CN116025208A - Hydraulic lifting type parking AGV, parking AGV system and parking method - Google Patents

Abstract

The embodiment of the specification provides a hydraulic lifting parking AGV, parking AGV system and parking method, and hydraulic lifting parking AGV includes: the automatic lifting device comprises an AGV trolley and a shearing fork type hydraulic lifting mechanism, wherein the shearing fork type hydraulic lifting mechanism is arranged at the top of the AGV trolley and comprises a hydraulic telescopic rod and a shearing fork arm, a bent arm assembly is arranged on the shearing fork type hydraulic lifting mechanism and is hinged with the hydraulic telescopic rod and the shearing fork arm, and the hydraulic telescopic rod reaches the maximum initial angle when the shearing fork type hydraulic lifting mechanism is contracted to the minimum state. Through with the elevating system of standing warehouse parking stall transfer to the AGV dolly, through the AGV dolly with cut fork hydraulic lifting mechanism and can place the sweep that carries on the parking stall, need not to install elevating system on standing warehouse parking stall and can accomplish the parking and get the car operation.

Description

Hydraulic lifting type parking AGV, parking AGV system and parking method

Technical Field

The specification relates to the technical field of AGV parking, and in particular relates to a hydraulic lifting parking AGV, a parking AGV system and a parking method.

Background

In current AGV parking technology, generally all install lead screw elevating system on the transport AGV dolly parks to accomplish the lift of shorter stroke, in order to accomplish parking and get the car demand, still need install elevating system on every parking stall, lead to the installation longer with the debugging cycle, construction cost and maintenance cost are great.

Disclosure of Invention

In order to solve the problems in the background art, the embodiment of the specification provides a hydraulic lifting type parking AGV, a parking AGV system and a parking method, wherein a lifting mechanism of a vertical garage parking space is transferred onto an AGV trolley, a vehicle carrying plate can be placed on the parking space through the AGV trolley and a scissor type hydraulic lifting mechanism, and parking and taking operations can be completed without installing the lifting mechanism on the vertical garage parking space.

The embodiment of the specification provides the following technical scheme: a hydraulic lift parking AGV comprising:

AGV trolley;

the hydraulic lifting mechanism comprises a hydraulic telescopic rod and a shearing fork arm, wherein a bent arm assembly is arranged on the hydraulic lifting mechanism, the bent arm assembly is hinged with the hydraulic telescopic rod and the shearing fork arm, and the hydraulic telescopic rod reaches the maximum initial angle when the hydraulic lifting mechanism is contracted to the minimum state.

Preferably, the bent arm assembly comprises two groups of bent arm plates, wherein the two groups of bent arm plates are hinged with the telescopic ends of the hydraulic telescopic rods through first pin shafts, and the two groups of bent arm plates are hinged with the scissor arms through second pin shafts.

Preferably, the scissor type hydraulic lifting mechanism further comprises a lifting plate, and a first through groove is formed in the lifting plate along the length direction.

Preferably, the upper moving end of the scissor arm is connected with a sliding rod, a mounting seat is mounted on the sliding rod, the top of the mounting seat extends to the first through groove, a sliding mechanism is arranged at the top of the mounting seat, an interface plate is arranged at the top of the sliding mechanism, a vehicle storage sliding block interface and a vehicle taking sliding block interface are arranged at the top of the interface plate, a chamber is formed in the mounting seat, a first motor is arranged in the chamber, and the output end of the first motor is connected with the interface plate through a first rotating shaft.

Preferably, the vehicle storage sliding block interface and the vehicle taking sliding block interface are provided with two groups.

Preferably, a first sensor is installed on the first motor, the first sensor is in control connection with the first motor, and the first sensor is in wireless connection with an external controller.

Preferably, the sliding mechanism comprises a fixed seat, a sliding block, a second motor and a screw rod, wherein the fixed seat is connected with the top of the mounting seat, a sliding groove is formed in the fixed seat, a second through groove is formed in the bottom of the sliding groove, the first motor penetrates through the second through groove, the bottom of the sliding block is arranged in the sliding groove, the top of the sliding block is connected with the interface board, the second motor is mounted on the fixed seat, the output end of the second motor is connected with the screw rod, and the screw rod is connected with the sliding block in a screwed mode.

Preferably, the length of the second through slot is the same as the length of the chamber;

and/or the chute comprises a trapezoidal chute.

A parking AGV system comprising a parking room, a vehicle carrying plate, a vertical garage parking space and the hydraulic lifting parking AGV according to any one of the above; the hydraulic lifting parking AGVs are used for conveying the vehicle carrying plates with the vehicles parked from the parking rooms to the parking spaces, and/or are used for conveying the vehicle carrying plates with the vehicles parked from the parking spaces to the parking rooms.

A method of parking based on the parking AGV system as described above, the method comprising:

the vehicle storage process comprises the following steps:

the AGV trolley moves to the position below a vehicle carrying plate of a parking room where vehicles are parked, the hydraulic telescopic rod drives the scissor fork arms to move through the bent arm assembly, and the scissor fork type hydraulic lifting mechanism lifts the vehicle carrying plate, so that the vehicle carrying plate is separated from the parking room supporting table;

the AGV trolley moves to the vertical garage parking place, the scissor-fork type hydraulic lifting mechanism lifts a vehicle carrying plate with the parked vehicle, and the vehicle carrying plate is placed on the vertical garage parking place;

the vehicle taking process comprises the following steps:

the AGV trolley moves to the parking space of the vertical warehouse, and the scissor-fork type hydraulic lifting mechanism lifts the vehicle carrying plate to separate the vehicle carrying plate from the parking space of the vertical warehouse;

the AGV dolly moves to parking room department, and the fork hydraulic lifting mechanism lifts the year sweep that parks the vehicle, makes year sweep place in parking room brace table.

Compared with the prior art, the beneficial effects that above-mentioned at least one technical scheme that this description embodiment adopted can reach include at least:

through installing on the AGV dolly and cut fork hydraulic lifting mechanism, can realize the lift of great stroke, with on standing the AGV dolly of going up and down of storehouse parking stall, can place the sweep that carries on the parking stall through AGV dolly and cut fork hydraulic lifting mechanism, need not install elevating system on standing the storehouse parking stall, through bent arm subassembly with hydraulic telescoping rod with cut fork arm and articulated, bent arm subassembly can prevent that hydraulic telescoping rod from lying down under the dead weight for cut the great initial angle of hydraulic telescoping rod under fork hydraulic lifting mechanism shrinkage state, guarantee to easily lift under the heavy load.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a first view of a hydraulic lift parking AGV provided by the present invention;

FIG. 2 is a second perspective view of a hydraulic lift parking AGV according to the present invention;

FIG. 3 is a schematic view of a third view of a hydraulic lift parking AGV provided by the present invention;

FIG. 4 is a schematic view of a bent arm plate structure of a hydraulic lift parking AGV provided by the present invention;

FIG. 5 is a schematic view of the connection between the mounting base and the sliding mechanism of the hydraulic lift parking AGV provided by the invention;

FIG. 6 is a schematic view of a hydraulic lift parking AGV holder according to the present invention;

FIG. 7 is a schematic diagram of the structure of the carrier plate of the parking AGV system provided by the present invention.

In the figure, 1, AGV dolly, 2, cut fork arm, 3, hydraulic telescopic link, 4, bent arm board, 5, first round pin axle, 6, second round pin axle, 7, lifter plate, 8, first logical groove, 9, slide bar, 10, mount pad, 11, second motor, 12, interface board, 13, cavity, 14, first motor, 15, fixing base, 16, lead screw, 17, slider, 18, parking slider interface, 19, get the car slider interface, 20, second logical groove, 21 spout, 22, car carrying board, 23, connection interface, 24 telescopic arm.

Detailed Description

Embodiments of the present application are described in detail below with reference to the accompanying drawings.

Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

Currently, AGV parking is more and more popular, and in the existing AGV parking, the following defects mainly exist:

1. the lifting mechanism is required to be installed on each vertical garage parking space to meet parking and picking operations, the parking space is relatively compact, the lifting mechanism occupies limited space of the parking space, and the lifting mechanism is required to be installed on each vertical garage parking space to cause large investment material cost, construction cost and maintenance cost, meanwhile, the electric control and scheduling program is complex, so that the parking or picking time is long, the execution efficiency is low, the electric load is high, and the unsafe and fault rate risks are high;

in order to meet the requirements of parking and vehicle taking operations, a lead screw lifting mechanism with a short installation stroke is installed on a parking transport AGV trolley, so that the load capacity is small, and in the heavy load transport process, the support legs of the vehicle carrying plates on the AGV trolley are easy to scratch the ground.

Through extensive and intensive experiments, the inventor designs a hydraulic lifting parking AGV, a parking AGV system and a parking method, transfers the lifting mechanism of the vertical garage parking place onto the AGV trolley, and can place the vehicle carrying plate on the parking place through the AGV trolley and the scissor type hydraulic lifting mechanism without installing the lifting mechanism on the vertical garage parking place, so that parking and vehicle taking operations can be completed.

The invention solves the technical problems that: the problem of AGV parking cost is higher, and parking operation is comparatively troublesome is solved.

More specifically, the solution adopted by the invention comprises the following steps: through installing on the AGV dolly and cut fork hydraulic lifting mechanism, can realize the lift of great stroke, with on standing the AGV dolly of going up and down of storehouse parking stall, can place the sweep that carries on the parking stall through AGV dolly and cut fork hydraulic lifting mechanism, need not install elevating system on standing the storehouse parking stall, through bent arm subassembly with hydraulic telescoping rod with cut fork arm and articulated, bent arm subassembly can prevent that hydraulic telescoping rod from lying down under the dead weight for cut the great initial angle of hydraulic telescoping rod under fork hydraulic lifting mechanism shrinkage state, guarantee to easily lift under the heavy load.

The following describes the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

As shown in fig. 1-3, a hydraulic lift parking AGV includes:

AGV dolly 1, AGV dolly 1 accessible current AGV dolly 1 improves, through seting up the storage tank at AGV dolly 1 top, when shearing fork type hydraulic lifting mechanism contracts completely, and its complete holding is in the storage tank, avoids high excessively;

the utility model provides a cut fork hydraulic lifting mechanism, adopts cut fork hydraulic lifting mechanism, and this mechanism simple structure is compact, in the aspect of vertical height, can realize less height under the complete shrink state, can realize great stroke height under the complete extension state, cut fork hydraulic lifting mechanism install in AGV dolly 1 top, through AGV dolly 1 and cut fork hydraulic lifting mechanism can place the sweep on the parking stall, need not install elevating system on the vertical storehouse parking stall, cut fork hydraulic lifting mechanism and include hydraulic telescoping rod 3 and cut fork arm 2, drive through hydraulic telescoping rod 3, can produce bigger power, realize stepless speed governing easily, the speed governing scope is great, and can adjust at the in-process of work, and the stationarity is better, realizes overload protection relatively easily, cut fork hydraulic lifting mechanism on install the bent arm subassembly, the bent arm subassembly with hydraulic telescoping rod 3 with cut fork arm 2 all articulates, through setting up the bent arm subassembly, hydraulic telescoping rod 3 drives through the bent arm subassembly and cuts fork arm 2 motion, and bent arm subassembly can prevent that the hydraulic telescoping rod 3 from having the hydraulic pressure of flexible end of life under the flexible arm 3 and the flexible lifting arm 3 from having the initial hydraulic pressure that the flexible effect of the initial load lifting mechanism of the same shape is not guaranteeing the actual lifting effect of the hydraulic lifting mechanism under the situation of the situation.

It should be noted that, in this embodiment, two sets of scissor hydraulic lifting mechanisms are provided, the two sets of scissor hydraulic lifting mechanisms are respectively disposed at two sides of the top of the AGV trolley 1, the two sets of scissor hydraulic lifting mechanisms are all provided with a bent arm assembly, the two sets of scissor hydraulic lifting mechanisms are driven by two hydraulic telescopic rods 3, and the two sets of scissor hydraulic lifting mechanisms can synchronously lift to ensure the stability during lifting.

As shown in fig. 1-4, in some embodiments, the bent arm assembly includes two groups of bent arm plates 4, two groups of bent arm plates 4 are hinged between the telescopic ends of the hydraulic telescopic rod 3 through first pin shafts 5, two groups of bent arm plates 4 are hinged between the telescopic ends of the hydraulic telescopic rod 3 through second pin shafts 6, stability when the hydraulic telescopic rod 3 drives the scissor arms 2 is guaranteed by arranging the two groups of bent arm plates 4, the two groups of bent arm plates 4 are respectively arranged on two sides of the telescopic ends of the hydraulic telescopic rod 3, the two groups of bent arm plates 4 are respectively hinged with two sides of the hydraulic telescopic rod 3 through first pin shafts 5, so that the hydraulic telescopic rod 3 and the two groups of bent arm plates 4 can relatively rotate, the position where the bent arm plates 4 are connected with the scissor arms 2 through the second pin shafts 6 can be selected according to practical situations, and the initial adjustment of the hydraulic angle between the hydraulic telescopic rod 3 and the bent arm plates 4 and the scissor arms 2 and the hinged joint position between the scissor arms 4 and the bent arm plates 4 through the second pin shafts 6 can be adjusted.

It should be noted that a hinge block may be provided on the telescopic rod of the hydraulic telescopic rod 3, so as to facilitate the hinge between the bent arm plate 4 and the hydraulic telescopic rod 3.

As shown in fig. 1 and 3, in some embodiments, the scissor hydraulic lifting mechanism further includes a lifting plate 7, a first through groove 8 is formed in the lifting plate 7 along the length direction, the lifting plate 7 is arranged to support the vehicle carrying plate, the hydraulic telescopic rod 3 drives the lifting plate 7 to perform lifting motion through the bent arm assembly and the scissor arm 2, and the position height of the vehicle carrying plate on the lifting plate 7 can be adjusted, so that the vehicle storing and taking operations are completed.

As shown in fig. 1-3 and 5, in some embodiments, the upper moving end of the scissor arm 2 is connected with a sliding rod 9, a mounting seat 10 is installed on the sliding rod 9, the top of the mounting seat 10 extends into the first through groove 8, a sliding mechanism is arranged at the top of the mounting seat 10, an interface plate 12 is arranged at the top of the sliding mechanism, a vehicle storage sliding block interface 18 and a vehicle taking sliding block interface 19 are arranged at the top of the interface plate 12, when the hydraulic telescopic rod 3 drives the scissor arm 2 to move, the upper moving end of the scissor arm 2 slides relative to the lifting plate 7, the sliding rod 9 moves along with the upper moving end of the scissor arm 2, the sliding rod 9 drives the mounting seat 10 to move, the mounting seat 10 slides in the first through groove 8, the mounting seat 10 drives the interface plate 12 to move through a sliding structure, and the positions of the interface plate 12 can be adjusted, so that the positions of the vehicle storage sliding block interface 18 and the vehicle taking sliding block interface 19 are adjusted;

the installation seat 10 is internally provided with a cavity 13, the cavity 13 is internally provided with a first motor 14, the output end of the first motor 14 is connected with a first rotating shaft, the first rotating shaft penetrates through the sliding mechanism and is connected with the interface board 12, the first rotating shaft is rotationally connected with the sliding mechanism, the first motor 14 drives the interface board 12 to rotate through the first rotating shaft, the vehicle storage sliding block interface 18 and the vehicle taking sliding block interface 19 rotate along with the interface board 12, and conversion of the vehicle storage sliding block interface 18 and the vehicle taking sliding block interface 19 can be achieved.

As shown in fig. 5, further, the two groups of the parking slider interfaces 18 and the two groups of the picking slider interfaces 19 are respectively provided, and by providing the two groups of the parking slider interfaces 18 and the two groups of the picking slider interfaces 19, the two groups of the parking slider interfaces 18 and the two groups of the picking slider interfaces 19 can respectively correspond to the first layer and the second layer of the vertical garage parking space, in the figure, the parking slider interfaces 18 and the picking slider interfaces 19 with shorter distances correspond to the first layer of the vertical garage parking space, and the parking slider interfaces and the picking slider interfaces with larger distances correspond to the second layer of the vertical garage parking space.

Furthermore, the first motor 14 is provided with a first sensor, the first sensor is in control connection with the first motor 14, the first sensor is in wireless connection with an external controller, the first motor 14 is controlled by the first sensor, the first sensor is controlled by the external controller, and the starting and closing operations of the first motor 14 are convenient.

As shown in fig. 5-6, in some embodiments, the sliding mechanism includes a fixed seat 15, a sliding block 17, a second motor 11 and a screw rod 16, the fixed seat 15 is connected with the top of the mounting seat 10, a sliding groove 21 is formed in the fixed seat 15, a second through groove 20 is formed in the bottom of the sliding groove 21, the first motor 14 passes through the second through groove 20, the bottom of the sliding block 17 is disposed in the sliding groove 21, the top of the sliding block 17 is connected with the interface board 12, the second motor 11 is mounted on the fixed seat 15, the output end of the second motor 11 is connected with the screw rod 16, the screw rod 16 is screwed with the sliding block 17, the screw rod 16 is driven by the second motor 11 to rotate, the sliding block 17 moves in the sliding groove 21 along with the screw rod 16, the sliding block 17 drives the interface board 12 to move along with the sliding block 12, positions of the sliding block interface 18 and the sliding block interface 19 can be adjusted, and the sliding block 17 moves along with the sliding block interface board 12, and the first motor 14 is driven by a first rotating shaft 14 to move along with the sliding block interface board 12, and the first rotating shaft 13 moves synchronously.

Further, the second sensor is installed on the second motor 11, the second sensor is in control connection with the second motor 11, the second sensor is in wireless connection with an external controller, the second motor 11 is controlled by the second sensor, the second sensor is controlled by the external controller, and the starting and closing operations of the second motor 11 are convenient.

In some embodiments, the length of the second through slot 20 is the same as the length of the chamber 13, and the length of the second through slot 20 is the same as the length of the chamber 13, so that the first motor 14 can be prevented from contacting the inner side wall of the second through slot 20 when moving in the chamber 13, and the movement distance of the first motor 14 along with the sliding block 17 is ensured.

As shown in fig. 6, in some embodiments, the chute 21 includes a trapezoidal chute 21, and by providing the trapezoidal chute 21, separation between the slider 17 and the chute 21 can be avoided, so that the slider 17 can only move along the direction of the chute 21.

Referring to FIGS. 1-6, the following is a description of the operation of the hydraulic lift parking AGV:

when the scissor fork arm 2 is in a contracted state, the bent arm assembly can prevent the hydraulic telescopic rod 3 from lying down under the dead weight, so that the hydraulic telescopic rod 3 has a larger initial angle in the contracted state of the scissor fork type hydraulic lifting mechanism, and the hydraulic telescopic rod 3 is ensured to be lifted easily under the heavy load;

the hydraulic telescopic rod 3 drives the scissor arm 2 to move through the bent arm assembly, the scissor arm 2 drives the lifting plate 7 to move, the position height of the lifting plate 7 can be adjusted, when the scissor arm 2 moves, the upper moving end of the scissor arm 2 slides relative to the lifting plate 7, the sliding rod 9 moves along with the upper moving end of the scissor arm 2, the sliding rod 9 drives the mounting seat 10 to move, the mounting seat 10 slides in the first through groove 8, the mounting seat 10 drives the interface plate 12 to move through the sliding structure, the position of the interface plate 12 can be adjusted, the positions of the parking slide block interface 18 and the picking slide block interface 19 can be adjusted, when the parking slide block interface 18 and the picking slide block interface 19 need to be converted, the first motor 14 is started through the control of the first sensor by the external controller, the first motor 14 drives the interface plate 12 to rotate through the first rotating shaft, the vehicle storage slide block interface 18 and the vehicle taking slide block interface 19 rotate along with the interface board 12, conversion of the vehicle storage slide block interface 18 and the vehicle taking slide block interface 19 can be achieved, when the positions of the vehicle storage slide block interface 18 and the vehicle taking slide block interface 19 need to be further adjusted, the second motor 11 is controlled to be started, the second motor 11 drives the screw rod 16 to rotate, the slide block 17 moves in the sliding groove 21 along the screw rod 16, the slide block 17 drives the interface board 12 to move, the vehicle storage slide block interface 18 and the vehicle taking slide block interface 19 move along with the interface board 12, the positions of the vehicle storage slide block interface 18 and the vehicle taking slide block interface 19 can be further adjusted, and when the slide block 17 moves, the first motor 14 is driven to slide in the cavity 13 through the first rotating shaft, so that the first motor 14, the first rotating shaft and the interface board 12 synchronously move along with the slide block 17.

1-7, based on the same inventive concept, embodiments of the present disclosure provide a parking AGV system including a parking garage, a carrier plate 22, a vertical garage and a hydraulic lift parking AGV as described in any of the above; the hydraulic lift parking AGVs are used to transport the parked vehicle carrier plates 22 from within the parking room to the parking space and/or the hydraulic lift parking AGVs are used to transport the parked vehicle carrier plates 22 from the parking space to the parking room.

In the implementation, through adopting above-mentioned hydraulic lifting type parking AGV to carry out the AGV parking, transfer the elevating system who stands the storehouse parking stall to AGV dolly 1 on, can place the sweep 22 on the parking stall through AGV dolly 1 and cut fork hydraulic lifting mechanism, need not to install elevating system on standing the storehouse parking stall and can accomplish the parking and get the car operation.

As shown in fig. 7, the vehicle carrying board 22 is provided with a connection interface 23 matched with the vehicle storage slider interface 18 and/or the vehicle taking slider interface 19, and the connection interface is connected with a telescopic arm 24, and the vehicle storage slider interface 18 and/or the vehicle taking slider interface 19 moves by driving the connection interface 23 to extend or retract the telescopic arm 24, so that the telescopic arm 24 is contacted with or separated from a supporting table in a parking room and/or a hanging arm on a standing garage.

Based on the same inventive concept, the embodiments of the present disclosure provide a parking method, based on the parking AGV system as described above, including:

the vehicle storage process comprises the following steps:

the vehicle owner parks the vehicle on a vehicle carrying plate 22 in the parking room, the AGV trolley 1 moves to the position below the vehicle carrying plate 22 with the vehicle parked in the parking room, the hydraulic telescopic rod 3 drives the scissor fork arm 2 to move through the bent arm assembly, and the scissor fork type hydraulic lifting mechanism lifts the vehicle carrying plate 22, so that the vehicle carrying plate 22 is separated from the parking room supporting table;

in the process of lifting the vehicle carrying plate 22, the first sensor is controlled by the external controller to start the first motor 14, the first motor 14 drives the interface plate 12 to rotate through the first rotating shaft, and the vehicle storage sliding block interface 18 moves to a position corresponding to the connecting interface 23 on the vehicle carrying plate 22;

the AGV trolley 1 moves to a vertical garage parking place, and a scissor-fork type hydraulic lifting mechanism lifts a vehicle carrying plate 22 with a parked vehicle, so that the vehicle carrying plate 22 is placed on the vertical garage parking place;

in the lifting process of the vehicle carrying plate 22, the second motor 11 drives the screw rod 16 to rotate, the sliding block 17 moves in the sliding groove 21 along the screw rod 16, the sliding block 17 drives the interface plate 12 to move, the vehicle storage sliding block interface 18 and the vehicle taking sliding block interface 19 move along with the interface plate 12, the vehicle storage sliding block interface 18 drives the connecting interface 23 on the vehicle carrying plate 22 to move towards the first direction, so that the telescopic arm 24 stretches out, part of the telescopic arm 24 stretches out of the vehicle carrying plate 22, and the part of the telescopic arm 24 stretches out of the vehicle carrying plate 22 falls on a hanging arm on a vertical garage parking space.

The vehicle taking process comprises the following steps:

the AGV trolley 1 moves to the position of the vertical garage parking space, and the scissor-fork type hydraulic lifting mechanism lifts the vehicle carrying plate 22 to separate the vehicle carrying plate 22 from the vertical garage parking space;

in the process of lifting the vehicle carrying plate 22, the first sensor is controlled by the external controller to enable the first motor 14 to be started, the first motor 14 drives the interface plate 12 to rotate through the first rotating shaft, the vehicle taking sliding block interface 19 is enabled to move to a position corresponding to the connecting interface 23 on the vehicle carrying plate 22, the second motor 11 drives the screw rod 16 to rotate (reversely rotate), the sliding block 17 moves in the sliding groove 21 along the screw rod 16, the sliding block 17 drives the interface plate 12 to move, the vehicle storing sliding block interface 18 and the vehicle taking sliding block interface 19 move along with the interface plate 12, and the vehicle taking sliding block interface 19 drives the connecting interface 23 on the vehicle carrying plate 22 to move towards a second direction (the second direction is opposite to the first direction), so that the telescopic arm 24 is contracted;

the AGV trolley 1 moves to a parking room, and the scissor-fork type hydraulic lifting mechanism lifts the vehicle carrying plate 22 with the parked vehicle, so that the vehicle carrying plate 22 is placed on a parking room supporting table;

in the lifting process of the vehicle carrying plate 22, the second motor 11 drives the screw rod 16 to rotate, the sliding block 17 moves in the sliding groove 21 along the screw rod 16, the sliding block 17 drives the interface plate 12 to move, the vehicle storage sliding block interface 18 and the vehicle taking sliding block interface 19 move along with the interface plate 12, the vehicle storage sliding block interface 18 drives the connecting interface 23 on the vehicle carrying plate 22 to move towards the first direction, so that the telescopic arm 24 stretches out, part of the telescopic arm 24 stretches out of the vehicle carrying plate 22, and the part of the telescopic arm 24 stretches out of the vehicle carrying plate 22 falls on the parking room supporting table.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the method embodiments described later, since they correspond to the system, the description is relatively simple, and reference should be made to the description of some of the system embodiments.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A hydraulic lift parking AGV comprising:

AGV trolley;

the hydraulic lifting mechanism comprises a hydraulic telescopic rod and a shearing fork arm, wherein a bent arm assembly is arranged on the hydraulic lifting mechanism, the bent arm assembly is hinged with the hydraulic telescopic rod and the shearing fork arm, and the hydraulic telescopic rod reaches the maximum initial angle when the hydraulic lifting mechanism is contracted to the minimum state.

2. The hydraulic lift parking AGV of claim 1 wherein the boom assembly includes two sets of boom plates hinged to the telescoping end of the hydraulic telescoping rod by a first pin and two sets of boom plates hinged to the scissor arms by a second pin.

3. The hydraulic lift parking AGV of claim 1 wherein the scissor lift mechanism further comprises a lift plate having a first channel formed along a length thereof.

4. The hydraulic lifting parking AGV according to claim 3 wherein the upper moving end of the scissor arm is connected with a sliding rod, a mounting seat is mounted on the sliding rod, the top of the mounting seat extends into the first through groove, a sliding mechanism is arranged at the top of the mounting seat, an interface plate is arranged at the top of the sliding mechanism, a parking sliding block interface and a picking sliding block interface are arranged at the top of the interface plate, a chamber is formed in the mounting seat, a first motor is arranged in the chamber, and the output end of the first motor is connected with the interface plate through a first rotating shaft.

5. The hydraulic lift parking AGV of claim 4 wherein both the parking slide interface and the pick-up slide interface are provided with two sets.

6. The hydraulic lift parking AGV of claim 4 wherein the first motor has a first sensor mounted thereon, the first sensor is in control connection with the first motor, and the first sensor is in wireless connection with an external controller.

7. The hydraulic lifting parking AGV according to claim 4 wherein the sliding mechanism comprises a fixed seat, a sliding block, a second motor and a screw rod, the fixed seat is connected with the top of the mounting seat, a sliding groove is formed in the fixed seat, a second through groove is formed in the bottom of the sliding groove, the first motor penetrates through the second through groove, the bottom of the sliding block is arranged in the sliding groove, the top of the sliding block is connected with the interface board, the second motor is mounted on the fixed seat, the output end of the second motor is connected with the screw rod, and the screw rod is in threaded connection with the sliding block.

8. The hydraulic lift parking AGV of claim 7 wherein the length of the second pass slot is the same as the length of the chamber;

and/or the chute comprises a trapezoidal chute.

9. A parking AGV system comprising a parking garage, a vehicle carrying plate, a vertical garage space and a hydraulic lift parking AGV according to any one of claims 1-8; the hydraulic lifting parking AGVs are used for conveying the vehicle carrying plates with the vehicles parked from the parking rooms to the parking spaces, and/or are used for conveying the vehicle carrying plates with the vehicles parked from the parking spaces to the parking rooms.

10. A method of parking, based on the parking AGV system of claim 9, the method comprising:

the vehicle storage process comprises the following steps:

the AGV trolley moves to the position below a vehicle carrying plate of a parking room where vehicles are parked, the hydraulic telescopic rod drives the scissor fork arms to move through the bent arm assembly, and the scissor fork type hydraulic lifting mechanism lifts the vehicle carrying plate, so that the vehicle carrying plate is separated from the parking room supporting table;

the AGV trolley moves to the vertical garage parking place, the scissor-fork type hydraulic lifting mechanism lifts a vehicle carrying plate with the parked vehicle, and the vehicle carrying plate is placed on the vertical garage parking place;

the vehicle taking process comprises the following steps:

the AGV trolley moves to the parking space of the vertical warehouse, and the scissor-fork type hydraulic lifting mechanism lifts the vehicle carrying plate to separate the vehicle carrying plate from the parking space of the vertical warehouse;

the AGV dolly moves to parking room department, and the fork hydraulic lifting mechanism lifts the year sweep that parks the vehicle, makes year sweep place in parking room brace table.

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