are welded on the lower frame, the guide posts cooperate with the guide sleeves, one end of the guide posts is connected to the upper frame, when the upper frame is lifted, The guide post moves in the guide sleeve and plays a guiding role.