Hydraulic lifting type parking AGV, parking AGV system and parking method

Abstract

The embodiment of the present specification provides a hydraulic lifting type parking AGV, a parking AGV system and a parking method. The hydraulic lifting type parking AGV comprises an AGV trolley and a scissor type hydraulic lifting mechanism. The scissor type hydraulic lifting mechanism is installed on the top of the AGV trolley. The scissor type hydraulic lifting mechanism comprises a hydraulic telescopic rod and a scissor arm. A bent arm assembly is installed on the scissor type hydraulic lifting mechanism. The bent arm assembly is hinged with the hydraulic telescopic rod and the scissor arm. When the scissor type hydraulic lifting mechanism is contracted to the minimum state, the hydraulic telescopic rod reaches the maximum starting angle. By transferring the lifting mechanism of the vertical warehouse parking space to the AGV trolley, the vehicle carrying plate can be placed on the parking space through the AGV trolley and the scissor type hydraulic lifting mechanism. The parking and vehicle taking operations can be completed without installing the lifting mechanism on the vertical warehouse parking space.

Description

Technical Field

[0001] This manual relates to the field of AGV parking technology, specifically to a hydraulic lifting parking AGV, a parking AGV system, and a parking method. Background Technology

[0002] In existing AGV parking technology, parking and handling AGVs are generally equipped with screw lifting mechanisms to complete lifting with a short stroke. In order to meet the parking and retrieval needs, a lifting mechanism also needs to be installed at each parking space, resulting in a long installation and debugging cycle and high construction and maintenance costs. Summary of the Invention

[0003] To address the problems in the background art, this specification provides a hydraulic lifting parking AGV, a parking AGV system, and a parking method. The lifting mechanism of the vertical warehouse parking space is transferred to the AGV trolley. The vehicle platform can be placed on the parking space through the AGV trolley and the scissor-type hydraulic lifting mechanism, and the parking and retrieval operations can be completed without installing a lifting mechanism on the vertical warehouse parking space.

[0004] This specification provides the following technical solution through its embodiments: a hydraulic lifting parking AGV, comprising:

[0005] AGV (Automated Guided Vehicle) cart;

[0006] A scissor-type hydraulic lifting mechanism is installed on the top of the AGV trolley. The scissor-type hydraulic lifting mechanism includes a hydraulic telescopic rod and a scissor arm. A bending arm assembly is installed on the scissor-type hydraulic lifting mechanism. The bending arm assembly is hinged to both the hydraulic telescopic rod and the scissor arm. When the scissor-type hydraulic lifting mechanism is retracted to its minimum state, the hydraulic telescopic rod reaches its maximum starting angle.

[0007] Preferably, the bending arm assembly includes two sets of bending arm plates, both sets of bending arm plates are hinged to the telescopic end of the hydraulic telescopic rod via a first pin, and both sets of bending arm plates are hinged to the scissor arm via a second pin.

[0008] Preferably, the scissor-type hydraulic lifting mechanism further includes a lifting plate, and the lifting plate has a first through groove along its length.

[0009] Preferably, the upper moving end of the scissor arm is connected to a slide rod, and a mounting base is installed on the slide rod. The top of the mounting base extends into the first through groove. A sliding mechanism is provided on the top of the mounting base, and an interface plate is provided on the top of the sliding mechanism. A storage slider interface and a retrieval slider interface are provided on the top of the interface plate. A cavity is opened in the mounting base, and a first motor is installed in the cavity. The output end of the first motor is connected to the interface plate through a first rotating shaft.

[0010] Preferably, both the parking slider interface and the retrieval slider interface are provided in two sets.

[0011] Preferably, a first sensor is installed on the first motor, the first sensor is connected to the first motor, and the first sensor is wirelessly connected to an external controller.

[0012] Preferably, the sliding mechanism includes a fixed base, a slider, a second motor, and a lead screw. The fixed base is connected to the top of the mounting base. A sliding groove is formed on the fixed base, and a second through groove is formed at the bottom of the sliding groove. The first motor passes through the second through groove. The bottom of the slider is disposed in the sliding groove, and the top of the slider is connected to the interface plate. The second motor is mounted on the fixed base, and the output end of the second motor is connected to the lead screw. The lead screw and the slider are screwed together.

[0013] Preferably, the length of the second through groove is the same as the length of the chamber;

[0014] And / or, the groove includes a trapezoidal groove.

[0015] A parking AGV system includes a parking garage, a vehicle carrier, a vertical parking space, and a hydraulic lifting parking AGV as described in any of the preceding claims; the hydraulic lifting parking AGV is used to transport the vehicle carrier with a parked vehicle from the parking garage to the vertical parking space, and / or the hydraulic lifting parking AGV is used to transport the vehicle carrier with a parked vehicle from the vertical parking space to the parking garage.

[0016] A parking method, based on the parking AGV system as described above, the method comprising:

[0017] Parking process:

[0018] The AGV moves to the car platform under the parking garage where the vehicle is parked. The hydraulic telescopic rod drives the scissor arm through the curved arm assembly. The scissor-type hydraulic lifting mechanism lifts the car platform, causing it to detach from the parking garage support platform.

[0019] The AGV trolley moves to the vertical storage parking space, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform where the vehicle is parked and places the vehicle platform on the vertical storage parking space.

[0020] Car retrieval process:

[0021] The AGV trolley moves to the vertical storage parking space, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform, separating the vehicle platform from the vertical storage parking space.

[0022] The AGV moves to the parking garage, where a scissor-type hydraulic lifting mechanism lifts the vehicle platform and places it on the parking garage support platform.

[0023] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least:

[0024] By installing a scissor-type hydraulic lifting mechanism on the AGV trolley, a larger lifting stroke can be achieved. The lifting mechanism of the vertical warehouse parking space is transferred to the AGV trolley. The car carrier can be placed on the parking space by the AGV trolley and the scissor-type hydraulic lifting mechanism, without the need to install the lifting mechanism on the vertical warehouse parking space. The curved arm assembly is hinged to the hydraulic telescopic rod and the scissor arm. The curved arm assembly can prevent the hydraulic telescopic rod from lying flat under its own weight, so that the hydraulic telescopic rod has a large starting angle in the retracted state of the scissor-type hydraulic lifting mechanism, ensuring easy lifting under heavy load. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a first-view structural schematic diagram of a hydraulic lifting parking AGV provided by the present invention;

[0027] Figure 2 This is a second-view structural schematic diagram of a hydraulic lifting parking AGV provided by the present invention;

[0028] Figure 3 This is a third-view structural diagram of a hydraulic lifting parking AGV provided by the present invention;

[0029] Figure 4 This is a schematic diagram of the curved arm plate structure of a hydraulic lifting parking AGV provided by the present invention;

[0030] Figure 5 This is a schematic diagram of the connection structure between the mounting base and the sliding mechanism of a hydraulic lifting parking AGV provided by the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the fixed base of a hydraulic lifting parking AGV provided by the present invention;

[0032] Figure 7 This is a schematic diagram of the vehicle carrier plate of the parking AGV system provided by the present invention.

[0033] In the diagram, 1. AGV trolley, 2. Scissor arm, 3. Hydraulic telescopic rod, 4. Bending arm plate, 5. First pin, 6. Second pin, 7. Lifting plate, 8. First through slot, 9. Slide rod, 10. Mounting base, 11. Second motor, 12. Interface plate, 13. Chamber, 14. First motor, 15. Fixed base, 16. Lead screw, 17. Slider, 18. Storage slider interface, 19. Retrieval slider interface, 20. Second through slot, 21. Slide groove, 22. Car carrier plate, 23. Connection interface, 24. Telescopic arm. Detailed Implementation

[0034] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0035] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0037] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0038] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0039] Currently, AGV parking is becoming increasingly common. However, existing AGV parking systems have the following main drawbacks:

[0040] 1. Each parking space in an automated parking garage needs to be equipped with a lifting mechanism to meet parking and retrieval operations. Since the parking space itself is relatively compact, the lifting mechanism will occupy the limited space of the parking space. Because each parking space in an automated parking garage needs to be equipped with a lifting mechanism, the material cost, construction cost and maintenance cost are relatively large. At the same time, the electrical control and scheduling programs are relatively complex, resulting in longer parking or retrieval times, lower execution efficiency, higher power load, and higher risks of safety and failure rate.

[0041] To meet the requirements of parking and retrieval operations, the parking and transport AGV is equipped with a screw lifting mechanism with a short stroke, resulting in a small load capacity. This causes the vehicle platform support feet on the AGV to easily scrape the ground during heavy-duty transport.

[0042] After extensive and in-depth experiments, the inventors designed a hydraulic lifting parking AGV, a parking AGV system, and a parking method. The lifting mechanism of the vertical warehouse parking space is transferred to the AGV trolley. The vehicle platform can be placed on the parking space through the AGV trolley and the scissor-type hydraulic lifting mechanism, and the parking and retrieval operations can be completed without installing a lifting mechanism on the vertical warehouse parking space.

[0043] The technical problem solved by this invention is to address the issues of high parking costs and cumbersome parking operations for AGVs.

[0044] More specifically, the solution adopted by the present invention includes: by installing a scissor-type hydraulic lifting mechanism on the AGV trolley, a large stroke lifting can be achieved, transferring the lifting mechanism of the vertical warehouse parking space to the AGV trolley. The vehicle platform can be placed on the parking space by the AGV trolley and the scissor-type hydraulic lifting mechanism, without the need to install a lifting mechanism on the vertical warehouse parking space. By hinged to the hydraulic telescopic rod and the scissor arm by the curved arm assembly, the curved arm assembly can prevent the hydraulic telescopic rod from lying flat under its own weight, so that the hydraulic telescopic rod has a large starting angle in the retracted state of the scissor-type hydraulic lifting mechanism, ensuring easy lifting under heavy load.

[0045] The technical solutions provided by the various embodiments of this application are described below with reference to the accompanying drawings.

[0046] like Figures 1-3 As shown, a hydraulic lifting parking AGV includes:

[0047] AGV trolley 1 can be improved from the existing AGV trolley 1 by opening a receiving slot on the top of the AGV trolley 1. When the scissor-type hydraulic lifting mechanism is fully retracted, it is completely received in the receiving slot, avoiding excessive height.

[0048] The scissor-type hydraulic lifting mechanism is simple and compact in structure. In terms of vertical height, it achieves a relatively small height in the fully retracted state and a large stroke height in the fully extended state. The scissor-type hydraulic lifting mechanism is installed on the top of the AGV trolley 1. The AGV trolley 1 and the scissor-type hydraulic lifting mechanism can place the vehicle platform on the parking space without requiring a separate lifting mechanism on the parking space in the automated storage and retrieval system. The scissor-type hydraulic lifting mechanism includes a hydraulic telescopic rod 3 and a scissor arm 2. Driven by the hydraulic telescopic rod 3, it can generate greater power, easily achieve stepless speed regulation, and has a large speed regulation range. The mechanism can be adjusted during operation, exhibits good stability, and easily achieves overload protection. A curved arm assembly is installed on the scissor-type hydraulic lifting mechanism. This curved arm assembly is hinged to both the hydraulic telescopic rod 3 and the scissor arm 2. By using the curved arm assembly, the hydraulic telescopic rod 3 drives the scissor arm 2. The curved arm assembly prevents the hydraulic telescopic rod 3 from lying flat under its own weight, ensuring that the hydraulic telescopic rod 3 has a large starting angle in the retracted state of the scissor-type hydraulic lifting mechanism, guaranteeing easy lifting under heavy loads. The shape and length of the curved arm assembly and the scissor arm 2 can be adjusted according to actual conditions to achieve different movement effects.

[0049] It should be noted that, in this embodiment, two sets of scissor-type hydraulic lifting mechanisms are provided. The two sets of scissor-type hydraulic lifting mechanisms are respectively set on the top sides of the AGV trolley 1. Both sets of scissor-type hydraulic lifting mechanisms are equipped with bending arm assemblies. The two sets of scissor-type hydraulic lifting mechanisms are driven by two hydraulic telescopic rods 3. The two sets of scissor-type hydraulic lifting mechanisms can be raised and lowered synchronously to ensure stability during lifting.

[0050] like Figures 1-4As shown, in some embodiments, the bending arm assembly includes two sets of bending arm plates 4. The two sets of bending arm plates 4 are hinged to the telescopic end of the hydraulic telescopic rod 3 via a first pin 5. The two sets of bending arm plates 4 are also hinged to the scissor arm 2 via a second pin 6. By setting two sets of bending arm plates 4, the stability of the scissor arm 2 when the hydraulic telescopic rod 3 drives it is ensured. The two sets of bending arm plates 4 are respectively set on both sides of the telescopic end of the hydraulic telescopic rod 3. The two sets of bending arm plates 4 are hinged to both sides of the hydraulic telescopic rod 3 via the first pin 5, so that the hydraulic telescopic rod 3 and the two sets of bending arm plates 4 can rotate relative to each other. The position where the bending arm plates 4 and the scissor arm 2 are connected via the second pin 6 can be selected according to the actual situation. By changing the position where the bending arm plates 4 and the scissor arm 2 are connected via the second pin 6, the distance between the junction of the hydraulic telescopic rod 3 and the bending arm plates 4 and the hinge point between the scissor arm 2 and the bending arm plates 4 can be adjusted, thereby adjusting the starting angle of the hydraulic telescopic rod 3.

[0051] It should be noted that a hinge block can be installed on the telescopic rod of the hydraulic telescopic rod 3 to facilitate the hinge connection between the boom plate 4 and the hydraulic telescopic rod 3.

[0052] like Figure 1 and Figure 3 As shown, in some embodiments, the scissor-type hydraulic lifting mechanism further includes a lifting plate 7, on which a first through groove 8 is provided along the length direction. The lifting plate 7 supports the vehicle platform, and the hydraulic telescopic rod 3 drives the lifting plate 7 to move up and down through the bending arm assembly and the scissor arm 2. The position and height of the vehicle platform on the lifting plate 7 can be adjusted, thereby completing the vehicle storage and retrieval operations.

[0053] like Figures 1-3 and Figure 5 As shown, in some embodiments, the upper moving end of the scissor arm 2 is connected to a slide rod 9, and a mounting base 10 is installed on the slide rod 9. The top of the mounting base 10 extends into the first through groove 8. A sliding mechanism is provided on the top of the mounting base 10, and an interface plate 12 is provided on the top of the sliding mechanism. A storage slider interface 18 and a retrieval slider interface 19 are provided on the top of the interface plate 12. When the hydraulic telescopic rod 3 drives the scissor arm 2 to move, the upper moving end of the scissor arm 2 slides relative to the lifting plate 7. The slide rod 9 moves together with the upper moving end of the scissor arm 2. The slide rod 9 drives the mounting base 10 to move, and the mounting base 10 slides in the first through groove 8. The mounting base 10 drives the interface plate 12 to move through the sliding structure, so that the position of the interface plate 12 can be adjusted, thereby adjusting the position of the storage slider interface 18 and the retrieval slider interface 19.

[0054] The mounting base 10 has a chamber 13, and a first motor 14 is installed in the chamber 13. The output end of the first motor 14 is connected to a first rotating shaft. The first rotating shaft passes through a sliding mechanism and is connected to the interface plate 12. The first rotating shaft and the sliding mechanism are rotatably connected. The first motor 14 drives the interface plate 12 to rotate through the first rotating shaft. The parking slider interface 18 and the retrieval slider interface 19 rotate together with the interface plate 12, which can realize the conversion between the parking slider interface 18 and the retrieval slider interface 19.

[0055] like Figure 5 As shown, furthermore, both the parking slider interface 18 and the retrieval slider interface 19 are provided in two sets. By providing two sets of parking slider interfaces 18 and two sets of retrieval slider interfaces 19, the two sets of parking slider interfaces 18 and two sets of retrieval slider interfaces 19 can correspond to the first and second floors of the vertical parking space, respectively. In the figure, the parking slider interfaces 18 and retrieval slider interfaces that are shorter in distance correspond to the first floor of the vertical parking space, while the parking slider interfaces and retrieval slider interfaces that are longer in distance correspond to the second floor of the vertical parking space.

[0056] Furthermore, a first sensor is installed on the first motor 14. The first sensor controls the first motor 14 and is wirelessly connected to an external controller. The first motor 14 can be controlled by the first sensor and the first sensor can be controlled by the external controller. The start and stop operations of the first motor 14 are relatively convenient.

[0057] like Figures 5-6 As shown, in some embodiments, the sliding mechanism includes a fixed base 15, a slider 17, a second motor 11, and a lead screw 16. The fixed base 15 is connected to the top of the mounting base 10. A sliding groove 21 is formed on the fixed base 15, and a second through groove 20 is formed at the bottom of the sliding groove 21. The first motor 14 passes through the second through groove 20. The bottom of the slider 17 is disposed in the sliding groove 21, and the top of the slider 17 is connected to the interface plate 12. The second motor 11 is mounted on the fixed base 15, and the output end of the second motor 11 is connected to the interface plate 12. The lead screw 16 is connected to the slider 17. The lead screw 16 is screwed to the slider 17. The second motor 11 drives the lead screw 16 to rotate. The slider 17 moves along the lead screw 16 in the slide groove 21. The slider 17 drives the interface plate 12 to move. The storage slider interface 18 and the retrieval slider interface 19 move together with the interface plate 12. The positions of the storage slider interface 18 and the retrieval slider interface 19 can be adjusted. When the slider 17 moves, the first motor 14 is driven to slide in the chamber 13 through the first rotating shaft, so that the first motor 14, the first rotating shaft and the interface plate 12 move synchronously with the slider 17.

[0058] Furthermore, a second sensor is installed on the second motor 11. The second sensor is connected to the second motor 11 and is wirelessly connected to an external controller. The second motor 11 can be controlled by the second sensor and the second sensor can be controlled by the external controller. The start and stop operations of the second motor 11 are relatively convenient.

[0059] In some embodiments, the length of the second through groove 20 is the same as the length of the chamber 13. The fact that the length of the second through groove 20 is the same as the length of the chamber 13 can prevent the first motor 14 from contacting the inner wall of the second through groove 20 when it moves in the chamber 13, thus ensuring that the first motor 14 moves the distance of the slider 17.

[0060] like Figure 6 As shown, in some embodiments, the slide 21 includes a trapezoidal slide 21. By setting the trapezoidal slide 21, it is possible to prevent the slider 17 from separating from the slide 21, so that the slider 17 can only move along the direction of the slide 21.

[0061] Please see Figures 1-6 The following will describe the specific working process of the hydraulic lifting parking AGV:

[0062] When the scissor arm 2 is in the retracted state, the bending arm assembly can prevent the hydraulic telescopic rod 3 from lying flat under its own weight, so that the hydraulic telescopic rod 3 of the scissor hydraulic lifting mechanism has a large starting angle in the retracted state, ensuring easy lifting under heavy load;

[0063] The hydraulic telescopic rod 3 drives the scissor arm 2 to move via the bending arm assembly. The scissor arm 2 drives the lifting plate 7 to move, allowing adjustment of the position and height of the lifting plate 7. When the scissor arm 2 moves, its upper moving end slides relative to the lifting plate 7. The sliding rod 9 moves together with the upper moving end of the scissor arm 2, driving the mounting base 10 to move. The mounting base 10 slides within the first through groove 8. The mounting base 10 drives the interface plate 12 to move via the sliding structure, allowing adjustment of the position of the interface plate 12, thereby adjusting the positions of the parking slider interface 18 and the retrieval slider interface 19. When it is necessary to switch between the parking slider interface 18 and the retrieval slider interface 19, the first motor 14 is started by controlling the first sensor via an external controller. The first motor 14 drives the interface plate 12 to rotate via the first rotating shaft. The car storage slider interface 18 and the car retrieval slider interface 19 rotate together with the interface plate 12, enabling the switching between the car storage slider interface 18 and the car retrieval slider interface 19. When further adjustment of the positions of the car storage slider interface 18 and the car retrieval slider interface 19 is required, the second motor 11 is started, which drives the lead screw 16 to rotate. The slider 17 moves along the lead screw 16 in the slide groove 21, and the slider 17 drives the interface plate 12 to move. The car storage slider interface 18 and the car retrieval slider interface 19 move together with the interface plate 12, enabling further adjustment of their positions. When the slider 17 moves, it drives the first motor 14 to slide in the chamber 13 through the first rotating shaft, so that the first motor 14, the first rotating shaft, and the interface plate 12 move synchronously with the slider 17.

[0064] like Figures 1-7 As shown, based on the same inventive concept, this specification provides a parking AGV system, including a parking garage, a vehicle carrier 22, a vertical parking space, and a hydraulic lifting parking AGV as described in any of the above embodiments; the hydraulic lifting parking AGV is used to transport the vehicle carrier 22 with a parked vehicle from the parking garage to the vertical parking space, and / or the hydraulic lifting parking AGV is used to transport the vehicle carrier 22 with a parked vehicle from the vertical parking space to the parking garage.

[0065] In practice, by using the aforementioned hydraulic lifting parking AGV, the lifting mechanism of the vertical warehouse parking space is transferred to the AGV trolley 1. The vehicle platform 22 can be placed on the parking space through the AGV trolley 1 and the scissor-type hydraulic lifting mechanism. The parking and vehicle retrieval operations can be completed without installing a lifting mechanism on the vertical warehouse parking space.

[0066] It should be noted that, as Figure 7As shown, the vehicle carrier plate 22 is provided with a connection interface 23 that cooperates with the parking slider interface 18 and / or the retrieval slider interface 19. A telescopic arm 24 is connected to the connection interface. The parking slider interface 18 and / or the retrieval slider interface 19 move by driving the connection interface 23, so that the telescopic arm 24 extends or retracts, thereby making the telescopic arm 24 contact or separate from the support platform in the parking room and / or the hanging arm on the vertical parking space.

[0067] Based on the same inventive concept, embodiments of this specification provide a parking method, based on the parking AGV system as described above, the method comprising:

[0068] Parking process:

[0069] The car owner parks the vehicle on the vehicle platform 22 in the parking garage. The AGV trolley 1 moves to the area below the vehicle platform 22 where the vehicle is parked. The hydraulic telescopic rod 3 drives the scissor arm 2 to move through the curved arm assembly. The scissor-type hydraulic lifting mechanism lifts the vehicle platform 22, causing the vehicle platform 22 to detach from the parking garage support platform.

[0070] During the lifting of the vehicle platform 22, the first sensor is controlled by the external controller to start the first motor 14. The first motor 14 drives the interface plate 12 to rotate through the first rotating shaft, so that the storage slider interface 18 moves to the position corresponding to the connection interface 23 on the vehicle platform 22.

[0071] The AGV trolley 1 moves to the vertical warehouse parking space, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform 22 where the vehicle is parked and places the vehicle platform 22 on the vertical warehouse parking space.

[0072] During the lifting process of the vehicle platform 22, the second motor 11 drives the lead screw 16 to rotate, and the slider 17 moves along the lead screw 16 in the slide groove 21. The slider 17 drives the interface plate 12 to move, and the parking slider interface 18 and the retrieval slider interface 19 move together with the interface plate 12. The parking slider interface 18 drives the connection interface 23 on the vehicle platform 22 to move in the first direction, so that the telescopic arm 24 extends. The telescopic arm 24 extends out of the vehicle platform 22, so that the part of the telescopic arm 24 extending out of the vehicle platform 22 lands on the hanging arm in the vertical parking space.

[0073] Car retrieval process:

[0074] The AGV trolley 1 moves to the vertical warehouse parking space, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform 22, separating the vehicle platform 22 from the vertical warehouse parking space.

[0075] During the lifting of the vehicle platform 22, the first sensor is controlled by the external controller to start the first motor 14. The first motor 14 drives the interface plate 12 to rotate through the first rotating shaft, so that the vehicle retrieval slider interface 19 moves to the position corresponding to the connection interface 23 on the vehicle platform 22. The second motor 11 drives the lead screw 16 to rotate (rotate in the opposite direction). The slider 17 moves along the lead screw 16 in the slide groove 21. The slider 17 drives the interface plate 12 to move. The storage slider interface 18 and the retrieval slider interface 19 move together with the interface plate 12. The retrieval slider interface 19 drives the connection interface 23 on the vehicle platform 22 to move in the second direction (the second direction is opposite to the first direction), so that the telescopic arm 24 retracts.

[0076] The AGV trolley 1 moves to the parking room, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform 22 on which the vehicle is parked, so that the vehicle platform 22 is placed on the parking room support platform.

[0077] During the lifting process of the vehicle platform 22, the second motor 11 drives the lead screw 16 to rotate, and the slider 17 moves along the lead screw 16 in the slide groove 21. The slider 17 drives the interface plate 12 to move, and the parking slider interface 18 and the retrieval slider interface 19 move together with the interface plate 12. The parking slider interface 18 drives the connection interface 23 on the vehicle platform 22 to move in the first direction, so that the telescopic arm 24 extends. The telescopic arm 24 extends out of the vehicle platform 22, so that the part of the telescopic arm 24 extending out of the vehicle platform 22 falls on the parking room support platform.

[0078] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the method embodiments described later are relatively simple in description because they correspond to the system; relevant parts can be referred to the descriptions in the system embodiments.

[0079] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A hydraulic lifting parking AGV, characterized in that, include: AGV (Automated Guided Vehicle) cart; A scissor-type hydraulic lifting mechanism is installed on the top of the AGV trolley. The scissor-type hydraulic lifting mechanism includes a hydraulic telescopic rod and a scissor arm. A bending arm assembly is installed on the scissor-type hydraulic lifting mechanism. The bending arm assembly is hinged to both the hydraulic telescopic rod and the scissor arm. When the scissor-type hydraulic lifting mechanism is retracted to its minimum state, the hydraulic telescopic rod reaches its maximum starting angle. The scissor-type hydraulic lifting mechanism further includes a lifting plate, on which a first through groove is formed along its length; the upper moving end of the scissor arm is connected to a sliding rod, and a mounting base is installed on the sliding rod. The top of the mounting base extends into the first through groove, and a sliding mechanism is provided on the top of the mounting base. An interface plate is provided on the top of the sliding mechanism, and a storage slider interface and a retrieval slider interface are provided on the top of the interface plate. A chamber is formed inside the mounting base, and a first motor is installed inside the chamber. The output end of the first motor is connected to the interface plate through a first rotating shaft.

2. The hydraulic lifting parking AGV according to claim 1, characterized in that, The boom assembly includes two sets of boom plates, both sets of boom plates are hinged to the telescopic end of the hydraulic telescopic rod via a first pin, and both sets of boom plates are hinged to the scissor arm via a second pin.

3. The hydraulic lifting parking AGV according to claim 1, characterized in that, Both the parking slider interface and the retrieval slider interface are provided in two sets.

4. The hydraulic lifting parking AGV according to claim 1, characterized in that, The first motor is equipped with a first sensor, which controls the first motor and is wirelessly connected to an external controller.

5. The hydraulic lifting parking AGV according to claim 1, characterized in that, The sliding mechanism includes a fixed base, a slider, a second motor, and a lead screw. The fixed base is connected to the top of the mounting base. A sliding groove is formed on the fixed base, and a second through groove is formed at the bottom of the sliding groove. The first motor passes through the second through groove. The bottom of the slider is disposed in the sliding groove, and the top of the slider is connected to the interface plate. The second motor is mounted on the fixed base, and the output end of the second motor is connected to the lead screw. The lead screw and the slider are screwed together.

6. The hydraulic lifting parking AGV according to claim 5, characterized in that, The length of the second through groove is the same as the length of the chamber; And / or, the groove includes a trapezoidal groove.

7. A parking AGV system, characterized in that, The system includes a parking garage, a vehicle platform, an automated parking space, and a hydraulic lifting parking AGV as described in any one of claims 1-6; the hydraulic lifting parking AGV is used to transport the vehicle platform with a parked vehicle from the parking garage to the automated parking space, and / or the hydraulic lifting parking AGV is used to transport the vehicle platform with a parked vehicle from the automated parking space to the parking garage.

8. A parking method, characterized in that, Based on the parking AGV system as described in claim 7, the method includes: Parking process: The AGV moves to the car platform under the parking garage where the vehicle is parked. The hydraulic telescopic rod drives the scissor arm through the curved arm assembly. The scissor-type hydraulic lifting mechanism lifts the car platform, causing it to detach from the parking garage support platform. The AGV trolley moves to the vertical storage parking space, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform where the vehicle is parked and places the vehicle platform on the vertical storage parking space. Car retrieval process: The AGV trolley moves to the vertical storage parking space, and the scissor-type hydraulic lifting mechanism lifts the vehicle platform, separating the vehicle platform from the vertical storage parking space. The AGV moves to the parking garage, where a scissor-type hydraulic lifting mechanism lifts the vehicle platform and places it on the parking garage support platform.

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