CN210289285U - AGV parking robot based on single-cylinder four-bar jacking mechanism - Google Patents
AGV parking robot based on single-cylinder four-bar jacking mechanism Download PDFInfo
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- CN210289285U CN210289285U CN201920910343.XU CN201920910343U CN210289285U CN 210289285 U CN210289285 U CN 210289285U CN 201920910343 U CN201920910343 U CN 201920910343U CN 210289285 U CN210289285 U CN 210289285U
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Abstract
The utility model discloses a AGV parking robot based on single cylinder four-bar linkage climbing mechanism, include: the AGV comprises an AGV chassis assembly and a control system, wherein the AGV chassis assembly comprises a vehicle carrying platform and AGV steering wheel assemblies distributed at the bottom of the vehicle carrying platform; the comb plate assembly comprises two comb plates which are arranged in parallel and a connecting plate which is fixedly connected between the two comb plates; one ends of the two comb plate bodies are hinged to the vehicle carrying platform; the single-cylinder four-connecting-rod lifting assembly comprises a connecting rod, a triangular plate and a telescopic cylinder; the vehicle-carrying platform, the connecting rod, the triangular plate and the comb plate assembly are sequentially hinged to form a four-bar mechanism; the bottom of the cylinder body of the telescopic cylinder is hinged to the vehicle-carrying platform, and the outer end of a push rod of the telescopic cylinder is hinged to the triangular plate and used for driving the two comb plates to synchronously lift; the utility model discloses a parking robot can realize putting to one side of vehicle and park, has reduced the area on parking stall.
Description
Technical Field
The utility model relates to a parking equipment field specifically is a AGV parking robot based on single cylinder four-bar linkage climbing mechanism.
Background
With the development of the times, automobiles become necessary transportation equipment in more and more families, the number of small automobiles in the country in 2018 is totally two hundred million according to incomplete statistics, each automobile needs a corresponding parking space to stop, most of the currently used parking spaces are marked on the ground directly without any change on the parking spaces, and the parking spaces are marked on the ground directly to be called as flat parking lots; the other type is a roadway stacking type, plane moving type and vertical lifting type stereo garage, and the working principle is as follows: the automobile can be lifted and carried from the bottom of the automobile through one or more carrying devices and then moved to the elevator together, the elevator then carries the carrying devices together with the automobile to different parking floors, and then the automobile is sent to a specified parking space through the carrier; both of these have drawbacks; the first type occupies too large area, seriously influences the activities of pedestrians and occupies excessive road area; the second type saves space, but causes great inconvenience for starting the vehicle, if the number of people getting the vehicle is large, the waiting time is long due to limited access, if the vehicle getting is reserved, the vehicle getting conflict with the on-site vehicle getting will be caused, and meanwhile, certain on-site coordination personnel are needed for the parking measures. Therefore, the existing parking space still cannot meet the requirements of people, and the problems of saving space and being convenient for a car owner to lift the car exist.
To this, application number 201820271122.8's utility model discloses an inclined formula jiffy stand, this parking shelf location climbing mechanism utilizes climbing mechanism to carry out the jacking to the slope to the vehicle of parking and parks, because all will install climbing mechanism on each jiffy stand, consequently caused the waste of resource, the cost is higher. Therefore, the utility model provides a to one side climbing mechanism installs on intelligent parking AGV, and the jiffy stand need not to install any climbing mechanism again, only needs keep the inclination motionless, can accomplish the parking action, has saved the cost of operation so greatly, and the parking area arranges more conveniently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a AGV parking robot based on single cylinder four-bar linkage climbing mechanism, the vehicle jacking that this robot will park is parked to the slope, can carry out the vehicle exchange with vehicle and fixed to one side jiffy stand simultaneously, by a wide margin reduces the area occupied on parking stall, convenient to use person access vehicle again simultaneously.
The utility model discloses a AGV parking robot based on single cylinder four-bar linkage climbing mechanism, include:
the AGV comprises an AGV chassis assembly, a front end and a rear end, wherein the AGV chassis assembly comprises a vehicle carrying platform with a flat plate structure and AGV steering wheel assemblies distributed at the bottom of the vehicle carrying platform; the AGV chassis assembly of the utility model is provided with an electromagnetic or optical automatic guiding device, can run along a specified guiding path, has a transport vehicle with safety protection and various transfer functions, does not need a transport vehicle of a driver in industrial application, and can control a running line thereof in an electromagnetic induction guiding, laser guiding or visual guiding mode; for example, when electromagnetic induction is adopted for guidance, the traveling route of the AGV is set up by using the electromagnetic track, and the electromagnetic track is adhered to the floor of the parking lot, so that the AGV chassis assembly can bear the vehicle to move on the ground of the parking lot according to the set route by means of the information brought by the electromagnetic track. The driving system and the control system of the AGV chassis assembly belong to the prior art, and are not described herein.
The comb plate assembly comprises two comb plates which are arranged in parallel and a connecting plate which is fixedly connected between the two comb plates; one ends of the two comb plate bodies are hinged to the vehicle carrying platform; the comb plate generally comprises a base plate and comb teeth distributed on the base plate, and rectangular tubes can be used as the comb teeth to ensure the strength and the bearing capacity of the comb teeth; the comb teeth are used for bearing wheels of the vehicle, the fixed inclined frame is also provided with the comb plate, and the comb plates on the parking robot and the fixed inclined frame can be mutually matched for use, so that the vehicle can be ensured to be exchanged between the parking robot and the fixed inclined frame.
The lifting assembly comprises a connecting rod, a triangular plate and a telescopic cylinder; the vehicle-carrying platform, the connecting rod, the triangular plate and the comb plate assembly are sequentially hinged to form a four-bar mechanism; the bottom of the cylinder body of the telescopic cylinder is hinged to the vehicle-carrying platform, the outer end of a push rod of the telescopic cylinder is hinged to the connecting plate and used for driving the two comb plates to be synchronously lifted, and the telescopic cylinder refers to a driving device capable of performing telescopic action, such as a hydraulic cylinder, an air cylinder, an electric push rod and the like; the telescopic cylinder is connected between the connecting plate and the vehicle-carrying platform, and when a push rod of the telescopic cylinder extends out, the connecting plate can be driven by the triangular plate to push the two comb plates to rotate to an inclined posture; the push rod and the connecting rod of connecting plate, telescoping cylinder articulate respectively in the three angular point department of triangle-shaped board, adopt the triangle-shaped board to guarantee its structural strength on the one hand, and on the other hand can improve the compactedness of whole device, compares the scheme that directly utilizes the telescoping cylinder to promote the fishback jacking, the utility model discloses in the mode that promotes the fishback indirectly through the triangle-shaped board is less at the required drive power of jacking initial stage. Certainly, in order to ensure that the vehicle can be stably and reliably parked on the inclined comb plate, the comb plate can be also provided with a vehicle stopper.
Further, the connecting rod and the connecting plate are all arranged in parallel in two, the telescopic cylinder is arranged between the two connecting rods and the connecting plate, the reliability of the supporting comb plate can be improved through the two groups of connecting rods and the triangular plate, and in addition, the telescopic cylinder is arranged between the two connecting rods and the connecting plate, so that the compactness of the whole device can be improved.
Further, when the comb plate is horizontally arranged, the connecting plate is supported on the vehicle carrying platform through the triangular plate, and when the comb plate is not lifted, the triangular plate is used as a supporting piece to support the connecting plate, so that the two comb plates are supported.
Further, the comb plate comprises a base plate, and a comb tooth part I and a comb tooth part II which are distributed on the base plate; comb tooth portion I and comb tooth portion II are used for supporting vehicle front wheel and rear wheel respectively, and comb tooth portion only sets up the position at the wheel that needs to be supported promptly to reduce the quantity of broach and the manufacturing cost of comb plate.
Furthermore, the bottom of the vehicle carrying platform is also provided with universal wheels, the number and the distribution positions of the universal wheels can be adaptively arranged according to the stress condition of the vehicle carrying platform, the AGV steering wheel assemblies of the AGV chassis assemblies are generally arranged at four corners of the vehicle carrying platform, and the position where the vehicle carrying platform is connected with the telescopic cylinder is subjected to larger load in work, so that the deformation of the vehicle carrying platform is reduced in order to ensure the bearing capacity of the whole vehicle carrying platform, and the universal wheels are arranged below the vehicle carrying platform to assist in supporting the vehicle carrying platform; the universal wheel can adopt any universal wheel structure in the prior art, and the details are not described herein.
Further, the universal wheel comprises a universal ball seat fixed at the bottom of the vehicle carrying platform and a universal ball arranged in the universal ball seat; the utility model discloses can adopt the steel ball as universal ball, universal ball seat is the cylinder structure, and its bottom surface is equipped with the mounting hole that can contain universal ball, and universal ball is installed behind universal ball seat, can roll towards arbitrary direction.
The AGV parking robot based on the single-cylinder four-connecting-rod jacking mechanism further comprises a control cabinet which is arranged on the vehicle carrying platform and is positioned between the two comb plates; the switch board is used for controlling the action of pneumatic cylinder and AGV steering wheel assembly, of course, still should be equipped with the battery for the power supply of each electric component on carrying the car platform.
The utility model has the advantages that:
1. the utility model discloses a parking robot can bear the vehicle and remove according to setting for the orbit to can arrange vehicle jacking to slope, shift the vehicle to fixed putting the frame to one side through the fishback, realize putting to one side of vehicle and park, reduced the area on parking stall, increased the biggest parking quantity in parking area.
2. The utility model discloses in the mode that promotes the jacking of fishback through the set-square is less at the required drive power of jacking initial stage.
3. The utility model discloses the warehouse entry action of completion vehicle that can automize avoids the vehicle to take place to wipe accidents such as hanging in parking process.
4. The utility model discloses a synchronous jacking of two fishback is realized to telescopic cylinder, does benefit to the manufacturing cost who reduces equipment, improves the stationarity of vehicle lift process.
5. The utility model discloses mechanical structure is simple, and applicable environment is wide. The equipment structure is not complex, the parking space does not need to be planned again, and the equipment can be installed on the original parking space.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the vehicle carrying platform of the present invention;
fig. 3 is a schematic structural view of the comb plate of the present invention;
fig. 4 is a schematic structural view of the universal wheel of the present invention;
fig. 5 is the utility model discloses a AGV rudder wheel assembly's structural schematic.
Reference numerals: 1. the system comprises a vehicle carrying platform 2, a hydraulic cylinder 3, a comb plate 4, a control cabinet 5, an AGV steering wheel assembly 6, a wheel seat 7, a bearing seat 8, a comb plate support 9, a comb tooth part I10, a comb tooth part II 11, a base plate 12, a universal ball seat 13, a universal ball 14, a triangular plate 15 and a connecting rod.
Detailed Description
The AGV parking robot based on the single-cylinder four-bar 15 jacking mechanism according to the present invention will be described in further detail with reference to the following embodiments.
As shown in fig. 1, the AGV parking robot based on single-cylinder four-bar 15 jacking mechanism of the present embodiment includes:
the AGV comprises an AGV chassis assembly, a front end and a rear end, wherein the AGV chassis assembly comprises a vehicle carrying platform 1 with a flat plate structure and AGV steering wheel assemblies 5 distributed at the bottom of the vehicle carrying platform 1; the utility model discloses a AGV chassis assembly adopts the principle of electromagnetic induction guided AGV dolly among the prior art, sets up the electromagnetic orbit in the parking area subaerial and establishes its route of marcing, makes AGV chassis assembly can rely on the information that the electromagnetic orbit brought to bear the vehicle and remove subaerially in the parking area according to the route of settlement. The AGV chassis assembly comprises a vehicle carrying platform 1 and four AGV steering wheel assemblies 5; the vehicle carrying platform 1 is of a flat plate structure, and wheel seats 6 for mounting four AGV steering wheel assemblies 5 are formed at four corners of the platform; referring to fig. 5, the AGV steering wheel assembly 5 is a prior art, and the structure thereof is not described in detail. In addition, in order to ensure the bearing capacity of the whole vehicle carrying platform 1 and reduce the deformation of the vehicle carrying platform 1, the utility model discloses four pairs of universal wheels 12 are arranged below the vehicle carrying platform 1 to carry out auxiliary supporting on the vehicle carrying platform 1; as shown in fig. 4, the universal wheel includes a universal ball seat 12 fixed at the bottom of the vehicle platform 1 and a universal ball 13 arranged in the universal ball seat.
The comb plate assembly comprises two comb plates 3 which are arranged in parallel and a connecting plate which is fixedly connected between the two comb plates 3; the top surface of the vehicle carrying platform 1 is provided with two comb plate supports 8, the front end surfaces of the comb plate supports 8 are fixed with two shaft seats, one ends of the comb plates 3 are hinged to the two shaft seats through hinge shafts, the comb plates 3 comprise base plates 11 and comb teeth distributed on the base plates, and rectangular tubes can be adopted as the comb teeth for ensuring the strength and the bearing capacity of the comb teeth; the comb teeth are divided into a comb tooth part I9 and a comb tooth part II 10 which are respectively used for bearing the front wheel and the rear wheel of a vehicle,
a lifting assembly comprising a connecting rod 15, a set square 14 and a hydraulic cylinder 2; the vehicle-carrying platform 1, the connecting rod 15, the triangular plate 14 and the comb plate assembly are sequentially hinged to form a four-connecting-rod 15 mechanism; the bottom of the cylinder body of the telescopic cylinder is hinged to the vehicle carrying platform 1, the outer end of a push rod of the telescopic cylinder is hinged to the triangular plate 14 and used for driving the two comb plates to be synchronously lifted, a bearing seat 7 for supporting the bottom of the cylinder body of the hydraulic cylinder 2 and the bottom of the connecting rod 15 is arranged on the top surface of the vehicle carrying platform 1, the outer end of the push rod of the hydraulic cylinder 2 is hinged to the connecting plate through a connecting pin, and certainly, a pin seat matched with the connecting pin is arranged at the bottom. Therefore, through the flexible of 2 push rods of control pneumatic cylinder, can drive two fishback 3 synchronous jacking, make the vehicle that bears on fishback 3 place on this parking robot in the slope.
Adopt the utility model discloses a when parking robot parks, the vehicle parks earlier on two fishback 3, and the robot bears the vehicle through the AGV chassis and removes according to setting for the orbit to park through pneumatic cylinder 2 with vehicle jacking to slope, shift the vehicle to fixed putting the frame to one side through fishback 3, realize putting to one side of vehicle and park, reduced the area on parking stall, increased the maximum parking quantity in parking area.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a AGV parking robot based on single cylinder four-bar linkage climbing mechanism which characterized in that includes:
the AGV comprises an AGV chassis assembly and a control system, wherein the AGV chassis assembly comprises a vehicle carrying platform and AGV steering wheel assemblies distributed at the bottom of the vehicle carrying platform;
the comb plate assembly comprises two comb plates which are arranged in parallel and a connecting plate which is fixedly connected between the two comb plates; one ends of the two comb plate bodies are hinged to the vehicle carrying platform;
the single-cylinder four-connecting-rod lifting assembly comprises a connecting rod, a triangular plate and a telescopic cylinder; the vehicle-carrying platform, the connecting rod, the triangular plate and the comb plate assembly are sequentially hinged to form a four-bar mechanism; the bottom of the cylinder body of the telescopic cylinder is hinged to the vehicle-carrying platform, and the outer end of a push rod of the telescopic cylinder is hinged to the triangular plate and used for driving the two comb plates to synchronously lift.
2. The AGV parking robot based on single cylinder four-bar jacking mechanism of claim 1 wherein: the connecting rods and the triangular plate are arranged in parallel, and the telescopic cylinder is arranged between the two connecting rods and the connecting plate.
3. The AGV parking robot based on single cylinder four-bar jacking mechanism of claim 1 wherein: when the comb plate is horizontally arranged, the connecting plate is supported on the vehicle-carrying platform through the triangular plate.
4. The AGV parking robot based on single cylinder four-bar jacking mechanism of claim 1 wherein: the comb plate comprises a plate body, and a comb tooth part I and a comb tooth part II which are distributed on the plate body; the comb tooth part I and the comb tooth part II are respectively used for supporting front wheels and rear wheels of the vehicle.
5. The AGV parking robot based on single cylinder four-bar jacking mechanism of claim 1 wherein: the bottom of the vehicle-carrying platform is also provided with universal wheels.
6. The AGV parking robot based on single cylinder four-bar jacking mechanism of claim 5 wherein: the universal wheel comprises a universal ball seat fixed at the bottom of the vehicle-carrying platform and a universal ball arranged in the universal ball seat.
7. The AGV parking robot based on single cylinder four-bar jacking mechanism of claim 6 wherein: the control cabinet is arranged on the vehicle carrying platform and is positioned between the two comb plates; the switch board is used for controlling the telescopic cylinder and the AGV steering wheel assembly to act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920910343.XU CN210289285U (en) | 2019-06-17 | 2019-06-17 | AGV parking robot based on single-cylinder four-bar jacking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920910343.XU CN210289285U (en) | 2019-06-17 | 2019-06-17 | AGV parking robot based on single-cylinder four-bar jacking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210289285U true CN210289285U (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920910343.XU Active CN210289285U (en) | 2019-06-17 | 2019-06-17 | AGV parking robot based on single-cylinder four-bar jacking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210289285U (en) |
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2019
- 2019-06-17 CN CN201920910343.XU patent/CN210289285U/en active Active
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