A lifting and traversing parking device suitable for a lift-type AGV parking robot

Abstract

The present invention discloses a lifting and transverse shifting parking device suitable for a lift-plate AGV parking robot, comprising a transverse shifting device, a transverse shifting guide rail being arranged at the lower end of the transverse shifting device, a frame steel structure being fixedly installed on the ground outside the transverse shifting guide rail, a lifting drive being fixedly installed at the upper end of the frame steel structure, and a lifting frame being fixedly installed at the lower end of the lifting drive. The lifting and transverse shifting parking device suitable for a lift-plate AGV parking robot utilizes a frame-type circulating chain structure and a two-layer lifting and transverse shifting parking device combined with a variety of innovatively designed mechanisms, so that it can be used in combination with the AGV parking robot, and realizes two-layer parking in scenes with sufficient height, effectively increasing the number of parking spaces. After the upper-layer vehicle-mounted plate parking operation is completed, the transverse shifting device is transversely shifted to the lower-layer space through the transverse shifting guide rail, and the AGV can then put another vehicle-mounted plate and vehicle onto the transverse shifting device to realize double-layer storage.

Description

Technical Field

[0001] The invention relates to the technical field of three-dimensional parking, and in particular to a lifting and lateral movement parking device suitable for a lift-plate type AGV parking robot. Background Art

[0002] A three-dimensional garage is a mechanical or mechanical equipment system used to store and retrieve vehicles in maximum quantity. It is an effective tool for professional parking lot management companies to increase parking lot capacity, revenue, and parking fee income. Compared with underground garages, it can more effectively ensure the safety of people and vehicles. If people are in the garage or the car is not allowed to park, the entire electronically controlled equipment will not operate. It should be said that mechanical garages can achieve complete separation of people and vehicles from a management perspective;

[0003] Normally, AGV parking robots are used in the smart parking industry to move vehicles from parking rooms to designated parking spaces. However, since parking robots usually do not have their own high-rise lifting devices, they are unable to park vehicles in high-rise parking spaces. Therefore, smart parking by parking robots usually can only achieve single-layer vehicle parking, and cannot effectively use the space height to achieve three-dimensional parking operations. Summary of the invention

[0004] The purpose of the present invention is to provide a lifting and lateral movement parking device suitable for a lift-plate AGV parking robot, so as to solve the problem raised in the above background technology that since the usual parking robots do not have their own high-rise lifting devices and cannot park vehicles in high-rise parking spaces, the usual parking robots' intelligent parking can only realize single-layer vehicle parking and cannot effectively use the space height to realize three-dimensional parking operations.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: comprising a transverse movement device, a transverse movement guide rail is arranged at the lower end of the transverse movement device, a frame steel structure is fixedly installed on the ground outside the transverse movement guide rail, a lifting drive is fixedly installed on the upper end of the frame steel structure, a lifting frame is fixedly installed on the lower end of the lifting drive, four rotating arm devices are symmetrically installed on the upper end surface of the lifting frame, a guide device is fixedly installed on the upper left end surface of the lifting frame, a vehicle-mounted plate is placed on the transverse movement device, a vehicle-mounted plate is placed on the rotating arm device, and the transverse movement device is provided with a vehicle-mounted plate. The shifting device includes a transverse longitudinal beam, two of which are provided, two transverse cross beams are fixedly installed between the transverse longitudinal beams, a wiring tail pipe is fixedly installed on the left side of the transverse cross beam, a motor bracket 1 is fixedly installed on the left end of the front side of the transverse longitudinal beam, a driving motor 1 is fixedly installed on the motor bracket 1, a transverse driving sprocket is fixedly installed on the rotating shaft of the output shaft of the driving motor 1, two transverse wheel brackets are symmetrically installed on the left and right sides of the transverse longitudinal beam, transverse bearings are fixedly installed on both sides of the transverse wheel bracket, and the transverse shaft A transverse driven sprocket is movably installed on the right side of the bearing, and a transverse driving chain is sleeved on the outer sides of the transverse driven sprocket and the transverse driving sprocket. A transverse rotating wheel is arranged between the transverse wheel brackets, and the transverse rotating wheel is clamped on the outer side of the transverse guide rail. A transverse rotating shaft is fixedly installed at the center of the transverse rotating wheel, and a transverse long shaft is movably installed between the transverse bearings. A passive wheel frame is fixedly installed on the back side of the transverse longitudinal beam, and passive rotating wheels are movably installed on both sides of the passive wheel frame. The transverse longitudinal beam and the transverse cross beam are made of channel steel and are connected by welding to form a gate shape. It is used to carry the vehicle-mounted plate. In the driving system, the drive is driven by a driving motor 1, which is connected to a motor bracket 1 with bolts. The transverse driving sprocket and the passive rotating wheel use standard sprockets, which are connected and driven by a transverse chain. The transverse shaft is key-connected to the transverse driving sprocket and the transverse rotating wheel and is connected to the transverse wheel bracket welded on the transverse longitudinal beam through a transverse bearing. The transverse bearing and the transverse wheel bracket are connected with bolts. The transverse rotating shaft is connected and driven by the transverse long shaft. There is a set of driving mechanism arranged on the left side of the transverse device, and the other side is a fully passive mechanism.

[0006] Preferably, the frame steel structure includes columns, and four columns are symmetrically arranged. A frame longitudinal beam is fixedly installed on the upper end surface of the column, a rear cross beam is fixedly installed on the left end of the upper end surface of the frame longitudinal beam, and a front cross beam is fixedly installed on the right end of the upper end surface of the frame longitudinal beam. An upper limit rocker switch is fixedly installed on the left upper end of the column, and the upper limit rocker switch is in contact with the lifting frame. A lower limit rocker switch is fixedly installed on the left lower end of the column, and the lower limit rocker switch is in contact with the lifting frame. The lifting frame includes lifting longitudinal beams, and lifting cross beams are fixedly installed between the lifting longitudinal beams. Four hook rings are symmetrically installed on the upper end surface of the lifting frame, and two anti-fall hooks are fixedly installed on the lower end surface of the frame longitudinal beam. The frame steel structure is mainly made of H-shaped steel. This structural form is simple and reliable, with reasonable force and strong bearing capacity. The upper limit rocker switch and the lower limit rocker switch enable the lifting frame to pass through the rocker switch and trigger the switch to realize the perception of the operating status of the driving mechanism, thereby realizing precise positioning of the lifting movement. An anti-fall hook is provided. After the lifting frame rises into place, the anti-fall hook is released to prevent the lifting frame from accidentally falling off. During the lifting process of the lifting frame, the anti-fall hook is opened and will not affect the lifting operation.

[0007] Preferably, a balance chain hanging point is fixedly installed on the left side of the upper end surface of the frame longitudinal beam, a balance chain front sprocket is arranged on the left side of the lifting longitudinal beam, and a balance chain rear sprocket is arranged on the right side of the lifting longitudinal beam.

[0008] Preferably, a balance chain is wound around the lower left end of the balance chain front sprocket and the right side of the upper end of the balance chain rear sprocket, the upper end of the balance chain is fixedly connected to the balance chain hanging point, and the lower end of the balance chain is fixedly connected to the lower end of the column. The balance chain is used to maintain the front and rear balance of the lifting frame. Since the lifting drive is only used to lift the left end of the lifting frame, this mechanism is required for balancing.

[0009] Preferably, a motor bracket 2 is fixedly installed on the right side of the upper end surface of the frame longitudinal beam, a lifting motor is fixedly installed on the motor bracket 2, two lifting sprockets 1 are fixedly installed on the right side of the lifting motor, a lifting sprocket 2 is arranged on the right side of the front end inside the front cross beam, a lifting sprocket 3 is arranged on the right side of the rear end inside the front cross beam, a lifting chain 1 is wound around the outer side of the upper end of the right side of the lifting sprocket 1, the lower side of the front end of the lifting sprocket 2 and the rear side of the upper end of the lifting sprocket 3, a lifting hanging point 1 is fixedly installed on the rear end of the lifting cross beam, one end of the lifting chain 1 is fixedly connected to the lifting hanging point 1, and the other end of the lifting chain 1 is fixedly connected to the lower end of the column, a lifting sprocket 4 is arranged on the left side of the front end inside the front cross beam, and a lifting chain 2 is wound around the outer side of the upper end of the left side of the lifting sprocket 1 and the rear side of the upper end of the lifting sprocket 4.

[0010] Preferably, a lifting point 2 is fixedly installed at the front end of the lifting beam, one end of the lifting chain 2 is fixedly connected to the lifting point 2, the other end of the lifting chain 2 is fixedly connected to the lower end of the column, and a lifting chain pressure plate is fixedly installed on the right side of the front beam, which is driven by lifting sprocket 1, lifting sprocket 2, lifting sprocket 3 and lifting sprocket 4. Since lifting chain 1 and lifting chain 2 are subjected to greater force, a lifting chain pressure plate is installed on the upper part of lifting sprocket 1 to prevent chain jumping.

[0011] Preferably, the swing arm device includes a motor support plate, on which a driving motor and a sprocket are fixedly mounted, two swing arm support plates are fixedly mounted on the upper end surface of the lifting frame, a diamond bearing with a seat is fixedly mounted on the outer side of the swing arm support plate, a swing arm passive sprocket is fixedly mounted on the diamond bearing with a seat, a transmission chain is sleeved on the outer side of the driving motor and sprocket and the swing arm passive sprocket, a swing arm and a swing arm shaft are arranged between the swing arm support plates, and a limiting block is fixedly mounted on the swing arm and the swing arm shaft.

[0012] Preferably, the limit block is fitted with the lower end surface of the vehicle-mounted plate, a switch plate is fixedly installed on the right side of the diamond bearing with a seat, and a switch support plate is fixedly installed on the upper end surface of the lifting frame, and groove photoelectrics are fixedly installed on the upper and lower ends of the switch support plate, which is connected to the lifting frame through a rotating arm support plate cut from a steel plate and welded to the lifting frame and a diamond bearing with a seat connected to the rotating arm support plate by bolts, and is driven by a driving motor and a sprocket installed on the motor support plate with bolts, and is rotated and precisely positioned by two small groove photoelectrics and switch plates installed on the switch support plate cut from a steel plate by laser, and is moved and positioned by a limit block cut from a steel plate installed on the rotating arm support plate with bolts to carry the pallet, thereby connecting the vehicle-mounted plate to the lifting frame, and lifting the vehicle-mounted plate to the upper layer using the lifting frame.

[0013] Preferably, the guide device includes a guide seat plate, the guide seat plate is fixedly mounted on the lifting frame, a guide plate is fixedly mounted on the back side of the guide seat plate, and a guide nylon is fixedly mounted on the left front side of the guide plate.

[0014] Preferably, the guide nylon is concave-shaped and is engaged on the frame steel structure. The nylon material has the advantages of light weight, wear resistance, easy replacement, and no friction noise. The device can realize the full-range guidance of the lifting frame, and the lifting positioning error is less than 2mm, which meets the needs of AGV lifting plate parking robot using vehicle-mounted plates and vehicles and simple lifting parking equipment for pallet exchange.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the lifting and transverse shifting parking equipment suitable for the lifting-plate type AGV parking robot utilizes a frame-type circulating chain structure and a two-layer lifting and transverse shifting parking equipment combined with a variety of innovatively designed mechanisms, so that it can be used in conjunction with the AGV parking robot to achieve two-layer parking in scenes of sufficient height, effectively increasing the number of parking spaces, and after the parking operation of the upper vehicle-mounted plate is completed, the transverse shifting device is transversely shifted to the lower space through the transverse shifting guide rail, and the AGV can then put another vehicle-mounted plate and the vehicle onto the transverse shifting device to achieve double-layer storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0017] Figure 2 It is a schematic diagram of the balance structure of the present invention;

[0018] Figure 3 This is a schematic diagram of the lifting drive structure of the present invention;

[0019] Figure 4 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the transverse shifting device of the present invention;

[0021] Figure 6 For the present invention Figure 4 Part A structural diagram;

[0022] Figure 7 For the present invention Figure 5 Part B structural diagram;

[0023] Figure 8 For the present invention Figure 5 Schematic diagram of the structure of part C.

[0024] In the figure: 1. Transverse movement device; 2. Frame steel structure; 3. Lifting drive; 4. Lifting frame; 5. Swivel arm device; 501. Motor support plate; 502. Drive motor and sprocket; 503. Swivel arm support plate; 504. Diamond bearing with seat; 505. Swivel arm passive sprocket; 506. Transmission chain; 507. Swivel arm and swing arm shaft; 508. Switch plate; 509. Switch support plate; 510. Groove photoelectric; 511. Limit block; 6. Guide device; 601. Guide nylon; 602. Guide plate; 603. Guide seat plate; 7. Transverse guide rail; 8. Car board; 9. Transverse longitudinal beam; 10. Transverse beam; 11. Wiring tail pipe; 12. Motor bracket 1; 13. Drive motor 1; 14. Transverse drive sprocket; 15. Transverse drive chain; 16. Transverse wheel bracket; 17. Transverse Passive sprocket; 18, transverse shift wheel; 19, transverse shift bearing; 20, transverse shift shaft; 21, transverse shift long shaft; 22, passive wheel frame; 23, passive wheel; 24, upper limit rocker switch; 25, lower limit rocker switch; 26, balance chain hanging point; 27, lifting longitudinal beam; 28, balance chain front sprocket; 29, balance chain rear sprocket; 30, balance chain; 31, column; 32, frame longitudinal beam; 33, rear crossbeam; 34, front crossbeam; 35, motor bracket 2; 36, lifting motor; 37, lifting sprocket 1; 38, lifting sprocket 2; 39, lifting sprocket 3; 40, lifting chain 1; 41, lifting sprocket 4; 42, lifting chain 2; 43, lifting chain pressure plate; 44, lifting crossbeam; 45, lifting lifting point 1; 46, lifting lifting point 2; 47, anti-fall hook; 48, hook ring. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1-8The present invention provides a technical solution: a lifting and lateral movement parking device suitable for a lifting plate type AGV parking robot, including a lateral movement device 1, a frame steel structure 2, a lifting drive 3, a lifting frame 4, a rotating arm device 5, a motor support plate 501, a drive motor and a sprocket 502, a rotating arm support plate 503, a diamond bearing with a seat 504, a rotating arm passive sprocket 505, a transmission chain 506, a rotating arm and a rotating arm shaft 507, a switch plate 508, a switch support plate 509, a groove photoelectric 510, a limit block 511, a guide device 6, a guide nylon 601, a guide plate 602, a guide seat plate 603, a lateral movement guide rail 7, a vehicle-mounted plate 8, a lateral movement longitudinal beam 9, a lateral movement beam 10, a wiring tail pipe 11, a motor bracket 12, a drive motor 13, and a lateral movement drive sprocket 14. Transverse drive chain 15. Transverse wheel bracket 16. Transverse passive sprocket 17. Transverse rotating wheel 18. Transverse bearing 19. Transverse rotating shaft 20. Transverse long shaft 21. Passive wheel bracket 22. Passive rotating wheel 23. Upper limit rocker switch 24. Lower limit rocker switch 25. Balance chain hanging point 26. Lifting longitudinal beam 27. Balance chain front sprocket 28. Balance chain rear sprocket 29. Balance chain 30. Column 31. Frame longitudinal beam 32. Rear cross beam 33. Front cross beam 34. Motor bracket 2 35. Lifting motor 36. Lifting sprocket 1 37. Lifting sprocket 2 38. Lifting sprocket 3 39. Lifting chain 1 40. Lifting sprocket 4 41. Lifting chain 2 42. Lifting chain pressure plate 43. Lifting cross beam 44. Lifting hanging point 1 45. Lifting hanging point 2 46. Anti-lock A fall hook 47, a hook ring 48, a transverse guide rail 7 is arranged at the lower end of the transverse guide rail 7, a frame steel structure 2 is fixedly installed on the ground outside the transverse guide rail 7, a lifting drive 3 is fixedly installed on the upper end of the frame steel structure 2, a lifting frame 4 is fixedly installed on the lower end of the lifting drive 3, four rotating arm devices 5 are symmetrically installed on the upper end surface of the lifting frame 4, a guide device 6 is fixedly installed on the left upper end surface of the lifting frame 4, a vehicle-mounted plate 8 is placed on the transverse device 1, and a vehicle-mounted plate 8 is placed on the rotating arm device 5, the transverse device 1 includes a transverse longitudinal beam 9, two transverse longitudinal beams 9 are arranged, two transverse cross beams 10 are fixedly installed between the transverse longitudinal beams 9, a wiring tail pipe 11 is fixedly installed on the left side of the transverse cross beam 10, and a motor bracket 12 is fixedly installed on the left end of the front side of the transverse longitudinal beam 9 A driving motor 13 is fixedly mounted on the motor bracket 12, and a transverse driving sprocket 14 is fixedly mounted on the rotating shaft of the output shaft of the driving motor 13. Two transverse wheel brackets 16 are symmetrically mounted on the front of the transverse longitudinal beam 9. Transverse bearings 19 are fixedly mounted on both sides of the transverse wheel bracket 16. A transverse passive sprocket 17 is movably mounted on the right side of the transverse bearing 19. A transverse driving chain 15 is sleeved on the outer sides of the transverse passive sprocket 17 and the transverse driving sprocket 14. A transverse rotating wheel 18 is arranged between the transverse wheel brackets 16. The transverse rotating wheel 18 is stuck on the outer side of the transverse guide rail 7. A transverse rotating shaft 20 is fixedly mounted on the center of the transverse rotating wheel 18. A transverse long shaft 21 is movably mounted between the transverse bearings 19. A passive wheel frame 22 is fixedly mounted on the back of the transverse longitudinal beam 9.Passive rotating wheels 23 are movably installed on both sides of the passive wheel frame 22. The transverse longitudinal beam 9 and the transverse cross beam 10 are made of channel steel and connected by welding to form a door shape for carrying the vehicle-mounted plate 8. In the driving system, the driving motor 13 is used for driving, which is connected to the motor bracket 12 by bolts. The transverse driving sprocket 14 and the passive rotating wheel 23 use standard sprockets, which are connected and driven by the transverse chain. The transverse shaft is connected to the transverse driving sprocket 14 and the transverse rotating wheel 18 by keys and is connected to the transverse wheel bracket 16 welded on the transverse longitudinal beam 9 through the transverse bearing 19. The transverse bearing 19 and the transverse wheel bracket 16 are connected by bolts. The transverse rotating shaft 20 is connected and driven by the transverse long shaft 21. There is a set of driving mechanism arranged on the left side of the transverse device 1, and the other side is a full passive mechanism;

[0027] The frame steel structure 2 includes a column 31, and four columns 31 are symmetrically arranged. A frame longitudinal beam 32 is fixedly installed on the upper end surface of the column 31, a rear cross beam 33 is fixedly installed on the left end of the upper end surface of the frame longitudinal beam 32, and a front cross beam 34 is fixedly installed on the right end of the upper end surface of the frame longitudinal beam 32. An upper limit rocker switch 24 is fixedly installed on the upper left end of the column 31, and the upper limit rocker switch 24 contacts the lifting frame 4. A lower limit rocker switch 25 is fixedly installed on the lower left end of the column 31, and the lower limit rocker switch 25 contacts the lifting frame 4. The lifting frame 4 includes a lifting longitudinal beam 27, and a lifting cross beam 44 is fixedly installed between the lifting longitudinal beams 27. Four hook rings 48 are symmetrically installed on the upper end surface of the lifting frame 4, and two anti-fall hooks are fixedly installed on the lower end surface of the frame longitudinal beam 32 47. The frame steel structure 2 is mainly made of H-shaped steel. This structural form is simple and reliable, with reasonable force and strong bearing capacity. The upper limit rocker switch 24 and the lower limit rocker switch 25 enable the lifting frame 4 to pass through the rocker switch and trigger the switch to realize the perception of the operating state of the driving mechanism, thereby realizing the precise positioning of the lifting movement. An anti-fall hook 47 is provided. After the lifting frame 4 rises to its position, the anti-fall hook 47 is released to prevent the lifting frame 4 from accidentally falling off. During the lifting process of the lifting frame 4, the anti-fall hook 47 is opened, which will not affect the lifting operation. A balance chain hanging point 26 is fixedly installed on the left side of the upper end surface of the frame longitudinal beam 32, a balance chain front sprocket 28 is provided on the left side of the lifting longitudinal beam 27, and a balance chain rear sprocket 29 is provided on the right side of the lifting longitudinal beam 27. A balancing chain 30 is wound around the lower left end of the front sprocket 28 of the balancing chain and the right side of the upper end of the rear sprocket 29 of the balancing chain. The upper end of the balancing chain 30 is fixedly connected to the balancing chain hanging point 26, and the lower end of the balancing chain 30 is fixedly connected to the lower end of the column 31. The balancing chain 30 is used to maintain the front and rear balance of the lifting frame 4. Since the lifting drive 3 is only used to lift the left end of the lifting frame 4, this mechanism is required for balancing. A motor bracket 2 35 is fixedly installed on the right side of the upper end surface of the frame longitudinal beam 32, and a lifting motor 36 is fixedly installed on the motor bracket 2 35. Two lifting sprockets 1 37 are fixedly installed on the right side of the lifting motor 36. A lifting sprocket 2 38 is arranged on the right side of the front front end of the front cross beam 34, and a lifting sprocket 3 39 is arranged on the right side of the rear end of the front cross beam 34. The upper right side of the lifting sprocket 1 37 A lifting chain 1 40 is wound around the outer side of the end, the lower side of the front end of the lifting sprocket 2 38 and the rear side of the upper end of the lifting sprocket 39, a lifting suspension point 1 45 is fixedly installed at the rear end of the lifting crossbeam 44, one end of the lifting chain 1 40 is fixedly connected to the lifting suspension point 1 45, and the other end of the lifting chain 1 40 is fixedly connected to the lower end of the column 31, a lifting sprocket 41 is arranged on the left side of the front front end of the front crossbeam 34, a lifting chain 2 42 is wound around the outer side of the upper end of the left side of the lifting sprocket 1 37 and the rear side of the upper end of the lifting sprocket 41, a lifting suspension point 2 46 is fixedly installed at the front end of the lifting crossbeam 44, one end of the lifting chain 2 42 is fixedly connected to the lifting suspension point 2 46, and the other end of the lifting chain 2 42 is fixedly connected to the lower end of the column 31, and a lifting chain pressing plate 43 is fixedly installed on the right side of the front crossbeam 34.Steering drive is performed by lifting sprocket 1 37, lifting sprocket 2 38, lifting sprocket 3 39 and lifting sprocket 4 41. Since lifting chain 1 40 and lifting chain 2 42 are subjected to large forces, a lifting chain pressure plate 43 is installed on the upper part of lifting sprocket 1 37 to prevent chain jumping;

[0028] The swing arm device 5 includes a motor support plate 501, on which a driving motor and a sprocket 502 are fixedly installed, two swing arm support plates 503 are fixedly installed on the upper end surface of the lifting frame 4, and a diamond-shaped bearing 504 with a seat is fixedly installed on the outer side of the swing arm support plate 503, and a swing arm passive sprocket 505 is fixedly installed on the diamond-shaped bearing 504 with a seat, and a transmission chain 506 is sleeved on the outer side of the driving motor and the sprocket 502 and the swing arm passive sprocket 505, and a swing arm and a swing arm shaft 507 are arranged between the swing arm support plates 503, and the swing arm and the swing arm shaft 507 are fixedly installed The limit block 511 is fitted with the lower end surface of the vehicle-mounted plate 8, a switch plate 508 is fixedly installed on the right side of the diamond bearing 504 with a seat, a switch support plate 509 is fixedly installed on the upper end surface of the lifting frame 4, and a groove photoelectric 510 is fixedly installed on the upper and lower ends of the switch support plate 509, and the lifting frame 4 is connected to the diamond bearing 504 with a seat on the rotating arm support plate 503 by bolts, and the driving motor 508 is fixedly installed on the motor support plate 501 by using bolts. The machine and sprocket 502 are driven, and two small groove photoelectric 510 and switch plate 508 installed on the switch support plate 509 made of laser cutting of steel plate are used to realize rotation and precise positioning. The limit block 511 made of steel plate cutting installed on the rotating arm support plate 503 by bolts is used to perform movement positioning and realize the bearing of the pallet, so as to realize the connection between the vehicle-mounted plate 8 and the lifting frame 4, and realize the action of lifting the vehicle-mounted plate 8 to the upper layer by using the lifting frame 4. The guide device 6 includes a guide seat plate 603, and the guide seat plate 603 is fixed Installed on the lifting frame 4, a guide plate 602 is fixedly installed on the back of the guide seat plate 603, and a guide nylon 601 is fixedly installed on the left front of the guide plate 602. The guide nylon 601 is concave in shape and is engaged with the frame steel structure 2. The nylon material has the advantages of light weight, wear resistance, easy replacement, and no friction noise. The device can realize the full-range guidance of the lifting frame 4, and the lifting positioning error is less than 2mm, which meets the needs of the AGV lifting plate parking robot using the vehicle-mounted plate 8 and the vehicle and the simple lifting parking equipment for pallet exchange.

[0029] Working principle: The lateral movement device 1 moves horizontally to the empty space, making room for the lower layer. The AGV lift robot moves the vehicle-mounted plate 8 (including the vehicle) to the designated position. The vehicle-mounted plate 8 is accurately positioned by the AGV's own QR code, geomagnetic, laser and other positioning methods. At this time, the lifting frame 4 is at the upper limit position. The PLC issues a motion command and controls the drive motor 13 in the drive system to reverse, driving the lifting sprocket 1 37 and the lifting chain 2 42 to move downward, and the lifting frame 4 is steadily lowered under the constraint of the guide device 6 until The lifting frame 4 triggers the lower limit rocker switch 25, and the PLC issues a stop command. At this time, the lifting frame 4 is at the ground position, and the PLC controls the arm drive motor and the sprocket 502 to reverse, driving the transmission chain 506, the arm passive sprocket 505 and the arm and arm shaft 507 to rotate downward, and the switch plate 508 rotates in the opposite direction relative to the rotation direction of the arm and the arm shaft 507. The arm and the arm shaft 507 rotate upward by 90 degrees, and the switch plate 508 rotates downward by 90 degrees, triggering the lower limit rocker switch 25. The groove photoelectric 510 and the lower groove photoelectric 510 transmit the upper position signal to the PLC, and the PLC instructs to stop running. After the rotating arm and the rotating arm shaft 507 are released (descended) to the position, the rotating arm and the rotating arm shaft 507 are in contact with the pallet. In this state, the rotating arm and the rotating arm shaft 507 and the lifting frame 4 effectively carry the vehicle-mounted plate 8 and the vehicle, realizing the carrying and lifting operation of the simple lifting garage and the parking robot and the pallet. The PLC issues a motion command and controls the driving motor 13 in the driving system to rotate forward, driving the lifting frame 4 to carry out the lifting and lowering operations. The lifting sprocket 37 and the lifting chain 42 move upward, and the lifting frame 4, the rotating arm device 5 and the vehicle-borne board 8 and the vehicle carried thereon rise steadily under the constraint of the guide device 6 until the lifting frame 4 triggers the upper limit rocker switch 24, and the PLC issues a stop operation command. At this time, the lifting frame 4 is in the upper position. After the storage operation of the upper vehicle-borne board 8 is completed, the transverse movement device 1 is transversely moved to the lower space through the transverse movement guide rail 7, and the AGV can put another vehicle-borne board 8 and the vehicle onto the transverse movement device 1 to realize double-layer storage.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lifting and lateral movement parking device suitable for a lift-plate AGV parking robot, comprising a lateral movement device (1), characterized in that: The lower end of the transverse movement device (1) is provided with a transverse movement guide rail (7), a frame steel structure (2) is fixedly installed on the ground outside the transverse movement guide rail (7), a lifting drive (3) is fixedly installed on the upper end of the frame steel structure (2), a lifting frame (4) is fixedly installed on the lower end of the lifting drive (3), four rotating arm devices (5) are symmetrically installed on the upper end surface of the lifting frame (4), a guide device (6) is fixedly installed on the upper end surface on the left side of the lifting frame (4), and the transverse movement device (1) is fixedly installed on the ground outside the transverse movement guide rail (7), a lifting drive (3) is fixedly installed on the upper end of the frame steel structure (2), and a lifting frame (4) is fixedly installed on the lower end of the lifting drive (3). ) is placed on a vehicle-mounted plate (8), the rotating arm device (5) is placed on a vehicle-mounted plate (8), the transverse movement device (1) includes a transverse movement longitudinal beam (9), two transverse movement longitudinal beams (9) are provided, two transverse movement crossbeams (10) are fixedly installed between the transverse movement longitudinal beams (9), a wiring tail pipe (11) is fixedly installed on the left side of the transverse movement crossbeam (10), a motor bracket (12) is fixedly installed on the left end of the front side of the transverse movement longitudinal beam (9), and the motor bracket (12) is fixedly installed on A driving motor (13) is installed, and a transverse driving sprocket (14) is fixedly installed on the rotating shaft of the output shaft of the driving motor (13). Two transverse wheel brackets (16) are symmetrically installed on the front side of the transverse longitudinal beam (9). Transverse bearings (19) are fixedly installed on both sides of the transverse wheel bracket (16). A transverse passive sprocket (17) is movably installed on the right side of the transverse bearing (19). The outer sides of the transverse passive sprocket (17) and the transverse driving sprocket (14) are sleeved with transverse A transverse drive chain (15) is provided between the transverse wheel brackets (16), the transverse rotating wheel (18) is clamped on the outer side of the transverse guide rail (7), a transverse rotating shaft (20) is fixedly installed at the center of the transverse rotating wheel (18), a transverse long shaft (21) is movably installed between the transverse bearings (19), a passive wheel frame (22) is fixedly installed on the back side of the transverse longitudinal beam (9), and passive rotating wheels (23) are movably installed on both sides of the passive wheel frame (22); The frame steel structure (2) comprises a column (31), four of which are symmetrically arranged, a frame longitudinal beam (32) being fixedly mounted on the upper end surface of the column (31), a rear cross beam (33) being fixedly mounted on the left end of the upper end surface of the frame longitudinal beam (32), a front cross beam (34) being fixedly mounted on the right end of the upper end surface of the frame longitudinal beam (32), an upper limit rocker switch (24) being fixedly mounted on the left upper end of the column (31), and the upper limit rocker switch (24) being fixedly mounted on the upper end surface of the frame longitudinal beam (32). The lifting frame (4) is in contact with the lifting frame, a lower limit rocker switch (25) is fixedly installed on the left lower end of the column (31), and the lower limit rocker switch (25) is in contact with the lifting frame (4), the lifting frame (4) includes a lifting longitudinal beam (27), and a lifting cross beam (44) is fixedly installed between the lifting longitudinal beams (27), four hook rings (48) are symmetrically installed on the upper end surface of the lifting frame (4), and two anti-fall hooks (47) are fixedly installed on the lower end surface of the frame longitudinal beam (32); The swing arm device (5) comprises a motor support plate (501), a driving motor and a sprocket (502) are fixedly mounted on the motor support plate (501), two swing arm support plates (503) are fixedly mounted on the upper end surface of the lifting frame (4), a diamond-shaped bearing with a seat (504) is fixedly mounted on the outer side of the swing arm support plate (503), a swing arm passive sprocket (505) is fixedly mounted on the diamond-shaped bearing with a seat (504), a transmission chain (506) is sleeved on the outer side of the driving motor and sprocket (502) and the swing arm passive sprocket (505), a swing arm and a swing arm shaft (507) are arranged between the swing arm support plates (503), and a limit block (511) is fixedly mounted on the swing arm and the swing arm shaft (507); The guide device (6) comprises a guide seat plate (603), the guide seat plate (603) is fixedly mounted on the lifting frame (4), a guide plate (602) is fixedly mounted on the back side of the guide seat plate (603), and a guide nylon (601) is fixedly mounted on the left front side of the guide plate (602).

2. The lifting and lateral movement parking device suitable for a lift plate type AGV parking robot according to claim 1, characterized in that: A balance chain hanging point (26) is fixedly mounted on the left side of the upper end surface of the frame longitudinal beam (32), a balance chain front sprocket (28) is arranged on the left side of the lifting longitudinal beam (27), and a balance chain rear sprocket (29) is arranged on the right side of the lifting longitudinal beam (27).

3. The lifting and lateral movement parking device suitable for a lift plate type AGV parking robot according to claim 2 is characterized in that: A balance chain (30) is wound around the left lower end of the balance chain front sprocket (28) and the right upper end of the balance chain rear sprocket (29), the upper end of the balance chain (30) is fixedly connected to the balance chain hanging point (26), and the lower end of the balance chain (30) is fixedly connected to the lower end of the column (31).

4. The lifting and lateral movement parking device suitable for a lift plate type AGV parking robot according to claim 1, characterized in that: A motor bracket 2 (35) is fixedly mounted on the right side of the upper end surface of the frame longitudinal beam (32), a lifting motor (36) is fixedly mounted on the motor bracket 2 (35), two lifting sprockets 1 (37) are fixedly mounted on the right side of the lifting motor (36), a lifting sprocket 2 (38) is arranged on the right side of the front end inside the front cross beam (34), a lifting sprocket 3 (39) is arranged on the right side of the rear end inside the front cross beam (34), the upper outer side of the right side of the lifting sprocket 1 (37), the lower side of the front end of the lifting sprocket 2 (38) and the lifting sprocket 3 (39) are arranged on the right side of the rear end inside the front cross beam (34), and the lifting sprocket 1 (37) is fixedly mounted on the right side of the upper end of the lifting sprocket 1 (37), the lower side of the front end of the lifting sprocket 2 (38) and the lifting sprocket 3 (39) are fixedly mounted on the right side of the lifting sprocket 1 (37). A lifting chain one (40) is wound around the rear side of the upper end of sprocket three (39), a lifting suspension point one (45) is fixedly installed at the rear end of the lifting beam (44), one end of the lifting chain one (40) is fixedly connected to the lifting suspension point one (45), and the other end of the lifting chain one (40) is fixedly connected to the lower end of the column (31), a lifting sprocket four (41) is arranged on the left side of the front end of the front beam (34), and a lifting chain two (42) is wound around the outer side of the upper end of the left side of the lifting sprocket one (37) and the rear side of the upper end of the lifting sprocket four (41).

5. The lifting and lateral movement parking device suitable for a lift plate type AGV parking robot according to claim 4 is characterized in that: A lifting point 2 (46) is fixedly installed at the front end of the lifting beam (44), one end of the lifting chain 2 (42) is fixedly connected to the lifting point 2 (46), the other end of the lifting chain 2 (42) is fixedly connected to the lower end of the column (31), and a lifting chain pressure plate (43) is fixedly installed on the right side of the front beam (34).

6. The lifting and lateral movement parking device suitable for a lift plate type AGV parking robot according to claim 1, characterized in that: The limit block (511) is fitted with the lower end surface of the vehicle-mounted plate (8); a switch plate (508) is fixedly mounted on the right side of the diamond-shaped bearing with seat (504); a switch support plate (509) is fixedly mounted on the upper end surface of the lifting frame (4); and groove photoelectric devices (510) are fixedly mounted on the upper and lower ends of the switch support plate (509).

7. The lifting and lateral movement parking device suitable for a lift plate type AGV parking robot according to claim 6, characterized in that: The guide nylon (601) is concave-shaped, and the guide nylon (601) is engaged with the frame steel structure (2).

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