CN110331879B - AGV of supporting unit structure in middle of child cooperation is pressed from both sides in outside - Google Patents
AGV of supporting unit structure in middle of child cooperation is pressed from both sides in outside Download PDFInfo
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- CN110331879B CN110331879B CN201910689005.2A CN201910689005A CN110331879B CN 110331879 B CN110331879 B CN 110331879B CN 201910689005 A CN201910689005 A CN 201910689005A CN 110331879 B CN110331879 B CN 110331879B
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- 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
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- 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
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- 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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- 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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Body Structure For Vehicles (AREA)
Abstract
At present, the parking industry adopts AGV correlation technology to transfer vehicles, and vehicle carrying plates are generally used for exchanging the positions of the vehicles. Even if a non-loading plate mode is adopted, the defects of complex structure and high manufacturing cost exist. The invention discloses a no-load vehicle board AGV with an outer tire clamping structure matched with a middle supporting unit structure to realize vehicle exchange, which comprises a frame, a traveling system, an electric control system, a tire clamping lifting unit and a position detection unit, wherein the frame is provided with a frame, a traveling system and an electric control system; the middle supporting unit of the tire clamping lifting unit and the frame is specially designed on the basis of a conventional AGV, the frame, the walking system and the electric control system are necessary devices of the conventional AGV, the electric control system is used for controlling the tire clamping lifting unit and belongs to conventional electromechanical control, the AGV exchanging vehicle without a vehicle carrying plate is realized in a simple and low-cost mode, and the middle supporting unit has great superiority compared with the prior art on the premise of keeping the advantages of high AGV intelligence degree, high operation efficiency and high parking convenience.
Description
Technical Field
The invention relates to the field of parking facilities, in particular to an AGV (automated guided vehicles) for a parking lot conveying vehicle, which adopts an outer clamping tire matched roller structure and aims to realize intelligent parking of a plane parking lot and parking equipment in a relatively simple mode.
Background
With the increase of the automobile holding amount, the problem of insufficient parking space becomes more and more obvious. Since AGVs have been widely used in the field of logistics, there have been attempts to introduce AGVs and related technologies into flat parking lots in recent years, in order to improve the operation efficiency of the parking lots and improve the convenience of parking. There are also manufacturers attempting to apply AGVs to the vehicle transfer link of parking equipment. The AGV is applied to a plane parking lot or parking equipment, wherein the AGV has no technical difficulty in the aspects of guidance route setting, walking route planning, operation control including obstacle detection and avoidance and the like, and the key problem is how to realize high-efficiency vehicle position exchange on the premise of low comprehensive cost.
The method comprises the following steps that (1) vehicle position exchange is carried out in an AGV use scene, and for a plane parking lot, at least the method relates to how to transfer client vehicles parked in a pre-storage area to the AGV and how to transfer vehicles parked in the AGV to a vehicle taking area; for the parking facility, it is also referred to how to transfer the vehicle parked at the AGV to the parking position of the parking facility and how to transfer the vehicle parked at the parking position of the parking facility to the AGV, in addition to the above.
In order to solve the above problems, in the industry, there is a method of exchanging vehicle positions by using a vehicle carrying board, wherein the method includes a technical scheme disclosed in an invention patent with an application publication number of CN108057472A and a name of "building block type intelligent parking lot". The technical scheme is ingenious in conception, the inside of the AGV trolley is provided with the fork type lifting mechanisms, the vehicles are parked on the vehicle carrying plates through the arrangement of the AGV trolleys and the matched vehicle carrying plates with the same number as the parking spaces, and the lifting mechanisms of the AGV trolleys bear the vehicle carrying plates so that the position of the vehicles is transferred. This technical solution has three disadvantages: first, the AGV dolly is because internally mounted has fork lifting mechanism, so high, and the vertical space height that needs when parkking is higher relatively, and this brings adverse effect to the construction cost of parking garage. Secondly, the number of the vehicle carrying plates is large and is at least the same as the parking number of the parking lot, so that the cost investment is greatly increased. And thirdly, according to the use experience, the operating efficiency of vehicle exchange by adopting the vehicle carrying plate is lower than that of the technical scheme without the vehicle carrying plate. The defects influence the popularization and application of the AGV in the field of parking.
The technical scheme of the no-load vehicle plate adopted in the field of parking by AGV at present generally has the defects of complex structure and high manufacturing cost; there are relatively simple approaches to directly jacking the bottom of a vehicle, but this approach is prone to damage to the bottom of the vehicle; the technical scheme that the tire is clamped from the side face of the vehicle is adopted, but the scheme requires that the vehicle length direction is parallel to the center line direction of the lane when the vehicle is parked, and the parking space arrangement of the parking lot is adversely affected. In order to solve the problems, the invention with the application number of 2019106276357 and the name of AGV with tire clamping matched with rollers for realizing vehicle exchange provides an AGV technical scheme which is provided with a roller unit, a tire clamping unit and a lifting unit in the middle and matched with a frame, a traveling system and an electric control system, and the AGV exchanging vehicle without a loading plate is realized simply and at low cost. However, the AGV of this technical solution has a certain requirement for the clearance in the middle area of the vehicle, and for transporting a vehicle with a low chassis such as a sports car, the clearance in the middle area of the vehicle is difficult to satisfy. In order to fully solve this problem, improvements are needed in the technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an AGV (the AGV is also the technical scheme of a non-load board) with an outer clamping tire matched with a middle supporting unit structure, and is matched with a plane parking lot and parking equipment for use.
The invention provides an AGV technical scheme with an outer clamping tire matched with a middle supporting unit structure, which is characterized in that: the AGV comprises a frame, a traveling system, an electric control system, a tire clamping lifting unit and a position detection unit; the following description related to the orientation is based on the position of the AGV longitudinal center line and the vehicle longitudinal center line in the same vertical plane, and the wheels of the AGV traveling system and the ground contacted by the wheels of the vehicle are on the same horizontal plane, so that one end of the AGV first contacted by the vehicle is called a front end, and the rear end, left side, right side, above, below are determined according to this.
The frame is rectangular in outline shape and comprises a middle supporting unit, a left longitudinal beam, a right longitudinal beam, a rear cross beam, a tire clamping lifting unit and a position detection unit, wherein the middle supporting unit, the left longitudinal beam, the right longitudinal beam and the rear cross beam are used for mounting the traveling system, the tire clamping lifting unit and the position detection unit.
The middle supporting unit comprises a middle frame, a follow-up universal wheel, a left supporting piece, a right supporting piece, a left driving part and a right driving part.
The middle frame is a rectangular structural part and is arranged in the middle area of the frame, the rear end of the middle frame is fixedly arranged in the middle of the rear cross beam of the frame, and the front end of the middle frame extends forwards.
The follow-up universal wheels are at least one set and are arranged at the front end of the middle frame. Because the frame is not provided with the front cross beam, the front end of the middle frame is effectively supported by the follow-up universal wheels.
The left side supporting piece is a rectangular component and is arranged on the left side above the middle frame, the left and right sizes are larger than the distance size between the right side of the left longitudinal beam and the left side of the middle frame, and the front and rear sizes are larger than the maximum center distance size of front and rear wheels of the vehicle; the left side supporting piece can be driven by the left driving part to perform left and right displacement; the left displacement limit position of the left side support member enables the left side support member to be located at a position formed by spanning the right side of the left longitudinal beam and the left side of the middle frame, and can support the left side wheel of the vehicle located above, and the left side support member is in a working state; the left side support is located above the middle frame in a whole manner due to the extreme position of right displacement of the left side support, and the left side of the left side support is flush with the left side of the middle frame, so that a left side wheel of the vehicle located above is no longer supported and is in a non-working state.
The right side supporting piece is a rectangular component and is arranged on the right side above the middle frame, the left and right sizes of the right side supporting piece are larger than the distance size between the left side of the right longitudinal beam and the right side of the middle frame, and the front and rear sizes of the right side supporting piece are larger than the maximum center distance size of front and rear wheels of the vehicle; the right side supporting piece can be driven by the right driving part to perform left and right displacement; the right displacement limit position of the right side supporting member enables the right side supporting member to be located at a position formed by spanning the right side of the right longitudinal beam and the right side of the middle frame, and the right side supporting member can support the right side wheel of the vehicle located above the right side supporting member and is in a working state; the left displacement limit position of the right side supporting piece enables the right side supporting piece to be integrally positioned above the middle frame, the right side of the right side supporting piece is flush with the right side of the middle frame, and the right side supporting piece does not support the right side wheel of the vehicle positioned above the middle frame any more and is in a non-working state.
The left driving component is used for driving the left supporting piece to perform left and right displacement; the right driving part is used for driving the right supporting part to perform left and right displacement. The left driving part and the right driving part are conventional linear displacement driving parts and comprise displacement parts and fixing parts; wherein, the displacement piece is arranged on the left driving part and the right driving part respectively, and the fixing piece is arranged on the middle frame. And will not be described further herein.
The left longitudinal beam is arranged on the left side of the frame, the right longitudinal beam is arranged on the right side of the frame, the middle supporting unit is arranged in the middle area of the frame, and the rear cross beam is arranged on the rear side of the frame; the front end of the rear cross beam is respectively fastened and connected with the rear end of the left longitudinal beam, the rear end of the right longitudinal beam and the rear end of the middle frame of the middle supporting unit. The rear cross beam, the left longitudinal beam, the right longitudinal beam and the middle frame of the middle supporting unit form a plane projection shape with a shape like a Chinese character 'shan' with notches symmetrical to the front and two sides, the left longitudinal beam is equivalent to the left side of the Chinese character 'shan' in a vertical mode, the right longitudinal beam is equivalent to the right side of the Chinese character 'shan' in a vertical mode, the middle frame of the middle supporting unit is equivalent to the middle of the Chinese character 'shan' in a vertical mode, and the rear cross beam is equivalent to the lower side of the Chinese character 'shan' in a horizontal mode.
The space formed by the right side of the left longitudinal beam and the left side of the middle supporting unit can enable the two left wheels of the vehicle to enter or exit, and the space formed by the left side of the right longitudinal beam and the right side of the middle supporting unit can enable the two right wheels of the vehicle to enter or exit. When the front end of the frame is positioned right above the rear end of the vehicle, the frame can move forwards, the front end enters from the rear end of the vehicle, and finally the front end of the frame moves forwards to a position below the front end of the vehicle, so that the whole vehicle is positioned right above the frame; or when the vehicle is positioned right above the frame, the frame can be displaced backwards, and finally the whole frame is withdrawn from the spatial position of the vehicle.
The traveling system comprises a steering and displacement driving unit, a steering and displacement driving unit and a displacement driving unit, wherein the steering and displacement driving unit is arranged on the frame and is used for supporting the frame and driving the frame to realize displacement; the traveling systems are at least four sets and are respectively arranged at the left side and the right side of the front end of the frame and the left side and the right side of the rear end of the frame.
The electric control system receives an instruction of a previous-stage control system, receives information of a sensor related to a traveling route, and controls the traveling system to operate, so that the AGV can realize various displacement actions including forward movement, backward movement and steering according to the operation requirement; the electric control system is also responsible for receiving detection signals of the position detection unit and controlling the tire clamping and lifting unit and the middle supporting unit.
Obviously, the frame, the traveling system and the electric control system are necessary devices of the conventional AGV and belong to conventional components, and the electric control system controls the tire clamping and lifting unit through conventional electromechanical control, so that further description is omitted; the middle supporting unit and the tire clamping and lifting unit are specially designed on the basis of the conventional AGV; the intermediate support unit has been described in detail previously and the tire gripping and lifting unit is described in detail below.
The tire clamping and lifting unit comprises a front tire clamping and lifting unit, a rear tire clamping and lifting unit and a horizontal displacement component; one of the front tire clamping lifting unit and the rear tire clamping lifting unit is fixed and is tightly installed on the frame and is a fixed position unit; the other can be driven by the horizontal displacement component to move in the front/back direction above the vehicle frame, and is a movable unit; when the center distance of the movable unit from the fixed position unit is maximum, the center distance is greater than or equal to a maximum center distance dimension of front/rear wheels of the vehicle; when the center distance of the movable unit from the fixed position unit is minimum, the center distance is less than or equal to a minimum center-to-center dimension of front/rear wheels of the vehicle. One of the front tire clamping lifting unit and the rear tire clamping lifting unit is designed to be movable, so that the direct center distance of the front tire clamping lifting unit and the rear tire clamping lifting unit can be matched with the center distance size of front/rear wheels of different vehicles, and therefore, the movable distance is at least the difference between the maximum center distance size and the minimum center distance of the front/rear wheels for conveying different vehicles.
The front tire clamping and lifting units are divided into two groups, namely a left front tire clamping and lifting unit and a right front tire clamping and lifting unit which are symmetrically and respectively arranged on the central line of the length of the frame vehicle, and are arranged at the front ends of a left longitudinal beam and a right longitudinal beam of the frame vehicle, and each group of front tire clamping and lifting units respectively comprises a lifting component and a tire clamping component.
The rear tire clamping and lifting units are divided into two groups, namely a left rear tire clamping and lifting unit and a right rear tire clamping and lifting unit which are symmetrically and respectively arranged on the central line of the length of the frame vehicle and are arranged at the rear ends of a left longitudinal beam and a right longitudinal beam of the frame vehicle, and each group of rear tire clamping and lifting units respectively comprises a lifting part and a tire clamping part.
The lifting part of the front tire clamping lifting unit is the same as the lifting part of the rear tire clamping lifting unit; the tire clamping component of the front tire clamping and lifting unit is the same as the tire clamping component of the rear tire clamping and lifting unit.
The lifting component is a vertically arranged screw driving pair or a gear rack driving pair or a hydraulic oil cylinder piston driving pair and comprises a lifting displacement part and a base; the lifting displacement piece and the base respectively correspond to a movable element and a fixed element of the driving pair; the lifting component has two limit position states of a non-working state and a working state; when the lifting component is in a non-working state, the distance between the lifting displacement piece and the base is minimum, so that the tire clamping component can be switched from the non-working state to the working state or from the working state to the non-working state; when the lifting component is in a working state, the lifting displacement piece is lifted, and finally, the distance between the lifting displacement piece and the base is the largest; meanwhile, the tire clamping component synchronously ascends, clamps and lifts the tire corresponding to the vehicle to be at the highest position.
The tire clamping component is arranged above the lifting displacement piece and comprises a front rod piece and a rear rod piece, and the front rod piece and the rear rod piece are symmetrically distributed in the front/rear direction of the center line of the tire clamping component perpendicular to the long center line of the frame vehicle.
The front rod piece is arranged at the front end of the tire clamping component and consists of a vertical part and a horizontal part, the vertical part is arranged on the lifting displacement piece of the lifting component, and the horizontal part is arranged at the upper end part of the vertical part.
The rear rod piece is arranged at the rear end position of the tire clamping component and consists of a vertical part and a horizontal part, the vertical part is arranged on the lifting displacement piece of the lifting component, and the horizontal part is arranged at the upper end part of the vertical part.
The tire clamping component has two limit position states of a non-working state and a working state; when the tire clamping component is in a non-working state, the horizontal parts of the front rod piece and the rear rod piece are positioned in an area outside the horizontal projection of the vehicle wheel, and the horizontal parts of the front rod piece and the rear rod piece cannot touch the wheel of the vehicle when the frame enters or exits from the lower part of the vehicle; when the tire clamping component is in a working state, the tire clamping component is positioned right below a wheel which is required to be clamped by the vehicle, and the horizontal parts of the front rod piece and the rear rod piece are positioned in the horizontal projection area of the wheel to clamp the entity of the wheel. Namely: the tire clamping component of the left front tire clamping and lifting unit of the current tire clamping and lifting unit is in a working state and is positioned right below a left front wheel of a vehicle, and horizontal parts of a front rod piece and a rear rod piece are respectively positioned in front of and behind the left front wheel to clamp the left front wheel; similarly, a tire clamping component of a right front tire clamping and lifting unit of the current tire clamping and lifting unit is in a working state, the tire clamping component is positioned right below a right front wheel of the vehicle, and horizontal parts of a front rod piece and a rear rod piece are respectively positioned in front of and behind the right front wheel to clamp the right front wheel; when a tire clamping component of a right front tire clamping and lifting unit of the rear tire clamping and lifting unit is in a working state, the tire clamping component is positioned right below a right front wheel of the vehicle, and horizontal parts of a front rod piece and a rear rod piece are respectively positioned in front of and behind the right front wheel to clamp the right front wheel; when a tire clamping component of a right rear tire clamping and lifting unit of the rear tire clamping and lifting unit is in a working state, the tire clamping component is positioned right below a right rear wheel of a vehicle, and horizontal parts of a front rod piece and a rear rod piece are respectively positioned in front of and behind the right rear wheel to clamp the right rear wheel.
The position detection unit with electrical system signal connection sets up on the frame of AGV for detect the position of the wheel of vehicle, including setting up the frame front end, be used for detecting the preceding wheel position sensor of the specific position of preceding wheel of vehicle and setting are in the frame rear end, be used for detecting the rear wheel position sensor of the specific position of rear wheel of vehicle. The position detecting unit is a conventional position detecting element, and many choices of the number of settings and the positions of settings are possible, which will not be described further herein.
The AGV with the outer clamping tire matched with the middle supporting unit structure aims at realizing position exchange of the vehicle; the vehicle position exchange comprises two operation modes of 'vehicle entering operation' and 'vehicle exiting operation'; the vehicle entering operation refers to a series of operation steps of transferring a specified vehicle parked at a ground parking position or a parking position which is in the parking equipment and is flush with the ground to the position above the AGV; the vehicle quitting operation refers to a series of operation steps of transferring a vehicle parked above the AGV to a specified ground parking position or transferring the vehicle to a specified parking position which is flush with the ground inside the parking equipment. The empty AGVs or the AGVs carrying vehicles run according to the planned route belongs to the conventional AGV running operation, and is not specifically described here.
The specific operation process of the vehicle entering into operation is as follows: the precondition is that the vehicle has been parked properly in the parking space; the left support and the right support of the AGV and a tire clamping component and a lifting component of the tire clamping and lifting unit are in a non-working state; then:
the AGV runs to the front end of a frame and is close to the vehicle, and the center line of the length direction of the AGV and the center line of the vehicle in the vehicle length direction are on the same vertical plane.
Secondly, the AGV displaces forwards to enable the front end of the frame to enter the lower part of the vehicle; when the position detection unit detects that the central connecting line of the tire clamping lifting unit fixed in position and the connecting line of the central lines of the wheels corresponding to the vehicles are on the same vertical plane, a signal is sent to trigger the AGV to stop moving forwards. The significance of the second step is that: through the detection of the position detection unit, the tire clamping and lifting unit with fixed position is over against the corresponding vehicle wheel to serve as the forward movement positioning reference of the AGV. Specifically, the method comprises the following steps: if the tire clamping and lifting unit with the fixed position is a front tire clamping and lifting unit, the AGV stops moving forwards under the condition that a front wheel position sensor detects that a central line connecting line of a front wheel of the vehicle and a central line connecting line of the front tire clamping and lifting unit are in the same vertical plane; if the tire clamping and lifting unit with the fixed position is a rear tire clamping and lifting unit, the AGV stops moving forwards under the condition that a rear wheel position sensor detects that a central line connecting line of a rear wheel of the vehicle and a central line connecting line of the rear tire clamping and lifting unit are in the same vertical plane.
And thirdly, the movable tire clamping and lifting unit is driven by the horizontal displacement component to move towards the position corresponding to the wheel of the vehicle, and when the position detection unit detects that the central connecting line of the movable tire clamping and lifting unit and the central connecting line of the wheel corresponding to the vehicle are in the same vertical plane, a signal is sent out to trigger the horizontal displacement component to stop moving forwards. The third step is that the movable tire clamping and lifting unit is driven to displace by the horizontal displacement component until the movable tire clamping and lifting unit is aligned with the corresponding vehicle wheel. Specifically, the method comprises the following steps: if the movable tire clamping and lifting unit is a front tire clamping and lifting unit, the horizontal displacement component stops driving and displacing under the condition that a front wheel position sensor detects that a central line connecting line of a front wheel of the vehicle and a central line connecting line of the front tire clamping and lifting unit are in the same vertical plane; if the movable tire clamping and lifting unit is a rear tire clamping and lifting unit, the condition that the horizontal displacement component stops driving and displacing is that a central line connecting line of a rear wheel of the vehicle and a central line connecting line of the rear tire clamping and lifting unit are in the same vertical plane when the rear wheel position sensor detects that the central line connecting line of the rear wheel of the vehicle and the central line connecting line of the rear tire clamping and lifting unit are in the same vertical. After the second and third steps are completed, the four tire clamping and lifting units of the AGV are respectively over against four wheels of the vehicle.
And fourthly, tire clamping components of the front tire clamping and lifting unit and the rear tire clamping and lifting unit are converted into working states from non-working states, and horizontal parts of the front rod piece and the rear rod piece respectively clamp corresponding wheels of the vehicle.
And fifthly, enabling the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a working state, driving the corresponding tire clamping parts to vertically lift, and lifting the wheels of the vehicle until the vertical height of the wheels to the ground is greater than the horizontal height of the left side support and the right side support of the AGV.
Sixthly, the left driving component drives the left supporting piece to be converted from the non-working state to the working state; simultaneously, the right driving part drives the right support to be converted from the non-working state to the working state.
Seventhly, enabling lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a working state, driving the corresponding tire clamping parts to vertically descend, and enabling wheels of the vehicle to descend along with the lifting parts until the wheels contact the left side supporting piece and the right side supporting piece; then, the lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit are in a non-working state, and the tire clamping components are maintained in a working state.
To this end, the AGVs have implemented position swapping of the vehicles, which have been transferred from the parking space position directly above the AGVs, are effectively supported by the AGVs, and the vehicle entering operation is finished.
The specific operation process of the vehicle for quitting the operation is as follows: providing that said left and right supports are in service, said vehicle having been effectively supported by said left and right supports directly above said AGV; lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit are in a non-working state, and tire clamping components are in a working state; then:
in a first step, the AGV carries the vehicle to travel to an interior location where it enters a designated ground parking space or to an interior location where it enters a designated parking space where parking equipment is level with the ground.
And secondly, driving corresponding tire clamping parts to vertically ascend by the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit, lifting the wheels of the vehicle to ascend until the wheels are separated from the left side support and the right side support of the AGV.
The third step, the left driving component drives the left supporting piece to be converted from the working state to the non-working state; simultaneously, the right driving part drives the right support to be switched from the working state to the non-working state.
Fourthly, enabling the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a working state, driving the corresponding tire clamping parts to vertically descend, and enabling wheels of the vehicle to descend along with the lifting parts until the wheels contact the ground and are effectively supported by the ground; and finally, enabling the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a non-working state.
And fifthly, tire clamping components of the front tire clamping and lifting unit and the rear tire clamping and lifting unit are converted into a non-working state from a working state, and horizontal parts of the front rod piece and the rear rod piece are respectively separated from clamping corresponding wheels of the vehicle.
And sixthly, moving the AGV backwards and finally quitting the parking space position.
To this end, the AGVs have implemented a position exchange for the vehicles, which have been transferred from above the AGVs to a designated parking space position, and the vehicle exit operation is finished.
Preferably, the front rod piece and the rear rod piece of the tire clamping component of the tire clamping and lifting unit adopt the following modes: the vertical part of the front rod piece is rotatable, so that the horizontal rod piece of the front rod piece can horizontally swing around the vertical part of the front rod piece; the vertical part of the rear rod piece is rotatable, so that the horizontal rod piece of the rear rod piece can horizontally swing around the vertical part of the rear rod piece; when the tire clamping component is in a non-working state, the horizontal part of the front rod piece extends forwards from the end part of the vertical part of the front rod piece and is parallel to the length direction of the frame, and the horizontal part of the rear rod piece extends backwards from the end part of the vertical part of the rear rod piece and is parallel to the length direction of the frame; when the tire clamping component is switched from a non-working state to a working state, the horizontal part of the front rod piece positioned on the left side swings 90 degrees clockwise around the vertical part of the front rod piece, the horizontal part of the rear rod piece positioned on the left side swings 90 degrees anticlockwise around the vertical part of the rear rod piece, and a clamping state is formed on the left wheel of the vehicle; the horizontal part of the front rod piece positioned on the right side swings 90 degrees anticlockwise around the vertical part of the front rod piece, the horizontal part of the rear rod piece positioned on the right side swings 90 degrees clockwise around the vertical part of the rear rod piece, and a clamping state is formed on the right wheel of the vehicle; the reverse operation of the operation is to change the tire clamping component from the working state to the non-working state.
Preferably, said left side support changes from an integral rectangular member for simultaneously supporting a left side wheel of said vehicle to two rectangular members for respectively supporting a front left wheel and a rear left wheel of said vehicle, said two rectangular members being a front left support and a rear left support, respectively, said left driving means simultaneously driving said front left support and said rear left support for left and right displacements; meanwhile, the right side support changes from an integral rectangular member that simultaneously supports the right side wheel of the vehicle to two rectangular members that respectively support the front right wheel and the rear right wheel of the vehicle, the two rectangular members being a front right support and a rear right support, respectively, and the right driving part simultaneously drives the front right support and the rear right support to make left and right displacements.
The invention has the advantages that: the technical scheme of clamping the tire in cooperation with the middle supporting unit outside the simple and low-cost AGV non-carrying vehicle board exchange vehicle is realized, and the matching is used in a plane parking lot and parking equipment, on the premise of keeping the advantages of high AGV intelligent degree, high operation efficiency and high parking convenience, compared with the current vehicle carrying board exchange mode, the non-carrying vehicle board exchange vehicle mode of directly lifting the bottom of the vehicle or entering the clamping tire from the side has great superiority, compared with the technical scheme of clamping the tire in the middle, the AGV relative technology is greatly improved, and the popularization and the use in the parking field are facilitated.
Drawings
FIG. 1 is a simplified structural schematic (plan view) of an AGV of the present invention having an outer clamping tire cooperating with an intermediate support unit structure.
Fig. 2-6 are simplified schematic (plan) views of an AGV of an outer tire clamp with intermediate support unit configuration of the present invention.
In the figure: 1, a right longitudinal beam; 2, a rear cross beam; 3 an intermediate frame; 4-1a frame length centerline; 4-1b vehicle length centerline; 4-2a, connecting the central lines of the front tire clamping and lifting units; 4-2b connecting the central lines of the front wheels of the vehicle; 4-3a, connecting the central lines of the rear tire clamping and lifting units; 4-3b connecting the central lines of the rear wheels of the vehicle; 5, a left longitudinal beam; 6, vehicles; 6-1 left rear wheel; 6-2 right rear wheels; 6-3 left front wheels; 6-4 right front wheels; 7-1a rear rod horizontal part; 7-1b rear bar vertical component; 7-2a front bar horizontal component; 7-2b front bar vertical component; 8-1 rear left support; 8-2 rear right support; 8-3 front left support; 8-4 front right support.
Detailed Description
The invention will be further explained with reference to the drawings, without limiting the scope of the invention to the following.
Fig. 1 shows a simplified schematic diagram (plan view) of an AGV with an outer clamping tire cooperating with an intermediate support unit structure. For simplicity and clarity, a walking system, an electric control system, a tire clamping and lifting unit and a position detection unit are not shown in the figure; the intermediate support unit does not show the trailing casters, left drive member, and right drive member therein.
The simplified structure of the frame and the positional relationship with the four wheels of the vehicle are shown. The figure shows that the frame is rectangular in outline shape and comprises a middle supporting unit, a left longitudinal beam 5, a right longitudinal beam 1 and a rear cross beam 2; the middle supporting unit is shown with a middle frame 3, the middle frame 3 is a rectangular structural member and is arranged in the middle area of the vehicle frame, the rear end is tightly installed in the middle position of the rear cross beam 2 of the vehicle frame, and the front end extends forwards. The left side support of the middle support unit of the present embodiment is separately provided as a front left support 8-3, a rear left support 8-1, and the right side support is separately provided as a front right support 8-4, a rear right support 8-2.
The figure shows that: the left longitudinal beam 5 is arranged on the left side of the frame, the right longitudinal beam 1 is arranged on the right side of the frame, the middle supporting unit is arranged in the middle area of the frame, and the rear cross beam 2 is arranged on the rear side of the frame; the front end of the rear cross beam 2 is respectively fastened and connected with the rear end of the left longitudinal beam 5, the rear end of the right longitudinal beam 1 and the rear end of the middle frame 3 of the middle supporting unit. The rear cross member 2, the left longitudinal member 5, the right longitudinal member 1, and the middle frame 3 of the middle support unit form a planar projection shape of a shape like a Chinese character 'shan' with a gap symmetrical to the front and both sides (shown as a shape like a Chinese character 'shan' with a gap horizontal to the left), the left longitudinal member 5 corresponds to a left side vertical of the shape like a Chinese character 'shan', the right longitudinal member 1 corresponds to a right side vertical of the shape like a Chinese character 'shan', the middle frame 3 of the middle support unit corresponds to a middle vertical of the shape like a Chinese character 'shan', and the rear cross member 2 corresponds to a lower side horizontal of the shape like a Chinese character 'shan'.
As can be seen in the figure, the center line 4-1b of the length of the vehicle is in a superposed state with the center line 4-1a of the length of the frame, the connecting line of the center lines of the front tire clamping and lifting units 4-2a is in a superposed state with the connecting line 4-2b of the center lines of the front wheels of the vehicle, and the connecting line 4-3a of the center lines of the rear tire clamping and lifting units is in a superposed state with the connecting line 4-3b of the center lines of the rear wheels of the vehicle, so that the fact that the vehicle is.
The front tire clamping unit and the front rod horizontal part 7-2a and the rear rod horizontal part 7-1a of the rear tire clamping unit are in a state of being parallel to the length center line 4-1a of the frame; the width of the vehicle wheel is a, the dimension of the width of the space formed by the right side of the left longitudinal beam 5 and the left side of the middle frame 3 and the dimension of the width of the space formed by the left side of the right longitudinal beam 1 and the right side of the middle frame 3 is B, and the dimension of the width of the left side support and the right side support is C; since B > a, the left side support is shown in the extreme right displacement position (i.e., non-operational state) such that the left side support is entirely above the intermediate frame 3 and the left side is flush with the left side of the intermediate frame 3, without supporting the left side wheel of the vehicle located above; the right side support is located at the left side displacement limit position (i.e., non-operating state), so that the right side support is entirely located above the middle frame 3, and the right side is flush with the right side of the middle frame 3, and does not support the right side wheel of the vehicle located above; therefore, when the front end of the frame is positioned right opposite to the rear end of the vehicle, the frame can be displaced forwards, the front end enters from the rear end position of the vehicle, and finally, the front end of the frame is moved forwards to be positioned below the front end position of the vehicle, so that the whole vehicle is positioned right above the frame (namely shown in fig. 1); alternatively, when the vehicle is located directly above the frame (i.e., as shown in fig. 1), the frame can be displaced rearwardly, eventually causing the frame as a whole to exit the spatial location of the vehicle.
Because C > B, the left displacement limit position (namely the working state) of the left side supporting member enables the left side supporting member to be positioned at a position formed by spanning the right side of the left longitudinal beam and the left side of the middle frame, and the left side wheel of the vehicle positioned above can be supported; the right displacement limit position (namely in the working state) of the right side support member enables the right side support member to be positioned at a position formed by spanning the left side of the right longitudinal beam and the right side of the middle frame, and can support the right side wheel of the vehicle positioned above; as shown in the figure, the front left support member 8-3, the rear left support member 8-1, the front right support member 8-4 and the rear right support member 8-2 can support a left front wheel 6-3, a left rear wheel 6-1, a right front wheel 6-4 and a right rear wheel 6-2 of a vehicle respectively.
Referring now to fig. 2-6, there is shown a simplified schematic (plan view) of an AGV of the present invention having an outer clamping tire with an intermediate support unit configuration. The embodiment corresponds to a specific process of entering the vehicle into operation.
As shown in fig. 2, the vehicle 6 has been parked properly in the parking space; a left support and a right support of the AGV and a tire clamping part and a lifting part of the tire clamping and lifting unit are in a non-working state; the AGV then travels until the front end of the frame is proximate the rear end of the vehicle 6, and the length-wise centerline is in the same vertical plane as the vehicle length-wise centerline (shown as frame length centerline 4-1a being on the same line as vehicle length centerline 4-1 b). That is, fig. 2 shows the aforementioned preconditions and first step for the vehicle to enter into operation.
As shown in fig. 3, the AGV is displaced forward so that the front end of the frame enters under the vehicle 6; when the position detection unit detects that the central connecting line of the tire clamping lifting unit (shown as a rear tire clamping lifting unit) with a fixed position and the wheel central line connecting line of the corresponding vehicle 6 are in the same vertical plane (shown as the central line connecting line 4-3a of the rear tire clamping lifting unit is superposed with the central line connecting line 4-3b of the rear wheel of the vehicle), a signal is sent to trigger the AGV to stop moving forwards. That is, fig. 3 shows the second step of the aforementioned vehicle entering into operation. The figure shows that a distance exists between a central line connecting line 4-2a of the front tire clamping and lifting unit and a central line connecting line 4-2b of a front wheel of the vehicle, and the distances do not coincide.
As shown in fig. 4, the movable tire gripping and lifting unit (shown as a front tire gripping and lifting unit) is driven by the horizontal displacement component to displace towards the position of the wheel (shown as the front wheel of the vehicle 6) of the corresponding vehicle, and when the position detection unit detects that the central connecting line of the movable tire gripping and lifting unit is in the same vertical plane with the central connecting line of the wheel of the corresponding vehicle (shown as the central connecting line 4-2a of the front tire gripping and lifting unit is coincident with the central connecting line 4-2b of the front wheel of the vehicle), a signal is sent to trigger the horizontal displacement component to stop moving forwards. That is, fig. 4 shows the third step of the aforementioned vehicle entering into operation.
As shown in fig. 5, the tire clamping components of the front tire clamping and lifting unit and the rear tire clamping and lifting unit are switched from the non-working state to the working state, and the horizontal parts of the front rod piece and the rear rod piece respectively clamp the corresponding wheels of the vehicle. That is, fig. 5 shows the fourth step of the aforementioned vehicle entering into operation. From the foregoing, it can be seen that: the fifth step of the vehicle entering into operation is: and the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit enter a working state, the corresponding tire clamping parts are driven to vertically lift, and the wheels of the vehicle are lifted until the vertical height of the wheels from the ground is greater than the horizontal height of the left side support and the right side support of the AGV. Since the planar projection of the fifth step is the same as the planar projection of the fourth step, fig. 5 also shows the fifth step of the vehicle entering into operation.
As shown in fig. 6, the left driving part drives the left support to change from the non-operating state to the operating state; at the same time, the right driving part drives the right bearing to change from the non-working state to the working state. That is, fig. 6 shows the sixth step of the aforementioned vehicle entering into operation. From the foregoing, it can be seen that: the seventh step of the vehicle entering into operation is: lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit enter a working state, the corresponding tire clamping components are driven to vertically descend, and wheels of the vehicle descend along with the tire clamping lifting units until the wheels contact the left supporting piece and the right supporting piece; then, the lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit are in a non-working state, and the tire clamping components are maintained in a working state. Since the planar projection of the seventh step is the same as that of the sixth step, fig. 6 also shows a seventh step of the vehicle entering into operation.
To this end, the AGV has exchanged the position of the vehicle 6, the vehicle 6 has been transferred from the parking position directly above the AGV, effectively supported by the AGV, and the vehicle enters the end of the run.
The exit and entry of the vehicle are basically of the reverse operation nature, and the specific process can be obtained by referring to the foregoing text and the accompanying drawings, which are not described herein again.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (4)
1. The utility model provides a supporting unit structure's AGV in middle of child cooperation is pressed from both sides in outside which characterized in that: the AGV comprises a frame, a traveling system, an electric control system, a tire clamping lifting unit and a position detection unit; the following description relating to orientation is based on the position where the AGV longitudinal centerline and the vehicle longitudinal centerline are in the same vertical plane and the wheels of the AGV traveling system and the ground contacted by the wheels of the vehicle are above the same horizontal plane, with the end of the AGV that first contacts the vehicle being referred to as the front end, and from this, the rear end, left side, right side, above, below are determined; the frame is rectangular in outline shape and comprises a middle supporting unit, a left longitudinal beam, a right longitudinal beam, a rear cross beam, a tire clamping lifting unit and a position detection unit, wherein the middle supporting unit, the left longitudinal beam, the right longitudinal beam and the rear cross beam are used for mounting the traveling system, the tire clamping lifting unit and the position detection unit; the middle supporting unit comprises a middle frame, a follow-up universal wheel, a left supporting piece, a right supporting piece, a left driving part and a right driving part; the middle frame is a rectangular structural part and is arranged in the middle area of the frame, the rear end of the middle frame is fixedly arranged in the middle of the rear cross beam of the frame, and the front end of the middle frame extends forwards; the follow-up universal wheels are at least one set and are arranged at the front end of the middle frame; the left side supporting piece is a rectangular component and is arranged on the left side above the middle frame, the left and right sizes are larger than the distance size between the right side of the left longitudinal beam and the left side of the middle frame, and the front and rear sizes are larger than the maximum center distance size of front and rear wheels of the vehicle; the left side supporting piece can be driven by the left driving part to perform left and right displacement; the left displacement limit position of the left side support member enables the left side support member to be located at a position formed by spanning the right side of the left longitudinal beam and the left side of the middle frame, and can support the left side wheel of the vehicle located above, and the left side support member is in a working state; the right displacement limit position of the left side supporting piece enables the left side supporting piece to be integrally positioned above the middle frame, the left side of the left side supporting piece is flush with the left side of the middle frame, and a left side wheel of the vehicle positioned above the left side supporting piece is not supported any more and is in a non-working state; the right side supporting piece is a rectangular component and is arranged on the right side above the middle frame, the left and right sizes of the right side supporting piece are larger than the distance size between the left side of the right longitudinal beam and the right side of the middle frame, and the front and rear sizes of the right side supporting piece are larger than the maximum center distance size of front and rear wheels of the vehicle; the right side supporting piece can be driven by the right driving part to perform left and right displacement; the right displacement limit position of the right side supporting member enables the right side supporting member to be located at a position formed by spanning the right side of the right longitudinal beam and the right side of the middle frame, and the right side supporting member can support the right side wheel of the vehicle located above the right side supporting member and is in a working state; the left displacement limit position of the right side supporting piece enables the right side supporting piece to be integrally positioned above the middle frame, the right side of the right side supporting piece is flush with the right side of the middle frame, and the right side supporting piece does not support the right side wheel of the vehicle positioned above the middle frame any more and is in a non-working state; the left driving component is used for driving the left supporting piece to perform left and right displacement; the right driving component is used for driving the right supporting piece to perform left and right displacement; the left longitudinal beam is arranged on the left side of the frame, the right longitudinal beam is arranged on the right side of the frame, the middle supporting unit is arranged in the middle area of the frame, and the rear cross beam is arranged on the rear side of the frame; the front end of the rear cross beam is respectively fastened and connected with the rear end of the left longitudinal beam, the rear end of the right longitudinal beam and the rear end of the middle frame of the middle supporting unit; a space formed by the right side of the left longitudinal beam and the left side of the middle supporting unit can enable the two left wheels of the vehicle to enter or exit, and a space formed by the left side of the right longitudinal beam and the right side of the middle supporting unit can enable the two right wheels of the vehicle to enter or exit; the traveling system comprises a steering and displacement driving unit, a steering and displacement driving unit and a displacement driving unit, wherein the steering and displacement driving unit is arranged on the frame and is used for supporting the frame and driving the frame to realize displacement; the four sets of walking systems are respectively arranged at the left side and the right side of the front end of the frame and the left side and the right side of the rear end of the frame; the electric control system receives an instruction of a previous-stage control system, receives information of a sensor related to a traveling route, and controls the traveling system to operate, so that the AGV can realize various displacement actions including forward movement, backward movement and steering according to the operation requirement; the electric control system is also responsible for receiving detection signals of the position detection unit and controlling the tire clamping and lifting unit and the middle supporting unit; the tire clamping and lifting unit comprises a front tire clamping and lifting unit, a rear tire clamping and lifting unit and a horizontal displacement component; one of the front tire clamping lifting unit and the rear tire clamping lifting unit is fixed and is tightly installed on the frame and is a fixed position unit; the other can be driven by the horizontal displacement component to move in the front/back direction above the vehicle frame, and is a movable unit; when the center distance of the movable unit from the fixed position unit is maximum, the center distance is greater than or equal to a maximum center distance dimension of front/rear wheels of the vehicle; when a center distance of the movable unit from the fixed position unit is minimum, the center distance is less than or equal to a minimum center distance dimension of front/rear wheels of the vehicle; the front tire clamping lifting units are divided into two groups, namely a left front tire clamping lifting unit and a right front tire clamping lifting unit which are symmetrically and respectively arranged on the central line of the length of the frame vehicle and are arranged at the front ends of a left longitudinal beam and a right longitudinal beam of the frame vehicle, and each group of front tire clamping lifting units respectively comprises a lifting part and a tire clamping part; the rear tire clamping lifting units are divided into two groups, namely a left rear tire clamping lifting unit and a right rear tire clamping lifting unit which are symmetrically and respectively arranged on the central line of the length of the frame vehicle and are arranged at the rear ends of a left longitudinal beam and a right longitudinal beam of the frame vehicle, and each group of rear tire clamping lifting units respectively comprises a lifting part and a tire clamping part; the lifting part of the front tire clamping lifting unit is the same as the lifting part of the rear tire clamping lifting unit; the tire clamping component of the front tire clamping and lifting unit is the same as the tire clamping component of the rear tire clamping and lifting unit; the lifting component is a vertically arranged screw driving pair or a gear rack driving pair or a hydraulic oil cylinder piston driving pair and comprises a lifting displacement part and a base; the lifting displacement piece and the base respectively correspond to a movable element and a fixed element of the driving pair; the lifting component has two limit position states of a non-working state and a working state; when the lifting component is in a non-working state, the distance between the lifting displacement piece and the base is minimum, so that the tire clamping component can be switched from the non-working state to the working state or from the working state to the non-working state; when the lifting component is in a working state, the lifting displacement piece is lifted, and finally, the distance between the lifting displacement piece and the base is the largest; meanwhile, the tire clamping component synchronously ascends, clamps and lifts the tire corresponding to the vehicle to be at the highest position; the tire clamping component is arranged above the lifting displacement piece and comprises a front rod piece and a rear rod piece, and the front rod piece and the rear rod piece are symmetrically distributed in a front/rear mode by the tire clamping component perpendicular to the center line of the long center line of the frame vehicle; the front rod piece is arranged at the front end of the tire clamping component and consists of a vertical part and a horizontal part, the vertical part is arranged on the lifting displacement piece of the lifting component, and the horizontal part is arranged at the upper end part of the vertical part; the rear rod piece is arranged at the rear end position of the tire clamping component and consists of a vertical part and a horizontal part, the vertical part is arranged on the lifting displacement piece of the lifting component, and the horizontal part is arranged at the upper end part of the vertical part; the tire clamping component has two limit position states of a non-working state and a working state; when the tire clamping component is in a non-working state, the horizontal parts of the front rod piece and the rear rod piece are positioned in an area outside the horizontal projection of the vehicle wheel, and the horizontal parts of the front rod piece and the rear rod piece cannot touch the wheel of the vehicle when the frame enters or exits from the lower part of the vehicle; when the tire clamping component is in a working state, the tire clamping component is positioned right below a wheel which is required to be clamped and corresponds to the vehicle, and the horizontal parts of the front rod piece and the rear rod piece are positioned in the horizontal projection area of the wheel to clamp the entity of the wheel; the position detection unit with electrical system signal connection sets up on the frame of AGV for detect the position of the wheel of vehicle, including setting up the frame front end, be used for detecting the preceding wheel position sensor of the specific position of preceding wheel of vehicle and setting are in the frame rear end, be used for detecting the rear wheel position sensor of the specific position of rear wheel of vehicle.
2. The AGV of claim 1 further comprising an AGV for engaging the intermediate support unit structure to exchange the vehicle position according to the outside clamping tire, wherein: the vehicle position exchange comprises two operation modes of 'vehicle entering operation' and 'vehicle exiting operation'; the vehicle entering operation refers to a series of operation steps of transferring a specified vehicle parked at a ground parking position or a parking position which is in the parking equipment and is flush with the ground to the position above the AGV; the vehicle quitting operation refers to a series of operation steps of transferring a vehicle parked above the AGV to a specified ground parking position or transferring the vehicle to a specified parking position which is flush with the ground inside the parking equipment; the specific operation process of the vehicle entering into operation is as follows: the precondition is that the vehicle has been parked properly in the parking space; the left support and the right support of the AGV and a tire clamping component and a lifting component of the tire clamping and lifting unit are in a non-working state; then: the method comprises the following steps that firstly, the AGV runs until the front end of a frame is close to a vehicle, and the center line in the length direction of the AGV and the center line in the length direction of the vehicle are on the same vertical plane; secondly, the AGV displaces forwards to enable the front end of the frame to enter the lower part of the vehicle; when the position detection unit detects that a central connecting line of the tire clamping and lifting unit fixed in position and a connecting line of the central lines of the wheels corresponding to the vehicle are in the same vertical plane, a signal is sent to trigger the AGV to stop moving forwards; thirdly, the movable tire clamping and lifting unit is driven by the horizontal displacement component to move towards the position corresponding to the wheel of the vehicle, and when the position detection unit detects that the central connecting line of the movable tire clamping and lifting unit and the central connecting line of the wheel corresponding to the vehicle are in the same vertical plane, a signal is sent out to trigger the horizontal displacement component to stop moving forwards; fourthly, tire clamping components of the front tire clamping and lifting unit and the rear tire clamping and lifting unit are converted into working states from non-working states, and horizontal parts of the front rod piece and the rear rod piece respectively clamp corresponding wheels of the vehicle; fifthly, enabling the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a working state, driving the corresponding tire clamping parts to vertically lift, lifting wheels of the vehicle to lift until the vertical height of the wheels from the ground is larger than the horizontal height of a left side support and a right side support of the AGV; sixthly, the left driving component drives the left supporting piece to be converted from the non-working state to the working state; simultaneously, the right driving component drives the right supporting piece to be converted from a non-working state to a working state; seventhly, enabling lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a working state, driving the corresponding tire clamping parts to vertically descend, and enabling wheels of the vehicle to descend along with the lifting parts until the wheels contact the left side supporting piece and the right side supporting piece; then, the lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit are in a non-working state, and the tire clamping components are maintained in a working state; the AGV has achieved position exchange of the vehicle, the vehicle is transferred from the parking position to the position right above the AGV and is effectively supported by the AGV, and the vehicle enters the running process and is finished; the specific operation process of the vehicle for quitting the operation is as follows: providing that said left and right supports are in service, said vehicle having been effectively supported by said left and right supports directly above said AGV; lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit are in a non-working state, and tire clamping components are in a working state; then: firstly, the AGV bears the vehicle to run to the inner position of a specified ground parking space or run to the inner position of the specified parking space where parking equipment is flush with the ground; secondly, the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit drive the corresponding tire clamping parts to vertically lift, so as to lift the wheels of the vehicle to lift until the wheels are separated from the supports of the left side support and the right side support of the AGV; the third step, the left driving component drives the left supporting piece to be converted from the working state to the non-working state; simultaneously, the right driving component drives the right supporting piece to be converted from the working state to the non-working state; fourthly, enabling the lifting parts of the front tire clamping lifting unit and the rear tire clamping lifting unit to enter a working state, driving the corresponding tire clamping parts to vertically descend, and enabling wheels of the vehicle to descend along with the lifting parts until the wheels contact the ground and are effectively supported by the ground; finally, lifting components of the front tire clamping lifting unit and the rear tire clamping lifting unit enter a non-working state; fifthly, tire clamping components of the front tire clamping and lifting unit and the rear tire clamping and lifting unit are converted into a non-working state from a working state, and horizontal parts of the front rod piece and the rear rod piece are respectively separated from clamping corresponding wheels of the vehicle; sixthly, moving the AGV backwards, and finally exiting the parking space; to this end, the AGVs have implemented a position exchange for the vehicles, which have been transferred from above the AGVs to a designated parking space position, and the vehicle exit operation is finished.
3. An AGV with an outer clamping tire for engaging an intermediate support unit structure according to claim 1, further comprising: the front rod piece and the rear rod piece of the tire clamping component of the tire clamping and lifting unit adopt the following modes: the vertical part of the front rod piece is rotatable, so that the horizontal rod piece of the front rod piece can horizontally swing around the vertical part of the front rod piece; the vertical part of the rear rod piece is rotatable, so that the horizontal rod piece of the rear rod piece can horizontally swing around the vertical part of the rear rod piece; when the tire clamping component is in a non-working state, the horizontal part of the front rod piece extends forwards from the end part of the vertical part of the front rod piece and is parallel to the length direction of the frame, and the horizontal part of the rear rod piece extends backwards from the end part of the vertical part of the rear rod piece and is parallel to the length direction of the frame; when the tire clamping component is switched from a non-working state to a working state, the horizontal part of the front rod piece positioned on the left side swings 90 degrees clockwise around the vertical part of the front rod piece, the horizontal part of the rear rod piece positioned on the left side swings 90 degrees anticlockwise around the vertical part of the rear rod piece, and a clamping state is formed on the left wheel of the vehicle; the horizontal part of the front rod piece positioned on the right side swings 90 degrees anticlockwise around the vertical part of the front rod piece, the horizontal part of the rear rod piece positioned on the right side swings 90 degrees clockwise around the vertical part of the rear rod piece, and a clamping state is formed on the right wheel of the vehicle; the reverse operation of the operation is to change the tire clamping component from the working state to the non-working state.
4. An AGV with an outer clamping tire for engaging an intermediate support unit structure according to claim 1, further comprising: the left side supporting member is changed from an integral rectangular member which simultaneously supports a left side wheel of the vehicle to two rectangular members which respectively support a front left wheel and a rear left wheel of the vehicle, the two rectangular members are respectively a front left supporting member and a rear left supporting member, and the left driving part simultaneously drives the front left supporting member and the rear left supporting member to perform left and right displacement; meanwhile, the right side support changes from an integral rectangular member that simultaneously supports the right side wheel of the vehicle to two rectangular members that respectively support the front right wheel and the rear right wheel of the vehicle, the two rectangular members being a front right support and a rear right support, respectively, and the right driving part simultaneously drives the front right support and the rear right support to make left and right displacements.
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| CN201910689005.2A CN110331879B (en) | 2019-07-29 | 2019-07-29 | AGV of supporting unit structure in middle of child cooperation is pressed from both sides in outside |
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| CN201910689005.2A CN110331879B (en) | 2019-07-29 | 2019-07-29 | AGV of supporting unit structure in middle of child cooperation is pressed from both sides in outside |
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Families Citing this family (3)
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| CN111042611A (en) * | 2019-12-25 | 2020-04-21 | 清华四川能源互联网研究院 | Full-automatic safe intelligent garage system |
| CN111764715A (en) * | 2020-06-26 | 2020-10-13 | 温州市简弈科技有限公司 | Prevent mistake and operate sky parking field |
| CN112282465B (en) * | 2020-10-16 | 2021-11-05 | 安徽鸿杰威尔停车设备有限公司 | Vertical lifting AGV with safety protection structure for stereo garage |
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| CN107355103A (en) * | 2017-07-31 | 2017-11-17 | 江西丹巴赫机器人股份有限公司 | Stop robot |
| CN209083113U (en) * | 2018-04-10 | 2019-07-09 | 深圳精智机器有限公司 | A kind of c-type homing guidance carrying vehicle device |
| CN209112324U (en) * | 2018-10-12 | 2019-07-16 | 广州达泊智能科技有限公司 | AGV transport vehicle |
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