Parking AGV (Automatic Guided Vehicle) pitch changing mechanism

Abstract

The parking AGV pitch changing mechanism comprises a cross beam, a left vehicle frame and a right vehicle frame, a telescopic mechanism is arranged in the cross beam, the cross beam is fixedly connected with the left vehicle frame and the right vehicle frame through the telescopic mechanism, driving mechanisms are arranged on the left vehicle frame and the right vehicle frame, and sliding assemblies are arranged between the cross beam and the left vehicle frame and between the cross beam and the right vehicle frame. Two symmetrically-arranged mounting bases are fixedly arranged at the bottom of the cross beam, and a supporting roller is rotationally connected between the two mounting bases. According to the parking AGV distance changing mechanism, the telescopic mechanism 4, the sliding assembly 6 and the driving mechanism 5 are organically combined, flexible adjustment of the distance between wheels and accurate moving and steering control are achieved, powerful technical support is provided for a modern parking automation system, and the parking AGV distance changing mechanism can be widely applied to the fields of intelligent parking lots, logistics storage and the like and has wide application prospects. And the parking efficiency and the intelligent level are obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of parking assistance, and in particular to a parking AGV distance changing mechanism. Background Art

[0002] In today's rapidly developing intelligent transportation and automated logistics fields, the demand for parking automation is growing. The traditional parking lot operation model mainly relies on manual guidance of vehicle parking, which not only consumes a lot of manpower costs, but also has low efficiency and is prone to problems such as irregular parking of vehicles and low parking space utilization. With the advancement of science and technology, automatic guided vehicle (AGV) technology has emerged.

[0003] Early parking AGVs were relatively simple in design, with fixed, one-piece frame structures that lacked the ability to flexibly adjust the width of the vehicle. In actual application scenarios, parking spaces vary in size, from narrow spaces for small cars to spacious barrier-free spaces. Fixed-frame AGVs have poor adaptability to different parking spaces. If the vehicle body is too wide, it is easy to collide with surrounding facilities or adjacent vehicles in narrow parking spaces, causing scratches and damage to the vehicle; if the vehicle body is too narrow, it cannot fully utilize the space in large parking spaces, reducing the overall space utilization of the parking lot.

[0004] During the movement of the AGV, there are also defects in the connection and support methods between the frame and the load-bearing components. Due to the lack of effective guidance and low-friction support structure, traditional AGV frames mostly slide directly on the guide rails or support surfaces, and the sliding friction generated between the two is relatively large. On the one hand, this will consume a lot of driving energy, reduce the energy efficiency of the AGV, and increase operating costs; on the other hand, continuous high-intensity friction will accelerate component wear and shorten the service life of the equipment. Frequent maintenance and replacement of parts are not only time-consuming and labor-intensive, but also affect the normal operation of the parking lot. Moreover, the vibration problem caused by the large friction cannot be ignored. The vibration will interfere with the precise navigation and positioning sensors inside the AGV, making it difficult for the AGV to accurately follow the predetermined parking path, resulting in parking position deviations and unable to meet high-precision parking requirements.

[0005] In addition, the simplicity of the drive system also restricted the development of early parking AGVs. Most are only equipped with a simple single-motor drive, and steering is achieved by differential. This drive mode seems to be powerless when faced with complex parking scenarios. For example, when a quick turn is required to adjust the parking angle in a small space, the differential steering has a slow response speed and low steering accuracy, making it difficult to flexibly control the AGV to complete a complex parking trajectory, which prolongs the parking time and cannot meet the requirements of rapid turnover in modern efficient parking lots. At the same time, the load capacity of a single drive point is limited. When carrying heavier vehicles, problems such as insufficient power and unstable driving are prone to occur, further limiting the scope of application of AGVs. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention provides a parking AGV distance-changing mechanism, the purpose of which is to provide a flexible distance-changing mechanism, which can dynamically adjust the distance between the left and right frames according to the width of the parking space through the cooperation of the scissor-type telescopic frame in the crossbeam, the dual-output shaft motor and the lead screw, the coordination of the end and middle connecting shafts, and the matching of the slide groove, so as to adapt to various parking spaces and improve the space utilization rate. Secondly, the sliding components are exquisite, and the four components contain rotating rollers, which change the sliding friction into rolling, reduce energy consumption, reduce wear, stabilize operation, and ensure accurate navigation. Thirdly, the drive is strong, with four drive mechanisms distributed at the four corners, the steering and drive motors are linked, and the active and driven gears are coordinated to achieve fast and accurate steering and efficient driving, and enhance the controllability and load capacity of the parking AGV distance-changing mechanism.

[0007] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0008] A parking AGV distance changing mechanism comprises a crossbeam, a left frame and a right frame, wherein a telescopic mechanism is arranged in the crossbeam, the crossbeam and the left frame and the right frame are fixedly connected via the telescopic mechanism, a driving mechanism is arranged on both the left frame and the right frame, a sliding assembly is arranged between the crossbeam and the left frame and the right frame, two symmetrically arranged mounting seats are fixedly arranged at the bottom of the crossbeam, and a support roller is rotatably connected between the two mounting seats.

[0009] Furthermore, the telescopic mechanism includes a scissor-type telescopic frame arranged in a crossbeam, the scissor-type telescopic frame is provided with a middle connecting shaft and a side connecting shaft, a dual-output shaft motor is fixedly installed on the bottom inner side of the crossbeam, a lead screw is fixedly connected to the output shaft of the dual-output shaft motor, the lead screw is threadedly connected to the two side connecting shafts in the middle of the scissor-type telescopic frame respectively, and end connecting shafts are provided at both ends of the scissor-type telescopic frame.

[0010] Furthermore, the left frame and the right frame are both provided with connecting plates, the connecting plates are provided with first sliding grooves, and the end connecting shafts are slidably connected to the first sliding grooves.

[0011] Furthermore, a second sliding groove is provided at the inner top of the beam, and the middle connecting shaft is slidably connected to the second sliding groove.

[0012] Furthermore, the number of the sliding assemblies is four, and two symmetrically arranged sliding assemblies are respectively arranged in the left frame and the right frame.

[0013] Furthermore, the sliding assembly includes a connection frame fixedly connected to the left frame and the right frame, and a plurality of evenly distributed rotating rollers are rotatably connected in the connection frame.

[0014] Furthermore, the rotating roller is arranged to abut against the crossbeam.

[0015] Furthermore, the number of the driving mechanisms is four, and the driving mechanisms are respectively located at four corners of the left frame and the right frame that are far away from each other.

[0016] Furthermore, the driving mechanism includes a fixed plate fixedly connected to the left frame and the right frame, a steering motor is installed on the fixed plate, a driving gear is fixedly connected to the output shaft of the steering motor, a support frame is rotatably connected to the fixed plate, a driven gear is fixedly connected to the support frame, the driving gear and the driven gear are meshed, a driving motor is fixedly installed on the support frame, a walking wheel is rotatably connected to the support frame, and the output shaft of the driving motor is fixedly connected to the walking wheel.

[0017] The beneficial effects of the present invention are:

[0018] The three parts are flexibly connected through the telescopic mechanism in the crossbeam. The scissor-type telescopic frame drives the side connecting shaft to move under the action of the double output shaft motor driving the lead screw to rotate, thereby causing the scissor-type telescopic frame to extend or contract, changing the relative position of the left and right frames and the crossbeam, and realizing dynamic adjustment of the body width. Whether facing a compact small parking space or a spacious large parking space, the AGV can adapt accurately, greatly improving the compatibility with different parking space specifications, making full use of the parking space, and reducing space waste caused by parking space size restrictions.

[0019] Four sliding components are carefully arranged between the crossbeam and the left and right frames. The connection frame in each sliding component is fixed to the frame, and the internal evenly rotates to connect multiple rotating rollers, and the rotating rollers are in conflict with the crossbeam. The original sliding friction between the frame and the crossbeam is converted into rolling friction, which greatly reduces the friction force. It not only reduces the energy loss during equipment operation and extends the service life of components, but also significantly reduces the vibration caused by friction. The stable operation state makes the navigation system of the AGV less disturbed during movement, and the parking positioning is more accurate, which effectively avoids position deviation caused by vibration and improves parking reliability.

[0020] Four drive mechanisms are set on each of the left and right frames, distributed at four corners far away from each other. The steering motor in the drive mechanism drives the support frame to rotate through the active gear and the driven gear to realize the steering operation of the walking wheel, and cooperates with the drive motor to directly drive the walking wheel to rotate, providing all-round power support for the AGV. This multi-drive point and coordinated design allows the AGV to achieve fast and accurate steering in a small space and easily complete complex parking trajectories. Whether it is a right-angle turn, arc driving or fine-tuning positioning, it can flexibly respond to control instructions, greatly shorten parking time, and improve the overall operation efficiency of the parking lot. At the same time, the multi-drive layout also enhances the load capacity and driving stability of the AGV.

[0021] The two symmetrical mounting seats and the rotatably connected support rollers at the bottom of the crossbeam provide additional bottom support for the AGV. During the AGV's travel, especially when passing through uneven roads or carrying heavy vehicles, the support rollers can share part of the weight, reduce the single-point force concentration of the frame, and work together with the sliding components to further ensure the stability of the AGV's operation, reduce the adverse effects of road bumps on the equipment structure and parking accuracy, and ensure that the parking task is completed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the crossbeam structure of the present invention;

[0024] Figure 3 It is a cross-sectional structural schematic diagram of the present invention;

[0025] Figure 4 It is a schematic diagram of the telescopic mechanism structure of the present invention;

[0026] Figure 5 It is a schematic diagram of the driving mechanism structure of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the sliding assembly of the present invention.

[0028] Reference table of reference numerals:

[0029] 1. Crossbeam; 2. Left frame; 3. Right frame; 4. Telescopic mechanism; 5. Driving mechanism; 6. Sliding assembly; 7. Mounting seat; 8. Support roller; 9. Middle connecting shaft; 10. Side connecting shaft; 11. Dual output shaft motor; 12. Lead screw; 13. End connecting shaft; 14. Connecting plate; 15. First slide slot; 16. Second slide slot; 17. Connecting frame; 18. Rotating roller; 19. Fixed plate; 20. Steering motor; 21. Driving gear; 22. Support frame; 23. Driven gear; 24. Driving motor; 25. Traveling wheel; 26. Scissor-type telescopic frame. DETAILED DESCRIPTION

[0030] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings, wherein the same components are represented by the same reference numerals.

[0031] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0032] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] like Figures 1 to 6 As shown, a parking AGV distance changing mechanism includes a crossbeam 1, a left frame 2 and a right frame 3. The crossbeam 1 is a load-bearing and connecting component, and a telescopic mechanism 4 is arranged inside the crossbeam 1. The crossbeam 1 can realize a dynamic fixed connection with the left frame 2 and the right frame 3, thereby flexibly adjusting the distance between the two.

[0034] The left frame 2 and the right frame 3 are in direct contact with the ground and drive the AGV to move. The left frame 2 and the right frame 3 are symmetrical to each other and respectively carry corresponding driving mechanisms 5, ensuring that the AGV has stable and powerful power output and realizes precise movement and steering.

[0035] Four sliding assemblies 6 are arranged between the cross beam 1 and the left and right frames, and are evenly distributed in the left frame 2 and the right frame 3, and are symmetrical in pairs.

[0036] The sliding assembly 6 plays an auxiliary supporting and guiding role, ensuring that the left and right frames can slide steadily and smoothly relative to the crossbeam 1 during the distance change process, avoiding jamming or offset, and allowing the entire mechanism to operate stably.

[0037] Two symmetrically distributed mounting seats 7 are fixedly provided at the bottom of the crossbeam 1 , and a supporting roller 8 is rotatably connected between the mounting seats 7 .

[0038] When the AGV is traveling on the ground, the support rollers 8 can effectively reduce the friction resistance between the beam 1 and the ground, making the AGV move more lightly and flexibly, reducing energy consumption while extending the service life of the equipment.

[0039] The telescopic mechanism 4 includes a scissor-type telescopic frame 26 arranged in the crossbeam 1, which can accurately change the distance. The scissor-type telescopic frame 26 is equipped with a middle connecting shaft 9 and a side connecting shaft 10, which plays the role of connection and rotation fulcrum during the telescopic process.

[0040] In order to drive the scissor-type telescopic frame 26 to achieve telescopic action, a dual-output shaft motor 11 is firmly installed at the bottom of the inner side of the crossbeam 1 as a power source, which has efficient and stable power output characteristics. A lead screw 12 is fixedly connected to its output shaft, and the lead screw 12 is connected to the two side connecting shafts 10 in the middle of the scissor-type telescopic frame 26 by threaded connection.

[0041] When the dual-output shaft motor 11 starts to run, the lead screw 12 rotates accordingly, and the side connecting shaft 10 will generate relative movement driven by the lead screw 12, thereby driving the scissor-type telescopic frame 26 to extend or retract.

[0042] By driving the scissor-type telescopic frame 26 in cooperation with the dual-output shaft motor 11 and the lead screw 12, high-precision variable pitch control can be achieved to meet the precise requirements for wheel spacing in different parking scenarios.

[0043] Both ends of the scissor-type telescopic frame 26 are provided with end connecting shafts 13, which are tightly matched with the connecting plates 14 on the left frame 2 and the right frame 3.

[0044] Specifically, a first slide groove 15 is provided on the connecting plate 14, and the end connecting shaft 13 can slide freely in the first slide groove 15, which not only ensures that the scissor-type telescopic frame 26 can smoothly transmit power to the left frame 2 and the right frame 3 during the telescopic process to achieve spacing adjustment, but also provides a certain guiding effect for the movement of the frame to prevent displacement deviation.

[0045] At the same time, a second slide groove 16 is opened at the top inner side of the beam 1, and the middle connecting shaft 9 is slidably connected to the second slide groove 16, which further optimizes the movement stability of the scissor-type telescopic frame 26 in the beam 1, so that the entire telescopic mechanism 4 can maintain a good mechanical balance during operation, avoiding structural damage or movement jamming due to uneven force.

[0046] Each sliding assembly 6 includes a connection frame 17 fixedly connected to the left frame 2 and the right frame 3. The connection frame 17 serves as a basic bearing component and provides a stable installation space for the internal rotating rollers 18. A plurality of evenly distributed rotating rollers 18 are rotatably connected in the connection frame 17, and the rotating rollers 18 ensure that they can provide uniform and stable support and guidance.

[0047] The rotating roller 18 is set in contact with the cross beam 1. When the left and right frames slide and change pitch relative to the cross beam 1 under the drive of the telescopic mechanism 4, the rotating roller 18 can roll on the surface of the cross beam 1, converting the original sliding friction into rolling friction. This change in friction mode greatly reduces the friction force, making the sliding of the frame smoother and easier, which not only improves the pitch change efficiency, but also reduces the energy loss and component wear caused by friction, and prolongs the service life of the entire mechanism.

[0048] There are four drive mechanisms 5, which are respectively installed at the four corners of the left frame 2 and the right frame 3 that are far away from each other, ensuring that the AGV can obtain a balanced power distribution during driving, and can maintain a stable posture and reliable power output regardless of linear acceleration, deceleration or steering operation.

[0049] Each driving mechanism 5 includes a fixed plate 19 fixedly connected to the left frame 2 and the right frame 3, a steering motor 20 is mounted on the fixed plate 19, a driving gear 21 is fixedly connected to the output shaft of the steering motor 20, a support frame 22 is rotatably connected to the fixed plate 19, a driven gear 23 is fixedly connected to the support frame 22, and the driving gear 21 and the driven gear 23 are meshed with each other. When the steering motor 20 is started, the driving gear 21 rotates accordingly, and the driven gear 23 is driven to rotate synchronously through the gear meshing action, thereby driving the support frame 22 to realize the rotation action. The gear transmission method has the characteristics of high precision and high reliability, and can achieve precise steering angle control to meet the needs of AGV for flexible steering in complex parking environments.

[0050] A driving motor 24 is also fixedly mounted on the support frame 22, and a walking wheel 25 is rotatably connected to the support frame 22, and the output shaft of the driving motor 24 is fixedly connected to the walking wheel 25. When the driving motor 24 is running, it can directly drive the walking wheel 25 to rotate, providing the AGV with power to move forward or backward. By cleverly combining the steering motor 20 and the driving motor 24 on the support frame 22, the dual functions of controlling the walking direction and providing forward power are achieved in the same structural unit, making the control of the AGV more convenient and efficient.

[0051] When the wheel spacing of the AGV needs to be adjusted to accommodate different vehicle sizes, the control system first sends a command to the dual output shaft motor 11 at the bottom inner side of the crossbeam 1. The dual output shaft motor 11 is started, driving the lead screw 12 to rotate. Since the lead screw 12 is threadedly connected to the side connecting shaft 10 in the middle of the scissor-type telescopic frame 26, the side connecting shaft 10 will generate relative movement under the drive of the lead screw 12, causing the scissor-type telescopic frame 26 to extend or retract.

[0052] During the extension and retraction process of the scissor-type telescopic frame 26, the end connecting shafts 13 at both ends thereof slide in the first sliding grooves 15 of the connecting plates 14 on the left and right frames, and at the same time, the middle connecting shaft 9 slides in the second sliding groove 16 at the top inner side of the crossbeam 1, thereby ensuring the stability and smoothness of the movement of the scissor-type telescopic frame 26, thereby driving the left frame 2 and the right frame 3 to smoothly adjust the spacing relative to the crossbeam 1.

[0053] In this process, the four sliding components 6 in the left frame 2 and the right frame 3 play a key auxiliary role. As the frame moves, the rotating rollers 18 in the connecting frame 17 roll on the surface of the cross beam 1, converting the sliding friction between the frame and the cross beam 1 into rolling friction, ensuring high efficiency and low friction loss in the pitch change process.

[0054] When the AGV needs to move, the drive mechanisms 5 located at the four corners of the left and right frames work together. The drive motor 24 is started to drive the running wheels 25 to rotate, providing the AGV with power to move forward or backward. If a turn is required, the steering motor 20 is started, and the driving gear 21 drives the driven gear 23 to rotate, thereby driving the support frame 22 and the running wheels 25 attached thereto to achieve the turning action. By precisely controlling the operation of the steering motor 20 and the drive motor 24, the AGV can accurately shuttle and dock in the parking lot and efficiently complete the parking task.

[0055] The parking AGV variable distance mechanism of the present invention organically combines the telescopic mechanism 4, the sliding assembly 6 and the driving mechanism 5, realizes the flexible adjustment of the wheel spacing and the precise movement and steering control, provides a strong technical support for the modern parking automation system, can be widely used in the fields of smart parking lots, logistics warehousing, etc., and significantly improves the parking efficiency and intelligence level.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A parking AGV variable distance mechanism, characterized in that: The invention comprises a crossbeam (1), a left frame (2) and a right frame (3); a telescopic mechanism (4) is arranged in the crossbeam (1); the crossbeam (1) and the left frame (2) and the right frame (3) are fixedly connected via the telescopic mechanism (4); a driving mechanism (5) is arranged on the left frame (2) and the right frame (3); a sliding assembly (6) is arranged between the crossbeam (1) and the left frame (2) and the right frame (3); two symmetrically arranged mounting seats (7) are fixedly arranged at the bottom of the crossbeam (1); a supporting roller (8) is rotatably connected between the two mounting seats (7).

2. The parking AGV variable distance mechanism according to claim 1, characterized in that: The telescopic mechanism (4) comprises a scissor-type telescopic frame (26) arranged in a crossbeam (1), the scissor-type telescopic frame (26) being provided with a middle connecting shaft (9) and a side connecting shaft (10), a dual-output shaft motor (11) being fixedly mounted on the inner bottom of the crossbeam (1), a lead screw (12) being fixedly connected to the output shaft of the dual-output shaft motor (11), the lead screw (12) being threadedly connected to two side connecting shafts (10) respectively in the middle of the scissor-type telescopic frame (26), and end connecting shafts (13) being provided at both ends of the scissor-type telescopic frame (26).

3. The parking AGV variable distance mechanism according to claim 2, characterized in that: The left frame (2) and the right frame (3) are both provided with a connecting plate (14), the connecting plate (14) is provided with a first sliding groove (15), and the end connecting shaft (13) is slidably connected to the first sliding groove (15).

4. The parking AGV variable distance mechanism according to claim 2, characterized in that: A second sliding groove (16) is provided at the top of the inner side of the cross beam (1), and the middle connecting shaft (9) is slidably connected to the second sliding groove (16).

5. The parking AGV distance changing mechanism according to claim 1, characterized in that: The number of the sliding assemblies (6) is four, and two symmetrically arranged sliding assemblies (6) are respectively arranged in the left frame (2) and the right frame (3).

6. The parking AGV distance changing mechanism according to claim 3, characterized in that: The sliding assembly (6) comprises a connection frame (17) fixedly connected to the left frame (2) and the right frame (3), and a plurality of evenly distributed rotating rollers (18) are rotatably connected in the connection frame (17).

7. The parking AGV distance changing mechanism according to claim 6, characterized in that: The rotating roller (18) is arranged to abut against the crossbeam (1).

8. The parking AGV distance changing mechanism according to claim 1, characterized in that: The number of the driving mechanisms (5) is four, and the driving mechanisms (5) are respectively located at four corners of the left frame (2) and the right frame (3) that are far away from each other.

9. The parking AGV distance changing mechanism according to claim 1, characterized in that: The driving mechanism (5) comprises a fixing plate (19) fixedly connected to the left frame (2) and the right frame (3); a steering motor (20) is mounted on the fixing plate (19); a driving gear (21) is fixedly connected to the output shaft of the steering motor (20); a support frame (22) is rotatably connected to the fixing plate (19); a driven gear (23) is fixedly connected to the support frame (22); the driving gear (21) and the driven gear (23) are meshed; a driving motor (24) is fixedly mounted on the support frame (22); a walking wheel (25) is rotatably connected to the support frame (22); and the output shaft of the driving motor (24) is fixedly connected to the walking wheel (25).

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