CN207260700U - Broach AGV carriers - Google Patents
Broach AGV carriers Download PDFInfo
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- CN207260700U CN207260700U CN201721088957.1U CN201721088957U CN207260700U CN 207260700 U CN207260700 U CN 207260700U CN 201721088957 U CN201721088957 U CN 201721088957U CN 207260700 U CN207260700 U CN 207260700U
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- broach
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- comb
- lifting frame
- centering
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Abstract
A kind of broach AGV carriers, including walking frame, lifting frame, lifting gear, the running gear on walking frame and at least one left and right centralising device on lifting frame of connection walk frame and the lifting frame；The both ends of lifting frame are preceding to comb and comb the center symmetric setting on lifting frame afterwards equipped with the preceding comb for bearing automobile wheel and rear comb；Left and right centralising device includes the centering piece of two opposite sides for being located at lifting frame respectively and the centering actuating unit for driving two centering pieces backwards or moving toward one another.The utility model is by setting preceding comb and combing the center symmetric setting on lifting frame afterwards, so that broach AGV carriers can be adjusted in the stop of parking entrance according to the center of automobile, so that when carrying, the center of broach AGV carriers is overlapping with the center of automobile, it is not only does this facilitate the motion control for improving broach AGV carrier carrier vehicles, also so that front-wheel is not required to be parked on the position that entrance is specified, fault-tolerance is high.
Description
Technical field
It the utility model is related to car carrying car technical field, more particularly to a kind of broach AGV carriers.
Background technology
Rapid proliferation and development with automobile, city parking position supply wretched insufficiency, the demand on parking stall is increasing,
Traditional parking mode gradually develops to intelligent machine solid parking mode.Existing full-automation parking systems mainly has
Planar movement class, tunnel stacking class, vertical lifting.Their operation principle is one or more haulage equipment, can be from vapour
Car bottom gets up to carry automobile lifting, then moves together on elevator, and elevator is transported haulage equipment together with automobile again
Automobile is sent into the parking stall specified toward different parking tiers, then by carrier.
Broach alternating car carrying is that a kind of most common car carrying mode, the carrying side are applied in current multi-storied garage
Formula is realized by broach carrier.Broach haulage equipment includes lower body frame structure for automotive, upper frame structure and the connection lower vehicle frame knot
The lifting gear of structure and upper frame structure, lower body frame structure for automotive include lower vehicle frame and positioner, navigation dress on lower vehicle frame
Put and running gear, upper frame structure include upper frame and the preceding broach in upper frame and rear broach；During carrier vehicle, lead to
Cross lifting transverse device movement broach carrier and carry automobile arrival parking spot, comb fork and the broach carrier of parking spot
Comb fork in upper frame structure is staggered, and the comb fork in lifting gear driving upper frame is dropped under the comb fork of parking spot
Side, such automobile are placed on parking spot.Substitute vehicle-carrying plate with comb fork, this haulage equipment does not have vehicle-carrying plate back and forth
Transmission, so operational efficiency is higher.
Existing broach haulage equipment is generally combed greatly more afterwards by front wheel alignment, preceding comb spacing, and the spacing of preceding comb just makes
Front-wheel is absorbed in certain depth；It can prevent automobile from moving back and forth.In addition centering body is added, can prevent vehicle right and left from moving.
But the length of automobile and disunity, so with the carrier of front wheel alignment in carrier vehicle, it can not ensure the center of automobile
It is overlapping with the center of broach haulage equipment, so as to cause the motion control of broach haulage equipment carrier vehicle to be deteriorated.This is asked
Topic on traditional carrier and unobvious because it only it is front and rear walk, and then particularly evident on AGV, AGV needs comprehensive fortune
It is dynamic.In addition, because existing broach requirement front wheel alignment, car owner when entrance stops, it is necessary to by front-wheel accurately
It is parked in corresponding testing agency, automatic parking system could work, and usage experience is very poor.
Utility model content
Based on this, the utility model provides a kind of broach AGV carriers that can be solved the above problems.
In order to realize the purpose of this utility model, the utility model uses following technical scheme：
A kind of broach AGV carriers, including walking frame, lifting frame, the connection walking frame and lifting frame
Lifting gear, the running gear on the walking frame and at least one left and right centering on the lifting frame
Device；The both ends of the lifting frame are equipped with preceding comb and rear comb for bearing automobile wheel, and the preceding comb and rear comb are on rising
The center symmetric setting of frame drops；The left and right centralising device includes pair of two opposite sides for being located at the lifting frame respectively
Middle part and the centering actuating unit for driving two centering pieces backwards or moving toward one another, it is opposite that the centering actuating unit includes two
It is setting and slip the mobile bar on the lifting frame, the gear between the mobile bar and be installed on the lifting frame
Transmission drive component on frame, the centering piece are respectively positioned on the preceding comb and the top combed afterwards；Two mobile bar connects respectively
Two centering piece, the rack for the gear that is sequentially connected, the transmission drive component connection are equipped with each mobile bar
The gear.
Above-mentioned broach carrier, by setting preceding comb and combing the center symmetric setting on lifting frame afterwards so that comb
Tooth carrier can be adjusted in the stop of parking entrance according to the center of automobile, so that when carrying, broach is carried
The center of device is overlapping with the center of automobile, and this aspect helps to improve the motion control of broach carrier carrier vehicle, separately
On the one hand so that the front-wheel of automobile is not required to be parked on the position that entrance is specified, fault-tolerance is high, improves the usage experience of client,
Another further aspect, suitable for the automobile of different size, improves versatility；In addition, by setting preceding comb and rear comb respectively symmetrically to set
In the both ends of lifting frame, also enable automobile just into just going out, it is not necessary to which turntable of putting english, reduces the manufacture cost in parking lot.
In a wherein embodiment, roller is equipped with the preceding comb and rear comb.
In a wherein embodiment, the lifting gear is hydraulic cylinder.
In a wherein embodiment, the running gear includes the active row of at least one middle part for being arranged on walking frame
Mechanism and two is walked respectively positioned at the driven wheel assembly of the both sides of the running gear, it is driven that each driven wheel assembly includes at least two
Wheel.
In a wherein embodiment, the active walking mechanism is McCrum wheel walking mechanism.
In a wherein embodiment, the active walking mechanism include be installed on it is described walking frame on balancing stand, with
The mounting bracket of balancing stand pivot joint, slided up and down with the mounting bracket two Power Components being connected and two connect respectively described in
The buffering suspended structure of mounting bracket and Power Component；The mounting bracket include two parallel guide plates and two respectively connection described in lead
To the side plate of plate；Each Power Component is included with the movable plate of the corresponding guide plate slides connection and installed in described
McCrum wheel and power drive structure on movable plate, the power drive structure connect McCrum wheel.
In a wherein embodiment, the quantity of the centering actuating unit is two, wherein a centering actuating unit
Close on the preceding comb to set, another centering actuating unit closes on the rear comb setting.
In a wherein embodiment, the centering piece includes the first plate connected vertically and the second plate, the first plate position
In the top of the lifting frame, and the mobile bar is connected, second plate is located at the outside of the lifting frame.
In a wherein embodiment, laser anti-impact device and laser navigation dress on the walking frame are further included
Put.
In a wherein embodiment, the shield on the walking frame and lifting frame is further included.
Brief description of the drawings
Fig. 1 is the structure diagram of the broach AGV carriers described in one preferred embodiment of the utility model；
Fig. 2 is the structure diagram of the active walking mechanism of the running gear of the broach AGV carriers shown in Fig. 1；
Fig. 3 is the exploded view of the active walking mechanism shown in Fig. 2；
Fig. 4 is enclosed the enlarged drawing at position by circle A in Fig. 1；
Fig. 5 is that the broach AGV carriers shown in Fig. 1 add the structure diagram after shield；
In figure：
10th, walking frame；20th, lifting frame；21st, preceding comb；22nd, rear comb；23rd, roller；30th, lifting gear；40th, walking dress
Put；50th, active walking mechanism；51st, balancing stand；52nd, mounting bracket；521st, guide plate；522nd, side plate；53rd, Power Component；531st, move
Movable plate；532nd, power drive structure；533rd, McCrum wheel；54th, suspended structure is buffered；60th, driven wheel；70th, left and right centering fills
Put；71st, centering piece；72nd, the first plate；73rd, the second plate；74th, centering actuating unit；75th, mobile bar；751st, rack；76th, gear；
77th, it is driven drive component；81st, laser anti-impact device；82nd, supplied laser navigation apparatus；90th, shield.
Embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in fact in many different forms
It is existing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is the public affairs made to the utility model
Open the understanding more thorough and comprehensive of content.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Please refer to Fig.1 to Fig. 5, for a kind of broach AGV carriers of one preferred embodiment of the utility model, broach AGV
Carrier includes the lifting gear 30 of walking frame 10, lifting frame 20, connection walking frame 10 and lifting frame 20, arranged on row
Walk running gear 40, laser anti-impact device 81 and supplied laser navigation apparatus 82 on frame 10 and at least one be arranged on lifting frame
Left and right centralising device 70 on 20；The both ends of lifting frame 20 are equipped with preceding comb 21 and rear comb 22 for bearing automobile wheel, preceding
Roller 23 is equipped with 22 center symmetric setting on lifting frame 20 of comb 21 and rear comb, preceding comb 21 and rear comb 22.By setting
22 center symmetric setting on lifting frame 20 of comb 21 and rear comb before putting so that broach AGV carriers are in parking entrance
Stop can be adjusted according to the center for the automobile being parked at entrance, so that when carrying, in broach AGV carriers
The heart is overlapping with the center of automobile, this had not only helped to improve the motion control of broach AGV carrier carrier vehicles, but also caused front-wheel
It is not required to be parked on the position that entrance is specified, fault-tolerance is high, improves the usage experience of client.
In the present embodiment, lifting gear 30 is hydraulic cylinder.Hydraulic cylinder is that a kind of thrust is bigger, and running and comparing is steady
Hydraulic actuator.Can be driven by hydraulic cylinder carry the lifting frame 20 of automobile on walking frame 10 can preferably into
Row elevating movement.
The active walking mechanism 50 and two that running gear 40 includes at least one middle part for being arranged on walking frame 10 is distinguished
Driven wheel assembly positioned at the both sides of running gear 40, each driven wheel assembly include at least two driven wheels 60.
In the present embodiment, active walking mechanism 50 is 533 walking mechanism of McCrum wheel, and Mecanum wheel is a kind of knot
Structure is compact, moves flexible directional wheel.It is Mecanum wheel walking mechanism by setting active hoofing part mechanism so that comb
Tooth AGV carriers can realize all-around mobile function.
Specifically, as shown in Figures 2 and 3, balancing stand 51 that active walking mechanism 50 includes being installed on walking frame 10,
The mounting bracket 52 that is pivotally connected with balancing stand 51, slide up and down two Power Components 53 being connected and two connection peaces respectively with mounting bracket 52
Shelve the buffering suspended structure 54 of 52 and Power Component 53；Mounting bracket 52 connects respectively including two parallel guide plates 521 and two
The side plate 522 of guide plate 521；Each Power Component 53 includes the movable plate 531 being slidably connected with corresponding guide plate 521 and peace
McCrum wheel 533 and power drive structure 532 on movable plate 531, power drive structure 532 connect McCrum wheel
533, for driving McCrum wheel 533 to rotate automatically.Additionally by buffering suspended structure connection movable plate 531 and guide plate
521, the vibrations that out-of-flatness ground is brought to broach AGV carriers can be reduced by the one hand buffering suspended structure, avoid broach AGV
Carrier is badly shaken, and on the other hand, buffering suspended structure enables Power Component 53 to move up and down relative to mounting bracket 52,
When broach AGV carriers run into injustice ground when because all Power Components 53 of active walking mechanism 50 each via
One buffering suspended structure connection mounting bracket 52, therefore the meeting of the McCrum wheel 533 of each Power Component 53 of active walking mechanism 50 exists
Contacted all the time with ground under the action of buffering suspended structure, even if this causes the vehicle body of broach AGV carriers to install more sets actively
Walking mechanism 50, all McCrum wheels 533 can be contacted when running into the ground of out-of-flatness with ground, be not in some wheat
The phenomenon that carat nurse wheel 533 vacantly skids, ensure that the stability of broach AGV carriers movement.
In the present embodiment, each driven wheel assembly includes two driven wheels 60, and two driven wheels 60 are located at lifting frame 20 respectively
Both ends.Preferably, driven wheel 60 is Bick footedness wheel.
Power Component 53 is centrosymmetric setting on mounting bracket 52, to increase the aesthetics of active walking mechanism 50 and fortune
Dynamic stability.
As shown in figure 4, left and right centralising device 70 includes the centering piece 71 of two opposite sides for being located at lifting frame 20 respectively
And the centering actuating unit 74 for driving two centering pieces 71 backwards or moving toward one another, centering actuating unit 74 include two and set relatively
Mobile bar 75 on lifting frame 20 put and sliding, the gear 76 between mobile bar 75 and it is installed on lifting frame 20
Transmission drive component 77, the tops of comb 21 and rear comb 22 before centering piece 71 is respectively positioned on；Two mobile bars 75 connect two centerings respectively
Part 71, the rack 751 of drive connection gear 76 is equipped with each mobile bar 75, is driven 77 connection gear 76 of drive component.Centering
When, transmission 77 drive gear 76 of drive component rotates, and the gear 76 of rotation drives two centering pieces 71 backwards by two mobile bars 75
Movement, to realize to the centering on vehicle right and left direction.
Centering piece 71 includes 72 and second plate 73 of the first plate connected vertically, and the first plate 72 is located at the upper of lifting frame 20
Side, and mobile bar 75 is connected, the second plate 73 is located at the outside of lifting frame 20, for moving out the wheel close to automobile.
The quantity of centering actuating unit 74 is two, and comb 21 is set before actuating unit 74 closes in one pair of which, another pair
Comb 22 is set after middle actuating unit 74 closes on, before this contributes to the active force of centering actuating unit 74 to concentrate and act on automobile
On wheel and trailing wheel, help rapidly to promote the wheel of automobile to realize left and right centering.
As shown in figure 5, broach AGV carriers further include the shield 90 on walking frame 10 and lifting frame 20, use
Injured with protection setting in the device on walking frame 10 and lifting frame 20 from external environment.
The concrete operating principle of above-mentioned broach AGV carriers is：
Automobile is parked on the fixation combed frame of the entrance in garage, and the detection device for being arranged at garage parking detects automobile
Position where central point, and the control system in garage is sent information to, control system controls broach according to received information
AGV carriers are moved under jiffy stand, until the central point of broach AGV carriers and the central point of automobile are located at same horizontal line
On；Then, the lifting gear 30 of broach AGV carriers drives lifting frame 20 to rise, and the preceding comb 21 on lifting frame 20 is with after
The broach gap of comb 22 through fixed combed frame holds up the tire of automobile；Then, centering actuating unit 74 drive centering piece 71 to
The tire of extrapolation electrical automobile, overlaps the center of broach AGV carriers and the center of automobile, and automobile is fixed on broach AGV
On carrier；Again then, carrier support automobile removal, pierces the fixation combed frame positioning of warehouse compartment, and centering actuating unit 74 drives
Dynamic centering piece 71 is inwardly withdrawn, and lifting gear 30 drives lifting frame 20 to decline, and automobile falls on fixed combed frame, completes one
Working cycles：Broach AGV carriers remove fixed combed frame, carry out next circulation.
Above-mentioned broach AGV carriers, are set by combing 21 before setting with rear comb 22 on the central symmetry of lifting frame 20
Put so that broach AGV carriers can be adjusted in the stop of parking entrance according to the center of automobile, so that carrying
When, the center of broach AGV carriers is overlapping with the center of automobile, and this aspect helps to improve broach AGV carriers and carries vapour
The motion control of car, on the other hand so that the front-wheel of automobile is not required to be parked on the position that entrance is specified, fault-tolerance is high, improves
The usage experience of client, another further aspect, suitable for the automobile of different size, improve versatility；In addition, by being combed before setting
21 and rear comb 22 be respectively symmetrically arranged on the both ends of lifting frame 20, also enable automobile just into just going out, it is not necessary to which turntable of putting english, drops
The low manufacture cost in parking lot.
Embodiment described above only expresses the several embodiments of the utility model, its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of broach AGV carriers, it is characterised in that including walking frame, lifting frame, the connection walking frame and liter
Drop frame lifting gear, arranged on it is described walking frame on running gear and it is at least one be arranged on the lifting frame on
Left and right centralising device；The both ends of the lifting frame are equipped with the preceding comb for being used for bearing automobile wheel and rear comb, and the preceding comb is with after
Comb the center symmetric setting on lifting frame；The left and right centralising device includes two respectively positioned at the opposite of the lifting frame
The centering piece of both sides and the centering actuating unit for driving two centering pieces backwards or moving toward one another, the centering actuating unit bag
Include the mobile bar on two lifting frames be oppositely arranged and sliding, the gear between the mobile bar and be installed on institute
The transmission drive component on lifting frame is stated, the centering piece is respectively positioned on the preceding comb and the top combed afterwards；Two mobile bar
Two centering piece is connected respectively, and the rack for the gear that is sequentially connected, the transmission driving are equipped with each mobile bar
Component connects the gear.
2. broach AGV carriers according to claim 1, it is characterised in that be equipped with roller on the preceding comb and rear comb.
3. broach AGV carriers according to claim 1, it is characterised in that the lifting gear is hydraulic cylinder.
4. broach AGV carriers according to claim 1, it is characterised in that the running gear is arranged on including at least one
Walk frame middle part active walking mechanism and two respectively positioned at the running gear both sides driven wheel assembly, respectively
Driven wheel assembly includes at least two driven wheels.
5. broach AGV carriers according to claim 4, it is characterised in that the active walking mechanism is McCrum
Take turns walking mechanism.
6. broach AGV carriers according to claim 5, it is characterised in that the active walking mechanism includes being installed on
Balancing stand on the walking frame, with the mounting bracket of balancing stand pivot joint, with the mounting bracket slide up and down be connected two
Power Component and the two buffering suspended structures for connecting the mounting bracket and Power Component respectively；It is parallel that the mounting bracket includes two
Guide plate and two side plates for connecting the guide plate respectively；Each Power Component includes and the corresponding guide plate slides
The movable plate of connection and McCrum wheel and power drive structure on the movable plate, the power drive structure
Connect McCrum wheel.
7. broach AGV carriers according to claim 1, it is characterised in that the quantity of the centering actuating unit is two
It is a, set wherein a centering actuating unit closes on the preceding comb, another centering actuating unit closes on the rear comb and sets
Put.
8. broach AGV carriers according to claim 1, it is characterised in that the centering piece includes connected vertically the
One plate and the second plate, first plate is located at the top of the lifting frame, and connects the mobile bar, and second plate is located at
The outside of the lifting frame.
9. broach AGV carriers according to claim 1, it is characterised in that further include on the walking frame
Laser anti-impact device and supplied laser navigation apparatus.
10. broach AGV carriers according to claim 1, it is characterised in that further include arranged on the walking frame and liter
Shield on frame drops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721088957.1U CN207260700U (en) | 2017-08-25 | 2017-08-25 | Broach AGV carriers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721088957.1U CN207260700U (en) | 2017-08-25 | 2017-08-25 | Broach AGV carriers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207260700U true CN207260700U (en) | 2018-04-20 |
Family
ID=61923294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721088957.1U Active CN207260700U (en) | 2017-08-25 | 2017-08-25 | Broach AGV carriers |
Country Status (1)
| Country | Link |
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| CN (1) | CN207260700U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108397022A (en) * | 2018-04-26 | 2018-08-14 | 北京泊宝机器人科技有限公司 | A kind of lateral automobile carrier |
| CN108412285A (en) * | 2018-05-04 | 2018-08-17 | 西南交通大学 | A kind of foldable general automobile handling device |
| CN108560979A (en) * | 2018-05-16 | 2018-09-21 | 张燃冰 | A kind of comb-tooth-type numerical control carrier |
| CN108915327A (en) * | 2018-08-20 | 2018-11-30 | 河南鼎为智能技术有限公司 | A kind of ground parking handling device |
| CN109372302A (en) * | 2018-11-14 | 2019-02-22 | 深圳市简道三捷智能停车科技有限公司 | A kind of three-dimensional parking device handling device |
| CN109501885A (en) * | 2018-12-13 | 2019-03-22 | 东北大学 | A kind of Mecanum wheel vehicle being applicable in multi-state |
| CN114988044A (en) * | 2022-06-22 | 2022-09-02 | 中联重科股份有限公司 | Automatic positioning method based on transportation system |
-
2017
- 2017-08-25 CN CN201721088957.1U patent/CN207260700U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108397022A (en) * | 2018-04-26 | 2018-08-14 | 北京泊宝机器人科技有限公司 | A kind of lateral automobile carrier |
| CN108412285A (en) * | 2018-05-04 | 2018-08-17 | 西南交通大学 | A kind of foldable general automobile handling device |
| CN108412285B (en) * | 2018-05-04 | 2023-09-01 | 西南交通大学 | Foldable general type automobile carrying device |
| CN108560979A (en) * | 2018-05-16 | 2018-09-21 | 张燃冰 | A kind of comb-tooth-type numerical control carrier |
| CN108915327A (en) * | 2018-08-20 | 2018-11-30 | 河南鼎为智能技术有限公司 | A kind of ground parking handling device |
| CN109372302A (en) * | 2018-11-14 | 2019-02-22 | 深圳市简道三捷智能停车科技有限公司 | A kind of three-dimensional parking device handling device |
| CN109501885A (en) * | 2018-12-13 | 2019-03-22 | 东北大学 | A kind of Mecanum wheel vehicle being applicable in multi-state |
| CN109501885B (en) * | 2018-12-13 | 2024-03-15 | 东北大学 | Mecanum wheel vehicle suitable for multiple working conditions |
| CN114988044A (en) * | 2022-06-22 | 2022-09-02 | 中联重科股份有限公司 | Automatic positioning method based on transportation system |
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