Nondestructive vehicle moving AGV system and method of using the same

Abstract

A non-damage moving vehicle AGV system and a method for using the same. The non-damage moving vehicle AGV system comprises a moving vehicle AGV device and an AGV control device. The moving vehicle AGV device comprises an AGV chassis and an AGV head. The AGV chassis has an AGV front chassis and an AGV rear chassis arranged along the length direction of a vehicle to be moved. The AGV front chassis and the AGV rear chassis are respectively used for fixing front and rear tires of the vehicle to be moved, and are configured to be capable of relative expansion and contraction movement in the length direction of the vehicle to be moved to adjust the wheelbase of the AGV. The AGV rear chassis is further configured to be capable of relative lifting and lowering movement in the height direction of the vehicle to be moved to adjust the ground clearance of the AGV rear chassis. The AGV head is arranged at the front end of the AGV front chassis. The AGV front chassis and the AGV head are configured to be capable of relative lifting and lowering movement in the height direction of the vehicle to be moved to adjust the ground clearance of the AGV front chassis. The AGV chassis and the AGV head are configured to be capable of moving together to approach or move away from the vehicle to be moved. The AGV control device is used for controlling the automatic moving vehicle process of the moving vehicle AGV device. The present application can better realize efficient, safe, non-damage, stable and accurate vehicle moving and parking, and has the advantages of strong environmental adaptability, low site reconstruction cost, high intelligent degree, multi-scene shared use and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile automatic handling, in particular to a non-destructive vehicle moving AGV system and a use method thereof. BACKGROUND

[0002] The problem of parking difficulty causes many troubles to drivers. First, they spend a lot of time looking for parking spaces, increasing driving time and cost, and may cause traffic congestion and environmental impact. Second, even if a parking space is found, how to safely and accurately park the vehicle is a challenge, especially in a small space, which undoubtedly increases the driver's precise driving needs and psychological pressure.

[0003] With the increase of urban population density and the increasing demand for parking spaces, the traditional parking management mode is facing increasingly severe challenges. The traditional manual parking mode has problems such as low efficiency, low space utilization rate, and poor user experience. The emergence of parking AGV undoubtedly perfectly solves this problem.

[0004] Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with electromagnetic or optical automatic guidance device, which can travel along the specified guidance path, has safety protection and various transfer functions.

[0005] The existing parking AGV has three forms: comb tooth type, car lifting plate type and tire clamping type.

[0006] The working mode of the comb tooth type AGV is that the inner teeth are fixed and the outer teeth are arranged on the AGV. The AGV realizes the cross displacement of the comb teeth by lifting and shifting, so as to realize the handling of the vehicle. The AGV of this structure requires high control accuracy to realize the misplacement of the comb teeth, and the position calibration needs a certain time, which reduces the efficiency of the AGV accessing the vehicle. In addition, the comb teeth of this structure need to bear the weight of the entire vehicle, so the requirements on stiffness and strength are very high.

[0007] The working mode of the car lifting plate type AGV is that the car is parked on the car lifting plate. When taking the car, the AGV needs to drill into the underground car lifting plate to carry the car lifting plate and the car to the parking space. When storing the vehicle, the AGV needs to carry the car lifting plate first in order to carry the car. This form of AGV needs a car lifting plate device on each parking space, and the storage and access of the vehicle involves carrying the empty car lifting plate, so the carrying efficiency is low.

[0008] The working mode of the tire clamping type AGV is to directly clamp the car tires and place them in the parking space. However, the existing AGV of this type is bulky, has low running efficiency, and needs to be improved in intelligence, accuracy and stability. SUMMARY

[0009] The present application aims to at least solve one of the problems in the related art. To this end, the present application provides a non-destructive vehicle moving AGV system and a method for using the same, which can better achieve efficient, safe, stable and accurate vehicle moving and parking, and has the advantages of strong environmental adaptability, low site reconstruction cost, high intelligentization degree, multi-scene shared use and the like.

[0010] According to the present application, a non-destructive vehicle moving AGV system comprises:

[0011] A vehicle moving AGV device, the vehicle moving AGV device comprises:

[0012] An AGV chassis, the AGV chassis has an AGV front chassis and an AGV rear chassis arranged along the length direction of the vehicle to be moved, the AGV front chassis and the AGV rear chassis are respectively used for fixing the front and rear tires of the vehicle to be moved, and are configured to be capable of relative expansion and contraction movement in the length direction of the vehicle to be moved to adjust the AGV wheelbase; the AGV rear chassis is further configured to be capable of relative lifting and lowering movement in the height direction of the vehicle to be moved to adjust the ground clearance of the AGV rear chassis;

[0013] An AGV vehicle head, the AGV vehicle head is arranged at the front end of the AGV front chassis, and the AGV front chassis and the AGV vehicle head are configured to be capable of relative lifting and lowering movement in the height direction of the vehicle to be moved to adjust the ground clearance of the AGV front chassis;

[0014] The AGV chassis and the AGV vehicle head are configured to be capable of moving together to approach or move away from the vehicle to be moved;

[0015] An AGV control device, the AGV control device is used for regulating the automatic vehicle moving process of the vehicle moving AGV device.

[0016] According to an embodiment of the present application, the AGV front chassis comprises:

[0017] A front frame, the front frame is provided with a front wheel clamping mechanism, the front wheel clamping mechanism comprises:

[0018] A front clamping frame, the front clamping frame is fixedly connected with the front frame, and is used for mounting a fixed clamping assembly and a front movable clamping assembly;

[0019] A fixed clamping assembly, the fixed clamping assembly has a pair of fixed clamping arms, the two fixed clamping arms are symmetrically and fixedly connected to the two sides of the front end of the front clamping frame;

[0020] A front movable clamping assembly, the front movable clamping assembly has a pair of front movable clamping arms, the two front movable clamping arms are symmetrically and foldably connected to the two sides of the rear end of the front clamping frame;

[0021] The front tire of the vehicle to be moved is clamped between the fixed clamping arms and the unfolded front movable clamping arms.

[0022] According to one embodiment of the present application, the AGV rear chassis comprises:

[0023] a rear frame, the rear frame is provided with a rear wheel clamping mechanism, the rear wheel clamping mechanism comprises:

[0024] a rear clamping frame, the rear clamping frame is fixedly connected with the rear frame, and is used for mounting a first rear movable clamping assembly and a second rear movable clamping assembly;

[0025] a first rear movable clamping assembly, the first rear movable clamping assembly has a pair of first rear movable clamping arms which are symmetrically and foldably connected to two sides of the front end of the rear clamping frame;

[0026] a second rear movable clamping assembly, the second rear movable clamping assembly has a pair of second rear movable clamping arms which are symmetrically and foldably connected to two sides of the rear end of the rear clamping frame;

[0027] The rear tire of the vehicle to be moved is clamped between the unfolded first rear movable clamping arm and the unfolded second rear movable clamping arm.

[0028] According to one embodiment of the present application, the front movable clamping assembly, the first rear movable clamping assembly and the second rear movable clamping assembly are the same in structure, and each comprises:

[0029] a screw nut transmission member, the screw nut transmission member has a trapezoidal nut and a first screw rod which are connected in cooperation;

[0030] a clamping arm driving member, the clamping arm driving member is fixed to the front clamping frame or the rear clamping frame, and is used for driving rotation of the first screw rod;

[0031] a movable clamping arm, the movable clamping arm is connected with the trapezoidal nut through a connecting rod assembly;

[0032] The first screw rod rotates in a forward direction or a reverse direction, and the connecting rod assembly connected with the trapezoidal nut drives the movable clamping arm to stretch out or retract.

[0033] According to one embodiment of the present application, the front frame and the rear frame are further provided with a ball screw transmission member and a chassis telescopic driving member, the two are drivingly connected to constitute an axle distance adjusting mechanism, the ball screw transmission member has a second screw rod and a nut seat;

[0034] The chassis telescopic driving member is fixed to the rear frame and is used for driving the second screw rod, and the nut seat is fixedly connected with the front frame.

[0035] According to one embodiment of the present application, the front frame and the rear frame are further provided with two sets of guide rail pulley mechanisms which are parallel to the length direction of the vehicle to be moved, each set of guide rail pulley mechanism comprises:

[0036] A guide member is fixedly connected to the rear frame;

[0037] A sliding member is slidingly connected with the guide member and fixedly connected with the front frame.

[0038] According to an embodiment of the present application, the AGV head comprises a head frame, the bottom of the head frame is provided with a main drive steering wheel, the bottom of the AGV rear chassis is provided with a driven wheel set, the main drive steering wheel has a walking motor and a steering motor, and the main drive steering wheel and the driven wheel set constitute an AGV walking mechanism.

[0039] According to an embodiment of the present application, the head frame and the AGV front chassis are connected through a front lifting mechanism, the front lifting mechanism is a scissor lifting structure driven by a first electric hydraulic push rod, and is used for changing the height of the AGV front chassis.

[0040] The AGV rear chassis and the driven wheel set are provided with a rear lifting mechanism, the rear lifting mechanism is a rocker block structure driven by a second electric hydraulic push rod, the driven wheel set is connected to a rocker of the rocker block structure and contacts the ground, and the height of the AGV rear chassis is changed by adjusting the angle of the rocker.

[0041] According to an embodiment of the present application, the AGV control device comprises:

[0042] A vehicle body control module is used for controlling the cooperation of the front wheel clamping mechanism, the rear wheel clamping mechanism, the wheelbase adjusting mechanism, the front lifting mechanism and the rear lifting mechanism in the automatic moving process of the vehicle.

[0043] A motion control module is used for controlling the motion of the AGV walking mechanism.

[0044] A navigation and positioning module is used for providing pose data for automatic tracking of the vehicle moving AGV device and alignment control when the vehicle moving AGV device is hidden in the bottom of the vehicle to be tested.

[0045] A communication module is used for wireless data transmission between the vehicle moving AGV device and the vehicle dispatch personnel or the parking lot dispatch system.

[0046] According to a use method of the lossless vehicle moving AGV system, the method comprises the following steps:

[0047] 1) Adjust the AGV chassis to the initial working position, that is, the chassis height is the lowest and the chassis length is the shortest;

[0048] 2) First operate the vehicle moving AGV device to walk, so that the AGV chassis enters the bottom of the vehicle to be moved;

[0049] 3) Adjust the AGV chassis to the first clamping working position, at this time, the front tire of the vehicle to be moved is clamped;

[0050] 4) Change the length of the AGV chassis according to the wheelbase of the vehicle to be moved;

[0051] 5) Adjust the AGV chassis to the second clamping station, at which time the rear tires of the vehicle to be moved are clamped;

[0052] 6) Adjust the target station of the AGV chassis, i.e. when the height is the highest, the vehicle to be moved is lifted off the ground;

[0053] 7) Second operation of the moving vehicle AGV device to walk, carrying the vehicle to be moved to the designated position;

[0054] 8) Adjust the AGV chassis to the initial station and the release station in turn;

[0055] 9) Third operation of the moving vehicle AGV device to walk, withdrawing the AGV chassis from the bottom of the vehicle to be moved;

[0056] The first clamping station is that the fixed clamping assembly first contacts the front tire, and the front movable clamping assembly then unfolds;

[0057] The second clamping station is that the first rear movable clamping assembly unfolds and contacts the rear tire first, and the second rear fixed clamping assembly then unfolds;

[0058] The release station is that the front movable clamping assembly, the first rear movable clamping assembly and the second rear fixed clamping assembly are all folded.

[0059] According to the non-destructive moving vehicle AGV system and its use method, based on the coordinated action of the moving vehicle AGV device walking, chassis stretching, chassis lifting and other functions, efficient, safe and non-destructive, stable and precise vehicle movement and parking can be completed, and the intelligent control of the AGV control device is matched, which has the advantages of strong environmental adaptability, low site transformation cost, high intelligent degree, multi-scene shared use and the like, and specific embodiments are as follows:

[0060] 1. High environmental adaptability: can adapt to different types of parking lot environment, including existing structure and terrain.

[0061] 2. Low site transformation cost: no need for expensive and complex parking lot transformation, can be directly deployed and used in existing environment.

[0062] 3. Intelligent operation: advanced automatic navigation and control technology is adopted to realize autonomous vehicle carrying and reduce the need for manual intervention.

[0063] 4. Multi-scene shared use: suitable for various parking lot scenes, improves the universality and flexibility of the system, and can meet the needs of different customers.

[0064] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and the attendant drawings or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0065] The application will be further described below with reference to the drawings and examples.

[0066] Figures 1 to 5 is a structural schematic diagram of some embodiments of the non-destructive vehicle moving AGV system of the application, wherein Figure 1 is a perspective view, Figure 2 is a front view, Figure 3 is a bottom view, Figure 4 is a top view when the chassis is shortened, Figure 5 is a top view when the chassis is lengthened.

[0067] Figure 6 and Figure 7 is a structural schematic diagram of some embodiments of the front wheel clamping mechanism in the non-destructive vehicle moving AGV system of the application, Figure 6 the front movable clamping assembly in Figure 7 the front movable clamping assembly in

[0068] Figure 8 is a structural schematic diagram of some embodiments of the wheelbase adjusting mechanism + guide rail pulley mechanism in the non-destructive vehicle moving AGV system of the application.

[0069] Figure 9 is a structural schematic diagram of some embodiments of the front lifting mechanism in the non-destructive vehicle moving AGV system of the application.

[0070] Figure 10 and Figure 11 is a structural schematic diagram of some embodiments of the rear lifting mechanism in the non-destructive vehicle moving AGV system of the application, wherein Figure 10 corresponds to the lifting state, Figure 11 corresponds to the lowering state.

[0071] Figure 12 is a flowchart schematic diagram of some embodiments of the method for using the non-destructive vehicle moving AGV system of the application.

[0072] Meaning of reference signs in the drawings:

[0073] 100 - vehicle moving AGV device;

[0074] 10 - AGV chassis;

[0075] 11 - AGV front chassis; 111 - front frame; 1111 - front frame transverse connecting plate; 1112 - front frame crossbeam; 112 - front wheel clamping mechanism; 1121 - front clamping frame; 1122 - fixed clamping assembly; 1123 - front movable clamping assembly; 1123-1 - front movable clamping arm; 1123-2 - front movable clamping arm driving member; 1123-3 - first screw nut transmission member; 1123-3-1 - trapezoidal nut; 1123-3-2 - first screw rod; 1123-3-3 - linkage assembly; 1123-4 - front movable clamping stabilizing member;

[0076] 12 - AGV rear chassis; 121 - rear frame; 122 - rear wheel clamping mechanism; 1221 - rear clamping frame; 1222 - first rear movable clamping assembly; 1223 - second rear movable clamping assembly;

[0077] 13 - wheelbase adjusting mechanism; 131 - ball screw transmission member; 1311 - second screw rod; 1312 - nut seat; 132 - chassis telescopic driving member;

[0078] 14 - guide rail pulley mechanism; 141 - guide member; 142 - sliding member;

[0079] 20 - AGV vehicle head; 21 - vehicle head frame; 211 - vehicle head frame front crossbeam; 22 - AGV traveling mechanism; 221 - main driving steering wheel; 2211 - traveling motor; 2212 - steering motor; 222 - driven wheel set;

[0080] 31 - front lifting mechanism; 311 - first electric hydraulic push rod; 312 - X-shaped folding support; 313 - gantry; 32 - rear lifting mechanism; 321 - second electric hydraulic push rod; 3211 - push rod fixed base; 322 - rear lifting driving rod; 323 - rear lifting driven rod; 3231 - driven wheel connecting base; 324 - needle roller bearing; 325 - square steel guide rail. DETAILED DESCRIPTION

[0081] Embodiments of the present application are described in detail below with reference to examples illustrated in the attached drawings. The embodiments described below by way of example with reference to the attached drawings are intended to explain the present application and are not to be understood as limiting the present application.

[0082] The following is based on Figures 1-12 A non-destructive vehicle moving AGV system and a method for using the same are described in detail.

[0083] As Figures 1-5 shown, the non-destructive vehicle moving AGV system provided by the embodiments of the present application includes a vehicle moving AGV device 100 and an AGV control device, and the AGV control device is used to control the automatic vehicle moving process of the vehicle moving AGV device 100.

[0084] The vehicle-moving AGV device 100 comprises an AGV chassis 10 and an AGV head 20. The AGV chassis 10 has an AGV front chassis 11 and an AGV rear chassis 12 arranged along the length direction of the vehicle to be moved, and the AGV front chassis 11 and the AGV rear chassis 12 are respectively used to fix the front and rear tires of the vehicle to be moved, and are configured to be able to make relative expansion and contraction movements in the length direction of the vehicle to be moved to adjust the wheelbase of the AGV. The AGV rear chassis 12 is also configured to be able to make relative lifting and lowering movements in the height direction of the vehicle to be moved to adjust the ground clearance of the AGV rear chassis 12. The AGV head 20 is arranged at the front end of the AGV front chassis 11, and the AGV front chassis 11 and the AGV head 20 are configured to be able to make relative lifting and lowering movements in the height direction of the vehicle to be moved to adjust the ground clearance of the AGV front chassis 11. The AGV chassis 10 and the AGV head 20 are configured to be able to move together to approach or move away from the vehicle to be moved.

[0085] It should be noted that in various embodiments of the application and its implementation, the length direction of the vehicle to be moved, the height direction of the vehicle to be moved, and the width direction of the vehicle to be moved correspond to the X-axis, the Y-axis, and the Z-axis respectively. Figure 2 、 3 The directions of the X-axis, the Z-axis, and the Y-axis are indicated, and the side close to the AGV head 20 along the X-axis is defined as the front, and the side away from it is defined as the rear, as shown in Figure 4 .

[0086] The vehicle-moving AGV device 100 is a mechanical component of the non-damaging vehicle-moving AGV system, and it, together with the AGV control device, forms an intelligent AGV robot that can realize efficient, accurate, and non-damaging vehicle movement and parking. On the one hand, through the expansion and contraction function of the AGV chassis 10, the self-adaptive adjustment function of the accurate and stable wheelbase is satisfied; at the same time, this self-adaptive adjustment function is adapted to different vehicles, which can reduce the potential damage in the carrying process. On the other hand, by respectively adjusting the relative heights of the AGV front chassis 11 and the AGV head 20, and the AGV rear chassis 12 and the ground, the lifting vehicle function of the entire vehicle-moving AGV device 100 is realized, and the efficiency and stability of the process are ensured; at the same time, since the clamping part is the wheel instead of directly contacting the vehicle body, the risk of damage to the appearance and structure of the vehicle is greatly reduced, and since the lifting vehicle function is beneficial to ensure that the vehicle moves without contacting the ground, the wear or scratches caused by ground friction are prevented, in addition, since the carrying process can be kept smooth and stable, further avoiding the vibration or impact damage to the vehicle.

[0087] The aspect that is significantly different from the AGV vehicle-moving device in the prior art is that in the present embodiment, the AGV head 20 and the AGV chassis 10 are independently arranged, so that the AGV head 20 can accommodate a larger battery and a higher-power drive motor to realize longer endurance and greater carrying capacity of the AGV.

[0088] In the embodiment, referring to Figures 1 to 5 , the AGV front chassis 11 comprises a front frame 111 and a front wheel clamping mechanism 112 arranged on the front frame 111. The front wheel clamping mechanism 112 comprises a front clamping frame 1121, a fixed clamping assembly 1122 and a front movable clamping assembly 1123. The front clamping frame 1121 is fixedly connected with the front frame 111, and is used for mounting the fixed clamping assembly 1122 and the front movable clamping assembly 1123. The fixed clamping assembly 1122 has a pair of fixed clamping arms which are symmetrically and fixedly connected to the two sides of the front end of the front clamping frame 1121. The front movable clamping assembly 1123 has a pair of front movable clamping arms 1123-1 which are symmetrically and foldably connected to the two sides of the rear end of the front clamping frame 1121. The front tire of the vehicle to be moved is clamped between the fixed clamping arms and the unfolded front movable clamping arms 1123-1.

[0089] In the embodiment, referring to Figures 1 to 5 , the AGV rear chassis 12 comprises a rear frame 121 and a rear wheel clamping mechanism 122 arranged on the rear frame 121. The rear wheel clamping mechanism 122 comprises a rear clamping frame 1221, a first rear movable clamping assembly 1222 and a second rear movable clamping assembly 1223. The rear clamping frame 1221 is fixedly connected with the rear frame 121, and is used for mounting the first rear movable clamping assembly 1222 and the second rear movable clamping assembly 1223. The first rear movable clamping assembly 1222 has a pair of first rear movable clamping arms which are symmetrically and foldably connected to the two sides of the front end of the rear clamping frame 1221. The second rear movable clamping assembly 1223 has a pair of second rear movable clamping arms which are symmetrically and foldably connected to the two sides of the rear end of the rear clamping frame 1221. The rear tire of the vehicle to be moved is clamped between the unfolded first rear movable clamping arms and the unfolded second rear movable clamping arms.

[0090] Please continue to refer to Figures 6-7 In some possible embodiments, the structures of the front movable clamping assembly 1123, the first rear movable clamping assembly 1222 and the second rear movable clamping assembly 1223 of the embodiment are the same, and each comprises a screw nut transmission member, a clamping arm driving member and a movable clamping arm. The screw nut transmission member has a trapezoidal nut 1123-3-1 and a first screw rod 1123-3-2 which are connected in cooperation. The clamping arm driving member is fixed to the front clamping frame 1121 or the rear clamping frame 1221, and is used for driving the rotation of the first screw rod 1123-3-2. The movable clamping arm is connected with the trapezoidal nut 1123-3-1 through a connecting rod assembly 1123-3-3,

[0091] Wherein, the first screw 1123-3-2 rotates forward or reversely, and the connecting rod assembly 1123-3-3 connected with the trapezoidal nut 1123-3-1 drives the movable clamping arm to stretch or retract.

[0092] Taking the front movable clamping assembly 1123 as an example to illustrate its specific structure, the front movable clamping assembly 1123 can be composed of the front movable clamping arm 1123-1, the front movable clamping arm driving member 1123-2, and the first screw nut transmission member 1123-3 in the figure. More specifically, the front movable clamping arm driving member 1123-2 can be a first driving motor, and the first screw nut transmission member 1123-3 can be a trapezoidal nut 1123-3-1 and a first screw 1123-3-2 connected in cooperation. The connecting rod assembly 1123-3-3 can include a driving connecting rod and a driven connecting rod hinged together at one end, and the trapezoidal nut 1123-3-1 is fixedly connected to the driving connecting rod. The fixed end of the front movable clamping arm can have a right-angle portion, and the right-angle position of the right-angle portion can be hinged to the front clamping frame 1121. Further, the right-angle portion can be hinged to the front clamping frame 1121 at a portion below the front vehicle frame 111, for example, the upper surface of a front lower cover plate fixedly arranged below the front vehicle frame body, and the first driving motor and the first screw 1123-3-2 are also installed on the front lower cover plate. The edge position of the right-angle portion can be rotatably connected to the driven connecting rod through a clamping arm pin, and the other end of the driven connecting rod can be hinged to the end of the driving connecting rod through a connecting rod pin, wherein the connecting rod pin can be a snap spring pin shaft. Further, the front clamping frame 1121 also has two front upper cover plates above the front vehicle frame body, and the front upper cover plates are used to form a space with the front lower cover plate to accommodate the folded front movable clamping arm 1123-1.

[0093] In use, the first driving motor drives the first screw 1123-3-2 to rotate forward or reversely through the speed reducer, and then the driving connecting rod fixedly connected with the trapezoidal nut 1123-3-1 advances or retreats along the length direction of the first screw 1123-3-2, and finally drives the front movable clamping arm 1123-1 to stretch outward until the front movable clamping arm 1123-1 is parallel to the driving connecting rod, or to fold inward until the front movable clamping arm 1123-1 is perpendicular to the driving connecting rod.

[0094] In some further possible embodiments, the front movable clamping assembly 1123, the first rear movable clamping assembly 1222, and the second rear movable clamping assembly 1223 of the embodiment of the present application have the same structure, and each further includes a directional stabilizing member.

[0095] The front movable clamping stabilizing member 1123-4 of the front movable clamping assembly 1123 can include a connecting rod guide rail parallel to the first screw rod 1123-3-2 and a sliding block slidingly arranged on the connecting rod guide rail, the sliding block being fixedly connected with the driving connecting rod and used for restricting the straightness of the running direction of the driving connecting rod, thereby ensuring the good telescopic performance of the AGV chassis 10. More specifically, one sliding block is fixedly arranged on the bottom surface of the driving connecting rod on each side, and is matched with two parallel connecting rod guide rails, so as to ensure the parallel movement of the driving connecting rod as a whole.

[0096] The three sets of movable clamping arms of the front movable clamping assembly 1123, the first rear movable clamping assembly 1222 and the second rear movable clamping assembly 1223 are about 90° with the driving connecting rod when unfolded, as shown in Figure 7 , and are about 0° with the driving connecting rod when retracted, as shown in Figure 6 . In order to further increase the contact area and optimize the clamping effect, the contact positions of the movable clamping arms with the automobile tires can be designed as circular arcs.

[0097] Please continue to refer to Figure 8 In some possible embodiments, the front frame 111 and the rear frame 121 of the embodiment of the present application are further provided with a ball screw transmission member 131 and a chassis telescopic driving member 132, which are drivingly connected to constitute an axle distance adjusting mechanism 13. The ball screw transmission member 131 has a second screw rod 1311 and a nut seat 1312.

[0098] The chassis telescopic driving member 132 is fixed to the rear frame 121 and is used for driving the second screw rod 1311. The nut seat 1312 is fixedly connected with the front frame 111.

[0099] Specifically, the chassis telescopic driving member 132 can be a second driving motor used for realizing telescopic movement. In use, the second driving motor is used to drive the second screw rod 1311 to rotate, and the nut seat 1312 is used to drive the front frame 111 to move linearly. In this way, the front and rear chassis of the AGV are relatively telescoped, so as to change the axle distance of the AGV and match different axle distance vehicles.

[0100] More specifically, refer to Figure 5 and Figure 8The nut seat 1312 is fixedly connected with the front frame 111 through the front frame transverse connecting plate 1111, so the nut seat 1312 cannot rotate, and thus the second driving motor drives the second screw rod 1311 to rotate, and the nut seat 1312 drives the front frame transverse connecting plate 1111 to move away from the second driving motor, that is, the AGV front chassis 11 is fixed, and the rear chassis moves backward, and the wheelbase is lengthened. When the AGV wheelbase is lengthened, the first rear movable clamping arm contacts the rear tire of the vehicle, at this time, the second driving motor drives the second rear movable clamping arm to clamp the rear tire, and thus the two tires of the vehicle to be transported are clamped.

[0101] Please continue to refer to Figure 8 In some possible embodiments, the front frame 111 and the rear frame 121 of the embodiment of the present application are further provided with two sets of guide rail pulley mechanisms 14 parallel to the length direction of the vehicle to be moved, each of the guide rail pulley mechanisms 14 comprises a guide member 141 and a sliding member 142; the guide member 141 is fixedly connected to the rear frame 121; and the sliding member 142 is in sliding fit connection with the guide member 141 and is fixedly connected with the front frame 111.

[0102] The guide rail pulley mechanism 14 is used to bear external force and improve the structural stability of the ball screw transmission member 131. Specifically, the guide member 141 can be a guide rail, and the sliding member 142 can be a pulley. By using the directional sliding fit of the guide rail and the pulley, the second screw rod 1311 can be prevented from being deformed due to bearing too large torque, and thus the problem of the wheelbase being unable to be adjusted can be avoided.

[0103] Please continue to refer to Figures 1 to 3 In some possible embodiments, the AGV vehicle head 20 of the embodiment of the present application comprises a vehicle head frame 21, the bottom of the vehicle head frame 21 is provided with a main driving steering wheel 221, the bottom of the AGV rear chassis 12 is provided with a driven wheel set 222, the main driving steering wheel 221 is provided with a walking motor 2211 and a steering motor 2212, and the main driving steering wheel 221 and the driven wheel set 222 constitute an AGV walking mechanism 22.

[0104] For example, the AGV traveling mechanism 22 can consist of a pair of front drive wheels and a pair of rear driven wheel sets 222. The front drive wheels are two independent main drive steering wheels 221, symmetrically mounted on both sides of the AGV front end 20. Each main drive steering wheel 221 can achieve active driving and steering control under the drive of a corresponding traveling motor 2211 and steering motor 2212. The rear driven wheels are two driven wheel sets 222 symmetrically arranged on both sides of the rear end of the AGV rear chassis 12. Therefore, under the traction of the main drive steering wheels 221, and with the two independent main drive steering wheels providing greater power and more flexible mobility, the AGV traveling mechanism 22 can move the entire moving AGV device 100. The driven wheel sets 222 cooperate to complete the overall movement and position adjustment of the AGV chassis 10, making positioning faster and more accurate.

[0105] Please continue to refer to Figure 9 In some feasible implementations, the front frame of the vehicle and the front chassis 11 of the AGV are connected by a front lifting mechanism 31. The front lifting mechanism 31 is a scissor-type lifting structure driven by a first electro-hydraulic push rod 311, which is used to change the height of the front chassis 11 of the AGV.

[0106] The scissor lift structure is connected at one end to a fixed-height front frame 21 and at the other end to a height-variable chassis. The height of the AGV front chassis 11 is changed via a first electro-hydraulic push rod. Specifically, a vertically arranged gantry 313 is fixedly connected to the front frame 21. The top of the gantry 313 is connected to the motor base of the first electro-hydraulic push rod 311, and the bottom of the gantry 313 is connected to the AGV front chassis 11. Thus, when the first electro-hydraulic push rod 311 extends, it raises the height of the AGV front chassis 11; conversely, it lowers the height.

[0107] For a more specific example, refer to Figure 9 A liftable X-shaped folding bracket 312 is also provided between the first electro-hydraulic push rod 311 and the AGV front chassis 11. Specifically, one end of the first hydraulic push rod of the first electro-hydraulic push rod 311 is connected to the front crossbeam 211 of the vehicle head frame, and the other end of the first motor of the first electro-hydraulic push rod 311 is connected to the front frame crossbeam 1112 through the X-shaped folding bracket 312. When the first motor works, the first hydraulic push rod extends, the X-shaped folding bracket 312 is compressed, and the front crossbeam 211 of the vehicle head frame and the front frame crossbeam 1112 move relative to each other and begin to approach. Since the front crossbeam 211 of the vehicle head frame is in contact with the ground through the main drive steering wheel 221 and its height remains unchanged, the front frame crossbeam 1112 drives the AGV front chassis 11 to begin to lower. Conversely, when the first motor works in the opposite direction and the hydraulic push rod shortens, the AGV front chassis 11 rises.

[0108] Please continue to refer to Figures 10-11In some possible embodiments, the rear lifting mechanism 32 is provided between the AGV rear chassis 12 and the driven wheel set 222 of the embodiment of the present application. The rear lifting mechanism 32 is a rocker slider structure driven by the second electric hydraulic push rod 321, and the driven wheel set is connected to the rocker of the rocker slider structure and in contact with the ground. The height of the AGV rear chassis 12 is changed by adjusting the angle of the rocker.

[0109] The rear lifting mechanism 32 is a height-adjustable rear wheel suspension, mainly including a rocker slider structure. The slider adjusts the angle of the rocker by the second electric hydraulic push rod 321, and the rear chassis is lifted by the contact action of the driven wheel set 222 with the ground.

[0110] More specifically, referring to Figure 10 and 11 , one end of the second hydraulic push rod of the second electric hydraulic push rod 321 is connected to the first end of the rear lifting driving rod 322, the other end of the second motor of the second electric hydraulic push rod 321 is connected to the rear frame 121 through the push rod fixed base 3211, the second end of the rear lifting driving rod 322 is hinged to one end of the rear lifting driven rod 323, the other end of the rear lifting driven rod 323 is connected to the rear chassis through the driven wheel connecting base 3231, and the driven wheel set 222 is located at the bottom of the rear frame 121 and connected to the connection position of the rear lifting driving rod 322 and the rear lifting driven rod 323 through the rear clamping frame 1221. Further, in order to ensure that the second electric hydraulic push rod 321 always remains horizontal, a square steel guide rail 325 parallel to the second hydraulic push rod can be fixedly arranged on the upper surface of the rear lower cover plate below the rear frame body, and a needle bearing 324 cooperating with the square steel guide rail 325 is arranged on the end of the second hydraulic push rod connected to the rear lifting driving rod 322. When the second motor starts to work, the second hydraulic push rod becomes longer, the rear lifting driving rod 322 and the rear lifting driven rod 323 are extruded, forcing the rear driven wheel set 222 to descend and generate a large force with the ground, thereby realizing the lifting of the rear chassis.

[0111] In some possible embodiments, not shown, the signal line and power line between the AGV front chassis 11 and the AGV rear chassis 12 of the embodiment of the present application can also be placed in a nylon drag chain, which further ensures the stable stretching of the wheelbase.

[0112] In some possible implementations, the AGV control device of the embodiment of the present application includes a vehicle body control module, a motion control module, a navigation and positioning module, and a communication module. The vehicle body control module is configured to control the coordinated cooperation of the front wheel clamping mechanism 112, the rear wheel clamping mechanism 122, the wheelbase adjusting mechanism 13, the front lifting mechanism 31, and the rear lifting mechanism 32 during the automatic vehicle moving process. The motion control module is configured to control the motion of the AGV walking mechanism 22. The navigation and positioning module is configured to provide pose data for automatic tracking of the vehicle moving AGV device 100 and alignment control when the vehicle moving AGV device 100 penetrates into the bottom of the vehicle to be moved. The communication module is configured to perform wireless data transmission between the vehicle moving AGV device 100 and the vehicle dispatcher or the parking lot dispatching system.

[0113] In the present embodiment, the motion control module can mainly include a walking motor 2211 of a main drive steering wheel 221 and a steering motor 2212, which are responsible for the longitudinal and lateral motion control of the vehicle moving AGV device 100. According to the requirements of the vehicle moving AGV device 100 for motion speed and steering accuracy, a speed closed loop can be established for the control of the walking motor 2211, and a position closed loop can be established for the control of the steering motor 2212. Considering the characteristics of the parking lot scene, the navigation and positioning module can adopt radar navigation. The communication module is mainly used to facilitate the remote control of the vehicle moving AGV device 100 by the vehicle dispatcher. In specific use, after the AGV chassis 10 penetrates into the bottom of the vehicle to be moved, the control system unfolds the various movable clamping arms according to a fixed set of procedures (i.e., the use procedure shown in FIG. 8), and adaptively adjusts and controls the telescopic mechanism to adapt to different vehicles to be moved, while the lifting quality of the AGV is mainly determined by the synchronization of the lifting system (i.e., the front lifting mechanism 31 and the rear lifting mechanism 32) and the consistency of the lifting height. Figure 12

[0114] In combination with the above AGV control device and the coordinated process of the vehicle moving AGV device 100, the present application can help customers complete vehicle parking and moving operations in the parking lot by optimizing performance indicators such as carrying weight, lifting time, driving speed, minimum turning radius, and path tracking accuracy, aiming to improve parking lot management, enhance customer parking experience, and provide an effective solution for future intelligent renovation of parking lots. The specific implementation goals include: improving parking efficiency, increasing the overall use efficiency of the parking lot by reducing parking time and optimizing the parking process; reducing the cost of site renovation, so that it can be directly applied in the existing parking lot environment without complex site renovation; enhancing intelligent experience, using advanced automatic navigation and control technology to realize intelligent vehicle moving and reduce manual intervention; and supporting multi-scene application, having strong environmental adaptability, and being suitable for various parking lot scenes, thereby improving the universality and shareability of the system.

[0115] In addition, the vehicle moving AGV device 100 of the embodiment of the present application has the following advantages:

[0116] As​Figure 12 The embodiment of the application also provides a use method of the non-damage moving vehicle AGV system, Figure 12 The simplified steps of the use method of the non-damage moving vehicle AGV system are shown, and the more specific use process is as follows:

[0117] 1) Adjust the AGV chassis 10 to the initial station, that is, the height of the chassis is the lowest and the length of the chassis is the shortest;

[0118] 2) The first operation of the moving vehicle AGV device 100 is walking, so that the AGV chassis 10 enters the bottom of the vehicle to be moved;

[0119] At this time, when the non-damage moving vehicle AGV system does not perform the task of carrying the vehicle, the six movable clamping arms are in the retracted state, see Figure 3 When the non-damage moving vehicle AGV system starts to perform the carrying task, the AGV chassis 10 is driven by the AGV walking mechanism 22 to enter the bottom of the vehicle to be carried.

[0120] 3) Adjust the AGV chassis 10 to the first clamping station, at this time the front tire of the vehicle to be moved is clamped;

[0121] The front wheel clamping mechanism 112 is used to position the front tire of the vehicle to be moved between the fixed clamping arm and the front movable clamping arm 1123-1, that is, to reach the first clamping station.

[0122] 4) According to the wheelbase of the vehicle to be moved, the length of the AGV chassis 10 is changed, see Figure 4 ;

[0123] The wheelbase adjusting mechanism 13 is used to lengthen the distance between the AGV front chassis 11 and the AGV rear chassis 12, that is, to make the chassis wheelbase longer, until the first rear movable clamping arm contacts the rear tire of the vehicle.

[0124] 5) Adjust the AGV chassis 10 to the second clamping station, at this time the rear tire of the vehicle to be moved is clamped;

[0125] The rear wheel clamping mechanism 122 is used to position the rear tire of the vehicle to be moved between the first rear movable clamping arm and the second rear movable clamping arm, that is, to reach the second clamping station; at this time, the front and rear tires of the vehicle are clamped, see Figure 5 .

[0126] 6) Adjust the target station of the AGV chassis 10, that is, the height is the highest, and the moving vehicle is lifted off the ground;

[0127] The front lifting mechanism 31 and the rear lifting mechanism 32 are used to simultaneously lift the AGV front and rear chassis, so that the vehicle to be carried is lifted by the front and rear wheel clamping mechanisms 122 and leaves the ground.

[0128] 7) The second time, the AGV device 100 walks and carries the vehicle to be moved to the designated position.

[0129] At this time, the AGV walking mechanism 22 drives the entire AGV device 100 to the designated parking position.

[0130] 8) The AGV chassis 10 is adjusted to the initial position and the clamping position is released in turn.

[0131] First, the front lifting mechanism 31 and the rear lifting mechanism 32 move in opposite directions, so that the AGV front and rear chassis are lowered at the same time, and the automobile tires again contact the ground; then, the wheelbase adjustment mechanism 13 is operated in reverse, so that the front and rear chassis wheelbase is reduced until the shortest.

[0132] 9) The third time, the AGV device 100 walks and carries the vehicle to be moved to the designated position.

[0133] The implementation process of the first clamping position is that the fixed clamping assembly 1122 first contacts the front tire, and the front movable clamping assembly 1123 is then unfolded;

[0134] The implementation process of the second clamping position is that the first rear movable clamping assembly 1222 is unfolded and contacts the rear tire first, and the second rear fixed clamping assembly 1122 is then unfolded;

[0135] The implementation process of the release clamping position is that the front movable clamping assembly 1123, the first rear movable clamping assembly 1222 and the second rear fixed clamping assembly 1122 are all folded.

[0136] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0137] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0138] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0139] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification and equivalent change made to the above embodiment according to the technical essence of the present application falls within the protection scope of the present application.

Claims

1. A non-destructive vehicle relocation AGV system, characterized in that, include: A vehicle-moving AGV device, the vehicle-moving AGV device comprising: An AGV chassis has a front chassis and a rear chassis arranged along the length of the vehicle to be moved. The front chassis and the rear chassis are used to fix the front and rear tires of the vehicle to be moved, respectively, and are configured to be able to perform relative telescopic movement in the length direction of the vehicle to be moved to adjust the AGV wheelbase. The rear chassis is also configured to be able to perform relative lifting movement in the height direction of the vehicle to be moved to adjust the ground clearance of the rear chassis. An AGV front end is provided at the front end of the AGV front chassis. The AGV front chassis and the AGV front end are configured to move relative to each other in the height direction of the vehicle to be moved in order to adjust the ground clearance of the AGV front chassis. The AGV head includes a head frame, a main drive steering wheel is provided at the bottom of the head frame, and a driven wheel set is provided at the bottom of the AGV rear chassis. The main drive steering wheel has a travel motor and a steering motor. The main drive steering wheel and the driven wheel set constitute the AGV travel mechanism. The front frame is connected to the front chassis of the AGV via a front lifting mechanism, which is a scissor-type lifting structure driven by a first electro-hydraulic push rod, used to change the height of the front chassis of the AGV. The scissor lift structure is connected at one end to a fixed-height front frame and at the other end to a variable-height chassis. The height of the AGV front chassis changes via a first electro-hydraulic push rod. A vertically arranged gantry is fixedly connected to the front frame. The top of the gantry is connected to the motor base of the first electro-hydraulic push rod, and the bottom of the gantry is connected to the AGV front chassis. When the first electro-hydraulic push rod extends, it raises the height of the AGV front chassis, and vice versa. A liftable X-shaped folding bracket is also provided between the first electro-hydraulic push rod and the front chassis of the AGV; one end of the first hydraulic push rod of the first electro-hydraulic push rod is connected to the front crossbeam of the vehicle frame, and the other end of the first motor of the first electro-hydraulic push rod is connected to the front crossbeam of the vehicle frame through the X-shaped folding bracket; when the first motor works, the first hydraulic push rod extends, the X-shaped folding bracket is compressed, and the front crossbeam of the vehicle frame and the front crossbeam of the vehicle frame move relative to each other and begin to approach. The front crossbeam of the vehicle frame contacts the ground through the main drive steering wheel, and the height remains unchanged. The front crossbeam of the vehicle frame drives the front chassis of the AGV to begin to lower. Conversely, when the first motor works in the opposite direction and the hydraulic push rod shortens, the front chassis of the AGV rises. A rear lifting mechanism is provided between the rear chassis of the AGV and the driven wheel set. The rear lifting mechanism is a rocker-slider structure driven by a second electro-hydraulic push rod. The driven wheel set is connected to the rocker of the rocker-slider structure and is in contact with the ground. The height of the rear chassis of the AGV can be changed by adjusting the angle of the rocker. One end of the second hydraulic push rod of the second electro-hydraulic push rod is connected to the first end of the rear lifting active rod. The other end of the second motor of the second electro-hydraulic push rod is connected to the rear frame through the push rod fixing base. The second end of the rear lifting active rod is hinged to one end of the rear lifting driven rod. The other end of the rear lifting driven rod is connected to the rear chassis through the driven wheel connecting base. The driven wheel set is located at the bottom of the rear frame and passes through the rear clamping frame to connect the rear lifting active rod and the rear lifting driven rod. On the lower part of the rear clamping frame, a square steel guide rail parallel to the second hydraulic push rod is fixedly installed on the upper surface of the rear lower cover plate below the rear frame body. A needle roller bearing that mates with the square steel guide rail is provided on the end of the second hydraulic push rod connected to the rear lifting active rod. When the second motor starts to work, the second hydraulic push rod becomes longer, and the rear lifting active rod and the rear lifting driven rod are squeezed, forcing the rear driven wheel set to descend and generating a large force with the ground, thereby lifting the rear chassis. The AGV chassis and the AGV front are configured to move together toward or away from the vehicle to be moved. An AGV control device is provided, which is used to regulate the automatic vehicle moving process of the moving AGV device.

2. The non-destructive AGV system for vehicle relocation according to claim 1, characterized in that, The AGV front chassis includes: A front frame, wherein the front frame is provided with a front wheel clamping mechanism, the front wheel clamping mechanism comprising: A front clamping frame, which is fixedly connected to the front frame, is used to install a fixed clamping assembly and a front movable clamping assembly; A fixed clamping assembly having a pair of fixed clamping arms, the two fixed clamping arms being symmetrically and fixedly connected to the front ends of the front clamping frame; A front movable clamping assembly having a pair of front movable clamping arms, the two front movable clamping arms being symmetrically and foldably connected to the rear ends of the front clamping frame. The front tires of the vehicle to be moved are clamped between the fixed clamping arm and the extended front movable clamping arm.

3. The non-destructive AGV system for vehicle relocation according to claim 2, characterized in that, The AGV rear chassis includes: A rear frame, wherein the rear frame is provided with a rear wheel clamping mechanism, the rear wheel clamping mechanism comprising: A rear clamping frame, which is fixedly connected to the rear frame, is used to install a first rear movable clamping assembly and a second rear movable clamping assembly; A first rear movable clamping assembly, the first rear movable clamping assembly having a pair of first rear movable clamping arms, which are symmetrically and foldably connected to the front ends of the rear clamping frame. A second rear movable clamping assembly having a pair of second rear movable clamping arms symmetrically and foldably connected to the rear ends of the rear clamping frame; In this configuration, the rear tires of the vehicle to be moved are clamped between the first rear movable clamping arm and the second rear movable clamping arm after they have been deployed.

4. The non-destructive AGV system for vehicle relocation according to claim 3, characterized in that, The front movable clamping assembly, the first rear movable clamping assembly, and the second rear movable clamping assembly have the same structure, each including: A lead screw and nut transmission component, wherein the lead screw and nut transmission component has a trapezoidal nut and a first lead screw that are connected in a mating manner; A clamping arm driving component is fixed to the front clamping frame or the rear clamping frame and is used to drive the rotation of the first lead screw. A movable clamping arm, which is connected to the trapezoidal nut via a connecting rod assembly; When the first lead screw rotates in either the forward or reverse direction, the connecting rod assembly connected to the trapezoidal nut causes the movable clamping arm to extend or retract.

5. The non-destructive AGV system for moving vehicles according to claim 3, characterized in that, A ball screw transmission component and a chassis telescopic drive component are also provided between the front frame and the rear frame. The two are connected to form a wheelbase adjustment mechanism. The ball screw transmission component has a second screw and a nut seat. The chassis telescopic drive component is fixed to the rear frame and is used to drive the second lead screw, and the nut seat is fixedly connected to the front frame.

6. A non-destructive AGV system for vehicle relocation according to claim 3, 4, or 5, characterized in that, Two sets of guide rail pulley mechanisms, parallel to the length direction of the vehicle to be moved, are also provided between the front frame and the rear frame. Each set of guide rail pulley mechanisms includes: A guide member, the guide member being fixedly connected to the rear frame; A sliding member is slidably connected to the guide member and fixedly connected to the front frame.

7. The non-destructive AGV system for vehicle relocation according to claim 5, characterized in that, The AGV control device includes: A vehicle body control module is provided, which controls the coordinated operation of the front wheel clamping mechanism, the rear wheel clamping mechanism, the wheelbase adjustment mechanism, the front lifting mechanism, and the rear lifting mechanism during the automatic vehicle moving process. A motion control module, wherein the motion control module is used to control the movement of the AGV walking mechanism; A navigation and positioning module, wherein the navigation and positioning module provides pose data for the automatic tracking of the moving AGV device and for positioning control when it dives under the vehicle under test; A communication module is provided, which is used for wireless data transmission between the moving AGV device and vehicle dispatchers or parking lot dispatching systems.

8. A method of using the non-destructive vehicle moving AGV system according to any one of claims 3 to 7, characterized in that, Includes the following steps: 1) Adjust the AGV chassis to the initial position, that is, when the chassis height is at its lowest and the chassis length is at its shortest; 2) The first operation of the moving AGV device is to move the AGV chassis into the bottom of the vehicle to be moved; 3) Adjust the AGV chassis to the first clamping position, at which point the front tires of the vehicle to be moved are clamped; 4) Adjust the length of the AGV chassis according to the wheelbase of the vehicle to be moved; 5) Adjust the AGV chassis to the second clamping position, at which point the rear tires of the vehicle to be moved are clamped; 6) Adjust the target workstation of the AGV chassis so that the height is at its highest point, and the vehicle is lifted off the ground; 7) The second operation of the moving AGV device moves the vehicle to be moved to the designated location; 8) Then adjust the AGV chassis to the initial position and the unclamping position in sequence; 9) The third operation of the moving AGV device moves the AGV chassis out from under the vehicle to be moved; The first clamping station is as follows: the fixed clamping component first contacts the front tire, and then the front movable clamping component unfolds. The second clamping station is as follows: the first rear movable clamping component first unfolds and contacts the rear tire, and then the second rear fixed clamping component unfolds; The unclamping station is characterized by the folding of the front movable clamping assembly, the first rear movable clamping assembly, and the second rear fixed clamping assembly.

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