CN109488078B - Vehicle carrying system based on AGV - Google Patents
Vehicle carrying system based on AGV Download PDFInfo
- Publication number
- CN109488078B CN109488078B CN201811603120.5A CN201811603120A CN109488078B CN 109488078 B CN109488078 B CN 109488078B CN 201811603120 A CN201811603120 A CN 201811603120A CN 109488078 B CN109488078 B CN 109488078B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- piece
- combining
- vehicle carrying
- carrying plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000001174 ascending effect Effects 0.000 claims abstract description 12
- 230000001960 triggered effect Effects 0.000 claims abstract description 5
- 230000005484 gravity Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 description 13
- 238000010168 coupling process Methods 0.000 description 13
- 238000005859 coupling reaction Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 239000010410 layer Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a vehicle carrying system based on an AGV (automatic guided vehicle), which comprises a vehicle carrying plate and a carrying robot, wherein a first combining piece is arranged on the vehicle carrying plate, a second combining piece which can be lifted is arranged on the carrying robot, the second combining piece has a descending state separated from the first combining piece, and an ascending state matched with the first combining piece to enable the carrying robot to be linked with the vehicle carrying plate; the vehicle carrying plate is also provided with an anti-moving positioning piece and a transmission mechanism connected with the anti-moving positioning piece, and the anti-moving positioning piece is matched with the walking supporting surface to keep the vehicle carrying plate stationary; the transmission mechanism is triggered by the second combining piece in the ascending state to release the cooperation with the walking supporting surface. The vehicle carrying system based on the AGV reduces the requirement on the height of a parking layer of a stereoscopic garage, improves the vehicle capacity, and improves the parking efficiency in the peak period of parking and the vehicle taking efficiency in the peak period of vehicle taking by adopting a mode that a carrying robot carries a plurality of vehicle carrying plates simultaneously.
Description
Technical Field
The invention relates to the technical field of stereo garages, in particular to a vehicle carrying system based on an AGV.
Background
With the increasing of the quantity of the vehicles, the parking difficulty becomes a necessary problem, and as some old communities do not have a planned parking lot initially, the situation of low floors and irregular places is often faced in the existing transformation process, in order to solve the problem, many manufacturers propose to utilize AGV parking robots to carry out vehicle transportation, most of the common AGV transportation in the market is single transportation, and the lifting or grabbing actions are needed to realize.
Disclosure of Invention
The invention provides a vehicle carrying system based on an AGV, which can simultaneously carry a plurality of vehicle carrying plates by using one AGV, has a simple structure, and is particularly suitable for scenes with high floor height and high vehicle storage and taking frequency.
The vehicle carrying system based on the AGV comprises a vehicle carrying plate and a carrying robot, wherein a first combining piece is arranged on the vehicle carrying plate, a second combining piece which can be lifted is arranged on the carrying robot, and the second combining piece has a descending state separated from the first combining piece and a ascending state matched with the first combining piece to enable the carrying robot to be linked with the vehicle carrying plate;
the vehicle carrying plate is also provided with an anti-moving positioning piece and a transmission mechanism connected with the anti-moving positioning piece, and the anti-moving positioning piece is matched with the walking supporting surface to keep the vehicle carrying plate stationary; the transmission mechanism is triggered by the second combining piece in the ascending state to release the matching of the anti-moving positioning piece and the walking supporting surface.
The transfer robot (namely AGV) is provided with a second combining piece which can be lifted, when the second combining piece descends, the linkage relation with the first combining piece is released, the transfer robot independently operates, when the second combining piece ascends, the second combining piece is linked with the first combining piece, and the transfer robot drives the vehicle carrying plate to operate together.
The anti-moving locating piece is arranged on the vehicle carrying plate, the vehicle carrying plate is kept static through the cooperation of the anti-moving locating piece and the walking supporting surface, and when the second combining piece ascends, the transmission mechanism is triggered to unlock the cooperation of the anti-moving locating piece and the walking supporting surface, so that the vehicle carrying plate can move along with the transfer robot.
The transfer robot can transfer one car carrying plate, and can also transfer two or more car carrying plates at the same time. At least two second combining pieces are arranged on the carrying robot and are matched with the first combining pieces on different vehicle carrying plates to finish the task of simultaneously carrying a plurality of vehicle carrying plates; if only one vehicle carrying plate is carried, all or part of the second combining pieces on the carrying robot are matched with the first combining pieces on the same vehicle carrying plate for use.
In the process of switching the separation state and the linkage state of the transfer robot and the vehicle carrying plate, the height of the vehicle carrying plate is kept unchanged all the time, and the single-layer height can be fully utilized, so that the method is particularly suitable for the transformation of parking lots in old communities and the project with lower parking layers.
The transfer robot moves the car carrying plates in a dragging mode, the number of the car carrying plates simultaneously carried by one transfer robot is adjusted aiming at a parking peak period and a parking flat period, at least two car carrying plates are simultaneously carried by one transfer robot in the parking peak period, and only one car carrying plate is carried by one transfer robot in the parking flat period. The specific control mode can be switched manually or automatically according to the actual situation of the parking lot, and the vehicle storage and taking efficiency is effectively improved.
The vehicle stops at the sweep that carries, removes along with carrying the sweep, in order to guarantee that the polylith carries the sweep to accomplish the access simultaneously, garage access department needs to guarantee the space that the polylith carried the sweep resided simultaneously.
Preferably, the first combining piece is a slot with a notch facing downwards; the second combining piece is placed in the slot in the rising state.
The second combining piece is lifted and inserted into the slot, so that the linkage of the first combining piece and the second combining piece is realized.
Preferably, the slot is a closed structure or a semi-closed structure in the circumferential direction, and a slot wall which is driven against the second connector is arranged in the semi-closed structure at least in the advancing direction of the vehicle carrying plate.
After the second combining piece rises, in the running process of the carrying robot, acting force is applied to the groove wall through the second combining piece, and the carrying plate is pushed to move along with carrying and people.
Preferably, the first combining pieces are arranged in two groups along the width direction of the vehicle carrying board, and each group comprises at least two.
Further preferably, the two first combining pieces are sequentially arranged along the width direction of the vehicle carrying plate and symmetrically arranged relative to a central line extending along the length direction of the vehicle carrying plate.
The two groups of first combining pieces are symmetrically arranged, so that the universality of the vehicle carrying plate can be improved, and the second combining pieces on the carrying robot can be linked with the first combining pieces at any side in the width direction.
Preferably, the walking support surface is provided with an anti-moving clamping groove, and the anti-moving positioning piece is kept in the anti-moving clamping groove through gravity and/or driving force of a driving piece arranged on the vehicle carrying plate.
The walking supporting surface can be ground, also can be the supporting plane that other supporters provided, sets up on the walking supporting surface when being under construction and prevents moving the draw-in groove, prevents moving the setting element and stretches into preventing moving in the draw-in groove, prevents carrying the sweep to remove, prevents moving the draw-in groove and should be when satisfying the realization and blockking the function, and as far as possible size is little, does not influence the normal passage of carrying sweep walking gyro wheel, avoids taking place the card wheel phenomenon.
The anti-moving positioning piece can be driven by the gravity of the anti-moving positioning piece, and can also be driven by arranging a driving piece on the vehicle carrying plate.
Preferably, the anti-moving positioning piece is an anti-moving inserting rod, the transmission mechanism is a link mechanism, at least one link in the link mechanism is provided with a triggering part, and the triggering part interferes with the ascending path of the second combining piece;
at least one connecting rod in the connecting rod mechanism is provided with a lifting part which is hinged with the anti-moving positioning piece so as to drive the anti-moving positioning piece.
When the second combining piece rises, the triggering part is stirred to enable the connecting rod mechanism to act, and the lifting part of the connecting rod mechanism pulls the anti-movement positioning piece to move, so that the anti-movement positioning piece is separated from the anti-movement clamping groove.
Preferably, the link mechanism comprises two links respectively hinged on the vehicle carrying plate, one ends of the two links are hinged with each other, and the other ends of the two links are respectively used as the trigger part and the lifting part.
Preferably, the transfer robot includes a vehicle body frame, and the second coupling member and a driving device for driving the second coupling member to rise and fall are mounted on the vehicle body frame; the second combining pieces are arranged in two groups along the width direction of the vehicle body frame, and each group is one or at least two; in the working state, the two groups of second combining pieces are combined with the first combining pieces of the same vehicle carrying plate or the first combining pieces of different vehicle carrying plates.
The two groups of second combining pieces are combined with the first combining piece of the same vehicle carrying plate, so that the single vehicle carrying plate is carried; the two groups of second combining pieces are combined with the first combining pieces of different vehicle carrying plates, so that the transportation of a plurality of vehicle carrying plates is realized.
The two groups of second combining pieces are sequentially distributed along the width direction of the transfer robot and are symmetrically arranged relative to a central line extending along the length direction of the transfer robot, so that the universality of the transfer robot is improved, and the transfer robot does not need to distinguish two sides of the advancing direction during transfer.
Preferably, the second combining member is a lifting ejector rod, and the driving device includes:
a motor fixedly mounted on the body frame;
a gear linked with an output shaft of the motor;
and the rack is fixed on the lifting ejector rod and meshed with the gear.
The motor drives the gear to rotate, the rack meshed with the gear moves along with the gear, and the lifting ejector rod fixed with the rack moves along with the rack to realize lifting.
According to the AGV-based vehicle carrying system, in the carrying process, the vehicle carrying plate does not need to be lifted, the requirement on the parking level height of the stereoscopic garage is reduced, the vehicle capacity is improved, and meanwhile, the vehicle storage efficiency in the peak period of parking and the vehicle taking efficiency in the peak period of vehicle taking are improved by adopting a mode that one carrying robot carries a plurality of vehicle carrying plates at the same time.
Drawings
FIG. 1 is a schematic illustration of an AGV-based vehicle handling system according to the present invention;
FIG. 2a is a side view of the AGV-based vehicle handling system of the present invention (the second coupling member in a lowered state);
FIG. 2b is an enlarged view of portion A of FIG. 2 a;
FIG. 2c is an enlarged view of portion B of FIG. 2 a;
FIG. 3a is a side view of the AGV-based vehicle handling system of the present invention with the second coupling member in a raised position;
FIG. 3b is an enlarged view of portion C of FIG. 3 a;
FIG. 3c is an enlarged view of portion D of FIG. 3 a;
FIG. 4a is a side view of a transfer robot in the AGV-based vehicle transfer system of the present invention;
FIG. 4b is a top view of a transfer robot in the AGV-based vehicle transfer system of the present invention;
FIG. 5 is a schematic illustration of a transfer robot handling a carrier plate in an AGV-based vehicle handling system according to the present invention.
In the figure: 1. a vehicle carrying plate; 2. a transfer robot; 3. a first coupling member; 4. an anti-moving positioning piece; 5a, connecting rods; 5b, a connecting rod; 6. a bar-shaped hole; 7. a guide sleeve; 8. a walking roller; 9. a second coupling member; 10. a rack; 11. a gear; 12. an anti-moving clamping groove; 13. a linkage shaft; 14. a synchronous chain; 15. and a motor.
Detailed Description
The AGV-based vehicle handling system of the present invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, 2a, 2c, 3a, 3c, 4a, and 4b, a vehicle carrying system based on an AGV includes a vehicle carrying plate 1 and a carrying robot 2, wherein a first combining member 3 is provided on the vehicle carrying plate 1, a second combining member 9 capable of lifting is provided on the carrying robot 2, the second combining member 9 has a descending state separated from the first combining member 3, and an ascending state cooperating with the first combining member 3 to enable the carrying robot 2 to be linked with the vehicle carrying plate 1.
As shown in fig. 1 and 3c, the first connector 3 is a slot (the position of the first connector 3 is shown in the drawing, and the second connector 9 cannot be seen from above the vehicle carrying board 1) arranged at the bottom of the vehicle carrying board 1, the notch of the slot faces downwards, the cross-sectional shape of the slot is not limited, and the second connector 9 is placed in the slot in an ascending state.
The slot is of a closed structure or a semi-closed structure in the circumferential direction, and in the semi-closed structure, a slot wall which is in butt transmission with the second combining piece 9 is arranged at least in the advancing direction of the vehicle carrying plate 1.
As shown in fig. 1, the first combining pieces 3 are arranged in two groups along the width direction of the vehicle carrying plate 1, each group is two, and the two groups of first combining pieces 3 are sequentially arranged along the width direction of the vehicle carrying plate 1 and are symmetrically arranged relative to a central line extending along the length direction of the vehicle carrying plate 1.
As shown in fig. 2a, 2b, 2c, 3a, 3b and 3c, a walking roller 8 is arranged at the bottom of the vehicle carrying plate 1, an anti-moving positioning piece 4 and a transmission mechanism connected with the anti-moving positioning piece 4 are further arranged on the vehicle carrying plate 1, and the anti-moving positioning piece 4 is matched with a walking supporting surface to keep the vehicle carrying plate 1 stationary; the transmission mechanism is triggered by the second combination piece 9 in the ascending state to release the cooperation with the walking supporting surface.
As shown in fig. 2a, 2b, 3a and 3b, the travel support surface is provided with an anti-moving slot 12, and the anti-moving positioning member 4 is held in the anti-moving slot 12 by gravity. The anti-moving positioning piece 4 falls down under the action of self gravity and enters the anti-moving clamping groove 12, and the movement of the vehicle carrying plate 1 is prevented through the cooperation of the anti-moving positioning piece 4 and the anti-moving clamping groove 12.
As shown in fig. 2a, 2b, 2c, 3a, 3b and 3c, the anti-moving positioning member 4 is an anti-moving inserting rod, the transmission mechanism is a link mechanism, the link mechanism comprises two links respectively hinged on the vehicle carrying plate 1, the two links are divided into a link 5a and a link 5b, one ends of the link 5a and the link 5b are hinged with each other, the other end of the link 5b is used as a trigger part, the trigger part interferes with the ascending path of the second combining member 9, the other end of the link 5a is used as a lifting part, and the lifting part is hinged with the anti-moving positioning member 4 to drive the anti-moving positioning member 4.
The connecting rods 5a and 5b are hinged on the vehicle carrying plate 1 through rotating shafts, at least one connecting rod is provided with a strip-shaped hole 6, and the rotating shaft of the connecting rod is penetrated in the strip-shaped hole 6. For example, the connecting rod 5a is provided with a bar-shaped hole 6, and the rotating shaft of the connecting rod is inserted into the bar-shaped hole 6. The position of the shaft in the bar-shaped hole 6 is changed to adapt to the rotation of the connecting rod 5a and the connecting rod 5 b. The rotating shaft of the connecting rod 5b is positioned outside the connecting rod 5b, a shaft sleeve is fixed on the connecting rod 5b, and the shaft sleeve is rotatably sleeved on the rotating shaft of the connecting rod 5 b.
As shown in fig. 2a and 3a, the two sets of the link mechanisms and the anti-movement positioning members 4 on each vehicle carrying plate 1 are arranged symmetrically with respect to a center line extending in the width direction of the vehicle carrying plate 1.
As shown in fig. 1, the linkage mechanisms and the anti-movement positioning members 4 on each vehicle carrying board 1 may be arranged in four sets, the four sets of linkage mechanisms and the anti-movement positioning members 4 are arranged in a rectangular shape, and the triggering parts of the linkage mechanisms of each set correspond to the positions of the first combining members 3. Each set of link mechanism and the anti-moving positioning piece 4 are synchronously linked, namely, when the second combining piece 9 is in a rising state, each anti-moving positioning piece 4 is out of fit with the anti-moving clamping groove 12. The linkage between the anti-movement locators 4 may take various forms, such as a linkage.
If the four sets of the link mechanism and the anti-movement positioning member 4 are provided on each vehicle carrying plate 1, the transfer robot 2 can transfer from any one side in the width direction of the vehicle carrying plate 1 during transfer.
As shown in fig. 2b and 3b, the vehicle carrying plate 1 is provided with guiding devices of the anti-moving positioning pieces 4, the guiding devices can be guiding sleeves 7 installed below the vehicle carrying plate 1, and the anti-moving positioning pieces 4 are in sliding fit in the guiding sleeves 7.
As shown in fig. 4a and 4b, the transfer robot 2 includes a body frame on which the second coupling member 9 and a driving device for driving the second coupling member 9 to rise and fall are mounted; the second coupling members 9 are provided in two groups in the width direction of the vehicle body frame, and the two groups of second coupling members 9 are aligned in the length direction of the vehicle body frame, two in each group.
As shown in fig. 4a and 4b, the second coupling member 9 is a lifting jack, and the driving device includes: a motor 15 fixedly mounted on the vehicle body frame, a gear 11 linked with an output shaft of the motor 15, and a rack 10 fixed on the lift pin and meshed with the gear 11.
In order to ensure the stability of the movement of the lifting ejector rod, a corresponding guide mechanism can be arranged on the carrying robot 2 for the lifting ejector rod.
All lifting ejector rods synchronously move through a linkage mechanism, and the linkage mechanism comprises: the drive shaft 13, a first sprocket mounted on the drive shaft 13, a second sprocket mounted on the output shaft of the motor 15, and a timing chain 14 wound around the first sprocket and the second sprocket.
The number of the linkage shafts 13 is two, and two ends of each linkage shaft 13 are respectively fixed with one gear 11. Two second chain wheels are fixed on the output shaft of the motor 15, and each second chain wheel is linked with the first chain wheel on the corresponding linkage shaft 13 through a synchronous chain 14.
The transfer robot 2 is provided with a corresponding control system and a power supply, and the vehicle carrying plate 1 is driven to move in a dragging mode, so that the electricity consumption of the transfer robot 2 is obviously reduced, and the cruising ability is enhanced.
As shown in fig. 1, in the working state, two groups of second combining pieces 9 of the same transfer robot 2 are combined with the first combining pieces 3 of two vehicle carrying boards 1 at the same time, so as to transfer the two vehicle carrying boards 1.
As shown in fig. 5, in the working state, the two sets of second coupling members 9 of the same transfer robot 2 are coupled to the first coupling members 3 of the same vehicle carrying plate 1, so that the transfer of the single vehicle carrying plate 1 is realized.
The vehicle carrying system based on the AGV provided by the invention has the following working processes:
(1) The vehicle owner parks the vehicle on the vehicle carrying plate 1 at the entrance of the garage, at the moment, the anti-moving positioning piece 4 on the vehicle carrying plate 1 is inserted into the anti-moving clamping groove 12 on the ground, when the carrying robot 2 receives a command for carrying two vehicle carrying plates 1, the vehicle is driven from the waiting area to the middle of the two vehicle carrying plates 1 below the vehicle carrying plate 1 at the entrance, and thus the whole dragging early-stage work is completed;
(2) The motor 15 of the carrying robot 2 moves, the linkage shaft 13 is driven to rotate through a chain, the linkage shaft 13 drives the gear 11 to rotate, the gear 11 drives the rack 10 to move, the rack 10 drives the lifting ejector rod to ascend until the lifting ejector rod is inserted into the slot at the bottom of the vehicle carrying plate 1, the lifting ejector rod contacts and pushes the triggering part on the connecting rod 5b, the connecting rod 5b rotates and drives the connecting rod 5a to rotate, the connecting rod 5a drives the anti-moving positioning piece 4 to ascend so as to be separated from the anti-moving clamping groove 12, and the vehicle carrying plate 1 can move;
(3) After the anti-moving locating piece 4 on the vehicle carrying plate 1 to be confirmed is completely separated from the anti-moving clamping groove 12, the transfer robot 2 receives a running command of the control system, the transfer robot 2 drives the vehicle carrying plate 1 to synchronously move to a designated position, a motor 15 of the transfer robot 2 is reversed, a lifting ejector rod descends, the lifting ejector rod is separated from a slot at the bottom of the vehicle carrying plate 1, and the anti-moving locating piece 4 is inserted into the anti-moving clamping groove 12 on the ground under the action of self gravity, so that the vehicle carrying plate 1 is ensured not to move due to uneven ground.
As shown in fig. 5, when a single vehicle-carrying plate 1 is accessed, the working process is identical with that when two vehicle-carrying plates 1 are accessed, except that the transfer robot 2 runs below the vehicle-carrying plates 1 to drag the single vehicle-carrying plate 1 to a designated position.
The AGV-based vehicle carrying system provided by the invention can effectively reduce the layer height of the garage, can be used for modifying an old garage, can adapt to operation of more scenes, adopts a mode that the same carrying robot drags and carries a plurality of vehicle carrying plates at the same time, can effectively reduce the vehicle storage time and improves the working efficiency of the garage.
Modifications and variations of the above embodiments will be apparent to those skilled in the art in light of the above teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (5)
1. The vehicle carrying system based on the AGV comprises a vehicle carrying plate and a carrying robot, and is characterized in that a first combining piece is arranged on the vehicle carrying plate, a second combining piece capable of lifting is arranged on the carrying robot, the second combining piece has a descending state separated from the first combining piece, and an ascending state matched with the first combining piece to enable the carrying robot to be linked with the vehicle carrying plate;
the first combining piece is a slot with a notch facing downwards; the second combining piece is a lifting ejector rod and is arranged in the slot in a lifting state;
the vehicle carrying plate is also provided with an anti-moving positioning piece and a transmission mechanism connected with the anti-moving positioning piece, and the anti-moving positioning piece is matched with the walking supporting surface to keep the vehicle carrying plate stationary; the transmission mechanism is triggered by the second combining piece in the ascending state to release the matching of the anti-moving positioning piece and the walking supporting surface;
the walking support surface is provided with an anti-moving clamping groove, and the anti-moving positioning piece is kept in the anti-moving clamping groove through gravity and/or driving force of a driving piece arranged on the vehicle carrying plate;
the anti-moving positioning piece is an anti-moving inserting rod, the transmission mechanism is a connecting rod mechanism, at least one connecting rod in the connecting rod mechanism is provided with a triggering part, and the triggering part interferes with the ascending path of the second combining piece;
at least one connecting rod in the connecting rod mechanism is provided with a lifting part which is hinged with the anti-moving positioning piece to drive the anti-moving positioning piece;
the connecting rod mechanism comprises two connecting rods which are respectively hinged on the vehicle carrying plate, one ends of the two connecting rods are mutually hinged, and the other ends of the two connecting rods are respectively used as the triggering part and the lifting part;
the transfer robot comprises a vehicle body frame, wherein the vehicle body frame is provided with a driving device for driving the second combining piece to lift; the second combining pieces are arranged in two groups along the width direction of the vehicle body frame, and each group is one or at least two; in the working state, the two groups of second combining pieces are combined with the first combining pieces of the same vehicle carrying plate or the first combining pieces of different vehicle carrying plates.
2. The AGV-based vehicle handling system of claim 1 wherein the slot is a closed or semi-closed configuration in the circumferential direction in which a slot wall is provided that is driven against the second coupler at least in the direction of travel of the carrier plate.
3. The AGV-based vehicle handling system of claim 1 wherein the first engagement members are arranged in two groups in a width direction of the carrier plate, each group including at least two.
4. The AGV-based vehicle handling system of claim 1 wherein the two sets of first engagement members are arranged in sequence along the width of the carrier plate and are symmetrically disposed about a centerline extending in the length direction of the carrier plate.
5. The AGV-based vehicle handling system of claim 1 wherein said drive means includes:
a motor fixedly mounted on the body frame;
a gear linked with an output shaft of the motor;
and the rack is fixed on the lifting ejector rod and meshed with the gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811603120.5A CN109488078B (en) | 2018-12-26 | 2018-12-26 | Vehicle carrying system based on AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811603120.5A CN109488078B (en) | 2018-12-26 | 2018-12-26 | Vehicle carrying system based on AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109488078A CN109488078A (en) | 2019-03-19 |
| CN109488078B true CN109488078B (en) | 2023-10-27 |
Family
ID=65712328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811603120.5A Active CN109488078B (en) | 2018-12-26 | 2018-12-26 | Vehicle carrying system based on AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109488078B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206359B (en) * | 2019-07-02 | 2024-04-26 | 重庆齐泊智能停车设备有限公司 | AGV parking robot for inclined parking |
| CN110778195A (en) * | 2019-11-12 | 2020-02-11 | 河北百年孔氏贸易有限公司 | Carry sweep formula AGV |
| CN114753689B (en) * | 2022-04-01 | 2024-05-31 | 航天智能科技(南京)有限公司 | Automatic parking area transport AGV of high density |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060030547A (en) * | 2004-10-06 | 2006-04-11 | 황성필 | Apparatus for carrying a vehicle in a parking equipment |
| CN101372869A (en) * | 2007-08-24 | 2009-02-25 | 蓝家瑞 | Parking equipment five-rod linkage position location system |
| CN101929258A (en) * | 2010-07-14 | 2010-12-29 | 侯秀峰 | Hydraulic leveling safety catcher |
| CN103556859A (en) * | 2013-10-25 | 2014-02-05 | 王忠利 | Automobile front baffle device for vehicle-loading tray |
| CN103572993A (en) * | 2013-10-28 | 2014-02-12 | 王忠利 | Vehicle storage and taking device for stereoscopic garage |
| CN206368587U (en) * | 2016-12-12 | 2017-08-01 | 杭州西子智能停车股份有限公司 | A kind of AGV car carryings robot |
| CN107542301A (en) * | 2017-08-17 | 2018-01-05 | 杭州友佳精密机械有限公司 | A kind of mechanical pressure leveling device |
| CN107989435A (en) * | 2017-11-27 | 2018-05-04 | 陕西通运易泊车位制造有限公司 | For the mechanical handling device in multi-storied garage |
| CN209324082U (en) * | 2018-12-26 | 2019-08-30 | 杭州西子智能停车股份有限公司 | A kind of vehicle conveying system based on AGV |
-
2018
- 2018-12-26 CN CN201811603120.5A patent/CN109488078B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060030547A (en) * | 2004-10-06 | 2006-04-11 | 황성필 | Apparatus for carrying a vehicle in a parking equipment |
| CN101372869A (en) * | 2007-08-24 | 2009-02-25 | 蓝家瑞 | Parking equipment five-rod linkage position location system |
| CN101929258A (en) * | 2010-07-14 | 2010-12-29 | 侯秀峰 | Hydraulic leveling safety catcher |
| CN103556859A (en) * | 2013-10-25 | 2014-02-05 | 王忠利 | Automobile front baffle device for vehicle-loading tray |
| CN103572993A (en) * | 2013-10-28 | 2014-02-12 | 王忠利 | Vehicle storage and taking device for stereoscopic garage |
| CN206368587U (en) * | 2016-12-12 | 2017-08-01 | 杭州西子智能停车股份有限公司 | A kind of AGV car carryings robot |
| CN107542301A (en) * | 2017-08-17 | 2018-01-05 | 杭州友佳精密机械有限公司 | A kind of mechanical pressure leveling device |
| CN107989435A (en) * | 2017-11-27 | 2018-05-04 | 陕西通运易泊车位制造有限公司 | For the mechanical handling device in multi-storied garage |
| CN209324082U (en) * | 2018-12-26 | 2019-08-30 | 杭州西子智能停车股份有限公司 | A kind of vehicle conveying system based on AGV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109488078A (en) | 2019-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109488078B (en) | Vehicle carrying system based on AGV | |
| US4395181A (en) | Robot vehicle | |
| CN108639646B (en) | Rotary lifting AGV trolley | |
| CN108316720B (en) | Horizontal stereo garage | |
| CN204871051U (en) | Automatic decoupling device device | |
| CN113734680B (en) | Intelligent material storage management system based on big data | |
| CN206368570U (en) | A kind of AGV transfer robots | |
| CN107640496A (en) | Loading mechanism and tiered warehouse facility | |
| EP3995415A1 (en) | Storage system | |
| JP2023080208A (en) | Elevator type parking device | |
| CN111779339A (en) | Vehicle-carrying robot and intelligent garage | |
| US2916166A (en) | Shuttle lift for parking machine | |
| US3618793A (en) | Elevator turntable-type mechanical auto parking system | |
| CN106223683A (en) | There are the lugs without anti-collision multi-layer of aligning structure and stop the method for picking up the car | |
| CN110805336A (en) | Underground intelligent garage with rotary tray and use method | |
| US3156366A (en) | Parking and handling devices | |
| CN209324082U (en) | A kind of vehicle conveying system based on AGV | |
| CN112282461B (en) | Sideslip platform truck with telescopic automatic leveling device and gyration function | |
| CN211473572U (en) | Underground intelligent garage with rotary tray | |
| CN108082523A (en) | A kind of method of unmanned plane transmitting | |
| CN109057444B (en) | Parking lot plectrum formula year sweep storage device and parking lot | |
| KR102128086B1 (en) | An Intelligent Vehicle Transfer Robot that carries and carries out parking and departure | |
| KR20060030352A (en) | Apparatus and method for automatic transfer of car in parking system | |
| CN205348895U (en) | Three -dimensional parking garage | |
| CN216196985U (en) | Parking apparatus and parking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |