A multi-layer comb-tooth lurking AGV car transport robot

Abstract

This invention relates to the field of parking equipment technology, specifically disclosing a multi-layered comb-tooth lurking AGV car transport robot, including a parking garage. Universal car comb frames and micro-car comb frames are uniformly fixedly installed on the parking garage. This invention incorporates a detection mechanism to adjust the AGV transport mechanism according to the vehicle type, adapting to different vehicle types such as universal cars and micro-cars. During vehicle transfer, the AGV transport mechanism can limit the vehicle's movement to prevent wobbling or slippage. After the vehicle stops on the universal car comb frame and the micro-car comb frame, the vehicle body is monitored to prevent tilting and slippage during parking. Furthermore, during subsequent vehicle retrieval, the vehicle body monitoring data is used to balance tilted vehicles, ensuring safe vehicle transfer and improving the overall adaptability and safety of the parking garage.

Description

Technical Field

[0001] This invention relates to the field of parking equipment technology, and in particular to a multi-layer comb-tooth lurking AGV car handling robot. Background Technology

[0002] Vehicles are a necessity in modern life and make people's movement more convenient. However, with the increase in vehicles, parking spaces are becoming increasingly difficult to find. Multi-level parking garages can solve the parking problem within a limited space.

[0003] In some multi-level automated parking garages, comb-type AGV (Automated Guided Vehicle) car transport robots are used to assist in the transportation of cars within the garage. After a car is parked in the garage, the comb-type platform lifts the vehicle to the designated level, and then the AGV robot transfers the vehicle to the designated parking space. However, parking garages usually have size standards for vehicles. If a car does not meet the size requirements after entering the garage, it cannot be parked and must be driven out of the garage. This leads to wasted parking time during peak hours. Furthermore, if a car is not parked in the center after entering the garage, the driver needs to adjust its position. Since parking spaces are typically small, adjusting the car's position is time-consuming and requires significant effort from drivers with less experience. This presents a constant challenge, as typical garages can only accommodate regular car models, while microcars, due to their size limitations, are difficult to park inside. This results in poor overall garage usability. Furthermore, the vehicle racks in typical garages are welded to a horizontal surface with fasteners. Prolonged parking pressure from vehicles or slight imbalances on either side can cause the racks to sag. Over time, this imbalance can lead to vehicles tilting. Additionally, some cars may have punctured tires before entering the garage, causing them to leak air. If a car is parked on the rack, the leaking tire on one side can cause it to tilt, potentially leading to the car slipping and falling during subsequent AGV (Automated Guided Vehicle) transfer. Therefore, the overall safety of the garage needs further improvement. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multi-layer comb-tooth hidden AGV (Automated Guided Vehicle) robot for vehicle transport.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-layer comb-tooth lurking AGV car transport robot includes a parking garage. A general-purpose car comb frame and a micro-car comb frame are uniformly and fixedly installed on the parking garage. Limiting components are provided on the comb teeth located on the sides of both the general-purpose and micro-car comb frames. Two sets of lifting frames are movably installed on the parking garage. A second comb frame is fixedly installed on the lifting frame, and a first comb frame is movably installed on the lifting frame. Comb teeth are uniformly and fixedly installed on both comb frames, and auxiliary detection components are provided on the comb teeth. A positioning correction mechanism and a detection mechanism are provided on the parking garage. A transverse plate is movably installed on the parking garage, with side guardrails fixedly installed on both sides of the transverse plate. An AGV transport vehicle mechanism is provided on the transverse plate.

[0007] The positioning mechanism includes an installation platform, which is fixedly installed on the parking garage. A lifting platform is movably installed on the installation platform. On one side of the lifting platform, there is a movable seat, a clamping arm, and a lifting airbag for positioning coordination.

[0008] The detection mechanism includes an external frame, which is fixedly installed on the parking garage. A laser radar for detection is installed on one side of the external frame, and an interception bar is movably installed on the parking garage.

[0009] The AGV transport vehicle mechanism includes a vehicle body, which is slidably mounted on a transverse plate. A chassis top seat is movably mounted on the vehicle body. Side comb teeth are movably mounted on the chassis top seat. A lifting plate is movably mounted on the side comb teeth. Side limit plates and anti-fall plates are provided on the side comb teeth for coordination with limiters.

[0010] Preferably, four sets of distance sensors are installed in the parking space areas corresponding to the comb racks of general-purpose vehicles and micro-vehicles in the parking garage, and ultrasonic sensors are installed on the two side walls of the bottom entry position of the parking garage.

[0011] Preferably, the auxiliary detection component includes a movable plate, which is movably mounted on the comb teeth. A contact sensor is fixedly mounted on the comb teeth, and springs are uniformly fixedly mounted on the comb teeth, with the springs fixedly connected to the movable plate.

[0012] Preferably, the alignment mechanism further includes extension columns, two extension columns are movably mounted on the lifting platform, and an alignment plate is movably mounted on one side of the two extension columns.

[0013] Preferably, the positioning plate is movably connected to two extension columns, two movable seats are movably mounted on the positioning plate, the clamping arm is rotatably mounted on the movable seats, and the lifting airbag is fixedly mounted on the clamping arm.

[0014] Preferably, the detection mechanism further includes an extension frame, which is movably mounted on an external frame. The laser radar is fixedly mounted on the extension frame, and a connecting frame is fixedly mounted on the parking garage. The interceptor bar is rotatably mounted on the connecting frame.

[0015] Preferably, the limiting component includes a limiting rotating plate, which is rotatably mounted on the comb teeth of the general-purpose vehicle comb frame and the micro-vehicle comb frame. A drive plate is movably mounted on the general-purpose vehicle comb frame, and one end of the drive plate is movably connected to the limiting rotating plate.

[0016] Preferably, the AGV transporter mechanism further includes adjustment plates, four sets of adjustment plates are movably installed on both sides of the chassis top seat, and a drive assembly is provided on the chassis top seat. Three sets of welding seats are fixedly installed on two of the adjustment plates, and four sets of welding seats are fixedly installed on the other two adjustment plates. Side comb teeth are fixedly installed on the welding seats, outer frames are fixedly installed on the side comb teeth, scissor frames are movably installed on the side comb teeth, the scissor frames are movably connected to the lifting plate, side limit plates are movably installed on the outer frames, and anti-fall plates are movably installed on the four side comb teeth located at the four corners.

[0017] Preferably, the AGV transport vehicle mechanism further includes a second drive gear, which is fixedly mounted on the anti-fall plate and rotatably mounted inside the outer frame. A second rack plate is slidably mounted on one side of the second drive gear, and the second rack plate is movably mounted on the outer frame. The second rack plate is fixedly connected to the side limiting plate, and the second rack plate meshes with the second drive gear.

[0018] Preferably, the drive assembly includes four drive gears rotatably mounted inside the chassis top seat, with a timing belt sleeved between every two adjacent drive gears, and a rack plate fixedly mounted on the adjustment plate. The rack plate is slidably mounted on the chassis top seat, and the rack plate meshes with the corresponding drive gear.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] This invention incorporates a detection mechanism that scans vehicle dimensions before they enter the parking garage. If the vehicle's dimensions do not match the available parking spaces, it cannot enter. If the vehicle's dimensions match, it can enter. Once inside, an auxiliary detection component detects and positions the vehicle's tires to ensure it stops correctly. After stopping, a centering mechanism corrects the vehicle's position, ensuring it is centered. Following this correction, the system assigns a parking space based on the detected vehicle type. The AGV transport mechanism is adjusted according to vehicle type to adapt to different vehicle types, including general-purpose vehicles and micro-vehicles. During vehicle transfer, the AGV transport mechanism can limit the vehicle's movement to prevent wobbling or slippage. After the vehicle stops on the general-purpose vehicle rack or the micro-vehicle rack, the vehicle body is monitored to prevent tilting and slippage during parking. Furthermore, during subsequent vehicle retrieval, the vehicle body monitoring data is used to balance tilted vehicles, ensuring safe vehicle transfer and improving the overall adaptability and safety of the parking garage.

[0021] This invention incorporates an auxiliary detection component. After a vehicle enters the parking space, its tires contact the movable plate on the comb teeth. The tires press down on the movable plate, which then contacts a contact sensor and sends a contact signal to the system. When the vehicle stops, if all four tires are in position (the standard for being in position is that the four tires fall within the four comb teeth areas on comb tooth frame one and comb tooth frame two respectively), the system sends a vehicle positioning prompt. If the vehicle is not in position, the system issues a vehicle positioning prompt, allowing the driver to adjust the vehicle's position to ensure it is parked according to the standard and to guarantee subsequent parking safety.

[0022] This invention incorporates a positioning correction mechanism. After the driver exits the parking garage, ultrasonic sensors on the side walls of the upper level detect the distance between the vehicle and the outer walls of the vehicle. If the ultrasonic sensors detect a distance within a specified standard (meaning the distances from both sides of the vehicle to the walls are equal or approximately equal), no positioning correction is required. If the ultrasonic sensors detect a distance outside the specified standard, a positioning correction is performed. Based on the distance data from the sensors, hydraulic cylinders drive four extension columns to extend near the vehicle's tires, and the position is determined by contact sensors. The system controls the moving seat to move to the tire position and controls the clamping arm to rotate until it is parallel to the moving seat. The moving seat moves closer to the tire until the clamping arm contacts the tire. Then, the air pump inflates the lifting airbag until it contacts the tire surface. Subsequently, the system controls the hydraulic cylinder to drive the lifting platform to move upward, thereby lifting the vehicle and separating it from the first and second comb racks. Based on the distance data fed back by the system, the system controls the hydraulic cylinder to drive the alignment plates on both sides to move and adjust the vehicle's position. When the ultrasonic sensors on both sides detect that the distance to the vehicle meets the standard, the alignment ends, ensuring that the vehicle is parked in a centered position to ensure the safety of subsequent vehicle transfer.

[0023] This invention features a detection mechanism. When a vehicle approaches the parking garage entrance, the lidar is activated, and a cylinder drives an extension frame to move. The extension frame moves the lidar and scans the vehicle's dimensions. After scanning, the vehicle type is categorized (specifically, sedans, SUVs, and microcars). When the system detects that the remaining parking spaces in the garage match the scanned vehicle type, a servo motor activates, driving a gear to rotate and rotate two barrier bars at the entrance to a vertical position. The vehicle can then enter the parking garage. If the vehicle does not meet the requirements, the barrier bars remain closed, and the system provides a warning, preventing the vehicle from entering. The next vehicle can then proceed to the entrance for scanning and entry. This avoids the problem of vehicles that do not meet the remaining parking space requirements entering the parking garage and then exiting, thus preventing wasted parking time during peak hours.

[0024] This invention incorporates a limiting component. After the vehicle is parked on the comb rack of a general-purpose vehicle or a microcar, a pneumatic telescopic rod drives the drive plate to rotate the limiting plate to an inclined position. The limiting plates on both sides of the four tires can limit the tires of the vehicle, preventing the vehicle body from tilting and slipping. Simultaneously, the drive plate starts to monitor the distance between the vehicle and the chassis to reflect the balance of the vehicle body and ensure the safety of the vehicle parking.

[0025] This invention incorporates an AGV (Automated Guided Vehicle) transport mechanism. When a vehicle is parked, four sets of adjustment plates are adjusted according to the detected vehicle type to adapt the side comb teeth to both general-purpose and micro-vehicle types. Simultaneously, when the vehicle is transferred to the side comb teeth, a pneumatic telescopic rod drives the side limiting plates upwards, limiting the vehicle's tires. At the same time, the four corner side limiting plates, when moving upwards, drive the anti-fall plates to a tilted position through the meshing of rack plate two and drive gear two, thus limiting the tires from the front and rear sides of the vehicle and ensuring safe vehicle transfer. Furthermore, during vehicle retrieval, if the system detects a tilt in the vehicle body, it controls the tilted lifting plate to rise based on the tilt data. When the distance between the four drive plates on all four sides and the vehicle chassis is equal, the vehicle is balanced, and the vehicle is then transferred, preventing the vehicle from slipping during the transfer due to tilt and ensuring safe vehicle transfer. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a multi-layer comb-tooth lurking AGV car handling robot proposed in this invention;

[0027] Figure 2 This is a top view schematic diagram of a multi-layer comb-tooth lurking AGV car handling robot proposed in this invention;

[0028] Figure 3 This is a schematic diagram of the general-purpose comb frame in a multi-layer comb-tooth AGV car handling robot proposed in this invention;

[0029] Figure 4 for Figure 3 Enlarged view of point B in the middle;

[0030] Figure 5 This is a schematic diagram of the micro-car comb frame in a multi-layer comb-tooth AGV car handling robot proposed in this invention;

[0031] Figure 6 This is a schematic diagram of the installation of comb frame one and comb frame two in a multi-layer comb toothed AGV car handling robot proposed in this invention.

[0032] Figure 7 This is a schematic diagram of the auxiliary detection component in a multi-layer comb-tooth lurking AGV car handling robot proposed in this invention;

[0033] Figure 8 for Figure 1 Enlarged view of point A in the middle;

[0034] Figure 9 This is a schematic diagram of the positioning correction mechanism in a multi-layer comb-tooth AGV car handling robot proposed in this invention;

[0035] Figure 10 This is a schematic diagram of the installation of the transverse plate and the AGV transport vehicle mechanism in a multi-layer comb-tooth submersible AGV car transport robot proposed in this invention.

[0036] Figure 11 This is a schematic diagram of the AGV transport vehicle mechanism in a multi-layer comb-tooth lurking AGV car transport robot proposed in this invention;

[0037] Figure 12 This is a schematic diagram of the drive component in a multi-layer comb-tooth lurking AGV car handling robot proposed in this invention;

[0038] Figure 13 This is a schematic diagram of the side comb teeth in a multi-layer comb-tooth hidden AGV car handling robot proposed in this invention;

[0039] Figure 14 This is a schematic diagram of the installation of the anti-fall plate in a multi-layer comb-tooth lurking AGV car handling robot proposed in this invention;

[0040] Figure 15 This is a schematic diagram illustrating the comb tooth exchange state between the general-purpose vehicle comb frame and the AGV transport vehicle mechanism in a multi-layer comb-tooth hidden AGV car transport robot proposed in this invention.

[0041] Figure 16 This is a schematic diagram showing the comb tooth exchange state between the microcar comb frame and the AGV transport vehicle mechanism in a multi-layer comb-tooth hidden AGV car transport robot proposed in this invention.

[0042] In the diagram: 1. Parking garage; 11. General-purpose vehicle comb frame; 111. Limiting plate; 112. Drive plate; 12. Mini vehicle comb frame; 2. Lifting frame; 21. Comb frame one; 22. Comb frame two; 23. Comb teeth; 231. Movable plate; 232. Spring; 233. Contact sensor; 3. Alignment mechanism; 31. Mounting platform; 32. Lifting platform; 33. Extension column; 34. Alignment plate; 35. Moving seat; 36. Clamping arm; 37. Lifting airbag; 4. Detection mechanism; 41. External frame; 4 2. Extension frame; 43. LiDAR; 44. Connecting frame; 45. Interception bar; 5. Horizontal movement plate; 51. Side guardrail; 6. AGV transport vehicle mechanism; 61. Vehicle body; 62. Chassis top seat; 621. Rack plate one; 622. Drive gear one; 623. Synchronous belt; 63. Side comb; 631. Outer frame; 632. Lifting plate; 633. Scissor lift; 634. Side limit plate; 635. Rack plate two; 636. Drive gear two; 637. Fall arrestor plate; 64. Adjustment plate; 65. Welding base. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0044] Reference Figure 1-16A multi-layered comb-tooth lurking AGV car handling robot includes a parking garage 1. Universal car comb racks 11 are uniformly and fixedly installed on the parking garage 1. The universal car comb racks 11 are used to park universal car models (including sedans and SUVs). The universal car comb racks 11 can be divided into sedan parking spaces and SUV parking spaces. Miniature car comb racks 12 are uniformly and fixedly installed on the parking garage 1. The miniature car comb racks 12 are used to park miniature cars (including cars with a body length of 1.7m-1.8m and a body width of 1.2m-1.5m). The miniature car comb racks 12 are located in the relatively narrow spaces at the corners inside the parking garage 1 to ensure sufficient internal space. The general-purpose vehicle comb rack 11 and the microcar comb rack 12 are equipped with limit components on the side teeth. These limit components can limit the vehicle's movement around its four tires after the vehicle is parked on the comb rack 11 or microcar comb rack 12. Four sets of distance sensors (GY-530) are installed in the parking space area corresponding to the general-purpose vehicle comb rack 11 and microcar comb rack 12. The distance sensors are located at the four tooth areas on the general-purpose vehicle comb rack 11 and are electrically connected to an external controller (CPM1A). The distance sensors can monitor the distance between the vehicle chassis to ensure the balance of the vehicle when parked. The parking garage 1 is movably installed with… Two sets of lifting frames 2, which can be raised and lowered on parking garage 1, are driven by external lifting equipment. A second comb frame 22 is fixedly installed on the lifting frame 2, and a first comb frame 21 is movably installed on the lifting frame 2. Comb teeth 23 are evenly fixedly installed on both the first and second comb frames 22, and are staggered. An auxiliary detection component is installed on each comb tooth 23 to detect the tire position of the vehicle after it has driven onto the lifting frame 2. A positioning mechanism 3 is installed on parking garage 1 to perform positioning operations on the vehicle after it has entered the parking garage 1. Two entry positions are located on the bottom floor of parking garage 1. An ultrasonic sensor (HC-SR04) is installed on the side wall. The ultrasonic sensor can detect the distance between itself and the vehicle and work with the positioning mechanism 3 to perform positioning operation on the vehicle. A detection mechanism 4 is installed on the parking garage 1. The detection mechanism 4 can scan and detect the size of the vehicle before it enters the parking garage 1. A transverse plate 5 is movably installed on the parking garage 1. The number of transverse plates 5 is set according to the number of parking levels in the parking garage 1. Side guardrails 51 are fixedly installed on both sides of the transverse plate 5. An AGV transport vehicle mechanism 6 is installed on the transverse plate 5. When the lifting frame 2 is raised to the corresponding parking level, the AGV transport vehicle mechanism 6 can remove the vehicle parked on the lifting frame 2 and transport it to the corresponding parking space.The detection mechanism 4 scans the vehicle's dimensions before it enters parking garage 1. If the vehicle's dimensions do not match the remaining parking space requirements of parking garage 1, the vehicle cannot enter. If the vehicle's dimensions match, it can enter. After entering parking garage 1, the auxiliary detection component detects and positions the vehicle's tires to ensure the vehicle stops correctly. Once stopped, the alignment mechanism 3 aligns the vehicle to ensure it is centered. After alignment, the system assigns a parking space based on the vehicle's detected type and then... The AGV transporter mechanism 6 is adjusted to accommodate different vehicle types, including general-purpose vehicles and micro-vehicles. During vehicle transfer, the AGV transporter mechanism 6 can limit the vehicle's movement to prevent wobbling or slippage. After the vehicle stops on the general-purpose vehicle rack 11 and the micro-vehicle rack 12, the vehicle's body is monitored to prevent tilting and slippage. Furthermore, during subsequent vehicle retrieval, the monitored data is used to balance any tilted vehicles, ensuring safe vehicle transfer and improving the overall adaptability and safety of the parking garage 1.

[0045] As an optimized solution for a multi-layer comb-tooth lurking AGV car handling robot technology of the present invention, the auxiliary detection component includes a movable plate 231, which is movably mounted on the comb tooth body 23. A contact sensor 233 is fixedly mounted on the comb tooth body 23 and electrically connected to an external controller. Springs 232 are uniformly fixedly mounted on the comb tooth body 23 and are fixedly connected to the movable plate 231. With the auxiliary detection component, after the vehicle enters the warehouse, the vehicle tires contact the movable plate 231 on the comb tooth body 23, and the tires press down on the movable plate 231. The movable plate 231 contacts the contact sensor 233 and sends a contact signal to the system. When the vehicle stops, if all four tires of the vehicle are in position (the standard for stopping is that the four tires of the vehicle fall into the four comb tooth areas on the first comb tooth frame 21 and the second comb tooth frame 22 respectively), the system will send a vehicle positioning prompt. If the vehicle is not in position, the system will give a vehicle not in position prompt, and the driver will adjust the vehicle position to ensure that the vehicle is parked in accordance with the standard to ensure subsequent parking safety.

[0046] As an optimized solution for a multi-layer comb-tooth lurking AGV car handling robot of the present invention, the positioning mechanism 3 includes a mounting platform 31, which is fixedly installed on the parking garage 1. A lifting platform 32 is movably mounted on the mounting platform 31. The lifting platform 32 is driven by a hydraulic cylinder, which is electrically connected to an external controller. Two extension columns 33 are movably mounted on the lifting platform 32. The extension columns 33 are driven by a hydraulic cylinder, which is electrically connected to an external controller. A positioning plate 34 is movably mounted on one side of each of the two extension columns 33. The positioning plate 34 is movably connected to each of the two extension columns 33. A positioning plate 34 is movably mounted on the positioning plate 34. There are two movable seats 35, which are movably mounted on the positioning plate 34 via electric slide rails. The electric slide rails are electrically connected to an external controller. A clamping arm 36 is rotatably mounted on the movable seat 35. The clamping arm 36 is driven to rotate by two meshing gears, one of which is driven by a servo motor. The servo motor is electrically connected to the external controller. A lifting airbag 37 is fixedly mounted on the clamping arm 36. The lifting airbag 37 is interconnected with an external air pump via a pipe. The air pump is electrically connected to the external controller. With the positioning mechanism 3 in place, after the driver leaves the parking garage, ultrasonic sensors on both sides of the bottom floor of the parking garage 1 will... The device can detect the distance between the vehicle and the two sides of the outer wall. If the ultrasonic sensors on both sides detect that the distance between the vehicle and the wall is within the specified standard (the standard is that the distances from the two sides of the vehicle to the wall are equal or approximately equal), then no vehicle alignment operation is required. If the ultrasonic sensors on both sides detect that the distance between the vehicle and the wall is not within the specified standard, then the vehicle alignment operation is performed. Based on the distance data fed back by the sensors, the hydraulic cylinder is controlled to drive the four extension columns 33 to extend to the vicinity of the vehicle tires. Based on the tire position fed back by the contact sensor 233, the moving seat 35 is controlled to move to the tire position, and the clamping arm 36 is controlled to rotate to contact the moving seat 35. The seat 35 is in a parallel position. The moving seat 35 moves towards the tire side until the clamping arm 36 contacts the tire. Then, the air pump inflates the lifting airbag 37 so that it contacts the tire surface. Then, the hydraulic cylinder drives the lifting platform 32 to move upward to lift the vehicle upward and separate it from the comb frame 1 21 and comb frame 22. According to the distance data fed back by the system, the hydraulic cylinder drives the positioning plates 34 on both sides to translate to adjust the position of the vehicle. When the ultrasonic sensors on both sides detect that the distance of the vehicle meets the standard, the positioning ends, ensuring that the vehicle is parked in a centered position to ensure the safety of subsequent vehicle transfer.

[0047] As an optimized solution for a multi-layer comb-tooth lurking AGV car handling robot technology of the present invention, the detection mechanism 4 includes an external frame 41, which is fixedly installed on the parking garage 1. An extension frame 42 is movably installed on the external frame 41 and is movably installed on the external frame 41 via a cylinder. A laser radar 43 is fixedly installed on the extension frame 42 and is electrically connected to an external controller. A connecting frame 44 is fixedly installed on the parking garage 1, and an intercepting bar 45 is rotatably installed on the connecting frame 44. The intercepting bar 45 is driven to rotate by two meshing gears, one of which is driven by a servo motor, which is electrically connected to the external controller. When a vehicle enters the parking garage 1, the two intercepting bars 45 on one side are in a horizontal state to intercept the vehicle. The laser radar 43 scans the vehicle size. When the scanned vehicle size meets the requirements of the remaining parking space size inside the parking garage 1, the intercepting bar 45... The system opens; with the detection mechanism 4 in place, when a vehicle drives to the entrance, the lidar 43 is activated, and the cylinder drives the extension frame 42 to move. The extension frame 42 drives the lidar 43 to move and scan the vehicle size. After scanning the vehicle size, the vehicle type can be classified (specifically, ordinary sedans, SUVs, and microcars). When the system detects that the remaining parking spaces inside parking garage 1 meet the scanned vehicle type, the servo motor starts to drive the gear to rotate, causing the two blocking bars 45 at the entrance to rotate to a vertical position. Then the vehicle can drive into parking garage 1. If the requirements are not met, the blocking bars 45 will not open and the system will issue a prompt. At this time, the vehicle cannot enter parking garage 1, and the next vehicle can drive to the entrance for scanning and entry. This avoids the problem of vehicles that do not meet the requirements of the remaining parking spaces driving directly into parking garage 1 and then driving out, thus avoiding the waste of parking time during peak parking periods.

[0048] As an optimized solution for a multi-layer comb-tooth lurking AGV car handling robot technology of the present invention, the limiting component includes a limiting rotating plate 111. The limiting rotating plate 111 is rotatably mounted on the comb teeth of the general vehicle comb frame 11 and the micro vehicle comb frame 12. A drive plate 112 is movably mounted on the general vehicle comb frame 11. The drive plate 112 is driven by a pneumatic telescopic rod, which is electrically connected to an external controller. One end of the drive plate 112 is movably connected to the limiting rotating plate 111. By setting the limiting component, after the vehicle is parked in place on the general vehicle comb frame 11 and the micro vehicle comb frame 12, the pneumatic telescopic rod drives the drive plate 112 to rotate the limiting rotating plate 111 to an inclined position. The limiting rotating plates 111 on both sides of the four tires can limit the tires of the vehicle to prevent the vehicle body from tilting and slipping. Simultaneously, the drive plate 112 starts to monitor the distance to the vehicle chassis to reflect the balance of the vehicle body and ensure the safety of the vehicle parking.

[0049] As an optimized solution for a multi-layer comb-tooth concealed AGV car transport robot according to the present invention, the AGV transport vehicle mechanism 6 includes a vehicle body 61, which is slidably mounted on a transverse plate 5. A chassis top seat 62 is movably mounted on the vehicle body 61. The chassis top seat 62 is driven by a hydraulic cylinder, which is electrically connected to an external controller. Four sets of adjusting plates 64 are movably mounted on both sides of the chassis top seat 62. A drive assembly is provided on the chassis top seat 62, which can drive the adjusting plates 64 to move. Three sets of welding seats 65 are fixedly mounted on two of the adjusting plates 64, and four sets of welding seats 65 are fixedly mounted on the other two adjusting plates 64. Side comb teeth 63 are fixedly mounted on the welding seats 65. The adjusting plates 64, welding seats 65, and... The four sets of side comb teeth 63 on it constitute the first gear frame, and the adjustment plate 64, welding base 65, and the three sets of side comb teeth 63 on it constitute the second gear frame. An outer frame 631 is fixedly installed on the side comb teeth 63, and a lifting plate 632 is movably installed on the side comb teeth 63. A scissor lift 633 is movably installed on the side comb teeth 63, driven by a hydraulic telescopic rod electrically connected to an external controller. The scissor lift 633 is movably connected to the lifting plate 632. A side limit plate 634 is movably installed on the outer frame 631, driven by a pneumatic telescopic rod electrically connected to an external controller. Anti-fall plates 637 are rotatably installed on the four side comb teeth 63 located at the four corners to prevent falls. A second drive gear 636 is fixedly mounted on plate 637. The second drive gear 636 is rotatably mounted inside the outer frame 631. A second rack plate 635 is slidably mounted on one side of the second drive gear 636. The second rack plate 635 is movably mounted on the outer frame 631. The second rack plate 635 is fixedly connected to the side limiting plate 634, and the second rack plate 635 and the second drive gear 636 mesh with each other. By setting up the AGV transport vehicle mechanism 6, when the vehicle is parked, the four sets of adjusting plates 64 are adjusted according to the detected vehicle type to adapt the four side comb teeth 63 to general vehicles and micro vehicles. At the same time, when the vehicle is transferred to the side comb teeth 63 and parked, the movable telescopic rod drives the side limiting plate 634 to move upward. The side limiting plates 634 on both sides limit the vehicle tires. Simultaneously, when the four side limiting plates 634 at the four corners move upward, they drive the anti-fall plate 637 to rotate to an inclined position through the meshing of the rack plate 635 and the drive gear 636. This limits the tires from the front and rear sides of the vehicle, ensuring the safety of vehicle transfer. At the same time, if the system detects that the vehicle body is tilted during the vehicle retrieval process, it controls the tilted lifting plate 632 to rise upward according to the tilt data fed back by the system. When the distance between the four drive plates 112 on the four sides and the chassis is equal, the vehicle body is balanced, and then the vehicle is transferred. This avoids the problem of the vehicle slipping during the transfer due to the tilt of the vehicle body, ensuring the safety of vehicle transfer.

[0050] As an optimized solution for a multi-layer comb-tooth lurking AGV (Automotive Transporter) robot technology of the present invention, the drive assembly includes four drive gears 622 rotatably mounted inside the chassis top seat 62. The drive gears 622 are driven by servo motors, which are electrically connected to an external controller. A synchronous belt 623 is fitted between every two adjacent drive gears 622. A rack plate 621 is fixedly mounted on the adjustment plate 64 and slidably mounted on the chassis top seat 62. The rack plate 621 meshes with the corresponding drive gear 622. With the drive assembly installed, when transferring general-purpose vehicles and microcars between the vehicle body 61 and chassis top mount 62, corresponding parking spaces are divided according to different vehicle types. The servo motor is controlled to drive the drive gear 622 to rotate according to the vehicle type. This, in conjunction with the synchronous belt 623 and rack plate 621, moves the four sets of adjustment plates 64 on both sides to adjust the position of the side comb teeth 63 on the four sides. The adjusted side comb teeth 63 exchange comb teeth with the general-purpose vehicle comb tooth frame 11 or the microcar comb tooth frame 12 for transferring general-purpose vehicles or microcars, thereby improving the overall applicability of the parking garage 1.

[0051] In use, the parking garage 1 is equipped with a universal vehicle rack 11 and a microcar rack 12. The universal vehicle rack 11 can be used to park universal vehicle models. The universal vehicle rack 11 is divided into ordinary car parking spaces and SUV parking spaces. The microcar rack 12 can be used to park microcars. The microcar rack 12 is set in a relatively narrow space in the corner of the parking garage 1 to ensure that the interior space of the parking garage 1 can be fully utilized. The remaining ordinary car parking spaces, SUV parking spaces and microcar parking spaces inside the parking garage 1 are all displayed on the external display device. When a vehicle drives to the corresponding lifting rack 2 on the parking garage 1, it is ready to enter the garage.

[0052] When a vehicle drives to the entrance (the entrance is located at the bottom of parking garage 1, corresponding to the lifting frame 2), the lidar 43 is activated, and the cylinder drives the extension frame 42 to move. The extension frame 42 drives the lidar 43 to move and scan the vehicle size. After scanning the vehicle size, the vehicle type can be classified (specifically, ordinary sedans, SUVs, and microcars). When the system detects that the remaining parking spaces inside parking garage 1 meet the vehicle type classification, the servo motor starts to drive the gear to rotate, thereby rotating the two blocking bars 45 at the entrance to a vertical position. Then the vehicle can drive into parking garage 1. If the vehicle does not meet the classification, the blocking bars 45 will not open and a prompt will be issued through the system. At this time, the vehicle cannot enter parking garage 1, and the next vehicle can drive to the entrance for scanning and entry.

[0053] After the vehicle enters the parking space, the vehicle tires contact the movable plate 231 on the comb tooth body 23. The tires press down on the movable plate 231, and the movable plate 231 contacts the contact sensor 233 and sends a contact signal to the system. When the vehicle stops, if all four tires of the vehicle are in place (the standard for stopping is that the four tires of the vehicle fall into the four comb tooth areas on the comb tooth frame 1 21 and the comb tooth frame 22 respectively), the system will send a vehicle arrival prompt. If the vehicle is not in place, the system will give a vehicle not in place prompt. The driver will adjust the position of the car to ensure that the car is in place. After the car is in place, the driver will pull the handbrake to ensure that the car is parked in accordance with the stopping requirements and then leave the parking space.

[0054] After the driver exits the parking garage, ultrasonic sensors on the two side walls of the upper level of parking garage 1 can detect the distance between the vehicle and the outer walls of the vehicle. If the ultrasonic sensors detect that the distance between the vehicle and the wall is within the specified standard (the standard is that the distances from the two sides of the vehicle to the wall are equal or approximately equal), no vehicle repositioning operation is required. If the ultrasonic sensors detect that the distance between the vehicle and the wall is not within the specified standard, a repositioning operation is performed. Based on the distance data fed back by the sensors, the hydraulic cylinders are controlled to drive the four extension columns 33 to extend to the vicinity of the vehicle tires. Based on the tire position feedback from the contact sensor 233, the moving seat 35 is controlled to move to the tire. Position and control the clamping arm 36 to rotate until it is parallel to the moving seat 35. The moving seat 35 moves closer to the tire until the clamping arm 36 contacts the tire. Then, the air pump inflates the lifting airbag 37 so that it contacts the tire surface. Then, control the hydraulic cylinder to drive the lifting platform 32 to move upward to lift the vehicle upward and separate it from the comb frame 1 21 and comb frame 22. According to the distance data fed back by the system, control the hydraulic cylinder to drive the positioning plates 34 on both sides to translate to adjust the position of the vehicle. When the ultrasonic sensors on both sides detect that the distance of the vehicle meets the standard, the positioning ends and the positioning plates 34 are reset. At this time, it is ready to park the vehicle.

[0055] The system classifies vehicles into parking spaces based on the vehicle type identified by the LiDAR 43 scanning the vehicle's dimensions before it enters the parking space. When preparing to park the vehicle, the lifting frame 2 rises to lift the vehicle to the parking level. Then, the transverse plate 5 of the parking level moves to the middle position opposite to the lifting frame 2. The comb frame 1 21 descends into the lifting frame 2. The vehicle body 61 moves between the comb frame 2 22 and the comb frame 1 21. The chassis top seat 62 rises, and the vehicle is transferred to the side comb 63 for parking. The vehicle body 61 moves back to its original position and is transferred to the transverse plate 5. Then, the transverse plate 5 moves laterally, moving the vehicle to the parking space. The vehicle body 61 moves towards the parking space. After the vehicle body 61 is in place, the chassis top seat 62 descends, and the side comb 63 exchanges comb teeth with the general vehicle comb frame 11 or the micro vehicle comb frame 12. The vehicle is then transferred to the general vehicle comb frame 11 or the micro vehicle comb frame 12 for parking. The vehicle is now parked.

[0056] When parking a vehicle, if the vehicle size is determined to be a universal model before the vehicle enters the parking space, the vehicle is assigned to a parking area equipped with a universal vehicle comb rack 11. The vehicle body 61 and chassis top mount 62, together with comb rack one 21, comb rack two 22, and lateral mover 5, transfer the vehicle onto the universal vehicle comb rack 11 for parking. If the vehicle is a universal vehicle type, a parking area equipped with a universal vehicle comb rack 11 is assigned to the vehicle. The lifting frame 2 lifts the vehicle to the parking space level. After the vehicle body 61 and chassis top mount 62 transfer the vehicle onto the lateral mover 5, the lateral mover 5 moves the vehicle laterally to the parking space. Subsequently, the vehicle body 61 and chassis top mount 62 move to the parking space, and the side comb rack 63 exchanges comb teeth with the universal vehicle comb rack 11 (see the specific state diagram). Figure 15 After the vehicle is parked, it is transferred to the general vehicle comb rack 11. After the vehicle is parked, the vehicle body 61 and chassis top mount 62 are moved and reset.

[0057] If the vehicle size is detected as a microcar, the vehicle is assigned to a parking area equipped with a microcar comb rack 12. After size detection at the entrance, the vehicle is assigned a parking space. Subsequently, the car drives into the parking garage 1, and the positioning mechanism 3 performs a positioning operation. Simultaneously, the system moves the transverse plate 5 of the parking level corresponding to the parking area equipped with the microcar comb rack 12 to the middle area to prepare for subsequent vehicle body 61 and chassis top mount 62 to cooperate with comb rack one 21 and comb rack two 22 for vehicle transfer operations. Simultaneously, the transverse plate... 5. During the lateral movement to the middle position, the servo motor drives the drive gear 622 to rotate and, in conjunction with the synchronous belt 623 and the rack plate 621, moves the four sets of adjustment plates 64 on both sides to the middle position, thereby adjusting the gear frame 1 and gear frame 2 to match the microcar type. After the vehicle body 61 and chassis top mount 62 transfer the vehicle, the lateral movement plate 5 moves laterally and moves the vehicle to the parking area of ​​the corresponding microcar comb frame 12. The chassis top mount 62 moves and drives the side comb teeth 63 to exchange comb teeth with the microcar comb frame 12 (see the specific state diagram). Figure 16 The vehicle is transferred to the microcar comb rack 12, and after the vehicle is parked, the vehicle body 61 and chassis top mount 62 move and reset.

[0058] After the vehicle is parked, the pneumatic telescopic rod drives the drive plate 112 to rotate the limit plate 111 to an inclined position. The limit plates 111 on both sides of the four tires can limit the tires of the vehicle to prevent the vehicle body from tilting and slipping. At the same time, the drive plate 112 starts to monitor the distance between the vehicle and the chassis to reflect the balance of the vehicle body.

[0059] If, during vehicle parking, the distance data fed back by the drive plate 112 detects that the vehicle body is tilted, during the vehicle retrieval process, the vehicle body 61 and chassis top mount 62 move to the parking space, and the side comb teeth 63 exchange comb teeth with the general vehicle comb tooth frame 11 or the microcar comb tooth frame 12. While the side comb teeth 63 are exchanging comb teeth with the general vehicle comb tooth frame 11 and the microcar comb tooth frame 12, based on the vehicle tilt data fed back by the drive plate 112, the hydraulic telescopic rod on the tilted side of the vehicle is activated, driving the scissor lift 633 to extend upwards. At this time, the scissor lift 633 drives the lifting plate 632 to move upwards. The vehicle body is tilted and lifted upwards. When the distance between the four drive plates 112 on the four sides and the chassis is equal, the vehicle body is balanced. Then, the side comb teeth 63 exchange comb teeth with the general vehicle comb tooth frame 11 or the micro vehicle comb tooth frame 12. The vehicle body 61 and the chassis top seat 62 transfer the vehicle to the transverse plate 5. Then, the side comb teeth 63 exchange comb teeth with the comb tooth frame 22. The vehicle is transferred to the comb tooth frame 22. The comb tooth frame 1 21 is lifted upwards and is at the same level as the comb tooth frame 22. The lifting frame 2 is lowered to the entrance of the parking garage. Then, the driver drives the vehicle out of the parking garage 1 and the vehicle is retrieved.

[0060] After the side comb teeth 63 exchange with the general vehicle comb tooth frame 11 or the micro vehicle comb tooth frame 12, and the side comb teeth 63 exchange with the comb tooth body 23 to transfer the vehicle onto the side comb teeth 63, the pneumatic telescopic rod drives the side limiting plate 634 to move upward. The side limiting plates 634 on both sides limit the vehicle tires. Simultaneously, when the four side limiting plates 634 at the four corners move upward, they drive the anti-fall plate 637 to rotate to an inclined position through the meshing of the rack plate 2 635 and the drive gear 2 636, so as to limit the tires from the front and rear sides of the vehicle and ensure the safety of vehicle transfer.

[0061] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0062] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-layer comb-tooth lurking AGV car handling robot, comprising a parking garage (1), characterized in that: A universal vehicle comb tooth frame (11) is uniformly and fixedly installed on the parking garage (1), and a microcar comb tooth frame (12) is uniformly and fixedly installed on the parking garage (1). Limiting components are provided on the comb teeth located on the side positions of the universal vehicle comb tooth frame (11) and the microcar comb tooth frame (12). Two sets of lifting frames (2) are movably installed on the parking garage (1). A second comb tooth frame (22) is fixedly installed on the lifting frame (2), and a first comb tooth frame (21) is movably installed on the lifting frame (2). Comb teeth (23) are evenly fixedly installed on comb tooth frame 1 (21) and comb tooth frame 2 (22). Auxiliary detection components are provided on comb tooth body (23). A positioning mechanism (3) is provided on parking garage (1). A detection mechanism (4) is provided on parking garage (1). A transverse plate (5) is movably installed on parking garage (1). Side guardrails (51) are fixedly installed on both sides of transverse plate (5). An AGV transport vehicle mechanism (6) is provided on transverse plate (5). The positioning mechanism (3) includes a mounting platform (31), which is fixedly installed on the parking garage (1). A lifting platform (32) is movably installed on the mounting platform (31). A movable seat (35), a clamping arm (36), and a lifting airbag (37) are provided on one side of the lifting platform (32). The positioning mechanism (3) also includes extension columns (33), two extension columns (33) are movably installed on the lifting platform (32), positioning plates (34) are movably installed on one side of the two extension columns (33), positioning plates (34) are movably connected to the two extension columns (33), two movable seats (35) are movably installed on the positioning plates (34), clamping arms (36) are rotatably installed on the movable seats (35), and lifting airbags (37) are fixedly installed on the clamping arms (36); The detection mechanism (4) includes an external frame (41), which is fixedly installed on the parking garage (1). A laser radar (43) is provided on one side of the external frame (41), and an interception bar (45) is movably installed on the parking garage (1). The AGV transport vehicle mechanism (6) includes a vehicle body (61), which is slidably mounted on a transverse plate (5). A chassis top seat (62) is movably mounted on the vehicle body (61), a side comb tooth (63) is movably mounted on the chassis top seat (62), a lifting plate (632) is movably mounted on the side comb tooth (63), and a side limiting plate (634) and a fall protection plate (637) are provided on the side comb tooth (63) for cooperating with the limiting.

2. The multi-layer comb-tooth lurking AGV car handling robot according to claim 1, characterized in that: Four sets of distance sensors are installed in the parking space area corresponding to the general vehicle comb rack (11) and the micro vehicle comb rack (12) on the parking garage (1). Ultrasonic sensors are installed on the two walls of the bottom entry position of the parking garage (1).

3. The multi-layer comb-tooth lurking AGV car handling robot according to claim 1, characterized in that: The auxiliary detection component includes a movable plate (231), which is movably mounted on the comb tooth body (23). A contact sensor (233) is fixedly mounted on the comb tooth body (23), and springs (232) are uniformly fixedly mounted on the comb tooth body (23). The springs (232) are fixedly connected to the movable plate (231).

4. The multi-layer comb-tooth lurking AGV car handling robot according to claim 1, characterized in that: The detection mechanism (4) also includes an extension frame (42), which is movably mounted on an external frame (41). A laser radar (43) is fixedly mounted on the extension frame (42). A connecting frame (44) is fixedly mounted on the parking garage (1), and an interceptor bar (45) is rotatably mounted on the connecting frame (44).

5. The multi-layer comb-tooth lurking AGV car handling robot according to claim 1, characterized in that: The limiting component includes a limiting rotating plate (111), which is rotatably mounted on the comb teeth of the general vehicle comb frame (11) and the micro vehicle comb frame (12). A drive plate (112) is movably mounted on the general vehicle comb frame (11), and one end of the drive plate (112) is movably connected to the limiting rotating plate (111).

6. The multi-layer comb-tooth lurking AGV car handling robot according to claim 1, characterized in that: The AGV transport vehicle mechanism (6) also includes adjustment plates (64). Four sets of adjustment plates (64) are movably installed on both sides of the chassis top seat (62). A drive assembly is provided on the chassis top seat (62). Three sets of welding seats (65) are fixedly installed on two of the adjustment plates (64), and four sets of welding seats (65) are fixedly installed on the other two adjustment plates (64). Side comb teeth (63) are fixedly installed on the welding seats (65). An outer frame (631) is fixedly installed on the side comb teeth (63). A scissor lift (633) is movably installed on the side comb teeth (63). The scissor lift (633) is movably connected to the lifting plate (632). The side limit plate (634) is movably installed on the outer frame (631). The anti-fall plate (637) is movably installed on the four side comb teeth (63) located at the four corners.

7. A multi-layer comb-tooth lurking AGV car handling robot according to claim 6, characterized in that: The AGV transport vehicle mechanism (6) also includes a second drive gear (636), which is fixedly installed on the anti-fall plate (637). The second drive gear (636) is rotatably installed inside the outer frame (631). A second rack plate (635) is slidably installed on one side of the second drive gear (636). The second rack plate (635) is movably installed on the outer frame (631). The second rack plate (635) is fixedly connected to the side limiting plate (634). The second rack plate (635) and the second drive gear (636) mesh with each other.

8. A multi-layer comb-tooth lurking AGV car handling robot according to claim 6, characterized in that: The drive assembly includes drive gear 1 (622), four drive gear 1 (622) are rotatably mounted inside the chassis top seat (62), a timing belt (623) is sleeved between every two adjacent drive gear 1 (622), a rack plate 1 (621) is fixedly mounted on the adjustment plate (64), the rack plate 1 (621) is slidably mounted on the chassis top seat (62), and the rack plate 1 (621) meshes with the corresponding drive gear 1 (622).

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