A parking system of AGV+suspended oblique parking

Abstract

The present invention discloses an AGV+suspended oblique parking parking system, comprising a suspended oblique parking device and an AGV handling robot for transferring a vehicle to the suspended oblique parking device; wherein the suspended oblique parking device comprises: a main frame, a vehicle-carrying frame and a transverse frame upper hanging assembly; the AGV handling robot comprises a chassis assembly, a comb frame, a centering device and an electrical system; in the parking system, the AGV handling robot uses the comb frame to carry the vehicle and moves to the bottom of the suspended oblique parking device according to a planned path, uses the comb frame to exchange the vehicle to the vehicle-carrying frame of the suspended oblique parking device, and then the transverse frame upper hanging assembly drives the vehicle-carrying frame to rotate to the inclined rear edge and move horizontally, finally completing the oblique parking of the vehicle, thereby greatly saving parking lot space.

Description

Technical Field

[0001] The patent of this invention relates to the field of intelligent parking equipment, specifically to a parking system of AGV+suspended oblique parking. Background Art

[0002] With the development of the times, cars have become an essential means of transportation in more and more families, and each car needs a corresponding parking space to park. Most of the parking spaces currently used are directly marked on the ground without making any changes to the parking spaces themselves. Parking spaces marked directly on the ground are called flat parking lots; the other is the traditional three-dimensional garages of aisle stacking, vertical lifting, and plane movement. Their working principle is: through one or more handling equipment, the car can be lifted up and carried from the bottom of the car, and then moved to the elevator together. The elevator then transports the handling equipment together with the car to different parking floors, and then the transporter sends the car to the designated parking space; but both have defects; the first type occupies too much area, seriously affects the activities of pedestrians, and occupies too much road area; although the second type saves space, it causes great inconvenience to the storage and access of vehicles. If there are many people picking up the car at the same time, due to limited entrances and exits, a long waiting time is required. If an appointment is used to pick up the car, it will conflict with the on-site pick-up. At the same time, such parking measures require certain on-site coordination personnel.

[0003] In order to facilitate parking and picking up vehicles, an AGV robot that can realize automatic parking and picking up vehicles has appeared in the prior art. For example, the invention patent with application number CN201811456348.6 discloses a smart parking lot based on parking AGV. The smart parking lot uses AGV robots to carry vehicles to move in the parking lot. It has the advantages of high parking density, short picking up time, tidal entrances and exits, and high intelligence level. However, this smart parking lot only solves the problem of cumbersome parking and picking up processes, and still does not solve the disadvantage of low space utilization of existing parking lots.

[0004] Therefore, the present invention proposes an AGV+suspended oblique parking parking system, which uses an AGV transport robot to transport the vehicle to be parked and place it on a vehicle carrier of a suspended oblique parking device; the vehicle carrier parks the vehicle in an oblique posture and then translates it horizontally, thereby greatly saving parking lot space. Summary of the invention

[0005] The AGV+suspended oblique parking parking system of the present invention comprises a suspended oblique parking device and an AGV transport robot for transferring a vehicle to the suspended oblique parking device;

[0006] The suspended oblique parking device comprises:

[0007] A main frame, comprising a plurality of columns and at least two mutually parallel suspension beams fixed between the columns; the suspension beams are provided with guide rails along their length direction;

[0008] A vehicle carrier, which is used to carry the vehicle to be parked;

[0009] The transverse frame hanging assembly includes a transverse frame supported on the suspension beam, a transverse driving mechanism for driving the transverse frame to move along the suspension beam guide rail, a hanger fixed to the transverse frame and hinged to the vehicle carrier, and a lifting and tilting mechanism for lifting the vehicle carrier so that it rotates around the hanger hinge point to an inclined position;

[0010] The AGV handling robot comprises:

[0011] An AGV chassis assembly, comprising a chassis frame and an AGV steering wheel assembly disposed at the bottom of the chassis frame;

[0012] A lifting mechanism, comprising a lifting drive motor, a primary transfer case, a secondary transfer case, four transmission shafts and a worm gear screw lifting mechanism; the four worm gear screw lifting mechanisms are arranged on the chassis frame, the power of the lifting drive motor is distributed to two secondary transfer cases through the primary transfer case, and the power is distributed to four transmission shafts through the two secondary transfer cases, and the four transmission shafts drive the four worm gear screw lifting mechanisms one by one;

[0013] A comb tooth frame, comprising a frame body supported by the worm screw lifting mechanism and comb tooth parts fixed on both sides of the frame body;

[0014] A centering device, comprising two centering plates arranged in parallel along the longitudinal direction of the comb frame and a centering drive mechanism for driving the two centering plates to move laterally along the comb frame body;

[0015] The electrical system includes a laser navigation system, a motion control system, a safety obstacle avoidance system and a human-computer interaction system; the laser navigation system is used to realize the navigation and positioning of the robot; the motion control system is used to realize the omnidirectional movement of the robot; the safety obstacle avoidance system is used to realize the robot's contactless and contact dual obstacle avoidance and emergency parking; the human-computer interaction system realizes the display of the robot's main status parameters and manual control of the robot.

[0016] Furthermore, the vehicle carrier frame includes a vehicle carrier frame, a comb tooth portion fixed to the vehicle carrier frame and a supporting leg; the vehicle carrier frame is provided with an anti-fall hanging ring, and the transverse frame is provided with an anti-fall device; the anti-fall device includes a hook for cooperating with the anti-fall hanging ring and a telescopic push rod for driving the hook to separate from the anti-fall hanging ring.

[0017] Furthermore, the transverse driving mechanism includes a transverse driving motor, two active transverse rollers and two driven transverse rollers; a transverse transmission shaft is fixedly connected between the two active transverse rollers; the transverse driving motor drives the transverse transmission shaft to rotate through the chain transmission mechanism I; the lifting and tilting mechanism includes a lifting driving motor arranged on the transverse frame, two sets of synchronously rotating rotary chain mechanisms and a lifting chain connected between the rotary chain mechanism and the vehicle carrier frame; the rotary chain mechanism includes a lifting driving sprocket, a lifting driven sprocket and a rotary chain matched between the lifting driving sprocket and the lifting driven sprocket; a lifting transmission shaft is fixed between the lifting driving sprockets of the two sets of rotary chain mechanisms, and the lifting driving motor drives the lifting transmission shaft to rotate through the chain transmission mechanism II.

[0018] Furthermore, the transverse frame hanging assembly also includes two sets of lifting limit switch assemblies for detecting whether the carrier frame is tilted or placed flat in place; the lifting limit switch assembly includes two lever-type switches I oppositely arranged on the transverse frame; the swing chain is provided with a screw I for moving the lever; the hanging beam of the main frame is provided with multiple sets of transverse position switch assemblies for detecting the position of the transverse frame, and the transverse position switch assembly includes two lever-type switches II oppositely arranged on the hanging beam; the transverse frame is provided with a screw II for moving the lever.

[0019] Furthermore, the vehicle carrier is provided with a rear wheel blocking device; a wheel blocking surface of the rear wheel blocking device forms an angle of 60° with the plane of the vehicle carrier; and buffer pads are provided on both sides of the transverse frame.

[0020] Furthermore, the hanger is fixed obliquely to the transverse frame, and the angle between the hanger and the horizontal plane is the same as the angle between the lifting chain and the horizontal plane after the vehicle carrier is obliquely placed in place; a parking space detection switch is provided on the inner side of the hanger for detecting whether the vehicle is parked in place.

[0021] Furthermore, the centering drive mechanism includes a centering drive motor and two centering gear columns respectively connected to two centering abutment plates; the output shaft of the centering drive motor is fixedly connected to a centering gear that simultaneously meshes with the two pairs of centering gear columns; and multiple disc springs are stacked between the centering gear columns and the centering abutment plates.

[0022] Furthermore, a plurality of guide wheels are distributed on the comb teeth of the comb tooth frame; and the axial direction of the guide wheels is arranged along the longitudinal direction of the comb tooth frame.

[0023] Furthermore, the transfer case includes a case body, an input shaft, and a first output shaft and a second output shaft perpendicular to the input shaft; the input shaft is fixedly provided with a driving bevel gear, and the first output shaft and the second output shaft are fixedly provided with a driven bevel gear meshing with the driving bevel gear; the worm gear screw lifting mechanism includes a housing, a worm wheel arranged in the housing in a manner that can rotate around an axis and has a central threaded hole, a worm connected to the transmission shaft and matched with the worm wheel, and a lifting screw matched with the central threaded hole of the worm wheel; the top of the lifting screw is fixed to the bottom of the comb frame.

[0024] Beneficial effects of the present invention:

[0025] 1. Compared with traditional AGV parking lots, the number of parking spaces can be greatly increased.

[0026] 1. The two sets of reciprocating and rotating chains and the lifting chain of the lifting and tilting mechanism of the present invention are driven by the same lifting transmission shaft to ensure the synchronization of the lifting process of the vehicle carrier.

[0027] 2. When the vehicle carrier frame of the present invention is tilted, only one end of the vehicle carrier frame is lifted, and the other end of the vehicle carrier frame is hinged to the fixed hinge point of the hanger, so that only a small lifting force is needed to achieve the tilting of a large load.

[0028] 3. The angle between the hanger in the present invention and the horizontal plane is similar to the angle between the lifting chain and the horizontal plane after the vehicle carrier is tilted in place, and the horizontal forces offset each other, which can always ensure the stability of the forces on both without load impact.

[0029] 4. In the present invention, when the inclined vehicle carrier is tilted into place, the anti-fall hook and the anti-fall ring are automatically closed to prevent the vehicle carrier from accidentally falling off the building, thereby ensuring safety.

[0030] 6. A buffer pad is arranged on the outside of the transverse frame in the present invention, which can play a role in impact buffering.

[0031] 7. The wheel blocking surface of the rear wheel blocking device of the vehicle carrier in the present invention forms an angle of 60° with the plane of the vehicle carrier, ensuring that when the vehicle carrier is tilted, the vehicle is in a relatively stable state to prevent the vehicle from slipping.

[0032] 8. The comb rack in the present invention is an exchange carrier for the AGV handling robot. The exchange with the frame is completed under the lifting function provided by the jacking mechanism. Rollers are distributed on the comb teeth to facilitate the alignment of the car. The comb tooth exchange structure is simple, safe and reliable.

[0033] 9. The comb frame in the present invention is provided with a centering device. When the car is parked on the comb guide wheel, the centering device drives the centering plate to push the tire to the right position through the gear rack mechanism. At the same time, the centering device is used to clamp the tire during the movement of the AGV to prevent the car from skidding during the movement of the AGV.

[0034] 10. The electrical system of the AGV handling robot in the present invention controls the movement and action of the entire AGV. It adopts laser navigation technology, and while achieving high-precision navigation and positioning, it can also realize obstacle detection alarm and parking action according to distance detection. At the same time, the AGV handling robot is also equipped with a safety touch edge. When the laser obstacle avoidance system fails, when it collides with the safety touch edge, it can also stop the vehicle, greatly improving the safety performance of the AGV; through the control of the steering wheel group by the controller, the AGV can move forward, backward, left, right, spin and turn flexibly to meet the complex geographical environment and changeable working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0036] Figure 1 It is a schematic diagram of the overall structure of the parking system of the present invention;

[0037] Figure 2 It is a schematic diagram of the overall structure of the suspended oblique parking device of the present invention;

[0038] Figure 3 It is a structural schematic diagram of the main frame of the present invention;

[0039] Figure 4 It is a structural schematic diagram of the hanging assembly on the transverse frame of the present invention;

[0040] Figure 5 It is a schematic diagram of the structure of the rotary chain and the lifting chain of the present invention;

[0041] Figure 6 It is a structural schematic diagram of the vehicle carrier frame of the present invention;

[0042] Figure 7 The overall structure diagram of the AGV handling robot of the present invention is

[0043] Figure 8 This is a schematic diagram of the structure of the AGV handling robot of the present invention after removing the cover

[0044] Fig. 9 This is a schematic diagram of the structure of the AGV chassis assembly of the present invention.

[0045] Fig.10 The schematic diagram of the structure of the lifting mechanism of the present invention is

[0046] Fig.11 The structural schematic diagram of the comb tooth frame of the present invention is

[0047] Fig.12 It is a structural schematic diagram of the centering device of the present invention. DETAILED DESCRIPTION

[0048] like Figure 1 As shown, an AGV+suspended oblique parking parking system of this embodiment includes a suspended oblique parking device and an AGV transport robot for transferring a vehicle to the oblique parking device;

[0049] The suspended oblique parking device comprises:

[0050] Main frame 1, such as Figure 3 , which comprises four columns and two mutually parallel hanging beams 11 and two mutually parallel longitudinal beams 14 fixed between the columns; the hanging beam 11 is provided with a guide rail 12 along its length direction;

[0051] Carriage frame 3, such as Figure 6 , which is used to carry the vehicle to be parked; the vehicle carrier 3 includes a Π-shaped vehicle carrier frame 34, a comb-tooth portion 32 fixed to the inner side wall of the vehicle carrier frame 34, and a support leg 33 fixed to the bottom of the vehicle carrier frame 34; the comb-tooth portion 32 is used to support the wheels, so as to facilitate the exchange of vehicles with the AGV moving robot.

[0052] Transverse frame upper hanging assembly 2, such as Figure 4 , which includes a transverse frame 21 supported on the suspension beam 11, a transverse driving mechanism for driving the transverse frame 21 to move along the guide rail 12 of the suspension beam 11, a hanger 36 fixed to the transverse frame 21 and hinged to the vehicle carrier 3, and a lifting and tilting mechanism for lifting the vehicle carrier 3 so that it rotates around the hinge point of the hanger 36 to an inclined position; the transverse frame 21 is a rectangular frame formed by four channel steels or I-beams fixed to each other. The transverse driving mechanism includes a transverse driving motor 25, two active transverse rollers 23 and two driven transverse rollers 210; a transverse transmission shaft 22 is fixedly connected between the two active transverse rollers 23; the transverse driving motor 25 drives the transverse transmission shaft 22 to rotate through the chain transmission mechanism I24. Bearing seats are installed at the four top corners of the transverse frame 21, and the rotating shafts of the active transverse roller 23 and the driven transverse roller 210 are installed through the bearing seats; one of the active transverse roller 23 and the driven transverse roller 210 is a double-edge roller, and the two are supported on one of the suspension beams 11; the wheel edges on both sides of the double-edge roller are clamped on both sides of the guide rail 12 to prevent the rollers from falling off the track; the other active transverse roller 23 and the driven transverse roller 210 are single-edge rollers, and the two are supported on another suspension beam 11; the power of the transverse driving motor 25 is transmitted to the transverse transmission shaft 22 through the chain transmission mechanism I24, thereby driving the two active transverse rollers 23 to rotate synchronously, and at the same time, the two driven transverse rollers 210 follow, completing the transverse movement of the transverse frame 21;

[0053] The lifting and tilting mechanism includes a lifting drive motor 27 arranged on the transverse frame 21, two sets of synchronously rotating slewing chain mechanisms and a lifting chain 216 connected between the slewing chain mechanism and the vehicle frame 3; Figure 5 The slewing chain mechanism includes a lifting driving sprocket 29, a lifting driven sprocket 213 and a slewing chain matched between the lifting driving sprocket 29 and the lifting driven sprocket 213; the slewing chain includes a chain body 214 and a chain adjusting rod 215 connected to both ends of the chain body 214; the length of the entire slewing chain can be adjusted by the chain adjusting rod 215; transition sprockets 212 are also provided on both sides of the transverse frame 21, the upper end of the lifting sprocket is connected to the slewing chain, and the lower end It is connected to the vehicle frame 3, and changes direction in the middle through a transition sprocket 212; a lifting transmission shaft 217 is fixed between the lifting active sprockets 29 of the two sets of rotary chain mechanisms; when the vehicle frame 3 is lifted, the lifting drive motor 27 drives the lifting transmission shaft 217 to rotate through the chain transmission mechanism II 28, and then drives the two sets of rotary chain mechanisms to rotate, and finally lifts the vehicle frame 3 through the lifting chain 216, so that the vehicle frame 3 rotates around the hinge point of the hanger 36 to realize the inclined or flat placement of the vehicle frame 3.

[0054] In this embodiment, the vehicle carrier 3 is hinged with an anti-falling ring 31, and the transverse frame 21 is provided with an anti-falling device; the anti-falling device includes a hook 26 for cooperating with the anti-falling ring 31 and a telescopic push rod 211 for driving the hook 26 to separate from the anti-falling ring 31; when the vehicle carrier 3 is tilted in place, the anti-falling ring 31 will automatically cooperate with the hook 26 to prevent the vehicle carrier 3 from accidentally falling from the building and ensure safety; when the vehicle carrier 3 needs to be lowered, the anti-falling ring 31 is pushed to rotate with the telescopic push rod 211 (a cylinder or an electric push rod can be used, etc.) until it is disengaged from the hook 26.

[0055] In this embodiment, the lateral frame upper hanging assembly 2 also includes two sets of lifting limit switch components for detecting whether the vehicle carrier 3 is tilted or laid flat; the lifting limit switch components include two lever switches I arranged opposite to each other on the lateral frame 21; the rotary chain is provided with a screw I that can move the lever; the two sets of lifting limit switch components correspond to the tilted and laid flat postures of the vehicle carrier 3 respectively; when the screw I on the rotary chain moves between the two levers of a set of lever switches, it can be determined that the vehicle carrier 3 is in a tilted or laid flat posture ; The suspension beam 11 of the main frame 1 is provided with three groups of transverse position switch assemblies 13 for detecting the position of the transverse frame 21, and the transverse position switch assembly 13 includes two lever switches II arranged opposite to each other on the suspension beam 11; the transverse frame 21 is provided with a screw II for moving the lever; the three groups of transverse position switch assemblies 13 correspond to the left position, the middle position and the right position of the main frame 1 respectively; when the screw II on the transverse frame 21 moves between the two levers of a group of lever switches, the position of the transverse frame 21 relative to the main frame 1 can be determined.

[0056] In this embodiment, buffer pads are provided on both sides of the transverse moving frame 21; when the transverse moving frame 21 moves transversely, the buffer pads can prevent rigid collision between two adjacent transverse moving frames 21.

[0057] In this embodiment, the vehicle carrier 3 is provided with a rear wheel blocking device; a 60° angle is formed between the wheel blocking surface of the rear wheel blocking device and the plane of the vehicle carrier 3, so that when the vehicle carrier 3 is tilted, the blocking effect on the rear wheels of the vehicle is enhanced, ensuring that the vehicle is in a relatively stable state and preventing the vehicle from slipping.

[0058] In this embodiment, a parking detection switch 35 for detecting whether the vehicle is parked in place is provided on the inner side of the hanger 36. The parking detection switch 35 adopts an existing proximity switch. When the vehicle is parked in place, the proximity switch outputs a switch signal.

[0059] In this embodiment, the hanger 36 is fixed obliquely to the transverse frame 21, and the angle between the hanger 36 and the horizontal plane is approximately equal to the angle between the lifting chain 216 and the horizontal plane after the vehicle carrier 3 is obliquely placed in place; when the vehicle is obliquely placed in place, the horizontal components of force exerted on the transverse frame 21 offset each other to ensure the stability of the force.

[0060] like Figure 8 As shown, the AGV handling robot comprises:

[0061] The AGV chassis assembly 4 includes a chassis frame 42, two AGV steering wheel assemblies 43 and four universal wheels 41 arranged at the bottom of the chassis frame 42; Fig. 9 , four universal wheels 41 are respectively installed at the four top corners of the chassis frame 42; two AGV steering wheel assemblies 43 are distributed at the bottom center line of the chassis frame 42; the AGV steering wheel 43 is used to realize the omnidirectional movement of the entire chassis, and the four universal wheels 41 are used to support the weight of the chassis. The AGV steering wheel assembly 43 and the universal wheel 41 both adopt the structure of the existing technology. Of course, the AGV chassis assembly 4 should also be provided with electrical system components such as batteries, control cabinets, sensors, etc., which are used to control the AGV steering wheel assembly 43 to realize the path navigation and obstacle avoidance of the AGV chassis;

[0062] The lifting mechanism 7 includes a lifting drive motor 51, a primary transfer case 52, a secondary transfer case 53, four transmission shafts 54 and a worm screw lifting mechanism 55; Fig.10, the four worm gear screw lifting mechanisms 55 are arranged on the chassis frame 42, the power of the lifting drive motor 51 is distributed to the two secondary transfer cases 53 through the primary transfer case 52, and then the power is distributed to the four transmission shafts 54 through the two secondary transfer cases 53, and the four transmission shafts 54 drive the four worm gear screw lifting mechanisms 7 one by one; the transfer case includes a case body, an input shaft and a first output shaft and a second output shaft which are perpendicular to the input shaft; the first output shaft and the second output shaft are coaxial with each other, the input shaft is fixed with a driving bevel gear 75, and the first output shaft and the second output shaft are fixed with a driven bevel gear 75 which meshes with the driving bevel gear 75; in this lifting mechanism 7, four worm gear screw lifting mechanisms 7 can be driven simultaneously by one power source to achieve lifting, which greatly reduces the number of components of the robot as a whole and improves the compactness of the device. The worm gear screw lifting mechanism 7 includes a housing, a worm wheel which is arranged in the housing in a manner that it can rotate around an axis and has a central threaded hole, a worm which is connected to the transmission shaft 54 ​​and cooperates with the worm wheel, and a lifting screw which cooperates with the central threaded hole of the worm wheel; the power from the transmission shaft 54 ​​is transmitted through the worm gear pair to achieve a large transmission ratio of deceleration while greatly improving the driving torque, and a screw nut pair is formed between the worm wheel and the lifting screw to achieve lifting, and the worm gear pair and the screw nut pair both have a self-locking function, and the lifting mechanism 7 can still maintain support after losing power to avoid safety accidents; when the AGV transport robot needs to transport the vehicle to be parked to the vehicle carrier of the suspended inclined parking device, the power of the lifting drive motor 51 is transmitted to the four worm gear screw lifting mechanisms 55 through the primary transfer case 52, the secondary transfer case 53 and the transmission shaft 54 ​​in turn, and the four worm gear screw lifting mechanisms 55 are used to lift the comb rack 6.

[0063] The comb tooth frame 6 comprises a frame body 61 supported by the worm screw lifting mechanism 7 and comb tooth portions 62 fixed on both sides of the frame body 61; Fig.11 The comb tooth portion 62 of the comb tooth frame 6 is distributed with a plurality of guide wheels; the axial direction of the guide wheels is arranged along the longitudinal direction of the comb tooth frame 6; each comb tooth of the comb tooth frame 6 is provided with a strip-shaped mounting groove, and a row of guide wheels is installed in each mounting groove; the wheels of the vehicle to be parked are supported on the guide wheels 63, and the guide wheels 63 are used to reduce the resistance of the vehicle to lateral movement relative to the comb tooth frame 6 during centering.

[0064] The centering device 5 comprises two centering plates 71 arranged in parallel along the longitudinal direction of the comb frame 6 and a centering driving mechanism for driving the two centering plates 71 to move laterally along the frame body 61 of the comb frame 6; Fig.12The centering drive mechanism is provided with two groups, each group of centering drive mechanism includes a centering drive motor and two centering gear columns 73 respectively connected to two centering abutment plates 71; each centering gear column 73 is guided by three guide seats 72 to ensure that it can only slide in the axial direction; a limit block 76 for limiting the sliding of the centering gear column 73 is also fixed on the centering guide plate, and the minimum spacing between the two pairs of centering abutment plates 71 is ensured by the limit block 76; the output shaft of the centering drive motor is fixedly connected with a centering gear that meshes with the two pairs of centering gear columns 73 at the same time Wheel 75; a plurality of disc springs 74 are stacked between the centering gear column 73 and the centering abutment plate 71; during centering, the centering drive motor drives the two pairs of centering gear columns 73 to extend laterally along the comb rack 6 through the gear 75, and the outer ends of the centering gear columns 73 push the two pairs of centering abutment plates 71 to move laterally along the frame body 61 of the comb rack 6 through the plurality of disc springs 74, and the centering abutment plates 71 push the inner side of the wheel to complete the centering of the vehicle; at the same time, during the walking process of the AGV transport robot, the tire is clamped by the centering device to prevent the car from skidding during the transport process.

[0065] The electrical system includes a laser navigation system, a motion control system, a safety obstacle avoidance system and a human-machine interaction system; the laser navigation system is used to realize the navigation and positioning of the robot; the motion control system is used to realize the omnidirectional movement of the robot; the safety obstacle avoidance system is used to realize the robot's non-contact and contact dual obstacle avoidance and emergency parking; the human-machine interaction system realizes the display of the robot's main status parameters and manual control of the robot;

[0066] The covering parts are mainly for appearance considerations, making the AGV more harmonious and beautiful as a whole. Through appearance processing, this AGV handling robot has a strong sense of technology.

[0067] When the parking system is performing parking operations, the AGV handling robot uses the centering device 5 to push the vehicle to move laterally along the comb frame 6, so that the vehicle is parked in the center of the comb frame 6; then the jacking mechanism 7 is used to jack up the vehicle to a set height; the AGV handling robot uses the comb frame 6 to carry the vehicle and moves to the bottom of the suspended oblique parking device according to the optimal movement path planned for the AGV, and then the jacking mechanism 7 descends, and the comb frame 6 is used to exchange the vehicle to the vehicle carrier 3 of the suspended oblique parking device; then the lifting and tilting mechanism drives the vehicle carrier 3 to rotate to an oblique position, and then the transverse driving mechanism of the hanging assembly 2 on the transverse frame drives the vehicle carrier 3 to move laterally with the transverse frame, and finally the oblique parking of the vehicle is completed; the vehicle picking process is exactly the opposite of the parking process.

[0068] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. An AGV+suspended oblique parking parking system, characterized in that: It includes a suspended oblique parking device and an AGV handling robot for transferring a vehicle to the suspended oblique parking device; The suspended oblique parking device comprises: A main frame, comprising a plurality of columns and at least two mutually parallel suspension beams fixed between the columns; the suspension beams are provided with guide rails along their length direction; A vehicle carrier, which is used to carry the vehicle to be parked; The transverse frame hanging assembly includes a transverse frame supported on the suspension beam, a transverse driving mechanism for driving the transverse frame to move along the suspension beam guide rail, a hanger fixed to the transverse frame and hinged to the vehicle carrier, and a lifting and tilting mechanism for lifting the vehicle carrier so that it rotates around the hanger hinge point to an inclined position; The AGV handling robot comprises: An AGV chassis assembly, comprising a chassis frame and an AGV steering wheel assembly disposed at the bottom of the chassis frame; A lifting mechanism, comprising a lifting drive motor, a primary transfer case, a secondary transfer case, four transmission shafts and a worm gear screw lifting mechanism; the four worm gear screw lifting mechanisms are arranged on the chassis frame, the power of the lifting drive motor is distributed to two secondary transfer cases through the primary transfer case, and the power is distributed to four transmission shafts through the two secondary transfer cases, and the four transmission shafts drive the four worm gear screw lifting mechanisms one by one; A comb tooth frame, comprising a frame body supported by the worm screw lifting mechanism and comb tooth parts fixed on both sides of the frame body; A centering device, comprising two centering plates arranged in parallel along the longitudinal direction of the comb frame and a centering drive mechanism for driving the two centering plates to move laterally along the comb frame body; The electrical system includes a laser navigation system, a motion control system, a safety obstacle avoidance system and a human-machine interaction system; the laser navigation system is used to realize the navigation and positioning of the robot; the motion control system is used to realize the omnidirectional movement of the robot; the safety obstacle avoidance system is used to realize the robot's non-contact and contact dual obstacle avoidance and emergency parking; the human-machine interaction system realizes the display of the robot's main status parameters and manual control of the robot; The vehicle carrier frame includes a vehicle carrier frame, a comb tooth portion fixed to the vehicle carrier frame and a supporting leg; the vehicle carrier frame is provided with an anti-falling hanging ring, and the transverse frame is provided with an anti-falling device; the anti-falling device includes a hook for cooperating with the anti-falling hanging ring and a telescopic push rod for driving the hook to separate from the anti-falling hanging ring.

2. The parking system of AGV+suspended oblique parking according to claim 1 is characterized by: The transverse driving mechanism includes a transverse driving motor, two active transverse rollers and two driven transverse rollers; a transverse transmission shaft is fixedly connected between the two active transverse rollers; the transverse driving motor drives the transverse transmission shaft to rotate through the chain transmission mechanism I; the lifting and tilting mechanism includes a lifting driving motor arranged on the transverse frame, two sets of synchronously rotating revolving chain mechanisms and a lifting chain connected between the revolving chain mechanism and the vehicle carrier frame; the revolving chain mechanism includes a lifting driving sprocket, a lifting driven sprocket and a revolving chain matched between the lifting driving sprocket and the lifting driven sprocket; a lifting transmission shaft is fixed between the lifting driving sprockets of the two sets of revolving chain mechanisms, and the lifting driving motor drives the lifting transmission shaft to rotate through the chain transmission mechanism II.

3. The parking system of AGV+suspended oblique parking according to claim 2 is characterized by: The hanging assembly on the transverse frame also includes two sets of lifting limit switch assemblies for detecting whether the carrier frame is tilted or placed flat in place; the lifting limit switch assembly includes two lever-type switches I arranged oppositely on the transverse frame; the swing chain is provided with a screw I for moving the lever; the hanging beam of the main frame is provided with multiple sets of transverse position switch assemblies for detecting the position of the transverse frame, and the transverse position switch assembly includes two lever-type switches II arranged oppositely on the hanging beam; the transverse frame is provided with a screw II for moving the lever.

4. The parking system of AGV+suspended oblique parking according to claim 1, characterized in that: The vehicle carrier is provided with a rear wheel blocking device; a 60° angle is formed between the wheel blocking surface of the rear wheel blocking device and the plane of the vehicle carrier; and buffer pads are provided on both sides of the transverse movement frame.

5. The parking system of AGV+suspended oblique parking according to claim 1, characterized in that: The hanger is fixed obliquely on the transverse frame, and the angle between the hanger and the horizontal plane is the same as the angle between the lifting chain and the horizontal plane after the vehicle carrier is obliquely placed in place; a parking position detection switch is provided on the inner side of the hanger for detecting whether the vehicle is parked in place.

6. The parking system of AGV+suspended oblique parking according to claim 1, characterized in that: The centering drive mechanism includes a centering drive motor and two centering gear columns respectively connected to two centering abutment plates; the output shaft of the centering drive motor is fixedly connected to a centering gear that meshes with the two pairs of centering gear columns at the same time; and a plurality of disc springs are stacked between the centering gear columns and the centering abutment plates.

7. The parking system of AGV+suspended oblique parking according to claim 1, characterized in that: A plurality of guide wheels are distributed on the comb teeth of the comb tooth frame; and the axial direction of the guide wheels is arranged along the longitudinal direction of the comb tooth frame.

8. The parking system of AGV+suspended oblique parking according to claim 1, characterized in that: The transfer case includes a case body, an input shaft, and a first output shaft and a second output shaft which are perpendicular to the input shaft; the input shaft is fixedly provided with a driving bevel gear, and the first output shaft and the second output shaft are fixedly provided with a driven bevel gear which meshes with the driving bevel gear; the worm screw lifting mechanism includes a housing, a worm wheel which is arranged in the housing in a manner that it can rotate around an axis and has a central threaded hole, a worm which is transmission-connected to the transmission shaft and cooperates with the worm wheel, and a lifting screw which cooperates with the central threaded hole of the worm wheel; the top of the lifting screw is fixed to the bottom of the comb frame.

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