Mechanical stereo garage based on trolley AGV

Abstract

The application provides a mechanical stereo garage based on a car-moving AGV, which comprises a garage-in area and a garage-out area, a parking space area is arranged between the garage-in area and the garage-out area, the parking space area is provided with a plurality of parking space structures arranged side by side, each parking space structure comprises a parking space base frame, a car-loading frame capable of lifting is arranged on the parking space base frame, and a car-moving AGV is further arranged, the car-moving AGV is used for transferring vehicles between the garage-in area, the parking space structure and the garage-out area, and the problem that it is difficult for a worker to manually park a vehicle into a parking space in a lifting and horizontal moving type mechanical parking equipment with a lifting cable is solved.

Description

Technical Field

[0001] This invention relates to the field of automated parking systems, and in particular to a mechanical automated parking system based on a AGV (Automated Guided Vehicle). Background Technology

[0002] Data shows that in recent years, my country's automobile demand has grown rapidly, making it the world's largest automobile market. The sheer number of parked cars has a significant impact on urban traffic and the environment. The parking problem has also created huge business opportunities and a vast market for the mechanical parking industry.

[0003] Mechanical parking equipment can be categorized by structure into several types, including lift-and-slide, vertical lift, planar movement, vertical circulation, simple lift, multi-level circulation, and aisle stacking. Currently, lift-and-slide parking equipment accounts for the largest market share. The working principle of lift-and-slide mechanical parking equipment is as follows: the car carrier platform moves to the bottom level, the driver drives the vehicle onto the platform, and parking is achieved by the platform's vertical lifting and horizontal movement. When exiting, it first checks for available spaces before moving the vehicle out. This type of parking equipment has advantages such as simple structure, low construction cost, and short construction time.

[0004] However, the width of the vehicle platform is limited, and there are lifting points at both the front and rear, making it difficult for drivers to drive onto the platform. Therefore, many lift-and-slide mechanical parking garages have been abandoned, are unused, or are unusable. Summary of the Invention

[0005] This invention provides a mechanical automated parking system based on a AGV (Automated Guided Vehicle), which solves the problem of difficulty in manually parking vehicles in lifting and traversing mechanical parking equipment with cable hoists.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a mechanical three-dimensional parking garage based on a moving AGV, including an entry area and an exit area, with a parking space area between the entry area and the exit area, and multiple parking space structures arranged side by side in the parking space area. Each parking space structure includes a parking space base frame, on which a liftable vehicle carrier frame is provided, and a moving AGV is also provided. The moving AGV transfers vehicles between the entry area, the parking space structure, and the exit area.

[0007] In a preferred embodiment, the parking space structure includes a parking space base frame, a rotatable drive shaft on the parking space base frame, multiple front wheels and rear wheels on the parking space structure, both ends of the drive shaft connected to each rear wheel, and multiple lifting traction chains, one end of the lifting traction chain is equipped with a counterweight device, and the other end of the lifting traction chain is sequentially wrapped around the rear wheel and the front wheel and connected to the vehicle frame.

[0008] In a preferred embodiment, the two sides of the vehicle frame are provided with multiple swing connecting arms. The swing connecting arms include a first swing arm and a second swing arm. One end of the first swing arm is hinged to the vehicle frame so that the first swing arm can swing up and down. The other end of the first swing arm is hinged to the lower end of the second swing arm. The second swing arm is provided with a swing block and a chain cable joint. The chain cable joint is connected to the lower end of the lifting traction chain cable. The first swing arm is close to the foundation so that the first swing arm and the second swing arm are arranged at a right angle. The lifting traction chain cable pulls up the vehicle frame so that the first swing arm and the second swing arm are arranged in a straight line.

[0009] In the preferred embodiment, the lifting traction chain cable includes a chain segment and a suspension cable segment. The rear wheel is a sprocket, the chain segment is wrapped around the rear wheel, the front wheel is a pulley, the transition connecting block is wrapped around the front wheel, the side end of the parking space base frame is provided with a guide wheel, the front wheel is inclined so that the suspension cable segment is wrapped around the guide wheel, the lower end of the suspension cable segment is connected to the vehicle frame, the suspension cable segment is a circular cross-section suspension cable, the swing block is located near the lower end of the second swing arm, the second swing arm is provided near the upper end with at least two rows of fixing clips, there is a locking space between adjacent rows for fixing the suspension cable segment, each row of fixing clips is staggered in the height direction so that the fixing clips are arranged in a zigzag shape, each fixing clip is provided with a groove, the groove abuts against the outer wall of the suspension cable segment to lock the suspension cable segment, and the suspension cable segment is pulled laterally to disengage the fixing clip from the locking space.

[0010] In the preferred embodiment, the upper end of the second swing arm is provided with multiple through-hole clip mounting holes. The fixing clip has a Z-shaped structure, with grooves on both sides of the Z-shaped structure and flanges at the ends of the Z-shaped structure. The fixing clip passes through the clip mounting holes, and the flanges are attached to the second swing arm.

[0011] In a preferred embodiment, a stop block is provided on the side end of the vehicle frame, the stop block stops the first swing arm, a second magnetic block is provided at the end of the stop block, a first magnetic block is provided on the first swing arm, and the first magnetic block and the second magnetic block repel each other.

[0012] In the preferred embodiment, a settling trench is provided on the foundation, a raised pad is provided in the settling trench, an avoidance hole is provided in the center of the first swing arm, and a reinforcing rib is provided on the outside of the avoidance hole on the first swing arm. When the first swing arm is rotated and laid flat, the raised pad is inserted into the avoidance hole, and the upper end of the reinforcing rib is flush with the upper surface of the foundation.

[0013] In a preferred embodiment, the swing block has a through hole in the middle, and the chain connector includes a connecting end block and an adjusting bolt. The adjusting bolt passes through the through hole of the swing block and is threadedly connected to the connecting end block. The nut of the adjusting bolt abuts against the lower end face of the swing block, and a locking nut is also fitted on the adjusting bolt. The locking nut abuts against the end of the connecting end block.

[0014] In a preferred embodiment, the AGV for moving vehicles includes two AGV units arranged at intervals. Each AGV unit includes a gantry frame. The lower inner side of the gantry frame is provided with two clamping arms that can rotate toward the center to be parallel and a clamping arm drive device. The lower end of the gantry frame is provided with multiple traveling wheels and a steering mechanism.

[0015] The beneficial effects of this invention are as follows: Multi-layer liftable parking spaces increase parking capacity; the AGV (Automated Guided Vehicle) is responsible for transporting vehicles between the entrance / exit and parking spaces without manual intervention, reducing parking difficulty and preventing scratches; the distance between the lifting point below the parking space entrance and the vehicle platform is variable, widening when the platform is lowered to facilitate AGV vehicle transport; and narrowing the distance between the lifting points when the platform is raised after the AGV exits, providing more width for adjacent parking spaces and facilitating the next vehicle's parking; a traction device combining a chain and a circular cross-section suspension cable is used, with the chain at the rear ensuring the reliability of the vehicle platform drive mechanism, and the circular cross-section suspension cable at the front ensuring separation from the fixing clip of the second swing arm. The top beam of the parking space base frame does not need to be too high, eliminating the need for additional floor height and making the structure more compact. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a floor plan of a single-story garage.

[0018] Figure 2 This is a parking space layout diagram.

[0019] Figure 3 This is a perspective view of the parking space structure.

[0020] Figure 4 This is a diagram showing the swing connecting arm of the vehicle frame in its grounded state.

[0021] Figure 5 This is a side view of the swing connecting arm.

[0022] Figure 6 This is a schematic diagram of the swinging connecting arm in the suspended state.

[0023] Figure 7 This is a structural diagram of a swing connecting arm with a fixing clip.

[0024] Figure 8 This is a structural diagram of the fixing point.

[0025] Figure 9 This is a diagram of the mounting bracket.

[0026] Figure 10 This is a schematic diagram of the second swing arm retracting to its top position.

[0027] Figure 11 This is a diagram of the fixed card structure.

[0028] Figure 12 This is a diagram showing the layout of the segmented lifting traction chain cable.

[0029] Figure 13 This is a schematic diagram of a AGV (Automated Guided Vehicle).

[0030] Figure 14 This is a structural diagram of a AGV (Automated Guided Vehicle).

[0031] Figure 15 This is a diagram of the steering and walking structure of a AGV (Automated Guided Vehicle).

[0032] Figure 16 This is a schematic diagram of the tire clamping structure of the AGV (Automated Guided Vehicle).

[0033] In the diagram: 1. Swing connecting arm; 101. First swing arm; 102. Second swing arm; 103. Reinforcing rib; 104. Clearance hole; 105. Stop end; 106. First magnet; 107. Clip mounting hole; 2. Car frame; 201. Hinge ear; 202. Stop block; 203. Second magnet; 3. Lifting traction chain cable; 3. Chain segment; 301. Transition connecting block; 302. Lifting cable segment; 303. Parking space base frame; 4. Chain cable joint; 5. Connecting end block; 501. Adjusting bolt; 502. Locking nut; 503. Connecting hole; 504. Swing block; 6. Ground 7. Base; 701. Sinking trough; 702. Raised pad; 8. Guide wheel; 9. Fixing clip; 901. Groove; 902. Flanged part; 903. Mounting screw; 10. AGV (Automated Guided Vehicle); 11. Inbound area; 12. Parking area; 13. Outbound area; 14. Parking structure; 15. Drive shaft; 15. Front wheel; 1501. Rear wheel; 1502. Drive wheel; 1503. Counterweight device; 16. AGV unit; 17. Gantry frame; 1701. Walking wheel; 1702. Steering mechanism; 1703. Tire clamping arm; 1704. Clamping arm drive device; 1705. Detailed Implementation

[0034] like Figure 1-16 In this invention, a mechanical automated parking system based on a AGV (Automated Guided Vehicle) is disclosed, comprising an entry area 11 and an exit area 13. A parking space area 12 is provided between the entry area 11 and the exit area 13. The parking space area 12 is provided with multiple parking space structures 14. Each parking space structure 14 includes a parking space base frame 4, on which a liftable vehicle carrier frame 2 is provided. The system also includes a AGV 10, which transfers vehicles between the entry area 11, the parking space structures 14, and the exit area 13.

[0035] The entry area 11, parking space area 12, and exit area 13 constitute a basic parking area. The garage can have multiple basic parking areas.

[0036] The driver lines up the vehicles and parks them at the entrance area 11. The AGV10, equipped with a navigation system that combines lidar and vision, automatically moves forward to the vicinity of the vehicle. After detecting the vehicle's posture, it moves the vehicle into the parking space structure 14 and places it on the vehicle carrier 2. After the vehicle carrier 2 rises, the parking space below becomes empty, and the AGV10 can move the next vehicle to this location.

[0037] In a preferred embodiment, the parking space structure 14 includes a parking space base frame 4, on which a rotatable drive shaft 15 is provided. The parking space structure 14 is provided with multiple front wheels 1501 and rear wheels 1502. Both ends of the drive shaft 15 are connected to each rear wheel 1502. Multiple lifting traction chains 3 are also provided. One end of the lifting traction chain 3 is provided with a counterweight device 16. The other end of the lifting traction chain 3 is sequentially wrapped around the rear wheel 1502 and the front wheel 1501 and connected to the vehicle frame 2.

[0038] A drive wheel 1503 is fitted in the middle of the drive shaft 15, and a worm gear reducer motor is installed on the parking space base frame 4. The drive shaft 15 is driven to rotate by the drive wheel 1503 through a chain.

[0039] In a preferred embodiment, the vehicle frame 2 is provided with multiple swing connecting arms 1 on both sides. The swing connecting arms 1 include a first swing arm 101 and a second swing arm 102. One end of the first swing arm 101 is hinged to the vehicle frame 2 so that the first swing arm 101 can swing up and down. The other end of the first swing arm 101 is hinged to the lower end of the second swing arm 102. The second swing arm 102 is provided with a swing block 6. The swing block 6 is provided with a chain cable joint 5. The chain cable joint 5 is connected to the lower end of the lifting traction chain cable 3. The first swing arm 101 is close to the foundation 7 so that the first swing arm 101 and the second swing arm 102 are arranged at a right angle. The lifting traction chain cable 3 pulls up the vehicle frame 2 so that the first swing arm 101 and the second swing arm 102 are arranged in a straight line.

[0040] In typical garages, double-layer liftable parking spaces use a geared motor to drive a lifting traction chain cable 3 to lift the vehicle frame 2. The vehicle frame 2 is rectangular, and the chain cable connector 5 has a connection hole 504. If the lifting traction chain cable 3 is a steel cable, it is passed through the connection hole 504 and the cable end is bent back and crimped together using clips. If the lifting traction chain cable 3 is a chain, the swing connecting arm 1 inserts the chain link into the connection hole 504. The lifting traction chain cable 3 is connected to the hinge lugs 201 at the four corners of the vehicle frame 2 via the swing connecting arm 1. Generally, the swing connecting arm 1 is a fixed connecting plate that extends outward to the left and right sides to widen the space in the vehicle width direction. However, since liftable parking spaces are usually densely arranged, the widened space is at most half the width of the parking space interval, which is still very narrow compared to ordinary parking spaces, making it easy for vehicles to be scratched by the lifting traction chain cable 3.

[0041] In this solution, AGVs can be used to replace manual labor for vehicle handling. However, since the AGV10 picks up the tires from the outside to move the vehicle, its width is slightly larger than the vehicle. Therefore, extra space needs to be made in the width direction of the vehicle.

[0042] When the vehicle carrier 2 is lifted, the lifting traction cable 3 is taut, and the first swing arm 101 and the second swing arm 102 are pulled vertically, thus swinging inward to reduce the width in the vehicle width direction. At this time, since the lifting traction cable 3 is also forced to narrow inward, the adjacent parking space has more space in the vehicle width direction. The lifting traction cable 3 of the adjacent parking space is lowered, and its first swing arm 101 is placed flat on the foundation 7 under gravity. Since the upper end of the lifting traction cable 3 is located inward, the lifting traction cable 3 tilts slightly inward, and the second swing arm 102 tends to close. However, the lower end of the second swing arm 102 is provided with a stop end 105, which abuts against the first swing arm 101. The second swing arm 102 remains vertical. The width of the parking space is widened by the length of the first swing arm 101, and the width of the parking space is close to that of a normal parking space, greatly reducing the risk of scratches.

[0043] In the preferred embodiment, the lifting traction chain 3 includes a chain segment 301 and a cable segment 303. The rear wheel 1502 is a sprocket, the chain segment 301 is wrapped around the rear wheel 1502, the front wheel 1501 is a pulley, the transition connecting block 302 is wrapped around the front wheel 1501, the lower end of the cable segment 303 is connected to the vehicle frame 2, the cable segment 303 is a circular cross-section cable, the swing block 6 is located near the lower end of the second swing arm 102, the second swing arm 102 is provided with at least two rows of fixing clips 9 near the upper end, and there is a locking space between adjacent rows for fixing the cable segment 303. The fixing clips 9 in each row are staggered in the height direction so that the fixing clips 9 are arranged in a zigzag shape. Each fixing clip 9 is provided with a groove 901, the groove 901 abuts against the outer wall of the cable segment 303 to lock the cable segment 303, and the cable segment 303 is pulled laterally to disengage the fixing clip 9 from the locking space.

[0044] The chain segment 301 and the cable segment 303 are connected by a transition connecting block 302.

[0045] When the lower end of the cable section 303 approaches the pulley or sprocket structure on the top beam, the inclination of the cable section 303 gradually increases, the lateral pulling force increases, and the cable section 303 is pulled out of the clamping space. The upper end of the second swing arm 102 separates from the cable section 303, and the second swing arm 102 can continue to rise, so that the total height of the parking space base frame 4 is not too high.

[0046] In the preferred embodiment, the upper end of the second swing arm 102 is provided with multiple through-holes 107 for mounting clips. The fixing clip 9 has a U-shaped structure, with grooves 901 on both sides of the U-shaped structure and flanges 902 at the ends of the U-shaped structure. The fixing clip 9 passes through the mounting holes 107 and the flanges 902 are attached to the second swing arm 102.

[0047] The mounting hole 107 of the clip has a threaded hole around its perimeter, and the mounting screw 903 fixes the flanged part 902 to the second swing arm 102. The fixing clip 9 is a flexible steel sheet bent into a Z-shape, and then the two sides are bent to form the groove part 901. Therefore, the fixing clip 9 has the ability to deform and recover. The groove part 901 can be used to lock the cable section 303. Since the fixing clips 9 are staggered in height, after the cable section 303 is pulled out, the guide wheel 8 can push and push the fixing clips 9 one by one and pass through the locking space.

[0048] In a preferred embodiment, a stop block 202 is provided on the side end of the vehicle frame 2, the stop block 202 stops the first swing arm 101, a second magnetic block 203 is provided at the end of the stop block 202, a first magnetic block 106 is provided on the first swing arm 101, and the first magnetic block 106 and the second magnetic block 203 repel each other.

[0049] When the first swing arm 101 is vertical, it is pressed against the stop block 202. At this time, because the lifting traction cable 3 is in a taut state, the force is much greater than the repulsive force of the stop block 202 on the first magnetic block 106. Therefore, the first swing arm 101 remains close to the end of the stop block 202. When the vehicle frame 2 is placed on the foundation 7, the lifting traction cable 3 gradually relaxes. The second magnetic block 203 repels the first magnetic block 106, causing the first swing arm 101 to be pushed away. The first swing arm 101 then flattens under the action of gravity.

[0050] In the preferred embodiment, a settling groove 701 is provided on the foundation 7, and a raised pad 702 is provided in the settling groove 701. A clearance hole 104 is provided in the center of the first swing arm 101, and a reinforcing rib 103 is provided on the outer side of the clearance hole 104 on the first swing arm 101. When the first swing arm 101 is rotated and laid flat, the raised pad 702 is inserted into the clearance hole 104, and the upper end of the reinforcing rib 103 is flush with the upper surface of the foundation 7.

[0051] The first swing arm 101 is embedded in the recess 701 to prevent damage to the first swing arm 101 and the hinge joint caused by frequent crushing when vehicles or AGV transport tools pass by. The vehicle frame 2 generally adopts a rectangular welded frame structure with internal support plates. Therefore, the edge frame is relatively deep. In order to ensure that the upper surface of the vehicle frame 2 is not too high and the recess 701 is too deep, the depth of the recess 701 can be half the thickness of the edge frame.

[0052] In a preferred embodiment, the swing block 6 has a through hole in the middle, and the chain connector 5 includes a connecting end block 501 and an adjusting bolt 502. The adjusting bolt 502 passes through the through hole of the swing block 6 and is threadedly connected to the connecting end block 501. The nut of the adjusting bolt 502 abuts against the lower end face of the swing block 6, and a locking nut 503 is also fitted on the adjusting bolt 502. The locking nut 503 abuts against the end of the connecting end block 501.

[0053] The adjusting bolt 502 is rotatably connected to the swing block 6. The length of the adjusting bolt 502 extending out of the connecting end block 501 is adjustable and locked by the locking nut 503. The length of the lifting traction chain cable 3 at each of the four corners of the vehicle frame 2 can be adjusted to ensure that the vehicle frame 2 is horizontal.

[0054] Since the first swing arm 101 and the second swing arm 102 are rigid structures, in order to raise the vehicle frame 2 to the predetermined height, the top beam of the parking space base frame 4 needs to be raised to avoid the total height of the first swing arm 101 and the second swing arm 102, so as to prevent the upper end of the second swing arm 102 from colliding with the pulley or sprocket structure.

[0055] In a preferred embodiment, the AGV 10 includes two AGV units 17 arranged at intervals. Each AGV unit 17 includes a gantry frame 1701. The lower inner side of the gantry frame 1701 is provided with two clamping arms 1704 that can rotate toward the center to be parallel and a clamping arm drive device 1705. The lower end of the gantry frame 1701 is provided with multiple traveling wheels 1702 and a steering mechanism 1703.

[0056] The clamping arm drive device 1705 includes a geared motor, a double-ended lead screw, and a multi-link structure. The base of the tire clamping arm 1704 is provided with a rotating shaft that can be connected to the multi-link structure. The geared motor drives the two lead screw nuts on the double-ended lead screw to move in opposite directions, causing the multi-link structure to swing. The swing arm device of the multi-link structure drives the rotating shaft of the tire clamping arm 1704 to rotate, so that the tire clamping arm 1704 swings ninety degrees, changing from being open and resting against the lower end of the gantry frame 1701 to a parallel tire clamping state.

[0057] The steering mechanism 1703 includes a steering motor and a gear set. The mounting bracket of the traveling wheel 1702 has a rotating shaft. The large gear of the gear set in the steering mechanism 1703 is sleeved with this rotating shaft. Therefore, the small gear at the end of the steering motor shaft drives the large gear to rotate, causing the mounting bracket of the traveling wheel 1702 to rotate and thus steering the traveling wheel 1702. A travel drive motor is mounted on the mounting bracket of the traveling wheel 1702, driving the traveling wheel 1702 to rotate.

[0058] This intelligent mechanical parking solution uses intelligent AGVs in conjunction with a lifting device to achieve intelligent parking. The intelligent AGVs are responsible for transporting vehicles between entrances / exits and parking spaces. The intelligent AGVs employ a large-tired, externally clamping structure, ensuring smooth and fast operation. The lifting device uses a special structural design; when descending to the lower level, the AGV can store the vehicle on the lifting device, achieving parking on the upper level. The lower level has no mechanical devices; the AGVs transport and place the vehicle in the parking space to achieve parking on the lower level. The specific implementation process is as follows: When parking, simply drive the vehicle to the entrance. The entrance is flat and spacious, making parking convenient. After parking, follow the entrance instructions to complete the parking operation. Upon receiving the instruction, the AGV will transport the vehicle from the entrance to the parking space, completing the parking. Retrieving the vehicle is also simple: just follow the retrieval instructions at the exit. The lifting device and AGV work together to transport the vehicle to the exit, completing the retrieval. Compared to existing mechanical parking systems, there's no need to drive the car onto narrow loading platforms, reducing risk and making parking more user-friendly, especially for novice drivers. Retrieving vehicles from the upper level requires no manual movement, resulting in higher efficiency, convenient parking, and more parking spaces.

[0059] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A mechanical automated parking system based on a AGV (Automated Guided Vehicle), characterized by: It includes an inbound area (11) and an outbound area (13). A parking area (12) is provided between the inbound area (11) and the outbound area (13). The parking area (12) has multiple parking structures (14) arranged side by side. The parking structure (14) includes a parking base frame (4). A liftable vehicle frame (2) is provided on the parking base frame (4). A moving AGV (10) is also provided. The moving AGV (10) transfers vehicles between the inbound area (11), the parking structure (14) and the outbound area (13). The parking space structure (14) includes a parking space base frame (4), a rotatable drive shaft (15) is provided on the parking space base frame (4), and multiple front wheels (1501) and rear wheels (1502) are provided on the parking space structure (14). The two ends of the drive shaft (15) are connected to each rear wheel (1502), and multiple lifting traction chains (3) are also provided. One end of the lifting traction chain (3) is provided with a counterweight device (16), and the other end of the lifting traction chain (3) is sequentially wrapped around the rear wheel (1502) and the front wheel (1501) and connected to the vehicle frame (2). Multiple swing connecting arms (1) are provided on both sides of the vehicle frame (2). The swing connecting arms (1) include a first swing arm (101) and a second swing arm (102). One end of the first swing arm (101) is hinged to the vehicle frame (2) so that the first swing arm (101) can swing up and down. The other end of the first swing arm (101) is hinged to the lower end of the second swing arm (102). The second swing arm (102) is provided with a swing block (6). The swing block (6) is provided with a chain cable joint (5). The chain cable joint (5) is connected to the lower end of the lifting traction chain cable (3). The first swing arm (101) is close to the foundation (7) so that the first swing arm (101) and the second swing arm (102) are arranged at right angles. The lifting traction chain cable (3) pulls up the vehicle frame (2) so that the first swing arm (101) and the second swing arm (102) are arranged in a straight line. The side end of the vehicle frame (2) is provided with a stop block (202), the stop block (202) stops the first swing arm (101), the end of the stop block (202) is provided with a second magnetic block (203), the first swing arm (101) is provided with a first magnetic block (106), the first magnetic block (106) and the second magnetic block (203) repel each other.

2. The mechanical automated parking system based on a AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: The lifting traction chain (3) includes a chain segment (301) and a cable segment (303). The rear wheel (1502) is a sprocket, and the chain segment (301) is wrapped around the rear wheel (1502). The front wheel (1501) is a pulley, and the transition connecting block (302) is wrapped around the front wheel (1501). The side end of the parking space base frame (4) is provided with a guide wheel (8). The front wheel (1501) is arranged at an angle so that the cable segment (303) is wrapped around the guide wheel (8). The lower end of the cable segment (303) is connected to the vehicle frame (2). The cable segment (303) is a circular cross-section cable. The swing block ( 6) At least two rows of fixing clips (9) are provided near the lower end of the second swing arm (102). There are interlocking spaces between adjacent rows for fixing the cable section (303). The fixing clips (9) are staggered in the height direction so that the fixing clips (9) are arranged in a zigzag shape. Each fixing clip (9) is provided with a groove (901). The groove (901) is attached to the outer wall of the cable section (303) to lock the cable section (303). The cable section (303) is pulled laterally to disengage the fixing clip (9) from the interlocking space.

3. The mechanical automated parking system based on a AGV (Automated Guided Vehicle) as described in claim 2, characterized in that: The upper end of the second swing arm (102) is provided with multiple through-holes (107) for mounting clips. The fixing clip (9) is a Z-shaped structure with a groove (901) on both sides of the Z-shaped structure and a flange (902) at the end of the Z-shaped structure. The fixing clip (9) passes through the mounting holes (107) and the flange (902) is attached to the second swing arm (102).

4. The mechanical automated parking system based on a AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: A settling groove (701) is provided on the foundation (7), and a raised pad (702) is provided in the settling groove (701). A clearance hole (104) is provided in the center of the first swing arm (101), and a reinforcing rib (103) is provided on the outside of the clearance hole (104) on the first swing arm (101). When the first swing arm (101) is rotated and laid flat, the raised pad (702) is inserted into the clearance hole (104), and the upper end of the reinforcing rib (103) is flush with the upper surface of the foundation (7).

5. The mechanical automated parking system based on a AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: The swing block (6) has a through hole in the middle. The chain cable connector (5) includes a connecting end block (501) and an adjusting bolt (502). The adjusting bolt (502) passes through the through hole of the swing block (6) and is threadedly connected to the connecting end block (501). The nut of the adjusting bolt (502) abuts against the lower end face of the swing block (6). A locking nut (503) is also fitted on the adjusting bolt (502). The locking nut (503) abuts against the end of the connecting end block (501).

6. The mechanical automated parking system based on a AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: The AGV (10) includes two spaced AGV units (17). Each AGV unit (17) includes a gantry frame (1701). The lower inner side of the gantry frame (1701) is provided with two clamping arms (1704) that can rotate toward the center to be parallel and a clamping arm drive device (1705). The lower end of the gantry frame (1701) is provided with multiple traveling wheels (1702) and a steering mechanism (1703).

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