An AGV parking robot

Abstract

The present invention discloses an AGV parking robot, which includes: a chassis, a differential drive device, a tire clamping and lifting mechanism, a caster wheel, a control system, a power supply system, a navigation system, and a safety system. It can enter the bottom of a vehicle, lift the whole vehicle through the tire clamping and lifting mechanism, and has strong controllability. According to the scheduling system and the navigation system, it transports the whole vehicle to the designated work station, reduces the uncertainty of human factors, and avoids accidents of people-vehicle collision. By using the parking robot, the input of driver personnel can be greatly reduced, and the labor cost can be saved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGVs, and in particular to an AGV parking robot. Background Art

[0002] With the booming domestic automotive industry, the variety of vehicle models is increasing to meet the needs of diverse consumers, requiring highly flexible production lines. Currently, after final assembly, the tire-mounted car body is mostly manually driven off the assembly line from the final assembly line to the inspection line, the repair area, the rain shower line, and the film laminating line. This is all done by a driver. After the driver transports the vehicle to the designated workstation, he or she must then walk back the same way. This transfer of finished vehicles between different workstations in the final assembly workshop requires a significant investment of manpower and time, wasting significant human resources. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention conceives an AGV parking robot, which can enter the bottom of the car, lift the entire vehicle through a tire clamping and lifting mechanism, and transport the entire vehicle to a designated workstation based on a scheduling system and a navigation system. In the construction of intelligent automobile factories, AGV robots used for parking play a vital role.

[0004] The technical solution adopted to implement the present invention is: an AGV parking robot, characterized in that it includes: a chassis 1, a differential drive device 2, a clamping tire mechanism 3, universal casters 4, a control system 5, a power supply system 6, a navigation system 7, and a safety system 8. A through hole is provided in the center of the chassis 1, and the differential drive device 2 is provided in the through hole in the center of the chassis 1. The differential drive device 2 is fixedly connected to the chassis 1, and universal casters 4 are respectively provided at the four corners of the lower bottom surface of the chassis 1. The universal casters 4 are fixedly connected to the chassis 1. On the upper bottom surface of the chassis 1, a control system 5, a power supply system 6 and a navigation system 7 are respectively provided on both sides of the differential drive device 2, a safety system 8 is provided on the end face of the chassis 1, and a clamping tire mechanism 3 is respectively provided on both sides of the chassis 1.

[0005] Furthermore, the differential drive device 2 includes: a rotating and swinging mechanism 21, a driving walking mechanism 22, a linear guide rail 23 and a spring shock-absorbing mechanism 24. The linear guide rail 23 is provided on the driving walking mechanism 22, and the slide seat of the linear guide rail 23 is fixedly connected to the rotating and swinging mechanism 21. One end of the spring shock-absorbing mechanism 24 is hinged to the rotating and swinging mechanism 21, and the other end of the spring shock-absorbing mechanism 24 is hinged to the driving walking mechanism 22.

[0006] Furthermore, the driving travel mechanism 22 includes: a motor reducer 221, a reduction box 222 and a travel wheel 223, the output shaft of the reduction box 222 is fixedly connected to the travel wheel 223, and the input shaft of the reduction box 222 is fixedly connected to the motor reducer 221.

[0007] Furthermore, the tire clamping mechanism 3 includes: a rotating clamp arm assembly mounting plate 31, a first driving mechanism 32, a second driving mechanism 33, a universal joint 34, a first rotating clamp arm assembly 35, and a second rotating clamp arm assembly 36. The rotating clamp arm assembly mounting plate 31 is arranged on the side surface of the chassis 1. The first driving mechanism 32 and the second driving mechanism 33 are respectively fixedly connected to the chassis 1. The first driving mechanism 32 and the second driving mechanism 33 are hinged through the universal joint 34. The first rotating clamp arm assembly 35 and the second rotating clamp arm assembly 36 are respectively hinged to the chassis 1. The first worm gear 351 of the first rotating clamp arm assembly 35 is connected in a mating manner with the first worm 325 of the first driving mechanism 32. The second worm gear 361 of the second rotating clamp arm assembly 36 is connected in a mating manner with the second worm 335 of the second driving mechanism 33.

[0008] Furthermore, the first driving mechanism 32 includes: a first servo motor 321, a first speed reducer 322, a first mounting seat 323, a first coupling 324, a first worm 325, and a first pedestal bearing 326. The first mounting seat 323 is fixedly connected to the chassis 1. The first pedestal bearings 326 are respectively connected in a sliding and mating manner at both ends of the first worm 325. Two identical first pedestal bearings 326 are fixedly connected to the chassis 1. The first servo motor 321 is fixedly connected to the first speed reducer 322. The first speed reducer 322 is fixedly connected to the first mounting seat 323. The output shaft of the first speed reducer 322 is fixedly connected to the first coupling 324. The first coupling 324 is fixedly connected to one end of the first worm 325.

[0009] Furthermore, the first rotating clamp arm assembly 35 includes: a first worm gear 351, a first rotating shaft 352, a first rotating seat 353, a first clamp arm body 354, a first idler roller assembly 355, a first idler roller shaft 356, a first roller bearing 357, and a first thrust needle roller bearing 358. The first worm gear 351 and the first clamp arm body 354 are sequentially arranged from bottom to top on the outside of the first rotating seat 353. The first worm gear 351 and the first clamp arm body 354 are fixedly connected to the first rotating seat 353. The first thrust needle roller bearing 358 and the first roller bearing 357 are sequentially arranged from bottom to top in the central hole of the first rotating seat 353. The first rotating shaft 352 is arranged in the first thrust needle roller bearing 358 and the first roller bearing 357. The first rotating shaft 352 is connected in a clearance fit manner with the inner rings of the first thrust needle roller bearing 358 and the first roller bearing 357. The first idler roller shaft 356 is arranged on the first clamp arm body 354. The first idler roller shaft 356 is fixedly connected to the first clamp arm body 354. The first idler roller assembly 355 is arranged on the first idler roller shaft 356.

[0010] The beneficial effects of an AGV parking robot of the present invention are as follows:

[0011] An AGV parking robot has strong controllability. The final line, the rework area, and the film pasting line use the same type of AGV robot and adopt a set of control systems. The control system can calculate the optimal operation path and the number of AGVs, and can also allocate the mutual support of AGVs between different lines. The AGV is equipped with all-round safety radars, with a high safety factor, reducing the uncertainty of human factors and avoiding accidents of collisions between people and vehicles. By using the parking robot, the input of driver personnel can be greatly reduced, and labor costs can be saved. Description of the Drawings

[0012] Figure 1 is a three-dimensional schematic diagram of an AGV parking robot;

[0013] Figure 2 is a front view of the in-place state of the clamping arm of an AGV parking robot;

[0014] Figure 3 is a front view of the closed state of the clamping arm of an AGV parking robot;

[0015] Figure 4 is Figure 1 a three-dimensional schematic diagram of the middle part 2;

[0016] Figure 5 is Figure 2 an enlarged three-dimensional schematic diagram of B in;

[0017] Figure 6 is Figure 5 a plan view of;

[0018] Figure 7 is Figure 6 a sectional view taken along A-A in;

[0019] In the figure: 1. Chassis, 2. Differential drive device, 21. Rotary swing mechanism, 22. Driving and traveling mechanism, 221. Motor reducer, 222. Reduction box, 223. Traveling wheel, 23. Linear guide rail, 24. Spring shock absorption mechanism, 3. Tire clamping and lifting mechanism, 31. Installation plate for rotary clamping arm assembly, 32. First drive mechanism, 321. First servo motor, 322. First reducer, 323. First mounting seat, 324. First coupling, 325. First worm, 326. First pedestal bearing, 33. Second drive mechanism, 331. Second servo motor, 332. Second reducer, 333. Second mounting seat, 334. Second coupling, 335. Second worm, 336. Second pedestal bearing, 34. Universal joint, 35. First rotary clamping arm assembly, 351. First worm gear, 352. First rotating shaft, 353. First rotating seat, 354. First clamping arm body, 355. First idler roller assembly, 356. First idler roller shaft, 357. First roller bearing, 358. First thrust needle roller bearing, 36. Second rotary clamping arm assembly, 361. Second worm gear, 362. Second rotating shaft, 363. Second rotating seat, 364. Second clamping arm body, 365. Second idler roller assembly, 366. Second idler roller shaft, 37. First switch assembly, 38. Second switch assembly, 39. Detection piece for second switch assembly, 4. Universal caster, 5. Control system, 6. Power supply system, 7. Navigation system, 8. Safety system. Detailed implementation mode

[0020] The following further elaborates on the present invention in conjunction with the attached Figures 1-7 drawings and specific embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] As shown in the attached Figures 1-3 drawings,

[0022] An AGV parking robot includes: a chassis 1, a differential drive device 2, a tire clamping and lifting mechanism 3, universal casters 4, a control system 5, a power supply system 6, a navigation system 7, and a safety system 8. A through hole is provided at the center of the chassis 1, and a differential drive device 2 is arranged in the through hole at the center of the chassis 1. The differential drive device 2 is fixedly connected to the chassis 1. Universal casters 4 are respectively arranged at the four corners of the lower bottom surface of the chassis 1, and the universal casters 4 are fixedly connected to the chassis 1. On the upper bottom surface of the chassis 1, a control system 5, a power supply system 6, and a navigation system 7 are respectively arranged on both sides of the differential drive device 2. A safety system 8 is arranged at the end face of the chassis 1, and tire clamping and lifting mechanisms 3 are respectively arranged on the two side surfaces of the chassis 1.

[0023] As shown in the attached Figure 4As shown, the differential drive device is installed at the central position of the chassis and includes a rotary swing mechanism 21, two sets of driving and walking mechanisms 22, four sets of linear guide rails 23, and four sets of spring shock absorption mechanisms 24. The rotary swing mechanism 21 mainly includes a slewing bearing, a support seat, a swing seat, and a swing shaft. The outer ring of the slewing bearing is connected to the support seat, and the inner ring is fixed to the upper frame of the AGV. The support seat is hinged to the swing seat through the swing shaft. The two driving and walking mechanisms 22 are symmetrically arranged on both sides of the rotary swing mechanism 21 and mainly include a motor reducer 221, a reduction box 222, and a walking wheel 223. The motor reducer 221 is directly connected to the reduction box 222. A walking wheel 223 is installed on one side of the reduction box 222, and the other side is connected to the swing seat of the rotary swing mechanism 21 through two sets of linear slide rails 23. The driving and walking mechanism 22 can slide up and down. One end of the spring shock absorption mechanism 24 is hinged to the reduction box body 222, and the other end is hinged to the support seat. The shock absorption mechanism 24 provides spring pressure to ensure that the walking wheel 223 is always in contact with the ground during walking.

[0024] As attached Figures 5-7As shown, the first driving mechanism 32 includes: a first servo motor 321, a first speed reducer 322, a first mounting seat 323, a first coupling 324, a first worm 325, and a first pedestal bearing 326. The first mounting seat 323 is fixedly connected to the chassis 1. The first pedestal bearings 326 are slidably and cooperatively connected to both ends of the first worm 325, and two identical first pedestal bearings 326 are fixedly connected to the chassis 1. The first servo motor 321 is fixedly connected to the first speed reducer 322, the first speed reducer 322 is fixedly connected to the first mounting seat 323, the output shaft of the first speed reducer 322 is fixedly connected to the first coupling 324, and the first coupling 324 is fixedly connected to one end of the first worm 325. The first rotating clamp arm assembly 35 includes: a first worm gear 351, a first rotating shaft 352, a first rotating seat 353, a first clamp arm body 354, a first idler roller assembly 355, a first idler roller shaft 356, a first roller bearing 357, and a first thrust needle roller bearing 358. The first worm gear 351 and the first clamp arm body 354 are sequentially arranged from bottom to top on the outside of the first rotating seat 353, and the first worm gear 351 and the first clamp arm body 354 are fixedly connected to the first rotating seat 353. The first thrust needle roller bearing 358 and the first roller bearing 357 are sequentially arranged from bottom to top in the central hole of the first rotating seat 353. The first rotating shaft 352 is arranged in the first thrust needle roller bearing 358 and the first roller bearing 357, and the first rotating shaft 352 is in clearance fit with the inner rings of the first thrust needle roller bearing 358 and the first roller bearing 357. The first idler roller shaft 356 is arranged on the first clamp arm body 354, and the first idler roller shaft 356 is fixedly connected to the first clamp arm body 354. The first idler roller assembly 355 is arranged on the first idler roller shaft 356. The motor drives the clamp arm to perform a rotating clamping and lifting action through a worm and worm gear mechanism. The two driving mechanisms are connected by a universal joint to ensure synchronous clamping and lifting. Both motors are equipped with brakes. If one motor fails and stops, the other motor can still prevent the clamp arm from opening during driving. The probability of both motors failing simultaneously is extremely low, and basically, it can prevent the workpiece from falling due to the opening of the clamp arm during transportation.

[0025] A specific control method for an AGV parking robot:

[0026] During normal driving, the two clamping arms of the unloaded AGV robot are in the in-situ (open) state. The clamping arm body triggers the clamping arm in-situ detection switch, i.e., the second switch assembly 38. When the AGV robot stops precisely at the car-picking position, after receiving the car-picking instruction, the clamping arm motor starts to work. It drives the clamping arm to rotate and lift the tire through the worm and worm gear mechanism, thus lifting the entire car. When the lifting is in place and the signal plate, i.e., the detection piece 39 of the second switch assembly, triggers the clamping arm lifting-in-place switch, i.e., the first switch assembly 37, the clamping arm motor stops and sends a car-picking completed signal to the AGV robot. Thus, the car-picking action is completed. Next, the AGV robot delivers the car to the designated location according to the instruction; the unloading action of the AGV robot is opposite to the car-picking action. Driven by the differential drive device, the AGV robot can perform operations such as forward movement, backward movement, turning, lateral movement, and rotation in place.

[0027] This invention is a combined invention. All the electrical components and mechanical parts used are commercially available products. Through the organic combination and innovation of existing technologies, the objects of this invention and the technical effects are achieved by various elements of existing technologies: universal casters, motor reducers, gearboxes, walking wheels, control systems, power supply systems, navigation systems, and safety systems. A full-range safety radar is configured, with a high safety factor, reducing the uncertainty of human factors and avoiding accidents of collisions between people and vehicles. The computer program of this invention is compiled based on technologies such as automatic control, signal communication transmission, and calculation, which are familiar to those skilled in the art.

[0028] The above description is only a preferred mode of the present invention, rather than restrictive. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements, or even equivalents, can be made. These improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An AGV parking robot, characterized in that it Comprising: Chassis (1), differential drive device (2), tire clamping and lifting mechanism (3), universal caster (4), control system (5), power supply system (6), navigation system (7), safety system (8). A through hole is provided at the center of the chassis (1). A differential drive device (2) is arranged in the through hole at the center of the chassis (1). The differential drive device (2) is fixedly connected to the chassis (1). Universal casters (4) are respectively arranged at the four corners of the lower bottom surface of the chassis (1). The universal casters (4) are fixedly connected to the chassis (1). On the upper bottom surface of the chassis (1), a control system (5), a power supply system (6) and a navigation system (7) are respectively arranged on both sides of the differential drive device (2). A safety system (8) is arranged at the end face of the chassis (1). Tire clamping and lifting mechanisms (3) are respectively arranged on the two side surfaces of the chassis (1). The differential drive device (2) includes: a rotary swing mechanism (21), a driving and walking mechanism (22), a linear guide rail (23) and a spring shock absorption mechanism (24). A linear guide rail (23) is arranged on the driving and walking mechanism (22). The slide seat of the linear guide rail (23) is fixedly connected to the rotary swing mechanism (21). One end of the spring shock absorption mechanism (24) is hinged to the rotary swing mechanism (21), and the other end of the spring shock absorption mechanism (24) is hinged to the driving and walking mechanism (22). The tire clamping and lifting mechanism (3) includes: a rotary clamp arm assembly mounting plate (31), a first driving mechanism (32), a second driving mechanism (33), a universal joint (34), a first rotary clamp arm assembly (35), a second rotary clamp arm assembly (36). A rotary clamp arm assembly mounting plate (31) is arranged on the side surface of the chassis (1). The first driving mechanism (32) and the second driving mechanism (33) are respectively fixedly connected to the chassis (1). The first driving mechanism (32) and the second driving mechanism (33) are hinged through a universal joint (34). The first rotary clamp arm assembly (35) and the second rotary clamp arm assembly (36) are respectively hinged to the chassis (1). The first worm gear (351) of the first rotary clamp arm assembly (35) is in mating connection with the first worm (325) of the first driving mechanism (32). The second worm gear (361) of the second rotary clamp arm assembly (36) is in mating connection with the second worm (335) of the second driving mechanism (33). The first driving mechanism (32) includes: a first servo motor (321), a first reduction gear (322), a first mounting seat (323), a first coupling (324), a first worm (325), a first bearing with housing (326). The first mounting seat (323) is fixedly connected to the chassis (1). First bearings with housing (326) are respectively in sliding fit connection at both ends of the first worm (325). Two identical first bearings with housing (326) are fixedly connected to the chassis (1). The first servo motor (321) is fixedly connected to the first reduction gear (322). The first reduction gear (322) is fixedly connected to the first mounting seat (323).The output shaft of the first speed reducer (322) is fixedly connected to the first coupling (324), and one end of the first coupling (324) is fixedly connected to the first worm (325).

2. The AGV parking robot according to claim 1, characterized in that, The described driving and walking mechanism (22) comprises: a motor speed reducer (221), a reduction gearbox (222) and a walking wheel (223). The output shaft of the reduction gearbox (222) is fixedly connected to the walking wheel (223), and the input shaft of the reduction gearbox (222) is fixedly connected to the motor speed reducer (221).

3. The AGV parking robot according to claim 1, characterized in that, The described first rotating clamping arm assembly (35) comprises: a first worm gear (351), a first rotating shaft (352), a first rotating seat (353), a first clamping arm body (354), a first roller assembly (355), a first roller shaft (356), a first roller bearing (357), a first thrust needle roller bearing (358). The first worm gear (351) and the first clamping arm body (354) are sequentially arranged from bottom to top on the outside of the first rotating seat (353). The first worm gear (351) and the first clamping arm body (354) are fixedly connected to the first rotating seat (353). The first thrust needle roller bearing (358) and the first roller bearing (357) are sequentially arranged from bottom to top in the central hole of the first rotating seat (353). The first rotating shaft (352) is arranged in the first thrust needle roller bearing (358) and the first roller bearing (357). The first rotating shaft (352) is in clearance fit connection with the inner rings of the first thrust needle roller bearing (358) and the first roller bearing (357). The first roller shaft (356) is arranged on the first clamping arm body (354). The first roller shaft (356) is fixedly connected to the first clamping arm body (354). The first roller assembly (355) is arranged on the first roller shaft (356).

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