Parking AGV carrying device

Abstract

A parking AGV carrying device comprises a vehicle body, walking driving wheels are installed at the lower end of the vehicle body, and clamping carriers are installed on the left side wall and the right side wall of an inner cavity of the vehicle body; the clamping carrier comprises a lifting frame and two clamping arms, a lead screw motor is installed on the lifting frame, an output shaft of the lead screw motor is in transmission connection with a ball screw, a lifting base is movably connected to the outer surface of the ball screw through a lead screw nut, an installation base is arranged on the front side face of the lifting base, and a servo motor is installed above the installation base. Rotating bases are arranged on the front side and the rear side of the lower portion of the mounting base correspondingly, output shafts of the two servo motors penetrate through the rotating bases correspondingly and are connected with the ends of the two clamping arms correspondingly, and guide slopes are arranged on the opposite faces of the two clamping arms correspondingly. According to the utility model, the defects in the prior art are overcome, the parking efficiency is greatly improved, the error of manual operation is reduced, and the safety and the stability of an automobile in the carrying process are further guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automobile handling, and particularly relates to a parking AGV handling device. BACKGROUND

[0002] With the rapid development of national economy, the domestic and foreign automobile possession increases rapidly, and the continuous increase of automobile production capacity faces more problems for the automobile production factory.

[0003] And the existing automobile handling mode is that the driver gets on the bus to the position of the automobile, drives the automobile to the corresponding position of the parking lot, and then the bus sends the driver to the position of the automobile again; such a cycle is repeated. The bus sends the driver to the end of the automobile, and the process is time-consuming and inefficient. In addition, the frequent driver's back and forth also increases the labor intensity and safety risk. UTILITY MODEL CONTENT

[0004] In view of the deficiencies of the prior art, the utility model provides a parking AGV handling device, which overcomes the deficiencies of the prior art, is reasonable in design, greatly improves the parking efficiency, reduces the error of manual operation, and further guarantees the safety and stability of the automobile in the handling process.

[0005] To achieve the above purpose, the utility model realizes the following technical scheme:

[0006] A parking AGV handling device, comprising a vehicle body, the vehicle body is a gantry structure, the lower end of the vehicle body is provided with walking driving wheels on both sides, and the inner cavity of the vehicle body is provided with two groups of clamping handlers on the left and right side walls; four clamping handlers are respectively corresponding to four tires of the automobile;

[0007] The clamping handler comprises a lifting frame and two clamping arms, the lifting frame is fixedly embedded in the side wall of the inner cavity of the vehicle body, a motor mounting frame is fixedly installed on the upper end of the lifting frame, a lead screw motor is fixedly installed on the motor mounting frame, the output shaft of the lead screw motor is in transmission connection with a ball screw, the ball screw is vertically rotatably installed in the lifting frame through a bearing, a lifting seat is movably connected with the outer surface of the ball screw through a lead screw nut, an installation seat is arranged on the front side of the lifting seat, two groups of servo motors are fixedly installed above the installation seat, rotating seats are arranged below the installation seat on the front and rear sides, the output shafts of the two groups of servo motors are respectively connected with the ends of the two clamping arms through the rotating seats, and the opposite surfaces of the two clamping arms are provided with guide inclined surfaces.

[0008] Preferably, a plurality of guide rollers are rotatably connected to the guide inclined surfaces through rotating shafts.

[0009] Preferably, the lifting seat is provided with a guide wheel on both sides through a rotating shaft, and the inner wall of the lifting frame is provided with a sliding rail on both sides, and the guide wheel is movably connected in the sliding rail.

[0010] Preferably, the lifting frame is provided with a protective cover fixedly installed on the outer surface.

[0011] Preferably, the vehicle body is provided with a laser navigation sensor and a Beidou navigation sensor on the top of the front and rear sides, a plurality of obstacle avoidance sensors are installed on the outer surface of the vehicle body, an audible and visual alarm is installed on the surface of the vehicle body, a central control system is installed in the vehicle body, signal output ends of the laser navigation sensor, the Beidou navigation sensor and the obstacle avoidance sensor are connected with signal input ends of the central control system, and signal output ends of the central control system are connected with signal control ends of the walking driving wheel, the lead screw motor, the servo motor and the audible and visual alarm respectively.

[0012] The utility model provides a parking AGV handling device, has the following beneficial effect: through the output shaft of servo motor drives the clamping arm rotation, to make two clamping arms close to each other, hold the car tire tightly, and through the guide inclined plane structure opposite two clamping arms, to make the car tire along the guide inclined plane slip into between two clamping arms, to hold the car tire and support, ensure that clamping is stable and does not damage the tire. Again through the control lead screw motor starts, to drive the ball screw rotation, in turn drive lifting seat and clamping arm synchronous along the axial direction of ball screw and move upward, in turn make the car tire separate from the ground, realize the overall promotion of car. Subsequently through walking driving wheel drive device and car move to the parking space of parking according to path planning. After that control lead screw motor synchronous reverse, to make lifting seat and clamping arm descend along the axial direction of ball screw, until the car tire stable contact ground, control clamping arm gradually open again, release the car tire. So that the car is parked in the predetermined position stably, the whole process is efficient and accurate, ensures the safe and intact handling of car. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme in the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the prior art description.

[0014] Fig. 1 The structural schematic diagram of the utility model;

[0015] Fig. 2 The structural schematic diagram of the clamping carrier and the protective cover in the utility model;

[0016] Fig. 3 The structural schematic diagram of the clamping carrier in the utility model;

[0017] Explanation of reference numerals in the drawing:

[0018] 1. Vehicle body; 2. Drive wheel; 3. Clamping and handling device; 4. Lifting frame; 5. Clamping arm; 6. Lead screw motor; 7. Ball screw; 8. Lead screw nut; 9. Lifting seat; 10. Mounting seat; 11. Servo motor; 12. Rotating seat; 13. Motor mounting bracket; 14. Guide ramp; 15. Guide roller; 16. Guide wheel; 17. Slide rail; 18. Protective cover; 19. Laser navigation sensor; 20. Obstacle avoidance sensor; 21. Audible and visual alarm; 22. Central control system; 23. Beidou navigation sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0020] Example 1, as Figs. 1-3 As shown, a parking AGV transport device is used for long-distance transportation and transport of automobiles; it includes a vehicle body 1, which is a gantry structure. Each of the two lower sides of the vehicle body 1 is equipped with a driving wheel 2. Two sets of clamping and transporting devices 3 are installed on the left and right side walls of the inner cavity of the vehicle body 1 respectively; the four clamping and transporting devices 3 correspond to the four tires of the automobile respectively.

[0021] The clamping and handling device 3 includes a lifting frame 4 and two clamping arms 5. The lifting frame 4 is fixedly embedded in the inner cavity side wall of the vehicle body 1. A motor mounting bracket 13 is fixedly installed on the upper end of the lifting frame 4. A lead screw motor 6 is fixedly installed on the motor mounting bracket 13. The output shaft of the lead screw motor 6 is connected to a ball screw 7 for transmission. The ball screw 7 is vertically rotated and installed in the middle of the lifting frame 4 through a bearing. A lifting seat 9 is movably connected to the outer surface of the ball screw 7 through a lead screw nut 8. A mounting seat 10 is provided on the front side of the lifting seat 9. Two sets of servo motors 11 are fixedly installed on the upper part of the mounting seat 10. Rotating seats 12 are provided on both the front and rear sides below the mounting seat 10. The output shafts of the two sets of servo motors 11 pass through the rotating seats 12 and are respectively connected to the ends of the two clamping arms 5. Guide slopes 14 are provided on the opposite surfaces of the two clamping arms 5.

[0022] Working principle:

[0023] During operation, after the car rolls off the production line, the driving wheels 2 at the lower end of the vehicle body 1 are started first to drive the entire parking AGV transport device to the corresponding position, so that the entire vehicle body 1 is covered outside the car, and the clamping and transporting devices 3 on the left and right sides of the inner cavity of the vehicle body 1 correspond to the four tires of the car respectively.

[0024] Then the servo motor 11 in each clamping carrier 3 is controlled to start, so that the output shaft of the servo motor 11 drives the clamping arm 5 to rotate, so that the two clamping arms 5 are closed to each other to tightly clamp the automobile tire, and through the guide slope 14 structure on the opposite side of the two clamping arms 5, the automobile tire can be guided by the guide slope 14 during the closing of the two clamping arms 5, so that the automobile tire smoothly slides into the two clamping arms 5 along the guide slope 14, so as to clamp and hold the automobile tire, and ensure stable clamping and no damage to the tire. Then control the screw motor 6 to start synchronously, so that the output shaft of the screw motor 6 drives the ball screw 7 to rotate, and then the screw nut 8 moves to drive the lifting seat 9 and the clamping arm 5 to move upward along the axial direction of the ball screw 7, so that the automobile tire is lifted off the ground, and the whole automobile is lifted. Then control the walking drive wheel 2 to continue to operate, so as to drive the device and the automobile to move to the parking space according to the path planning. Then control the screw motor 6 to reverse synchronously, so as to drive the ball screw 7 to reverse, so that the lifting seat 9 and the clamping arm 5 descend along the axial direction of the ball screw 7, until the automobile tire stably contacts the ground, and then control the servo motor 11 to reverse, so that the clamping arm 5 gradually opens and releases the automobile tire. Thus, the automobile is stably parked at the predetermined position, and the whole process is efficient and accurate, which ensures the safe and damage-free handling of the automobile.

[0025] Through the above-mentioned parking AGV handling device, the parking efficiency is greatly improved, the manual operation error is reduced, and the safety and stability of the automobile during handling are further ensured. The damage risk caused by improper manual operation is avoided, the maintenance cost is reduced, and the automatic and efficient management is realized.

[0026] In embodiment two, as a further preferred embodiment of embodiment one, a plurality of guide rollers 15 are rotatably connected to the guide slope 14 through a rotating shaft. The axis of the guide roller 15 is parallel to the length direction of the clamping arm 5, so that when the two clamping arms 5 are closed to each other, the guide roller 15 can effectively assist the tire to slide into the two clamping arms 5 along the guide slope 14, reduce friction, and ensure smooth closing action.

[0027] In embodiment three, as a further preferred embodiment of embodiment one, guide wheels 16 are rotatably installed on both sides of the lifting seat 9, and sliding rails 17 are arranged on the inner walls of the lifting frame 4, and the guide wheels 16 are movably connected in the sliding rails 17. Therefore, when the output shaft of the screw motor 6 drives the ball screw 7 to rotate, and then drives the lifting seat 9 to move up and down along the axial direction of the ball screw 7, the guide wheels 16 on both sides of the lifting seat 9 can roll in the sliding rails 17 on both sides of the inner walls of the lifting frame 4, so as to effectively reduce the friction resistance of the lifting seat 9 during the up and down movement, ensure the smoothness of the automobile during lifting, further improve the stability of the device, and ensure the safety of the automobile during handling.

[0028] In the fourth embodiment, as a further preferred solution of the first embodiment, the protective cover 18 is fixedly installed on the outer surface of the lifting frame 4. The protective cover 18 can effectively prevent dust and sundries from entering the interior of the lifting frame 4, ensure the cleanliness and lubrication of the internal mechanical components, prolong the service life, and improve the operation safety and reliability of the device. In addition, the maintenance frequency is reduced, and the long-term operation cost is further reduced.

[0029] In the fifth embodiment, as a further preferred solution of the first embodiment, the laser navigation sensor 19 and the Beidou navigation sensor 23 are installed on the upper sides of the front and rear sides of the vehicle body 1, a plurality of obstacle avoidance sensors 20 are installed on the outer surface of the vehicle body 1, the audible and light alarm 21 is installed on the surface of the vehicle body 1, the central control system 22 is installed in the interior of the vehicle body 1, the signal output ends of the laser navigation sensor 19, the Beidou navigation sensor 23 and the obstacle avoidance sensor 20 are connected to the signal input end of the central control system 22, and the signal output end of the central control system 22 is connected to the signal control ends of the walking driving wheel 2, the lead screw motor 6, the servo motor 11 and the audible and light alarm 21, respectively.

[0030] Therefore, after the vehicle is lowered at the designated position, the vehicle body 1 can be accurately positioned by the Beidou navigation sensor 23, the laser navigation sensor 19 rapidly scans the surrounding environment and transmits the data to the central control system 22, the central control system 22 analyzes the data and controls the walking driving wheel 2 to work to drive the vehicle body 1 to move along the predetermined path, and the obstacle avoidance sensor 20 monitors the obstacles in real time to ensure the driving safety. Thus, the entire device can be accurately moved to the designated position. The audible and light alarm 21 can timely issue an alarm when an abnormal situation occurs, thereby improving the operation safety.

[0031] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones. The modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking AGV handling device, characterized by: Including car body (1), the car body (1) is gantry structure, the lower end of the car body (1) both sides are each installed with walking drive wheel (2), the car body (1) inner chamber left and right side wall are each installed with two groups of clamping carrier (3);Four the clamping carrier (3) correspond to each other with four tires of car respectively; The clamping carrier (3) includes lifting frame (4) and two clamping arms (5), the lifting frame (4) is fixedly embedded in the side wall in the inner chamber of the car body (1), the lifting frame (4) upper end is fixedly installed with motor mounting bracket (13), the motor mounting bracket (13) is fixedly installed with lead screw motor (6), the output shaft of the lead screw motor (6) is drivingly connected with ball screw (7), the ball screw (7) is vertically rotatably installed in the lifting frame (4) through bearing, the outer surface of the ball screw (7) is movably connected with lifting seat (9) through lead screw nut (8), the lifting seat (9) front side is provided with mounting seat (10), two groups of servo motors (11) are fixedly installed above the mounting seat (10), the mounting seat (10) lower side is provided with rotating seat (12) on the front and back sides, the output shaft of two groups of servo motors (11) is respectively connected with the end of two clamping arms (5) through rotating seat (12), the opposite surface of two clamping arms (5) is provided with guide inclined plane (14).

2. The parking AGV transport device according to claim 1, characterized in that: The guide inclined plane (14) is rotatably connected with a plurality of guide rollers (15) through rotating shaft.

3. The parking AGV transport device according to claim 1, characterized in that: The lifting seat (9) both sides are rotatably installed with guide wheel (16) through rotating shaft, the inner wall both sides of the lifting frame (4) are provided with slide rail (17), the guide wheel (16) is movably connected in the slide rail (17).

4. The parking AGV transport device according to claim 1, characterized in that: The outer surface of the lifting frame (4) is fixedly installed with protective cover (18).

5. The parking AGV transport device according to claim 1, characterized in that: The car body (1) front and back side upper sides are each installed with laser navigation sensor (19) and beidou navigation sensor (23), the car body (1) outer surface is installed with a plurality of obstacle avoidance sensors (20), the car body (1) surface is installed with sound light alarm (21), the car body (1) inside is installed with central control system (22), the signal output end of laser navigation sensor (19), beidou navigation sensor (23) and obstacle avoidance sensor (20) is connected with the signal input end of central control system (22), the signal output end of central control system (22) is connected with the signal control end of walking drive wheel (2), lead screw motor (6), servo motor (11) and sound light alarm (21) respectively.

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