Double-layer AGV lifting carrier based on rigid chain and parking frame

Abstract

The invention relates to the technical field of intelligent parking, in particular to a double-layer AGV lifting carrying vehicle based on a rigid chain and a parking frame, a vehicle frame is arranged at the bottom of the lifting carrying vehicle, a rigid chain lifting mechanism and a shear fork guide mechanism are arranged in the vehicle frame, the vehicle frame is connected with a loading platform through the rigid chain lifting mechanism and the shear fork guide mechanism, and meanwhile the loading platform is connected with the parking frame. A set of detection system used for detecting the AGV and the vehicle plate and the vehicle plate and the supporting frame is arranged. The hydraulic cylinder is simple in structure, convenient to install, low in manufacturing cost and high in stability, and the problems that an existing hydraulic cylinder occupies a large bottom space, and oil stains are likely to be generated to cause environmental pollution are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent parking, and particularly relates to a double-layer AGV lifting and transporting vehicle and a parking rack based on a rigid chain. Background Art

[0002] Automated Guided Vehicle (AGV for short), with the iterative update of parking equipment, the concept of intelligent parking has become increasingly popular, and people's flexible requirements for the high efficiency, speed, safety and punctuality of intelligent parking systems are also getting higher and higher. The technology of AGV lifting and transporting vehicles has become increasingly mature. By using an AGV system, under the control of a dispatching center, it can follow a given route according to instructions and thus reach a designated position. Compared with traditional intelligent garages, it improves the overall flexible dispatching efficiency, has higher working efficiency, greatly reduces the expenditure of manpower and financial resources, and significantly improves the automation and intelligence level.

[0003] The working characteristic of a lifting AGV is that it needs to carry a load and perform lifting actions multiple times a day. Due to the uncertainty of the weight of the vehicle, the lifting mechanism may be pulled off during use, resulting in the AGV being unable to work properly and affecting the parking efficiency. Existing lifting AGVs generally adopt screw-linkage lifting, hydraulic lifting, electric cylinder lifting or electric large screw lifting, but the above methods have the following problems:

[0004] (1) The screw-linkage lifting method has a too slow start and too low lifting speed, resulting in low efficiency.

[0005] (2) For the hydraulic lifting method, the hydraulic system occupies a large area at the bottom, requires too many auxiliary devices, has low positioning accuracy, and there are potential hazards such as oil leakage and is prone to generating oil stains, and the later maintenance process is cumbersome.

[0006] (3) The production cost, manufacturing accuracy and later maintenance cost of the electric cylinder lifting and large screw lifting methods are all relatively high, and the maintenance cycle is long, which will have a greater impact on the intelligent parking system. Summary of the Invention

[0007] In order to solve the problems that the existing hydraulic cylinders occupy a relatively large bottom space and are prone to generating oil stains, resulting in environmental pollution, etc., and to solve the problems of slow lifting speed, cumbersome later maintenance, high maintenance cost and long maintenance cycle existing in the existing lifting methods, the present invention designs a double-layer AGV lifting and transporting vehicle based on a rigid chain. The present invention uses a rigid chain in cooperation with a scissor to support the load platform, which has high stability and economy. The specific technical solutions are as follows:

[0008] A double-layer AGV lifting and transporting vehicle based on a rigid chain, comprising: a vehicle frame and a load platform arranged parallel to the vehicle frame, including:

[0009] At least two pairs of symmetrically arranged scissor guide mechanisms, with both ends of the scissor guide mechanisms connected to the vehicle frame and the load platform respectively;

[0010] At least two pairs of symmetrically arranged rigid chain lifting mechanisms, with both ends of the rigid chain lifting mechanisms connected to the vehicle frame and the load platform respectively, and the rigid chain lifting mechanisms are arranged at intervals with the scissor guide mechanisms. The rigid chain lifting mechanism includes a drive shaft, a drive device and a plurality of rigid chains. The drive device connects the plurality of rigid chains through the drive shaft, and the drive shafts are connected through a gear synchronization mechanism;

[0011] Preferably, a connector plug is provided on the load platform.

[0012] Preferably, the gear synchronization mechanism includes a mounting plate connected to a U-shaped plate. The mounting plate is connected to a fixed shaft. The fixed shaft is connected to a first sprocket and a second gear through bearings. The second gear meshes with a first gear. The first gear is connected to the drive shaft, and the first sprocket is connected to a second sprocket on another drive shaft through a chain.

[0013] Preferably, the rigid chain includes a chain box, rigid chains horizontally placed in a laminated state in the chain box, and a guide mechanism arranged in the chain box. The rigid chains are connected to a connecting block through a drive sprocket in the guide mechanism.

[0014] Furthermore, a card slot for placing the drive shaft and the drive device is provided at the top of the U-shaped plate.

[0015] Preferably, a plurality of buffer blocks are provided at the top of the vehicle frame, and a plurality of jacking blocks are provided at the top of the load platform.

[0016] Also disclosed is a parking rack, including a double-layer support frame, a vehicle-carrying plate and the double-layer AGV lifting and handling vehicle based on rigid chains as described above. The vehicle-carrying plate is arranged on the double-layer support frame.

[0017] Preferably, the double-layer support frame includes: columns, a bottom plate is provided at the bottom of the columns, the columns are connected through cross beams, and brackets for supporting the vehicle-carrying plate are arranged inside the columns.

[0018] Preferably, the vehicle-carrying plate includes:

[0019] A charging head, which is arranged at the center of the bottom of the short side of the vehicle-carrying plate;

[0020] A connector socket, which is matched with the connector plug;

[0021] Support arms, which are symmetrically arranged on both sides of the long side of the vehicle-carrying plate, and the support arms cooperate with the brackets;

[0022] Vertically move the opening and the vehicle blocking pipe. The vertically moving opening is arranged on one side of the support arm close to the charging head, and the vehicle blocking pipes are symmetrically arranged on the top of the vehicle-carrying plate.

[0023] Furthermore, the support arm includes a support frame rectangular pipe. A support frame cover is installed on the top of the support frame rectangular pipe. A switch bracket is connected to the inner wall of the support frame rectangular pipe. A switch is installed in the switch bracket. The switch cooperates with a floating pin. A spring is sleeved on the floating pin. The top of the floating pin penetrates through the support frame cover, and the bottom of the floating pin penetrates through the support frame rectangular pipe and is arranged.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] (1) The rigid chain used in the present invention has a simple structure, is easy to install, has a low manufacturing cost, has high stability, and its various components are standardized and serialized, making it easy to replace and repair. At the same time, the rigid chain can be coiled and stored, saving installation space and reducing the requirements for the bottom space. The length of the rigid chain can be adjusted as needed, so the height of the lifting platform will not limit the lifting height of the rigid chain; four groups of scissor guide mechanisms are arranged around the double-layer AGV lifting and handling vehicle, and are arranged symmetrically along the middle line, further ensuring the system stability and reliability during the lifting process.

[0026] (2) For the double-layer AGV lifting and handling vehicle designed this time, the space layout is reasonably utilized. The drive motors are installed on both sides of the vehicle body, reducing the floor area occupied by the lifting mechanism and improving the space utilization rate; when the vehicle is unloaded, it can move longitudinally and horizontally on the entire floor plane. The motor is a motor with a braking mechanism, which can effectively and stably control the driving of the double-layer AGV lifting and handling vehicle.

[0027] (3) The rigid chain groups used in the present invention adopt a gear synchronization mechanism with each other. Through the mutual cooperation of the sprocket, chain, and gear set, the stability of the platform during the lifting process is ensured, the reliability of the rigid chain lifting mechanism is improved, and the service life of the double-layer AGV lifting and handling vehicle is extended. At the same time, a buffer block is arranged between the two layers of the AGV for collision buffering and noise elimination of the lifting platform. Description of the Drawings

[0028] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0029] Figure 1 It is a schematic diagram of the load platform lifting structure of the handling vehicle of the present invention.

[0030] Figure 2 It is a side view of the load platform of the handling vehicle of the present invention when it is not lifted.

[0031] Figure 3 It is a schematic diagram of the rigid chain lifting mechanism structure of the handling vehicle of the present invention.

[0032] Figure 4 It is a schematic structural diagram of the frame of the carrier truck of the present invention.

[0033] Figure 5 It is a schematic internal structure diagram of the rigid chain of the carrier truck of the present invention.

[0034] Figure 6 It is Figure 4 An enlarged structural diagram of the C position in

[0035] Figure 7 It is a schematic working diagram of the carrier truck of the present invention.

[0036] Figure 8 It is a schematic structural diagram of the parking rack of the present invention.

[0037] Figure 9 It is a schematic structural diagram of the support frame of the parking rack of the present invention.

[0038] Figure 10 It is a schematic diagram of the docking structure between the load platform and the car-carrying board of the present invention.

[0039] Figure 11 It is a connection relationship diagram between the support arm and the bracket of the present invention.

[0040] Figure 12 It is a schematic specific structure diagram of the support arm of the present invention.

[0041] In the figure: 1. Frame; 2. Scissor guide mechanism; 3. Load platform; 4. Rigid chain; 5. Drive shaft; 6. Drive device; 7. Torque arm; 8. π-shaped plate; 9. U-shaped plate; 10. Mounting plate; 11. Fixed shaft; 12. Bearing; 13. Sprocket A; 14. Gear B; 15. Gear A; 16. Chain; 17. Sprocket B; 18. Card slot; 19. Buffer block; 20. Lifting block; 21. Differential drive wheel set; 22. Top plate; 23. Car-carrying board; 24. Double-layer support frame; 25. Column; 26. Bottom plate; 27. Cross beam; 28. Bracket; 29. Charging head; 30. Support arm; 31. Support frame square tube; 32. Support frame cover; 33. Switch bracket; 34. Switch; 35. Floating pin; 36. Spring; 41. Chain box; 42. Rigid chain; 43. Guide box; 44. Drive sprocket; 45. Connecting block; 51. Connector socket; 52. Connector plug. Specific embodiments

[0042] The present invention will be further described below through the description of specific embodiments. However, this is not a limitation of the present invention. Those skilled in the art can make various modifications or improvements according to the basic idea of the present invention. However, as long as they do not depart from the basic idea of the present invention, they are all within the protection scope of the present invention.

[0043] The present invention discloses a double - layer AGV lifting and transporting vehicle based on a rigid chain, including:

[0044] See Figure 1 , a vehicle frame 1, and the vehicle frame 1 is provided with a plurality of C - shaped plate members, which are used to increase the overall rigidity and service life of the vehicle frame 1 and facilitate the later integrated assembly;

[0045] A load - carrying platform 3 arranged in parallel with the vehicle frame 1. The load - carrying platform 3 has a loading plane, and the loading platform is used to contact the vehicle loading plate 23. A connector plug 52 is provided on the load - carrying platform 3;

[0046] At least two pairs of symmetrically arranged scissor - type guiding mechanisms 2, the center lines of the two pairs of scissor - type guiding mechanisms 2 are perpendicular to each other, and both ends of the scissor - type guiding mechanism 2 are respectively connected to the vehicle frame 1 and the load - carrying platform 3;

[0047] At least two pairs of symmetrically arranged rigid - chain lifting mechanisms located inside the scissor - type guiding mechanisms 2. Both ends of the rigid - chain lifting mechanism are respectively connected to the vehicle frame 1 and the load - carrying platform 3, and the rigid - chain lifting mechanism and the scissor - type guiding mechanism 2 are arranged at intervals. The rigid - chain lifting mechanism includes a driving shaft 5, a driving device 6 and a plurality of rigid chains 4. The driving device 6 connects the plurality of rigid chains 4 through the driving shaft 5, and the driving shafts 5 are connected through a gear synchronization mechanism;

[0048] Four differential drive wheel sets 21 respectively arranged at the four ends of the vehicle frame 1. The differential drive wheel sets 21 are used to move the double - layer AGV lifting and transporting vehicle based on a rigid chain under the target vehicle loading plate 23.

[0049] Due to the uneven weight distribution of the vehicle, it is possible to avoid the lateral displacement of the load - carrying platform during the lifting process, and ensure the system stability and reliability during the lifting process; two pairs of differential drive wheel sets 21 are symmetrically arranged front - to - back inside the vehicle frame 1. The differential drive wheel sets 21 are connected to the vehicle frame 1 through a top plate 22. The double - layer AGV lifting and transporting vehicle moves under the target vehicle loading plate 23 through the differential drive wheel sets 21, and the load - carrying platform 3 is lifted by relying on the rigid - chain lifting mechanism, so as to realize the lifting movement of the vehicle loading plate 23.

[0050] See Figure 2 , a plurality of buffer blocks 19 are arranged at the top of the vehicle frame 1, which can play a certain buffering and sound - damping role when the load - carrying platform 3 descends. A plurality of jacking blocks 20 are arranged at the top of the load - carrying platform 3, which are used to support the rise of the vehicle loading plate 23; The double - layer AGV lifting and transporting vehicle can realize lateral and longitudinal movement under the double - layer support frame 24 in the non - lifted state, improving the handling efficiency.

[0051] See Figure 3, the rigid chain lifting mechanism includes a rigid chain 4. During the lifting process, to improve the system stability, the rigid chain 4 is connected to the driving device 6 through a drive shaft 5; a gear synchronization mechanism is arranged between a pair of rigid chains 4. The driving device 6 can be any device capable of driving the rigid chain 4 to rise, preferably an asynchronous drive motor. The asynchronous drive motor transmits power through the drive shaft 5 to enable the rigid chain 4 to achieve lifting motion. Installing the drive motor on both sides of the vehicle body reduces the floor area occupied by the lifting mechanism and improves the space utilization rate. When the trolley is unloaded, it can move longitudinally and horizontally across the entire floor plane; when selecting the motor, a motor with a braking mechanism is chosen, which can effectively and stably control the driving of the double-layer AGV lifting and handling vehicle.

[0052] Refer to Figure 4 and Figure 6 , the gear synchronization mechanism includes a mounting plate 10 connected to a U-shaped plate 9. The mounting plate 10 is connected to a fixed shaft 11. The fixed shaft 11 is connected to a first sprocket 13 and a second gear 14 through a bearing 12. The second gear 14 meshes with a first gear 15. The first gear 15 is connected to the drive shaft 5. The first sprocket 13 is connected to a second sprocket 17 on another drive shaft 5 through a chain 16. At the same time, a card slot 18 for placing the drive shaft 5 and the driving device 6 is arranged at the top of the U-shaped plate 9. The driving force is reversed through the gear set and transmitted through the sprockets and the chain to achieve the synchronous movement of the two rigid chain groups for lifting. At the same time, the rotation of the drive shaft 5 is synchronously controlled, enabling the lifting of the rigid chain 4 to move inward simultaneously during lifting. Through the mutual cooperation of the sprockets, the chain, and the gear set, the stability of the platform during lifting is ensured, the reliability of the rigid chain lifting mechanism is improved, and the service life of the double-layer AGV lifting and handling vehicle is extended.

[0053] See Figure 5 , the rigid chain 4 includes a chain box 41, rigid chains 42 stacked horizontally in the chain box 41, and a guiding mechanism 43 arranged in the chain box 41. The rigid chains 42 are connected to a connecting block 45 through a driving sprocket 44 in the guiding mechanism 43. The driving sprocket 44 provides a vertical guide, supports and guides the chain links, and also ensures the alignment and mutual locking of the chain links. The rigid chains 42 can be coiled for storage, saving installation space and reducing the requirements for the bottom space. The length of the rigid chains 42 can be adjusted as needed, so the lifting height of the lifting platform does not limit the lifting height of the rigid chains 42.

[0054] See Figure 7 , the lifting speed of the double-layer AGV lifting and handling vehicle of the present invention is 0.1 m / s, the maximum lifting height is up to 2.2 m, and the time required to lift to the maximum height is reduced to 22 s, greatly improving the use efficiency. At the same time, the length of the handling vehicle does not exceed 4200 mm, the width does not exceed 2000 mm, and the load capacity can reach 6 t, which is applicable to most vehicle models on the market.

[0055] SeeFigure 8 , the present invention also discloses a parking rack, including a double-layer support frame 24, a vehicle-carrying plate 23, and a double-layer AGV lifting and transporting vehicle based on a rigid chain.

[0056] The double-layer support frame 24 includes:

[0057] Columns 25, a bottom plate 26 is provided at the bottom of the columns 25. Along the long side of the vehicle-carrying plate 23, the columns 25 are connected by cross beams 27. A bracket 28 for supporting the vehicle-carrying plate 23 is provided inside the columns 25. The double-layer support frame 24 mainly realizes the double-layer three-dimensional storage and retrieval of the vehicle-carrying plate 23. The four columns 25 are bolted to the ground through the bottom plate 26, and the cross beams 27 are arranged between the columns on the same side to improve stability. The vehicle-carrying plate 23 is parked on the double-layer support frame 24 through the bracket 28, saving floor space and improving space utilization rate.

[0058] See Figure 9 , the vehicle-carrying plate 23 includes:

[0059] A charging head 29, and the charging head 29 is provided at the center of the short side of the vehicle-carrying plate 23;

[0060] A connector socket 51, see Figure 10 , a connector plug 52 is matched with the connector socket 51;

[0061] A support arm 30, and the support arm 30 is matched with the bracket 28;

[0062] See Figures 11-12 , the support arm 30 includes a support frame square tube 31, a support frame cover 32 is installed at the top of the support frame square tube 31, a switch bracket 33 is connected to the inner wall of the support frame square tube 31, a switch 34 is installed in the switch bracket 33, the switch 34 is matched with a floating pin 35, a spring 36 is sleeved on the floating pin 35, the top of the floating pin 35 penetrates through the support frame cover 32, and the bottom of the floating pin 35 penetrates through the support frame square tube 31;

[0063] The bracket 28 has a V-shaped opening and is welded to the column 25. When the support arm 30 on the vehicle-carrying plate 23 is docked with the bracket 28, the support arm 30 will slide into the slot of the bracket 28 smoothly.

[0064] A vertical movement port 31 and a vehicle-blocking tube 32.

[0065] The connector socket 51 has two pin holes and four signal detection interfaces, and one pair of interfaces is short-circuited. The purpose is to detect whether the connection between the connector socket 51 and the connector plug 52 is reliable, so as to judge whether the load platform 3 is in proper contact with the vehicle-carrying plate 23; the other pair of interfaces is connected to the switch 34 in the support arm 30, and the purpose is to judge whether the support arm 30 on the vehicle-carrying plate 23 is properly placed on the bracket 28 on the column 25.

[0066] The connector plug 52 has two pins and four signal detection interfaces, which are respectively connected to the control center of the rigid chain lifting mechanism.

[0067] The load platform 3 is lifted to the position of the second - layer vehicle - carrying plate 23 through the rigid chain lifting mechanism. The pins of the connector plug 52 contact the pin holes of the connector socket 51 to complete the position alignment, and then further connect the signal detection interfaces therein.

[0068] When the support arm 30 of the vehicle - carrying plate 23 is not placed on the bracket 28, the floating pin 35 is in the lower position under the action of the spring 36. When the support arm 30 of the vehicle - carrying plate 23 is placed on the bracket 28, the bottom of the floating pin 35 is pushed upward by the thrust from the bracket 28, thereby pushing the switch 34. The switch 34 is connected to the signal detection interface on the connector socket 51 on the vehicle - carrying plate 23, realizing the docking detection function between the vehicle - carrying plate 23 and the load platform 3.

[0069] The vehicle - carrying plate 23 is used to carry vehicles and is placed on the bracket 28 of the double - layer support frame 24 by relying on the support arm 30. The vehicle - carrying plate 23 is of a rectangular double - concave plate - like structure. The number of anti - vehicle pipes 32 and support arms 30 is four, symmetrically arranged on both sides of the vehicle - carrying plate 23. And four vertical moving ports 31 are designed beside the support arms 30, which can enable the trolley to complete the vertical lifting movement with the minimum movement amount. The length and width of the vehicle - carrying plate of the trolley are higher than most cars on the market, making it easier for customers to drive the car onto the vehicle - carrying plate.

[0070] The above - mentioned embodiments merely illustrate the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above - mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A double-layer AGV lifting vehicle based on a rigid chain, comprising: The vehicle frame (1) and the load-bearing platform (3) arranged parallel to the vehicle frame (1) are characterized by comprising: At least two pairs of symmetrically arranged scissor guide mechanisms (2), with two ends of the scissor guide mechanisms (2) respectively connected to the vehicle frame (1) and the load-bearing platform (3); At least two pairs of symmetrically arranged rigid chain lifting mechanisms, the two ends of the rigid chain lifting mechanisms are respectively connected to the frame (1) and the load-carrying platform (3), and the rigid chain lifting mechanisms are spaced apart from the scissor guide mechanism (2), the rigid chain lifting mechanisms comprising a drive shaft (5), a drive device (6) and a plurality of rigid chains (4), the drive device (6) being connected to the plurality of rigid chains (4) via the drive shaft (5), and the drive shafts (5) being connected to each other via a gear synchronization mechanism; Differential drive wheel sets (21) are respectively arranged at the four ends of the vehicle frame (1).

2. The double-layer AGV lifting vehicle based on rigid chain according to claim 1 is characterized in that: The load-carrying platform (3) is provided with a connector plug (52).

3. The double-layer AGV lifting vehicle based on rigid chain according to claim 1 is characterized in that: The gear synchronization mechanism comprises a mounting plate (10) connected to a U-shaped plate (9), the mounting plate (10) being connected to a fixed shaft (11), the fixed shaft (11) being connected to a first sprocket (13) and a second gear (14) via a bearing (12), the second gear (14) being meshed with a first gear (15), the first gear (15) being connected to a drive shaft (5), and the first sprocket (13) being connected to a second sprocket (17) on another drive shaft (5) via a chain (16).

4. The double-layer AGV lifting vehicle based on rigid chain according to claim 1 is characterized in that: The rigid chain (4) comprises a chain box (41), a rigid chain (42) horizontally placed in the chain box (41) in a stacked manner, and a guide mechanism (43) arranged in the chain box (41); the rigid chain (42) is connected to a connecting block (45) via a driving sprocket (44) in the guide mechanism (43).

5. The double-layer AGV lifting vehicle based on rigid chain according to claim 3 is characterized in that: The top of the U-shaped plate (9) is provided with a slot (18) for placing the drive shaft (5) and the drive device (6).

6. The double-layer AGV lifting vehicle based on rigid chain according to claim 1 is characterized in that: A plurality of buffer blocks (19) are arranged on the top of the vehicle frame (1), and a plurality of lifting blocks (20) are arranged on the top of the load-bearing platform (3).

7. A parking stand, characterized in that: It comprises a double-layer support frame (24), a vehicle loading plate (23) and a double-layer AGV lifting vehicle based on a rigid chain as described in any one of claims 1 to 6, wherein the vehicle loading plate (23) is arranged on the double-layer support frame (24).

8. The parking stand according to claim 7, characterized in that: The double-layer support frame (24) comprises: a column (25), a bottom plate (26) is arranged at the bottom of the column (25), the columns (25) are connected by a cross beam (27), and a bracket (28) for supporting the vehicle loading plate (23) is arranged inside the column (25).

9. The parking stand according to claim 7, characterized in that: The vehicle loading plate (23) comprises: A charging head (29), the charging head (29) being arranged at the center of the bottom of the short side of the vehicle loading plate (23); A connector socket (51), the connector socket (51) being matched with a connector plug (52); Support arms (30), the support arms (30) are symmetrically arranged on both sides of the long side of the vehicle loading plate (23), and the support arms (30) are matched with the bracket (28); A vertical movement opening (31) and a vehicle blocking tube (32), wherein the vertical movement opening (31) is arranged on a side of the support arm (30) close to the charging head (29), and the vehicle blocking tube (32) is symmetrically arranged on the top of the vehicle carrying plate (23).

10. The parking stand according to claim 9, characterized in that: The support arm (30) comprises a support frame rectangular tube (31), a support frame cover (32) is installed on the top of the support frame rectangular tube (31), the inner wall of the support frame rectangular tube (31) is connected to a switch bracket (33), a switch (34) is installed in the switch bracket (33), the switch (34) cooperates with a floating pin (35), the floating pin (35) is sleeved with a spring (36), the top of the floating pin (35) passes through the support frame cover (32), and the bottom of the floating pin (35) passes through the support frame rectangular tube (31).

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