Two-layer comb tooth type AGV parking equipment
By designing a two-layer comb-type AGV parking equipment, which utilizes the comb frame and lifting mechanism to achieve two-layer parking, the problems of wasted space in single-layer equipment and high cost in multi-layer equipment are solved, thereby improving the space utilization and efficiency of the equipment.
Patent Information
- Application Number
- CN202511441034.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-10
- Publication Date
- 2025-11-07
AI Technical Summary
Existing single-layer AGV parking equipment results in wasted space, while multi-layer structures are costly and inefficient.
Design a two-level comb-type AGV parking equipment, including a rectangular frame mechanism, a comb-type vehicle platform assembly, and a lifting mechanism. The comb frame restricts the vehicle tires, and the lifting mechanism enables two-level parking of vehicles. The modular assembly allows it to adapt to different sites.
It achieves full utilization of space, reduces the size and weight of AGV robots, improves the flexibility and intelligence of robots, reduces equipment costs, and improves vehicle storage and retrieval efficiency.
Smart Images
Figure CN120906408A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of parking equipment, in particular to a two-layer comb tooth AGV parking equipment. BACKGROUND
[0002] With the rapid development of automatic parking technology and robot technology, "intelligent parking garage" is increasingly popular, AGV parking equipment is becoming a new star in the robot field, which brings new dawn to completely solve the parking problem, therefore, the application of AGV parking equipment will be more and more widely.
[0003] AGV parking equipment is an effective way to solve the parking problem. At present, most of the AGV parking equipment is single-layer structure. For some higher floors, if only single-layer is made, the space will be wasted. If multi-layer is used, an additional elevator and other auxiliary structures must be provided, or the AGV carrying robot is designed as multi-layer lifting type. The volume and weight of the robot will become very large, which will cause high equipment cost and low storage and retrieval efficiency. SUMMARY
[0004] The present application aims at the problem of large space waste caused by single-layer AGV parking equipment in the background art, and provides a two-layer comb tooth AGV parking equipment.
[0005] The technical scheme of the present application is a two-layer comb tooth AGV parking equipment, which comprises an AGV carrying robot, and further comprises: A rectangular frame mechanism, ground comb tooth racks are arranged on the left and right sides of the space inside the rectangular frame mechanism, the ground comb tooth racks comprise front ground comb tooth racks and rear ground comb tooth racks, which are used to limit the front wheels and rear wheels of the car respectively; A comb tooth car carrying plate assembly, which comprises left and right comb tooth racks arranged symmetrically and identically, and the left and right comb tooth racks are arranged in the left and right sides of the space inside the rectangular frame mechanism in the vertical direction; And a lifting mechanism arranged on the rectangular frame mechanism, which is used to drive the comb tooth car carrying plate assembly to move up and down.
[0006] Preferably, the front ground comb tooth racks and the rear ground comb tooth racks are arranged on the ground by expansion bolts for ground comb tooth racks, and are located directly below the left and right comb tooth racks respectively, the front comb tooth racks of the left and right comb tooth racks are staggered with the front ground comb tooth racks, and the rear comb tooth racks of the left and right comb tooth racks are staggered with the rear ground comb tooth racks.
[0007] Preferably, the rectangular frame mechanism comprises two front columns and two rear columns, left and right longitudinal beams arranged at the top of the two front columns and the top of the two rear columns, and front and rear cross beams arranged at the front and rear ends of the left and right longitudinal beams.
[0008] Preferably, the left comb tooth frame is provided with left guide assemblies at both ends, the right comb tooth frame is provided with right guide assemblies at both ends, the two left guide assemblies are slidably connected with the front and rear upright columns on the left side, and the two right guide assemblies are slidably connected with the front and rear upright columns on the right side.
[0009] Preferably, the left guide assembly comprises a main plate, guide wheels rotatably arranged at both ends of the main plate, a positioning wheel rotatably arranged in the middle of the main plate, and a left guide fixed seat arranged on the main plate and connected with the left comb tooth frame; the right guide assembly comprises a main plate, guide wheels rotatably arranged at both ends of the main plate, a positioning wheel rotatably arranged in the middle of the main plate, and a right guide fixed seat arranged on the main plate and connected with the right comb tooth frame.
[0010] Preferably, the lifting mechanism comprises a main transmission shaft horizontally and rotatably arranged at the top of the rectangular frame mechanism, large chain wheels arranged at both ends of the main transmission shaft, a lifting motor arranged on the rectangular frame mechanism, a motor chain wheel arranged on the output shaft of the lifting motor, a motor chain connecting the motor chain wheel and the large chain wheel, main lifting chain wheels arranged at both ends of the main transmission shaft and outside the large chain wheels, auxiliary chain wheels arranged at the rear ends of the left and right longitudinal beams, a circulating chain connecting the auxiliary chain wheels and the main lifting chain wheels, and front and rear lifting chains connecting the front and rear ends of the comb tooth vehicle plate assembly; guide chain wheels are arranged at the front and rear of the longitudinal edges of the rectangular frame mechanism, the rear lifting chain has its two ends connected with the upper half of the circulating chain and the rear side of the comb tooth vehicle plate assembly respectively, the rear lifting chain changes direction by 90 degrees through the guide chain wheels, the front lifting chain has its two ends connected with the front side of the comb tooth vehicle plate assembly and the lower half of the circulating chain respectively, and the front lifting chain changes direction by 90 degrees through the guide chain wheels.
[0011] Preferably, upper and lower limit switches are arranged on the upper part of the rectangular frame mechanism, and corresponding bump blocks are arranged on the circulating chain, so as to detect the circulating distance of the chain by bumping the upper and lower limit switches.
[0012] Preferably, anti-falling devices and loose chain detection devices are arranged at both ends of the rectangular frame mechanism, anti-falling rings are arranged at both ends of the left and right comb tooth frames, the hooks of the anti-falling devices are hooked on the anti-falling rings, and the sliding blocks of the loose chain detection devices are in contact with the front and rear lifting chains.
[0013] Compared with the prior art, the application has the beneficial technical effects that vehicles can be parked in two layers, the AGV parking equipment frame structure can be assembled in a modular manner in the transverse direction, can adapt to different site requirements, and is more fully used in space. Because the AGV parking robot does not need to be lifted, the volume and weight of the robot are significantly reduced, the robot moves in the transverse direction and longitudinal direction, rotates, automatically adjusts the posture, is more flexible, is more intelligent, is used in a wider range of environments, effectively solves the problem of space waste in single-layer parking, and has the advantages of simple structure, low cost and high efficiency. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 Structure schematic diagram of an embodiment of the application; Figure 2 Structure schematic diagram of an embodiment of the application; Figure 1 Structure schematic diagram of an embodiment of the application; Figure 3 Structure schematic diagram of an embodiment of the application; Figure 1 Structure schematic diagram of an embodiment of the application; Figure 4 Structure schematic diagram of an embodiment of the application; Figure 5 Structure schematic diagram of an embodiment of the application; Figure 6 Structure schematic diagram of an embodiment of the application; Figure 7 Structure schematic diagram of an embodiment of the application; Figure 8 Structure schematic diagram of an embodiment of the application; Figure 9 Structure schematic diagram of an embodiment of the application; Figure 10 Structure schematic diagram of an embodiment of the application; Figure 11 Structure schematic diagram of an embodiment of the application; 1, AGV carrying robot; 2, front upright column; 3, rear upright column; 4, left longitudinal beam; 5, right longitudinal beam; 6, front transverse beam; 7, rear transverse beam; 8, comb tooth vehicle carrying plate assembly; 9, main transmission shaft; 10, large chain wheel; 11, lifting motor; 12, motor chain wheel; 13, motor chain; 14, main lifting chain wheel; 15, circulating chain; 16, front lifting chain; 17, rear lifting chain; 18, upper position-limiting switch; 19, lower position-limiting switch; 20, anti-falling device; 21, loose chain detection device; 22, left comb tooth rack; 23, right comb tooth rack; 24, front ground comb tooth rack; 25, rear ground comb tooth rack; 26, left guide assembly; 27, guide wheel; 28, positioning wheel; 29, right guide assembly; 30, left guide fixed seat; 31, right guide fixed seat; 32, bearing seat; 33, motor tensioning bolt; 34, inner side guide fixed plate; 35, outer side guide fixed plate; 36, expansion bolt for upright column; 37, expansion bolt for ground comb tooth rack. DETAILED DESCRIPTION
[0015] Embodiment one; the application proposes a two-layer comb tooth type AGV parking equipment, including AGV handling robot 1; also includes: The rectangular frame mechanism is provided with ground comb tooth racks on the left and right sides of the internal space ground, and the ground comb tooth racks include front ground comb tooth racks 24 and rear ground comb tooth racks 25, which are used to limit the front wheels and rear wheels of the car; as shown in Figure 1 、 Figure 8 and Figure 9 ; The comb tooth vehicle carrying plate assembly 8 includes left comb tooth racks 22 and right comb tooth racks 23 which are the same structure but symmetrically arranged, and the left comb tooth racks 22 and the right comb tooth racks 23 are slidably arranged on the left and right sides of the internal space of the rectangular frame mechanism in the vertical direction. Taking the left comb tooth rack 22 as an example, the front part of the left comb tooth rack 22 is two parallel front comb tooth racks for front wheel positioning, and the rear part is a plurality of parallel rear comb tooth racks which can adapt to the parking of cars with different wheelbase; The front ground comb tooth racks 24 and the rear ground comb tooth racks 25 are arranged on the ground by using the expansion bolts 37 for ground comb tooth racks, and are located directly below the left comb tooth rack 22 and the right comb tooth rack 23 respectively. The front comb tooth racks of the left comb tooth rack 22 and the right comb tooth rack 23 are staggered with the front ground comb tooth racks 24, and the rear comb tooth racks of the left comb tooth rack 22 and the right comb tooth rack 23 are staggered with the rear ground comb tooth racks 25, so as to minimize the height of the comb tooth rack. Staggered distribution not only reduces the gap between the comb tooth racks, but also better protects the car tires, which is beneficial to the AGV handling robot 1 to replace the car on the comb tooth vehicle carrying plate assembly 8; as shown in Figure 2 、 Figure 3 and Figure 5 ; The lifting mechanism is arranged on the rectangular frame mechanism and is used to drive the comb tooth vehicle carrying plate assembly 8 to move up and down; as shown in Figure 1 ; The control system is connected with the lifting mechanism and the AGV handling robot 1.
[0016] Embodiment two; the application proposes a two-layer comb tooth type AGV parking equipment, compared with embodiment one, this embodiment details the structure of the rectangular frame mechanism and the comb tooth vehicle carrying plate assembly 8; As shown in Figure 1 and Figure 3As shown, the rectangular frame mechanism includes two front uprights 2 and two rear uprights 3, left and right longitudinal beams 4 and 5 arranged at the top of the two front uprights 2 and the two rear uprights 3 respectively, and front and rear cross beams 6 and 7 arranged at the front and rear ends of the left and right longitudinal beams 4 and 5; Specifically, the front uprights 2 and the rear uprights 3 are fixed on the concrete floor of the parking lot by using expansion bolts 36 for uprights, and the left and right longitudinal beams 4 and 5 are connected to the top of the front uprights 2 and the rear uprights 3 by using bolts respectively; The front and rear cross beams 6 and 7 are fixed at the two ends of the left and right longitudinal beams 4 and 5 to form a stable rectangular frame assembly.
[0017] As shown in Figure 2 As shown, the left comb tooth frame 22 is provided with a left guide assembly 26 at the front and rear ends, the right comb tooth frame 23 is provided with a right guide assembly 29 at the front and rear ends, and the two left guide assemblies 26 are slidably connected with the front upright 2 and the rear upright 3 on the left side, and the two right guide assemblies 29 are slidably connected with the front upright 2 and the rear upright 3 on the right side.
[0018] As shown in Figures 5-7 Further, the left guide assembly 26 includes a main plate, guide wheels 27 rotatably arranged at the upper and lower ends of the main plate, a positioning wheel 28 rotatably arranged in the middle of the main plate, and a left guide fixed seat 30 arranged on the main plate, the left guide fixed seat 30 being connected with the left comb tooth frame 22; The right guide assembly 29 includes a main plate, guide wheels 27 rotatably arranged at the upper and lower ends of the main plate, a positioning wheel 28 rotatably arranged in the middle of the main plate, and a right guide fixed seat 31 arranged on the main plate, the right guide fixed seat 31 being connected with the right comb tooth frame 23; Specifically, the left and right comb tooth frames 22 and 23 are provided with inner and outer guide fixed plates 34 and 35 at the front and rear ends, if the guide assembly of the frame structure is arranged on the inner side of the upright, the two left guide fixed seats 30 need to be fixed on the two inner guide fixed plates 34 at the front and rear ends of the left comb tooth frame 22, and the two right guide fixed seats 31 need to be fixed on the two inner guide fixed plates 34 at the front and rear ends of the right comb tooth frame 23; If the guide assembly of the frame structure is arranged on the outer side of the upright, the two left guide fixed seats 30 need to be fixed on the two outer guide fixed plates 35 at the front and rear ends of the left comb tooth frame 22, and the two right guide fixed seats 31 need to be fixed on the two outer guide fixed plates 35 at the front and rear ends of the right comb tooth frame 23.
[0019] Example three; the two-layer comb tooth type AGV parking equipment proposed by the present application, compared with example two, the structure of the lifting mechanism is introduced in detail; As shown in Figure 4As shown, the lifting mechanism includes a main transmission shaft 9 transversely and rotationally arranged at the top of the rectangular frame mechanism, a large sprocket 10 arranged at both ends of the main transmission shaft 9, a lifting motor 11 arranged on the rectangular frame mechanism, a motor sprocket 12 arranged on the output shaft of the lifting motor 11, a motor chain 13 drivingly connecting the motor sprocket 12 and the large sprocket 10, a main lifting sprocket 14 arranged at both ends of the main transmission shaft 9 and outside the large sprocket 10, an auxiliary sprocket arranged at the rear end of the left and right longitudinal beams 4 and 5, a circulating chain 15 drivingly connecting the auxiliary sprocket and the main lifting sprocket 14, and a front lifting chain 16 and a rear lifting chain 17 connecting the front and rear ends of the comb tooth vehicle carrying plate assembly 8; the rectangular frame mechanism is provided with guide sprockets at the front and rear of the longitudinal edges, the rear lifting chain 17 is connected to the upper half of the circulating chain 15 and the rear side of the comb tooth vehicle carrying plate assembly 8 at both ends respectively, the rear lifting chain 17 changes direction by 90 degrees through the guide sprocket, the front lifting chain 16 is connected to the front side of the comb tooth vehicle carrying plate assembly 8 and the lower half of the circulating chain 15 at both ends respectively, and the front lifting chain 16 changes direction by 90 degrees through the guide sprocket; in this embodiment, the main transmission shaft is fixed to the inner side surfaces of the left and right longitudinal beams 4 and 5 through two bearing seats 32 and is below the front cross beam 6; the lifting motor 11 is fixed on the front cross beam 6 by using a motor tensioning bolt 33, so that the motor sprocket 12 and the large sprocket 10 are on a vertical plane.
[0020] As shown in Figure 1 The right longitudinal beam 5 of the rectangular frame mechanism has a similar structure to the left longitudinal beam 4, and in this embodiment, the upper part of the right longitudinal beam 5 is provided with an upper limit switch 18 and a lower limit switch 19, and the circulating chain 15 on the right longitudinal beam 5 is provided with corresponding bump blocks to detect the circulating distance of the chain by bumping the upper and lower limit switches 18 and 19, so as to determine whether the comb tooth vehicle carrying plate assembly 8 is in the up or down position.
[0021] As shown in Figure 1 Further, the front and rear ends of the left and right longitudinal beams 4 and 5 of the rectangular frame mechanism are provided with anti-falling devices 20 and loose chain detection devices 21, the front and rear ends of the left and right comb tooth racks 22 and 23 are provided with anti-falling rings, the hooks of the anti-falling devices 20 hook the anti-falling rings, the anti-falling devices 20 are electrically controlled, and the existing technology is that the hook is opened when electricity is supplied and is reset to hook the anti-falling ring when electricity is cut off, the anti-falling devices 20 are directly purchased from the market, which is the existing technology and will not be described here, the slider on the loose chain detection device 21 is in contact with the front and rear lifting chains 16 and 17, and when the chain is loose or broken, a signal is sent to the control system to prevent the comb tooth vehicle carrying plate assembly 8 from tilting and causing the vehicle to slide or even roll over.
[0022] In summary, when the vehicle needs to be accessed, the control system of the parking equipment connects the power supply of the anti-falling device 20, the hook of the anti-falling device 20 is opened, then the system connects the power supply of the lifting motor 11, the motor chain wheel 12 of the lifting motor 11 drives the main transmission shaft 9 to rotate through the motor chain 13, thereby driving the circulating chain 15 connected to the main lifting chain wheel 14 to circulate, the circulation of the circulating chain 15 drives the two front lifting chains 16 and the two rear lifting chains 17 to synchronously ascend and descend, so that the comb tooth car plate assembly 8 fixed on the lifting chain ascends and descends, when the comb tooth car plate assembly 8 ascends to the position, the up-to-position limit switch 18 acts and sends a signal, the control system cuts off the power supply of the lifting motor 11, and the hook of the anti-falling device 20 resets to hook the safety member on the comb tooth car plate assembly 8, thereby protecting the parking safety. Conversely, the comb tooth car plate assembly 8 descends until the down-to-position limit switch 19 acts, and the comb tooth car plate assembly 8 descends to the ground. The control system instructs the AGV carrying robot 1 to run to carry the vehicle out of or into the comb tooth car plate assembly 8.
[0023] If it is a vehicle taking action, the AGV carrying robot 1 carries the vehicle to the equipment entrance, and the driver takes the vehicle out. If it is a vehicle storing action, after the AGV carrying robot 1 carries the vehicle to the comb tooth car plate assembly 8, the comb tooth car plate assembly 8 ascends to the position, and the AGV carrying robot 1 can further carry the vehicle to the front ground comb tooth rack 24 and the rear ground comb tooth rack 25 at the lower part of the parking equipment, thereby realizing that the upper layer and the lower layer of the parking equipment store vehicles.
[0024] If the vehicle of the upper layer comb tooth car plate assembly 8 needs to be accessed, the AGV carrying robot 1 needs to move the vehicle parked on the front ground comb tooth rack 24 and the rear ground comb tooth rack 25 at the lower layer away, the control system lowers the comb tooth car plate assembly 8 to the ground layer, and the AGV carrying robot 1 carries the vehicle parked on the comb tooth car plate assembly 8 away to the entrance.
[0025] As shown in Figure 10 and 11 , it is a frame structure schematic diagram in the implementation project process. The number of parking spaces of each layer of the AGV parking equipment needs dozens or hundreds in the project implementation process, if a plurality of two-layer comb tooth type parking equipment is arranged in a relatively large area, the frame structure needs to be 1 column, 2 columns, 3 columns, and different combinations of the above structure, for example, if 5 columns of parking spaces are needed in the project, 2 columns and 3 columns can be combined into 5 columns according to Figure 10 and 11 , and the standard modular design operation can be performed.
[0026] The embodiments of the present application are described in detail above with reference to the accompanying drawings, but the present application is not limited to the embodiments, and various changes can be made by those skilled in the art within the scope of knowledge acquired from the present disclosure, without departing from the spirit of the present application.
Claims
1. A two-layer comb tooth type AGV parking apparatus comprising an AGV carrying robot (1); characterized in that, Also include: The rectangular frame mechanism is internally provided with ground comb tooth racks on the left and right sides of the ground surface, and the ground comb tooth racks include front ground comb tooth racks (24) and rear ground comb tooth racks (25) for limiting the front wheels and rear wheels of the car respectively; The comb tooth vehicle carrying plate assembly (8) includes left and right comb tooth racks (22) and (23) which are the same in structure but symmetrically arranged, and are slidably arranged in the left and right sides of the rectangular frame mechanism in the vertical direction; And a lifting mechanism arranged on the rectangular frame mechanism for driving the comb tooth vehicle carrying plate assembly (8) to move up and down.
2. The two-tier comb tooth AGV parking apparatus according to claim 1, characterized in that, The front ground comb tooth racks (24) and the rear ground comb tooth racks (25) are arranged on the ground by ground comb tooth rack expansion bolts (37), and are located directly below the left and right comb tooth racks (22) and (23) respectively, and the front comb tooth racks of the left and right comb tooth racks (22) and (23) are staggered with the front ground comb tooth racks (24), and the rear comb tooth racks of the left and right comb tooth racks (22) and (23) are staggered with the rear ground comb tooth racks (25).
3. The two-tier comb tooth AGV parking apparatus according to claim 1, characterized in that, The rectangular frame mechanism includes two front upright columns (2) and two rear upright columns (3), left and right longitudinal beams (4) and (5) arranged at the top of the two front upright columns (2) and the two rear upright columns (3), and front and rear cross beams (6) and (7) arranged at the front and rear ends of the left and right longitudinal beams (4) and (5).
4. The two-tier comb tooth AGV parking apparatus according to claim 3, characterized in that, The left and right comb tooth racks (22) and (23) are provided with left and right guide assemblies (26) and (29) at the front and rear ends respectively, and the two left guide assemblies (26) are slidably connected with the front and rear upright columns (2) and (3) on the left side, and the two right guide assemblies (29) are slidably connected with the front and rear upright columns (2) and (3) on the right side.
5. The two-tier comb tooth AGV parking apparatus according to claim 4, characterized in that, The left guide assembly (26) includes a main plate, guide wheels (27) rotatably arranged at the upper and lower ends of the main plate, a positioning wheel (28) rotatably arranged in the middle of the main plate, and a left guide fixed seat (30) arranged on the main plate, and the left guide fixed seat (30) is connected with the left comb tooth rack (22); the right guide assembly (29) includes a main plate, guide wheels (27) rotatably arranged at the upper and lower ends of the main plate, a positioning wheel (28) rotatably arranged in the middle of the main plate, and a right guide fixed seat (31) arranged on the main plate, and the right guide fixed seat (31) is connected with the right comb tooth rack (23).
6. The two-tier comb tooth AGV parking apparatus according to claim 1, characterized in that, The lifting mechanism comprises a main transmission shaft (9) transversely and rotatably arranged on the top of the rectangular frame mechanism, a large sprocket (10) arranged at both ends of the main transmission shaft (9), a lifting motor (11) arranged on the rectangular frame mechanism, a motor sprocket (12) arranged on the output shaft of the lifting motor (11), a motor chain (13) drivingly connecting the motor sprocket (12) and the large sprocket (10), a main lifting sprocket (14) arranged at both ends of the main transmission shaft (9) and outside the large sprocket (10), an auxiliary sprocket arranged at the rear end of the left and right longitudinal beams (4, 5), a circulating chain (15) drivingly connecting the auxiliary sprocket and the main lifting sprocket (14), and a front lifting chain (16) and a rear lifting chain (17) connecting the front and rear ends of the comb tooth car plate assembly (8); the rectangular frame mechanism is provided with a guide sprocket at the front and rear of the longitudinal edge, the rear lifting chain (17) is connected with the upper half of the circulating chain (15) and the rear side of the comb tooth car plate assembly (8) at both ends, respectively, the rear lifting chain (17) changes the direction by ninety degrees through the guide sprocket, the front lifting chain (16) is connected with the front side of the comb tooth car plate assembly (8) and the lower half of the circulating chain (15) at both ends, respectively, and the front lifting chain (16) changes the direction by ninety degrees through the guide sprocket.
7. The two-tiered comb tooth AGV parking apparatus according to claim 6, characterized in that, The upper part of the rectangular frame mechanism is provided with an upper limit switch (18) and a lower limit switch (19), the circulating chain (15) is provided with corresponding bump blocks, and the circulating distance of the chain is detected by bumping the upper limit switch (18) and the lower limit switch (19).
8. The two-tier comb tooth AGV parking apparatus according to claim 6, characterized in that, The front and rear ends of the rectangular frame mechanism are provided with a falling prevention device (20) and a loose chain detection device (21), the front and rear ends of the left and right comb tooth racks (22, 23) are provided with anti-falling rings, the hooks of the falling prevention device (20) are hooked on the anti-falling rings, and the sliding blocks of the loose chain detection device (21) are in contact with the front lifting chain (16) and the rear lifting chain (17).