CN210971013U

CN210971013U - Split type AGV parking robot

Info

Publication number: CN210971013U
Application number: CN201921837559.4U
Authority: CN
Inventors: 梁华庚; 胡金华; 张智华
Original assignee: Guangdong Shibo Intelligent Equipment Technology Co ltd
Current assignee: Guangdong Shibo Intelligent Equipment Technology Co ltd
Priority date: 2019-10-28
Filing date: 2019-10-28
Publication date: 2020-07-10
Anticipated expiration: 2029-10-28

Abstract

The utility model provides a split type AGV parking robot, which comprises a front vehicle device and a rear vehicle device, wherein the front vehicle device is connected with the rear vehicle device; the front vehicle device and the rear vehicle device respectively comprise a walking device and two groups of clamping devices; the walking device comprises a advancing device and a steering device, the steering device is connected with the advancing device, and the steering device controls the steering of the advancing device; the clamping device is used for lifting the tire; this AGV parking robot divide into preceding car device and back car device, and preceding car device all includes to turn to the device and the device that moves ahead with the back car device, the second drive arrangement who turns to the device through control makes the steering ring rotate, thereby make and turn to ring fixed connection's first drive arrangement and rotate, thereby the direction of the wheel of the device that moves ahead changes, realize changing the direction of advance of the device that moves ahead, can realize turning to of the direction of moving ahead of running gear in situ, do not need extra steering assistance device, reduce the area demand to the turning department simultaneously.

Description

Split type AGV parking robot

Technical Field

The utility model relates to a AGV parking robot field, concretely relates to split type AGV parking robot.

Background

Because the cost of building improves, the cost of the usable floor area in parking area improves thereupon, in order to realize automatic transport car, the transport road requirement that AGV parking robot that present scheme utilized needs is harsh, in order to realize turning, the area that needs in the turn is big and need use the broach frame, and is high to the civil engineering requirement in parking area, and the initial input cost is too high moreover, consequently needs a split type AGV parking robot to be used for solving above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a for solve above-mentioned problem.

A split type AGV parking robot comprises a front vehicle device and a rear vehicle device, wherein the front vehicle device is connected with the rear vehicle device; the front vehicle device and the rear vehicle device respectively comprise a walking device and two groups of clamping devices; the walking device comprises a advancing device and a steering device, the steering device is connected with the advancing device, and the steering device controls the steering of the advancing device; the clamping device is used for lifting the tire.

In an alternative embodiment, the advancing device comprises a first driving device and a wheel, wherein the first driving device is connected with the wheel and drives the wheel to rotate; the steering device comprises a second driving device and a steering ring, the second driving device is fixedly installed on the bottom plate and is connected with the steering ring to drive the steering ring to rotate, and the steering ring is fixedly connected with the first driving device.

In an alternative embodiment, each group of clamping devices corresponds to one wheel of the automobile, each group of clamping devices comprises two clamping devices, and the two clamping devices are adjacently arranged on the same side; the clamping device comprises a first motor, a rotating device and a rotating mechanical arm, wherein the first motor is in transmission connection with the rotating device, and the rotating device is fixedly connected with the rotating mechanical arm; the rotary mechanical arms of the clamping device are arranged at the same height, and the rotary mechanical arms in the same group rotate in opposite directions when clamping tires.

In an alternative embodiment, the steering angle of the steering device has a magnitude of not less than 90 degrees.

According to one optional implementation mode, the slewing device is of a double-ring structure, the outer ring is connected with the inner ring through a bearing, the outer ring of the slewing device is provided with external thread teeth, the speed reducer is meshed with the external thread teeth of the slewing device, a transition plate is arranged above the inner ring of the slewing device, the transition plate, the inner ring and the bottom plate are fixedly connected in sequence through bolts, so that the inner ring of the slewing device is fixed with the bottom plate, the rotary mechanical arm is fixedly connected with the transition plate, and when the first motor rotates, the slewing device is driven to rotate through the speed reducer, so that the rotary mechanical arm is driven to rotate; the auxiliary wheel is fixedly connected with the transition plate through a butterfly spring, a rectangular groove is formed in the middle of the transition plate, and the butterfly spring is installed and fixed in the groove in the transition plate.

In an alternative embodiment, the front vehicle device and the rear vehicle device are connected by a guide device.

One optional implementation mode further comprises a first rotating arm and a second rotating arm, wherein one end of the first rotating arm is hinged with the front vehicle device in the horizontal direction, the other end of the first rotating arm is hinged with one end of the second rotating arm in the horizontal direction, and the other end of the second rotating arm is hinged with the rear vehicle device in the horizontal direction; cables spanning the front and rear vehicle devices are secured to the first and second swing arms.

In an alternative embodiment, the guide device comprises a guide rod and a guide sleeve, the guide rod is slidably connected in the guide sleeve, one end of the guide sleeve, which is far away from the guide rod, is fixedly arranged on the front vehicle device, and one end of the guide rod, which is far away from the guide sleeve, is connected on the rear vehicle device, so that the front vehicle device and the rear vehicle device form a whole through the guide device; the guide sleeve comprises a first guide sleeve and a second guide sleeve, the front end of the first guide sleeve is fixedly connected to a front vehicle device, the rear end of the first guide sleeve is connected with the front end of the second guide sleeve, the inner aperture of the second guide sleeve is smaller than that of the first guide sleeve, a self-lubricating composite bearing is fixedly connected to the inner hole of the second guide sleeve, the guide rod can slidably penetrate through the bearing in the second guide sleeve, and a second limiting block is arranged at the front end of the guide rod.

In an alternative embodiment, the front end of the guide rod is flexibly connected with the rear vehicle device in a vertically sliding manner, the front end of the guide rod is fixedly connected with a connecting block, the connecting block is connected with a pin shaft of the rear vehicle device, and the rotating direction of the connecting block and the rear vehicle device is vertical.

One optional embodiment comprises a plurality of auxiliary wheels, wherein the auxiliary wheels are fixedly connected with one ends of butterfly springs, and the other ends of the butterfly springs are fixedly arranged below the AGV parking robot; when the AGV parking robot is unloaded, the butterfly spring is in a compressed state and the height of the lowest position of the auxiliary wheel and the driving wheel is equal.

Compared with the prior art, the utility model has following effective effect:

1. this AGV parking robot divide into preceding car device and back car device, and preceding car device all includes to turn to the device and the device that moves ahead with the back car device, the second drive arrangement who turns to the device through control makes the steering ring rotate, thereby make and turn to ring fixed connection's first drive arrangement and rotate, thereby the direction of the wheel of the device that moves ahead changes, realize changing the direction of advance of the device that moves ahead, can realize turning to of the direction of moving ahead of running gear in situ, do not need extra steering assistance device, reduce the area demand to the turning department simultaneously.

2. The vertical preceding end that uses AGV parking robot is 0 degree, and the turned angle of steering ring is not less than 90 degrees, and when the turned angle of steering ring was 90 degrees, the direction of advance that can control the wheel of preceding device changed 90 degrees, and the second motor through the preceding device of control just reverses and the preceding direction 90 degrees of control wheel change, can realize the longitudinal movement and the lateral shifting of the device that moves ahead, can satisfy the removal transportation in the parking lot.

3. The automobile can be lifted off the ground and then carried without using an additional auxiliary device structure, the two rotary mechanical arms of the clamping device in the same group rotate oppositely, the included angle of the rotary mechanical arms is reduced, the distance between the rotary mechanical arms is reduced, when the distance between the rotary mechanical arms is smaller than the equal-height radial width of an automobile tire, the distance between the rotary mechanical arms is continuously reduced, the tire is continuously extruded after the two rotary mechanical arms are contacted with the tire because of the radian of the tire, the rotary mechanical arms can apply a force vertical to the contact surface to the tire in the contact surface of the rotary mechanical arms and the tire, and the tire is circular, so the force applied to the tire is directed to the center of the tire and can be decomposed into a force directed to the center of the circle vertically upwards and horizontally, the two rotary mechanical arms are respectively applied to the two sides of the tire and have opposite acting directions, therefore, the forces of the two rotary mechanical arms in one group to the horizontal direction of the tire are mutually offset, only a vertical upward force is left for the acting force of the tire, the tire has a vertical upward acting force under the action of the two rotary mechanical arms, the tire is lifted by the two rotary mechanical arms, after being extruded and lifted upwards, the tire is supported by the rotary mechanical arms, and when the four wheels of the automobile tire are extruded and supported upwards by the rotary mechanical arms, the whole automobile is lifted upwards to leave the ground.

4. The front end of the guide rod is flexibly connected with the rear vehicle device in a vertically sliding mode, the front end of the guide rod is fixedly connected with a connecting block, the connecting block is connected with a pin shaft of the rear vehicle device, the rotating direction of the connecting block and the rear vehicle device is a vertical direction, and when the terrain where the front vehicle device and the rear vehicle device are located is different in height, the pin shaft of the guide rod and the rear vehicle device is connected so that the guide device cannot bear excessive force, the guide device is broken, and the requirement for the smoothness of the running ground is lowered.

5. The circuit of the front car device and the circuit of the rear car device are connected by utilizing the first swing arm and the second swing arm, the front car device and the rear car device can be controlled by only one set of control system, the control difficulty and the hardware quantity required by control are reduced, the control line moves along with the first swing arm and the second swing arm when the front car device and the rear car device are combined or separated, the turning radius of the cable used by the control line can be ensured, and the practical service life of the control line can be ensured.

6. Install a plurality of auxiliary wheels through butterfly spring below AGV parking robot, and when AGV parking robot is in unloaded, butterfly spring is in compression state just the height such as the lower of auxiliary wheel and drive wheel, butterfly spring is compressed and can bears AGV parking robot's weight, and the auxiliary wheel can share the weight that originally only bears by the drive wheel in addition for the auxiliary wheel becomes main bearing capacity point, can reduce the bearing capacity of drive wheel, reduces the requirement to the drive wheel, has also avoided connecting the drive arrangement of drive wheel simultaneously owing to bear the too big cracked problem of connection that appears of strength.

7. AGV parking robot sets up a plurality of auxiliary wheels that have, and the auxiliary wheel passes through butterfly spring to be connected with AGV parking robot, and is in unloaded time at AGV parking robot, butterfly spring is in compression state just the height such as the lower of auxiliary wheel and drive wheel, when meetting low-lying, butterfly spring can resume deformation for AGV parking robot's walking plane does not change, can improve AGV parking robot's throughput.

Drawings

FIG. 1 is a block diagram of a split AGV parking robot in a unified state;

FIG. 2 is a split state structure of the split AGV parking robot;

FIG. 3 is a partially enlarged structural view of the front vehicle device;

FIG. 4 is an exploded view of the structure of the swing apparatus;

FIG. 5 is a block diagram of a rotary robot arm;

FIG. 6 is a schematic view of an auxiliary wheel mounting structure;

FIG. 7 is an enlarged view of the structure of the junction of the front vehicle device and the rear vehicle device;

FIG. 8 is a guide sleeve construction view of the guide;

FIG. 9 is a guide bar structure view of the guide apparatus;

fig. 10 is a structural view of a joint between a guide device and a rear vehicle device.

The drawings illustrate schematically: 1-a front vehicle device; 11-a base plate; 12-clamping device; 121-rotating the mechanical arm; 1211-thin wall ball bearing; 122 — a first motor; 123-a first reducer; 124-a turning device; 1241-inner ring; 1242-outer ring; 13-a walking device; 131-a forward device; 1311-a second electric machine; 1312-a second reducer; 1313-a wheel; 1314-a first stopper; 132-a steering device; 1321 — a third reducer; 1322-a third motor; 1323-a steering ring; 1324-absolute value encoder; 2-rear vehicle device; 21-side plate of rear vehicle device; 3-a guiding device; 31-a guide sleeve; 311-a first guide sleeve; 312-a second guide sleeve; 32-a guide rod; 321-a second limiting block; 322-connecting block; 41-a first radial arm; 42-a second radial arm; 5-an auxiliary wheel; 51-a transition plate; 511-grooves; 52-butterfly spring; 6-mounting part.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-10, the split AGV parking robot includes a front car device 1 and a rear car device 2, the front car device 1 includes a bottom plate 11, four clamping devices 12 are mounted on the bottom plate 11, the clamping devices 12 include a first motor 122, a first reducer 123, a rotator 124 and a rotary arm 121, the first motor 122 is fixedly disposed on the bottom plate 11, the first motor 122 is connected to the rotator 124 through the first reducer 123, the rotator 124 is in a double-ring structure, a bearing is disposed between an outer ring 1242 and an inner ring 1241, the outer ring 1242 of the rotator 124 has outer thread teeth, the first reducer 123 is engaged with the outer thread teeth of the rotator, a transition plate 51 is disposed above the inner ring 1241 of the rotator 124, the transition plate 51, the inner ring 1241 and the bottom plate 11 are fixedly connected by bolts in sequence, so as to fix the inner ring 1241 of the rotator 124 to the bottom plate 11, the rotary mechanical arm 121 is fixedly connected with the transition plate 51, and when the first motor 122 rotates, the first speed reducer 123 drives the rotating device 124 to rotate, so that the rotary mechanical arm 121 is driven to rotate; the auxiliary wheel 5 is further arranged, the auxiliary wheel 5 is fixedly connected with a transition plate 51 through a butterfly spring 52, a rectangular groove 511 is formed in the middle of the transition plate 51, the butterfly spring 52 is fixedly installed in the groove 511 in the transition plate 51, the transition plate 51 can provide a stress plane for the butterfly spring 52, the butterfly spring 52 is fixed in the groove 511 of the transition plate 51, a limiting effect can be achieved on the horizontal displacement of the butterfly spring 52, the butterfly spring 52 is fixed in the groove 511, the vertical space height occupied by the auxiliary wheel 5 can be saved, the overall thickness of the AGV parking robot is reduced, and the auxiliary wheel 5 serves as a main bearing stress point of the AGV parking robot; preferably, the first motor 122 is a servo motor, and the first reducer 123 is a precision planetary first reducer 123; the first motors 122 of the four clamping devices 12 are arranged in the middle of the bottom plate 11 in a four-grid manner, the rotary mechanical arms 121 are connected to one side opposite to the first motors 122, two rotary mechanical arms 121 form a group, two groups of rotary mechanical arms 121 are respectively arranged on the left side and the right side of the bottom plate 11, the two rotary mechanical arms 121 on the same side rotate oppositely, the included angle of the rotary mechanical arms 121 is reduced, the distance between the rotary mechanical arms 121 is reduced, when the distance between the rotary mechanical arms 121 is smaller than the radial width of the automobile wheel 1313 tire with the same height, the distance between the rotary mechanical arms 121 is continuously reduced, because of the radian of the tire, the two rotary mechanical arms 121 continue to extrude the tire after contacting the tire, the rotary mechanical arms 121 exert a force perpendicular to the contact surface in the contact surface between the rotary mechanical arms 121 and the tire, and because the tire is circular, the force exerted on the tire is towards the center of the tire, the tire lifting device can be decomposed into forces pointing to the direction of a circle center vertically upwards and horizontally, the two rotary mechanical arms 121 act on two sides of a tire respectively, and the acting directions are opposite, so that the forces of the two rotary mechanical arms 121 in one group to the horizontal direction of the tire are mutually offset, and only the vertically upwards force remains for the acting force of the tire, so that the tire has a vertically upwards acting force under the action of the two rotary mechanical arms 121, the tire is lifted by the two rotary mechanical arms, after being extruded and lifted upwards, the tire is supported by the group of rotary mechanical arms 121, and when four wheels of an automobile wheel 1313 tire are all extruded upwards and supported by the group of rotary mechanical arms 121, the whole automobile is lifted upwards to leave the ground; the left and right clamping devices 12 of the front vehicle device 1 are arranged in bilateral symmetry, and the width of the rotary mechanical arms 121 on the left and right sides is larger than the maximum distance between left and right tires of the automobile under the condition of the farthest distance, so that the rotary mechanical arms 121 can completely act on the tires of the automobile; when the rotary arms 121 of the one-side gripper device 12 of the front vehicle device 1 are horizontal to each other, the stability of the grippers is the best. Preferably, the rotating mechanical arm 121 is externally sleeved with a thin-wall ball bearing 1211, which can protect the tire and realize easy lifting.

The bottom plate 11 of the front vehicle device 1 is also provided with two sets of walking devices 13, the two sets of walking devices 13 are respectively arranged at the front and the back of the front vehicle device 1, the walking devices 13 are arranged between the rotating mechanical arms 121 of the two longitudinal clamping devices 12, and the two sets of walking devices 13 of the front vehicle device 1 are centrosymmetric; the traveling device 13 comprises a forward device 131 and a steering device 132, the forward device 131 is a first driving device and wheels 1313, the first driving device comprises a second motor 1311, an absolute value encoder 1324 and a second speed reducer 1312, the absolute value encoder 1324 is an externally-mounted absolute value encoder 1324, the absolute value encoder 1324 is fixedly mounted at the rear end of the second motor 1311, the absolute value encoder 1324 is electrically connected with the second motor 1311 and outputs a control signal to the second motor 1311, the second motor 1311 is connected with the wheels 1313 through the second speed reducer 1312, and the second motor 1311 drives the wheels 1313 to rotate so as to drive the forward device 1 to move forwards; the steering device 132 comprises a second driving device and a steering ring 1323, the second driving device comprises a third motor 1322 and a third speed reducer 1321, the steering ring 1323 comprises an outer ring 1242 and an inner ring 1241, the outer ring 1242 and the inner ring 1241 are bearing structures, the outer ring 1242 and the inner ring 1241 can rotate, the third motor 1322 is connected with the outer ring 1242 of the steering ring 1323 through speed reduction, the third motor 1322 rotates to drive the outer ring 1242 of the steering ring 1323 to rotate, the outer ring 1242 of the steering ring 1323 is fixedly connected with the third speed reducer 1321 of the forward device 131 through a connecting plate, and when the steering ring 1323 rotates, an accelerator can be driven to rotate, so that the whole forward device 131 is driven to rotate, the direction of the wheel 1313 is changed, and the forward direction of the forward device 131 is changed; the steering device 132 and the forward moving device 131 are arranged on the same horizontal plane, and the total height of the steering device 132 and the forward moving device 131 is the highest height of one device, so that the overall height of the steering device 132 and the forward moving device 131 is the smallest, and the thickness of the whole AGV parking robot can be reduced; the longitudinal forward end of the AGV parking robot is 0 degree, the rotation angle of the steering ring 1323 is not less than 90 degrees, when the rotation angle of the steering ring 1323 is 90 degrees, the forward direction of the wheel 1313 of the forward device 131 can be controlled to change by 90 degrees, the longitudinal movement and the transverse movement of the forward device 131 can be realized by controlling the forward and reverse rotation of the second motor 1311 of the forward device 131 and controlling the forward direction of the wheel 1313 to change by 90 degrees, and the moving transportation in a parking lot can be met; the rotation angle of the steering device 132 is-10-100 degrees, 10 degrees are reserved for direction correction respectively for positive and negative, and a first limiting block 1314 is correspondingly arranged at the positions of-10 degrees and 100 degrees and used for limiting the rotation angle of the advancing device 131 and avoiding the advancing device 131 from colliding with the steering device 132; the inner ring 1241 of the steering gear 132 is fixedly connected to the auxiliary wheel 5 by means of the butterfly spring 52, and the inner ring 1241 of the steering gear 132 is connected to the auxiliary wheel 5 in the same way as the swivel gear is connected to the auxiliary wheel 5.

The left and right symmetry of the front portion below of the bottom plate 11 of the front vehicle device 1 is provided with the auxiliary wheel 5, the auxiliary wheel 5 is fixedly connected with the bottom plate 11 through a spring butterfly, when the AGV parking robot is empty, the butterfly spring 52 is in a compression state and the height of the lowest part of the auxiliary wheel 5 and the driving wheel is equal, when the AGV parking robot meets a low-lying place, the butterfly spring 52 can restore the deformation, the walking plane of the AGV parking robot is not changed, and the passing capacity of the AGV parking robot can be improved.

The rear vehicle device 2 is disposed rearward of the front vehicle device 1 in the longitudinal direction, and the rear vehicle device 2 is centrosymmetric to the front vehicle device 1. The front vehicle device 1 and the rear vehicle device 2 are connected through a guide device 3, the guide device 3 is symmetrically arranged in the front vehicle device 1 and the rear vehicle device 2 from left to right, the guide device 3 comprises a guide rod 32 and a guide sleeve 31, the guide rod 32 is slidably connected in the guide sleeve 31, one end of the guide sleeve 31, which is far away from the guide rod 32, is fixedly arranged on the front vehicle device 1, one end (hereinafter referred to as "front end") of the guide rod 32, which is far away from the guide sleeve 31, and the other end, which corresponds to the front end, "rear end") is connected on the rear vehicle device 2, so that the front vehicle device 1 and the rear vehicle device 2 form a whole through the guide device 3; the guide sleeve 31 comprises a first guide sleeve 311 and a second guide sleeve 312, the front end of the first guide sleeve 311 is fixedly connected to the front vehicle device 1, the rear end of the first guide sleeve 311 is connected to the front end of the second guide sleeve 312, the inner aperture of the second guide sleeve 312 is smaller than the inner aperture of the first guide sleeve 311, a self-lubricating composite bearing is fixedly connected to the inner hole of the second guide sleeve 312, the guide rod 32 can slidably penetrate through the bearing in the second guide sleeve 312, a second limit block 321 is arranged at the front end of the guide rod 32, and when the front end of the guide rod 32 contacts with the front end of the second guide sleeve 312, the movement of the guide rod 32 stops, so that the front vehicle device 1 can be prevented from being separated from the rear vehicle device 2. The front end of the guide rod 32 and the rear vehicle device 2 are flexibly connected in a vertically sliding manner, the front end of the guide rod 32 is fixedly connected with a connecting block 322, the connecting block 322 is in pin connection with a side plate 21 of the rear vehicle device, the rotating direction of the connecting block 322 and the rear vehicle device 2 is a vertical direction, when the terrain where the front vehicle device 1 and the rear vehicle device 2 are located has a height-to-ground difference, the pin connection of the guide rod 32 and the rear vehicle device 2 can prevent the guide device 3 from bearing excessive force, so that the guide device 3 is broken, and the requirement on the smoothness of the running ground is reduced. According to the design and the structure, the position of the guide device 3 for connecting the front vehicle device 1 and the rear vehicle device 2 can be changed, and the guide device 3 only needs to be adjusted to be installed; similarly, the guide bush 31 may be flexibly connected to the front vehicle device 1 so as to be slidable up and down.

A first swing arm 41 is arranged behind the front vehicle device 1, the first swing arm 41 is hinged with the front vehicle device 1 in the horizontal direction, a rotating support is arranged on a bottom plate 11 of the front vehicle device 1, a bearing is arranged in the rotating support, the first swing arm 41 is connected with the bearing in the rotating support, and the first swing arm 41 can rotate around the bearing; a second swing arm 42 is arranged in front of the rear vehicle device 2, the second swing arm 42 is hinged with the rear vehicle device 2 in the horizontal direction, and the hinge mode of the second swing arm 42 and the rear vehicle device 2 is the same as the hinge mode of the first swing arm 41 and the front vehicle device 1; the first radial arm 41 is hinged with the second radial arm 42 in the horizontal direction, at the hinged position of the first radial arm 41 and the second radial arm 42, one of the first radial arm 41 and the second radial arm 42 is a rotating support, and the other one is a connecting seat for connecting a bearing; when the front vehicle device 1 and the rear vehicle device 2 approach to each other, the first swing arm 41 rotates toward the end closer to the front vehicle device 1, the second swing arm 42 rotates toward the end closer to the rear vehicle device 2, the control wires crossing the front vehicle device 1 and the rear vehicle device 2 are fixed to the first swing arm 41 and the second swing arm 42, when the front vehicle device 1 and the rear vehicle device 2 are combined or separated, the control line moves along with the first rotating arm 41 and the second rotating arm 42, the cable can be prevented from winding, the turning radius of the cable used by the control line can be ensured, the service life of the control line can be ensured, in addition, the lines of the front vehicle device 1 and the rear vehicle device 2 are connected by the first swing arm 41 and the second swing arm 42, so that the front vehicle device 1 and the rear vehicle device 2 can be controlled by only one set of control system, the difficulty of control is reduced, and the number of hardware required by control is reduced; preferably, the control line is installed in a drag chain, and the drag chain is fixedly connected with the first radial arm 41 and the second radial arm 42, so that the control line and the radial arms can be conveniently fixed.

The front end of the front vehicle device 1 and the rear end of the rear vehicle device 2 are provided with installation parts 6, and batteries are installed in the installation parts 6 to supply power to devices needing power for the AGV parking robot.

The working principle of the AGV parking robot is as follows: when the AGV parking robot is unloaded (namely the AGV parking robot does not carry an automobile), the front end of the guide rod 32 is abutted against the front end of the first guide sleeve 311, the front automobile device 1 and the rear automobile device 2 are in a combined state, the longitudinal length of the front automobile device 1 and the longitudinal length of the rear automobile device 2 are shortest, the AGV parking robot is in an unloaded state and enters the ground step of the automobile, the front automobile device 1 stops after reaching the front tire position of the automobile, the front automobile device 1 and the rear side device start to perform split action, the guide rod 32 and the guide sleeve 31 perform relative motion, and the rear automobile device 2 moves backwards until the rear automobile device 2 reaches the rear tire position of the automobile; then, the 8 clamping devices 12 of the front vehicle device 1 and the rear vehicle device 2 simultaneously act, each group of rotary mechanical arms 121 clamp towards the direction of the wheel 1313, the included angle of each group of rotary mechanical arms 121 is reduced until the two rotary mechanical arms 121 are in a parallel state, at the moment, the four tires are lifted upwards under the action of one group of rotary mechanical arms respectively, and the whole vehicle is lifted; then, the traveling devices 13 of the front car device 1 and the rear car device 2 act according to the route, when the AGV parking robot needs to travel in the longitudinal direction, the steering device 132 controls the traveling direction of the front traveling device 131 to be the longitudinal direction, when the AGV parking robot needs to turn, the AGV parking robot goes to a turning corner, the longitudinal direction of the AGV parking robot is completely located in the road after turning, the front traveling device 131 stops moving, at the moment, the steering device 132 of the AGV parking robot controls the traveling direction of the front traveling device 131 to turn to 90 °, so that the moving direction of the wheels 1313 of the front traveling device 131 is the same as the road direction after turning, then the front traveling device 131 acts, and the AGV parking robot travels transversely.

The present invention is not limited to the above-described embodiment, and various modifications and variations of the present invention are also intended to be included within the scope of the claims and the equivalent technology if they do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides a split type AGV parking robot which characterized in that: the device comprises a front vehicle device and a rear vehicle device, wherein the front vehicle device is connected with the rear vehicle device; the front vehicle device and the rear vehicle device respectively comprise a walking device and two groups of clamping devices; the walking device comprises a advancing device and a steering device, the steering device is connected with the advancing device, and the steering device controls the steering of the advancing device; the clamping device is used for lifting the tire.

2. The split AGV parking robot of claim 1 wherein: the advancing device comprises a first driving device and wheels, and the first driving device is connected with the wheels and drives the wheels to rotate; the steering device comprises a second driving device and a steering ring, the second driving device is fixedly installed on the bottom plate and is connected with the steering ring to drive the steering ring to rotate, and the steering ring is fixedly connected with the first driving device.

3. The split AGV parking robot of any of claims 1-2, wherein: the steering angle amplitude of the steering device is not less than 90 degrees.

4. The split AGV parking robot of claim 1 wherein: each group of clamping devices corresponds to one wheel of the automobile, each group of clamping devices comprises two clamping devices, and the two clamping devices are adjacently arranged on the same side; the clamping device comprises a first motor, a rotating device and a rotating mechanical arm, wherein the first motor is in transmission connection with the rotating device, and the rotating device is fixedly connected with the rotating mechanical arm; the rotary mechanical arms of the clamping device are arranged at the same height, and the rotary mechanical arms in the same group rotate in opposite directions when clamping tires.

5. The split AGV parking robot of claim 4 wherein: the slewing device is of a double-ring structure, the outer ring and the inner ring are connected through a bearing, the outer ring of the slewing device is provided with external thread teeth, the speed reducer is meshed with the external thread teeth of the slewing device, a transition plate is arranged above the inner ring of the slewing device, the transition plate, the inner ring and the bottom plate are fixedly connected in sequence through bolts, so that the inner ring of the slewing device is fixed with the bottom plate, the rotary mechanical arm is fixedly connected with the transition plate, and the first motor drives the slewing device to rotate through the speed reducer when rotating, so that the rotary mechanical arm is driven to rotate; the auxiliary wheel is fixedly connected with the transition plate through a butterfly spring, a rectangular groove is formed in the middle of the transition plate, and the butterfly spring is installed and fixed in the groove in the transition plate.

6. The split AGV parking robot of claim 1 wherein: the front vehicle device is connected with the rear vehicle device through a guide device.

7. The split AGV parking robot of claim 6 wherein: the front vehicle device is hinged to the rear vehicle device in the horizontal direction, and the rear vehicle device is hinged to the rear vehicle device in the horizontal direction; cables spanning the front and rear vehicle devices are secured to the first and second swing arms.

8. The split AGV parking robot of claim 6 wherein: the guide device comprises a guide rod and a guide sleeve, the guide rod is connected in the guide sleeve in a sliding manner, one end, far away from the guide rod, of the guide sleeve is fixedly arranged on the front vehicle device, and one end, far away from the guide sleeve, of the guide rod is connected to the rear vehicle device, so that the front vehicle device and the rear vehicle device form a whole through the guide device; the guide sleeve comprises a first guide sleeve and a second guide sleeve, the front end of the first guide sleeve is fixedly connected to a front vehicle device, the rear end of the first guide sleeve is connected with the front end of the second guide sleeve, the inner aperture of the second guide sleeve is smaller than that of the first guide sleeve, a self-lubricating composite bearing is fixedly connected to the inner hole of the second guide sleeve, the guide rod can slidably penetrate through the bearing in the second guide sleeve, and a first limiting block is arranged at the front end of the guide rod.

9. The split AGV parking robot of claim 8 wherein: the front end of the guide rod is flexibly connected with the rear vehicle device in a vertically sliding mode, the front end of the guide rod is fixedly connected with a connecting block, the connecting block is connected with a pin shaft of the rear vehicle device, and the rotating direction of the connecting block and the rear vehicle device is vertical.

10. The split AGV parking robot of claim 1 wherein: the AGV parking device comprises a plurality of auxiliary wheels, wherein the auxiliary wheels are fixedly connected with one ends of butterfly springs, and the other ends of the butterfly springs are fixedly arranged below the AGV parking robot; when the AGV parking robot is unloaded, the butterfly spring is in a compressed state and the height of the lowest position of the auxiliary wheel and the driving wheel is equal.