CN217232934U

CN217232934U - AGV both arms detain tooth formula conveyer

Info

Publication number: CN217232934U
Application number: CN202121145511.4U
Authority: CN
Inventors: 李敏; 许鑫; 孙雨希
Original assignee: Zanbu Agriculture And Animal Husbandry Technology Beijing Co ltd
Current assignee: Zanbu Agriculture And Animal Husbandry Technology Beijing Co ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2022-08-19
Anticipated expiration: 2031-05-26

Abstract

The utility model provides an AGV double-arm snap-tooth type carrier with novel and compact structural design, easy implementation and simple operation, which comprises a translation trolley capable of moving linearly; the vehicle body support frame is characterized by further comprising a translation supporting plate capable of bearing four wheels of a vehicle, rolling idler wheels are arranged at the bottom of the translation supporting plate, an inserting and closing fixing device capable of being locked with the translation supporting plate is arranged on the translation trolley, the translation trolley is connected with the translation supporting plate into a whole through the inserting and closing fixing device, and the translation supporting plate can be driven to move back and forth through the movement of the translation trolley.

Description

AGV both arms buckle tooth formula conveyer

Technical Field

The invention relates to the technical field of intelligent parking, in particular to an AGV double-arm buckling tooth type conveyor.

Background

The current technical situation and the advantages and the disadvantages of the current mechanical stereo garage parking equipment at home and abroad are as follows: semi-automatization mechanical equipment, it is not high to have intelligent performance, and mechanical structure is heavy, and transportation, construction installation are inconvenient, and maintenance and operation cost are high. The existing full automation is divided into two types: the double-arm wheel holding and comb tooth lifting type, wheel holding and lifting mode have high requirements on parking, and simultaneously have damage to automobile tires in different degrees. The double-arm clamping wheel-holding mode has the advantages that: the carrying trolley is ultra-thin, full in electromechanical action and high in intelligent degree. The disadvantages are as follows: the requirements on the environment and the installation condition of the garage are very high, the construction difficulty is increased, the construction cost is high, the electromechanical actions of equipment are many and complicated, the failure rate is high, operating personnel and maintenance personnel have certain technical levels, the operation and maintenance cost is high, and the distance between vehicles is limited. The comb tooth lifting type advantage: the mechanical principle is more mature in lifting and stable in performance, the motor power of the carrying equipment is large, the equipment is high, the corresponding parking platform is high, and the garage construction cost is increased.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, adapt to practical requirements and provide the AGV double-arm buckling tooth type conveyor which is novel and compact in structural design, easy to implement and simple to operate.

In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:

designing an AGV double-arm buckling tooth type carrier, which comprises a translation trolley capable of moving linearly; the trolley is connected with the translation supporting plate into a whole through the insertion fixing device, and the translation supporting plate can be driven to move back and forth through the movement of the translation trolley.

The translation layer board includes two and passes through two translation boards that the connecting rod links as an organic whole, two translation board below is equipped with a plurality of respectively the gyro wheel.

The translation trolley comprises a frame and moving wheels arranged at the front end and the rear end of the frame, the moving wheels are connected with a driving motor through a speed reducer, and the insertion fixing device is at least one and is arranged on the frame; and guide wheels are respectively arranged at four corners of the frame.

The inserting and fixing device comprises two inserting arms which can extend out or retract towards the left side and the right side of the frame and are respectively arranged on the two sides of the frame, inserting holes are respectively formed in the side walls of the two translation plates which are oppositely arranged with the two inserting arms, and when the two inserting arms synchronously extend out or retract, the two inserting arms can be respectively inserted into the inserting holes in the two translation plates or extend out of the inserting holes.

The device also comprises a driving mechanism for driving two inserting arms in the same inserting and fixing device to synchronously extend or retract, wherein the driving mechanism comprises two guide plates arranged on the left and right sides and guide rods which are positioned in the same guide plate and can reversely and synchronously move; the two toothed belts are positioned on two sides of the driving tooth and are in meshed transmission with the driving tooth, and extending ends of the two toothed belts extend towards two sides of the frame respectively and are connected with connecting plates on two sides of the frame respectively to enable the two connecting plates and the two inserting arms to synchronously extend out or retract;

it is same be equipped with two spouts on the deflector, parallel arrangement about two spouts, and two guide bars that are located on same deflector are located two spouts respectively.

The translation plate below the translation plate is provided with a slot, and when the insertion arm enters the lower part of the translation plate through the jack, the insertion arm can enter the slot to be clamped.

The front ends of the two translation plates are provided with arc-shaped clamping grooves which are sunken downwards, and front wheels of the vehicle can enter the arc-shaped clamping grooves.

The inserting arm comprises three inserting rods, the three inserting rods are arranged in an arc shape, and the inserting holes and the inserting grooves are located below the arc-shaped clamping grooves.

The two translation plates are respectively provided with a locking mechanism which can be fixed with the ground or the bearing platform; the locking mechanism comprises a snap ring fixed on the bearing platform or the ground, an L-shaped locking rod, a spring with one end connected on the translation plate, a spring with the other end hinged on the translation plate, the inner end part of the L-shaped locking rod is connected with a spring, the spring enables the L-shaped locking rod to take the turning part as a rotating point and enables the outer end part of the L-shaped locking rod to enter the snap ring to fix the translation plate with the ground or the bearing platform, the inner end part of the L-shaped locking rod is positioned outside the slot, when the inserting arm extends into the interior of the translation plate, one of the inserting rods positioned outside the inserting groove abuts against the inner end part of the L-shaped locking rod and causes the outer end part of the L-shaped locking rod to move out of the clamping ring so as to release the translation plate from the ground or the bearing platform.

The inserting and combining fixing device is arranged on a bottom plate and located on the front side of the frame, the tail end of the bottom plate is hinged to the frame, an electric ejector rod is arranged at the front end of the frame, an ejector rod of the electric ejector rod abuts against the front end of the bottom plate and can enable the front end of the bottom plate to be lifted, the bottom of the arc-shaped clamping groove is provided with notches with the same number as the insertion rods, the insertion rods in the inserting and combining fixing device are located on the bottom plate in a one-to-one mode below the notches, and when the front end of the bottom plate is lifted upwards, the insertion rods are lifted and supported in the notches.

The invention has the beneficial effects that:

1. its structural design of this design is novel, compact can make for ultra-thin equipment, has little volume strength, is fit for various because advantages such as the limited stereo garage of space height.

2. The design has super-large loading force without limiting the vehicle distance, and can be suitable for various vehicle distances and weights as long as the design accords with the approved size parameters of the parking platform.

3. High safety, high performance, low trouble, the vehicle is with flat mode, does not cause any damage to the vehicle, adopts ingenious mechanical structure principle, and equipment is succinct pleasing to the eye, easily controls easy operation, carries a car translation layer board and adopts the many silence universal wheel of N (gyro wheel), utilizes mechanical external power, need not electromechanical action, avoids receiving the trouble that signal and artificial improper operation between the electromechanical communication brought, and the power saving has again reduced operation and equipment maintenance cost.

4. The design can adopt the full automation of parking and taking, is unattended, can be controlled and managed through remote operation, and has high intelligent degree.

Drawings

FIG. 1 is a schematic diagram of the principal structure of the present design;

FIG. 2 is a schematic view of the main structure of the translation trolley in the design;

FIG. 3 is a schematic view of a portion of the present design;

FIG. 4 is a schematic top view of the driving mechanism of the present design;

FIG. 5 is a schematic diagram of the construction of the guide plate according to the present design;

FIG. 6 is a schematic view of a partial translation plate and an arc-shaped slot thereon according to the present design;

FIG. 7 is a schematic view of the structure of the insertion fixing device in the present design installed on the bottom plate and engaged with the electric push rod in the direction of the end portion;

FIG. 8 is a schematic view of the insertion fixing device of the present design installed on the bottom plate and engaged with the electric lift pin;

FIG. 9 is a schematic view of the structure of embodiment 2.

Detailed Description

The invention is further illustrated with reference to the following figures and examples:

example 1: an AGV double arm latch conveyor, see fig. 1-8.

The device comprises a translation trolley capable of moving linearly and a translation supporting plate capable of bearing four wheels of a vehicle, wherein rolling rollers 3 are arranged at the bottom of the translation supporting plate, an inserting and closing fixing device capable of being locked with the translation supporting plate is arranged on the translation trolley, the translation trolley is connected with the translation supporting plate into a whole through the inserting and closing fixing device, and the translation supporting plate can be driven to move back and forth through the movement of the translation trolley.

Specifically, the translation supporting plate in the design comprises two translation plates 2 which are connected into a whole through a connecting rod, a plurality of rollers 3 are respectively arranged below the two translation plates 2, and the two translation plates 2 can move on the ground or the bearing platform 1 through the rollers at the bottom.

Specifically, the translation trolley comprises a frame 21 and moving wheels 22 arranged at the front end and the rear end of the frame 21, wherein the moving wheels 22 are connected with a driving motor 23 through a speed reducer, the translation trolley moves back and forth through the moving wheels 22, meanwhile, guide wheels 24 are arranged at four corners of the frame respectively, the guide wheels can prevent the side walls of the frame from colliding with the inner walls of the two translation plates, and the guide wheels can guide and limit the translation plates.

In this design, one or two of the insertion fixing devices are installed on the frame, and when the number of the insertion fixing devices is two, the insertion fixing devices can be installed at the front end and the rear end of the frame, for convenience of description, one of the insertion fixing devices is taken as an example for description in this embodiment, and the specific details are as follows:

insert and close fixing device include two can stretch out or withdraw and set up respectively in two of frame 21 both sides to the frame 21 left and right sides and insert the arm, with two insert and seted up the jack on the lateral wall of two translation boards 2 that the arm set up in opposite directions respectively, can insert respectively when two insert the arm and stretch out or stretch out from the jack in stretching out or withdrawing in step, this design still is lieing in simultaneously be equipped with slot 5 on the translation board of translation board 2 below, work as insert the arm and can enter into the interior block of slot when entering into the translation board below through the jack. In this design, two the front end of translation board is equipped with undercut's arc draw-in groove 4, and the vehicle front wheel can enter into in the arc draw-in groove 4, insert the arm and include three inserted bar 31, three inserted bar 31 is the arc setting, the jack reaches the slot is located the below of arc draw-in groove 4.

Furthermore, the design also comprises a driving mechanism for driving two inserting arms in the same inserting and fixing device to synchronously extend or retract, wherein the driving mechanism comprises two guide plates 32 arranged on the left and right and guide rods 36 which are positioned in the same guide plate 32 and can synchronously move in opposite directions, the end parts of the two guide rods 36 in the two guide plates 32 at the side part of the same frame 21 are connected through a connecting plate 35, and the inserting arms 31 are fixed on the connecting plate 35; two sliding grooves 38 are formed in the same guide plate 32, the two sliding grooves 38 are arranged in parallel up and down, and the two guide rods 36 on the same guide plate are respectively located in the two sliding grooves 38 and are separated from each other.

Furthermore, the device also comprises a driving tooth 37 positioned in the middle of the two guide plates 32 and a guide part 34 sleeved on the driving tooth 37, wherein the guide part 34 is fixedly arranged on the bottom plate, two through holes are formed in the guide part 34, two toothed belts 33 are respectively and slidably mounted in the two through holes, the two toothed belts 33 are positioned on two sides of the driving tooth 37 and are in meshing transmission with the driving tooth, and the extending ends of the two toothed belts respectively extend towards two sides of the frame 21 and are respectively connected with the connecting plates 35 on two sides of the frame 21 and drive the two connecting plates 35 and the two inserting arms to synchronously extend out or retract.

Furthermore, the two translation plates 2 are respectively provided with a locking mechanism which can be fixed with the ground or a bearing platform; the locking mechanism comprises a snap ring 9 fixed on a bearing platform or the ground, an L-shaped locking rod 7, a spring 6 with one end connected to the translation plate 2, a spring 6 with the inner end connected with the spring, a locking rod 7 fixed on the translation plate 2 and with the turning part hinged on the translation plate, the spring urges the L-shaped locking rod to take the turning part as a rotating point and urges the outer end part 8 of the L-shaped locking rod to enter the snap ring 9 to fix the translation plate with the ground or the bearing platform, at the moment, the inner end part of the L-shaped locking rod 7 is positioned at the side part of the slot 5, when the insertion arm extends into the translation plate, one of the insertion rods 31 located outside the insertion slot 5 abuts against the inner end of the L-shaped locking rod and causes the outer end 8 of the L-shaped locking rod to move out of the snap ring 9 to release the translation plate from the ground or the bearing platform.

Furthermore, in this design, the insertion fixing device located on the front side of the frame 21 is installed on a bottom plate 39, the tail end of the bottom plate 39 is hinged to the frame 21 through a rotating shaft 41, an electric ejector rod 40 is arranged at the front end of the frame 21, a lifting rod of the electric ejector rod 40 abuts against the front end of the bottom plate 39 and can promote the front end of the bottom plate 39 to lift, meanwhile, notches 11 with the same number as the inserting rods are formed in the bottom of the arc-shaped clamping groove 4, the inserting rods 31 located in the insertion fixing device on the bottom plate 39 are located below the notches 11 in a one-to-one correspondence manner, and when the front end of the bottom plate 39 is lifted upwards, the inserting rods 31 lift and support the wheels from the notches 11.

Its initial condition of AGV both arms catching teeth formula conveyer of this design is shown in figure 1, and at this moment, the translation dolly is located between two translation boards, and at this moment, the arm of inserting of frame both sides is in the contraction state, and the inserted bar withdraws from translation board below promptly, at this moment, the spring makes L shape locking lever uses turn portion as the rotation point and makes L shape locking lever's outer tip 8 enter into to in the snap ring 9 will the translation board with load-bearing platform is fixed.

When a vehicle enters, wheels on two sides of the vehicle enter the two translation plates (the width of the two translation plates is larger than 60cm, so that the vehicles with different wheel distances are met), the front wheels of the vehicle run into the arc-shaped clamping grooves in the front ends of the two translation plates, and then the vehicle stops, and the two rear wheels of the vehicle are also located on the two translation plates.

Then, the vehicle begins to translate, at this moment, the bearing platform 1 carries out height lifting and left-right position deviation through the transverse translation and height translation mechanism (prior art, the bearing platform is installed on the transverse translation and height translation mechanism), and when the bearing platform moves to the end of the appointed parking space, a motor in the driving mechanism drives the driving teeth to rotate and drives the guide rods and the toothed belts on the two sides to synchronously extend out.

When the guide plate is communicated with the insertion arm to extend out, the insertion arm enters the insertion hole below the translation plate and further enters the insertion groove, the insertion groove can limit the insertion rod and provide resistance in the process of back and forth movement, at the moment, one insertion rod 31 located outside the insertion groove 5 abuts against the inner end portion of the L-shaped locking rod and enables the outer end portion 8 of the L-shaped locking rod to move out of the clamping ring 9 and enter the translation plate through the opening 10 in the side wall of the translation plate, and the translation plate and the bearing platform are released from being fixed through the mode.

Then, the shifting trolley moves through the driving motor, when the shifting trolley moves, the shifting plate and the roller at the bottom are driven to move forwards to the parking space through the relative fixation of the insertion rod and the shifting plate, when the shifting trolley moves to the parking space, the driving mechanism drives the two insertion arms to withdraw and remove the relative fixation of the shifting trolley and the shifting plate, at the moment, the insertion rod is separated from the inner end part of the L-shaped locking rod, at the moment, the spring enables the L-shaped locking rod to take the turning part as a rotation point and enables the outer end part 8 of the L-shaped locking rod to enter the snap ring (the snap ring is positioned on the parking space) to fix the shifting plate and the ground of the parking space, and then the shifting trolley moves to the bearing platform again.

Then the bearing platform moves to an empty parking space through the transverse translation and height translation mechanism, then the movable trolley moves to move the translation supporting plate empty on the parking space (without parking vehicles) to the bearing platform and fixes the translation supporting plate through the locking mechanism, and then the next vehicle is waited to drive in.

Thus, the purpose of moving the vehicle can be achieved through the process.

When the vehicle needs to be taken out, the movable trolley repeats the operation to transport the translation plate to the bearing platform, then the spring of the movable trolley prompts the L-shaped locking rod to take the turning part as a turning point and prompts the outer end part 8 of the L-shaped locking rod to enter the snap ring 9 to fix the translation plate and the bearing platform, then the lifting rod of the electric mandril 40 is abutted against the front end of the bottom plate 39 and can lift the front end of the bottom plate 39, at the moment, the whole inserting and fixing device and the insertion rod at the side part are lifted together, at the moment, the inserting rods 31 in the inserting and fixing device on the bottom plate 39 are correspondingly positioned below the notch 11 and are lifted upwards to support the wheels to the same height with the plane of the translation plate or slightly lower than the plane of the translation plate, so that a driver can conveniently drive the vehicle out, and the problem that the arc-shaped clamping grooves are not easy to move out due to large depth is avoided.

Embodiment 2, this embodiment is an improved design based on the scheme of embodiment 1, and specifically includes:

referring to fig. 9, the rollers 3 at both ends of each translation plate are connected by a connecting shaft 311 (two rollers located at the same end of the translation plate), an auxiliary brake device is respectively arranged below the two translation plates, the auxiliary brake device comprises arc plates respectively located at the lower sides of the connecting shafts 311 at both ends of the two translation plates, brake pads are arranged on the inner side walls of the arc plates opposite to the connecting shafts, brake wheels 316 are mounted on the connecting shafts opposite to the brake pads, and the brake pads can contact with the brake wheels to realize braking of the rollers; meanwhile, the brake shoe further comprises a connecting rod 317 for connecting the two arc-shaped plates, guide rods 313 extending downwards are respectively arranged at the bottoms of the translation plates positioned on the side parts of the two connecting shafts, the guide rods penetrate through holes in the connecting rod, the connecting rod can slide up and down relative to the guide rods, the brake shoe further comprises a tension spring 314 sleeved on the guide rods 313, and the tension spring 314 applies tension to the connecting rod 317 and enables a brake shoe to be tightly held on a brake wheel to brake the roller; in this embodiment, the lower side of the insertion rod 31 is triangular, the lower side of the insertion rod 31 is an inclined surface, or the lower side of the insertion rod 31 is connected with a triangular pressing plate, and the lower end surface of the pressing plate contacting with the connecting rod is an inclined surface.

When the inserted rod 31 does not enter the lower part of the translation plate, the outer end part of the L-shaped locking rod enters the clamping ring 9, and at the moment, the tension spring 314 applies tension to the connecting rod 317 and promotes the brake pad to be tightly held on the brake wheel to realize the braking of the roller; when the translation plate needs to be moved, namely when the insertion rod 31 is inserted into the translation plate, and the insertion rod 31 extends out, the inclined plane at the lower side of the insertion rod or the lower end of the pressure plate presses the connecting rod and simultaneously abuts against the inner end part of the L-shaped locking rod, so that the outer end part 8 of the L-shaped locking rod is moved out of the clamping ring 9 and enters the translation plate through the opening 10 in the side wall of the translation plate, and meanwhile, the connecting rod, the arc-shaped plate connected with the two ends, the brake pad and the brake wheel are enabled to release the braking state, and the translation plate and the bearing platform are released from being fixed in this way, and then the translation plate can be moved.

The embodiments of the present invention are disclosed as being preferred embodiments, but not limited thereto, and those skilled in the art can easily understand the spirit of the present invention and make various extensions and changes without departing from the spirit of the present invention.

Claims

1. An AGV double-arm buckling tooth type carrier comprises a translation trolley capable of moving linearly; the method is characterized in that: the trolley is connected with the translation supporting plate into a whole through the insertion fixing device, and the translation supporting plate can be driven to move back and forth through the movement of the translation trolley.

2. An AGV double arm tooth catcher as claimed in claim 1 wherein: the translation layer board includes two and passes through two translation boards that the connecting rod links as an organic whole, two translation board below is equipped with a plurality of respectively the gyro wheel.

3. An AGV double arm tooth catcher as claimed in claim 2 wherein: the translation trolley comprises a frame and moving wheels arranged at the front end and the rear end of the frame, the moving wheels are connected with a driving motor through a speed reducer, and the insertion fixing device is at least one and is arranged on the frame; and guide wheels are respectively arranged at four corners of the frame.

4. An AGV double arm snap-tooth handler as claimed in claim 3, wherein: the inserting and fixing device comprises two inserting arms which can extend out or retract towards the left side and the right side of the frame and are respectively arranged on the two sides of the frame, inserting holes are respectively formed in the side walls of the two translation plates which are oppositely arranged with the two inserting arms, and when the two inserting arms synchronously extend out or retract, the two inserting arms can be respectively inserted into the inserting holes in the two translation plates or extend out of the inserting holes.

5. An AGV double arm snap-tooth handler as claimed in claim 4, wherein: the device also comprises a driving mechanism for driving two inserting arms in the same inserting and fixing device to synchronously extend or retract, wherein the driving mechanism comprises two guide plates arranged on the left and right sides and guide rods which are positioned in the same guide plate and can reversely and synchronously move; the two toothed belts are positioned on two sides of the driving tooth and are in meshed transmission with the driving tooth, and extending ends of the two toothed belts extend towards two sides of the frame respectively and are connected with connecting plates on two sides of the frame respectively to enable the two connecting plates and the two inserting arms to synchronously extend out or retract;

6. An AGV double arm latch conveyor as claimed in claim 5 wherein: the translation plate below the translation plate is provided with a slot, and when the insertion arm enters the lower part of the translation plate through the jack, the insertion arm can enter the slot to be clamped.

7. An AGV double arm latch conveyor as claimed in claim 6 wherein: the front ends of the two translation plates are provided with arc-shaped clamping grooves which are sunken downwards, and front wheels of the vehicle can enter the arc-shaped clamping grooves.

8. An AGV double arm latch conveyor according to claim 7 wherein: the inserting arm comprises three inserting rods, the three inserting rods are arranged in an arc shape, and the inserting holes and the inserting grooves are located below the arc-shaped clamping grooves.

9. An AGV double arm latch conveyor according to claim 8 wherein: the two translation plates are respectively provided with a locking mechanism which can be fixed with the ground or the bearing platform; the locking mechanism comprises a snap ring fixed on the bearing platform or the ground, an L-shaped locking rod, a spring with one end connected on the translation plate, a spring with the other end hinged on the translation plate, the inner end part of the L-shaped locking rod is connected with a spring, the spring enables the L-shaped locking rod to take the turning part as a rotating point and enables the outer end part of the L-shaped locking rod to enter the snap ring to fix the translation plate with the ground or the bearing platform, the inner end part of the L-shaped locking rod is positioned outside the slot, when the inserting arm extends into the translation plate, one of the inserting rods positioned outside the inserting groove abuts against the inner end part of the L-shaped locking rod and causes the outer end part of the L-shaped locking rod to move out of the clamping ring so as to release the translation plate from the ground or the bearing platform.

10. An AGV double arm snap-tooth handler as claimed in claim 9, wherein: the inserting and combining fixing device is arranged on a bottom plate and located on the front side of the frame, the tail end of the bottom plate is hinged to the frame, an electric ejector rod is arranged at the front end of the frame, an ejector rod of the electric ejector rod abuts against the front end of the bottom plate and can enable the front end of the bottom plate to be lifted, the bottom of the arc-shaped clamping groove is provided with notches with the same number as the insertion rods, the insertion rods located on the bottom plate are located in the notch below in a one-to-one correspondence mode, and when the front end of the bottom plate is lifted upwards, the insertion rods are lifted in the notches and supported by the wheels.