CN210178052U - Parking AGV - Google Patents
Parking AGV Download PDFInfo
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- CN210178052U CN210178052U CN201920489756.5U CN201920489756U CN210178052U CN 210178052 U CN210178052 U CN 210178052U CN 201920489756 U CN201920489756 U CN 201920489756U CN 210178052 U CN210178052 U CN 210178052U
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Abstract
The embodiment of the utility model discloses AGV parks relates to wheeled mobile robot technical field, can reduce the height of whole car. The clamping arm mechanism comprises a driving assembly, a transmission assembly and a clamping assembly, wherein the driving assembly is connected with the clamping assembly through the transmission assembly; the clamping assembly comprises a first clamping arm and a second clamping arm; the first clamping arm and the second clamping arm comprise support frames, a first clamping piece and a second clamping piece are arranged on the support frames, the cross section size of the first clamping piece is larger than that of the second clamping piece, and the second clamping piece is located above the side of the first clamping piece. The utility model is suitable for a relate to vehicle automatic handling's occasion.
Description
Technical Field
The utility model relates to a Wheeled Mobile Robot (WMR-wheel Mobile Robot) technical field especially relates to a parking AGV.
Background
The parking AGV may also be called an intelligent parking robot, and refers to a parking-type automatic guided vehicle for transporting vehicles; the vehicle is directly lifted off the ground by clamping the tire or lifting the tire in modes of two-dimensional codes, laser, visual navigation and the like; or automatically conveying the vehicle by parking the vehicle on a tray and conveying the tray by a parking robot; through autonomous unmanned intelligent control, automatic driving can be realized, and the vehicle can be carried to a specified position.
The inventor finds out in the process of realizing the invention: current parking AGV, its arm lock when setting up to multilayer clamping structure, whole car height to AGV is related to in arm lock overall structure's design.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides a parking AGV can reduce the height of whole car relatively.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a parking AGV comprises a frame and a clamping arm mechanism arranged on the frame, wherein the clamping arm mechanism comprises a driving assembly, a transmission assembly and a clamping assembly, and the driving assembly is connected with the clamping assembly through the transmission assembly;
the clamping assembly comprises a first clamping arm and a second clamping arm;
first arm lock and second arm lock include the support frame be equipped with first holder and second holder on the support frame, the cross sectional dimension of first holder is greater than the cross sectional dimension of second holder, the second holder is located first holder side is last. Preferably, the first clamping member and the second clamping member are rotatably connected to the supporting frame.
Preferably, in the process that the first clamping arm and the second clamping arm approach to the middle to clamp the object, the center distance between the first clamping piece of the first clamping arm and the first clamping piece of the second clamping arm is smaller than the center distance between the second clamping piece of the first clamping arm and the second clamping piece of the second clamping arm.
Preferably, in the process that the first clamping arm and the second clamping arm are close to each other towards the middle to clamp the object, the first clamping piece contacts the clamped object before the second clamping piece contacts the clamped object.
Preferably, the first clamping piece and the second clamping piece comprise rollers, the cross section of the supporting frame is step-shaped, the supporting frame comprises a first-step supporting surface and a second-step supporting surface, the first clamping piece is located on the first-step supporting surface, and the second clamping frame is located on the second-step supporting surface.
Preferably, the included angle between the connecting line of the section centers of the first clamping piece and the second clamping piece and the horizontal plane is 20-35 degrees
Preferably, the first clamping member and the second clamping member respectively comprise at least two rollers, at least two dividing grooves are respectively arranged on the first-stage supporting surface and the second-stage supporting surface of the supporting frame, and one roller is correspondingly arranged in each dividing groove.
Preferably, the transmission assembly includes a first driving member, a first driven member, a second driving member and a second driven member, the first driving member is engaged with the first driven member, the second driving member is engaged with the second driven member, the first clamping arm is connected to the first driven member, the second clamping arm is connected to the second driven member, and the first clamping arm and the second clamping arm are arranged oppositely;
the driving component drives the driven component to rotate by driving the driving component of the transmission component, so as to drive the first clamping arm and the second clamping arm connected to the driven component to rotate oppositely to draw close to clamp an object, and the first clamping arm is in contact with the clamped object before the second clamping arm.
Preferably, the first clamping arm is detachably connected to the first driven member, and the second clamping arm is detachably connected to the second driven member.
Preferably, the driving assembly includes a motor and a speed reducer, the first driving part and the second driving part are worms, the first driven part and the second driven part are turbines, the first driving part and the second driving part are coaxially connected through a coupler, and the rotating directions of the threads on the first driving part and the second driving part are opposite;
the output shaft of the motor drives the two worms to rotate towards different directions through the speed reducer respectively, so as to drive the first clamping arm connected to the first driven part and the second clamping arm connected to the second driven part to rotate in opposite directions, and to draw close the clamped object to the middle.
The embodiment of the utility model provides a parking AGV through with the second holder of centre gripping subassembly set up in the side top of first holder, the cross sectional dimension of second holder is greater than first holder. Like this, the cross sectional dimension design that will be located the first holder of bottom is great to be used for as main bearing part with by the centre gripping object, for example the tire, the contact, the second holder is as supplementary clamping part, when the tire centre gripping of great specification with the common centre gripping object of first holder, not only can realize carrying out the centre gripping to the tire of different specifications, because second holder cross sectional dimension is less, arm lock mechanism's height can be lower, thereby can reduce the height of whole car relatively.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a clamping arm mechanism of a parking AGV according to the present invention;
FIG. 2 is a schematic structural view of an embodiment of the first clamping arm or the second clamping arm in FIG. 1;
fig. 3 is a schematic cross-sectional view of an embodiment of the first clamping arm or the second clamping arm in fig. 2.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
For the convenience of understanding the utility model discloses technical scheme now carries out the illustration to the parking AGV that has multilayer clamping structure's arm lock as follows: the inventor of the present invention finds that when the clamping arms of the existing parking AGV are arranged into a multi-layer clamping structure, the size and specification of each layer of clamping structure are generally set to be consistent, and since the clamping arms are generally only in contact with the tire through the bottom layer clamping structure when clamping an object, such as a vehicle tire, especially a small-sized tire, in the process of clamping the object, namely, when clamping the object, the bottom layer clamping structure is mainly stressed. The clamping structure of the clamping arm of the current parking AGV sets the size specification of the upper-layer clamping structure and the lower-layer clamping structure to be consistent, and the height of the whole AGV can be increased. Referring to fig. 1 to 3, an embodiment of the present invention provides a parking agv (automated Guided vehicle), which is suitable for automatic cargo handling occasions, especially suitable for automatic vehicle handling in various scenes, such as automatic vehicle access, vehicle maintenance, vehicle consignment, etc. In one embodiment, the parking AGV comprises: the clamping arm mechanism comprises a driving assembly 1, a transmission assembly 2 and a clamping assembly 3, wherein the driving assembly 1 is connected with the clamping assembly 3 through the transmission assembly 2.
The clamping assembly 3 comprises a first clamping arm 31 and a second clamping arm 32, the first clamping arm and the second clamping arm are connected to the transmission assembly 2, and the first clamping arm 31 and the second clamping arm 32 are arranged oppositely;
first arm lock 31 and second arm lock 32 include support frame 33 be equipped with first holder 331 and second holder 332 on the support frame, the cross sectional dimension of first holder is greater than the cross sectional dimension of second holder, the second holder is located first holder side top.
The driving assembly drives the transmission assembly to drive the first clamping arm and the second clamping arm connected with the transmission assembly to rotate in opposite directions, and the first clamping arm and the second clamping arm are close to each other towards the middle to clamp an object. Like this, because first holder diameter is great, when the different specification vehicle tires of centre gripping, mainly rely on first holder to centre gripping tire, and the position of the first holder in whole fixture as main load part is lower, and it is more laborsaving when setting up in higher position to compare during the centre gripping tire, and corresponding its power that receives is also corresponding less. The second clamping member 332 is used as an auxiliary clamping member structure, and when a tire, especially a small-sized tire is clamped, the tire is only required to be clamped through the first clamping member in a contact manner, and the second clamping member is not in contact with the tire in the process of clamping the tire, namely, the second clamping member basically does not need to be stressed in the whole clamping arm mechanism, so that the first clamping member is only used as the auxiliary clamping member, and if the diameter of the first clamping member is set to be the same as that of the first clamping member, the overall structure quality and height can be increased.
It can be understood that this embodiment is located through the setting the second centre gripping subassembly of first centre gripping subassembly side top can run into the road conditions such as ground inequality at parking robot walking in-process, if the phenomenon of rocking appears in the tire of centre gripping, the second centre gripping piece can play the effect of rail, blocks tire roll-off arm lock. If the diameter of the second clamping piece is set to be the same as that of the first clamping assembly, the size of a space formed by the second clamping assemblies which are oppositely arranged and formed when an object is clamped can be reduced, so that the large-specification tire is clamped disadvantageously, the effect of weakening the auxiliary effect of the second clamping assembly as a fence can be achieved, the quality and the height of the whole structure can be increased, and the whole structure is heavy correspondingly.
When the specification of the clamping tire is large and overlarge, the clamping tire means that the weight of the carried vehicle is heavier; at the moment, the first clamping piece and the second clamping piece are in contact with the tire together, and meanwhile, the contact area can be effectively increased under the action of stress, and the stress friction between the clamping arms and the tire is reduced.
In this embodiment, the clamping arm mechanism is a basic structural member for clamping an object, such as a vehicle tire, and the driving assembly and the transmission assembly may adopt different driving forms and transmission modes, for example, the driving assembly may adopt a hydraulic pump, and correspondingly, the transmission assembly may adopt a hydraulic transmission mode; alternatively, the driving assembly may adopt a motor, and the transmission assembly may adopt a gear transmission or a worm gear or a link mechanism. No matter which kind of above-mentioned drive and transmission mode is adopted, the centre gripping subassembly is as the executive component in the arm lock mechanism, as transmission assembly, when specifically setting up, should be able to change the direction of motion of the power that drive assembly provided into rotary motion output finally to drive the first arm lock and the second arm lock of centre gripping subassembly and rotate in opposite directions, in order to draw close centre gripping object.
The embodiment of the utility model provides a parking AGV through with the second holder of centre gripping subassembly set up in the side top of first holder, the cross sectional dimension of second holder is greater than first holder. Like this, the cross sectional dimension design that will be located the first holder of bottom is great to be used for as main load part and by the centre gripping object, for example the tire, the contact, the second holder is as supplementary clamping part, when the tire centre gripping of great specification with the common centre gripping object of first holder, not only can realize carrying out the centre gripping (or the object of the different quality of centre gripping) to the tire of different specifications, because second holder cross sectional dimension is less, the height of arm lock mechanism can be lower, thereby can reduce the height of whole car relatively.
In an embodiment of the present invention, in the process of the first clamping arm 31 and the second clamping arm 32 drawing together the object to be clamped, the center distance between the first clamping member 331 of the first clamping arm 31 and the first clamping member 331 of the second clamping arm 32 is smaller than the center distance between the second clamping member 332 of the first clamping arm and the second clamping member 332 of the second clamping arm.
Specifically, in the process that the first clamping arm and the second clamping arm are close to each other towards the middle to clamp the object, the first clamping piece contacts the clamped object before the second clamping piece. In this way, it is possible to have the first clamp arm with the larger diameter as the main clamp for clamping an object, such as a tire; and the second clamping piece is used as an auxiliary clamping piece if necessary so as to cooperatively realize the clamping and conveying of the object.
In this embodiment, as an optional embodiment, the first clamping member and the second clamping member are rotatably connected to the supporting frame. Thus, when the tire is clamped, sliding friction is changed into rolling friction when the tire is contacted, and abrasion to the tire in the clamping process can be reduced.
Referring to fig. 2 and 3, in another embodiment, the first clamping member and the second clamping member comprise rollers, the cross section of the supporting frame is stepped, the supporting frame comprises a first-step supporting surface and a second-step supporting surface, the first clamping member is located on the first-step supporting surface, and the second clamping frame is located on the second-step supporting surface. Preferably, the included angle between the connecting line of the centers of the cross sections of the first clamping piece and the second clamping piece and the horizontal plane is 20-35 degrees. Like this, stagger the setting from top to bottom with first holder and second holder, the effect of the great specification tire of supplementary centre gripping and rail can be better played to the second holder.
Referring to fig. 3, as another alternative embodiment, the first clamping member and the second clamping member respectively include at least two rollers, the first step supporting surface and the second step supporting surface of the supporting frame are respectively provided with at least two dividing grooves, and a roller is correspondingly installed in each dividing groove. Therefore, when one section of the clamping piece is damaged, the roller in the corresponding dividing groove can be replaced for normal use, and therefore maintenance cost can be reduced.
Referring to fig. 1, in this embodiment, as an alternative embodiment, the transmission assembly 2 includes a first driving member 21, a first driven member 22, a second driving member 23, and a second driven member 24, the first driving member is engaged with the first driven member, the second driving member is engaged with the second driven member, the first clamping arm is connected to the first driven member, the second clamping arm is connected to the second driven member, and the first clamping arm and the second clamping arm are disposed opposite to each other.
The driving component drives the driven component to rotate by driving the driving component of the transmission component, so as to drive the first clamping arm and the second clamping arm connected to the driven component to rotate oppositely to draw close to clamp an object, and the first clamping arm is in contact with the clamped object before the second clamping arm.
In this embodiment, drive assembly can adopt rack and pinion meshing transmission mode, the drive piece can be for rack and pinion meshing with the meshing of follower, during the setting, changes the linear motion of rack into the rotary motion of gear to drive the first arm lock and the second arm lock with gear connection and rotate in opposite directions, in order to draw close centre gripping object. And may be provided in the form of a worm gear drive as shown.
Specifically, first arm lock through can dismantle connect in first follower, second arm lock can dismantle connect in the second follower. The detachable connection mode can be specifically realized through the matching of a screw and a threaded hole. Like this, can be when first arm lock or second arm lock damage, the dismouting of being convenient for is maintained.
Referring to fig. 2, in the present embodiment, as an alternative embodiment, the driving assembly includes a motor 11 and a speed reducer 12, the first driving part 21 and the second driving part 23 are worms, the first driven part 22 and the second driven part 24 are turbines, the first driving part and the second driving part are coaxially connected through a coupler 4, and the rotating directions of the threads on the first driving part and the second driving part are opposite.
The output shaft of the motor drives the two worms to rotate towards different directions through the speed reducer respectively, so as to drive the first clamping arm connected to the first driven part and the second clamping arm connected to the second driven part to rotate in opposite directions, and to draw close the clamped object to the middle.
Referring to fig. 1, in the present embodiment, specifically, the motor, the speed reducer, the worm serving as the first driving element and the second driving element, the coupling, and other components are fixed on the frame through the worm seats 5 at two sides of the worm, the bearing 6 is installed at a position on the frame corresponding to the worm, the outer ring of the bearing is fixedly installed in the bearing seat 7, the bearing seat is rotatable relative to the inner ring of the bearing, the worm gear is detachably connected to the bearing seat 7, and the clamping arm mechanism is indirectly and fixedly connected with the worm gear by being detachably connected to the bearing seat 7.
The embodiment of the utility model provides a parking AGV, because the first holder of centre gripping subassembly designs for a size with second holder cross sectional dimension, like this from structure and mechanics angle, the comparatively reasonable of design, and at the tire in-process of the same specification of centre gripping, the required power of arm lock is littleer. Therefore, the requirements on the performance of the driving motor and the speed reducer can be reduced, and the overall structure is correspondingly more compact through the structural design.
It should be noted that the terms "upper", "lower", and the like, herein indicate orientations and positional relationships, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element. As will be appreciated by one of ordinary skill in the art, the situation may be specified.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The parking AGV is characterized by comprising a frame and a clamping arm mechanism arranged on the frame, wherein the clamping arm mechanism comprises a driving assembly, a transmission assembly and a clamping assembly, and the driving assembly is connected with the clamping assembly through the transmission assembly;
the clamping assembly comprises a first clamping arm and a second clamping arm;
the first clamping arm and the second clamping arm respectively comprise a support frame, a first clamping piece and a second clamping piece are arranged on the support frame, the cross section size of the first clamping piece is larger than that of the second clamping piece, and the second clamping piece is located above the side of the first clamping piece.
2. The AGV of claim 1 wherein said first and second clamps are pivotally connected to said support frame.
3. The AGV of claim 1, wherein a center distance between the first clamp of the first clamp arm and the first clamp of the second clamp arm is smaller than a center distance between the second clamp of the first clamp arm and the second clamp of the second clamp arm when the first clamp arm and the second clamp arm move together to clamp the object therebetween.
4. The AGV of claim 1, wherein the first clamp arm contacts the clamped object before the second clamp arm during the process of moving the first and second clamp arms together towards the middle to clamp the object.
5. The AGV of claim 1, wherein the first and second clamps comprise rollers, the support frame is stepped in cross-section, the support frame includes a first step support surface and a second step support surface, the first clamp is positioned on the first step support surface, and the second clamping rack is positioned on the second step support surface.
6. The AGV of claim 5, wherein a line connecting the centers of the cross-sections of said first and second clamps makes an angle of 20-35 ° with the horizontal plane.
7. The AGV according to claim 5 or 6, wherein said first and second clamping members each comprise at least two rollers, said support frame having at least two dividing grooves on the first and second supporting surfaces, and a roller is mounted in each dividing groove.
8. The AGV of claim 1, wherein said drive assembly includes a first drive member, a first driven member, a second drive member and a second driven member, said first drive member engaging said first driven member, said second drive member engaging said second driven member, said first clamp arm connected to said first driven member, said second clamp arm connected to said second driven member, and said first clamp arm disposed opposite said second clamp arm;
the driving component drives the driven component to rotate by driving the driving component of the transmission component, so as to drive the first clamping arm and the second clamping arm connected to the driven component to rotate oppositely to draw close to clamp an object, and the first clamping arm is in contact with the clamped object before the second clamping arm.
9. The AGV of claim 8, wherein said first clamp arm is removably connected to said first follower and said second clamp arm is removably connected to said second follower.
10. The AGV of claim 8 or 9, wherein the drive assembly includes a motor and a speed reducer, the first and second driving members are worms, the first and second driven members are turbines, the first and second driving members are coaxially connected by a coupling, and the threads of the first and second driving members are opposite in direction;
the output shaft of the motor drives the two worms to rotate towards different directions through the speed reducer respectively, so as to drive the first clamping arm connected to the first driven part and the second clamping arm connected to the second driven part to rotate in opposite directions, and to draw close the clamped object to the middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920489756.5U CN210178052U (en) | 2019-04-11 | 2019-04-11 | Parking AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920489756.5U CN210178052U (en) | 2019-04-11 | 2019-04-11 | Parking AGV |
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| Publication Number | Publication Date |
|---|---|
| CN210178052U true CN210178052U (en) | 2020-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920489756.5U Active CN210178052U (en) | 2019-04-11 | 2019-04-11 | Parking AGV |
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| CN (1) | CN210178052U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112780089A (en) * | 2021-01-26 | 2021-05-11 | 湖北泊都智能科技有限公司 | Plane moving carrier |
| CN113003496A (en) * | 2021-03-12 | 2021-06-22 | 机械工业第九设计研究院有限公司 | Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism |
-
2019
- 2019-04-11 CN CN201920489756.5U patent/CN210178052U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112780089A (en) * | 2021-01-26 | 2021-05-11 | 湖北泊都智能科技有限公司 | Plane moving carrier |
| CN113003496A (en) * | 2021-03-12 | 2021-06-22 | 机械工业第九设计研究院有限公司 | Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism |
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Address after: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |