A suspended inclined parking device for AGV

Abstract

The present invention discloses a suspended inclined parking device for an AGV, comprising: a main frame, which includes a plurality of columns and at least two parallel suspension beams fixed between the columns; the suspension beams are provided with guide rails along their length directions; a carrier frame for carrying a vehicle to be parked; a horizontal translation frame hanging assembly, which includes a horizontal translation frame supported on the suspension beams, a horizontal translation driving mechanism for driving the horizontal translation frame to move along the guide rails of the suspension beams, a hanging bracket fixed to the horizontal translation frame and hinged to the carrier frame, and a lifting and tilting mechanism for lifting the carrier frame to rotate it around the hinge point of the hanging bracket to an inclined position; this parking device can park the vehicle to be parked in an inclined posture and then translate it horizontally, thereby greatly saving the space of the parking lot.

Description

Technical Field

[0001] This invention patent relates to the field of intelligent parking equipment, and particularly to a suspended inclined parking device for AGV. Background Art

[0002] With the development of the times, cars have become essential means of transportation for more and more families. Each car requires a corresponding parking space. Currently, most of the parking spaces used are directly marked on the ground without any modification to the parking space itself. Marking parking spaces directly on the ground is called a flat parking lot. Another type is traditional three-dimensional garages such as aisle stacking type, vertical lifting type, and plane moving type. Their working principle is: through one or more handling devices, the car can be lifted from the bottom of the car and transported, and then moved to the lift together. The lift then transports the handling device and the car to different parking levels, and then the transporter sends the car to the designated parking space. However, both of these have defects. The first one occupies too much land area, seriously affecting the activities of pedestrians and occupying too much road area. The second one, although saving space, causes great inconvenience to the access of vehicles. If there are more people picking up their cars at the same time, due to limited entrances and exits, a long waiting time is required. If reservation for picking up the car is adopted, it will conflict with on-site car picking. At the same time, such parking measures require certain on-site coordinators.

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

[0004] Therefore, the present invention proposes a suspended inclined parking device for AGV. This parking device can park the vehicle to be parked in an inclined posture and then translate it horizontally, thus greatly saving the space of the parking lot. Summary of the Invention

[0005] The suspended inclined parking device for AGV of the present invention includes:

[0006] A main frame, which includes multiple columns and at least two parallel suspension beams fixed between the columns; guide rails are provided along the length direction of the suspension beams;

[0007] A carrier frame, which is used to carry the vehicle to be parked;

[0008] The hanging assembly on the transverse movement frame includes a transverse movement frame supported on the hanging beam, a transverse movement driving mechanism for driving the transverse movement frame to move along the hanging beam guide rail, a hanging frame fixed to the transverse movement frame and hinged to the vehicle carrier frame, and a lifting and tilting mechanism for lifting the vehicle carrier frame to rotate it around the hanging frame hinge point to an inclined position.

[0009] Furthermore, the vehicle carrier frame includes a vehicle carrier framework, a comb tooth part fixed to the vehicle carrier framework, and support legs.

[0010] Furthermore, the transverse movement driving mechanism includes a transverse movement driving motor, two active transverse movement rollers, and two driven transverse movement rollers; a transverse movement transmission shaft is fixedly connected between the two active transverse movement rollers; the transverse movement driving motor drives the transverse movement transmission shaft to rotate through a chain transmission mechanism Ⅰ.

[0011] Furthermore, the lifting and tilting mechanism includes a lifting driving motor arranged on the transverse movement frame, two groups of synchronously rotating swing chain mechanisms, and a lifting chain connected between the swing chain mechanism and the vehicle carrier frame; the swing chain mechanism includes a lifting driving sprocket, a lifting driven sprocket, and a swing chain fitted between the lifting driving sprocket and the lifting driven sprocket; a lifting transmission shaft is fixed between the lifting driving sprockets of the two groups of swing chain mechanisms, and the lifting driving motor drives the lifting transmission shaft to rotate through a chain transmission mechanism Ⅱ.

[0012] Furthermore, an anti-falling hanging ring is provided on the vehicle carrier frame, and an anti-falling device is provided on the transverse movement frame; 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.

[0013] Furthermore, the hanging assembly on the transverse movement frame further includes two groups of lifting limit switch assemblies for detecting whether the vehicle carrier frame is in an inclined or flat position in place; the lifting limit switch assembly includes two toggle switches Ⅰ oppositely arranged on the transverse movement frame; the swing chain is provided with a screw Ⅰ that can toggle the toggle; the hanging beam of the main frame is provided with multiple groups of transverse movement position switch assemblies for detecting the position of the transverse movement frame, and the transverse movement position switch assembly includes two toggle switches Ⅱ oppositely arranged on the hanging beam; the transverse movement frame is provided with a screw Ⅱ that can toggle the toggle.

[0014] Furthermore, buffer pads are provided on both sides of the transverse movement frame.

[0015] Furthermore, a rear wheel vehicle blocking device is provided on the vehicle carrier frame; an included angle of 60° is formed between the wheel blocking surface of the rear wheel vehicle blocking device and the vehicle carrier frame plane.

[0016] Furthermore, a parking position detection switch for detecting whether the vehicle is parked in place is provided on the inner side surface of the hanging frame.

[0017] Furthermore, the hanger is fixedly inclined to the transverse movement frame, and the angle between the hanger and the horizontal plane is close to the angle between the lifting chain and the horizontal plane after the carrier frame is obliquely placed in place.

[0018] Advantages of the present invention:

[0019] 1. The vehicle inclination angle of the present invention is 30°, and the required empty height after the vehicle is parked is 3.2 meters, which well solves the problem that the old garage with insufficient empty height cannot be transformed into a double-deck mechanical garage (requiring an empty height of 3.6 meters).

[0020] 2. The two sets of reciprocating swing chains and the lifting chain of the lifting and tilting mechanism in the present invention are driven by the same lifting transmission shaft to ensure the synchronization during the lifting process of the carrier frame.

[0021] 3. When the carrier frame in the present invention is tilted, only one end of the carrier frame is lifted, and the fixed hinge point of the other end of the carrier frame is hinged to the hanger, and a relatively small lifting force can be used to achieve the tilting of a larger load.

[0022] 4. The angle between the hanger and the horizontal plane in the present invention is close to the angle between the lifting chain and the horizontal plane after the carrier frame is obliquely placed in place, and the horizontal component forces cancel each other out, always ensuring the smoothness of the forces on both of them and no load impact.

[0023] 5. In the present invention, when the obliquely placed carrier frame is tilted in place, the anti-falling hook and the anti-falling hanging ring are automatically closed to prevent the carrier frame from accidentally falling downstairs and ensure safety.

[0024] 6. A buffer pad is arranged on the outer side of the transverse movement frame in the present invention, which can play a role in impact buffering.

[0025] 7. The wheel blocking surface of the rear wheel blocking device of the carrier frame in the present invention forms an angle of 60° with the plane of the vehicle-carrying platform, which can make the vehicle in a relatively stable state when the vehicle-carrying platform is tilted at a certain angle and prevent the vehicle from slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the drawings and embodiments:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the main frame of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the hanging assembly on the transverse movement frame of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of the swing chain and the lifting chain of the present invention;

[0031] Figure 5Schematic diagram of the structure of the carrier frame of the present invention;

[0032] Figure 6 Schematic diagram after the vehicle of the present invention is parked. Detailed implementation manners

[0033] As Figure 1 shown, a suspended inclined parking device for an AGV according to this embodiment includes:

[0034] The main frame 1, as Figure 2 shown, which includes four columns and two parallel suspension beams 11 and two parallel longitudinal beams 14 fixed between the columns; a guide rail 12 is provided along the length direction of the suspension beam 11;

[0035] The carrier frame 3, as Figure 5 shown, which is used to carry the vehicle to be parked; the carrier frame 3 includes a Π-shaped carrier frame 34, a comb tooth part 32 fixed to the inner side wall of the carrier frame 34, and a support leg 33 fixed to the bottom of the carrier frame 34; the comb tooth part 32 is used to support the wheels to facilitate the exchange of the vehicle with the AGV vehicle transfer robot.

[0036] The horizontal translation frame upper hanging assembly 2, as Figure 3 shown, which includes a horizontal translation frame 21 supported on the suspension beam 11, a horizontal translation drive mechanism for driving the horizontal translation frame 21 to move along the guide rail 12 of the suspension beam 11, a hanging frame 36 fixed to the horizontal translation frame 21 and hinged to the carrier frame 3, and a lifting and tilting mechanism for lifting the carrier frame 3 to rotate it to an inclined position around the hinge point of the hanging frame 36; the horizontal translation frame 21 is a rectangular frame formed by fixing four channel steels or I-beams to each other. The horizontal translation drive mechanism includes a horizontal translation drive motor 25, two active horizontal translation rollers 23 and two driven horizontal translation rollers 210; a horizontal translation transmission shaft 22 is fixedly connected between the two active horizontal translation rollers 23; the horizontal translation drive motor 25 drives the horizontal translation transmission shaft 22 to rotate through a chain drive mechanism I 24. Bearing seats are installed at the four top corners of the horizontal translation frame 21, and the rotating shafts of the active horizontal translation rollers 23 and the driven horizontal translation rollers 210 are installed through these bearing seats; one of the active horizontal translation rollers 23 and the driven horizontal translation rollers 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 stuck on both sides of the guide rail 12, which can prevent the roller from falling off the track; the other active horizontal translation roller 23 and the driven horizontal translation roller 210 are single-edge rollers, and the two are supported on the other suspension beam 11; the power of the horizontal translation drive motor 25 is transmitted to the horizontal translation transmission shaft 22 through the chain drive mechanism I 24, so as to drive the two active horizontal translation rollers 23 to rotate synchronously, and at the same time the two driven horizontal translation rollers 210 follow, completing the lateral movement of the horizontal translation frame 21;

[0037] The lifting and tilting mechanism includes a lifting drive motor 27 provided on the transverse movement frame 21, two groups of synchronously rotating revolving chain mechanisms, and a lifting chain 216 connected between the revolving chain mechanism and the carrier frame 3; the revolving chain mechanism includes a lifting driving sprocket 29, a lifting driven sprocket 213, and a revolving chain fitted between the lifting driving sprocket 29 and the lifting driven sprocket 213; the revolving chain includes a chain body 214 and chain adjusting rods 215 connected to both ends of the chain body 214; the length of the entire revolving chain can be adjusted through the chain adjusting rods 215; transition sprockets 212 are further provided on both sides of the transverse movement frame 21, the upper end of the lifting sprocket is connected to the revolving chain, the lower end is connected to the carrier frame 3, and the direction is changed through the transition sprockets 212 in the middle; a lifting transmission shaft 217 is fixed between the lifting driving sprockets 29 of the two groups of revolving chain mechanisms; when lifting the carrier frame 3, 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 groups of revolving chain mechanisms to rotate, and finally lifts the carrier frame 3 through the lifting chain 216, so that the carrier frame 3 rotates around the hinge point of the suspension frame 36 to realize the tilting or horizontal placement of the carrier frame 3.

[0038] In this embodiment, an anti-falling hanging ring 31 is hinged to the carrier frame 3, and an anti-falling device is provided on the transverse movement frame 21; the anti-falling device includes a hook 26 for cooperating with the anti-falling hanging ring 31 and a telescopic push rod 211 for driving the hook 26 to separate from the anti-falling hanging ring 31; when the carrier frame 3 is tilted in place, the falling hanging ring 31 will automatically cooperate with the hook 26 to prevent the carrier frame 3 from accidentally falling downstairs and ensure safety; when it is necessary to lower the carrier frame 3, the telescopic push rod 211 (which can be a cylinder or an electric push rod, etc.) is used to push the anti-falling hanging ring 31 to rotate until it is separated from the hook 26.

[0039] In this embodiment, the hanging assembly 2 on the transverse movement frame further includes two groups of lifting limit switch assemblies for detecting whether the carrier frame 3 is tilted or horizontally placed in place; the lifting limit switch assembly includes two lever-type switches I oppositely arranged on the transverse movement frame 21; the revolving chain is provided with a screw I that can toggle the lever; the two groups of lifting limit switch assemblies respectively correspond to the tilted and horizontally placed postures of the carrier frame 3; when the screw I on the revolving chain moves between the two levers of a certain group of lever-type switches, it can be determined that the carrier frame 3 is in a tilted or horizontally placed posture; three groups of transverse movement position switch assemblies 13 for detecting the position of the transverse movement frame 21 are provided on the suspension beam 11 of the main frame 1, and the transverse movement position switch assembly 13 includes two lever-type switches II oppositely arranged on the suspension beam 11; the transverse movement frame 21 is provided with a screw II that can toggle the lever; the three groups of transverse movement position switch assemblies 13 respectively correspond to the left, middle, and right positions of the main frame 1; when the screw II on the transverse movement frame 21 moves between the two levers of a certain group of lever-type switches, it can be determined the position of the transverse movement frame 21 relative to the main frame 1.

[0040] In this embodiment, buffer pads are provided on both sides of the transverse movement frame 21; when the transverse movement frame 21 moves transversely, the buffer pads prevent rigid collision between two adjacent transverse movement frames 21.

[0041] In this embodiment, a rear-wheel vehicle blocking device is provided on the carrier frame 3; an included angle of 60° is formed between the wheel blocking surface of the rear-wheel vehicle blocking device and the plane of the carrier frame 3, which can enhance the blocking effect on the rear wheels of the vehicle when the carrier frame 3 is inclined, ensure that the vehicle is in a relatively stable state, and prevent the vehicle from slipping.

[0042] In this embodiment, a parking space detection switch 35 for detecting whether the vehicle is parked in place is provided on the inner side of the hanging frame 36. The parking space detection switch 35 adopts an existing proximity switch. When the vehicle is parked in place, the proximity switch outputs a switch signal.

[0043] In this embodiment, the hanging frame 36 is inclined and fixed to the transverse movement frame 21, and the included angle between the hanging frame 36 and the horizontal plane is close to the included angle between the lifting chain 216 and the horizontal plane after the carrier frame 3 is inclined in place (in this article, "close included angle" means that the difference between the two included angles is less than 5°); when the vehicle is inclined in place, the horizontal component forces received by the transverse movement frame 21 cancel each other out, ensuring the smoothness of the force.

[0044] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications; any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A suspended inclined parking device for an AGV, characterized in that, include: A main frame comprising a plurality of columns and at least two mutually parallel suspension beams fixed between the columns; The hanging beam is provided with a guide rail along its length direction; A vehicle carrier, which is used to carry vehicles to be parked; The transverse frame hanging assembly includes a transverse frame supported by 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 oblique position; The transverse drive mechanism includes a transverse drive 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 drive motor drives the transverse transmission shaft to rotate through the chain transmission mechanism I; The lifting and tilting mechanism includes a lifting drive motor provided on the transverse movement frame, two sets of synchronously rotating slewing chain mechanisms, and a lifting chain connected between the slewing chain mechanisms and the vehicle carrier frame; the slewing chain mechanism includes a lifting driving sprocket, a lifting driven sprocket, and a slewing chain engaged 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 slewing chain mechanisms, and the lifting drive motor drives the lifting transmission shaft to rotate through the chain transmission mechanism II; 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; The hanger is fixed obliquely to the transverse frame, and the angle between the hanger and the horizontal plane is similar to the angle between the lifting chain and the horizontal plane after the vehicle carrier is obliquely placed in place.

2. The suspended inclined parking device for AGV according to claim 1, characterized in that: The vehicle carrier includes a vehicle carrier frame, a comb tooth portion fixed to the vehicle carrier frame, and support legs.

3. The suspended inclined parking device for AGV according to claim 2, wherein: The vehicle carrier 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.

4. The suspended inclined parking device for AGV according to claim 3, characterized in that: The transverse frame hanging assembly also includes two sets of lifting limit switch assemblies for detecting whether the vehicle carrier 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 rotary 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.

5. The hanging and inclined parking device for AGV according to claim 4, characterized in that: Buffer pads are provided on both sides of the transverse movement frame.

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