CN209723775U - AGV car carrying robot - Google Patents
AGV car carrying robot Download PDFInfo
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- CN209723775U CN209723775U CN201920071245.1U CN201920071245U CN209723775U CN 209723775 U CN209723775 U CN 209723775U CN 201920071245 U CN201920071245 U CN 201920071245U CN 209723775 U CN209723775 U CN 209723775U
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- comb teeth
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Abstract
The utility model provides AGV car carrying robot, includes U-shaped chassis, 4 lifting mechanisms, comb teeth frame, traveling wheel mechanism and electric control box；U-shaped chassis includes two horizontally disposed brackets arranged side by side and the linkage section for being connected to two bracket one end arranged side by side；2 slides along stent length direction arranged side by side sliding are equipped on each bracket side by side；The lower end of 4 lifting mechanisms is corresponded with 4 slides and hinged respectively；Comb teeth frame bottom is equipped with the top slide that at least two can be slided along holder orientation arranged side by side；The upper end of each two opposite lifting mechanisms of bracket side by side is corresponded with top slide and hinged respectively；The driving mechanism for being connected with 2 slides for supplying on same bracket arranged side by side on 4 slides while relatively or contrarily moving；Electric control box connection control traveling wheel mechanism and driving mechanism.The utility model proposes the processing of the car carrying robotic part side AGV when balance it is high, and height space is compact.
Description
Technical field
The utility model relates to technical fields, and in particular to AGV car carrying robot.
Background technique
Automobile is increasingly becoming the common walking-replacing tool of people's trip, and the tight of parking space is caused while automobile is universal
It lacks, therefore, occurs inclined type jiffy stand at present, park automobile is oblique, reduce the occupied area of vehicle parking, alleviate
The needs of problems of parking space is more convenient for the trip of people.But inclined type jiffy stand wants driver's technology of parking
Ask higher, positioning needs more acurrate when parking, and it is artificial to find parking stall and park low efficiency, it is easy to appear crowded situation.Therefore
Occurs a kind of AGV robot for car carrying at present, by AGV location and navigation technology, bidifly light guide mode ensures vapour
Vehicle exchanges accurate positioning when parking with jiffy stand, stops, picks up the car more efficient, automobile parking is more stable.But AGV car carrying
The lifting mechanism of robot is generally electric pushrod, and comb teeth frame needs sidesway to match with fixed jiffy stand, and occupied space is big, behaviour
It is inconvenient to make.Also, existing car carrying robot uses the main action wheel drive in two groups of front end, drives the servo-actuated action in two groups of rear end
Wheel, commutating, not flexible, stroke is long.
Utility model content
The utility model is directed to the above problem in the presence of the prior art, and provides AGV car carrying robot, with solution
Occupied space is big when certainly operating, shift motion is long and inflexible problem that commutates.
A part to achieve the above object, the technical solution adopted in the utility model are as follows:
AGV car carrying robot includes U-shaped chassis, 4 lifting mechanisms, comb teeth frame, traveling wheel mechanism, electrical control
Case and power supply；U-shaped chassis includes two horizontally disposed brackets arranged side by side and the linkage section for being connected to two bracket one end arranged side by side；Often
2 slides along stent length direction arranged side by side sliding are equipped on a bracket arranged side by side；The lower end of 4 lifting mechanisms respectively with 4
Slide one-to-one correspondence is simultaneously hinged；Comb teeth frame bottom is equipped with the top slide that at least two can be slided along holder orientation arranged side by side；Each simultaneously
The upper end of two opposite lifting mechanisms of frame of being disbursed from the cost and expenses respectively with top slide correspond and it is hinged；It is also connected on 4 slides
The driving mechanism relatively or contrarily moved simultaneously for 2 slides for being located on same bracket arranged side by side；Traveling wheel mechanism is set to U
The lower end on shape chassis；The electric control box connection control traveling wheel mechanism and driving mechanism；Traveling wheel mechanism, driving mechanism and
Electric control box connects to power supply respectively.
Further, each lifting structure includes the activity swing arm being oppositely arranged and fixed swing arm；Activity swing arm and fixed pendulum
Arm upper end is hinged with top slide respectively；The lower end of activity swing arm and slide are hinged；It fixes swing arm lower end and is fixedly connected on simultaneously
The support seat hinge being disbursed from the cost and expenses on frame.
Further, the driving mechanism is rotary electric machine；The screw rod of threaded connection is equipped on 4 slides respectively；Turn
Dynamic motor and two screw rods export axis connection；The external screw thread of two screw rods on same bracket arranged side by side is opposite.
Further, the universal driving device for transmission is equipped between two screw rods on same bracket arranged side by side；It is universal
Transmission device includes two universal joint and drive shafts；Two screw rods pass through two universal joints respectively and connect with both ends of the drive shaft.
Further, comb teeth frame includes two comb teeth frame bodies and two groups of comb teeth cross bars；Two comb teeth frame bodies respectively with two
Bracket arranged side by side corresponds and is all connected with two lifting mechanisms on each comb teeth frame；Two groups of comb teeth cross bar one end are separately fixed at two
On a comb teeth frame body, and the other end is oppositely arranged.
Further, two bracket one end arranged side by side are equipped with the guiding mechanism for preventing comb teeth frame from deviating；Guiding mechanism includes
The guide rod and guide cylinder being vertically connected with；Guide cylinder is set to pedestal upper end arranged side by side；Guide rod is up and down to be set in guide cylinder；It leads
Guide cylinder one end, which is stretched out, to bar is fixed on comb teeth frame bottom end.
Further, the traveling wheel mechanism is 4, and is each positioned at the surrounding on U-shaped chassis, each traveling wheel mechanism
To turn to and walk.
The utility model reduces the installation space of lifting mechanism, compared with electric pushrod, reduces lifting mechanism same
Height under one stroke adapts it to the vehicle exchange of the lower outer comb-tooth-type jiffy stand of height, also improves and park, pick up the car
Safety and automation；The single multiple lifting structures of motor driven, realize the vertical lift of lifting structure；It is walked by 4
Mechanism driving is taken turns, meets front and rear, left and right, the rotation of 360 ° of original place, effectively reduces stroke and activity space.
The further advantage, target and feature of the utility model will be partially reflected by the following instructions, and part will also pass through
Research and practice to the utility model and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is AGV car carrying robot schematic diagram；
Fig. 2 is described two lifting structure schematic diagrames；
Fig. 3 is traveling wheel mechanism direction of motion schematic diagram.
Appended drawing reference include: bracket 1 arranged side by side, comb teeth frame 2, traveling wheel mechanism 3, electric control box 4, slide 5, slideway 6,
Top slide 7, battery pack 8, activity swing arm 9, fixed swing arm 10, support base 11, rotary electric machine 12, screw rod 13, shaft coupling 14, cross
Axis 15, universal joint 16, transmission shaft 17, comb teeth frame body 18, front-wheel comb teeth cross bar 19, rear-wheel comb teeth cross bar 20, guide rod 21, guiding
Cylinder 22, grating displacement transducer 23.
Specific embodiment
The utility model is further elaborated with reference to the accompanying drawings and detailed description:
As shown in Figure 1, AGV car carrying robot, includes U-shaped chassis, 4 lifting mechanisms, comb teeth frame 2, walking turbine
Structure 3, electric control box 4 and power supply；U-shaped chassis includes two horizontally disposed brackets 1 arranged side by side and is connected to two brackets 1 arranged side by side
The linkage section of one end；2 slides 5 along 1 length direction of bracket arranged side by side sliding are equipped on each bracket 1 side by side；4 lifting machines
The lower end of structure is corresponded with 4 slides 5 and hinged respectively；2 bottom of comb teeth frame is equipped at least 2 can be along 1 direction of bracket arranged side by side
The top slide 7 of sliding；The upper end of each two opposite lifting mechanisms of bracket 1 side by side is corresponded with top slide 7 respectively
And it is hinged；It is also connected on 4 slides 5 for transporting for 2 slides 5 being located on same bracket 1 arranged side by side while relatively or contrarily
Dynamic driving mechanism；Traveling wheel mechanism 3 is set to the lower end on U-shaped chassis；The connection of the electric control box 4 control traveling wheel mechanism 3
And driving mechanism structure；Traveling wheel mechanism 3, driving mechanism and electric control box 4 connect to power supply respectively.
Power supply is preferably battery pack 8, and battery pack 8 is set to the side on U-shaped chassis, and electric control box 4 is set to the two of U-shaped chassis
Between a bracket arranged side by side 1, and it is arranged lower than comb teeth frame 2.
As shown in Fig. 2, each lifting structure includes the activity swing arm 9 being oppositely arranged and fixed swing arm 10；Activity swing arm 9 and solid
10 upper end of fixed pendulum arm is hinged with top slide 7 respectively；The lower end of activity swing arm 9 and slide 5 are hinged；It fixes 10 lower end of swing arm and consolidates
Surely the support base 11 being connected on bracket 1 arranged side by side is hinged.Two lifting mechanisms on same bracket arranged side by side 1 are symmetrical arranged, and two
Lifting mechanism on bracket 1 arranged side by side is identical.
The driving mechanism is rotary electric machine 12；The screw rod 13 of threaded connection is equipped on 4 slides 5 respectively；Rotation electricity
Machine 12 and two screw rods 13 export axis connection；The external screw thread of two screw rods 13 on same bracket arranged side by side 1 is opposite.Rotary electric machine
12 are drivingly connected by shaft coupling 14 and screw rod 13.
U-shaped chassis upper end and 2 lower end of comb teeth frame are respectively provided with the bar shaped mounting groove of installation lifting mechanism；Further subtract
The installation space of small lifting mechanism in height；Fixed swing arm 10 is one group of isometric connecting rod with activity swing arm 9；In each group connecting rod
Portion is connected with a horizontal axis 15, improves the intensity of fixed 10/ activity swing arm 9 of swing arm, enhances the stability of the lifting of comb teeth frame 2.
The universal driving device for transmission is equipped between two screw rods 13 on same bracket arranged side by side 1；Universal drive dress
It sets comprising two universal joints 16 and transmission shaft 17；Two screw rods 13 are connected by two universal joints 16 and 17 both ends of transmission shaft respectively
It connects.Two out-of-alignment screw rods 13 may be implemented by universal joint 16 to rotate synchronously.
Comb teeth frame 2 includes two 2 bodies of comb teeth frame and two groups of comb teeth cross bars；Two 2 ontologies of comb teeth frame are separately positioned on two
On 2 lifting mechanisms of 1 upper end of bracket arranged side by side；Two groups of comb teeth cross bar one end are fixed on two 2 bodies of comb teeth frame, and other end phase
To setting.The comb teeth frame 2 be it is built-in, be adapted to outer comb-tooth-type vehicle frame vehicle exchange, save operating space.Two comb teeth
2 ontology of frame is arranged in parallel in the top of two brackets 1 arranged side by side, and comb teeth cross bar is the hollow steel pipe that section is quadrangle, hollow steel
Tube edges smooth transition.Every group of comb teeth cross bar includes 19 He of front-wheel comb teeth cross bar positioned at 1 closed end of bracket arranged side by side of U-shaped chassis two
Rear-wheel comb teeth cross bar 20 positioned at the open side of two brackets 1 arranged side by side, the quantity of front-wheel comb teeth cross bar 19 are 12, rear-wheel comb teeth
20 quantity of cross bar is 5, for adapting to the vehicle parking of different wheelbases.
Two 1 one end of bracket arranged side by side are equipped with the guiding mechanism for preventing comb teeth frame 2 from deviating；Guiding mechanism includes to be vertically connected with
Guide rod 21 and guide cylinder 22；Guide cylinder 22 is set to 1 upper end of bracket arranged side by side；Guide rod 21 is up and down to be set to guide cylinder 22
It is interior；Guide rod 21 stretches out 22 one end of guide cylinder and is fixed on 2 bottom end of comb teeth frame.Further prevent two column comb teeth inclined in the horizontal direction
It moves, keeps automobile transmission more stable.
The traveling wheel mechanism 3 is 4, and is each positioned at the surrounding on U-shaped chassis, and each traveling wheel mechanism 3 can turn to
And walking.Traveling wheel mechanism 3 preferably drives steering wheel.As shown in figure 3,3 direction of motion schematic diagram of traveling wheel mechanism, when positioned at ten
When word crossing, robot can realize that front and back walking, left and right walking, the rotation of 360 ° of original place have by the traveling wheel mechanism 3 of surrounding
Effect has saved channel space, to increase the parking quantity in parking lot.
When the utility model is used, automobile parking is on outer comb-tooth-type vehicle frame, at this point, to be displaced downwardly to comb teeth frame 2 low for comb teeth frame 2
In the outer comb teeth of outer comb-tooth-type vehicle frame, slide 5 is with support base 11 apart from farthest, the activity swing arm 9 of 4 lifting mechanisms and fixed pendulum
The upper end of arm 10 is tilted to opposite side, and the grating displacement transducer 23 and electric control box 4 on U-shaped chassis are believed by cable
Number connection, grating displacement transducer 23 connect with battery pack 8；Grating sensor is by scale grating relative to indication grating
When mobile, the light and dark Moire fringe of rule formed, and mobile with the speed of related movement of grating, shine directly into photoelectricity
On element, the output end at them obtains a string of electric pulses, generates digital signal by amplification, shaping, sensing and number system
Output, directly displays tested displacement.Electric control box 4 passes through the displacement signal that grating displacement transducer 23 issues,
Control traveling wheel mechanism 3 moves the robot into the bottom of outer comb-tooth-type vehicle frame, keeps the interior comb teeth of outer comb teeth and robot mutual
Staggeredly.It operates electric control box 4 and controls driving mechanism, rotary electric machine 12 drives screw rod 13 to rotate by shaft coupling 14, screw rod 13
Next screw rod 13 is driven to rotate by universal joint 16 and transmission shaft 17 again, the external screw thread of two screw rods 13 is on the contrary, drive respective
Two slides 5 matched move towards, and two 9 upper ends of activity swing arm push two top slides 5 to slide to middle part, with top slide
The hinged fixation swing arm 10 in 5 one end rotates along the vertical direction, drives comb teeth frame 2 vertically to increase to lift automobile, then moves
Automobile transportation is gone out jiffy stand by walking mechanism.Similarly, comb teeth frame 2 is moved to above car stand, rotating backward screw rod 13 makes two
A slide 5 is moved along 11 opposite direction of support base respectively, and to decline comb teeth frame 2, automobile is transmitted to next outer comb-tooth-type automobile
After frame, comb teeth frame 2 moves down to the outer comb teeth across outer comb-tooth-type vehicle frame, by control traveling wheel mechanism 3 by robot from outer
It is removed below comb-tooth-type vehicle frame.
By the oppositely oriented of two screw rods 13, two screw rods 13 are driven by rotary electric machine 12, drive the same phase of two slides 5
To or be moved away from, fixed swing arm 10 due to top slide 7 sliding and rotated with activity swing arm 9, jointly to 2 liang of comb teeth frame
End effect, makes the power of 2 horizontal direction of comb teeth frame cancel out each other just, only does vertical displacement movement.And slide 5 and screw rod 13 will
The movement of 2 horizontal direction of comb teeth frame is changed into the movement of vertical direction, directly by outer comb-tooth-type jiffy stand bottom or top into
Row stop/put vehicle, reduce automobile exchange occupied space, keep automobile transferring position more acurrate.
Above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, can be to the skill of the utility model
Art scheme is modified or replaced equivalently, and should all be covered in the scope of the claims of the utility model.
Claims (7)
1.AGV car carrying robot, which is characterized in that comprising U-shaped chassis, 4 lifting mechanisms, comb teeth frame, traveling wheel mechanism,
Electric control box and power supply；U-shaped chassis includes two horizontally disposed brackets arranged side by side and is connected to two bracket one end arranged side by side
Linkage section；2 slides along stent length direction arranged side by side sliding are equipped on each bracket side by side；The lower end of 4 lifting mechanisms
It corresponds respectively with 4 slides and hinged；Comb teeth frame bottom is equipped at least two can be sliding along the top that holder orientation arranged side by side is slided
Block；The upper end of each two opposite lifting mechanisms of bracket side by side is corresponded with top slide and hinged respectively；On 4 slides
The driving mechanism for being also connected with 2 slides for supplying on same bracket arranged side by side while relatively or contrarily moving；Traveling wheel
Mechanism is set to the lower end on U-shaped chassis；The electric control box connection control traveling wheel mechanism and driving mechanism；Traveling wheel mechanism,
Driving mechanism and electric control box connect to power supply respectively.
2. AGV car carrying according to claim 1 robot, which is characterized in that each lifting structure includes to be oppositely arranged
Activity swing arm and fixed swing arm；Activity swing arm and fixed swing arm upper end are hinged with top slide respectively；The lower end of activity swing arm
It is hinged with slide；Fixed swing arm lower end and the support seat hinge being fixedly connected on bracket arranged side by side.
3. AGV car carrying according to claim 2 robot, which is characterized in that the driving mechanism is rotary electric machine；
The screw rod of threaded connection is equipped on 4 slides respectively；Rotary electric machine and two screw rods export axis connection；On same bracket arranged side by side
Two screw rods external screw thread it is opposite.
4. AGV car carrying according to claim 3 robot, which is characterized in that two silks on same bracket arranged side by side
The universal driving device for transmission is equipped between bar；Universal driving device includes two universal joint and drive shafts；Two screw rods
It is connect respectively by two universal joints with both ends of the drive shaft.
5. AGV car carrying according to claim 1 robot, which is characterized in that comb teeth frame includes two comb teeth frame bodies
With two groups of comb teeth cross bars；Two comb teeth frame bodies correspond with two brackets arranged side by side respectively and are all connected with two on each comb teeth frame
Lifting mechanism；Two groups of comb teeth cross bar one end are separately fixed on two comb teeth frame bodies, and the other end is oppositely arranged.
6. AGV car carrying according to claim 1 robot, which is characterized in that two bracket one end arranged side by side are equipped with and are used for
The guiding mechanism for preventing comb teeth frame from deviating；Guiding mechanism includes the guide rod and guide cylinder being vertically connected with；Guide cylinder is set to arranged side by side
Pedestal upper end；Guide rod is up and down to be set in guide cylinder；Guide rod stretches out guide cylinder one end and is fixed on comb teeth frame bottom end.
7. AGV car carrying according to claim 1 robot, which is characterized in that the traveling wheel mechanism is 4, and
It is each positioned at the surrounding on U-shaped chassis, each traveling wheel mechanism can be turned to and be walked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920071245.1U CN209723775U (en) | 2019-01-16 | 2019-01-16 | AGV car carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920071245.1U CN209723775U (en) | 2019-01-16 | 2019-01-16 | AGV car carrying robot |
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| Publication Number | Publication Date |
|---|---|
| CN209723775U true CN209723775U (en) | 2019-12-03 |
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ID=68680106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920071245.1U Active CN209723775U (en) | 2019-01-16 | 2019-01-16 | AGV car carrying robot |
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| Country | Link |
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| CN (1) | CN209723775U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109458023A (en) * | 2019-01-16 | 2019-03-12 | 重庆盛捷高科技有限公司 | AGV automobile carrying device |
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- 2019-01-16 CN CN201920071245.1U patent/CN209723775U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109458023A (en) * | 2019-01-16 | 2019-03-12 | 重庆盛捷高科技有限公司 | AGV automobile carrying device |
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