CN213837925U - AGV parking robot with press from both sides child structure - Google Patents

Abstract

The utility model discloses a AGV parking robot with press from both sides child structure, including whole frame, be provided with mobilizable two pairs of arm lock on the whole frame, the bottom surface of whole frame is provided with the drive wheel, be provided with the directive wheel on the arm lock bottom surface, each pair of arm lock all is provided with first clamping part and second clamping part, first clamping part is fixed in the one end that the arm lock is close to whole frame, the second clamping part can move along arm lock length direction, the middle part of whole frame is provided with the laser range finder who is connected with control system electrical behavior, one end that wherein a pair of arm lock is kept away from whole frame is provided with the range finder that is connected with control system electrical behavior, be provided with the drive arrangement that drives second clamping part removal and is connected with control system electrical behavior in the arm lock, be provided with laser range finder on the second clamping part on a pair of arm lock; the utility model discloses can satisfy the requirement of the different vehicle of tire distance, increase application range, protect automobile tire not receive the damage in handling.

Description

AGV parking robot with press from both sides child structure

Technical Field

The utility model belongs to the technical field of parking robot, a AGV parking robot with press from both sides child structure is related to.

Background

At present, many AGV garages adopt when carrying the vehicle and carry the sweep, and the vehicle is first selected to park on carrying the sweep during specific operation, then AGV will carry the sweep and the car removes together, and along with car hold volume constantly increases, the demand on parking stall is bigger and bigger, and city parking stall supply is serious not enough, has directly influenced the normal operating in city and people's daily life.

In the prior art, chinese patent No. CN106223675B discloses an automatic automobile transport AGV and a control method thereof, which includes an integral frame, a control system, a navigation system and a driving wheel, one side of the integral frame is connected with movable clamp arms, the number of the clamp arms is 4, the clamp arms are divided into two groups, the two groups are respectively corresponding to front wheels and rear wheels of the transport automobile, the clamp arms in each group are symmetrically arranged, two groups of clamping components for clamping tires at two sides of the automobile are arranged at opposite sides of the clamp arms, the automobile tires are clamped by the relative movement of each group of clamp arms, the device does not need to carry a vehicle plate, and the vehicle directly moves away from the ground by holding the tires; however, the clamping member is fixed to the clamping arms, and the position cannot be moved, when the vehicle is clamped, the distance between the vehicle and the whole frame is measured to determine that the clamping member is located at the front side and the rear side of the automobile tire, and due to the different distances between different automobile tires, the positions of part types of automobile tires and the clamping member may not correspond to each other, and the sharp part on the clamping arms may damage the automobile tires, thereby reducing the reliability of the device.

SUMMERY OF THE UTILITY MODEL

To the above problem, the utility model provides a AGV parking robot with press from both sides child structure, fine solution among the prior art clamping part be not convenient for the problem that the automobile tire position corresponds.

In order to realize the purpose, the utility model discloses a technical scheme as follows: an AGV parking robot with a tire clamping structure comprises an integral frame, and a control system and a navigation system which are arranged in the integral frame, wherein the integral frame is provided with two movable pairs of clamping arms, the bottom surface of the integral frame is provided with a driving wheel, the bottom surfaces of the clamping arms are provided with steering wheels, each pair of clamping arms are provided with a first clamping part and a second clamping part on opposite sides, the first clamping part is fixed at one end of each clamping arm close to the integral frame, the second clamping part can move along the length direction of the clamping arms, the middle part of the integral frame is provided with a laser range finder which is electrically connected with the control system, one end of each clamping arm far away from the integral frame is provided with a range finder which is electrically connected with the control system, a driving device which drives the second clamping part to move and is electrically connected with the control system is arranged in each clamping arm, and a laser range finder is arranged between the second clamping parts on the pair of clamping arms.

Further, first clamping part and second clamping part structure are the same, first clamping part and the connecting plate of arm lock side laminating, set up in the mounting panel at connecting plate both ends and connect the round roller between two mounting panels, the connecting plate of first clamping part is fixed in on the arm lock, the connecting plate of second clamping part is connected with drive arrangement.

Furthermore, the driving device comprises an executing part arranged in the clamping arm, a chute arranged on the clamping arm and a transition plate connected with the connecting plate, the transition plate can slide in the chute, and the transition plate is connected with the executing part.

Furthermore, one end of the transition plate extending into the clamping arm is provided with a supporting strip extending upwards.

Furthermore, the distance measuring device comprises a laser emitter arranged on one clamping arm in the pair of clamping arms, and a receiver which is arranged on the other corresponding clamping arm and corresponds to the position of the laser emitter.

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

1. the utility model discloses in, when the arm lock is worn from the vehicle bottom of vehicle, range unit can measure the distance of the tire of vehicle both sides, laser range finder prescribes a limit to the vehicle towards the distance of whole frame one side and whole frame, thereby prescribe a limit to the vehicle towards the tire of whole frame one side and the relevant position between the first clamping component, and control system can give drive arrangement send instruction according to range unit measuring distance, drive arrangement adjusts the position of second clamping component, makes the tire position of second clamping component and vehicle corresponding, the utility model discloses can satisfy the requirement of the different vehicle of tire distance, increase application range, and first clamping component and second clamping component are corresponding with automobile tire's position, protect automobile tire not damaged in handling, improved the use reliability.

2. The utility model discloses in, the round roller in first hold assembly and the second hold assembly is arranged in supporting the tire of car, has further protected the tire of car.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is a top view of a pair of clamp arms of the present invention;

FIG. 3 is a side view of the clamp arm of the present invention;

fig. 4 is a sectional view taken along line a-a of fig. 3.

In the figure: the device comprises an integral frame (1), clamping arms (2), a first clamping part (3), a second clamping part (4), a laser range finder (5), a connecting plate (6), a mounting plate (7), a round roller (8), a sliding groove (9), a transition plate (10), a supporting strip (11), a laser transmitter (12) and a receiver (13).

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1 and fig. 2, the AGV parking robot with a tire clamping structure according to the present invention includes an integral frame 1 and a control system and a navigation system disposed in the integral frame 1, wherein two pairs of movable clamping arms 2 are disposed on the integral frame 1, a driving wheel is disposed on a bottom surface of the integral frame 1, a steering wheel is disposed on a bottom surface of each clamping arm 2, the driving wheel is used for moving the entire AGV parking robot, and the steering wheel is the present invention for steering; two groups of parallel symmetrical linear guide rails are arranged on the side where the movable clamping arm 2 is arranged on the whole frame 1, the clamping arms 2 are arranged on the linear guide rails, the clamping arms 2 are connected with a clamping driving device, the clamping driving device drives the clamping arms 2 to move along the linear guide rails to clamp the tires of the vehicle, the clamping driving device adopts a chain wheel and chain structure, the chain wheel and chain structure is the prior art which can be directly obtained by a person skilled in the art, and the description is omitted; the laser range finder 5 is of the type VC 841B.

Every right all be provided with first clamping part 3 and second clamping part 4 on the relative side of arm lock 2, first clamping part 3 is fixed in arm lock 2 and is close to the one end of whole frame 1, 2 length direction along the arm lock removes second clamping part 4, and second clamping part 4 and first clamping part 3 are located same horizontal plane, the middle part of whole frame 1 is provided with laser range finder 5 with control system electric connection, and wherein the one end that whole frame 1 was kept away from to a pair of arm lock 2 is provided with the range unit with control system electric connection, be provided with the drive second clamping part 4 in the arm lock and remove and with control system electric connection's drive arrangement, wherein be provided with laser range finder between the second clamping part on a pair of arm lock.

In this embodiment, as shown in fig. 2, the distance measuring device includes a laser emitter 12 disposed on one of the pair of clamping arms 2, and a receiver 13 disposed on the other corresponding clamping arm 2 and corresponding to the laser emitter 12; when arm lock 2 stretched into the car vehicle bottom, when the tire of car both sides was successively followed laser emitter 12 and receiver 13 between through, successively count once to feed back control system, control system calculates the utility model discloses the distance of removing when successively counting to judge the distance of current car both sides tire. The laser transmitter 12 and the laser receiver 13 are model FU-MSJS-LAN.

When the technical scheme is used, the integral frame 1 penetrates through the bottom of the automobile under the driving action of the driving wheels, so that the clamping arms 2 extend into the automobile from the bottom of the automobile and sequentially pass through tires on two sides of the automobile, and therefore the distance between the tires on two sides of the automobile is obtained through the distance measuring device and fed back to the control system; meanwhile, the laser range finder 5 on the integral frame 1 detects the distance between the integral frame and the automobile body in real time, feeds the detected distance back to the control system, and controls the running of the driving wheels through the control system to avoid the collision between the integral frame 1 and the automobile body; laser range finder 5 on second clamping component 4 detects the distance between second clamping component 4 and the first clamping component 3, and feed back to control system, control system compares according to the distance that range unit obtained and the detection distance of laser range finder 5 on the second clamping component 4, when two distances are inconsistent, control system sends the instruction to drive arrangement, drive arrangement drive second clamping component 4 moves the distance with adjustment first clamping component 3 and second clamping component 4 along arm lock 2, make the distance of this distance and both sides tire unanimous, thereby satisfy the vehicle of different tire distances, increase the utility model discloses an application scope.

In this embodiment, as shown in fig. 2, 3 and 4, the first clamping member 3 and the second clamping member 4 have the same structure, a connecting plate 6, which is attached to the side surface of the clamping arm 2, of the first clamping member 3, mounting plates 7, which are disposed at two ends of the connecting plate 6, and a circular roller 8, which is connected between the two mounting plates 7, wherein the connecting plate 6 of the first clamping member 3 is fixed to the clamping arm 2, and the connecting plate 6 of the second clamping member 4 is connected to a driving device; during the use, first clamping component 3 and second clamping component 4 can be provided with a plurality ofly side by side to enlarge the support range of first clamping component 3 and second clamping component 4, round roller 8 contacts with automobile tire, supports the tire, when guaranteeing to lift the automobile, does not have sharp-pointed member damaged tire, guarantees the reliability of using.

In this embodiment, as shown in fig. 4, the driving device includes an executing element disposed in the clamping arm 2, a chute 9 opened in the clamping arm 2, and a transition plate 10 connected to the connecting plate 6, where the transition plate 10 can slide in the chute 9, and the transition plate 10 is connected to the executing element; the executive component can adopt a driving motor and gear and rack matched mechanism or an electric telescopic rod mechanism, when the distance between the first clamping component 3 and the second clamping component 4 is adjusted, the transition plate 10 slides in the chute 9, and the connecting plate 6 is attached to the side face of the clamping arm 2, so that the circular roller 8 and the mounting plate 7 can be better supported.

In this embodiment, the one end that crosses cab apron 10 and stretch into in arm lock 2 is provided with the support bar 11 that upwards extends, and when the lifting car, better for round roller 8 and mounting panel 7 provide the support, and increase strength increases life.

In this embodiment, as shown in fig. 2, a laser distance meter 5 is disposed between the second clamping parts 4 on the pair of clamping arms 2, the laser distance meter 5 is electrically connected to the control system, and feeds back the distance between the first clamping part 3 and the second clamping part 4 in real time, so as to reduce the programming content of the control system, and the clamping device is simple in structure and convenient to use.

In this embodiment, the control system is a single chip microcomputer control, and the single chip microcomputer control is a prior art that can be directly obtained by a person skilled in the art, and is not described herein again.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (5)

1. The utility model provides a AGV parking robot with press from both sides child structure, includes whole frame and sets up control system and navigation in whole frame, whole frame is last to be provided with mobilizable two pairs of arm lock, whole frame's bottom surface is provided with the drive wheel, be provided with directive wheel, its characterized in that on the arm lock bottom surface: every right all be provided with first clamping part and second clamping part on the opposite side of arm lock, first clamping part is fixed in the arm lock and is close to the one end of whole frame, second clamping part can follow arm lock length direction and remove, the middle part of whole frame is provided with the laser range finder with control system electric connection, and the one end that whole frame was kept away from to one of them pair of arm lock is provided with range unit with control system electric connection, be provided with in the arm lock drive second clamping part remove and with control system electric connection's drive arrangement, be provided with laser range finder on the second clamping part in one of them pair of arm lock.

2. The AGV parking robot having the tire clamping structure according to claim 1, wherein: the clamping device comprises a first clamping part, a second clamping part, a connecting plate, mounting plates and a round roller, wherein the first clamping part and the second clamping part are identical in structure, the connecting plate is attached to the side face of each clamping arm, the mounting plates are arranged at two ends of the connecting plate, the round roller is connected between the two mounting plates, the connecting plate of the first clamping part is fixed on the clamping arms, and the connecting plate of the second clamping part is connected with a driving device.

3. The AGV parking robot having a tire clamping structure according to claim 2, wherein: the driving device comprises an executing part arranged in the clamping arm, a sliding groove formed in the clamping arm and a transition plate connected with the connecting plate, the transition plate can slide in the sliding groove, and the transition plate is connected with the executing part.

4. The AGV parking robot having the tire clamping structure according to claim 3, wherein: one end of the transition plate extending into the clamping arm is provided with a supporting strip extending upwards.

5. The AGV parking robot having the tire clamping structure according to claim 1, wherein: the distance measuring device comprises a laser transmitter arranged on one clamping arm in a pair of clamping arms and a receiver which is arranged on the other corresponding clamping arm and corresponds to the position of the laser transmitter.

Images