CN217496328U - Combined type transporting AGV for garage - Google Patents

Abstract

The application provides a combination formula transport AGV for garage, including two at least AGV carriers, the AGV carrier includes door type frame, door type frame both ends below respectively is equipped with unilateral wheel mechanism, unilateral wheel mechanism includes the AGV frame, AGV frame both ends respectively are equipped with steerable steering wheel, the steering wheel supports and leans on at ground roll, AGV frame middle part lower extreme still is equipped with embraces the clamp assembly, it is equipped with two at least horizontal pivoted supporting rods to embrace the clamp assembly, door type frame both ends are equipped with articulated seat of second and fixing base respectively, articulated seat of second and fixing base are connected with each unilateral wheel mechanism respectively, the problem of the parking area vehicle transport that the ground flatness is not good has been solved.

Description

Combined type transporting AGV for garage

Technical Field

The utility model belongs to the technical field of the transport of garage vehicle and specifically relates to a combination formula transport AGV for garage.

Background

Along with the rise of the stereo garage, people have more parking choices, the stereo garage is various in form, and a mechanical stereo garage can be additionally arranged on a traditional underground parking lot or a ground open parking lot with higher altitude. General mechanical type stereo garage needs the staff to guide the driver to park the vehicle on the transport wooden handcart of fixed parking stall, and the personnel leave the back, and the garage rolling door is closed and just allows the action of transport wooden handcart, changes the vehicle lifting and transports to empty storehouse position. This mode is safer, but the transfer steps are too many, and people are needed to guide, and the driver needs to wait for leaving the garage during working, so the efficiency is low, and more labor cost is needed.

In addition, the driver leaves after stopping the vehicle in the buffering field, the AGV trolley carries the vehicle in the field to an empty storage position on the layer or places the vehicle on the elevator to be transported to the upper layer, and the driver is far away from mechanical devices such as the elevator and the like in the mode, so that the AGV trolley is safer, and the driver only needs to stop at an entrance of a parking plant and does not need to find a parking space, therefore, the parking efficiency is higher, the congestion is not easy to occur, and the automatic parking and taking of the vehicle can be realized on the common ground or underground parking lot.

But traditional parking area is different from confined stereo garage, especially open-air and the parking area that the place surface was repaiied for a long time, and there is unevenness's the condition in the place, and general AGV carrier is jolted comparatively seriously.

SUMMERY OF THE UTILITY MODEL

The utility model provides a combination formula transport AGV for garage has solved the problem of the parking area vehicle transport that the ground roughness is not good.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a combined type transporting AGV for a garage comprises at least two AGV transporting vehicles, wherein each AGV transporting vehicle comprises an arch-shaped frame, a single-side wheel mechanism is arranged below each of two ends of each arch-shaped frame, each single-side wheel mechanism comprises an AGV frame, steerable steering wheels are arranged at each of two ends of each AGV frame, the steering wheels roll against the ground, a clamping assembly is further arranged at the lower end of the middle of each AGV frame, and each clamping assembly is provided with at least two clamping rods capable of horizontally rotating;

the two ends of the portal frame are respectively provided with a second hinged seat and a fixed seat, and the second hinged seat and the fixed seat are respectively connected with each unilateral wheel mechanism.

In the preferred scheme, the AGV comprises at least two frame-shaped crossbearers, the crossbearers frame the upright posts on the same side of the portal frame of each AGV, the AGV carriers are connected, and the distance between every two adjacent AGV carriers is adjustable.

In the preferred scheme, a plurality of first rollers are arranged on the lower side of the cross frame, the first rollers are abutted against the AGV frame to rotate, a pressure arm is arranged on the door-shaped frame, a torsion spring is arranged at the rotating end of the pressure arm, a pressure rod is arranged at the other end of the pressure arm, and the pressure rod presses the upper side face of the cross frame.

In the preferred scheme, the AGV carrier includes first AGV carrier and second AGV carrier, be equipped with first horizontal pole and first coiling mechanism on the door type frame of first AGV carrier, be equipped with second horizontal pole and second coiling mechanism on the door type frame of second AGV carrier, still be equipped with first pulley and second pulley on the crossbearer, first pulley is established in the one side that is close to first AGV carrier, still include first connecting cable and second connecting cable, first connecting cable one end is connected with first horizontal pole, the first connecting cable other end is walked around the second pulley in order to be connected with first coiling mechanism, second connecting cable one end is connected with the second horizontal pole, the second connecting cable other end is walked around first pulley in order to be connected with the second coiling mechanism.

In the preferred scheme, a plurality of arc grooves which are arranged in a straight line are arranged on the upper side surface of the transverse frame, and the pressing rod is clamped in the arc grooves.

In the preferred scheme, embrace and press from both sides the subassembly upper end and be equipped with first articulated seat, first articulated seat is connected respectively and is embraced clamp subassembly and AGV frame, and first articulated seat one side is equipped with the cavity section of thick bamboo, and the cavity section of thick bamboo is connected with embracing clamp subassembly, is equipped with slidable separation blade in the cavity section of thick bamboo, still is equipped with a plurality of dish springs of piling up the arrangement between cavity section of thick bamboo and the separation blade, still is equipped with the pull rod, and the pull rod upper end is articulated with the AGV frame, and the pull rod lower extreme is connected with the separation blade.

In the preferred scheme, the unilateral wheel mechanism comprises a wheel carrier, a steering wheel is rotationally connected with the wheel carrier, the unilateral wheel mechanism is further provided with a steering motor, a first gear is arranged at the shaft end of the steering motor, a second gear and a third gear are further arranged, the first gear, the second gear and the third gear are sequentially meshed, and the third gear is sleeved with a rotating shaft of the wheel carrier.

In the preferred scheme, the unilateral wheel mechanism comprises a wheel frame, a walking motor is arranged on the wheel frame, and the shaft end of the walking motor is connected with the steering wheel.

In the preferred scheme, the clamping rod is provided with a clamping rod rotating shaft, a rotating sleeve is arranged at the upper end of the clamping rod rotating shaft, a rotatable lead screw is arranged in the clamping component, a screw is sleeved on the lead screw, a screw seat is sleeved on the outer side of the screw, a sliding block mechanism is further arranged, the screw seat is connected with the sliding block mechanism, a rotating block is further arranged, and two ends of the rotating block are respectively hinged with the screw seat and the rotating sleeve.

In the preferred scheme, still be equipped with and embrace and press from both sides motor and hold-in range, embrace and press from both sides the motor and pass through hold-in range drive lead screw and rotate.

The utility model has the advantages that: each AGV consists of 4 steering wheels and is provided with two pairs of clamping mechanisms to lift tires at one end of the vehicle, the two AGV combinations can lift the whole two vehicles, the steering wheels at two sides are connected through a middle portal frame, one side of a cross beam is fixedly connected, and the other side of the cross beam is hinged, so that the AGV has multiple applicable scenes, and can be used in common ground or underground parking lots with general flatness; the device has the advantages of less requirements on site space, small turning radius and even capability of turning in situ, simple vehicle storing and taking process, short time and high speed.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a side view of the present invention.

FIG. 2 is an overhead view of a single AGV of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is a side view of the belt cross of the present invention.

Fig. 5 is a plan view of the belt cross frame of the present invention.

Fig. 6 is a plan view of a steering structure of a steering wheel according to the present invention.

Fig. 7 is a side view of the steering structure of the steering wheel of the present invention.

Fig. 8 is a front view of the steering structure of the steering wheel of the present invention.

Fig. 9 is a schematic view of the clasping assembly of the present invention.

Fig. 10 is a simplified schematic view of the rotation structure of the clamping rod of the present invention.

Fig. 11 is a schematic view of the hinge assembly of the clasping and clamping assembly of the present invention.

Fig. 12 is a schematic view of the cross frame of the present invention.

Fig. 13 is a schematic view of another embodiment of the cross frame of the present invention.

Fig. 14 is a schematic view of the embodiment of the winding reel of the present invention instead of the pulley.

Fig. 15 is a schematic structural view of the winding device of the present invention.

Fig. 16 is a schematic view of the second hinge base of the present invention.

FIG. 17 is a schematic view of a conventional front wheel steering AGV steering.

Fig. 18 is a schematic view of the multi-wheel combination steering of the present invention.

In the figure: a first AGV truck 1; a steering motor 101; a traveling motor 102; a first gear 103; a second gear 104; a third gear 105; a wheel frame 106; a second AGV truck 2; a clamping rod 3; a clamping lever rotating shaft 301; a synchronous belt 302; a screw 303; a nut 304; a slider mechanism 305; a nut base 306; a rotating block 307; a rotating sleeve 308; a clamp motor 309; a clamp assembly 310; a first hinge base 311; a hollow cylinder 312; a disc spring 313; a pull rod 314; a baffle 315; a gantry 4; a second hinge mount 401; a fixed base 402; a pin 403; a first cross bar 404; a second crossbar 405; a first winding device 406; a fourth gear 407; a wind-up wheel 408; a winding motor 409; a fifth gear 410; a second winding device 411; a steering wheel 5; a cross frame 6; a first roller 601; a first pulley 602; a second pulley 603; a press arm 604; a pressure lever 605; a torsion spring 606; an arc groove 607; a second roller 608; a spool 609; an AGV frame 7; a single-sided wheel mechanism 8.

Detailed Description

As shown in fig. 1 to 18, a combined AGV for transporting a garage includes at least two AGV transporting vehicles, each AGV transporting vehicle includes a portal frame 4, a single-side wheel mechanism 8 is respectively disposed below two ends of the portal frame 4, each single-side wheel mechanism 8 includes an AGV frame 7, steerable steering wheels 5 are respectively disposed at two ends of the AGV frame 7, the steering wheels 5 roll against the ground, an embracing clamp assembly 310 is further disposed at a lower end of a middle portion of the AGV frame 7, and the embracing clamp assembly 310 is provided with at least two clamping rods 3 capable of horizontally rotating;

two ends of the door-shaped frame 4 are respectively provided with a second hinged seat 401 and a fixed seat 402, the second hinged seat 401 and the fixed seat 402 are respectively connected with each unilateral wheel mechanism 8, the second hinged seat 401 is provided with a pin shaft 403, and the second hinged seat 401 can rotate around the pin shaft 403.

When the AGV dolly is in rugged parking area transportation vehicle, because the articulated seat 401 of second can rotate by a small margin, the inclination on adaptable various ground changes, reduces the vibration.

Two AGV carriers are combined to respectively lift the front wheels and the rear wheels of the vehicle, as shown in FIGS. 17-18, as each steering wheel of the AGV carriers can be independently steered, compared with the traditional method that the front wheels are steered to the AGV, the turning radius can be reduced by half, and the AGV carriers can turn only by a narrower parking lot passageway, which means that more vehicles can be parked; the AGV carrier can also work independently, can also transport other little things except transport vehicle, and it is more nimble to shuttle under the narrow scene in parking area passageway.

In the preferred scheme, still include the crossbearer 6 of at least two frame shapes, crossbearer 6 frames the homonymy stand of door type frame 4 of each AGV carrier in order to connect each AGV carrier, and adjacent AGV carrier interval is adjustable.

The cross frame 6 is simple and convenient to mount, does not occupy the space in the middle of the door frame 4, and does not generate space interference with a transported vehicle.

After the front AGV carrier and the rear AGV carrier lift the vehicle, the front AGV carrier and the rear AGV carrier can be driven independently, the rigidity of the vehicle is used as a link to maintain synchronous advance, but on a road surface with severe jolt, impact force is finally transmitted to the vehicle during carrying, and adverse effects are brought to a frame.

Therefore, in a preferred scheme, a plurality of first rollers 601 are arranged on the lower side of the cross frame 6, the first rollers 601 abut against the AGV frame 7 to rotate, second rollers 608 are arranged on two sides of the door-shaped frame 4, the second rollers 608 abut against the inner side of the cross frame 6 to roll, a pressing arm 604 is arranged on the door-shaped frame 4, a torsion spring 606 is arranged at the rotating end of the pressing arm 604, a pressing rod 605 which is horizontally arranged is arranged at the other end of the pressing arm 604, and the pressing rod 605 presses the upper side face of the cross frame 6.

The rigidity of two AGV carriers can be improved after installing crossbearer 6 additional, reduces the torsional impact force that the frame received, and crossbearer 6 is connected and the position is adjustable with two AGV carriers around, adaptable different car length, and the upside is pushed down by depression bar 605, because torsional spring 606 exists, presses arm 604 to have certain rotation volume, forms the buffering when the vibration is jolted.

In a preferred scheme, the AGV truck comprises a first AGV truck 1 and a second AGV truck 2, a first cross bar 404 and a first winding device 406 are arranged on a door-shaped frame 4 of the first AGV truck 1, a second cross bar 405 and a second winding device 411 are arranged on a door-shaped frame 4 of the second AGV truck 2, a first pulley 602 and a second pulley 603 are further arranged on a cross frame 6, the first pulley 602 is arranged on one side close to the first AGV truck 1, the AGV truck further comprises a first connecting cable and a second connecting cable, one end of the first connecting cable is connected with the first cross bar 404, the other end of the first connecting cable is connected with the first winding device 406 by winding the second pulley 603, one end of the second connecting cable is connected with the second cross bar 405, and the other end of the second connecting cable is connected with the second winding device 411 by winding the first pulley 602.

The first crossbar 404 and the second crossbar 405 may be selected to have longer lengths, as shown in fig. 12, and may be arranged in a staggered and overlapping manner to form a mutual stopping structure to prevent the rear AGVs from colliding with the front AGVs; it may also be shorter in length and used only as a fixed end of the connecting cable, as shown in fig. 13.

The connecting cable adopts steel cables or chains and the like, and the corresponding pulleys or the winding devices adopt chain wheels when the connecting cable is a chain.

Two connecting cables are respectively with crossbearer 6 to oneself, when the pulling force is equal, crossbearer 6 is placed in the middle, because first AGV carrier 1 and second AGV carrier 2 can both independently drive, the motor has certain excitation, can confront the connecting cable, form a balanced state, the coiling mechanism includes coiling motor 409 and rolling wheel 408, coiling motor 409 tip is equipped with fifth gear 410, rolling wheel 408 coaxial coupling has fourth gear 407, fourth gear 407 and the meshing of fifth gear 410, fifth gear 410 diameter is less than fourth gear 407, play the effect that slows down and increases the turn-round.

As shown in fig. 14, the first pulley 602 and the second pulley 603 can be replaced by two reels 609, and the connection cable is directly connected to the first crossbar 404 or the second crossbar 405 without being wound.

When the two winding devices or the winding drums 609 work, the corresponding AGVs can be pulled, and the distance between the two AGVs can be adjusted.

Adopt the form that the connecting cable draws each other, two AGV need keep certain drive power, avoid being close to each other under the pulling force effect, that is to say although installed crossbearer 6 additional, two AGV still are independent drive, and is comparatively complicated to automatically controlled.

In order to further improve the stability of the AGV in the front-rear direction and reduce the difficulty of electric control, in a preferred scheme, a plurality of linear arc grooves 607 are arranged on the upper side surface of the cross frame 6, and the pressure lever 605 is clamped in the arc grooves 607.

The arc grooves 607 are densely arranged, the pressure levers 605 are clamped in the arc grooves 607 to form oblique force, and form constraint on the front and back directions and the up and down directions of the cross frame 6, so that the rigidity of the combined system is improved, at the moment, when the AGV moves linearly, only one of the AGV carriers needs to be driven, and the other AGV carrier can follow the other AGV carrier, so that the control complexity is reduced; when the AGV interval needs to be adjusted, because the AGV walking force is greater than the torsional spring force, the pressure lever 605 is separated from the current arc groove 607, and is clamped in another arc groove after the adjustment is finished.

The crossbearer 6 adopts the gyro wheel to lean on with the AGV carrier to be connected, has certain fit clearance, and 4 one ends of door type frame in addition adopt articulatedly, consequently, AGV has certain universal rotation allowance around, has fine adaptability to uneven road surface, nevertheless each centre gripping pole group consequently has certain nonparallel degree.

Therefore, in a preferred scheme, the upper end of the clamping component 310 is provided with a first hinge seat 311, the first hinge seat 311 is respectively connected with the clamping component 310 and the AGV frame 7, one side of the first hinge seat 311 is provided with a hollow cylinder 312, the hollow cylinder 312 is connected with the clamping component 310, a slidable baffle 315 is arranged in the hollow cylinder 312, a plurality of stacked disc springs 313 are further arranged between the hollow cylinder 312 and the baffle 315, a pull rod 314 is further arranged, the upper end of the pull rod 314 is hinged with the AGV frame 7, and the lower end of the pull rod 314 is connected with the baffle 315.

The dish spring group has great elasticity, guarantees to embrace and presss from both sides subassembly 310 and realizes the adjustment of small angle for two AGV when adapting to uneven road surface, the better vehicle tire that matches of supporting rod 3 reduces the torsional force to the frame or to vehicle damper's oppression power.

In a preferred scheme, the unilateral wheel mechanism 8 comprises a wheel carrier 106, the steering wheel 5 is rotatably connected with the wheel carrier 106, the unilateral wheel mechanism 8 is further provided with a steering motor 101, a first gear 103 is arranged at the shaft end of the steering motor 101, a second gear 104 and a third gear 105 are further arranged, the first gear 103, the second gear 104 and the third gear 105 are sequentially meshed, and the third gear 105 is sleeved with a rotating shaft of the wheel carrier 106.

In a preferred scheme, the unilateral wheel mechanism 8 comprises a wheel frame 106, a walking motor 102 is arranged on the wheel frame 106, and the shaft end of the walking motor 102 is connected with the steering wheel 5.

The walking motor 102 and the steering motor 101 respectively provide walking driving force and steering driving force for each steering wheel 5, and each steering wheel 5 can work independently.

In the preferred scheme, the clamping rod 3 is provided with a clamping rod rotating shaft 301, the upper end of the clamping rod rotating shaft 301 is provided with a rotating sleeve 308, a rotatable screw rod 303 is arranged in the clamping component 310, a nut 304 is sleeved on the screw rod 303, a nut seat 306 is sleeved outside the nut 304, a sliding block mechanism 305 is further arranged, the nut seat 306 is connected with the sliding block mechanism 305, a rotating block 307 is further arranged, and two ends of the rotating block 307 are respectively hinged with the nut seat 306 and the rotating sleeve 308.

In the preferable scheme, a holding and clamping motor 309 and a synchronous belt 302 are further arranged, and the holding and clamping motor 309 drives the screw rod 303 to rotate through the synchronous belt 302.

Embrace and press from both sides motor 309 through hold-in range 302 with power transmission for lead screw 303, the translation of screw seat 306 drives and changes the motion of piece 307, changes cover 308 and the fixed cup joint of clamping bar pivot 301, and clamping bar pivot 301 inserts and embraces in the bed frame of pressing from both sides subassembly 310, can only maintain the rotation, changes cover 308 and is driven by piece 307 and turn to, and clamping rod 3 realizes that level 90 degrees rotates.

The two clamping rods 3 are initially arranged in a straight line, are attached to the inner side of the unilateral wheel mechanism 8, and rotate 90 degrees oppositely to clamp the tire when moving to the tire position.

The AGV adopts laser navigation and keeps away the barrier.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and should not be considered as limitations of the present invention, and the protection scope of the present invention should be defined by the technical solutions described in the claims, and includes equivalent alternatives of technical features in the technical solutions described in the claims. Namely, equivalent alterations and modifications within the scope of the invention are also within the scope of the invention.

Claims (9)

1. The utility model provides a combination formula transport AGV for garage, characterized by: the AGV comprises at least two AGV carriers, wherein each AGV carrier comprises an arch-shaped frame (4), a single-side wheel mechanism (8) is arranged below each of two ends of each arch-shaped frame (4), each single-side wheel mechanism (8) comprises an AGV frame (7), steerable steering wheels (5) are arranged at each of two ends of each AGV frame (7), each steering wheel (5) is abutted against the ground to roll, an embracing and clamping assembly (310) is further arranged at the lower end of the middle part of each AGV frame (7), and each embracing and clamping assembly (310) is provided with at least two clamping rods (3) capable of horizontally rotating;

two ends of the door-shaped frame (4) are respectively provided with a second hinged seat (401) and a fixed seat (402), and the second hinged seat (401) and the fixed seat (402) are respectively connected with each unilateral wheel mechanism (8).

2. The modular transport AGV for a garage of claim 1, further comprising: the AGV comprises at least two frame-shaped cross frames (6), wherein the cross frames (6) frame the same-side upright posts of the portal frames (4) of the AGV carriers to connect the AGV carriers, and the distance between the adjacent AGV carriers is adjustable.

3. The modular transport AGV for a garage of claim 2, further comprising: a plurality of first idler wheels (601) are arranged on the lower side of the transverse frame (6), the first idler wheels (601) abut against the AGV frame (7) to rotate, a pressing arm (604) is arranged on the door-shaped frame (4), a torsion spring (606) is arranged at the rotating end of the pressing arm (604), a pressing rod (605) is arranged at the other end of the pressing arm (604), and the pressing rod (605) presses the upper side face of the transverse frame (6).

4. The modular transport AGV for a garage of claim 3, further comprising: the AGV comprises a first AGV carrier (1) and a second AGV carrier (2), a first cross rod (404) and a first rolling device (406) are arranged on a door-shaped frame (4) of the first AGV carrier (1), a second cross rod (405) and a second rolling device (411) are arranged on the door-shaped frame (4) of the second AGV carrier (2), a first pulley (602) and a second pulley (603) are further arranged on a cross frame (6), the first pulley (602) is arranged on one side close to the first AGV carrier (1), a first connecting cable and a second connecting cable are further included, one end of the first connecting cable is connected with the first cross rod (404), the other end of the first connecting cable bypasses the second pulley (603) to be connected with the first rolling device (406), one end of the second connecting cable is connected with the second cross rod (405), and the other end of the second connecting cable bypasses the first pulley (602) to be connected with the second rolling device (411).

5. The modular transport AGV for a garage of claim 4, further comprising: the upper side of the transverse frame (6) is provided with a plurality of arc grooves (607) which are arranged in a straight line, and the pressure lever (605) is clamped in the arc grooves (607).

6. The modular transport AGV for a garage of claim 1, further comprising: embrace and press from both sides subassembly (310) upper end and be equipped with first articulated seat (311), first articulated seat (311) are connected respectively and are embraced and press from both sides subassembly (310) and AGV frame (7), first articulated seat (311) one side is equipped with cavity section of thick bamboo (312), cavity section of thick bamboo (312) are connected with embracing and press from both sides subassembly (310), be equipped with slidable separation blade (315) in cavity section of thick bamboo (312), still be equipped with a plurality of dish springs (313) of piling up the arrangement between cavity section of thick bamboo (312) and separation blade (315), still be equipped with pull rod (314), pull rod (314) upper end is articulated with AGV frame (7), pull rod (314) lower extreme is connected with separation blade (315).

7. The modular transport AGV for a garage of claim 1, further comprising: the unilateral wheel mechanism (8) comprises a wheel frame (106), the steering wheel (5) is rotationally connected with the wheel frame (106), the unilateral wheel mechanism (8) is further provided with a steering motor (101), a first gear (103) is arranged at the shaft end of the steering motor (101), a second gear (104) and a third gear (105) are further arranged, the first gear (103), the second gear (104) and the third gear (105) are sequentially meshed, and the third gear (105) is sleeved with a rotating shaft of the wheel frame (106).

8. The modular transport AGV for a garage of claim 1, further comprising: the unilateral wheel mechanism (8) comprises a wheel carrier (106), a walking motor (102) is arranged on the wheel carrier (106), and the shaft end of the walking motor (102) is connected with the steering wheel (5).

9. The modular transport AGV for a garage of claim 1, further comprising: clamping rod (3) are equipped with clamping bar pivot (301), clamping bar pivot (301) upper end is equipped with changes cover (308), it is equipped with rotatable lead screw (303) to embrace and press from both sides subassembly (310), the cover has screw (304) on lead screw (303), the cover has screw seat (306) outside screw (304), still be equipped with slider mechanism (305), screw seat (306) are connected with slider mechanism (305), still be equipped with and change piece (307), it is articulated with screw seat (306) and commentaries on classics cover (308) respectively to change piece (307) both ends.

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