CN210526700U

CN210526700U - Novel AGV dolly parks

Info

Publication number: CN210526700U
Application number: CN201920952948.5U
Authority: CN
Inventors: 赵震; 王铁; 李蒙; 王戎; 石晋宏; 张瑞亮
Original assignee: Taiyuan University of Technology
Current assignee: Taiyuan University of Technology
Priority date: 2019-06-24
Filing date: 2019-06-24
Publication date: 2020-05-15
Anticipated expiration: 2029-06-24

Abstract

The utility model discloses a novel parking AGV dolly, a serial communication port includes frame assembly (3), install walking part on frame assembly (3), clamping part, wherein clamping part installs centre gripping subassembly (1) and front and back symmetry on frame assembly (2) including front and back symmetry, centre gripping guiding mechanism (2) are including adjusting motor (25), lead screw is vice (26), guide rail (32) and can be in guide rail (32) gliding slider (33), wherein guide rail (32) install with frame assembly (3), lead screw is vice (26) including lead screw and nut, this nut is installed on centre gripping subassembly (1) of homonymy, this centre gripping subassembly (1) is still installed on slider (33), adjusting motor (25) are fixed in on frame assembly (3), its output shaft and screw connection. Compared with the prior art, the utility model has the advantages of power is reliable, turn to in a flexible way, the transportation is stable and the suitability is strong.

Description

Novel AGV dolly parks

Technical Field

The utility model belongs to the technical field of the automatic guide transport vechicle, specifically be a novel parking AGV dolly.

Background

With the rapid development of the automotive industry and the relatively slow development of urban road infrastructure, parking is difficult to an inevitable consequence of urbanization and the development of the automotive industry. Parking AGV can transport the car department of parking, and whole in-process does not need manual operation, and the parking stall of place also no longer need reserve the driver and come in and go out required great space when opening the door, and at whole in-process of parking, accomplish the work of driving out the car of parkking by intelligent parking robot completely in addition, can accomplish the adjustment of gesture in relatively narrow and small space, saved parking space greatly, vehicle parking density also can improve by a wide margin.

The existing parking AGV mainly comprises a vehicle lifting plate type, a comb tooth type and a clamping tire type. The vehicle lifting plate type works by drilling under the vehicle lifting plate, the vehicle lifting plate and the vehicle parked on the vehicle lifting plate are conveyed to a set position together, and after parking is finished, the vehicle lifting plate type AGV parks the next vehicle and repeats in a circulating mode. The type has simple structure, low cost and low working efficiency, and is convenient to install. Broach type parking AGV installs interior broach and outer broach on vapour car support and AGV, accomplishes AGV's lift process through the broach clearance to broach and outer broach alternate the purpose that replaces in reaching, thereby realize the transport of stopping of car. The comb is high in carrying efficiency, but high in requirements on performance of comb tooth materials and structural size, and high in production difficulty coefficient. The tire clamping type parking AGV is used for directly entering a robot under a vehicle and clamping the tire of the vehicle through a clamping device so as to finish the parking work of the vehicle. This type handling efficiency is lower than the broach type, but compact structure installation is convenient, is applicable to the intelligent control technique under the limited condition in space. Based on the types of the parking robots in the current stage, the tire clamping type parking robot is adopted in the design of the application. Meanwhile, aiming at the defect that various clamping tire type parking robots generally have poor adaptability to wheelbases of different automobiles, a clamping adjusting mechanism is designed, the center distance of a clamping assembly can be adjusted according to the wheelbases of the automobiles, and the design applicability is improved.

In addition, the existing AGV trolley mostly realizes the turning and in-situ spinning of the trolley body through four-wheel differential or integrated two-wheel differential, the structure has higher flatness to the space and the ground in the using process, and when the AGV trolley runs under the condition of uneven road surface, a certain wheel is easy to suspend or sideslip, the driving performance of the whole trolley is influenced, unnecessary vibration is generated on the trolley body, the running route is inaccurate, and the running stability of the whole trolley is reduced. To above problem the utility model discloses an electronic four wheel drive turns to and increases buffering vibration damper simultaneously, can realize the accurate control that turns to, improves the stability and the dynamic property of dolly.

Disclosure of Invention

Based on the above background art, the utility model provides a novel solution of parking AGV dolly, this dolly has adopted the drive mode that electronic full wheel drive turned to increased buffering vibration damper, can realize that 360 drives of full wheel turn to, improved the drive power of dolly and turned to the flexibility, guaranteed four wheels and touchdown constantly and reduced the vertical vibration of dolly, improved the stability of traveling of dolly. In the clamping mode, the tire clamping mode is adopted, a clamping adjusting mechanism is additionally arranged, the center distance of the clamping assembly is adjusted, and the applicability of the trolley is improved.

The utility model adopts the technical scheme as follows: the utility model provides a novel parking AGV dolly, including the frame assembly, install the running part on the frame assembly, clamping part, wherein clamping part installs the centre gripping subassembly on the frame assembly and the centre gripping guiding mechanism on the frame assembly of symmetry installation around with including, centre gripping guiding mechanism includes adjusting motor, the lead screw is vice, the guide rail with can be at the gliding slider of guide rail, wherein the guide rail install with the frame assembly on, the lead screw is vice to include lead screw and nut, this nut is installed on the centre gripping subassembly of homonymy, this centre gripping subassembly still installs on the slider, adjusting motor is fixed in on the frame assembly, its output shaft and screw connection. When the center distance of the front clamping assembly and the rear clamping assembly needs to be adjusted, the adjusting motor drives the screw rod to rotate, and the nut horizontally moves. Because the clamping component is fixed with the nut, the clamping component moves in the horizontal direction, the purpose of adjusting the position of the clamping component is further achieved, and the adaptability to different automobile wheelbases is improved.

Furthermore, the clamping assembly comprises a clamping motor, a speed reducer, a worm wheel, a worm, a clamping scraper knife and an installation base, the installation base is installed on the sliding block, a nut in the screw rod pair is further installed on the installation base, the clamping motor, the speed reducer, the worm wheel and the worm are installed on the installation base, one end of the clamping scraper knife is connected with the worm wheel, the clamping motor, the speed reducer and the worm are arranged on the same axis, and the output torque is transmitted to the worm by the clamping motor. The worm is meshed with the turbine, the transmission direction of the variable force is changed, the turbine rotates by a certain angle under the action of a certain torque, and the clamping scraper knife also rotates by a corresponding angle, so that the positioning and clamping of the trolley are realized.

Furthermore, the walking part comprises four groups of driving systems, a steering system and a buffering and damping device, and the four groups of driving systems, the steering system and the buffering and damping device are correspondingly arranged at the driving position of the frame assembly. Each group of buffer vibration dampers comprises a frame connecting plate, a spring guide post and a suspension connecting plate, wherein a multi-connecting-rod hinged support mechanism is connected between the frame connecting plate and the suspension connecting plate, the spring guide post is fixedly connected with the frame connecting plate, the suspension connecting plate is in clearance fit with the spring guide post through a guide post hole on the suspension connecting plate, the spring sleeve is positioned between an upper plate and a lower plate on the spring guide post and is in a compression state, the frame connecting plate is arranged on a frame assembly, and a driving system and a steering system are arranged below the suspension connecting plate. When the trolley is vibrated due to uneven road surface, the suspension connecting plate can move up and down under the action of the compression spring, and the system can ensure that four wheels of a trolley driving system land simultaneously, so that the dynamic property of the whole trolley is improved; meanwhile, the vertical vibration of the trolley can be reduced, and the stability of the trolley is improved. The vertical vibration of the trolley is reduced by using the vibration reduction effect of the spring, and the accuracy of the running direction of the trolley and the stability of the whole trolley are ensured by using the spring guide post in the vibration reduction process.

Furthermore, the pin and the guide rod are connected to form a multi-link hinged support guide mechanism.

Further, the driving system comprises driving wheels, the driving wheels comprise driving motors, speed reducers, wheels, bearings, wheel mounting plates, axles and left and right side plates, the left and right side plates are mounted below the wheel mounting plates, the axles are connected with the left and right side plates through the bearings and connected with the wheels, the driving motors are mounted on the inner sides of the wheels, and the driving motors, the speed reducers and the axles are mounted on the same axis; the driving motor provides power to drive the axle to rotate through the speed reducer so as to drive the wheels to rotate. Because four motors are adopted to respectively drive four wheels, the driving force is improved, the required power of the whole vehicle is shared, and the sizes of the motors and various parts are reduced. The steering system and the driving system share a wheel mounting plate, the steering system and the driving system share a suspension connecting plate with a buffer vibration damper, the suspension connecting plate comprises an outer gear ring, a slewing bearing and a stepping motor, the slewing bearing comprises a slewing bearing inner ring, a slewing bearing outer ring and steel balls, a stepped shaft is mounted above the wheel mounting plate, a first shaft and the slewing bearing inner ring are in transition fit, a threaded hole is drilled in the end face of a second shaft and is connected with the end face of the slewing bearing inner ring through a bolt, the slewing bearing outer ring and the outer gear ring are in interference fit and are fixed on the suspension connecting plate through bolts, the stepping motor is fixed below the wheel mounting plate, an output shaft of the stepping. The working process is as follows: the stepping motor drives the planetary gear to rotate through the output shaft, and the planetary gear is meshed with the outer gear ring due to the fact that the outer gear ring is fixed, circular motion is carried out along the gear ring, and then the whole driving wheel is driven to rotate to achieve flexible steering.

Furthermore, the frame assembly consists of five cross beams and two longitudinal beams.

Further, the frame assembly is provided with a battery bracket, a motor bracket and a controller installation box.

Furthermore, the turbine is an incomplete turbine, so that the rotation angle of the rotary scraper knife is ensured to be within a given range, and the performance requirement on the trolley is met.

Further, the clamping assembly further comprises an upper cover plate, and the upper cover plate is installed on the installation base and covers the turbine, the worm and the clamping motor.

Furthermore, a bumper is arranged on the frame assembly.

The utility model discloses an wholly realize the process as follows:

(1) a preparation phase. The customer parks the vehicle to the designated platform as required. And the AGV trolley is parked to retract the clamping shovel blades on two sides of the trolley body, so that the trolley can smoothly enter the bottom of the vehicle.

(2) And (5) a clamping stage. The distance between the clamping components is adjusted according to the relative position of the parking AGV trolley and the vehicle to be transported and the wheel base of the vehicle, and the process is realized through the clamping adjusting mechanism. Then, the clamping motor rotates to drive the worm gear and the worm to rotate, and the clamping shovel blade also rotates, so that the vehicle is supported.

(3) And (4) a transfer stage. After the vehicle is supported, the parking AGV trolley runs under the action of the driving motor, vibration in the running process is reduced through the vibration reduction guide mechanism, the fact that four wheels can land simultaneously when the trolley works on uneven road surfaces is guaranteed, and the driving performance of the whole vehicle, the accuracy of the running direction and the stability of the whole vehicle are improved. And (4) driving according to the path determined by navigation, adjusting the rotation angle by controlling the rotation of the stepping motor during steering, and simultaneously controlling the mass center side slip angle and the yaw velocity of the whole vehicle until the parking AGV reaches the specified parking position.

(4) And (5) a parking stage. After the AGV reaches the appointed parking position, under the effect of centre gripping motor, the centre gripping spiller carries out the antiport, loosens the vehicle tire, places the vehicle in appointed platform position. Meanwhile, the clamping shovel blades on the two sides of the vehicle body are folded, the trolley is guaranteed to smoothly go out of the bottom of the vehicle, and the vehicle parking process is completed.

The utility model has the advantages as follows:

1. the utility model discloses a parking AGV dolly adopts four wheel drive to turn to, has improved the drive power of dolly greatly, utilizes slewing bearing to realize 360 rotations of wheel simultaneously, turns to more in a flexible way, has reduced the space demand of dolly operation, has improved space utilization, has improved dolly operational environment's adaptability.

2. The utility model discloses a parking AGV dolly has adopted the buffering vibration damper of new design, has guaranteed that four wheels touch down constantly, has improved the driveability of dolly, has reduced the vertical vibration of dolly simultaneously, improves the stability and the accuracy of traveling of dolly.

3. The utility model discloses a parking AGV dolly has increased centre gripping guiding mechanism, and accessible motor drive lead screw adjustment centre gripping subassembly's centre-to-centre spacing has improved the commonality of parking AGV dolly to through spiller location tire, improved the location accuracy.

4. The utility model discloses a parking AGV dolly compact structure, and easy operation, the flexibility is good with the security, and construction cost is lower.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification, illustrate example embodiments of the application and together with the description serve to explain the application and not to limit the application.

FIG. 1 is a schematic diagram of a novel parking AGV.

Fig. 2 is a general schematic of the drive system.

FIG. 3 is a general schematic of the steering system.

Figure 4 a schematic view of a slew bearing.

Fig. 5 is a general schematic view of a cushioning and shock absorbing device.

Fig. 6 is a schematic view of a walking part.

Fig. 7 is a general schematic view of a clamping device.

Fig. 8 is a schematic view of a clamping blade.

Figure 9 is a schematic view of a rail slide.

FIG. 10 is a schematic view of the frame assembly.

The notation in the figure is:

1-clamping component, 2-clamping adjusting mechanism, 3-frame assembly, 4-driving system, 5-bumper, 6-buffer damping device, 7-steering system, 8-driving motor, 9-wheel mounting plate, 10-wheel, 11-left and right side plates, 12-suspension connecting plate, 13-external gear ring, 14-slewing bearing, 15-planet wheel, 16-stepping motor, 17-slewing bearing outer ring, 18-slewing bearing inner ring, 19-steel ball, 20-pin, 21-spring, 22-spring guide column, 23-guide rod, 24-frame connecting plate, 25-adjusting motor, 26-lead screw pair, 27-clamping scraper knife, 28-turbine, 29-mounting base, 30-scroll rod, 31-clamping motor, 32-guide rail, 33-slide block, 34-cross beam, 35-longitudinal beam, 36-motor support, 37-controller mounting box and 38-battery support.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure herein. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings:

novel parking AGV dolly overall function divides

As shown in fig. 1, the structure of the AGV cart for parking is generally divided into a traveling part, a clamping part and a frame assembly 3, wherein the traveling part includes a driving system 4, a steering system 7 and a damping device 6 for driving the AGV cart, traveling in all directions and reducing vibration. The clamping part is divided into a clamping component 1 and a clamping adjusting mechanism 2 for realizing the adjustment of the center distance of the lifting vehicle and the clamping component. The frame assembly 3 is the main bearing part of the whole trolley and is the foundation for the running of the trolley. The whole trolley is of a symmetrical structure.

Two, walking part utility model

As shown in fig. 2, the walking drive system 4 includes four groups of driving wheels, each group of driving wheels includes a driving motor 8, a speed reducer, a wheel 10, a bearing, a wheel mounting plate 9, an axle, a left side plate 11 and a right side plate 11, wherein the left side plate 11 and the right side plate 11 are mounted below the wheel mounting plate 9, the axle is connected with the left side plate 11 and the right side plate 11 through the bearing and is in interference connection with the wheel 10, the driving motor 8 is mounted inside the wheel 10, the driving motor 8, the speed reducer and the axle are mounted on the same axis, and the driving motor 8 provides power to drive the axle to. Because four motors are adopted to respectively drive four wheels, the driving force is improved, the required power of the whole vehicle is shared, and the sizes of the motors and various parts are reduced.

As shown in fig. 3, the steering system 7 shares a wheel mounting plate 9 with the drive system 4, and includes an outer ring gear 13, a slewing bearing 14, a suspension link plate 12, and a stepping motor 16. Wherein the slewing bearing 14 is composed of a slewing bearing inner ring 18, a slewing bearing outer ring 17 and steel balls 19 as shown in fig. 4. A stepped shaft is designed above the wheel mounting plate 9, a first shaft is in transition fit with a rotary bearing inner ring 18, a threaded hole is drilled in the end face of a second shaft and is connected with the rotary bearing inner ring 18 through a bolt, a rotary bearing outer ring 17 is in interference fit with an outer gear ring 13 and is fixed on a suspension connecting plate 12 through a bolt, a stepping motor 16 is fixed below the wheel mounting plate 9, an output shaft of the stepping motor penetrates through the wheel mounting plate 9 and is also provided with a planetary wheel 15, and the planetary wheel 15 is meshed with the outer gear ring 13. The working process is as follows: the stepping motor 16 drives the planetary gear 15 to rotate through an output shaft, and the planetary gear 15 is meshed with the outer gear ring 13 due to the fact that the outer gear ring 13 is fixed, and moves circularly along the gear ring, so that the whole walking part is driven to rotate, and flexible steering is achieved.

As shown in fig. 5, the shock absorbing and damping device 6 mainly comprises a frame connecting plate 24, a pin 20, a spring 21, a spring guide column 22, a suspension connecting plate 12 and a guide rod 23, wherein four sides of the guide rod 23 are respectively connected through the pin 20 to form a multi-link hinged support guide mechanism which can move up and down and play a role of guide support. The spring 21 is sleeved on the spring guide post 22 and positioned between the upper plate and the lower plate and in a compressed state, the spring guide post 22 is fixedly connected with the frame connecting plate 24, the suspension connecting plate 12 is in clearance fit with the spring guide post 22 through a guide post hole on the suspension connecting plate, and the suspension connecting plate 12 can move up and down. When the trolley is vibrated due to uneven road surface, the system can ensure that four wheels of the trolley are grounded simultaneously, and the dynamic property of the whole trolley is improved; meanwhile, the vertical vibration of the trolley can be reduced, and the stability of the trolley is improved.

Third, the clamping part

The clamping part can realize the lifting of the automobile, and the whole structure of the clamping part is shown in figure 7 and can be divided into a clamping component 1 and a clamping adjusting mechanism 2. The clamping assembly comprises a clamping motor 31, a speed reducer, a turbine 28, a worm 30, a clamping scraper knife 27, a mounting base 29 and an upper cover plate. The mounting base 29 is connected with the sliding block 33 to realize position adjustment, a worm gear and a worm are mounted on the base, the worm gear 28 is an incomplete worm gear as shown in fig. 7 and only has about one-half gear teeth, the clamping scraper knife 27 and the worm gear 28 are integrally manufactured, the clamping motor 31, the speed reducer and the worm 30 are arranged on a coaxial line, and the clamping motor 31 transmits output torque to the worm 30. The worm 30 is engaged with the worm wheel 28, changes the transmission direction of the variable force, and enables the worm wheel 28 to rotate a certain angle under the action of a certain torque, and simultaneously the clamping scraper 27 also rotates a corresponding angle, so as to realize the positioning and clamping of the trolley.

Two clamping blades 27 are included at each clamping position, the torque output by a clamping motor 31 is transmitted to a worm 30 through a speed reducer and a coupling, and the worm 30 is meshed with a worm wheel 28 at the fixed end of each clamping blade. When the scraper knife is clamped at the initial position, the outer edge of the scraper knife is flush with the frame; after the parking AGV drives into the bottom of the vehicle at a designated position, the clamping blade 27 rotates under the action of the clamping motor 31, and the vehicle is supported under the common squeezing and pushing action of the two blades on the tire.

The clamping adjusting mechanism 2 is composed of an adjusting motor 25, a trapezoidal screw pair 26, a left guide rail 32, a right guide rail 32 and a sliding block 33, wherein the left guide rail 32 and the right guide rail 32 are connected with the frame 3, the sliding block 33 can slide in the guide rails 32, the trapezoidal screw pair 26 comprises a screw rod and a nut, the nut is installed on the installation base 29, the adjusting motor 25 is fixed on the motor bracket 36, and when the center distance of the front clamping assembly and the rear clamping assembly needs to be adjusted, the adjusting motor 25 drives the screw rod to rotate, so that the nut horizontally moves back and. Since the mounting base 29 is fixed to the nut, the mounting base 29 moves in the horizontal direction, thereby achieving the purpose of adjusting the position.

Four, frame part

As shown in fig. 10, the frame of the present invention is a side beam type structure with symmetrical front and back and left and right, which is composed of five cross beams 34 and two longitudinal beams 35, the structural steel material uses channel steel, and the connection between the parts is mainly welding. In order to facilitate the installation of the motor battery, a battery bracket 38, a motor bracket 36 and a controller installation box 37 are assembled on the frame, and are connected by bolts for facilitating the disassembly. The guide rail 32 is arranged with the upper wing surface of the frame, and the walking part is welded with the lower wing surface of the frame, so as to realize the integral assembly of the trolley.

The above are only specific embodiments of the present invention, but are not limited thereto. Any solution to the same technical problems or achieving the same technical effects as the present invention, such as simple changes, equivalent replacements, or modifications, are within the scope of the present invention.

Claims

1. The utility model provides a novel parking AGV dolly, its characterized in that includes frame assembly (3), install the running part on frame assembly (3), the clamping part, wherein clamping part installs centre gripping subassembly (1) and front and back centre gripping guiding mechanism (2) on frame assembly including front and back symmetry on frame assembly, centre gripping guiding mechanism (2) are including adjusting motor (25), lead screw pair (26), guide rail (32) and can be in slider (33) gliding in guide rail (32), wherein guide rail (32) install with frame assembly (3), lead screw pair (26) include lead screw and nut, this nut is installed on centre gripping subassembly (1) of homonymy, this centre gripping subassembly (1) is still installed on slider (33), adjusting motor (25) are fixed in on frame assembly (3), its output shaft and screw connection.

2. The novel parking AGV trolley according to claim 1, wherein the clamping assembly (1) comprises a clamping motor (31), a speed reducer, a turbine (28), a worm (30), a clamping scraper (27) and a mounting base (29), the mounting base (29) is mounted on a sliding block (33), a nut in a screw pair is further mounted on the mounting base (29), the clamping motor (31), the speed reducer, the turbine (28) and the worm (30) are mounted on the mounting base (29), one end of the clamping scraper (27) is connected with the turbine (28), the clamping motor (31), the speed reducer and the worm (30) are arranged on a coaxial line, and the clamping motor (31) transmits output torque to the worm (30).

3. A novel parking AGV trolley according to claim 2, characterized in that the traveling part comprises a driving system (4), a steering system (7) and a buffer damping device (6), the buffer damping device (6) comprises a frame connecting plate (24), a spring (21), a spring guide post (22) and a suspension connecting plate (12), a multi-link hinged support mechanism is connected between the frame connecting plate (24) and the suspension connecting plate (12), the spring guide post (22) is fixedly connected with the frame connecting plate (24), the suspension connecting plate (12) is in clearance fit with the spring guide post (22) through a guide post hole on the suspension connecting plate, the spring (21) is sleeved on the spring guide post (22) and positioned between an upper plate and a lower plate and in a compressed state, the frame connecting plate (24) is installed on the frame assembly (3), and the driving system (4) is installed below the suspension connecting plate (12), A steering system (7).

4. A new parking AGV according to claim 3, characterized by the pins (20) and the guiding rods (23) connected to form a multi-link hinged support guiding mechanism.

5. A novel parking AGV according to claim 3 or 4, wherein the driving system (4) comprises driving wheels, the driving wheels comprise driving motors (8), speed reducers, wheels (10), bearings, wheel mounting plates (9), axles, left and right side plates (11), wherein the left and right side plates (11) are mounted below the wheel mounting plates (9), the axles are connected with the left and right side plates (11) through the bearings and connected with the wheels (10), the driving motors (8) are mounted inside the wheels (10), and the driving motors (8), the speed reducers and the axles are mounted on the same axis; a steering system (7) and a driving system (4) share a wheel mounting plate (9), a buffer vibration damper (6) shares a suspension connecting plate (12), and the suspension connecting plate comprises an outer gear ring (13), a slewing bearing (14) and a stepping motor (16), wherein the slewing bearing (14) comprises a slewing bearing inner ring (18), a slewing bearing outer ring (17) and steel balls (19), a stepped shaft is arranged above the wheel mounting plate (9), a first shaft is in transition fit with the slewing bearing inner ring (18), a threaded hole is drilled in the end face of a second shaft, the end face of the second shaft is connected with the end face of the slewing bearing inner ring (18) through a bolt, the slewing bearing outer ring (17) is in interference fit with the outer gear ring (13) and is fixed on the suspension connecting plate (12) through a bolt, the stepping motor (16) is fixed below the wheel mounting plate (9), and an output shaft of, the planet wheel (15) is meshed with the external gear ring (13).

6. A new parking AGV according to claim 4, characterized by the frame assembly (3) consisting of five cross beams (34) and two longitudinal beams (35).

7. A new parking AGV according to claim 6 characterised in that the frame assembly (3) is fitted with a battery bracket (38), a motor bracket (36) and a controller mounting box (37).

8. The AGV car of claim 2 or 3, wherein said turbine is an incomplete turbine, ensuring the rotation angle of the rotary blade within a given range, meeting the performance requirements for the car.

9. A new parking AGV according to claim 2 or 3, characterized by the gripping assembly (1) further comprising an upper cover plate mounted on the mounting base and covering the worm gear, worm, gripping motor.

10. A new parking AGV according to claim 6 or 7 characterised in that the frame assembly (3) is fitted with a bumper (5).