CN210422082U - AGV parking robot based on rocker slider climbing mechanism - Google Patents
AGV parking robot based on rocker slider climbing mechanism Download PDFInfo
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- CN210422082U CN210422082U CN201920911987.0U CN201920911987U CN210422082U CN 210422082 U CN210422082 U CN 210422082U CN 201920911987 U CN201920911987 U CN 201920911987U CN 210422082 U CN210422082 U CN 210422082U
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Abstract
The utility model discloses a AGV parking robot based on rocker slider 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 one ends of which are hinged to the frame body; the rocker sliding block jacking mechanism comprises a sliding block arranged on the vehicle-carrying platform in a single-degree-of-freedom reciprocating movement mode, a connecting rod hinged between the sliding block and the comb plate, and a driving device used for driving the sliding block to slide; the utility model discloses a parking robot can bear the vehicle and remove according to setting for the orbit to through the vice slider that promotes of driving motor and screw-nut and remove, and then utilize rocker slider mechanism to make two fishback synchronous rotations 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.
Description
Technical Field
The utility model relates to a parking equipment field specifically is a AGV parking robot based on rocker slider 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 traditional garage of a roadway stacking type, a vertical lifting type stereo garage, a plane moving type and the like, and the working principle of the traditional garage 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 rocker slider climbing mechanism, the vehicle jacking that this robot will park is parked to the slope, can carry out the vehicle with vehicle and fixed to one side and exchange vehicle simultaneously, and by a wide margin the area occupied on reduction parking stall, convenient to use person access vehicle again simultaneously.
The utility model discloses a AGV parking robot based on rocker slider 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 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 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 one ends of which are hinged to the frame body; 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.
Rocker slider climbing mechanism, it include with single degree of freedom reciprocating motion's mode set up in carry car platform's slider, articulate in the connecting rod between slider and the fishback, and be used for the drive the gliding drive arrangement of slider, wherein, drive arrangement can be for any kind of device that can drive the slider gliding among the prior art, for example pneumatic cylinder, electronic jar, electric putter, lead screw nut pair, ball lead screw pair etc. among the rocker slider mechanism, the reciprocating sliding of slider can turn into the reciprocating oscillation of rocker, this robot is when using, the fishback is as the rocker in rocker slider mechanism, the vehicle bears on two fishbacks, when drive arrangement drive slider slides, the slider will be through the connecting rod with the fishback to the slope gesture, then exchange vehicle and fixed oblique frame.
Further, the driving device comprises a driving motor and a lead screw nut pair; the screw nut pair comprises a threaded hole arranged in the sliding block and a screw arranged on the vehicle-carrying platform in a self-rotating manner; the screw rod is matched with the threaded hole and is driven to rotate by the driving motor; the two lead screws can be driven by one driving motor independently, the output shafts of the driving motors are connected with the lead screws through couplers, and the lead screws are supported on the vehicle-carrying platform through bearing seats; the threaded holes can be directly machined in the sliding blocks, or nuts are embedded in the sliding blocks, when the comb plate lifting device works, the control cabinet controls the two driving motors to synchronously rotate so as to ensure that the two comb plates can be synchronously lifted, of course, the two lead screws can be driven to rotate only by one motor, for example, the driving motors output power to the two lead screws simultaneously in a gear transmission, chain transmission or synchronous belt transmission mode; the sliding block is driven to slide by the screw-nut pair, and the comb plate cannot reset under the action of gravity of a vehicle even if the power of the driving device is interrupted due to the fact that the screw-nut pair has the reverse self-locking characteristic, and therefore jacking safety is improved.
Further, the connecting rod comprises two strip-shaped plates which are arranged in parallel, and the lower ends of the two strip-shaped plates are hinged to the two sides of the sliding block respectively.
Further, 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; 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 comb plate 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 rocker slider 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 driving motor and AGV steering wheel assembly action, of course, still should be equipped with the battery for each electric supply 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 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.
3. The utility model discloses a two screw-nut are vice realizes the synchronous jacking of two fishback, utilizes the vice reverse auto-lock characteristic of screw-nut, has improved the security of jacking.
4. 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 comb plate of the present invention;
FIG. 3 is a schematic structural view of the universal wheel of the present invention;
fig. 4 is the utility model discloses a AGV steering wheel assembly's structural schematic.
Reference numerals: the AGV comprises a car carrying platform 1, a lead screw 3, a connecting rod 4, a comb plate 5, a control cabinet 6, a comb plate support 7, a driving motor 8, a coupler 9, a sliding block 10, a threaded hole 11, a bearing seat 12, an AGV steering wheel assembly 13, a comb tooth part I14, a base plate 15, a comb tooth part II 16, a universal ball seat 17 and a universal ball.
Detailed Description
The following will explain the AGV parking robot based on rocker slider jacking mechanism in further detail with reference to the embodiments.
As shown in fig. 1, the AGV parking robot based on the rocker slider 9 jacking mechanism of this embodiment includes:
the AGV comprises an AGV chassis assembly, a chassis assembly and a control system, wherein the AGV chassis assembly comprises a vehicle carrying platform 1 and AGV steering wheel assemblies 12 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 of the embodiment comprises a vehicle carrying platform 1 and four AGV steering wheel assemblies 12; the vehicle carrying platform 1 is of a flat plate structure, and wheel seats for mounting four AGV steering wheel assemblies 12 are formed at four corners of the platform; referring to fig. 4, the AGV steering wheel assembly 5 is a prior art, and the detailed structure thereof is not described. 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 are arranged below the vehicle carrying platform 1 to carry out auxiliary supporting on the vehicle carrying platform 1; as shown in fig. 3, the universal wheel includes a universal ball seat 16 fixed at the bottom of the vehicle platform 1 and a universal ball 17 arranged in the universal ball seat 16.
The comb plate assembly comprises two comb plates 4 which are arranged in parallel and one ends of which are hinged to the frame body; the top surface of the vehicle carrying platform 1 is provided with two comb plate supports 6, two shaft seats are fixed on the front end surfaces of the comb plate supports 6, one ends of the comb plates 4 are hinged to the two shaft seats through hinge shafts, the comb plates 4 comprise base plates 14 and comb teeth distributed on the base plates 14, and rectangular tubes can be adopted as the comb teeth to ensure the strength and the bearing capacity of the comb teeth; the comb teeth are divided into comb teeth parts I13 and comb teeth parts II 15 which are respectively used for bearing front wheels and rear wheels of a vehicle.
The rocker sliding block 9 jacking mechanism comprises a sliding block 9 arranged on the vehicle-carrying platform 1 in a single-degree-of-freedom reciprocating movement mode, a connecting rod 3 hinged between the sliding block 9 and the comb plate 4, and a driving device for driving the sliding block 9 to slide, wherein the driving device comprises a driving motor 7 and a lead screw nut pair, and the lead screw nut pair comprises a threaded hole 10 arranged on the sliding block 9 and a lead screw 2 supported on the vehicle-carrying platform 1 through a bearing seat 11; the screw rod 2 is matched with the threaded hole 10, and the driving motor 7 is connected with the screw rod 2 through a coupler 8 to drive the screw rod to rotate; two lead screw 2 can drive through a driving motor 7 alone, in operation, switch board 5 should control two driving motor 7 drive two lead screw 2 synchronous rotations, make the reciprocating slide of slider 9 can turn into the reciprocating swing of rocker, fishback 4 is as the rocker in rocker slider 9 mechanism, the vehicle bears on two fishback 4, when drive arrangement drive slider 9 slides, slider 9 will be through jacking fishback 4 to the slope gesture through connecting rod 3, then exchange vehicle and fixed oblique frame, adopt the vice drive slider 9 of screw nut to slide, because the screw nut is vice to have the characteristic of reverse auto-lock, even if after drive arrangement's power is interrupted, fishback 4 also can not reset under the action of gravity of vehicle, the security of jacking has been improved.
Adopt the utility model discloses a when parking robot parks, the vehicle parks earlier on two fishback 4, the robot bears the vehicle through the AGV chassis and removes according to setting for the orbit to drive lead screw 2 through driving motor 7 and rotate the translation that realizes slider 9, and then through slider rocker mechanism with vehicle jacking to slope gesture, shift the vehicle to fixed oblique frame through fishback 4 on, realize putting to one side of vehicle and park, the area on parking stall has been reduced, the biggest parking quantity in parking area has been increased.
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 rocker slider 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 one ends of which are hinged to the vehicle carrying platform;
the rocker sliding block jacking mechanism comprises a sliding block arranged on the vehicle-carrying platform in a single-degree-of-freedom reciprocating movement mode, a connecting rod hinged between the sliding block and the comb plate, and a driving device used for driving the sliding block to slide.
2. The AGV parking robot based on the rocker-slider jacking mechanism of claim 1, wherein: the driving device comprises a driving motor and a lead screw nut pair; the screw nut pair comprises a threaded hole arranged in the sliding block and a screw arranged on the vehicle-carrying platform in a self-rotating manner; the screw rod is matched with the threaded hole and is driven to rotate by the driving motor.
3. The AGV parking robot based on the rocker-slider jacking mechanism of claim 2, wherein: the connecting rod comprises two strip-shaped plates which are arranged in parallel, and the lower ends of the two strip-shaped plates are hinged to the two sides of the sliding block respectively.
4. The AGV parking robot based on the rocker-slider 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 the rocker-slider jacking mechanism of claim 2, wherein: the bottom of the vehicle-carrying platform is also provided with universal wheels.
6. The AGV parking robot based on the rocker-slider 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 the rocker-slider 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 control cabinet is used for controlling the action of the driving motor and the AGV steering wheel assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920911987.0U CN210422082U (en) | 2019-06-17 | 2019-06-17 | AGV parking robot based on rocker slider climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920911987.0U CN210422082U (en) | 2019-06-17 | 2019-06-17 | AGV parking robot based on rocker slider climbing mechanism |
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| Publication Number | Publication Date |
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| CN210422082U true CN210422082U (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920911987.0U Active CN210422082U (en) | 2019-06-17 | 2019-06-17 | AGV parking robot based on rocker slider climbing mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111809946A (en) * | 2020-08-03 | 2020-10-23 | 河南工业大学 | Lotus type stereo garage |
| CN112551423A (en) * | 2020-12-04 | 2021-03-26 | 山西华遇科技开发有限公司 | Vehicle centralizer |
-
2019
- 2019-06-17 CN CN201920911987.0U patent/CN210422082U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111809946A (en) * | 2020-08-03 | 2020-10-23 | 河南工业大学 | Lotus type stereo garage |
| CN112551423A (en) * | 2020-12-04 | 2021-03-26 | 山西华遇科技开发有限公司 | Vehicle centralizer |
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