Intelligent multi-storey parking equipment based on embracing and clamping type AGV parking robot

Abstract

This invention discloses an intelligent automated parking system based on a clamping AGV parking robot in the field of automated parking garage technology. The intelligent automated parking system includes a garage module and an AGV module. The garage module includes multiple sets of support columns, a top frame, a lifting system, symmetrically arranged lifting frames, and a bottom frame. The AGV module includes AGV components and a wheelbase extension component. This intelligent automated parking system can effectively lift, move, and position vehicles, with the entire operation fully automated. The driver only needs to park the vehicle in the designated position; no driver intervention is required. This results in high efficiency and significantly enhances the user experience of the automated parking system, increasing user acceptance and facilitating effective market promotion.

Description

Technical Field

[0001] This invention relates to the field of automated parking garage technology, specifically to an intelligent automated parking system based on a clamping AGV parking robot. Background Technology

[0002] With the continuous improvement of living standards, the number of vehicles has increased dramatically, and the market demand for mechanical parking garages is growing. This is especially true in public places such as hospitals, government agencies, and public entertainment venues, where the available land area for parking lots is small, but the demand for parking spaces is large. Therefore, intelligent parking garages have become an inevitable trend in development.

[0003] Existing fully automated parking systems mainly fall into three categories: planar movement, aisle stacking, and vertical lifting. Most require driver intervention during parking, and due to space constraints, drivers' tires and rims often rub against the lifting structure, causing user frustration and significantly impacting their willingness to use the parking system again. Furthermore, varying driving skills frequently lead to congestion when vehicles enter or exit the parking system. Therefore, using AGVs for vehicle movement can greatly improve efficiency. However, common AGVs are not well-suited for vehicles with different front and rear wheel distances, and most only function as simple transporters without coordinated movement with the parking system, resulting in low automation and a poor user experience. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an intelligent three-dimensional parking device based on a clamping AGV parking robot, thereby solving the problems mentioned in the background section.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An intelligent three-dimensional parking system based on a clamping AGV parking robot. The intelligent three-dimensional parking system includes a garage module and an AGV module. The garage module includes multiple sets of support columns, a top frame, a lifting system, a symmetrically arranged lifting frame and a bottom frame. The AGV module includes AGV components and a wheelbase extension component.

[0007] The lifting frame includes a liftable guide structure, a first side frame, and two sets of first storage racks with adjustable spacing. The bottom frame includes a second side frame fixed to the ground and two sets of second storage racks with adjustable spacing.

[0008] The AGV components are divided into two groups and arranged symmetrically. The wheelbase extension component is installed between the two groups of AGV components and adjusts the distance between the two groups of AGV components.

[0009] The AGV component includes a main frame, below which are a rotating bogie and an array of support mechanisms, lifting mechanisms, and lifting mechanisms. The lifting mechanism includes a slidable and deployable third bracket, above which are symmetrically arranged movable frames. The movable frames are rotatable, and inside the movable frames are detachable support shafts. An array of support rollers are rotatably mounted on the support shafts.

[0010] Preferably, the lower end of the support column is fixed to the ground, the upper end of the support column is fixedly connected to the top frame, the lifting system is installed on the top frame, the lifting system pulls the lifting frame up and down along the support column, and the bottom frame is fixed to the ground.

[0011] Preferably, the first side frame is provided with symmetrically arranged first sliding grooves on its side, and the first storage racks are all slidably engaged with the first sliding grooves. The first side frame is provided with a fixedly connected first electric cylinder inside, and the telescopic end of the first electric cylinder is fixedly connected to the first storage rack. The spacing of the first storage racks is adjusted according to the spacing between the front and rear tires of the car. The first storage racks are provided with arrayed first locking blocks above them, and each of the first locking blocks has a through arc placement groove at its upper end.

[0012] The second storage rack is provided with an array of second card blocks above it. The second side frame, the second storage rack, and the second card blocks have the same structure as the first side frame, the first storage rack, and the first card blocks. The second storage rack also slides along the second side frame to adjust the spacing, and is driven by the second electric cylinder inside the second side frame.

[0013] Preferably, the wheelbase telescopic assembly includes symmetrically distributed cross telescopic frames, the length of which is adjustable, and both ends of which are connected to two sets of main frames respectively.

[0014] The cross telescopic frames are provided with a rotatably connected push frame. Above the push frame are a fixedly connected push block and a distance sensor. The distance sensor measures the distance to the main frame. The push block is provided with a threaded rod with threaded engagement. One end of the threaded rod is provided with a first motor. The shaft of the first motor is fixedly connected to the threaded rod through a coupling. The first motor is fixed on the main frame.

[0015] Preferably, the front end of the main frame is provided with an array of obstacle avoidance sensors, the rear end of the main frame is provided with an array of blocks, and the lower end face of the main frame is provided with a first bracket, a positioning sensor and a symmetrically distributed second slide groove.

[0016] Preferably, the bogie is internally fixed with an axially arranged second motor and a first telescopic column. The lower end of the bogie is fixedly connected to a barcode scanner. The outer side of the first telescopic column is provided with a spring. The shaft of the second motor is fixedly connected to a drive wheel. A drive plate is provided above the bogie. The upper end of the first telescopic column is rotatably connected to the drive plate. The lower end of the first telescopic column is rotatably connected to the bogie. The upper end of the drive plate is fixedly connected to a gear disk. A spline-connected central column is provided at the center of the gear disk and the drive plate. The central column passes through the main frame and is rotatably connected to it.

[0017] Preferably, the first bracket is provided with a fixedly connected third motor, and the shaft of the third motor is provided with a fixedly connected drive gear, which meshes with the gear disk.

[0018] Preferably, the support mechanism includes a universal wheel and a second telescopic column. A spring is provided on the outside of the second telescopic column. The lifting mechanism includes a second bracket. A third electric cylinder is fixedly connected inside the second bracket. The upper end of the second bracket is fixed to the lower end surface of the main frame. The telescopic end of the third electric cylinder is provided with a lifting and moving wheel.

[0019] Preferably, the third bracket is slidably fitted with the second slide groove. The third bracket is symmetrically provided with a rotating frame and a fourth electric cylinder. The tail end of the fourth electric cylinder is rotatably connected to the third bracket, and the telescopic end of the fourth electric cylinder is rotatably connected to one side of the rotating frame. The other side of the rotating frame is provided with a movable frame that is fixedly connected. The lower end face of the main frame is also provided with a fourth motor that is fixedly connected. The fourth motor drives the synchronous rotation of two sets of symmetrical lead screws. Each lead screw is provided with a lead screw slider with threaded engagement. The lead screw slider is fixedly connected to the third bracket.

[0020] Preferably, the movable frame is provided with an array of third sliding grooves, and the side of the movable frame is provided with a through mounting groove. Both ends of the mounting groove are provided with arc-shaped slots. A support shaft is provided in the mounting groove, and an array of support rollers are rotatably mounted on the support shaft. Both ends of the support shaft are locked in the arc-shaped slots. The upper surface of the movable frame is provided with a sliding limit frame and a fixedly connected fifth electric cylinder. The limit frame slides in cooperation with the third sliding groove. After the limit frame moves forward, it can seal the upper end of the arc-shaped slot. The telescopic end of the fifth electric cylinder is fixedly connected to the limit frame.

[0021] The beneficial effects of this invention are:

[0022] The intelligent three-dimensional parking equipment of this invention can effectively lift, move, and position vehicles. The entire operation is automated. The driver only needs to park the vehicle in the designated position. No driver operation is required. It is highly efficient and greatly enhances the user experience of the three-dimensional parking garage, increasing user acceptance of the three-dimensional parking garage and enabling effective market promotion.

[0023] The lifting frame in the intelligent three-dimensional parking equipment of this invention can work in conjunction with the AGV components, and can quickly and easily change the support shaft position. Unlike the existing comb tooth changing structure, it does not require the alternation of comb teeth. It has less vibration and does not have the vibration and shaking that occur in the existing comb tooth alternation process, which reduces the probability of the car skidding and falling, and effectively improves safety.

[0024] In the intelligent three-dimensional parking equipment of this invention, the AGV module can adjust the spacing of the AGV components according to the distance between the front and rear wheels of the car. The adjustment process is simple and quick. Furthermore, due to the presence of a distance measuring sensor, it can work in conjunction with the motor and electronic control to ensure the stability and accuracy of the AGV component spacing adjustment.

[0025] The intelligent three-dimensional parking equipment of this invention features AGV components with high movement accuracy. It adopts a double-layer angle adjustment structure design, which can avoid AGV component movement deviation caused by motor failure. Moreover, the angle of the bogie can be adjusted when the AGV component is raised. After the vehicle is taken away by the garage module, it can move and withdraw quickly. It can also effectively adjust its own height according to the height difference between the lifting frame and the bottom frame without the need for adjustment by the garage module, resulting in higher efficiency and better stability. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the main structure of the intelligent three-dimensional parking equipment in an embodiment of the present invention;

[0028] Figure 2 This is a top view of the intelligent three-dimensional parking equipment in an embodiment of the present invention;

[0029] Figure 3 This is a partial structural diagram of the lifting frame in an embodiment of the present invention;

[0030] Figure 4 For the present invention Figure 1 Enlarged schematic diagram of the structure at point A in the middle;

[0031] Figure 5 For the present invention Figure 2 Enlarged schematic diagram of the structure at point B;

[0032] Figure 6 This is a top view of the AGV component in an embodiment of the present invention;

[0033] Figure 7This is a bottom view of the AGV component structure in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the AGV component structure in an embodiment of the present invention;

[0035] Figure 9 This is a partial structural diagram of the bogie in an embodiment of the present invention. Figure 1 ;

[0036] Figure 10 This is a partial structural diagram of the bogie in an embodiment of the present invention. Figure 2 ;

[0037] Figure 11 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention;

[0039] Figure 13 For the present invention Figure 12 Enlarged schematic diagram of the structure at point C;

[0040] In the diagram: 1. Ground; 2. Support column; 3. Top frame; 4. Lifting system; 5. Lifting frame; 6. Bottom frame; 7. AGV component; 8. Wheelbase extension component; 51. First side frame; 52. First storage rack; 53. First locking block; 61. Second side frame; 62. Second storage rack; 63. Second locking block; 71. Main frame; 72. Bogie; 73. Third motor; 74. Support mechanism; 75. Lifting mechanism; 76. Lifting mechanism; 77. Positioning sensor; 78. Barcode scanner; 81. Cross telescopic frame; 82. First rotating block; 83. Second rotating block; 831. Slide rail; 84. Push frame; 85. First motor; 86. Distance sensor; 511. First chute; 711. Obstacle avoidance sensor Sensor; 712, Stop; 713, First bracket; 714, Second slide rail; 721, Second motor; 722, Drive wheel; 723, Gear disk; 724, Center column; 725, Drive plate; 726, First telescopic column; 731, Drive gear; 741, Caster wheel; 742, Second telescopic column; 751, Second bracket; 752, Third electric cylinder; 753, Lifting and moving wheel; 761, Third bracket; 762, Rotating frame; 763, Fourth electric cylinder; 764, Movable frame; 765, Fourth motor; 766, Lead screw; 767, Limiting frame; 768, Support shaft; 841, Push block; 851, Threaded rod; 7641, Third slide rail; 7671, Fifth electric cylinder; 7681, Support roller. Detailed Implementation

[0041] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figures 1 to 13 As shown, this embodiment provides an intelligent three-dimensional parking equipment based on a clamping AGV parking robot. The intelligent three-dimensional parking equipment includes a garage module and an AGV module. The garage module includes multiple sets of support columns 2, a top frame 3, a lifting system 4, a symmetrically arranged lifting frame 5, and a bottom frame 6. The AGV module includes AGV components 7 and a wheelbase extension component 8.

[0043] Specifically, the lower end of the support column 2 is fixed to the ground 1, the upper end of the support column 2 is fixedly connected to the top frame 3, the lifting system 4 is installed on the top frame 3, the lifting system 4 pulls the lifting frame 5 to rise and fall along the support column 2, and the bottom frame 6 is fixed to the ground 1.

[0044] Furthermore, the lifting frame 5 includes a guide structure, a first side frame 51, and a first storage rack 52. The guide structure guides the lifting and lowering of the first side frame 51 inside the support column 2 and drives the first side frame 51 to lift and lower synchronously. The first storage rack 52 is divided into front and rear groups. The side of the first side frame 51 is provided with symmetrically arranged first sliding grooves 511. The first storage rack 52 is slidably engaged with the first sliding grooves 511. The first side frame 51 is provided with a fixedly connected first electric cylinder. The telescopic end of the first electric cylinder is fixedly connected to the first storage rack 52, thereby pulling the first storage rack 52 to slide along the first sliding grooves 511. The spacing of the first storage rack 52 is adjusted according to the spacing between the front and rear tires of the car. The first storage rack 52 is provided with an array of first locking blocks 53 above it. The upper end of each first locking block 53 is provided with a through arc placement groove.

[0045] Furthermore, the bottom frame 6 includes a second side frame 61 and a second storage rack 62. The second storage rack 62 is provided with an array of second locking blocks 63. The second side frame 61, the second storage rack 62, and the second locking blocks 63 have the same structure as the first side frame 51, the first storage rack 52, and the first locking blocks 53. The second storage rack 62 also slides along the second side frame 61 to adjust the spacing, and is driven by the second electric cylinder inside the second side frame 61.

[0046] Furthermore, the AGV components 7 are divided into two groups and arranged symmetrically. The wheelbase extension component 8 is installed between the two groups of AGV components 7, and the wheelbase extension component 8 adjusts the distance between the two groups of AGV components 7.

[0047] Specifically, the AGV component 7 includes a main frame 71, a bogie 72, and an array of support mechanisms 74, a lifting mechanism 75, and a lifting mechanism 76.

[0048] Specifically, the wheelbase telescopic assembly 8 includes symmetrically distributed cross telescopic frames 81, which are formed by rotating cross connecting rods. One set of connecting rods has a first rotating block 82 rotatably connected at both ends, which is fixedly connected to the main frame 71. The other set of connecting rods has a second rotating block 83 rotatably connected at both ends. The second rotating block 83 has a sliding rail 831 that is slidably engaged, which is fixedly connected to the main frame 71. When the cross telescopic frame 81 extends or retracts, the second rotating block 83 slides along the slide rail 831.

[0049] A pusher frame 84 is rotatably connected between the cross telescopic frames 81. A pusher block 841 and a distance sensor 86 are fixedly connected above the pusher frame 84. The distance sensor 86 measures the distance to the main frame 71. A threaded rod 851 with threaded engagement is provided inside the pusher block 841. A first motor 85 is provided at one end of the threaded rod 851. The shaft of the first motor 85 is fixedly connected to the threaded rod 851 through a coupling. The first motor 85 is fixed on the main frame 71. When the first motor 85 starts, it drives the threaded rod 851 to rotate, thereby driving the pusher block 841 and the pusher frame 84 to move synchronously. When the pusher frame 84 moves, it pulls the cross telescopic frames 81 to expand and retract.

[0050] Furthermore, an array of obstacle avoidance sensors 711 is fixedly provided at the front end of the main frame 71. The obstacle avoidance sensors 711 avoid obstacles when the main frame 71 moves. An array of blocks 712 is fixedly provided at the rear end of the main frame 71. When the cross telescopic frame 81 is reduced to its minimum size, the blocks 712 on the main frame 71 contact, preventing the main frame 71 from being squeezed and damaged by impact due to motor control failure. The lower end face of the main frame 71 is provided with a fixedly connected first bracket 713, a positioning sensor 77, and symmetrically distributed second slide grooves 714.

[0051] The bogie 72 is internally fixed with an axially arranged second motor 721 and a first telescopic column 726. The lower end of the bogie 72 is fixedly connected to a barcode scanner 78. The outer side of the first telescopic column 726 is provided with a spring. The shaft of the second motor 721 is fixedly connected to a drive wheel 722. The second motor 721 drives the drive wheel 722 to rotate, which can control the movement and steering of the bogie 72. The upper part of the bogie 72 is provided with a drive plate 725. The upper end of the first telescopic column 726 is rotatably connected to the drive plate 725, and the lower end of the first telescopic column 726 is rotatably connected to the bogie 72. When the drive plate 725 is pressed, the first telescopic column 726 retracts. The upper end of the drive plate 725 is fixedly connected to a gear disk 723. The center of the gear disk 723 and the drive plate 725 is provided with a spline-connected central column 724. The central column 724 passes through the main frame 71 and is rotatably connected to it. When the drive plate 725 and the gear disk 723 rotate, they drive the central column 724 to rotate synchronously.

[0052] The first bracket 713 is equipped with a fixedly connected third motor 73. The shaft of the third motor 73 is equipped with a fixedly connected drive gear 731. The drive gear 731 meshes with the gear disk 723. The third motor 73 drives the drive gear 731 to rotate, thereby driving the gear disk 723, drive plate 725, bogie 72 and drive wheel 722 to turn. When the bogie 72 moves and turns, the second motor 721 and the third motor 73 need to work together to confirm that it can be carried out.

[0053] Furthermore, the support mechanism 74 includes a caster wheel 741 and a second telescopic column 742. A spring is provided on the outside of the second telescopic column 742. The lower end of the second telescopic column 742 is fixedly connected to the caster wheel 741, and the upper end of the second telescopic column 742 is fixedly connected to the main frame 71. The caster wheel 741 and the drive wheel 722 are in contact with the ground 1 at the same height.

[0054] Furthermore, the lifting mechanism 75 includes a second bracket 751, inside which a third electric cylinder 752 is fixedly connected. The upper end of the second bracket 751 is fixed to the lower end surface of the main frame 71. The telescopic end of the third electric cylinder 752 is provided with a lifting moving wheel 753. The third electric cylinder 752 pushes the lifting moving wheel 753 to move and descend, which can lift the entire AGV assembly 7.

[0055] Furthermore, the lifting mechanism 76 includes a third bracket 761, which is mounted on the lower end face of the main frame 71 and slides in cooperation with the second slide groove 714. The third bracket 761 is symmetrically equipped with a rotating frame 762 and a fourth electric cylinder 763. The tail end of the fourth electric cylinder 763 is rotatably connected to the third bracket 761, and the telescopic end of the fourth electric cylinder 763 is rotatably connected to one side of the rotating frame 762. The other side of the rotating frame 762 is equipped with a fixedly connected movable frame 764. When the fourth electric cylinder 763 pulls the rotating frame 762 to rotate, it drives the movable frame 764 to rotate synchronously. The lower end face of the main frame 71 is also provided with a fixedly connected fourth motor 765. A three-axis right-angle reducer is connected to the fourth motor 765. Both sides of the three-axis right-angle reducer are provided with lead screws 766 fixedly connected by couplings. Each lead screw 766 is provided with a threaded lead screw slider. The lead screw slider is fixedly connected to the third bracket 761. The fourth motor 765 drives the lead screw 766 to rotate synchronously through the three-axis right-angle reducer. When the lead screw 766 rotates, it drives the lead screw slider, the third bracket 761, the rotating frame 762 and the movable frame 764 to expand or retract synchronously.

[0056] The movable frame 764 is provided with an array of third sliding grooves 7641. The movable frame 764 has a through mounting groove on its side. Both ends of the mounting groove have arc-shaped slots. A support shaft 768 is provided in the mounting groove. An array of support rollers 7681 are rotatably mounted on the support shaft 768. Both ends of the support shaft 768 are locked in the arc-shaped slots. The upper surface of the movable frame 764 is provided with a sliding limit frame 767 and a fixedly connected fifth electric cylinder 7671. The limit frame 767 slides in cooperation with the third sliding groove 7641. After the limit frame 767 moves forward, it can seal the upper end of the arc-shaped slot to prevent the support shaft 768 from falling out of the arc-shaped slot when rotating. The telescopic end of the fifth electric cylinder 7671 is fixedly connected to the limit frame 767. The fifth electric cylinder 7671 pushes the limit frame 767 to slide along the third sliding groove 7641.

[0057] Working principle:

[0058] In use, the driver scans a code to open the automated parking garage, enters vehicle information such as the car model, and then parks the vehicle at the designated parking spot, gets out, and locks the car. The AGV module moves to the parking spot and enters under the car chassis. Based on the vehicle information entered by the driver, it can obtain information such as the distance between the front and rear wheels of the car. The first motor 85 starts and drives the wheelbase extension component 8 to adjust the distance of the AGV component 7. The distance sensor 86 monitors the distance change in real time. When the front and rear tires of the car reach the center point of the third support 761, it stops. Then, according to the width of the car, the distance of the lifting mechanism 76 is adjusted. The fourth motor 765 starts and drives the third support 761 to move and unfold. Then, the fourth electric cylinder 763 pulls the rotating frame 762 and the movable frame 764 to rotate and close. The support roller 7681 clamps the car tires. The second telescopic column 742 and the first telescopic column 726 can be extended and compressed at their default lengths. Then, due to the weight of the car, 71 is pressed down, and the second telescopic column 742 and the first telescopic column 726 are both retracted to their lowest point, effectively lowering the center of gravity of the entire car. Then, the AGV module moves the car forward. Figure 2 The AGV's transport direction is parallel to the garage module;

[0059] When both the upper and lower levels of the garage module are empty, the lifting system 4 lowers the lifting frame 5 to above the bottom frame 6 and stops. The first storage rack 52 adjusts its spacing to match the third support 761. Then, the AGV module moves forward into the garage module. At this time, the third electric cylinder 752 pushes the lifting moving wheel 753 down to contact the ground and then lifts the main frame 71. The second telescopic column 742 and the first telescopic column 726 stop after reaching their maximum height. After the support shaft 768 reaches above the first locking block 53, the AGV module stops moving. The positioning sensor 77 scans the signal device on the ground 1 to determine the stopping position of the AGV module. The barcode scanner 78 scans the ground... The QR code on surface 1 indicates that the vehicle is parked in this automated parking garage. The fifth electric cylinder 7671 moves backward, causing the limit frame 767 to move backward and unlock the support shaft 768. Then, the third electric cylinder 752 pulls the lifting moving wheel 753 to rise, thereby causing the main frame 71 and the car to fall. The support shaft 768 is locked in the arc placement groove at the upper end of the first locking block 53. The garage module starts, causing the lifting frame 5 and the car to rise to the second-floor parking point. The second telescopic column 742 and the first telescopic column 726 pull the main frame 71 back to the initial height. Then, the movable frame 764 reverses and returns to its original position. The AGV module moves away to the cargo box to obtain a new support shaft 768.

[0060] When the lower level of the garage module is empty, the second storage rack 62 adjusts its spacing to match that of the third support 761. Then, the AGV module moves forward into the garage module. At this time, the third electric cylinder 752 pushes the lifting moving wheel 753 to descend and contact the ground, then pushes the main frame 71 to stop at 2 / 3 of the maximum height of the second telescopic column 742 and the first telescopic column 726. After the support shaft 768 reaches above the second locking block 63, the AGV module stops moving. The positioning sensor 77 scans the signal device on the ground 1 to determine the stopping position of the AGV module. The barcode scanner 78 scans the ground... The QR code on surface 1 indicates that the vehicle is parked in this multi-level parking garage. The fifth electric cylinder 7671 moves backward, causing the limit frame 767 to move backward and unlock the support shaft 768. Then, the third electric cylinder 752 pulls the lifting moving wheel 753 to rise, thereby causing the main frame 71 and the car to fall. The support shaft 768 is locked in the arc placement groove at the upper end of the second card block 63. Then, the AGV module loses external pressure 71 and is pulled back to the initial height by the second telescopic column 742 and the first telescopic column 726. Then, the movable frame 764 reverses and returns to its original position, and the AGV module moves away.

[0061] When retrieving the vehicle, the driver scans the code to open the automated parking garage, enters the vehicle retrieval information, and the AGV module reaches the center of the garage module. The scanner 78 scans the QR code on the ground 1 to confirm the vehicle to be retrieved. The movable frame 764 rotates and unfolds, and the main frame 71 rises. The movable frame 764 lifts the support shaft 768 on the first locking block 53 and the second locking block 63. Then, the main frame 71 descends to remove the support shaft 768 and the vehicle together. The limit frame 767 moves forward to lock the support shaft 768. After the AGV module drives the vehicle back to the parking point, the driver drives the vehicle away.

[0062] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0065] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An intelligent three-dimensional parking system based on a clamping AGV parking robot, the intelligent three-dimensional parking system comprising a garage module and an AGV module, characterized in that, The garage module includes multiple sets of support columns (2), a top frame (3), a lifting system (4), a symmetrically arranged lifting frame (5) and a bottom frame (6), and the AGV module includes AGV components (7) and wheelbase extension components (8). The lifting frame (5) includes a liftable guide structure, a first side frame (51) and two sets of first storage racks (52) with adjustable spacing. The bottom frame (6) includes a second side frame (61) fixed on the ground and two sets of second storage racks (62) with adjustable spacing. The AGV assembly (7) is divided into two groups and arranged symmetrically. The wheelbase extension assembly (8) is installed between the two groups of AGV assemblies (7) and adjusts the distance between the two groups of AGV assemblies (7). The AGV component (7) includes a main frame (71), a rotating bogie (72) and an array of support mechanisms (74), a lifting mechanism (75) and a lifting mechanism (76) below the main frame (71). The lifting mechanism (76) includes a slidable and deployable third support (761), and a symmetrically arranged movable frame (764) above the third support (761). The movable frame (764) is rotatable, and a detachable support shaft (768) is provided inside the movable frame (764). An array of support rollers (7681) are rotatably arranged on the support shaft (768). The lower end of the support column (2) is fixed to the ground, the upper end of the support column (2) is fixedly connected to the top frame (3), the lifting system (4) is installed on the top frame (3), the lifting system (4) pulls the lifting frame (5) to move up and down along the support column (2), and the bottom frame (6) is fixed to the ground (1). The first side frame (51) is provided with symmetrically arranged first sliding grooves (511) on the side. The first storage racks (52) are all slidably engaged with the first sliding grooves (511). The first side frame (51) is provided with a fixedly connected first electric cylinder inside. The telescopic end of the first electric cylinder is fixedly connected to the first storage rack (52). The spacing of the first storage racks (52) is adjusted according to the spacing between the front and rear tires of the car. The first storage racks (52) are provided with arrayed first locking blocks (53) above the first storage racks (52). The upper end of each first locking block (53) is provided with a through arc placement groove. The second storage rack (62) is provided with an array of second locking blocks (63) above it. The second side rack (61), the second storage rack (62), and the second locking blocks (63) have the same structure as the first side rack (51), the first storage rack (52), and the first locking blocks (53). The second storage rack (62) also slides along the second side rack (61) to adjust the spacing, and is driven by the second electric cylinder inside the second side rack (61).

2. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 1, characterized in that, The wheelbase telescopic assembly (8) includes symmetrically distributed cross telescopic frames (81), the length of which is adjustable, and the two ends of which are connected to two sets of main frames (71). The cross telescopic frames (81) are provided with a rotating push frame (84). A push block (841) and a distance sensor (86) are fixedly connected above the push frame (84). The distance sensor (86) measures the distance to the main frame (71). The push block (841) is provided with a threaded rod (851) with a threaded fit. A first motor (85) is provided at one end of the threaded rod (851). The shaft of the first motor (85) is fixedly connected to the threaded rod (851) through a coupling. The first motor (85) is fixed on the main frame (71).

3. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 2, characterized in that, The front end of the main frame (71) is fixedly provided with an array of obstacle avoidance sensors (711), the rear end of the main frame (71) is fixedly provided with an array of blocks (712), and the lower end face of the main frame (71) is provided with a first bracket (713), a positioning sensor (77) and a symmetrically distributed second slide groove (714) that are fixedly connected.

4. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 3, characterized in that, The bogie (72) is fixedly equipped with an axially arranged second motor (721) and a first telescopic column (726). The lower end of the bogie (72) is equipped with a fixedly connected barcode scanner (78). The outer side of the first telescopic column (726) is equipped with a spring. The shaft of the second motor (721) is equipped with a fixedly connected drive wheel (722). The upper part of the bogie (72) is equipped with a drive plate (725). The upper end of the first telescopic column (726) is rotatably connected to the drive plate (725). The lower end of the first telescopic column (726) is rotatably connected to the bogie (72). The upper end of the drive plate (725) is equipped with a fixedly connected gear disk (723). The center of the gear disk (723) and the drive plate (725) is equipped with a spline-connected central column (724). The central column (724) passes through the main frame (71) and is rotatably connected to it.

5. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 4, characterized in that, The first bracket (713) is provided with a fixedly connected third motor (73), and the shaft of the third motor (73) is provided with a fixedly connected drive gear (731), which meshes with the gear disk (723).

6. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 5, characterized in that, The support mechanism (74) includes a caster wheel (741) and a second telescopic column (742). The second telescopic column (742) is provided with a spring on its outer side. The lifting mechanism (75) includes a second bracket (751). The second bracket (751) is provided with a fixedly connected third electric cylinder (752). The upper end of the second bracket (751) is fixed to the lower end surface of the main frame (71). The telescopic end of the third electric cylinder (752) is provided with a lifting moving wheel (753).

7. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 6, characterized in that, The third bracket (761) is slidably engaged with the second slide groove (714). The third bracket (761) is symmetrically provided with a rotating frame (762) and a fourth electric cylinder (763). The tail end of the fourth electric cylinder (763) is rotatably connected to the third bracket (761). The telescopic end of the fourth electric cylinder (763) is rotatably connected to one side of the rotating frame (762). The other side of the rotating frame (762) is provided with a fixedly connected movable frame (764). The lower end face of the main frame (71) is also provided with a fixedly connected fourth motor (765). The fourth motor (765) drives the synchronous rotation of two sets of symmetrical lead screws (766). The lead screws (766) are provided with threaded lead screw sliders. The lead screw sliders are fixedly connected to the third bracket (761).

8. The intelligent three-dimensional parking equipment based on a clamping AGV parking robot according to claim 7, characterized in that, The movable frame (764) is provided with an array of third sliding grooves (7641). The movable frame (764) has a through mounting groove on its side. Both ends of the mounting groove are provided with arc-shaped slots. A support shaft (768) is provided in the mounting groove. An array of support rollers (7681) is rotatably provided on the support shaft (768). Both ends of the support shaft (768) are locked in the arc-shaped slots. The upper surface of the movable frame (764) is provided with a sliding limit frame (767) and a fixedly connected fifth electric cylinder (7671). The limit frame (767) slides with the third sliding groove (7641). After the limit frame (767) moves forward, it can seal the upper end of the arc-shaped slot. The telescopic end of the fifth electric cylinder (7671) is fixedly connected to the limit frame (767).

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