Walking device and AGV vehicle carrying robot

Abstract

The invention discloses a walking device and an AGV vehicle carrying robot. The walking device comprises a driving wheel support, at least two walking wheels and a lifting device, and the driving wheel support is used for being connected with a first frame of the AGV vehicle carrying robot; the at least two walking wheels are arranged below the driving wheel support, and a containing cavity is formed between the at least two walking wheels; the lifting device is arranged in the containing cavity, the lower end of the lifting device is connected with the driving wheel support, and the upper end of the lifting device is used for being connected with a second frame of the AGV vehicle carrying robot. According to the AGV vehicle carrying robot, the lifting device is arranged in the walking device, the second frame of the AGV vehicle carrying robot can be lifted, so that a vehicle is lifted by a large distance, the vehicle is convenient to carry, the vehicle is not prone to being affected by foreign objects in the carrying process, the chassis height requirement of most vehicles is met, and the AGV vehicle carrying robot is suitable for various types of parking environments.

Description

Technical Field

[0001] The present invention generally relates to the technical field of vehicle transportation, and more specifically to a walking device, an AGV vehicle transportation robot. Background Art

[0002] With the continuous improvement of people's living standards, more and more people have bought private cars, which has a significant impact on the city's traffic and environment. Subsequently, the problem of difficulty in parking has emerged, and the technology of parking equipment has also been greatly developed. Parking equipment is a mechanical or mechanical equipment system used to store and retrieve vehicles in maximum quantity. In intelligent parking equipment, AGV (short for Automated Guided Vehicle, which means automatic guided vehicle in Chinese) automatic driving and handling technology has also been applied. The existing AGV handling robot can walk freely in the parking garage. The existing thin AGV vehicle handling robot can drive into the bottom of most vehicles for handling due to its low overall height. During the handling, the AGV vehicle handling robot drives into the bottom of the vehicle and holds the four tires of the vehicle through the clamping mechanism. The vehicle is lifted by opening the clamping mechanism to clamp the tires. Affected by the overall height of the AGV vehicle handling robot, the height of the vehicle lifting is limited. During the handling process, the vehicle is easily affected by foreign objects, and the requirements for the ground are also high.

[0003] Therefore, it is necessary to provide a walking device and an AGV vehicle handling robot to at least partially solve the above problems. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, a first aspect of the present invention provides a walking device, comprising:

[0006] A driving wheel support, the driving wheel support is used to connect to the first frame of the AGV vehicle handling robot;

[0007] At least two running wheels, at least two of the running wheels are arranged below the driving wheel support, and an accommodating cavity is arranged between at least two of the running wheels;

[0008] A lifting device is arranged in the accommodating cavity, the lower end of the lifting device is connected to the driving wheel support, and the upper end is used to connect to the second frame of the AGV vehicle handling robot.

[0009] Optionally, the walking device comprises:

[0010] Two running wheels, the two running wheels are coaxially arranged;

[0011] Two driving motors are provided below the driving wheel support, and the driving motors are used to drive the traveling wheels. The two traveling wheels can be driven by the driving motors to achieve the same rotation speed or different rotation speeds.

[0012] Optionally, a positioning ring is provided on the top of the driving wheel support, and the positioning ring is used to connect to the first frame of the AGV vehicle handling robot.

[0013] Optionally, the walking device further includes:

[0014] The first bearing is arranged on the top of the driving wheel support and is used to support the first frame of the AGV vehicle handling robot.

[0015] Optionally, the lifting device includes a hydraulic cylinder, which includes a cylinder body and a piston rod, the piston rod is connected to the driving wheel support, and the cylinder body is connected to the second frame of the AGV vehicle handling robot.

[0016] Optionally, the walking device further includes:

[0017] A second bearing, wherein the second bearing is arranged on the driving wheel support and is used to support the front end of the piston rod.

[0018] Optionally, the hydraulic cylinder is a multi-stage single-acting cylinder, further comprising:

[0019] A sleeve, wherein the sleeve is arranged in the cylinder body, the piston rod is arranged in the sleeve, the sleeve can be extended and retracted in the cylinder body, and the piston rod can be extended and retracted in the sleeve.

[0020] Optionally, a first sealing member is provided between the sleeve and the cylinder body for sealing the gap between the sleeve and the cylinder body, and a second sealing member is provided between the piston rod and the sleeve for sealing the gap between the piston rod and the sleeve.

[0021] A second aspect of the present invention provides an AGV vehicle handling robot, comprising:

[0022] A vehicle body, the vehicle body comprising a first frame and a second frame, the second frame being movable relative to the first frame in a height direction;

[0023] In the traveling device described in any one of the above technical solutions, the driving wheel support of the traveling device is connected to the first frame, and the upper end of the lifting device of the traveling device is connected to the second frame.

[0024] Optionally, the first frame is provided with a first connecting frame, and the first connecting frame is connected to the driving wheel support;

[0025] The second frame is provided with a second connecting frame, the second connecting frame is connected to the upper end of the lifting device, and the second connecting frame is arranged corresponding to the first connecting frame.

[0026] Optionally, the AGV vehicle handling robot further includes:

[0027] A fixed clamping device, which is disposed near the first end of the second frame and maintains a fixed position on the second frame for clamping two wheels of the vehicle;

[0028] The movable clamping device is arranged near the second end of the second frame and can move on the second frame to clamp the other two wheels of the vehicle.

[0029] Optionally, eight of the walking devices are included, two of the walking devices are respectively arranged on the front side and the rear side of the fixed clamping device, and two of the walking devices are respectively arranged on the front side and the rear side of the movable clamping device.

[0030] Optionally, the AGV vehicle handling robot further includes:

[0031] A distance adjusting device is arranged on the second frame and is used to drive the movable clamping device to move on the second frame.

[0032] Optionally, the distance adjusting device comprises:

[0033] An adjusting mechanism, wherein the adjusting mechanism comprises a screw and a slider, wherein the slider is threadedly connected to the screw, and the slider is connected to the movable clamping device, wherein the screw rotates to drive the slider to move, and the slider drives the movable clamping device to move on the second frame;

[0034] A driving mechanism is connected to the screw rod to drive the screw rod to rotate.

[0035] Optionally, the distance adjusting device comprises:

[0036] A sliding mechanism, the sliding mechanism is connected to the movable clamping device, the sliding mechanism comprises an upper pulley and a side pulley, the upper pulley slides on the top of the second frame, and the side pulley slides on the side of the second frame;

[0037] The limiting mechanism includes a limiting guide rail, and the limiting guide rail is arranged on the side of the second frame and is used to limit the side pulley.

[0038] Optionally, the fixed clamping device and the movable clamping device both include:

[0039] A mounting seat, the mounting seat is arranged on the second frame;

[0040] A driving mechanism, wherein the driving mechanism is disposed on the mounting seat;

[0041] A clamping mechanism, the clamping mechanism is arranged on the mounting seat and can rotate on the mounting seat;

[0042] A transmission mechanism, wherein the transmission mechanism is respectively connected to the clamping mechanism and the driving mechanism, and the driving mechanism drives the clamping mechanism to rotate through the transmission mechanism.

[0043] Optionally, the driving mechanism is a linear driving mechanism, and the driving mechanism is any one of a hydraulic cylinder, a pneumatic cylinder, a linear slide rail, and a linear motor.

[0044] Optionally, the driving mechanism, the clamping mechanism and the transmission mechanism are respectively disposed on the left and right sides of the mounting seat.

[0045] Optionally, the clamping mechanism comprises:

[0046] a first clamping arm, wherein a rotating body is disposed on the first clamping arm, and the rotating body is used to contact a wheel of a vehicle;

[0047] a second clamping arm, wherein a rotating body is disposed on the second clamping arm, and the rotating body is used to contact a wheel of a vehicle;

[0048] A synchronization mechanism is provided, wherein the synchronization mechanism connects the end of the first clamp arm and the end of the second clamp arm. When either the first clamp arm or the second clamp arm rotates, the synchronization mechanism enables the first clamp arm and the second clamp arm to rotate synchronously.

[0049] Optionally, storage grooves are provided on the left and right sides of the second frame, and the first clamping arm and the second clamping arm of the fixed clamping device can be rotated into the storage grooves.

[0050] Optionally, the synchronization mechanism comprises:

[0051] a first shaft connected to a distal end of the first clamp arm;

[0052] a first gear, the first gear being disposed on the first shaft;

[0053] a second shaft, the second shaft being connected to a distal end of the second clamp arm, and an axial direction of the second shaft being parallel to an axial direction of the first shaft;

[0054] The second gear is arranged on the second shaft, and the second gear is meshed with the first gear for transmission.

[0055] Optionally, the transmission mechanism comprises:

[0056] a first connecting rod, wherein a first end of the first connecting rod is hinged to the mounting seat, and a second end of the first connecting rod is hinged to the driving mechanism;

[0057] A second connecting rod, wherein the first end of the second connecting rod is hinged to the second end of the first connecting rod and the driving mechanism, and the second end of the second connecting rod is hinged to the end of the first clamping arm or the end of the second clamping arm.

[0058] Optionally, the transmission mechanism comprises:

[0059] a first shaft connected to a distal end of the first clamp arm;

[0060] a first worm gear, the first worm gear being disposed on the first shaft;

[0061] a first worm, the first worm being meshed with the first worm wheel for transmission;

[0062] a second shaft, the second shaft being connected to a distal end of the second clamp arm, and an axial direction of the second shaft being parallel to an axial direction of the first shaft;

[0063] a second worm gear, the second worm gear being disposed on the second shaft;

[0064] a second worm, the second worm being meshed with the second worm wheel for transmission;

[0065] The synchronization mechanism comprises:

[0066] A synchronization shaft is connected to the driving mechanism and is respectively connected to the first worm and the second worm, the first worm and the second worm have opposite rotation directions, and the first worm wheel and the second worm wheel have opposite rotation directions.

[0067] Optionally, the AGV vehicle handling robot further includes:

[0068] A hydraulic system, wherein the hydraulic system is connected to the walking device, the fixed clamping device and the movable clamping device through an oil pipe to provide hydraulic pressure, and the hydraulic system includes two hydraulic pumps and an oil tank. A hydraulic pump and an oil tank are respectively provided at the front and rear ends of the AGV vehicle handling robot.

[0069] Optionally, the AGV vehicle handling robot further includes:

[0070] A first top plate, the first top plate is arranged on the top of the fixing clamping device;

[0071] a second top plate, the second top plate being disposed on the top of the movable clamping device;

[0072] A third top plate is arranged on the top of the rear end of the second frame.

[0073] According to a walking device and an AGV vehicle handling robot of the present invention, a lifting device is arranged in the walking device. When the lifting device is extended, the second frame of the AGV vehicle handling robot can be lifted. The second frame supports the vehicle to be transported, thereby lifting the vehicle a higher distance, making it easier to transport the vehicle and making the vehicle less susceptible to external objects during the transportation process. The chassis height requirements of most vehicles are met and the vehicle is suitable for various types of parking environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The following drawings of the embodiments of the present invention are used as part of the present invention for understanding the present invention. The embodiments of the present invention and their description are shown in the drawings to explain the principles of the present invention. In the drawings,

[0075] Figure 1 A front view of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0076] Figure 2 A rear view of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0077] Figure 3 A schematic structural diagram of a frame of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0078] Figure 4 An exploded view of a frame of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0079] Figure 5 for Figure 2 Enlarged view of part A in the middle;

[0080] Figure 6 A schematic diagram of the structure of a walking device of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0081] Figure 7 A three-dimensional diagram of a walking device of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0082] Figure 8 It is a structural schematic diagram of a hydraulic cylinder of a walking device according to a preferred embodiment of the present invention;

[0083] Fig. 9A schematic structural diagram of a sliding mechanism of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0084] Fig.10 It is a structural schematic diagram of a distance adjustment device of an AGV vehicle handling robot according to a preferred embodiment of the present invention;

[0085] Fig.11 for Figure 3 Enlarged view of middle part B;

[0086] Fig.12 A schematic structural diagram of a wheel clamping device according to a preferred embodiment of the present invention;

[0087] Fig.13 A sectional view of a wheel clamping device according to a preferred embodiment of the present invention;

[0088] Fig.14 The figure is a schematic structural diagram of a hydraulic system of an AGV vehicle handling robot according to a preferred embodiment of the present invention.

[0089] Description of reference numerals:

[0090] 10: AGV vehicle handling robot 100: vehicle body

[0091] 110: first vehicle frame 111: first connecting frame

[0092] 120: Second frame 121: Storage slot

[0093] 122: Second connecting frame 123: Avoidance

[0094] 124: Connecting hole 125: Longitudinal beam

[0095] 130: Fixed clamping part 140: Moving clamping part

[0096] 141: Battery compartment 142: Hatch cover

[0097] 150: Accommodation chamber 160: First top plate

[0098] 170: Second top plate 180: Third top plate

[0099] 200: Clamping device 210: Fixed clamping device

[0100] 211: first mounting seat 212: mounting hole

[0101] 220: movable clamping device 221: second mounting seat

[0102] 230: Clamping mechanism 231: First clamping arm

[0103] 231a: first rotating body 231b: first supporting wheel

[0104] 232: Driving mechanism 233: Transmission mechanism

[0105] 233a: first link 233b: second link

[0106] 234: Synchronous mechanism 234a: First gear

[0107] 234b: second gear 234c: first shaft

[0108] 234d: second axis 235: second clamping arm

[0109] 235a: second rotating body 235b: second supporting wheel

[0110] 300: Walking device 310: Driving wheel mechanism

[0111] 311: first walking wheel 312: first driving motor

[0112] 313: second traveling wheel 314: second driving motor

[0113] 315: Accommodating chamber 320: Driving wheel support

[0114] 321: Positioning ring 330: First set of walking device

[0115] 340: The second set of walking devices 350: The third set of walking devices

[0116] 360: The fourth group of walking devices 400: Distance adjustment device

[0117] 410: Adjustment mechanism 411: Screw rod

[0118] 412: Slider 420: Driving mechanism

[0119] 421: First gear 422: Second gear

[0120] 430: Sliding mechanism 431: Upper pulley

[0121] 432: side pulley 440: limit mechanism

[0122] 441: Limiting guide rail 500: Lifting device

[0123] 510: Hydraulic cylinder 511: Cylinder body

[0124] 512: sleeve 513: piston rod

[0125] 514: Flange 515: Oil port

[0126] 516: first sealing member 517: first limiting hole

[0127] 518: second sealing member 519: second limiting hole

[0128] 520: The first hydraulic cylinder 530: The second hydraulic cylinder

[0129] 540: The third group of hydraulic cylinders 550: The fourth group of hydraulic cylinders

[0130] 600: Hydraulic system 610: First oil tank

[0131] 611: Oil pipe 620: First hydraulic pump

[0132] 630: Second oil tank 640: Second hydraulic pump DETAILED DESCRIPTION

[0133] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0134] In order to fully understand the present invention, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0135] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of the "second component", and the term "second component" itself does not imply the existence of the "first component".

[0136] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in the present invention are for illustrative purposes only and are not limiting.

[0137] The invention discloses a walking device and an AGV vehicle transport robot.

[0138] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings.

[0139] like Figure 1 , Figure 2 As shown, the AGV vehicle handling robot 10 includes eight walking devices 300, the structures of the eight walking devices 300 can be the same (or different), and they are symmetrically arranged in groups of two on the vehicle body 100, namely the first group of walking devices 330, the second group of walking devices 340, the third group of walking devices 350, and the fourth group of walking devices 360.

[0140] like Figure 2 , Figure 4 , Figure 5 , Figure 6 As shown, in a preferred embodiment, a walking device 300 includes: a driving wheel support 320, at least two walking wheels and a lifting device 500;

[0141] The driving wheel support 320 is used to connect the first frame 110 of the AGV vehicle handling robot 10, and the height of the first frame 110 remains unchanged;

[0142] At least two running wheels are arranged below the driving wheel support 320, and a receiving cavity 315 is arranged between the at least two running wheels, and the running device 300 moves by the running wheels;

[0143] The lifting device 500 is disposed in the accommodating chamber 315, the lower end of the lifting device 500 is connected to the driving wheel support 320, and the upper end is used to connect to the second frame 120 of the AGV vehicle handling robot 10, so as to save the arrangement space and make the overall layout of the AGV vehicle handling robot reasonable;

[0144] The second frame 120 supports the transported vehicle. When the lifting device 500 is extended, the second frame 120 can be lifted, thereby lifting the vehicle. When the lifting device 500 is retracted, the second frame 120 can be lowered, thereby lowering the vehicle.

[0145] The traveling device in this embodiment is equipped with a lifting device. When the lifting device is extended, the second frame of the AGV vehicle transport robot can be lifted. The second frame supports the transported vehicle, thereby lifting the vehicle to a higher distance, making it easier to transport the vehicle and making the vehicle less susceptible to external objects during the transport process. The chassis height requirements of most vehicles are met and the vehicle is suitable for various types of parking environments.

[0146] At least two running wheels can be differential wheel mechanisms, steering wheel mechanisms, or Mecanum wheel mechanisms. At least two running wheels can be active running wheels driven by a drive motor, or passive running wheels that do not need to be driven by a drive motor.

[0147] In one embodiment, if Figure 5 , Figure 6 As shown, the walking device 300 includes:

[0148] Two running wheels, which are coaxially arranged, and are respectively a first running wheel 311 and a second running wheel 313;

[0149] Two drive motors are arranged below the drive wheel support 320, which are respectively a first drive motor 312 and a second drive motor 314. The drive motors are used to drive the walking wheels. The first drive motor 312 drives the first walking wheel 311, and the second drive motor 314 drives the second walking wheel 313. The two walking wheels are driven by the drive motors to achieve the same speed or different speeds.

[0150] When the AGV vehicle handling robot 10 only needs to move in a straight line, the two running wheels are driven by the driving motor to maintain the same speed. When the AGV vehicle handling robot 10 needs to turn or rotate on the spot, the two running wheels are driven by the driving motor to maintain different speeds, so as to achieve turning or rotating on the spot, usually turning to the side with slower speed or rotating on the spot, so that the vehicle body 100 can make a balanced turn, realize the vehicle body 100 to avoid, enter storage or meet the needs of other driving paths.

[0151] The walking device 300 may also include more than two walking wheels, for example, a universal wheel may be added. The universal wheel does not need to be driven by a driving motor and supports the driving wheel support 320 together with the active walking wheel to improve the stability of the walking device 300.

[0152] In one embodiment, if Figure 6 As shown, a positioning ring 321 is provided on the top of the driving wheel support 320, and the positioning ring 321 is used to connect the first frame 110 of the AGV vehicle handling robot 10. Figure 4 As shown, the first connecting frame 111 is provided with a circular positioning hole corresponding to the positioning ring 321 of the driving wheel support 320, and the first connecting frame 111 is arranged on the top of the driving wheel support 320 and connected to the positioning ring 321 through the positioning hole. The driving wheel support 320 is circular, and the first connecting frame 111 is also circular or approximately circular.

[0153] In one embodiment, the walking device 300 further includes:

[0154] The first bearing is arranged on the top of the driving wheel support 320, and is used to support the first frame 110 of the AGV vehicle handling robot 10. The first bearing can be arranged around the positioning ring 321, so that the walking device 300 can rotate relative to the first connecting frame 111, meeting the need for the overall steering of the walking device 300 when the AGV vehicle handling robot 10 needs to turn.

[0155] In one embodiment, if Figure 5 , Figure 6 , Figure 7 , Figure 8As shown, the lifting device 500 includes a hydraulic cylinder 510 , and the hydraulic cylinder 510 includes a cylinder body 511 and a piston rod 513 . The piston rod 513 is connected to the driving wheel support 320 , and the cylinder body 511 is connected to the second frame 120 of the AGV vehicle handling robot 10 .

[0156] Because the walking device 300 is located at a constant height on the ground, when the piston rod 513 extends from the cylinder body 511, the lifting device 500 extends, and the second frame 120 can be lifted upward by the cylinder body 511, thereby lifting the vehicle. When the piston rod 513 retracts into the cylinder body 511, the lifting device 500 contracts, and the second frame 120 can be lowered downward by the cylinder body 511, thereby lowering the vehicle. When not lifted, the overall height of the AGV vehicle handling robot 10 is not greater than 120 mm, preferably 100 mm.

[0157] The cylinder body 511 is used to connect the second frame 120 of the AGV vehicle handling robot 10, so as to facilitate the connection of the oil pipe 611 of the hydraulic system 600, so as to realize the hydraulic oil entering and exiting the lifting device 500. The end of the cylinder body 511 is provided with an oil port 515, and the oil port 515 can enter and exit the hydraulic oil. The second connecting frame 122 is provided with an avoidance port 123 corresponding to the oil port 515, and the oil pipe 611 can pass through the avoidance port 123 to connect with the oil port 515.

[0158] A flange 514 is also provided at the end of the cylinder body 511 , and the second connecting frame 122 is connected via the flange 514 . The second connecting frame 122 is provided with connecting holes 124 corresponding to the flange 514 , and a detachable fixed connection is achieved via bolts.

[0159] In one embodiment, the walking device 300 further includes:

[0160] The second bearing is arranged on the driving wheel support 320, and is used to support the front end of the piston rod 513, so that the driving wheel support 320 can rotate relative to the lifting device 500, which is beneficial to the movement and turning of the AGV vehicle handling robot 10, and avoids the piston rod following the rotation and affecting the stability of the lifting device 500.

[0161] In one embodiment, if Figure 8 As shown, the hydraulic cylinder 510 is a multi-stage single-acting cylinder, and also includes:

[0162] The sleeve 512 is arranged in the cylinder body 511, and the piston rod 513 is arranged in the sleeve 512. The sleeve 512 can be extended and retracted in the cylinder body 511, and the piston rod 513 can be extended and retracted in the sleeve 512. By arranging the sleeve 512, the stroke of the hydraulic cylinder 510 is extended, forming a two-stage single-acting oil cylinder, achieving a higher lifting height with a smaller installation height, and achieving a maximum lifting of 90 mm.

[0163] In one embodiment, if Figure 8 As shown, a first closing piece 516 is provided between the sleeve 512 and the cylinder body 511 for closing the gap between the sleeve 512 and the cylinder body 511, and the sleeve 512 can move inside the center hole of the first closing piece 516, and a second closing piece 518 is provided between the piston rod 513 and the sleeve 512 for closing the gap between the piston rod 513 and the sleeve 512, and the piston rod 513 can move inside the center hole of the second closing piece 518.

[0164] The first closing member 516 may be connected to the open end of the cylinder body 511 by means of threads, and the second closing member 518 may be connected to the open end of the sleeve 512 by means of threads.

[0165] A first limiting hole 517 is provided between the first closing member 516 and the cylinder body 511. The first limiting hole 517 is partially provided on the cylinder body 511 and partially provided on the first closing member 516. A fastener is provided in the first limiting hole 517 to limit the installation position of the first closing member 516 to prevent the first closing member 516 and the cylinder body 511 from relative rotation, which may affect the lifting stability.

[0166] A second limiting hole 519 is provided between the second closing member 518 and the sleeve 512. The second limiting hole 519 is partially provided on the sleeve 512 and partially provided on the second closing member 518. A fastener is provided in the second limiting hole 519 to limit the installation position of the second closing member 518 to prevent the second closing member 518 and the sleeve 512 from relative rotation, which may affect the lifting stability.

[0167] like Figure 1 , Figure 2 As shown, the AGV vehicle handling robot 10 includes eight walking devices 300, and the eight walking devices 300 may have different structures. For example, some of the walking devices 300 may only be provided with universal wheels, and the universal wheels do not need to be driven by a driving motor. The walking devices 300 of this structure will not actively turn, but will turn with other walking devices 300. For example, the second group of walking devices 340 and the third group of walking devices 350 are closer to the middle of the AGV vehicle handling robot 10, and the walking devices 300 therein may only be provided with universal wheels.

[0168] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, an embodiment of the present invention further provides an AGV vehicle handling robot 10, comprising: a vehicle body 100, and a walking device 300 according to any one of the above embodiments;

[0169] The vehicle body 100 includes a first frame 110 and a second frame 120, and the second frame 120 can move relative to the first frame 110 in the height direction; the first frame 110 and the second frame 120 can be made by welding profiles;

[0170] The driving wheel support 320 of the traveling device 300 is connected to the first frame 110 , and the upper end of the lifting device 500 of the traveling device 300 is connected to the second frame 120 .

[0171] The AGV vehicle transport robot in this embodiment has a lifting device arranged in the walking device. When the lifting device is extended, the second frame of the AGV vehicle transport robot can be lifted. The second frame supports the vehicle to be transported, thereby lifting the vehicle a higher distance, making it easier to transport the vehicle and making the vehicle less susceptible to external objects during the transport process. The chassis height requirements of most vehicles are met and the robot is suitable for various types of parking environments.

[0172] When not lifted, the first frame 110 and the second frame 120 are stacked and are approximately at the same height to reduce the overall height of the vehicle body 100 .

[0173] In one embodiment, if Figure 3 , Figure 4 As shown, the first frame 110 is provided with a first connecting frame 111, and the first connecting frame 111 is connected to the driving wheel support 320; the first connecting frame 111 is welded and fixed to the profiles on the left and right sides of the first frame 110, and is located on the inner side of the profiles on the left and right sides, and a connecting piece can be provided between the left and right first connecting frames 111 for fixed connection, so as to improve the overall structural strength of the first frame 110;

[0174] The second frame 120 is provided with a second connecting frame 122, which is connected to the upper end of the lifting device 500, and is provided corresponding to the first connecting frame 111; the second connecting frame 122 is welded and fixed to the profiles on the left and right sides of the second frame 120, and is located on the inner side of the profiles on the left and right sides, and a connecting piece can be provided between the left and right second connecting frames 122 for fixed connection to improve the overall structural strength of the second frame 120. The driving wheel support 320 is circular, and the second connecting frame 122 is also circular or approximately circular.

[0175] A storage compartment 150 is also provided between the profiles on the left and right sides of the first frame 110 for installing and arranging components such as pneumatic components, hydraulic components, circuits or oil circuits. A battery compartment 141 can also be provided between the two longitudinal beams 125 of the second frame 120 for installing batteries, and a cover 142 is provided on the top of the battery compartment 141 to prevent stolen goods from entering the battery compartment 141 and affecting the normal operation of the battery pack, and to facilitate the installation and maintenance of the battery pack.

[0176] In one embodiment, if Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the AGV vehicle handling robot 10 also includes:

[0177] A fixed clamping device 210, which is disposed near the first end of the second frame 120 and maintains a fixed position on the second frame 120, and is used to clamp two wheels of the vehicle;

[0178] The movable clamping device 220 is disposed near the second end of the second frame 120 and is movable on the second frame 120 to clamp the other two wheels of the vehicle.

[0179] The movable clamping device 220 can move forward and backward on the second frame 120 to adjust the distance between it and the fixed clamping device 210. It can adapt to vehicles with different wheelbases of the front and rear wheels to expand the scope of application. It can transport both small vehicles and large and medium-sized vehicles.

[0180] In one embodiment, if Figure 1 , Figure 2 As shown, the AGV vehicle handling robot 10 includes eight walking devices 300, two walking devices 300 are respectively arranged on the front and rear sides of the fixed clamping device 210, and two walking devices 300 are respectively arranged on the front and rear sides of the movable clamping device 220. The eight walking devices 300 are distributed at the load-bearing concentration point of the vehicle body 100. Through this arrangement, the balance ability of the fixed clamping device 210 and the movable clamping device 220 is improved, and the load-bearing capacity of the AGV vehicle handling robot 10 can be improved, and vehicles with greater weight and volume can be handled.

[0181] In one embodiment, if Fig. 9 , Fig.10 As shown, the AGV vehicle handling robot 10 also includes:

[0182] The distance adjusting device 400 is arranged on the second frame 120, and is used to drive the movable clamping device 220 to move on the second frame 120 to adjust the distance between the movable clamping device 220 and the fixed clamping device 210, so as to adapt to vehicles with different wheelbases between the front and rear wheels.

[0183] In one embodiment, if Fig. 9 , Fig.10 As shown, the distance adjustment device 400 includes: an adjustment mechanism 410 and a driving mechanism 420;

[0184] The adjusting mechanism 410 includes a screw rod 411 and a slider 412. The slider 412 is threadedly connected to the screw rod 411. The slider 412 is connected to the movable clamping device 220, and specifically can be connected to the second mounting seat 221 of the movable clamping device 220. The screw rod 411 rotates to drive the slider 412 to move, and the slider 412 drives the movable clamping device 220 to move on the second frame 120.

[0185] The driving mechanism 420 is connected to the screw rod 411 and drives the screw rod 411 to rotate. The screw rod 411 can be driven to rotate clockwise or counterclockwise to achieve the forward or backward movement of the movable clamping device 220 on the second frame 120 .

[0186] The driving mechanism 420 may be a driving motor, connected to the first end of the screw rod 411 through a reduction mechanism, and the second end of the screw rod 411 may be supported on the second frame 120 through a bearing. The reduction mechanism includes a first gear 421 and a second gear 422, the first gear 421 is disposed at the shaft end of the driving motor, the second gear 422 is disposed at the first end of the screw rod 411, and the first gear 421 and the second gear 422 are meshed for transmission.

[0187] In one embodiment, if Fig.10 As shown, the distance adjustment device 400 further includes: a sliding mechanism 430 and a limiting mechanism 440;

[0188] The sliding mechanism 430 is connected to the movable clamping device 220. The sliding mechanism 430 includes an upper pulley 431 and a side pulley 432. The upper pulley 431 slides on the top of the second frame 120, and the side pulley 432 slides on the side of the second frame 120, specifically, slides on the top and the bottom of the longitudinal beam 125 of the second frame 120, so as to keep the movable clamping device 220 sliding in a balanced manner on the second frame 120.

[0189] The limiting mechanism 440 includes a limiting guide rail 441 , which is disposed on the side of the second frame 120 and is used to limit the side pulley 432 , thereby preventing the movable clamping device 220 from tilting or falling off the second frame 120 .

[0190] Fig.10 In the figure, the sliding mechanism 430 includes two sets of upper pulleys 431, which are respectively arranged on the top of the left longitudinal beam 125 and the top of the right longitudinal beam 125, and includes two sets of side pulleys 432, which are respectively arranged on the outer side of the left longitudinal beam 125 and the outer side of the right longitudinal beam 125. Correspondingly, the limiting mechanism 440 includes two sets of limiting guide rails 441, which are respectively arranged on the outer side of the left longitudinal beam 125 and the outer side of the right longitudinal beam 125, and are located above the side pulleys 432, thereby limiting the sliding mechanism 430.

[0191] In one embodiment, if Figure 2 , Figure 3 , Figure 4 , Fig.11 , Fig.12 , Fig.13 As shown, the movable clamping device 220 includes:

[0192] A second mounting seat 221, the second mounting seat 221 is disposed on the second frame 120, and the second mounting seat 221 is slidably connected to the second frame 120;

[0193] A driving mechanism 232, the driving mechanism 232 is disposed on the second mounting seat 221;

[0194] A clamping mechanism 230, which is disposed on the second mounting seat 221 and can rotate on the second mounting seat 221;

[0195] The transmission mechanism 233 is connected to the clamping mechanism 230 and the driving mechanism 232 respectively, and the driving mechanism 232 drives the clamping mechanism 230 to rotate through the transmission mechanism 233.

[0196] The structure of the fixed clamping device 210 is similar to that of the movable clamping device 220, except that the fixed clamping device 210 includes a first mounting seat 211, and the first mounting seat 211 is fixedly connected to the second frame 120. Other structures can be the same, and the movable clamping device 220 is used as an example for detailed description below.

[0197] In one embodiment, the driving mechanism 232 is a linear driving mechanism 232, and the driving mechanism 232 is any one of a hydraulic cylinder, a pneumatic cylinder, a linear guide rail, and a linear motor, which can realize linear driving. Fig.12 As shown, in this embodiment, the driving mechanism 232 adopts a single-stage hydraulic cylinder, the end of the cylinder body of the hydraulic cylinder is hinged to the mounting seat, and the front end of the piston rod of the hydraulic cylinder is hinged to the transmission mechanism 233.

[0198] In one embodiment, if Figure 1 , Figure 2 As shown, a driving mechanism 232, a clamping mechanism 230 and a transmission mechanism 233 are respectively provided on the left and right sides of the second mounting seat 221. The clamping mechanism 230 is provided corresponding to the two wheels on the left and right sides of the vehicle, and can hold the two wheels of the vehicle separately or simultaneously.

[0199] In one embodiment, if Fig.11 , Fig.12 , Fig.13 As shown, the clamping mechanism 230 includes:

[0200] A first clamping arm 231, on which a first rotating body 231a is disposed, the first rotating body 231a is used to contact the wheel of the vehicle, and reduce the friction between the tire and the clamping arm during the process of holding the wheel, so as to avoid damage to the tire. The first rotating body 231a may be a long roller, or may directly adopt a bearing;

[0201] A second clamping arm 235, on which a second rotating body 235a is disposed, and the second rotating body 235a is used to contact the wheel of the vehicle, and reduce the friction between the tire and the clamping arm during the process of holding the wheel, so as to avoid damage to the tire. The second rotating body 235a can be a long roller, or directly adopt a bearing;

[0202] The synchronization mechanism 234 connects the end of the first clamp arm 231 and the end of the second clamp arm 235. When either the first clamp arm 231 or the second clamp arm 235 rotates, the synchronization mechanism 234 enables the first clamp arm 231 and the second clamp arm 235 to rotate synchronously, and can synchronously rotate outward to open the clamping mechanism 230, or synchronously rotate inward to close the clamping mechanism 230.

[0203] In one embodiment, if Figure 3 , Fig.11 , Fig.12 As shown, storage grooves 121 are provided on the left and right sides of the second frame 120, and the first clamping arm and the second clamping arm of the fixed clamping device 210 can be rotated into the storage grooves 121. The storage grooves 121 can be groove structures arranged on the outside of the profile. The first clamping arm and the second clamping arm are rotated outward into the storage grooves 121 to reduce the external width of the AGV vehicle handling robot 10, which is beneficial for the AGV vehicle handling robot 10 to enter the bottom of the vehicle, or to facilitate storage when the AGV vehicle handling robot 10 is not in use.

[0204] A first supporting wheel is also provided at the front end of the first clamp arm, and the first supporting wheel can be supported on the storage groove 121 of the second frame 120, so that the first clamp arm can smoothly enter the storage groove 121 during the rotation process. A second supporting wheel is also provided at the front end of the second clamp arm, and the second supporting wheel can be supported on the storage groove 121, so that the second clamp arm can smoothly enter the storage groove 121 during the rotation process.

[0205] When the movable clamping device 220 moves to a position close to the storage slot 121, the first clamping arm 231 can also enter the storage slot 121. When the movable clamping device 220 moves to a position far from the storage slot 121, the first clamping arm 231 and the second clamping arm 235 do not need to enter the storage slot 121, and can be rotated to the left and right sides of the longitudinal beam 125, because the width of the second frame 120 at the longitudinal beam 125 is small, which can leave storage space for the first clamping arm 231 and the second clamping arm 235.

[0206] In one embodiment, if Fig.12 , Fig.13 As shown, the synchronization mechanism 234 includes:

[0207] A first shaft 234c, the first shaft 234c is connected to the end of the first clamping arm 231; a mounting hole (refer to the mounting hole 212) is provided on the second mounting seat 221 for mounting the first shaft 234c;

[0208] A first gear 234a, the first gear 234a is disposed on a first shaft 234c;

[0209] A second shaft 234d, the second shaft 234d is connected to the end of the second clamping arm 235, and the axial direction of the second shaft 234d is parallel to the axial direction of the first shaft 234c; a mounting hole (refer to the mounting hole 212) is provided on the second mounting seat 221 for mounting the second shaft 234d;

[0210] The second gear 234b is disposed on the second shaft 234d, and the second gear 234b is meshed with the first gear 234a for transmission.

[0211] The first gear 234a and the second gear 234b have the same structure, and the meshing of the two can keep synchronous rotation. When one of the first clamp arm 231 or the second clamp arm 235 rotates, the other clamp arm will rotate synchronously due to the transmission restriction of the first gear 234a and the second gear 234b. The first clamp arm 231 and the second clamp arm 235 can rotate outward or inward synchronously.

[0212] In one embodiment, if Fig.12 As shown, the transmission mechanism 233 includes:

[0213] A first connecting rod 233a, wherein a first end of the first connecting rod 233a is hinged to the second mounting seat 221, and a second end of the first connecting rod 233a is hinged to the driving mechanism 232;

[0214] The second connecting rod 233 b has a first end hinged to the second end of the first connecting rod 233 a and the driving mechanism 232 , and a second end of the second connecting rod 233 b is hinged to the end of the first clamping arm 231 or the end of the second clamping arm 235 .

[0215] Fig.12When the piston rod of the driving mechanism 232 retracts, the hinge of the first connecting rod 233a and the second connecting rod 233b is pulled to move upward, the second connecting rod 233b drives the second clamping arm 235 to rotate downward, the first clamping arm 231 rotates upward synchronously, and the clamping mechanism 230 opens; when the piston rod of the driving mechanism 232 extends, the hinge of the first connecting rod 233a and the second connecting rod 233b is pulled to move downward, the second connecting rod 233b drives the second clamping arm 235 to rotate upward, the first clamping arm 231 rotates downward synchronously, and the clamping mechanism 230 is closed.

[0216] The transmission mechanism 233 also has a self-locking function, and the self-locking function is as follows: since the linear drive mechanism 232 is connected to the hinge of the first link 233a and the second link 233b, when the two clamping arms are opened, the first link 233a and the second link 233b are arranged in a straight line. At this time, the first link 233a and the second link 233b are in a balanced state, and the two clamping arms will not automatically retract without external force, thereby ensuring that the two clamping arms firmly clamp the wheels of the vehicle and ensuring the safety of the AGV vehicle handling robot 10.

[0217] In one embodiment, the transmission mechanism comprises:

[0218] A first shaft 234c, the first shaft 234c is connected to a distal end of the first clamping arm 231;

[0219] A first worm gear, the first worm gear is disposed on the first shaft 234c;

[0220] A first worm, the first worm is meshed with a first worm wheel for transmission;

[0221] A second shaft 234d, the second shaft 234d is connected to the end of the second clamp arm, and the axial direction of the second shaft 234d is parallel to the axial direction of the first shaft 234c;

[0222] A second worm gear, the second worm gear is disposed on the second shaft 234d;

[0223] A second worm gear, the second worm gear is meshed with the second worm wheel for transmission;

[0224] The synchronization mechanism includes:

[0225] The synchronization shaft is connected to the driving mechanism 232 and is respectively connected to the first worm and the second worm. The rotation directions of the first worm and the second worm are opposite, and the rotation directions of the first worm wheel and the second worm wheel are opposite.

[0226] Specifically, the transmission mechanism is two sets of worm gear pairs, the worm is connected to the output end of the driving mechanism 232, the driving mechanism 232 can be a driving motor, one worm wheel is fixedly connected to the end of the first clamping arm 231, and the other worm wheel is fixedly connected to the end of the second clamping arm 235, the worm and the worm wheel are respectively meshed, the driving mechanism 232 drives the worm to rotate, the rotation of the worm drives the worm wheel to rotate, thereby driving the first clamping arm 231 and the second clamping arm 235 to rotate, and the two clamping arms are opened and closed; the synchronization mechanism can be a synchronization shaft, the two ends of the synchronization shaft are respectively connected to the two worms of the two sets of worm gear pairs, and the rotation directions of the two worms are opposite. Preferably, the above two worms are integrally arranged with the synchronization shaft, so that one set of motors drives the two sets of worm gears to rotate at the same time, thereby driving the two clamping arms to rotate synchronously in opposite directions to realize the opening or closing of the clamping arm mechanism. The worm gear pair has a self-locking effect. When the two clamping arms are opened, the two clamping arms will not close automatically without external force, thereby ensuring the safety of the AGV vehicle handling robot 10.

[0227] In one embodiment, if Fig.14 As shown, the AGV vehicle handling robot 10 also includes:

[0228] The hydraulic system 600 is connected to the walking device 300, the fixed clamping device 210 and the movable clamping device 220 through the oil pipe 611 to provide hydraulic pressure. The hydraulic system 600 includes two hydraulic pumps and an oil tank. A hydraulic pump and an oil tank are respectively provided at the front and rear ends of the AGV vehicle handling robot 10 to provide hydraulic pressure of sufficient pressure, which can ensure that multiple walking devices 300, fixed clamping devices 210 and movable clamping devices 220 can work stably. Fig.14 Middle: The first oil tank 610 and the first hydraulic pump 620 are arranged at the front end of the AGV vehicle handling robot 10, and can be connected to the fixed clamping part 130 and the four nearby walking devices 300 through the oil pipe 611. The second oil tank 630 and the second hydraulic pump 640 are arranged at the rear end of the AGV vehicle handling robot 10, and can be connected to the mobile clamping part 140 and the four nearby walking devices 300 through the oil pipe 611.

[0229] In one embodiment, if Figure 1 , Figure 2 As shown, the AGV vehicle handling robot 10 also includes:

[0230] A first top plate 160, the first top plate 160 is disposed on the top of the fixed clamping device 210;

[0231] A second top plate 170, which is disposed on the top of the movable clamping device 220;

[0232] The third top plate 180 is disposed on the top of the rear end of the second frame 120 .

[0233] By providing a first top plate 160, a second top plate 170, and a third top plate 180 for covering, it is possible to avoid exposure of the tops of mechanisms such as the clamping device 200, the walking device 300, the distance adjusting device 400, the lifting device 500, and the hydraulic system 600, thereby preventing the AGV vehicle handling robot 10 from being scratched by the vehicle during operation, or preventing heavy objects from falling and damaging these devices, thereby affecting the handling operation.

[0234] During operation, the AGV vehicle handling robot 10 travels to the bottom of the vehicle to be handled. When the fixed clamping device 210 is aligned with the front tire of the vehicle, the AGV vehicle handling robot 10 stops moving. At this time, the movable clamping device 220 slips until the movable clamping device 220 is aligned with the tire at the rear end of the vehicle. The four groups of clamping mechanisms 230 work simultaneously, so that the four tires of the vehicle are clamped by the clamping mechanisms 230, so that the vehicle is lifted off the ground, and then multiple groups of lifting devices 500 are driven simultaneously to lift the vehicle again. At this time, the chassis of the vehicle is at a certain height from the ground, and the vehicle is not easily affected by foreign objects during the handling process. After the vehicle is transported to the parking space, the lifting device 500 is controlled to lower the vehicle to a specified height, and then the clamping mechanism 230 is driven to open to release the vehicle tires so that the vehicle can be parked in the parking space.

[0235] According to the walking device and AGV vehicle handling robot of the present invention, a lifting device is arranged in the walking device. When the lifting device is extended, the second frame of the AGV vehicle handling robot can be lifted. The second frame supports the vehicle to be transported, thereby lifting the vehicle to a higher distance, making it easier to transport the vehicle and making the vehicle less susceptible to external objects during the transportation process. The chassis height requirements of most vehicles are met and the vehicle is suitable for various types of parking environments.

[0236] The processes and steps described in all the above preferred embodiments are only examples. Unless adverse effects occur, various processing operations can be performed in a sequence different from the sequence of the above processes. The sequence of steps in the above processes can also be increased, merged or deleted according to actual needs.

[0237] In understanding the scope of the present invention, the term "comprise" and its derivatives as used herein are intended to be open terms, which specify the existence of recorded features, elements, components, groups, wholes and / or steps, but do not exclude the existence of other unrecorded features, elements, components, groups, wholes and / or steps. This concept also applies to words with similar meanings, such as the terms "include", "have" and their derivatives.

[0238] The terms "attached" or "attached" as used herein include: a configuration where an element is directly secured to another element by directly securing the element to the other element; a configuration where an element is indirectly secured to another element by securing the element to an intermediate member which in turn is secured to the other element; and a configuration where one element is integral with the other element, i.e., one element is substantially a part of the other element. This definition also applies to words with similar meanings such as "connect," "connect," "couple," "mount," "bond," "fix," and their derivatives. Finally, terms of degree such as "substantially," "approximately," and "approximately" as used herein represent the amount of deviation that modifies the term such that the end result will not be significantly changed.

[0239] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. The features described herein in one embodiment may be applied to another embodiment individually or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.

[0240] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention.

Claims

1. A walking device, characterized in that: include: A driving wheel support, the driving wheel support is used to connect to the first frame of the AGV vehicle handling robot; At least two running wheels, at least two of the running wheels are arranged below the driving wheel support, and an accommodating cavity is arranged between at least two of the running wheels; A lifting device is arranged in the accommodating cavity, the lower end of the lifting device is connected to the driving wheel support, and the upper end is used to connect to the second frame of the AGV vehicle handling robot.

2. The walking device according to claim 1, characterized in that: include: Two running wheels, the two running wheels are coaxially arranged; Two driving motors are provided below the driving wheel support, and the driving motors are used to drive the traveling wheels. The two traveling wheels can be driven by the driving motors to achieve the same rotation speed or different rotation speeds.

3. The walking device according to claim 1, characterized in that: A positioning ring is arranged on the top of the driving wheel support, and the positioning ring is used to connect to the first frame of the AGV vehicle handling robot.

4. The walking device according to claim 1, characterized in that: Also includes: The first bearing is arranged on the top of the driving wheel support and is used to support the first frame of the AGV vehicle handling robot.

5. The walking device according to claim 1, characterized in that: The lifting device comprises a hydraulic cylinder, which comprises a cylinder body and a piston rod, wherein the piston rod is connected to the driving wheel support, and the cylinder body is connected to the second frame of the AGV vehicle handling robot.

6. The walking device according to claim 5, characterized in that: Also includes: A second bearing, wherein the second bearing is arranged on the driving wheel support and is used to support the front end of the piston rod.

7. The walking device according to claim 5, characterized in that: The hydraulic cylinder is a multi-stage single-acting cylinder, and also includes: A sleeve, wherein the sleeve is arranged in the cylinder body, the piston rod is arranged in the sleeve, the sleeve can be extended and retracted in the cylinder body, and the piston rod can be extended and retracted in the sleeve.

8. The walking device according to claim 7, characterized in that: A first sealing member is provided between the sleeve and the cylinder body for sealing the gap between the sleeve and the cylinder body, and a second sealing member is provided between the piston rod and the sleeve for sealing the gap between the piston rod and the sleeve.

9. An AGV vehicle handling robot, characterized in that: include: A vehicle body, the vehicle body comprising a first frame and a second frame, the second frame being movable relative to the first frame in a height direction; The traveling device according to any one of claims 1 to 8, wherein the driving wheel support of the traveling device is connected to the first frame, and the upper end of the lifting device of the traveling device is connected to the second frame.

10. The AGV vehicle handling robot according to claim 9, characterized in that: The first frame is provided with a first connecting frame, and the first connecting frame is connected to the driving wheel support; The second frame is provided with a second connecting frame, the second connecting frame is connected to the upper end of the lifting device, and the second connecting frame is arranged corresponding to the first connecting frame.

11. The AGV vehicle handling robot according to claim 9, characterized in that: Also includes: A fixed clamping device, which is disposed near the first end of the second frame and maintains a fixed position on the second frame for clamping two wheels of the vehicle; The movable clamping device is arranged near the second end of the second frame and can move on the second frame to clamp the other two wheels of the vehicle.

12. The AGV vehicle handling robot according to claim 11, characterized in that: It comprises eight walking devices, two of which are respectively arranged on the front side and the rear side of the fixed clamping device, and two of which are respectively arranged on the front side and the rear side of the movable clamping device.

13. The AGV vehicle handling robot according to claim 11, characterized in that: Also includes: A distance adjusting device is arranged on the second frame and is used to drive the movable clamping device to move on the second frame.

14. The AGV vehicle handling robot according to claim 13, characterized in that: The distance adjusting device comprises: An adjusting mechanism, wherein the adjusting mechanism comprises a screw and a slider, wherein the slider is threadedly connected to the screw, and the slider is connected to the movable clamping device, wherein the screw rotates to drive the slider to move, and the slider drives the movable clamping device to move on the second frame; A driving mechanism is connected to the screw rod to drive the screw rod to rotate.

15. The AGV vehicle handling robot according to claim 13, characterized in that: The distance adjusting device comprises: A sliding mechanism, the sliding mechanism is connected to the movable clamping device, the sliding mechanism comprises an upper pulley and a side pulley, the upper pulley slides on the top of the second frame, and the side pulley slides on the side of the second frame; The limiting mechanism includes a limiting guide rail, and the limiting guide rail is arranged on the side of the second frame and is used to limit the side pulley.

16. The AGV vehicle handling robot according to claim 11, characterized in that: The fixed clamping device and the movable clamping device both include: A mounting seat, the mounting seat is arranged on the second frame; A driving mechanism, wherein the driving mechanism is disposed on the mounting seat; A clamping mechanism, the clamping mechanism is arranged on the mounting seat and can rotate on the mounting seat; A transmission mechanism, wherein the transmission mechanism is respectively connected to the clamping mechanism and the driving mechanism, and the driving mechanism drives the clamping mechanism to rotate through the transmission mechanism.

17. The AGV vehicle handling robot according to claim 16, characterized in that: The driving mechanism is a linear driving mechanism, and the driving mechanism is any one of a hydraulic cylinder, a pneumatic cylinder, a linear slide rail, and a linear motor.

18. The AGV vehicle handling robot according to claim 16, characterized in that: The driving mechanism, the clamping mechanism and the transmission mechanism are respectively arranged on the left and right sides of the mounting seat.

19. The AGV vehicle handling robot according to claim 16, characterized in that: The clamping mechanism comprises: a first clamping arm, wherein a rotating body is disposed on the first clamping arm, and the rotating body is used to contact a wheel of a vehicle; a second clamping arm, wherein a rotating body is disposed on the second clamping arm, and the rotating body is used to contact a wheel of a vehicle; A synchronization mechanism is provided, wherein the synchronization mechanism connects the end of the first clamp arm and the end of the second clamp arm. When either the first clamp arm or the second clamp arm rotates, the synchronization mechanism enables the first clamp arm and the second clamp arm to rotate synchronously.

20. The AGV vehicle handling robot according to claim 19, characterized in that: The left and right sides of the second frame are provided with receiving grooves, and the first clamping arm and the second clamping arm of the fixed clamping device can be rotated into the receiving grooves.

21. The AGV vehicle handling robot according to claim 19, characterized in that: The synchronization mechanism comprises: a first shaft connected to a distal end of the first clamp arm; a first gear, the first gear being disposed on the first shaft; a second shaft, the second shaft being connected to a distal end of the second clamp arm, and an axial direction of the second shaft being parallel to an axial direction of the first shaft; The second gear is arranged on the second shaft, and the second gear is meshed with the first gear for transmission.

22. The AGV vehicle handling robot according to claim 19, characterized in that: The transmission mechanism comprises: a first connecting rod, wherein a first end of the first connecting rod is hinged to the mounting seat, and a second end of the first connecting rod is hinged to the driving mechanism; A second connecting rod, wherein the first end of the second connecting rod is hinged to the second end of the first connecting rod and the driving mechanism, and the second end of the second connecting rod is hinged to the end of the first clamping arm or the end of the second clamping arm.

23. The AGV vehicle handling robot according to claim 19, characterized in that: The transmission mechanism comprises: a first shaft connected to a distal end of the first clamp arm; a first worm gear, the first worm gear being disposed on the first shaft; a first worm, the first worm being meshed with the first worm wheel for transmission; a second shaft, the second shaft being connected to a distal end of the second clamp arm, and an axial direction of the second shaft being parallel to an axial direction of the first shaft; a second worm gear, the second worm gear being disposed on the second shaft; a second worm, the second worm being meshed with the second worm wheel for transmission; The synchronization mechanism comprises: A synchronization shaft is connected to the driving mechanism and is respectively connected to the first worm and the second worm, the first worm and the second worm have opposite rotation directions, and the first worm wheel and the second worm wheel have opposite rotation directions.

24. The AGV vehicle handling robot according to claim 11, characterized in that: Also includes: A hydraulic system, wherein the hydraulic system is connected to the walking device, the fixed clamping device and the movable clamping device through an oil pipe to provide hydraulic pressure, and the hydraulic system includes two hydraulic pumps and an oil tank. A hydraulic pump and an oil tank are respectively provided at the front and rear ends of the AGV vehicle handling robot.

25. The AGV vehicle handling robot according to claim 11, characterized in that: Also includes: A first top plate, the first top plate is arranged on the top of the fixing clamping device; a second top plate, the second top plate being disposed on the top of the movable clamping device; A third top plate is arranged on the top of the rear end of the second frame.

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