A double-layer comb-tooth lifting AGV handling robot

Abstract

This invention relates to the field of automated parking garage technology, specifically disclosing a double-layer comb-tooth lifting AGV transport robot, including a lift, with a transport robot movably mounted on the upper surface of the lift. The transport robot includes a drive body, with multiple comb-tooth rods fixedly installed on the outer walls of both sides of the drive body. Two symmetrically arranged first docking rods are fixedly installed on the bottom surface of the comb-tooth rods. Carrier frames are fixedly installed on both sides of the transport robot, and the carrier frames include lifting blocks. This invention incorporates an exchange component. When the exchange component is positioned on the outer wall of the fixed rod, the movable block in the exchange component correspondingly protrudes upwards, indicating that the vehicle should be parked in a suitable position as it enters the carrier frame. When the exchange component is moved to the outer wall of the comb-tooth rod, the movable block corresponding to the vehicle tire can limit the vehicle tire's movement, thereby improving the vehicle's stability on the transport robot.

Description

Technical Field

[0001] This invention relates to the field of automated parking garage technology, and more particularly to a double-layer comb-tooth lifting AGV handling robot. Background Technology

[0002] With the development of the times, cars have become an essential mode of transportation for more and more families. Each car needs a corresponding parking space. Currently, most parking spaces are simply marked on the ground without any modification to the parking space itself. This is called a surface parking lot. Another type is the traditional multi-level parking garage, which includes lane stacking, vertical lifting, and planar moving types. To facilitate parking and retrieval, a smart AGV (Automated Guided Vehicle) robot that can automatically park and retrieve vehicles is needed in conjunction with a newly structured multi-level parking garage. This would solve the problems of cumbersome parking and retrieval processes and the low space utilization of existing parking lots.

[0003] One type of automated parking system is the comb-type, which involves the transport of vehicles. The structure consists of a lifting channel and parking spaces. The lifting channel contains a lifting system and AGV (Automated Guided Vehicle) robots. The entrance and exit are located within the ground-level lifting channel. When parking a vehicle, the lifting system moves the AGV robots to the designated level. The AGV robots then transport the vehicle from the channel to the parking space. Specifically, the comb-type lifting AGV robots facilitate the transfer of vehicles from the vehicle carrier to the robots, and from the robots to the comb-type racks at the parking spaces. This type of parking garage primarily uses multiple AGV robots to store and retrieve vehicles. In a two-level parking garage, the lifting channel contains a lifting system, and the AGV robots for storing and retrieving vehicles are located on this lifting system.

[0004] In the actual application of this type of double-layer parking garage, depending on the road planning at the garage entrance, the vehicle's position varies when different drivers enter the area before the garage entrance. Specifically, when a vehicle approaches the garage entrance and passes through the identification device at the entrance to identify the vehicle's information, but the vehicle is still tilted, if the user reverses to adjust the vehicle's position, it will take a lot of time for novice drivers, and it will also cause the information identification device at the garage entrance to repeatedly identify the vehicle's information, resulting in the garage door opening and closing repeatedly. In addition, when the vehicle enters the vehicle rack inside the garage, if the vehicle is not in a standard centered position, it will cause the vehicle to remain tilted or offset when it is transferred to the transport robot, resulting in uneven force on the surface of the transport robot. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a double-layer comb-tooth lifting AGV handling robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A double-layer comb-tooth lifting AGV handling robot includes a lift, with a handling robot movably mounted on the upper surface of the lift. The handling robot includes a drive body, with multiple comb-tooth rods fixedly installed on the outer walls of both sides of the drive body. Two symmetrically arranged first docking rods are fixedly installed on the bottom surface of the comb-tooth rods. Carrier frames for use with the handling robot are provided on both sides of the handling robot, and the carrier frames are fixedly installed. The carrier frames include lifting blocks, with multiple fixed rods for use with the comb-tooth rods fixedly installed on the lifting blocks. Two symmetrically arranged second docking rods are fixedly installed on the outer walls of the fixed rods, and an exchange component is movably installed on the outer walls of the fixed rods through the second docking rods. A clearance cavity is opened on the upper surface of the lifting block, and an adjustment component is movably installed inside the clearance cavity. An installation chamber is provided at the end of the lift, and a support component is movably installed inside the installation chamber. Multiple sets of transmission belts are movably installed on the support component.

[0008] Preferably, the support assembly includes a shaft, on which multiple partition rods are fixedly installed, with the lengths of the partition rods increasing sequentially. Multiple sets of transmission belts are arranged between two partition rods, and the lengths of the transmission belts and partition rods are matched. At the bottom of each partition rod located at both ends of the shaft, two sets of symmetrically arranged second electric telescopic rods are fixedly installed. One end of the second electric telescopic rod is fixedly connected to the bottom surface of the partition rod, and the other end is rotatably mounted with a roller. Inside the installation chamber, a slide rail is fixedly installed below the roller, and the roller is slidably installed in the slide rail.

[0009] Preferably, the exchange assembly includes an exchange box, the bottom of which has two sets of symmetrically arranged docking slots that engage with the ends of the second docking rod and the first docking rod, and a movable block is movably installed inside the exchange box.

[0010] Preferably, a first electric telescopic rod is fixedly installed on the outer wall of the drive body below the comb bar. The first electric telescopic rod is inclined and one end is embedded in the interior of the drive body, while the other end is in contact with the bottom surface of the comb bar.

[0011] Preferably, a limiting groove is provided through the output end of the first electric telescopic rod, and a second limiting block and a first limiting block are fixedly installed on the bottom surface of the exchange box and the comb rod at the corresponding positions of the end of the first electric telescopic rod, and the second limiting block and the first limiting block are both snapped into the limiting groove.

[0012] Preferably, the adjustment assembly includes a lifting frame movably connected to the lifting block, two sets of fixed boxes are fixedly installed on the lifting frame, a clamping box is movably installed inside the fixed box, a movable seat is slidably installed inside the clamping box, a clamping rod is rotatably connected inside the movable seat, and two sets of first hydraulic telescopic rods are also provided inside the fixed box, both sets of first hydraulic telescopic rods are located between the fixed box and the clamping box, wherein one end of the first hydraulic telescopic rod is fixedly connected to the fixed box, and the other end is movably connected to the outer wall of the clamping box.

[0013] Preferably, a plurality of ball bearings are rotatably mounted on the lifting frame, and the plurality of ball bearings are laterally distributed on the lifting frame.

[0014] Preferably, the transmission belt includes a transmission body fixedly connected to the separator bar, a transmission structure movably connected to the transmission body, and an anti-slip layer movably connected to the outer wall of the transmission structure.

[0015] Preferably, a second hydraulic telescopic rod is fixedly installed at both ends of the inside of the exchange box below the movable block, and the output end of the second hydraulic telescopic rod is fixedly connected to the bottom surface of the movable block.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention features an exchange component. When the exchange component is positioned on the outer wall of the fixed rod, the movable block in the exchange component protrudes upwards, which can guide the vehicle to park in a suitable position as it enters the vehicle carrier. When the exchange component is exchanged to the outer wall of the comb rod, the movable block corresponding to the vehicle tire can limit the vehicle tire, thereby improving the stability of the vehicle on the transport robot.

[0018] This invention, through the setting of a support component and multiple sets of transmission belts, allows the transmission belts located between multiple dividing bars to operate under the control of a controller when the vehicle is tilted and continuously stationary at the garage entrance. Driven by the transmission main body, the transmission belts located below the front and rear wheels of the vehicle transmit power according to the degree of vehicle tilt. The transmission main body drives the transmission structure to rotate, thereby causing the anti-slip layer connected to the transmission structure to rotate synchronously. During the synchronous monitoring process by the monitoring sensors, when the vehicle is adjusted to be perpendicular to the garage, and by controlling the support component to sink and move left and right inside the support compartment, the position of the vehicle can be further adjusted so that its front is aligned with the center of the garage entrance.

[0019] This invention features a first electric telescopic rod. When the exchange assembly is installed on the outer wall of the comb rod, the output end of the first electric telescopic rod located below the comb rod extends. Then, the first and second limiting blocks, fixedly installed on the bottom surfaces of the comb rod and the fixing rod, can be correspondingly engaged in the limiting groove opened at the end of the first electric telescopic rod. Since the first and second limiting blocks, along with the first electric telescopic rod, are all inclined, the first electric telescopic rod can support the connection between the comb rod and the drive body, and also limit the movement of the first and second limiting blocks, preventing misalignment between the exchange box and the comb rod that could cause the exchange box to detach from the outer wall of the comb rod. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the support component structure in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram showing the disassembled structure of the transmission belt and support assembly in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the bottom structure of the handling robot in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the handling robot structure in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the lifting state structure of the handling robot in an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram showing the disassembled structure of the vehicle frame and adjustment assembly in an embodiment of the present invention;

[0028] Figure 8 This is a schematic cross-sectional view of the fixed box structure in an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram showing the location distribution of the switching components in an embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram showing another location distribution of the switching components in an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the side structure of the first electric telescopic pole in an embodiment of the present invention;

[0032] Figure 12 This is a schematic diagram showing the disassembly of the active block and exchange box structure in an embodiment of the present invention;

[0033] Figure 13 This is a schematic diagram of the overall structure of the handling robot in an embodiment of the present invention;

[0034] Figure 14 This is an embodiment of the present invention. Figure 1 A magnified view of the structure at point A in the middle;

[0035] Figure 15 This is a schematic diagram showing the position of the transport robot in a double-layer garage according to an embodiment of the present invention.

[0036] In the diagram: 1. Elevator; 2. Handling robot; 201. Drive unit; 202. Comb bar; 203. First docking rod; 204. First electric telescopic rod; 205. Limiting groove; 206. First limiting block; 3. Carrier frame; 301. Lifting block; 302. Fixing rod; 303. Clearing cavity; 304. Second docking rod; 4. Adjustment assembly; 401. Lifting frame; 402. Fixing box; 403. Clamping box; 404. Clamping device. 405. Holding rod; 406. First hydraulic telescopic rod; 407. Movable seat; 5. Installation compartment; 6. Support assembly; 601. Shaft; 602. Divider rod; 603. Roller; 604. Second electric telescopic rod; 7. Transmission belt; 701. Transmission structure; 702. Anti-slip layer; 8. Slide rail; 9. Exchange assembly; 901. Exchange box; 902. Docking groove; 903. Second limit block; 904. Movable block; 905. Second hydraulic telescopic rod. Detailed Implementation

[0037] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0038] Reference Figure 1-15A double-layer comb-tooth lifting AGV handling robot 2 includes a lift 1. A handling robot 2 is movably mounted on the upper surface of the lift 1. The handling robot 2 includes a drive body 201. Multiple comb-tooth rods 202 are fixedly installed on the outer walls of both sides of the drive body 201. Two symmetrically arranged first connecting rods 203 are fixedly installed on the bottom surface of the comb-tooth rods 202. Carrier frames 3 are fixedly installed on both sides of the handling robot 2 for use with it. The carrier frames 3 include lifting blocks 301. Multiple fixed rods 302 that cooperate with the comb rod 202 are fixedly installed on the upper part. Two symmetrically arranged second docking rods 304 are fixedly installed on the outer wall of the fixed rod 302. An exchange component 9 is movably installed on the outer wall of the fixed rod 302 through the second docking rods 304. A clearance cavity 303 is opened on the upper end face of the lifting block 301. An adjustment component 4 is movably installed inside the clearance cavity 303. An installation chamber 5 is provided at the end of the lifting machine 1. A support component 6 is movably installed inside the installation chamber 5. Multiple sets of transmission belts 7 are movably installed on the support component 6.

[0039] In this double-layer parking garage, the drive unit 201 is divided into upper and lower parts. The upper outer wall of the drive unit 201 is fixedly connected to multiple comb rods 202. The upper part of the drive unit 201 can be lifted upwards through its internal drive structure. The vehicle carrier 3 is fixed to the parking garage body on both sides of the transport robot 2. After the upper part of the drive unit 201 is lifted upwards through its internal drive structure, the vehicle parked on the vehicle carrier 3 can be lifted, thereby allowing the vehicle to be parked on the transport robot 2. This is an existing mature technology. During the process of transferring the vehicle from the carrier frame 3 to the transport robot 2, the transfer component 9 can be simultaneously transferred from the outer wall of the fixed rod 302 to the outer wall of the comb rod 202. The transfer component 9 can always keep the vehicle's tires in a limited position. When the vehicle is tilted at the garage entrance or parked on the carrier frame 3 in a tilted state, the support component 6 and the transmission belt 7 can be used to adjust the tilted vehicle at the garage entrance. The adjustment component 4 can be used to adjust the position of the vehicle parked on the carrier frame 3 so that it is positioned correctly on the carrier frame 3.

[0040] As a technical optimization of the present invention, the support component 6 includes a shaft 601, on which multiple partition rods 602 are fixedly installed, and the lengths of the multiple partition rods 602 increase sequentially. Multiple sets of transmission belts 7 are arranged between two partition rods 602, and the lengths of the transmission belts 7 and the partition rods 602 are matched. Two sets of symmetrically arranged second electric telescopic rods 604 are fixedly installed at the bottom of the partition rods 602 located at both ends of the shaft 601. One end of the second electric telescopic rod 604 is fixedly connected to the bottom surface of the partition rod 602, and the other end is rotatably mounted with a roller 603. Inside the installation chamber 5, a slide rail 8 is fixedly installed below the roller 603, and the roller 603 is slidably installed in the slide rail 8.

[0041] When a vehicle enters the double-level garage entrance area from a road parallel to the garage, it is monitored by a visual monitor installed at the double-level garage entrance gate. If the vehicle's license plate number has been identified but the vehicle is tilted, and the vehicle remains at the entrance for more than the allowed time, the drive belt 7 installed between multiple dividing bars 602 will activate the controller (CPM1A). The system operates under the control of the PLC controller and is driven by the drive unit 201. The transmission belt 7 located under the front and rear wheels of the vehicle drives according to the tilt of the vehicle. The drive unit 201 drives the transmission structure 701 to rotate, which in turn causes the anti-slip layer 702 connected to the transmission structure 701 to rotate synchronously. During the synchronous monitoring process of the monitoring sensor, when the vehicle is adjusted to be perpendicular to the garage, the transmission belt 7 stops moving. At this time, the monitoring sensor determines whether the vehicle is in the middle of the garage entrance. If the front of the vehicle is tilted to either side of the garage door, the support component 6 and the multiple sets of transmission belts 7 sink as a whole under the action of multiple sets of second electric telescopic rods 604. Then, the roller 603 set at the end of the second electric telescopic rod 604 moves inside the slide rail 8, which allows the support component 6 and the vehicle on the support component 6 to move simultaneously, thereby moving the front of the vehicle to the middle of the garage entrance. At this time, the driver can drive the vehicle from the entrance of the double-layer garage into the car carrier 3 and adjustment component 4 placed inside.

[0042] As a technical optimization of the present invention, the exchange component 9 includes an exchange box 901. The bottom of the exchange box 901 is provided with two sets of symmetrically arranged docking slots 902. The docking slots 902 are engaged with the ends of the second docking rod 304 and the first docking rod 203. A movable block 904 is movably installed inside the exchange box 901.

[0043] Once the vehicle is properly positioned, the upper part of the drive body 201 located below the vehicle carrier 3 and the multiple comb rods 202 fixedly connected to the outer wall of the upper part of the drive body 201 are lifted upwards. During the upward movement of the upper part of the drive body 201 and the comb rods 202, the vehicle can be transferred from the vehicle carrier 3 to the handling robot 2. During the upward movement of the comb rods 202, the end of the first docking rod 203 fixedly installed on the bottom surface of the comb rod 202 engages with the docking groove 902 opened on the bottom surface of the exchange box 901. When the comb bar 202 continues to move upward, it can cause the exchange box 901 to separate from the second docking rod 304 fixedly connected to the fixed rod 302, thereby enabling the exchange component 9 to complete the exchange from the side wall of the fixed rod 302 to the side wall of the comb bar 202. When the exchange component 9 is exchanged to the outer wall of the comb bar 202, the movable blocks 904 located on both sides of the front and rear wheels of the vehicle are in an upwardly raised state. The movable blocks 904 can block and limit the wheels, thereby enabling the vehicle to stay stably on the handling robot 2.

[0044] As a technical optimization of the present invention, a first electric telescopic rod 204 is fixedly installed on the outer wall of the drive body 201 below the comb bar 202. The first electric telescopic rod 204 is inclined and one end is embedded in the interior of the drive body 201, and the other end is in contact with the bottom surface of the comb bar 202.

[0045] The inclined first electric telescopic rod 204 can form a triangular support structure between the drive body 201 and the comb rod 202, thereby supporting the connection between the comb rod 202 and the drive body 201. When the vehicle moves above the comb rod 202, the telescopic end of the first electric telescopic rod 204 is automatically triggered to extend, which can prevent the connection between the comb rod 202 and the comb rod 202 from breaking.

[0046] As a technical optimization of the present invention, the output end of the first electric telescopic rod 204 is provided with a limiting groove 205. The bottom surfaces of the exchange box 901 and the comb rod 202 are respectively fixedly installed with the second limiting block 903 and the first limiting block 206 at the corresponding positions of the end of the first electric telescopic rod 204. The second limiting block 903 and the first limiting block 206 are both snapped into the limiting groove 205.

[0047] When the exchange assembly 9 is installed on the outer wall of the comb bar 202, the output end of the first electric telescopic rod 204 located below the comb bar 202 extends. Then, the first limiting block 206 and the second limiting block 903, which are fixedly installed on the bottom surface of the comb bar 202 and the fixed rod 302, can be correspondingly engaged in the limiting groove 205 opened at the end of the first electric telescopic rod 204. The first limiting block 206, the second limiting block 903 and the first electric telescopic rod 204 are all inclined. The first electric telescopic rod 204 can support the connection between the comb bar 202 and the drive body 201 on the one hand, and limit the first limiting block 206 and the second limiting block 903 on the other hand, which can prevent misalignment between the exchange box 901 and the comb bar 202, causing the exchange box 901 to detach from the outer wall of the comb bar 202.

[0048] As a technical optimization of the present invention, the adjustment component 4 includes a lifting frame 401 movably connected to the lifting block 301. Two sets of fixed boxes 402 are fixedly installed on the lifting frame 401. A clamping box 403 is movably installed inside the fixed box 402. A movable seat 406 is slidably installed inside the clamping box 403. A clamping rod 404 is rotatably connected inside the movable seat 406. Two sets of first hydraulic telescopic rods 405 are also provided inside the fixed box 402. Both sets of first hydraulic telescopic rods 405 are located between the fixed box 402 and the clamping box 403. One end of the first hydraulic telescopic rod 405 is fixedly connected to the fixed box 402, and the other end is movably connected to the outer wall of the clamping box 403.

[0049] When the vehicle deviates or tilts, the lifting frame 401 moves upward under the action of the external drive component, lifting the vehicle. At the same time, the two clamping boxes 403 in the fixing boxes 402 on the lifting frame 401, which are corresponding to the front and rear wheels of the vehicle, can clamp the vehicle. After the front and rear wheels of the vehicle are clamped, the position of the vehicle can be adjusted by the extension and retraction of the two first hydraulic telescopic rods 405 in the four sets of fixing boxes 402 until the vehicle is adjusted to a suitable centered position.

[0050] As a technical optimization of the present invention, a plurality of balls are rotatably mounted on the lifting frame 401, and the plurality of balls are laterally distributed on the lifting frame 401.

[0051] The arrangement of multiple ball bearings can transform the sliding friction between the vehicle wheels and the surface of the lifting frame 401 into rolling friction, thereby making it more convenient to adjust the position of the vehicle on the lifting frame 401.

[0052] As a technical optimization of the present invention, the transmission belt 7 includes a transmission body fixedly connected to the separator 602, a transmission structure 701 movably connected to the transmission body, and an anti-slip layer 702 movably connected to the outer wall of the transmission structure 701.

[0053] The transmission body is based on existing technology. When the transmission belt 7 is installed on the support component 6, it can be combined with the support component 6 to form a whole. The outer wall of the anti-slip layer 702 is provided with anti-slip ridges, etc. After long-term use, the anti-slip layer 702 can be replaced. The upper surface of the anti-slip layer 702 is flush with the upper surface of the vehicle frame 3 and the adjustment component 4.

[0054] As a technical optimization of the present invention, the two ends of the inside of the exchange box 901 are fixedly installed with a second hydraulic telescopic rod 905 below the movable block 904, and the output end of the second hydraulic telescopic rod 905 is fixedly connected to the bottom surface of the movable block 904.

[0055] The position of the movable block 904 can be controlled by extending and retracting the second hydraulic telescopic rod 905. When the movable block 904 needs to be used, it can be lifted upward by the second hydraulic telescopic rod 905. After being lifted, the movable block 904 can block the vehicle wheels. When not in use, the second hydraulic telescopic rod 905 is shortened so that the movable block 904 is stored inside the exchange box 901, and the upper surface of the movable block 904 is flush with the upper surface of the exchange box 901.

[0056] In use, when a vehicle enters the entrance area of ​​a double-layer garage from a road parallel to the garage, it is monitored by a visual monitor installed at the entrance gate. If the vehicle's license plate number has been identified but the vehicle is tilted, and the vehicle remains at the entrance for more than the specified time, the transmission belt 7, located between multiple dividing bars 602, operates under the control of a controller (CPM1A PLC controller). The support assembly 6 and multiple sets of transmission belts 7 are located inside a mounting chamber 5, which is embedded in the ground with its upper surface flush with the ground. Driven by the transmission body, the transmission belts 7 located below the front and rear wheels of the vehicle rotate according to the vehicle's tilt. The transmission body drives the transmission structure 701 to rotate, causing the anti-slip layer 702 connected to the transmission structure 701 to rotate synchronously. During the synchronous monitoring process by the sensors, when the vehicle is adjusted to be perpendicular to the garage, the transmission belt 7 stops moving. At this time, according to the monitoring sensors... The monitoring system determines whether the vehicle is in the middle of the garage entrance. If the front of the vehicle is tilted to either side of the garage door, the support assembly 6 and the multiple sets of transmission belts 7 will sink as a whole under the action of multiple sets of second electric telescopic rods 604. Then, the rollers 603 set at the end of the second electric telescopic rods 604 move inside the slide rails 8, which allows the support assembly 6 and the vehicle on the support assembly 6 to move at the same time, thereby moving the front of the vehicle to the middle of the garage entrance. At this time, the driver can drive the vehicle from the entrance of the double-layer garage into the car carrier 3 and adjustment assembly 4 placed inside.

[0057] When a vehicle drives directly into the garage without stopping at the entrance, the controller, based on the vehicle model identification by visual monitoring sensors, can control the movable exchange assembly 9 on the fixed rod 302 to make corresponding changes as the driver drives the vehicle into the garage. Specifically, under the monitoring of the position sensor, when the vehicle moves to the appropriate position, the movable block 904 in the exchange box 901 corresponding to the rear wheels of the vehicle rises. After the movable block 904 rises, it can block the rear wheels of the vehicle, thereby preventing the vehicle from moving excessively forward. Then, the... The vehicle's position is monitored by visual monitors inside the garage. When the vehicle deviates or tilts, the lifting frame 401 moves upward under the action of the external drive components, lifting the vehicle. At the same time, the two clamping boxes 403 in the fixing boxes 402 on the lifting frame 401, which are corresponding to the front and rear wheels of the vehicle, can clamp the vehicle. After the front and rear wheels of the vehicle are clamped, the position of the vehicle can be adjusted by the extension and retraction of the two first hydraulic telescopic rods 405 in the four sets of fixing boxes 402, until the vehicle is adjusted to a suitable centered position.

[0058] Once the vehicle is properly positioned, the upper part of the drive body 201 located below the vehicle carrier 3 and the multiple comb rods 202 fixedly connected to the outer wall of the upper part of the drive body 201 are lifted upwards. During the upward movement of the upper part of the drive body 201 and the comb rods 202, the vehicle can be transferred from the vehicle carrier 3 to the transport robot 2. During the upward movement of the comb rods 202, the end of the first docking rod 203 fixedly installed on the bottom surface of the comb rod 202 engages with the docking groove 902 opened on the bottom surface of the exchange box 901. As the comb rods 202 continue to move upwards, they can cause the exchange box 901 to separate from the second docking rod 304 fixedly connected to the fixed rod 302, thereby allowing the exchange assembly 9 to complete the exchange from the side wall of the fixed rod 302 to the side wall of the comb rod 202. When the exchange assembly 9 is exchanged to the outer wall movably installed on the comb rod 202, the vehicle's front and rear wheels... When the movable blocks 904 on both sides of the wheel are in an upwardly raised state, the movable blocks 904 can block and limit the wheel, thereby allowing the vehicle to stay stably on the transport robot 2. The elevator 1 moves up and down, allowing the transport robot 2 to drive the vehicle to park in any parking space on the first or second floor. After the transport robot 2 moves the vehicle to an empty parking space inside the double-layer garage, it returns to the elevator 1. Before returning to the elevator 1, the multiple comb rods 202 fixedly installed on the upper end of the drive body 201 and its outer wall are higher than the fixed rod 302. During the downward movement of the upper end of the drive body 201, the exchange component 9 movably installed on the outer wall of the fixed rod 302 is re-exchanged and snapped onto the outer wall of the fixed rod 302. The exchange component 9 returning to the outer wall of the fixed rod 302 can block the parking position of the next vehicle when it moves into the garage.

[0059] When the exchange assembly 9 is installed on the outer wall of the comb bar 202, the output end of the first electric telescopic rod 204 located below the comb bar 202 extends. Then, the first limiting block 206 and the second limiting block 903, which are fixedly installed on the bottom surface of the comb bar 202 and the fixed rod 302, can be correspondingly engaged in the limiting groove 205 opened at the end of the first electric telescopic rod 204. The first limiting block 206, the second limiting block 903 and the first electric telescopic rod 204 are all inclined. The first electric telescopic rod 204 can support the connection between the comb bar 202 and the drive body 201 on the one hand, and limit the first limiting block 206 and the second limiting block 903 on the other hand, which can prevent misalignment between the exchange box 901 and the comb bar 202, causing the exchange box 901 to detach from the outer wall of the comb bar 202.

[0060] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0061] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A double-layer comb-tooth lifting AGV handling robot, comprising a lift (1), wherein a handling robot (2) is movably disposed on the upper end surface of the lift (1), characterized in that, The transport robot (2) includes a drive body (201), with multiple comb rods (202) fixedly installed on the outer walls of both sides of the drive body (201). Two symmetrically arranged first docking rods (203) are fixedly installed on the bottom surface of the comb rods (202). Both sides of the transport robot (2) are provided with a carrier frame (3) for use with the transport robot (2), and the carrier frame (3) is fixedly installed. The carrier frame (3) includes a lifting block (301), on which multiple fixed rods for use with the comb rods (202) are fixedly installed. 302), two symmetrically arranged second docking rods (304) are fixedly installed on the outer wall of the fixed rod (302), and an exchange component (9) is movably installed on the outer wall of the fixed rod (302) through the second docking rods (304). A relief cavity (303) is opened on the upper end face of the lifting block (301), and an adjustment component (4) is movably installed inside the relief cavity (303). An installation chamber (5) is provided at the end of the lifting machine (1), and a support component (6) is movably installed inside the installation chamber (5). Multiple sets of transmission belts (7) are movably installed on the support component (6).

2. The double-layer comb-tooth lifting AGV handling robot according to claim 1, characterized in that, The support assembly (6) includes a shaft (601), on which multiple partition rods (602) are fixedly installed, and the lengths of the multiple partition rods (602) increase sequentially. Multiple sets of transmission belts (7) are arranged between two partition rods (602), and the lengths of the transmission belts (7) and partition rods (602) are matched. At the bottom of the partition rods (602) located at both ends of the shaft (601), two sets of symmetrically arranged second electric telescopic rods (604) are fixedly installed. One end of the second electric telescopic rod (604) is fixedly connected to the bottom surface of the partition rod (602), and the other end is rotatably installed with a roller (603). Inside the installation chamber (5), a slide rail (8) is fixedly installed below the roller (603), and the roller (603) is slidably installed in the slide rail (8).

3. The double-layer comb-tooth lifting AGV handling robot according to claim 1, characterized in that, The exchange assembly (9) includes an exchange box (901). The bottom of the exchange box (901) is provided with two sets of symmetrically arranged docking slots (902). The docking slots (902) are engaged with the ends of the second docking rod (304) and the first docking rod (203). A movable block (904) is movably installed inside the exchange box (901).

4. The double-layer comb-tooth lifting AGV handling robot according to claim 1, characterized in that, The outer wall of the drive body (201) is fixedly installed with a first electric telescopic rod (204) below the comb rod (202). The first electric telescopic rod (204) is inclined and one end is embedded in the interior of the drive body (201), while the other end is in contact with the bottom surface of the comb rod (202).

5. A double-layer comb-tooth lifting AGV handling robot according to claim 4, characterized in that, The output end of the first electric telescopic rod (204) is provided with a limiting groove (205). The bottom surfaces of the exchange box (901) and the comb rod (202) are respectively fixedly installed with a second limiting block (903) and a first limiting block (206) at the corresponding positions of the end of the first electric telescopic rod (204). The second limiting block (903) and the first limiting block (206) are both snapped into the limiting groove (205).

6. A double-layer comb-tooth lifting AGV handling robot according to claim 1, characterized in that, The adjustment component (4) includes a lifting frame (401) movably connected to the lifting block (301). Two sets of fixed boxes (402) are fixedly installed on the lifting frame (401). A clamping box (403) is movably installed inside the fixed box (402). A movable seat (406) is slidably installed inside the clamping box (403). A clamping rod (404) is rotatably connected inside the movable seat (406). Two sets of first hydraulic telescopic rods (405) are also provided inside the fixed box (402). Both sets of first hydraulic telescopic rods (405) are located between the fixed box (402) and the clamping box (403). One end of the first hydraulic telescopic rod (405) is fixedly connected to the fixed box (402), and the other end is movably connected to the outer wall of the clamping box (403).

7. A double-layer comb-tooth lifting AGV handling robot according to claim 6, characterized in that, Multiple balls are rotatably mounted on the lifting frame (401), and the multiple balls are laterally distributed on the lifting frame (401).

8. A double-layer comb-tooth lifting AGV handling robot according to claim 1, characterized in that, The transmission belt (7) includes a transmission body fixedly connected to the separator bar (602), a transmission structure (701) movably connected to the transmission body, and an anti-slip layer (702) movably connected to the outer wall of the transmission structure (701).

9. A double-layer comb-tooth lifting AGV handling robot according to claim 3, characterized in that, The two ends of the inside of the exchange box (901) are fixedly installed with second hydraulic telescopic rods (905) below the movable block (904), and the output end of the second hydraulic telescopic rods (905) is fixedly connected to the bottom surface of the movable block (904).

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