AGV parking robot

Abstract

An AGV parking robot comprises two vehicle frames, the two vehicle frames are connected through a connecting towing cable, and a driving wheel assembly is fixedly installed below each vehicle frame. Two electric telescopic rods are installed in an inner cavity of the frame, and a clamping arm is fixedly installed at the telescopic end of each electric telescopic rod. A screw rod is rotationally mounted in the middle of an inner cavity of the frame through a screw rod bearing seat; one end of the lead screw is in transmission connection with a lead screw motor, the outer surface of the lead screw is in threaded connection with a lead screw sliding block, a transverse rod is fixedly installed above the lead screw sliding block, the two ends of the transverse rod are connected with rotary clamping arms through transmission rods, and the left side face and the right side face of the frame are rotationally connected with the rotary clamping arms. According to the wheel clamping device, the defects in the prior art are overcome, the electric telescopic rod is adopted to drive the clamping arms to directly stretch out, then the lead screw motor is used for driving the lead screw to rotate, and then through the transmission effect of the lead screw sliding block, the transverse rod and the transmission rod, the rotating clamping arms rotate and are matched with the clamping arms to clamp wheels.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile handling equipment, in particular to an AGV parking robot. Background Art

[0002] With the rapid development of the national economy, the number of cars on the road and abroad has increased rapidly, and parking has become increasingly difficult. Currently, there are three main types of car handling robots used in mechanical parking garages: plate-type handling robots, comb-type handling robots, and gripper-tire handling robots. Plate-type handling robots have low efficiency in storing and retrieving cars and are relatively expensive, making them rarely used today. Comb-type handling robots require a comb-type parking rack in their parking spaces, which requires a high floor height and high precision when docking the equipment, reducing parking efficiency and compromising safety. Gripping-tire car handling robots, which do not require a plate or a special parking space, are more efficient, have a simple structure, and are easy to install.

[0003] Currently, common car handlers typically use a combination of ramps, guide rails, gears, and rods to clamp tires. This results in unstable vehicle clamping and prone to vibration, which can lead to serious consequences. Furthermore, the complex platform structure of this type of system also results in a large parking robot. Utility Model Content

[0004] In response to the deficiencies of the existing technology, the utility model provides an AGV parking robot, which is more compact, has a more ingenious structure, reduces size and thickness, and operates more stably compared to the existing technology.

[0005] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] An AGV parking robot comprises two frames connected by a connecting tow cable, and a driving wheel assembly is fixedly mounted under each frame;

[0007] Two electric telescopic rods are symmetrically installed in the middle of the inner cavity of the frame, and guide sleeves are fixedly embedded in the left and right side surfaces of the frame. A clamping arm is fixedly installed at the telescopic end of each electric telescopic rod, and the two clamping arms respectively pass through the two guide sleeves and slide left and right along the guide sleeves; a screw is rotatably installed in the middle of the inner cavity of the frame through a screw bearing seat, and the screw is arranged along the front and rear axial directions of the frame; one end of the screw is connected to the screw motor for transmission, and the outer surface of the screw is connected to a screw slider through a thread, and a cross bar is fixedly installed above the screw slider, and the cross bar is arranged perpendicular to the screw, and the two ends of the cross bar are rotatably connected to one end of the transmission rod through a rotating shaft, and the left and right side surfaces of the frame are rotatably connected to the rotating clamping arm through a turntable bearing, and the other end of the transmission rod is rotatably connected to the rotating clamping arm through a rotating shaft; the two rotating clamping arms are directly opposite to the two clamping arms front and back.

[0008] Preferably, the screw motor is fixedly installed in the middle of the inner cavity of the frame, the driving shaft of the screw motor is fixedly installed with a driving wheel, one end of the screw passes through the screw bearing seat and is fixedly installed with a driven wheel, and the driven wheel and the driving wheel are connected by a transmission belt.

[0009] Preferably, slide rails are fixedly installed on both sides of the upper surface of the frame, and the slide rails are arranged parallel to the screw rods. Slide blocks are fixedly installed on both ends of the lower surface of the cross bar, and the cross bar is slidably connected to the top of the slide rails through the slide blocks.

[0010] Preferably, the side of the rotating clamping arm opposite to the clamping arm is movably connected to a clamping arm roller via a pin.

[0011] This utility model provides an AGV parking robot. It has the following beneficial effects: An electric telescopic rod is used to drive the clamping arm to extend directly, which is then driven by a lead screw motor to rotate. This is then driven by a lead screw slider, a crossbar, and a transmission rod to rotate the clamping arm, which then cooperates with the clamping arm to clamp the wheel. Compared to existing technologies, this robot is more compact, has a more ingenious structure, is smaller in size and thickness, and operates more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for describing the prior art.

[0013] Figure 1 A schematic structural diagram of the utility model;

[0014] Figure 2 A top view of the frame of the utility model;

[0015] Figure 3 A schematic diagram of the structure of the utility model during use;

[0016] Description of the numbers in the figure:

[0017] 1. Frame; 2. Connecting tow cable; 3. Driving wheel assembly; 5. Electric telescopic rod; 6. Guide sleeve; 7. Clamping arm; 8. Screw bearing seat; 9. Screw; 10. Driving motor; 11. Screw slider; 12. Cross bar; 13. Transmission rod; 14. Turntable bearing; 15. Rotating clamping arm; 16. Transmission belt; 17. Slide rail; 18. Slider; 19. Clamping arm roller. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention.

[0019] Example 1, as Figure 1-3 As shown, an AGV parking robot includes two frames 1, which are connected by a connecting tow cable 2, and a driving wheel assembly 3 is fixedly installed under each frame 1;

[0020] Two electric telescopic rods 5 are symmetrically installed in the middle of the inner cavity of the frame 1. Guide sleeves 6 are fixedly embedded on the left and right sides of the frame 1. A clamping arm 7 is fixedly installed on the telescopic end of each electric telescopic rod 5. The two clamping arms 7 respectively pass through the two guide sleeves 6 and slide left and right along the guide sleeves 6; a screw 9 is rotatably installed on the middle of the inner cavity of the frame 1 through a screw bearing seat 8, and the screw 9 is arranged along the front and rear axial direction of the frame 1; one end of the screw 9 is connected to the screw motor 10 for transmission, and a screw slider 11 is connected to the outer surface of the screw 9 by a thread. A cross bar 12 is fixedly installed above the screw slider 11, and the cross bar 12 is arranged perpendicular to the screw 9. The two ends of the cross bar 12 are rotatably connected to one end of the transmission rod 13 through a rotating shaft. The left and right sides of the frame 1 are rotatably connected to a rotating clamping arm 15 through a turntable bearing 14, and the other end of the transmission rod 13 is rotatably connected to the rotating clamping arm 15 through a rotating shaft; the two rotating clamping arms 15 are opposite to the two clamping arms 7 front and back.

[0021] Working principle:

[0022] During operation, the controller sends a signal to the drive wheel assembly 3 to control the drive wheel assembly 3 to drive the entire vehicle frame 1 to a designated position under the bottom of the vehicle to be parked. Then, the telescopic ends of the two electric telescopic rods 5 are controlled to extend the clamping arms 7, so that the two clamping arms 7 on the left and right sides of the vehicle frame 1 respectively pass through the guide sleeves 6 and extend outside the vehicle frame 1, so that the clamping arms 7 are first positioned on one side of the vehicle wheel. At the same time, the screw motor 10 is controlled to rotate to drive the screw 9, which in turn drives the screw slider 11 to slide along the axial direction of the screw 9, and then drives the cross bar 12 to slide in the front-to-back direction. The transmission rods 13 at both ends of the cross bar 12 drive the rotating clamping arms 15 to rotate around the turntable bearings 14, so that the rotating clamping arms 15 rotate to the other side of the vehicle wheel. The rotating clamping arms 15 and the clamping arms 7 cooperate to clamp the wheel. Then, the drive wheel assembly 3 is controlled to drive the entire vehicle frame 1 to move to the parking space.

[0023] Unlike the prior art, which utilizes a combination of ramp guides, gears, and rods, the present invention utilizes an electric telescopic rod 5 to directly extend the clamping arm 7, which is then driven by a screw motor 10 to rotate the screw 9. This is then driven by a screw slider 11, a crossbar 12, and a transmission rod 13, causing the rotating clamping arm 15 to rotate and cooperate with the clamping arm 7 to clamp the wheel. This makes the present invention more compact and ingenious than the prior art, reducing size and thickness, and providing more stable operation.

[0024] In the second embodiment, as a further preferred embodiment of the first embodiment, a screw motor 10 is fixedly mounted in the middle of the inner cavity of the vehicle frame 1. The drive shaft of the screw motor 10 is in transmission connection with the input shaft of the reducer. The output shaft of the reducer is fixedly mounted with a driving pulley. One end of the screw 9 passes through the screw bearing seat 8 and is fixedly mounted with a driven pulley. The driven pulley and the driving pulley are connected by a transmission belt 16. Therefore, the screw motor 10 and the reducer can be arranged parallel to the screw 9, making the installation of the various components inside the entire vehicle frame 1 more compact, thereby further reducing the size of the vehicle frame 1.

[0025] Embodiment 3, as a further preferred embodiment of embodiment 1, has slide rails 17 fixedly mounted on both left and right sides of the upper surface of the vehicle frame 1. The slide rails 17 are arranged parallel to the screw rod 9. Slide blocks 18 are fixedly mounted on both ends of the lower surface of the cross bar 12. The cross bar 12 is slidably connected to the top of the slide rails 17 via the slide blocks 18. By providing the slide rails 17, the two ends of the cross bar 12 can slide over the slide rails 17 via the slide blocks 18, thereby effectively ensuring the stability of the cross bar 12 during the sliding process through the guiding effect of the slide rails 17.

[0026] Embodiment 4, as a further preferred embodiment of embodiment 1, the side of the rotating clamping arm 15 opposite to the clamping arm 7 is movably connected to a clamping arm roller 19 through a pin. The clamping arm roller 19 can reduce the resistance during clamping and lifting to avoid damage to the tire.

[0027] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An AGV parking robot, comprising two frames (1), the two frames (1) being connected via a connecting tow cable (2), and a driving wheel assembly (3) being fixedly mounted below each frame (1); Its characteristics are: Two electric telescopic rods (5) are symmetrically installed in the middle of the inner cavity of the frame (1), and the left and right sides of the frame (1) are fixedly embedded with guide sleeves (6). The telescopic end of each electric telescopic rod (5) is installed with a clamping arm (7), and the two clamping arms (7) respectively pass through the two guide sleeves (6) and slide left and right along the guide sleeves (6); a screw rod (9) is rotatably installed in the middle of the inner cavity of the frame (1) through a screw rod bearing seat (8), and the screw rod (9) is arranged along the front and rear axial direction of the frame (1); one end of the screw rod (9) is transmission-connected to the screw motor (10), so that The outer surface of the screw rod (9) is connected to a screw rod slider (11) through a thread, and a cross bar (12) is fixedly installed above the screw rod slider (11). The cross bar (12) is arranged perpendicular to the screw rod (9), and the two ends of the cross bar (12) are rotatably connected to one end of a transmission rod (13) through a rotating shaft. The left and right side surfaces of the frame (1) are rotatably connected to a rotating clamp arm (15) through a turntable bearing (14), and the other end of the transmission rod (13) is rotatably connected to the rotating clamp arm (15) through a rotating shaft; the two rotating clamp arms (15) are directly opposite to the two clamp arms (7) front and back.

2. The AGV parking robot according to claim 1, characterized in that: The screw motor (10) is fixedly mounted in the middle of the inner cavity of the vehicle frame (1); a driving wheel is fixedly mounted on the driving shaft of the screw motor (10); one end of the screw (9) passes through the screw bearing seat (8) and is fixedly mounted on a driven wheel; the driven wheel and the driving wheel are connected by a transmission belt (16).

3. The AGV parking robot according to claim 1, characterized in that: Slide rails (17) are fixedly installed on both left and right sides of the upper surface of the vehicle frame (1), and the slide rails (17) are arranged parallel to the screw rod (9). Slide blocks (18) are fixedly installed on both ends of the lower surface of the cross bar (12), and the cross bar (12) is slidably connected to the top of the slide rails (17) through the slide blocks (18).

4. The AGV parking robot according to claim 1, characterized in that: The side of the rotating clamping arm (15) opposite to the clamping arm (7) is movably connected to a clamping arm roller (19) via a pin shaft.

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