A clamping type AGV carrier for a garage and a carrying method thereof

Abstract

The application discloses a clamping type AGV carrying trolley for a garage and a carrying method thereof. The carrying trolley one and the carrying trolley two are both composed of a moving trolley body one and a moving trolley body two; the outer telescopic frame and the inner telescopic frame in the moving trolley body one constitute a sliding pair and are driven by a driving part one; two clamping rollers and the inner ends of the outer telescopic frame and the inner telescopic frame respectively constitute rotating pairs, the outer ends of the outer telescopic frame and the inner telescopic frame are provided with two walking mechanisms which are symmetrically arranged, the two Mecanum wheels in the walking mechanisms all constitute rotating pairs with the outer telescopic frame or the inner telescopic frame and are respectively driven by two driving parts two; the structure of the moving trolley body two is completely identical with that of the moving trolley body one, and the moving trolley body two is symmetrically arranged with the moving trolley body one. The four pairs of clamping rollers are relatively moved to clamp and lift the whole automobile, so that the stability and the safety are high; the Mecanum wheels are adopted, so that the fine adjustment capacity and the sensitivity are high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of carrying trolley, and particularly relates to a clamping type AGV carrying trolley for garage and a carrying method thereof. BACKGROUND

[0002] The AGV carrying trolley lifts the parking plate through the lifting mechanism to realize the lifting of the automobile, and further transfers the automobile, and is an intelligent trolley for carrying the automobile. The existing AGV carrying trolley has some deficiencies in use. Firstly, the lifting mechanism of the existing AGV carrying trolley is rarely provided with an anti-falling mechanism, and the stability is poor. When the clamping type AGV carrying trolley stops moving, the parking plate is easy to fall off the lifting mechanism due to inertia, and if the automobile is parked on the parking plate, the parking plate and the lifting mechanism will fall off at the same time, which will cause the automobile to fall off and further cause damage to the automobile, and the safety is poor. Although some lifting mechanisms of the clamping type AGV carrying trolley are provided with an anti-falling mechanism, the suction cups, soft pipes and other devices of the anti-falling mechanism will be damaged to a certain extent after long-term use, and if not maintained in time, the above results will also occur. Secondly, the existing AGV carrying trolley has low sensitivity, and cannot turn or even turn around in a narrow space, so that the automobile cannot be parked at the accurate parking position. Therefore, it is necessary to design an AGV carrying trolley with good stability, high safety and high sensitivity. SUMMARY

[0003] The present application belongs to the technical field of carrying trolley, and particularly relates to a clamping type AGV carrying trolley for garage and a carrying method thereof.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows.

[0005] The clamping type AGV carrying trolley for garage comprises a carrying trolley one and a carrying trolley two, the structure of the carrying trolley one is completely consistent with the structure of the carrying trolley two, and the carrying trolley one and the carrying trolley two are both composed of a moving trolley body one and a moving trolley body two.

[0006] The mobile vehicle body one comprises a mobile vehicle frame, a walking mechanism, a clamping roller and a driving part one; the mobile vehicle frame is composed of an outer telescopic frame and an inner telescopic frame arranged horizontally and oppositely, and one side of the outer telescopic frame is provided with a straight pipe one integrally formed; the inner telescopic frame is provided with a straight pipe two integrally formed and parallel to the straight pipe one at a position on the same side as the straight pipe one; the straight pipe two is embedded in the straight pipe one and forms a sliding pair with the straight pipe one; the driving part one drives the straight pipe one and the straight pipe two to move oppositely or oppositely; the two clamping rollers arranged horizontally and symmetrically form rotary pairs with the inner ends of the outer telescopic frame and the inner telescopic frame respectively; the outer ends of the outer telescopic frame and the inner telescopic frame are provided with two walking mechanisms arranged symmetrically; the walking mechanism comprises a Mecanum wheel and a driving part two; the two Mecanum wheels arranged at intervals and symmetrically form rotary pairs with the outer telescopic frame or the inner telescopic frame and are driven by two driving parts two respectively; wherein the rotary center axes of the Mecanum wheels are parallel to the rotary center axes of the clamping rollers; the interval of the two Mecanum wheels of each walking mechanism is smaller than the interval of the two Mecanum wheels on the same side of the two walking mechanisms.

[0007] The structure of the mobile vehicle body two is completely consistent with that of the mobile vehicle body one, and the mobile vehicle body two is arranged symmetrically with the mobile vehicle body one; the straight pipes one and two of the mobile vehicle body one and the straight pipes one and two of the mobile vehicle body two are all located on the inner side; the outer telescopic frame of the mobile vehicle body one forms a sliding pair with the outer telescopic frame of the mobile vehicle body two, and the inner telescopic frame of the mobile vehicle body one forms a sliding pair with the inner telescopic frame of the mobile vehicle body two; the direction of relative sliding of the outer telescopic frame of the mobile vehicle body one and the outer telescopic frame of the mobile vehicle body two is the same as the direction of relative sliding of the inner telescopic frame of the mobile vehicle body one and the inner telescopic frame of the mobile vehicle body two, and is perpendicular to the direction of relative sliding of the straight pipes one and two of the mobile vehicle body one or the mobile vehicle body two.

[0008] Preferably, the driving part one comprises a nut block and a screw rod; one end of the screw rod is arranged in the straight pipe one and forms a rotary pair with a support seat fixed in the straight pipe one and is driven by a driving motor one fixed in the straight pipe one; the other end of the screw rod is arranged in the straight pipe two and forms a threaded pair with the nut block fixed in the straight pipe two.

[0009] Preferably, the Mecanum wheel comprises a hub, a stick and a stick shaft; the hub forms a rotary pair with the outer telescopic frame or the inner telescopic frame through a hub shaft; the outer edge of the hub is fixed with a plurality of stick shafts parallel and uniformly distributed in the circumferential direction; the stick shaft is arranged obliquely relative to the hub shaft and forms a rotary pair with the stick.

[0010] More preferably, the stick shafts are arranged at 45° with the hub shafts, and the stick shafts of the two Mecanum wheels in the walking mechanism are arranged at 90°; when the walking mechanism is in the front position, the front ends of the stick shafts of the two Mecanum wheels in the walking mechanism are outwardly inclined; when the walking mechanism is in the rear position, the front ends of the stick shafts of the two Mecanum wheels in the walking mechanism are inwardly inclined.

[0011] More preferably, the second driving member comprises a driving gear, a gear belt and a driven gear, the driving gear is fixed on the corresponding hub shaft, the driven gear forms a rotary pair with the outer telescopic frame or the inner telescopic frame, and is connected with the driving gear through the gear belt and is driven by the second driving motor.

[0012] Preferably, the clamping roller forms a rotary pair with the outer telescopic frame or the inner telescopic frame through a clamping roller shaft.

[0013] Preferably, the outer telescopic frame and the inner telescopic frame are both fixed with horizontal and vertical slide rails relative to the straight pipe one, and a slide rod is arranged between the outer telescopic frame of the moving vehicle body one and the corresponding outer telescopic frame of the moving vehicle body two, and between the inner telescopic frame of the moving vehicle body one and the corresponding inner telescopic frame of the moving vehicle body two, and the slide rod forms a sliding pair with the slide rails on the corresponding two outer telescopic frames or the corresponding two inner telescopic frames at both ends.

[0014] The present application also provides a carrying method of the AGV carrying trolley.

[0015] The walking mechanisms in the first and second trolleys drive the moving carriages to move synchronously until the clamping rollers in the first trolley are located between the two front wheels of the automobile, the clamping rollers in the second trolley are located between the two rear wheels of the automobile, and the rotation center axes of the Mecanum wheels are parallel to the rotation center axes of the automobile wheels; the driving members in the first and second trolleys drive the straight pipes to move away from each other, thereby driving the outer telescopic carriages and the corresponding inner telescopic carriages to move away from each other, and thereby driving the two clamping rollers on each moving car body to move away from each other to the maximum distance position; then the walking mechanisms on the moving car body on the left side in the first trolley or the second trolley drive the corresponding moving carriages to move left, the walking mechanisms on the moving car body on the right side in the second trolley or the first trolley drive the corresponding moving carriages to move right, and the moving car bodies move away from each other until the two front wheels are located between the two clamping rollers in the moving car body on the left side in the first trolley and between the two clamping rollers in the moving car body on the right side in the second trolley, and the two rear wheels are located between the two clamping rollers in the moving car body on the left side in the second trolley and between the two clamping rollers in the moving car body on the right side in the first trolley; then the driving members in the first and second trolleys drive the straight pipes to move towards each other, thereby driving the two clamping rollers on each moving car body to move towards each other, and the two clamping rollers in contact with the two ends of the corresponding wheels to clamp and lift the wheels, thereby lifting the entire automobile until the entire automobile is completely lifted onto the first and second trolleys, and the walking mechanisms in the first and second trolleys drive the moving carriages to move synchronously to drive the automobile to the target position.

[0016] When the automobile is transported to the target position, the driving members in the first and second trolleys drive the straight pipes to move away from each other, thereby driving the two clamping rollers on each moving car body to move away from each other, and thereby lowering the corresponding wheels, and then lowering the entire automobile until the entire automobile is completely lowered; then the walking mechanisms on the moving car body on the left side in the first trolley or the second trolley drive the corresponding moving carriages to move right, the walking mechanisms on the moving car body on the right side in the second trolley or the first trolley drive the corresponding moving carriages to move left, and the moving car bodies move towards each other until the moving car bodies return to the minimum distance state; then the driving members in the first and second trolleys drive the straight pipes to move towards each other, thereby driving the outer telescopic carriages and the corresponding inner telescopic carriages to move towards each other until the outer telescopic carriages and the inner telescopic carriages return to the original state.

[0017] Preferably, the working states of the Mecanum wheels when the first or second trolley moves forward, backward, left, right, left turn and right turn are as follows:

[0018] When the trolley one or the trolley two moves forward, the driving members two in the moving car bodies one and two of the trolley one or the trolley two drive the Mecanum wheels to move forward synchronously, at this time, the resultant force directions of the two Mecanum wheels in each walking mechanism are both forward, further driving the moving car frames to move forward, so that the moving car bodies one and two move forward synchronously, and the trolley one or the trolley two moves forward;

[0019] When the trolley one or the trolley two moves backward, the driving members two in the moving car bodies one and two of the trolley one or the trolley two drive the Mecanum wheels to move backward synchronously, at this time, the resultant force directions of the two Mecanum wheels in each walking mechanism are both backward, further driving the moving car frames to move backward, so that the moving car bodies one and two move backward synchronously, and the trolley one or the trolley two moves backward;

[0020] When the trolley one or the trolley two moves left, the two Mecanum wheels on the left side of the moving car bodies one and two in the trolley one or the trolley two are driven by the corresponding driving members two to move away from each other, at this time, the resultant force directions of the two Mecanum wheels on the left side of the moving car bodies one and two are both left, and the two Mecanum wheels on the right side of the moving car bodies one and two are driven by the corresponding driving members two to move relative to each other, at this time, the resultant force directions of the two Mecanum wheels on the right side of the moving car bodies one and two are both left, so that the moving car frames of the moving car bodies one and two are subjected to the force with the resultant force direction left, further driving the moving car bodies one and two to move left synchronously, and the trolley one or the trolley two moves left;

[0021] When the trolley one or the trolley two moves right, the two Mecanum wheels on the left side of the moving car bodies one and two in the trolley one or the trolley two are driven by the corresponding driving members two to move relative to each other, at this time, the resultant force directions of the two Mecanum wheels on the left side of the moving car bodies one and two are both right, and the two Mecanum wheels on the right side of the moving car bodies one and two are driven by the corresponding driving members two to move away from each other, at this time, the resultant force directions of the two Mecanum wheels on the right side of the moving car bodies one and two are both right, so that the moving car frames of the moving car bodies one and two are subjected to the force with the resultant force direction right, further driving the moving car bodies one and two to move right synchronously, and the trolley one or the trolley two moves right;

[0022] When the trolley one or the trolley two turns left, the two Mecanum wheels on the left side of the moving car body one and the moving car body two in the trolley one or the trolley two are driven to advance synchronously by the corresponding driving members two, and the two Mecanum wheels on the right side of the moving car body one and the moving car body two are driven to retreat synchronously by the corresponding driving members two, at this time, the force received by each Mecanum wheel generates a torque to the center of the corresponding moving car body one and moving car body two, and then the moving car body one and the moving car body two rotate left around the center of the moving car body one and the moving car body two, so that the trolley one or the trolley two turns left.

[0023] When the trolley one or the trolley two turns right, the two Mecanum wheels on the left side of the moving car body one and the moving car body two in the trolley one or the trolley two are driven to retreat synchronously by the corresponding driving members two, and the two Mecanum wheels on the right side of the moving car body one and the moving car body two are driven to advance synchronously by the corresponding driving members two, at this time, the force received by each Mecanum wheel generates a torque to the center of the corresponding moving car body one and moving car body two, and then the moving car body one and the moving car body two rotate right around the center of the moving car body one and the moving car body two, so that the trolley one or the trolley two turns right.

[0024] The beneficial effects of the present application are as follows:

[0025] 1、The trolley one and the trolley two in the present application work cooperatively in the use process, four pairs of clamping rollers in the trolley one and the trolley two move relative to each other to directly lift and clamp the four wheels of the automobile, and then the whole automobile is clamped and lifted, compared with the existing AGV trolley, the present application does not need a parking board and does not need to set a anti-disengagement mechanism, through the clamping action of the clamping rollers, the phenomenon that the automobile is disengaged due to inertia in the use process is avoided, the stability is good, and the safety is high.

[0026] 2、The trolley one and the trolley two in the present application both adopt a split structure, the trolley one and the trolley two are both composed of the moving car body one and the moving car body two which are symmetrically arranged, and the moving car frame of the moving car body one and the moving car body two is composed of the outer telescopic car frame and the inner telescopic car frame which are arranged oppositely, so that the structure is simple, and the occupied space is small. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structure schematic view of the trolley one or the trolley two in the present application;

[0028] Figure 2 It is Figure 1front view of the first embodiment of the application;

[0029] Figure 3 for Figure 1 sectional view of the first embodiment of the application along A-A;

[0030] Figure 4 for Figure 1 sectional view of the first embodiment of the application along B-B;

[0031] Figure 5 schematic diagram of the movement of each Mecanum wheel when the first mobile vehicle body or the second mobile vehicle body moves forward in the application;

[0032] Figure 6 schematic diagram of the movement of each Mecanum wheel when the first mobile vehicle body or the second mobile vehicle body moves backward in the application;

[0033] Figure 7 schematic diagram of the movement of each Mecanum wheel when the first mobile vehicle body or the second mobile vehicle body moves left in the application;

[0034] Figure 8 schematic diagram of the movement of each Mecanum wheel when the first mobile vehicle body or the second mobile vehicle body moves right in the application;

[0035] Figure 9 schematic diagram of the movement of each Mecanum wheel when the first mobile vehicle body or the second mobile vehicle body moves left in the application;

[0036] Figure 10 schematic diagram of the movement of each Mecanum wheel when the first mobile vehicle body or the second mobile vehicle body moves right in the application. DETAILED DESCRIPTION

[0037] The application will be further described below in conjunction with the drawings.

[0038] The application is a clamping type AGV carrying trolley for a garage, which comprises a carrying trolley one and a carrying trolley two, and the structure of the carrying trolley one is completely identical with that of the carrying trolley two.

[0039] As Figure 1 and Figure 2As shown, the trolley one and the trolley two are both composed of the mobile car body one 1 and the mobile car body two 2. The mobile car body one 1 includes a mobile frame, a walking mechanism 4, a clamping roller 14 and a driving part one; the mobile frame is composed of an outer telescopic frame 3 and an inner telescopic frame 5 which are horizontally and oppositely arranged, and the outer telescopic frame 3 is provided with a straight pipe one which is integrally formed on one side of the outer telescopic frame 3, and the inner telescopic frame 5 is provided with a straight pipe two which is integrally formed and parallel to the straight pipe one at the same side of the inner telescopic frame 5, and the straight pipe two is embedded in the straight pipe one to form a sliding pair with the straight pipe one; the driving part one drives the straight pipe one and the straight pipe two to move oppositely or oppositely; the two clamping rollers 14 which are horizontally and symmetrically arranged form rotating pairs with the inner ends of the outer telescopic frame 3 and the inner telescopic frame 5 respectively; the outer ends of the outer telescopic frame 3 and the inner telescopic frame 5 are provided with the two walking mechanisms 4 which are symmetrically arranged, and each walking mechanism 4 includes a Mecanum wheel 13 and a driving part two, the two Mecanum wheels 13 which are spaced and symmetrically arranged form rotating pairs with the outer telescopic frame 3 or the inner telescopic frame 5 respectively and are driven by the two driving parts two respectively. Among them, the rotating central axis of each Mecanum wheel 13 is parallel to the rotating central axis of the clamping roller 14, and the spacing of the two Mecanum wheels 13 of each walking mechanism 4 is less than the spacing of the two Mecanum wheels 13 which are located at the same side in the two walking mechanisms 4.

[0040] The structure of the mobile car body two 2 is completely consistent with the structure of the mobile car body one 1, and the mobile car body two 2 is symmetrically arranged with the mobile car body one 1, and the straight pipe one and the straight pipe two of the mobile car body one 1 and the straight pipe one and the straight pipe two of the mobile car body two 2 are located at the inner side; the outer telescopic frame 3 of the mobile car body one 1 forms a sliding pair with the outer telescopic frame 3 of the mobile car body two 2, and the inner telescopic frame 5 of the mobile car body one 1 forms a sliding pair with the inner telescopic frame 5 of the mobile car body two 2, and the direction of the relative sliding of the outer telescopic frame 3 of the mobile car body one 1 and the outer telescopic frame 3 of the mobile car body two 2 is the same as the direction of the relative sliding of the inner telescopic frame 5 of the mobile car body one 1 and the inner telescopic frame 5 of the mobile car body two 2, and is perpendicular to the direction of the relative sliding of the straight pipe one and the straight pipe two in the mobile car body one 1 or the mobile car body two 2.

[0041] As a preferred embodiment, as shown in the figure, Figure 3 The driving part one includes a nut block 11 and a screw rod 16, one end of the screw rod 16 is arranged in the straight pipe one and forms a rotating pair with a support seat fixed in the straight pipe one, and is driven by a driving motor one 17 fixed in the straight pipe one, the other end of the screw rod 16 is arranged in the straight pipe two and forms a threaded pair with the nut block 11 fixed in the straight pipe two.

[0042] As a preferred embodiment, the Mecanum wheel 13 includes a hub, a stick and a stick shaft, the hub forms a rotating pair with the outer telescopic frame 3 or the inner telescopic frame 5 through a hub shaft 12, the outer edge of the hub is fixed with a plurality of stick shafts which are parallel and uniformly distributed in the circumferential direction, the stick shafts are inclinedly arranged relative to the hub shaft 12 and form rotating pairs with the sticks.

[0043] More preferably, the stick shaft is arranged at 45° with the hub shaft 12, and the stick shafts of the two Mecanum wheels 13 in the walking mechanism 4 are arranged at 90°; when the walking mechanism 4 is in the front position, the front ends of the stick shafts of the two Mecanum wheels 13 in the walking mechanism 4 are both arranged outwardly inclined, and when the walking mechanism 4 is in the rear position, the front ends of the stick shafts of the two Mecanum wheels 13 in the walking mechanism 4 are both arranged inwardly inclined.

[0044] More preferably, as shown in Figure 4 The driving member two includes a driving gear 8, a gear belt 9 and a driven gear 10, the driving gear 8 is fixed on the corresponding hub shaft 12, the driven gear 10 forms a rotary pair with the outer telescopic frame 3 or the inner telescopic frame 5, is connected with the driving gear 8 through the gear belt 9, and is driven by the driving motor two 7.

[0045] As a preferred embodiment, the clamping roller 14 forms a rotary pair with the outer telescopic frame 3 or the inner telescopic frame 5 through a clamping roller shaft 15.

[0046] As a preferred embodiment, the outer telescopic frame 3 and the inner telescopic frame 5 are both fixed with a horizontal slide rail 6 which is perpendicular to the straight pipe one, and a slide rod is arranged between the outer telescopic frame 3 of the moving vehicle body one 1 and the corresponding outer telescopic frame 3 of the moving vehicle body two 2, and between the inner telescopic frame 5 of the moving vehicle body one 1 and the corresponding inner telescopic frame 5 of the moving vehicle body two 2, and the slide rod forms a sliding pair with the slide rails 6 on the corresponding two outer telescopic frames 3 or the corresponding two inner telescopic frames 5 at both ends.

[0047] Wherein, each driving motor one 17 and each driving motor two 7 are controlled by a controller.

[0048] The present application is a kind of garage clamping type AGV carrying trolley carrying method, as follows:

[0049] The walking mechanisms 4 in the carrier vehicle one and the carrier vehicle two drive the moving frames to move synchronously until the clamping rollers 14 in the carrier vehicle one are located between the two front wheels of the automobile, the clamping rollers 14 in the carrier vehicle two are located between the two rear wheels of the automobile, and the rotation center axes of the clamping rollers 14 are parallel to the rotation center axes of the automobile wheels; the driving members one in the carrier vehicle one and the carrier vehicle two drive the straight pipes one and the straight pipes two to move away from each other, thereby driving the outer telescopic frames and the corresponding inner telescopic frames to move away from each other, so as to drive the two clamping rollers 14 on each moving vehicle body one 1 and each moving vehicle body two 2 to move away from each other to the maximum distance position; then the walking mechanisms 4 on the moving vehicle body one 1 or the moving vehicle body two 2 located on the left side in the carrier vehicle one and the carrier vehicle two drive the corresponding moving frames to move left, and the walking mechanisms 4 on the moving vehicle body one 1 or the moving vehicle body two 2 located on the right side in the carrier vehicle one and the carrier vehicle two drive the corresponding moving frames to move right, the moving vehicle body one 1 and the corresponding moving vehicle body two 2 move away from each other until the two front wheels are located between the two clamping rollers 14 of the moving vehicle body one 1 and the moving vehicle body two 2 in the carrier vehicle one, and the two rear wheels are located between the two clamping rollers 14 of the moving vehicle body one 1 and the moving vehicle body two 2 in the carrier vehicle two; then the driving members one in the carrier vehicle one and the carrier vehicle two drive the straight pipes one and the straight pipes two to move relative to each other, thereby driving the two clamping rollers 14 on each moving vehicle body one 1 and each moving vehicle body two 2 to move relative to each other, the two clamping rollers 14 moving relative to each other contact the two ends of the corresponding wheels to clamp and lift the wheels, thereby lifting the entire automobile until the entire automobile is completely lifted onto the carrier vehicle one and the carrier vehicle two, the walking mechanisms 4 in the carrier vehicle one and the carrier vehicle two drive the moving frames to move synchronously, thereby driving the automobile to move to the target position, and the automobile is carried.

[0050] When the automobile is carried to the target position, the driving members one in the carrier vehicle one and the carrier vehicle two drive the straight pipes one and the straight pipes two to move away from each other, thereby driving the two clamping rollers 14 on each moving vehicle body one 1 and each moving vehicle body two 2 to move away from each other, gradually lowering the corresponding wheels, and then lowering the entire automobile until the entire automobile is completely lowered; then the walking mechanisms 4 on the moving vehicle body one 1 or the moving vehicle body two 2 located on the left side in the carrier vehicle one and the carrier vehicle two drive the corresponding moving frames to move right, and the walking mechanisms 4 on the moving vehicle body one 1 or the moving vehicle body two 2 located on the right side in the carrier vehicle one and the carrier vehicle two drive the corresponding moving frames to move left, the moving vehicle body one 1 and the corresponding moving vehicle body two 2 move relative to each other to the minimum distance state; then the driving members one in the carrier vehicle one and the carrier vehicle two drive the straight pipes one and the straight pipes two to move relative to each other, thereby driving the outer telescopic frames and the corresponding inner telescopic frames to move relative to each other until the outer telescopic frames and the inner telescopic frames return to the original state.

[0051] When the trolley one or the trolley two advances, the moving trolley body one 1 and the moving trolley body two 2 of the trolley one or the trolley two, each driving member two drives each Mecanum wheel 13 to advance synchronously, at this time, the resultant force direction of two Mecanum wheels 13 in each walking mechanism 4 is forward, further driving the moving trolley frame to move forward, so that the moving trolley body one 1 and the moving trolley body two 2 move forward synchronously, realizing the advance of the trolley one or the trolley two, as shown in the figure.

[0052] When the trolley one or the trolley two advances, the moving trolley body one 1 and the moving trolley body two 2 of the trolley one or the trolley two, each driving member two drives each Mecanum wheel 13 to advance synchronously, at this time, the resultant force direction of two Mecanum wheels 13 in each walking mechanism 4 is forward, further driving the moving trolley frame to move forward, so that the moving trolley body one 1 and the moving trolley body two 2 move forward synchronously, realizing the advance of the trolley one or the trolley two, as shown in the figure. Figure 5

[0053] When the trolley one or the trolley two advances, the moving trolley body one 1 and the moving trolley body two 2 of the trolley one or the trolley two, each driving member two drives each Mecanum wheel 13 to advance synchronously, at this time, the resultant force direction of two Mecanum wheels 13 in each walking mechanism 4 is forward, further driving the moving trolley frame to move forward, so that the moving trolley body one 1 and the moving trolley body two 2 move forward synchronously, realizing the advance of the trolley one or the trolley two, as shown in the figure. Figure 6

[0054] When the trolley one or the trolley two advances, the moving trolley body one 1 and the moving trolley body two 2 of the trolley one or the trolley two, each driving member two drives each Mecanum wheel 13 to advance synchronously, at this time, the resultant force direction of two Mecanum wheels 13 in each walking mechanism 4 is forward, further driving the moving trolley frame to move forward, so that the moving trolley body one 1 and the moving trolley body two 2 move forward synchronously, realizing the advance of the trolley one or the trolley two, as shown in the figure. Figure 7

[0055] ​​​When transport vehicle 1 or transport vehicle 2 moves to the right, the two Mecanum wheels 13 on the left side of transport vehicle 1 and transport vehicle 2 are driven to move relative to each other by the corresponding drive component 2. At this time, the resultant force of the two Mecanum wheels 13 on the left side of transport vehicle 1 and transport vehicle 2 is to the right. At the same time, the two Mecanum wheels 13 on the right side of transport vehicle 1 and transport vehicle 2 are driven to move in opposite directions by the corresponding drive component 2. At this time, the resultant force of the two Mecanum wheels 13 on the right side of transport vehicle 1 and transport vehicle 2 is to the right. Therefore, the moving frames of transport vehicle 1 and transport vehicle 2 are both subjected to a force with a resultant force to the right, thereby causing transport vehicle 1 and transport vehicle 2 to move to the right synchronously, thus realizing the rightward movement of transport vehicle 1 or transport vehicle 2. Figure 8 As shown.

[0056] When either transport vehicle 1 or transport vehicle 2 turns left, the two Mecanum wheels 13 on the left side of transport vehicle 1 and transport vehicle 2 2 are driven forward synchronously by the corresponding drive component 2, while the two Mecanum wheels 13 on the right side of transport vehicle 1 and transport vehicle 2 2 are driven backward synchronously by the corresponding drive component 2. At this time, the force on each Mecanum wheel 13 generates a leftward rotational torque about the center of the corresponding transport vehicle 1 and transport vehicle 2 2, thereby causing transport vehicle 1 and transport vehicle 2 2 to rotate to the left around the center of transport vehicle 1 and transport vehicle 2 2, thus causing transport vehicle 1 or transport vehicle 2 to turn left. Figure 9 As shown.

[0057] When either transport vehicle 1 or transport vehicle 2 turns right, the two Mecanum wheels 13 on the left side of transport vehicle 1 and transport vehicle 2 2 are driven backward synchronously by the corresponding drive component 2. Simultaneously, the two Mecanum wheels 13 on the right side of transport vehicle 1 and transport vehicle 2 2 are driven forward synchronously by the corresponding drive component 2. At this time, the force on each Mecanum wheel 13 generates a rightward rotational torque about the center of the corresponding transport vehicle 1 and transport vehicle 2 2, thereby causing transport vehicle 1 and transport vehicle 2 2 to rotate to the right around their respective centers, thus causing transport vehicle 1 or transport vehicle 2 to turn right. Figure 10 As shown.

Claims

1. A clamping type AGV carrier for a garage, comprising a carrier 1 and a carrier 2, the structure of the carrier 1 being completely identical to that of the carrier 2, characterized in that: The first and second trolleys are composed of a first mobile trolley body and a second mobile trolley body; the first mobile trolley body comprises a mobile frame, a walking mechanism, a clamping roller and a driving member one; the mobile frame is composed of an outer telescopic frame and an inner telescopic frame arranged horizontally and oppositely, and one side of the outer telescopic frame is provided with a straight pipe one integrally formed, and the inner telescopic frame is provided with a straight pipe two integrally formed and parallel to the straight pipe one at the same side of the straight pipe one, the straight pipe two is embedded in the straight pipe one and forms a sliding pair with the straight pipe one; the driving member one drives the straight pipe one and the straight pipe two to move oppositely or oppositely; the two clamping rollers arranged horizontally and symmetrically form rotary pairs with the inner ends of the outer telescopic frame and the inner telescopic frame respectively; the outer ends of the outer telescopic frame and the inner telescopic frame are provided with two walking mechanisms arranged symmetrically, and each walking mechanism comprises a Mecanum wheel and a driving member two, the two Mecanum wheels arranged at intervals and symmetrically form rotary pairs with the outer telescopic frame or the inner telescopic frame and are driven by the two driving members two respectively; wherein the rotation center axes of the Mecanum wheels are parallel to the rotation center axes of the clamping rollers; the interval of the two Mecanum wheels of each walking mechanism is smaller than the interval of the two Mecanum wheels of the two walking mechanisms arranged at the same side. The structure of the second mobile trolley body is completely consistent with that of the first mobile trolley body, and the second mobile trolley body is arranged symmetrically with the first mobile trolley body, and the straight pipes one and two of the first mobile trolley body and the straight pipes one and two of the second mobile trolley body are all located at the inner side; the outer telescopic frame of the first mobile trolley body forms a sliding pair with the outer telescopic frame of the second mobile trolley body, and the inner telescopic frame of the first mobile trolley body forms a sliding pair with the inner telescopic frame of the second mobile trolley body, and the sliding direction of the outer telescopic frame of the first mobile trolley body and the outer telescopic frame of the second mobile trolley body is the same as the sliding direction of the inner telescopic frame of the first mobile trolley body and the inner telescopic frame of the second mobile trolley body, and is perpendicular to the sliding direction of the straight pipes one and two of the first mobile trolley body or the second mobile trolley body.

2. The clamping type AGV transport vehicle for garage according to claim 1, characterized in that: The driving member one comprises a nut block and a screw rod, one end of the screw rod is arranged in the straight pipe one and forms a rotary pair with a support seat fixed in the straight pipe one, and is driven by a driving motor one fixed in the straight pipe one, the other end of the screw rod is arranged in the straight pipe two and forms a threaded pair with the nut block fixed in the straight pipe two.

3. The clamping type AGV carrier dolly for garage according to claim 1, characterized in that: The Mecanum wheel comprises a hub, a stick and a stick shaft, the hub forms a rotary pair with the outer telescopic frame or the inner telescopic frame through a hub shaft, the outer edge of the hub is fixed with a plurality of stick shafts arranged in parallel and uniformly along the circumference, the stick shafts are arranged obliquely relative to the hub shaft and form rotary pairs with the sticks.

4. The clamping type AGV carrier dolly for garage as claimed in claim 3, wherein: The stick shafts and the hub shafts are arranged at an angle of 45°, and the stick shafts of the two Mecanum wheels in the walking mechanism are arranged at an angle of 90°; when the walking mechanism is located at the front position, the front ends of the stick shafts of the two Mecanum wheels in the walking mechanism are all arranged obliquely outward, and when the walking mechanism is located at the rear position, the front ends of the stick shafts of the two Mecanum wheels in the walking mechanism are all arranged obliquely inward.

5. The clamping type AGV carrier dolly for garage according to claim 3, characterized in that: The driving member two comprises a driving gear, a gear belt and a driven gear, the driving gear is fixed on the corresponding hub shaft, the driven gear forms a rotary pair with the outer telescopic frame or the inner telescopic frame, and is connected with the driving gear through the gear belt and is driven by the second driving motor.

6. The clamping AGV pallet according to claim 1, characterized in that: The clamping roller forms a rotary pair with the outer telescopic frame or the inner telescopic frame through the clamping roller shaft.

7. The clamping AGV pallet according to claim 1, characterized in that: The outer telescopic frame and the inner telescopic frame are fixed with horizontal and vertical slide rails of the straight pipe one, and the outer telescopic frame of the moving vehicle body one and the corresponding outer telescopic frame of the moving vehicle body two and the inner telescopic frame of the moving vehicle body one and the corresponding inner telescopic frame of the moving vehicle body two are provided with slide rods, and the slide rods form a sliding pair with the slide rails on the corresponding two outer telescopic frames or the corresponding two inner telescopic frames.

8. The method of claim 4, wherein: Specifically as follows: The moving mechanisms in the trolley one and the trolley two drive the moving frames to move synchronously until the clamping rollers in the trolley one are located between the two front wheels of the automobile, the clamping rollers in the trolley two are located between the two rear wheels of the automobile, and the rotation center axes of the Mecanum wheels are parallel to the rotation center axes of the automobile wheels; the driving members one in the trolley one and the trolley two drive the straight pipes one and two to move away from each other, thereby driving the outer telescopic frames and the corresponding inner telescopic frames to move away from each other, so as to drive the two clamping rollers on each moving vehicle body one and each moving vehicle body two to move away from each other to the maximum distance position; then the moving mechanisms on the moving vehicle body one or the moving vehicle body two on the left side in the trolley one and the trolley two drive the corresponding moving frames to move left, and the moving mechanisms on the moving vehicle body two or the moving vehicle body one on the right side drive the corresponding moving frames to move right, the moving vehicle body one and the corresponding moving vehicle body two move away from each other until the two front wheels are located between the two clamping rollers of the moving vehicle body one and the moving vehicle body two in the trolley one, and the two rear wheels are located between the two clamping rollers of the moving vehicle body one and the moving vehicle body two in the trolley two; then the driving members one in the trolley one and the trolley two drive the straight pipes one and two to move relative to each other, thereby driving the two clamping rollers on each moving vehicle body one and each moving vehicle body two to move relative to each other, the two clamping rollers in relative motion contact with the two ends of the corresponding wheels to clamp and lift the wheels, thereby lifting the entire automobile until the entire automobile is completely lifted onto the trolley one and the trolley two, and the moving mechanisms in the trolley one and the trolley two drive the moving frames to move synchronously to drive the automobile to move to the target position; When the car is carried to the target position, each driving part one in the carrying vehicle one and the carrying vehicle two drives the corresponding straight pipe one and the straight pipe two to move in opposite directions, thereby driving the two clamping rollers on each moving vehicle body one and each moving vehicle body two to move in opposite directions, and the corresponding wheels are lowered, thereby lowering the entire car until the entire car is completely lowered; then each walking mechanism on the moving vehicle body one or the moving vehicle body two on the left side of the carrying vehicle one and the carrying vehicle two drives the corresponding moving vehicle frame to move to the right, and each walking mechanism on the moving vehicle body two or the moving vehicle body one on the right side drives the corresponding moving vehicle frame to move to the left, each moving vehicle body one moves relative to the corresponding moving vehicle body two until each moving vehicle body one and the corresponding moving vehicle body two return to the minimum distance state; then each driving part one in the carrying vehicle one and the carrying vehicle two drives the corresponding straight pipe one and the straight pipe two to move relative to each other, thereby driving each outer telescopic vehicle frame to move relative to the corresponding inner telescopic vehicle frame until each outer telescopic vehicle frame and each inner telescopic vehicle frame return to the original state.

9. The method of claim 8, wherein: The working state of each Mecanum wheel when the carrying vehicle one or the carrying vehicle two moves forward, backward, left, right, left turns and right turns is as follows: When the carrying vehicle one or the carrying vehicle two moves forward, each driving part two in the moving vehicle body one and the moving vehicle body two of the carrying vehicle one or the carrying vehicle two drives each Mecanum wheel to move forward synchronously, at this time the resultant force direction of the two Mecanum wheels in each walking mechanism is forward, thereby driving the moving vehicle frame to move forward, so that the moving vehicle body one and the moving vehicle body two move forward synchronously, and the carrying vehicle one or the carrying vehicle two moves forward; When the carrying vehicle one or the carrying vehicle two moves backward, each driving part two in the moving vehicle body one and the moving vehicle body two of the carrying vehicle one or the carrying vehicle two drives each Mecanum wheel to move backward synchronously, at this time the resultant force direction of the two Mecanum wheels in each walking mechanism is backward, thereby driving the moving vehicle frame to move backward, so that the moving vehicle body one and the moving vehicle body two move backward synchronously, and the carrying vehicle one or the carrying vehicle two moves backward; When the carrying vehicle one or the carrying vehicle two moves left, the two Mecanum wheels on the left side of the moving vehicle body one and the moving vehicle body two in the carrying vehicle one or the carrying vehicle two are driven by the corresponding driving part two to move in opposite directions, at this time the resultant force direction of the two Mecanum wheels on the left side of the moving vehicle body one and the moving vehicle body two is left, and at the same time the two Mecanum wheels on the right side of the moving vehicle body one and the moving vehicle body two are driven by the corresponding driving part two to move relative to each other, at this time the resultant force direction of the two Mecanum wheels on the right side of the moving vehicle body one and the moving vehicle body two is left, then the moving vehicle frame of the moving vehicle body one and the moving vehicle body two is subjected to the force with the resultant force direction left, thereby making the moving vehicle body one and the moving vehicle body two move left synchronously, and the carrying vehicle one or the carrying vehicle two moves left; When the trolley one or the trolley two moves right, the two Mecanum wheels on the left side of the moving car body one and the moving car body two in the trolley one or the trolley two are driven to move oppositely by the corresponding driving members two, at this time, the resultant force directions of the two Mecanum wheels on the left side of the moving car body one and the moving car body two are both right, and the two Mecanum wheels on the right side of the moving car body one and the moving car body two are driven to move oppositely by the corresponding driving members two, at this time, the resultant force directions of the two Mecanum wheels on the right side of the moving car body one and the moving car body two are both right, so that the moving frames of the moving car body one and the moving car body two are subjected to the forces with the resultant force directions right, and the moving car body one and the moving car body two move right synchronously, and the trolley one or the trolley two moves right; When the trolley one or the trolley two turns left, the two Mecanum wheels on the left side of the moving car body one and the moving car body two in the trolley one or the trolley two are driven to move forward synchronously by the corresponding driving members two, and the two Mecanum wheels on the right side of the moving car body one and the moving car body two are driven to move backward synchronously by the corresponding driving members two, at this time, the forces received by the Mecanum wheels generate the moments with the directions left to the centers of the corresponding moving car body one and the moving car body two, and the moving car body one and the moving car body two turn left around the centers of the moving car body one and the moving car body two, so that the trolley one or the trolley two turns left; When the trolley one or the trolley two turns right, the two Mecanum wheels on the left side of the moving car body one and the moving car body two in the trolley one or the trolley two are driven to move backward synchronously by the corresponding driving members two, and the two Mecanum wheels on the right side of the moving car body one and the moving car body two are driven to move forward synchronously by the corresponding driving members two, at this time, the forces received by the Mecanum wheels generate the moments with the directions right to the centers of the corresponding moving car body one and the moving car body two, and the moving car body one and the moving car body two turn right around the centers of the moving car body one and the moving car body two, so that the trolley one or the trolley two turns right.

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