Automatic carrier and parking system

Abstract

The utility model provides an automatic carrier and a parking system. The automatic carrier is used for carrying a to-be-carried vehicle and comprises a frame, a carrier and a plurality of stop devices. Wherein the carrying frames are arranged on the two opposite sides of the frame and used for supporting tires of a to-be-transported vehicle; the stopping devices are arranged in the length direction of the vehicle frame at intervals, each stopping device comprises a push rod and two stopping parts, the push rods extend in the width direction of the vehicle frame, the two stopping parts are connected to the two ends of the push rods respectively, and the two stopping parts are opposite to two tires in the same axial direction of the vehicle to be transported respectively; and the push rod drives the stop part to do telescopic motion towards the tire, and the stop part is pushed to the tire to limit the to-be-transported vehicle. The parking system comprises a stereo garage, a lifter and the automatic carrier, the lifter is arranged at a designated parking point of the stereo garage, and the lifter is provided with a lifting support interacting with the carrier of the automatic carrier.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned vehicle technical field, especially an automatic carrier and parking system. BACKGROUND

[0002] Automated Guided Vehicle (AGV) is a kind of unmanned vehicle that can automatically travel along the route defined.AGV trolley can automatically transport materials, reduce manual handling and control, and has been widely used in logistics warehouse management, factory production workshop and flexible assembly line, port and airport cargo transport, intelligent stereo garage and other fields.

[0003] In the application scene of intelligent garage parking, AGV trolley can be used to carry vehicles to dynamically allocated parking spaces. When parking, the vehicle is only parked at the pointing place, and after the driver gets off, AGV can automatically carry and park the vehicle. When taking the car, only need to go to the nearest parking house, input license plate or face recognition, AGV will carry the vehicle from the parking space to the parking house, and the driver can drive away.

[0004] In the traditional parking design, part of AGV adopts the way of clamping the tire to lift and transport the whole vehicle. Since each tire needs to be provided with a clamping device, there are problems of complex components and easy failure. Some AGVs have a special bracket, and people need to use other means to first park the vehicle on the bracket, and then transport it by AGV. The bracket is provided with a baffle on both sides for limiting the movement of the left and right wheels of the vehicle. However, for the same vehicle, the coaxial wheel spacing between the front left and right wheels is not the same as the wheel spacing between the rear wheels. If the rear wheel spacing is larger, the baffle will contact the rear wheel, and there will be a gap between the front wheel, so the vehicle will shake during transportation. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing an automatic carrier with simple structure and stable transportation requirements for different vehicle models.

[0006] To solve the above technical problems, the utility model adopts the following technical scheme:

[0007] The application provides an automatic carrier for carrying a vehicle to be carried, comprising a frame, a carrier arranged on opposite sides of the frame for supporting tires of the vehicle to be carried, and a plurality of stop devices arranged at intervals along the length direction of the frame, wherein each stop device comprises a push rod extending along the width direction of the frame and two stop portions connected to the two ends of the push rod respectively, and the two stop portions are opposite to two tires in the same axial direction of the vehicle to be carried; wherein the push rod drives the stop portions to extend or retract towards the tires, and the stop portions are pushed against the tires to limit the vehicle to be carried.

[0008] In an embodiment of the application, the frame has mounting plates on opposite sides, the mounting plates are provided with mounting holes, the push rod is movably arranged in the mounting holes, and the stop portions are arranged on the ends of the push rod exposed outside the mounting plates, and the stop portions are not lower than the carrier.

[0009] In an embodiment of the application, the mounting plates are further provided with guide holes adjacent to the mounting holes, and the stop device further comprises a guide rod movably arranged in the guide holes and parallel to the push rod.

[0010] In an embodiment of the application, the stop device comprises a first stop device arranged at the front end of the frame and a second stop device arranged at the rear end of the frame, and the length of the second stop portion of the second stop device extending along the length direction of the frame is greater than the length of the first stop portion of the first stop device extending along the length direction of the frame.

[0011] In an embodiment of the application, the carrier is a comb-tooth type support comprising a front support corresponding to the first stop device and a rear support corresponding to the second stop device, wherein the front support comprises at least two support rods spaced apart along the length direction of the frame, and the first stop portion is located in the gap between the two support rods.

[0012] In an embodiment of the application, the first stop device further comprises a first driving mechanism comprising a first motor, a first speed reducer and a first gear box connected in transmission, the first stop device comprises two first push rods connected to the two first stop portions one by one, and the first push rod is a rack, the two racks are parallel and spaced apart, and are in mesh transmission with a first gear shaft of the first gear box, so as to move synchronously in opposite directions or in the same direction.

[0013] In an embodiment of the application, the first stop device further comprises a base detachably arranged on the frame, the first push rod is movably arranged in the base, and the first driving mechanism is supported on the base.

[0014] In an embodiment of the present application, the second stop device further comprises a second driving mechanism, the second driving mechanism comprising two driven assemblies arranged along the length direction of the vehicle frame and a main driving assembly clamped between the two driven assemblies, the output end of the main driving assembly being in transmission connection with the input ends of the two driven assemblies; the second stop device comprises a plurality of second push rods, the plurality of second push rods being divided into a front group of second push rods and a rear group of second push rods, the two driven assemblies being correspondingly connected with the front group of second push rods and the rear group of second push rods, the output end of the driven assembly being connected with and driving the front group of second push rods or the rear group of second push rods to extend or retract, the front group of second push rods being connected to the same second stop portion toward the outer end of the object carrier and the rear group of second push rods being connected to the same second stop portion toward the outer end of the object carrier.

[0015] In an embodiment of the present application, the main driving assembly comprises a second motor, a second speed reducer and a driving sprocket in transmission connection, the driven assembly comprises a driven sprocket and a second gear box in transmission cooperation with the driven sprocket, wherein the driving sprocket is connected with and drives the driven sprocket to rotate, the driven sprocket drives the second gear shaft of the second gear box to rotate; the front group of second push rods comprises two second push rods in parallel and at intervals, the rear group of second push rods comprises two second push rods in parallel and at intervals; the second push rods are racks, the two racks connected to the same second gear box being in mesh transmission with the second gear shaft.

[0016] In an embodiment of the present application, the automatic carrier further comprises a plurality of driving steering devices, the plurality of driving steering devices being arranged at intervals on the front and rear ends of the vehicle frame, the driving steering device comprising a driving axle, a steering axle, a power supply portion and two steering knuckles, wherein the power supply portion is in driving connection with the driving axle, the driving axle being arranged at the bottom of the vehicle frame, the two ends of the driving axle being respectively provided with the steering knuckles for being in transmission connection with the wheels of the vehicle to be carried, the steering knuckles being in transmission connection with the driving axle, the two ends of the steering axle being respectively hingedly connected with the two steering knuckles to drive the two wheels located on the same driving axle to steer.

[0017] The utility model further provides a parking system, the parking system includes stereo garage, elevator and as above described embodiment provides automatic carrier, elevator is located stereo garage's specified parking point, elevator has with automatic carrier's object carrier's interaction's lifting support.

[0018] From the above technical scheme, the automatic carrier of the utility model has at least the following advantages and positive effects:

[0019] Compared with the single clamping device corresponding to each tire in the prior art, one stop device of the utility model can be applied to at least two tires in the same axial direction of the vehicle, thereby preventing the side slip of the tire in the axial direction, and being relatively simplified in structure. And such stop device can be provided with a plurality of intervals along the length direction of the vehicle frame, thereby adjusting the extension length of the push rod of different stop devices according to different front wheel track and rear wheel track of the same vehicle, until the stop portion can contact and push the front tire or the rear tire in the same axial direction, guaranteeing the stability of the vehicle limiting. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the schematic diagram of the automatic carrying vehicle in an embodiment of the utility model, wherein the first stop device and the second stop device are separated from the vehicle frame.

[0021] Figure 2 It is the top view of the automatic carrying vehicle of Figure 1 .

[0022] Figure 3 It is the front view of the automatic carrying vehicle of Figure 1 .

[0023] Figure 4 It is the axonometric exploded schematic diagram of the first stop device in an embodiment of the utility model.

[0024] Figure 5 It is the top view of the first stop device of Figure 4 .

[0025] Figure 6 It is the front view of the first stop device of Figure 4 .

[0026] Figure 7 It is the A-A direction cross-sectional view of Figure 6 .

[0027] Figure 8 It is the axonometric exploded schematic diagram of the first gear box in an embodiment of the utility model.

[0028] Figure 9 It is the front view of the first gear box of Figure 8 .

[0029] Figure 10 It is the B-B direction cross-sectional view of Figure 9 .

[0030] Figure 11 It is the C-C direction cross-sectional view of Figure 9 .

[0031] Figure 12 It is the assembly schematic diagram of the second stop device in an embodiment of the utility model.

[0032] Figure 13 is Figure 12 the axial exploded schematic view of the second stop device.

[0033] Figure 14 is the axial exploded schematic view of the main drive assembly in an embodiment of the utility model.

[0034] Figure 15 is Figure 14 the top view of the main drive assembly.

[0035] Figure 16 is the axial exploded schematic view of the second gear box in an embodiment of the utility model.

[0036] The sign of the reference numeral is as follows:

[0037] 1, frame; 11, mounting plate; 13, mounting hole; 14, guide hole;

[0038] 2, object carrier; 21, front support; 211, front support rod; 23, rear support; 231, rear support rod;

[0039] 3, first stop device; 31, first push rod; 32, guide rod; 33, first stop part; 34, first base; 341, first through hole; 35, first motor; 36, first speed reducer; 37, first gear box; 371, box body; 372, gear shaft; 373, bearing; 374, bearing gland; 375, guide bearing; 38, connecting plate;

[0040] 4, second stop device; 41, second push rod; 42, second stop part; 43, second base; 431, second through hole; 441, front connecting plate; 442, rear connecting plate; 443, middle connecting plate; 45, main drive assembly; 451, second motor; 452, second speed reducer; 453, driving sprocket; 4531, large sprocket; 4532, small sprocket; 454, adjusting seat; 46, driven assembly; 461, driven sprocket; 462, second gear box; 4621, box body; 4622, gear shaft; 4623, bearing; 4624, bearing gland; 4625, guide bearing; 4626, sprocket gland;

[0041] 5, drive steering device; 51, drive axle; 52, steering axle; 53, power supply part; 54, steering knuckle. DETAILED DESCRIPTION

[0042] The typical implementation mode embodying the features and advantages of the present application will be described in detail in the following description. It should be understood that the present application can have various changes on different implementation modes, which are all within the scope of the present application, and the description and drawings in essence are used for description, not for limiting the present application.

[0043] In the description of the present application, it should be understood that in the embodiments shown in the drawings, the indication of direction or position relationship (such as up, down, left, right, front and back, etc.) is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the position of these elements changes, the indication of these directions also changes accordingly.

[0044] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0045] The present application provides an automatic carrier and a parking system comprising the automatic carrier. That is, in the application scenario of an automatic parking system, the automatic carrier in the present application is a parking AGV.

[0046] The parking system comprises a stereo garage, an elevator and the above-mentioned automatic carrier, wherein the elevator is arranged at a designated parking point of the stereo garage, and the elevator has a lifting support that interacts with the load carrier of the automatic carrier.

[0047] In work, when the automatic carrier, i.e. the parking AGV, carries the vehicle to be transported to the vicinity of the elevator, the lifting support will automatically adjust to the height and position matched with the load carrier according to the preset program, and then through precise mechanical movement, the vehicle is smoothly transferred to the elevator through the cross exchange of the load carrier and the lifting support, or from the lifting support to the load carrier on another layer. The whole process does not need manual intervention, is safe and efficient.

[0048] Please refer to Figures 1 to 3 , the automatic carrier comprises a frame 1, a load carrier 2 arranged on the opposite sides of the frame 1, and a first stop device 3 and a second stop device 4 arranged at the opposite ends of the frame 1. It should be noted that in the following, the length direction of the frame 1 in Figure 1 is indicated as the front-rear direction in this embodiment, and the width direction of the frame 1 is indicated as the left-right direction in this embodiment.

[0049] As shown in Figure 1 , the frame 1 has two mounting plates 11 on opposite sides. The mounting plate 11 is specifically an I-beam, the web of which is not only used to fixedly connect the carrier 2, but also has a mounting hole 13 for detachably mounting the stop device, and a guide hole 14 adjacent to the mounting hole 13.

[0050] The carrier 2 is arranged on the left and right sides of the frame 1 and is connected perpendicularly to the mounting plate 11, and is used to horizontally support the vehicle to be transported. The carrier 2 is specifically a comb-tooth type support similar to the shape of a comb. The working mode applied to the comb-tooth type AGV is that the vehicle is parked on the comb-tooth type support of the AGV, and through the cooperation with the comb-tooth type lifting support of the parking system, the vehicle is moved up and down relative to the AGV to realize the cross displacement of the comb teeth, thereby realizing the transportation and transfer of the vehicle.

[0051] The comb-tooth type carrier 2 includes a front support 21 and a rear support 23 arranged at intervals on the front and rear sides of the frame 1. The front support 21 and the rear support 23 are respectively used to support the front wheels and the rear wheels of the vehicle to be transported.

[0052] As shown in Figure 2 , the front support 21 includes at least two front support rods 211, which are spaced apart at a certain distance along the length direction of the frame 1. The function is that the two front support rods 211 can form a concave bracket similar to the arc of a wheel, and the wheel can be stably parked in the groove to reduce the wear caused by long-term storage of the tire.

[0053] The rear support 23 includes dozens of rear support rods 231 uniformly spaced along the length direction of the frame 1, and the number of the rear support rods 231 is significantly more than the number of the front support rods 211, so that the support length of the rear support 23 is long enough to simultaneously satisfy the vehicle to be transported of the mini type and the extended type. And the spacing between the rear support rods 231 is smaller than the spacing between the front support rods 211.

[0054] The first stop device 3 is installed at a designated position of the front support 21, and the second stop device 4 is installed at a designated position of the rear support 23, which are respectively used to prevent the vehicle to be transported placed on the frame 1 from sliding sideways, especially when the AGV turns or drives at high speed.

[0055] Please refer to Figures 4 to 7 , the first stop device 3 includes two first push rods 31, two groups of guide rods 32, two first stop portions 33, two first bases 34, and a first driving mechanism. Among them, the first push rod 31 extends along the width direction of the frame 1, the two first stop portions 33 are respectively connected to the two ends of the first push rod 31, and the two first stop portions 33 are respectively opposite to the tires of the two front wheels in the same axial direction of the vehicle to be transported.

[0056] AsFigure 4 As shown and combined Figure 1 Two first bases 34 are detachably mounted on the inner side of the mounting plate 11 of the frame 1 via mounting holes 13 and bolts, thereby allowing the main body of the first stop device 3 to be housed within the internal space of the frame 1 without occupying external space. A connecting plate 38 is connected between the two first bases 34. This connecting plate 38 is horizontally arranged and is used to mount and support the first drive mechanism. Furthermore, the first drive mechanism is centrally mounted on the frame 1 via the connecting plate 38.

[0057] The first base 34 has a first through hole 341 for the first push rod 31 to pass through. Figure 1 The position and number of the first through hole 341 correspond one-to-one with the position and number of the mounting hole 13 and the guide hole 14 on the mounting plate 11.

[0058] like Figure 5 As shown, the first push rod 31 is movably inserted through the first through hole 341 of the first base 34 and the mounting hole 13 of the mounting plate 11, allowing it to extend and retract along the width direction of the frame 1. Furthermore, a guide bearing is installed at the opening through which the first push rod 31 passes in the first base 34, which improves the rigidity of the first push rod 31. The two first push rods 31 are parallel and spaced apart on the same first base 34, and move synchronously in opposite directions or towards each other via the first drive mechanism. Thus, the first push rod 31 drives the first stop part 33 to extend and retract towards the tire of the vehicle to be transported, and the first stop part 33 pushes against the tire, thus limiting the position of the vehicle to be transported.

[0059] Two first stop portions 33 are correspondingly connected to two first push rods 31, thus positioned on the left and right sides of the frame 1. Furthermore, the first stop portions 33 are located on the ends of the first push rods 31 that protrude from the outer side of the mounting plate 11, which has the advantage of shortening the extension and retraction stroke of the first push rods 31. Figure 2 The first stop 33 is located in the gap between the two front support rods 211 and is basically flush with the front support rods 211, so that the first stop 33 can limit the vehicle by abutting against the tire of the vehicle to be transported placed on the front bracket 21.

[0060] In addition, two sets of guide rods 32 are respectively connected to two first stop portions 33. Each set has two guide rods 32, which are arranged on both sides of the first push rod 31 on the same first stop portion 33. The length of the guide rod 32 is less than the length of the first push rod 31. The guide rod 32 is movably inserted through the through hole of the first base 34 and the guide hole 14 of the mounting plate 11, and is parallel to the first push rod 31, providing axial guidance for the movement of the first push rod 31. In addition, similar to the installation method of the first push rod 31 described above, a guide bearing is installed at the opening position of the guide rod 32 through the first base 34, which allows the guide rod 32 to move axially along the guide bearing.

[0061] As shown in Figure 7 , the first driving mechanism comprises a transmission connected first motor 35, first reducer 36 and first gear box 37.

[0062] In this embodiment, the first push rod 31 is a rack matched with the first gear box 37. Two racks are parallel and spaced on the first base 34, and are respectively engaged with the first gear shaft 372 of the first gear box 37 to drive synchronously in opposite directions or in the same direction.

[0063] Please refer to Figures 8 to 11 , the first gear box 37 comprises a box body 371, a gear shaft 372, a bearing 373, a bearing gland 374, and a guide bearing 375.

[0064] The box body 371 is connected with the gear shaft 372 through two bearings 373, which are distributed at both ends of the gear shaft 372. The outer ring of the two bearings 373 is matched with the box body 371, the inner side of the outer ring of the two bearings 373 is matched with the stepped surface of the box body 371, the outer side of the outer ring of the two bearings 373 is pressed and limited on the box body 371 by the bearing gland 374, and the inner ring of the two bearings 373 is matched with the gear shaft 372. The inner side of the inner ring of the two bearings 373 is matched with the stepped surface of the gear shaft 372. The box body 375 is provided with a hole for the first push rod 31 to enter along the length direction of the box body 375, and the guide bearing 375 is fixed on the corresponding hole on both sides of the box body 371 by screws.

[0065] The installation process of the first stop device 3 is that the inner holes of the guide bearings 375 on both sides in the first gear box 37 are respectively matched with the two racks, i.e. the first push rod 31, so that the racks move along the axial direction. When the gear shaft 372 inside the first gear box 37 rotates, the two racks can move synchronously in opposite directions along the axis. The end of the rack that protrudes through the first base 34 and the mounting plate 11 is connected with the first stop portion 33, and the first stop portion 33 is provided with a guide rod 32 on both sides of the rack. One end of the guide rod 32 is fixed on the first stop portion 33, and the other end passes through the guide bearing 375 at the opening of the first base 34, so that the guide rod 32 moves along the guide bearing 375 in the axial direction. The input end of the first gear box 37 is connected with the output end of the first reducer 36 through a shaft coupling to transmit power. The fixed end of the first reducer 36 is connected with the reducer seat and fixed on the connecting plate 38, and the input end of the reducer is connected with the first motor 35.

[0066] Please refer to Figures 12 to 13 , the second stop device 4 comprises four second push rods 41, two second stop portions 42, two second bases 43, and a second driving mechanism.

[0067] The second push rod 41 extends along the width direction of the frame 1, and the two second stop portions 42 are respectively connected to the two ends of the second push rod 41, and the two second stop portions 42 are respectively opposite to the tires of the two rear wheels in the same axial direction of the vehicle to be transported.

[0068] The two second bases 43 are respectively detachably arranged on the inner side of the mounting plate 11 of the frame 1 by bolts. The second base 43 extends along the length direction of the frame 1, and the extension length of the second base 43 is basically the same as the support length of the rear support 23 along the length direction of the frame 1, so the second base 43 is obviously longer than the first base 34.

[0069] As shown in Figure 13 The second base 43 is provided with second through holes 431 spaced along the length direction of the second base 43, and the second push rod 41 passes through the second through holes 431. The positions and numbers of the second through holes 431 correspond to the positions and numbers of the mounting holes 13 on the rear side of the mounting plate 11 respectively.

[0070] The front connecting plate 441 and the rear connecting plate 442 are arranged between the two second bases 43. The front connecting plate 441 or the rear connecting plate 442 is used for mounting and supporting the driven assembly 46 of the second driving mechanism to be mentioned later. The middle connecting plate 443 is also connected between the front connecting plate 441 and the rear connecting plate 442, so that the overall connecting structure presents an I-shaped structure. The middle connecting plate 443 is used for mounting and supporting the main driving assembly 45 of the second driving mechanism.

[0071] The four second push rods 41 are divided into front group second push rods and rear group second push rods. The front group second push rods include two second push rods 41 arranged in parallel and spaced, which are arranged on the front connecting plate 441 and movably pass through the second through holes 431 on the front side of the second base 43 through the corresponding driven assembly 46, and extend and retract along the width direction of the frame 1. The rear group second push rods include two second push rods 41 arranged in parallel and spaced, which are arranged on the rear connecting plate 442 and movably pass through the second through holes 431 on the rear side of the second base 43 through the corresponding driven assembly 46. The second push rod 41 passes through the opening of the second base 43 and is provided with a guide bearing to improve the rigidity of the second push rod 41.

[0072] The two second stop portions 42 are correspondingly connected to the front group second push rods and the rear group second push rods, so as to be arranged on the left and right sides of the frame 1. That is, the front group second push rods and the rear group second push rods are connected to the same second stop portion 42 towards the outer end of the carrier 2.

[0073] Thus, the length of the second stop portion 42 extending along the length direction of the frame 1 is substantially the same as the length of the second base 43, and the length of the second stop portion 42 is greater than the length of the first stop portion 33 extending along the length direction of the frame 1. Moreover, the second stop portion 42 is arranged on the end of the second push rod 41 exposed to the outside of the mounting plate 11, so as to shorten the extension stroke of the second push rod 41. The position of the second stop portion 42 is slightly higher than the rear support 23.

[0074] The second driving mechanism comprises two driven assemblies 46 arranged in front of and behind each other along the length direction of the frame 1, and a main driving assembly 45 clamped between the two driven assemblies 46.

[0075] The front driven assembly 46 of the two driven assemblies 46 is mounted on the front connecting plate 441 and connected with the front group of second push rods correspondingly, and the output end of the driven assembly 46 is connected with and drives the front group of second push rods to extend and retract. The rear driven assembly 46 is mounted on the rear connecting plate 442 and connected with the rear group of second push rods correspondingly, and the output end of the driven assembly 46 is connected with and drives the rear group of second push rods to extend and retract.

[0076] The main driving assembly 45 is mounted on the middle connecting plate 443 to be located in the middle of the two driven assemblies 46. The two output ends of the main driving assembly 45 are respectively in transmission connection with the input ends of the two driven assemblies 46.

[0077] Please refer to Figures 14 to 15 The main driving assembly 45 comprises a second motor 451, a second speed reducer 452 and a driving sprocket 453 in transmission connection, and an adjusting seat 454.

[0078] The driving sprocket 453 comprises a large sprocket 4531 and two small sprockets 4532 symmetrically distributed on the front and rear sides of the large sprocket. Two shafts are welded on the adjusting seat 454 and mounting holes for mounting the second speed reducer 452 are formed. The two welded shafts of the large sprocket 4531 are respectively connected with or matched with the two small sprockets 4532 on which the bearings 373 are mounted, and are pressed tightly by the gland. The second speed reducer 452 is fixed below the adjusting seat 454 through the mounting holes. The input end of the second speed reducer 452 is connected with the second motor 451, the output end of the second speed reducer 452 extends upward and is connected with the large sprocket 4531, the large sprocket 4531 is connected with the output shaft by keying, and the outside is pressed tightly by the gland. The chain is wound between the large sprocket 4531 and the two small sprockets 4532, forming two output ends of the main driving assembly 45 respectively facing the front and rear sides.

[0079] Please refer to Figure 16 The driven assembly 46 comprises a driven sprocket 461 and a second gear box 462 in transmission cooperation with the driven sprocket 461.

[0080] The second gear box 462 is installed on the front connecting plate 441 or the rear connecting plate 442. The driven sprocket 461 is connected to the upward input end of the second gear box 462 and is in the same plane with the driving sprocket 453 and is connected by a chain to realize power output. Specifically, the driving sprocket 453 is connected by a chain to drive the driven sprocket 461 to rotate, and the driven sprocket 461 drives the second gear shaft 4622 of the second gear box 462 to rotate.

[0081] The second push rod 41 in the embodiment is a rack, and the two racks connected to the same second gear box 462 are in meshing transmission with the second gear shaft 4622, so as to realize synchronous opposite movement or opposite movement.

[0082] As shown in Figure 16 , the second gear box 462 includes a box body 4621, a gear shaft 4622, bearings 4623, bearing gland nuts 4624, guide bearings 4625, and sprocket gland nuts 4626.

[0083] The box body 4621 is connected to the gear shaft 4622 through two bearings 4623, and the two bearings 4623 are distributed at both ends of the gear shaft 4622. The outer rings of the two bearings 4623 are matched with the box body 4621, the inner sides of the outer rings of the two bearings 4623 are matched with the stepped surfaces inside the box body 4621, the outer sides of the outer rings of the two bearings 4623 are pressed and limited on the box body 4621 by the bearing gland nuts 4624, and the inner rings of the two bearings 4623 are matched with the gear shaft 4622. The inner rings of the two bearings 4623 are matched with the stepped surfaces of the gear shaft 4622. The guide bearings 4625 are fixed on the corresponding hole positions on both sides of the box body 4621 by screws. The box body 4621 is provided with a hole position for the second push rod 41 to enter along the length direction of the box body 4621. The protruding shaft surface of the gear shaft 4622 is matched with the driven sprocket 461, the inner part is radially positioned by a key, and the end surface is axially pressed by the sprocket gland nut 4626.

[0084] In addition, in some other embodiments, the automatic carrying vehicle further comprises a cover plate. The cover plate is respectively arranged above the first stop device 3 and the second stop device 4, and the stop devices are relatively sealed on the vehicle frame 1, so that the stop devices are not exposed to rain and sunlight, thereby adapting to outdoor harsh environments and prolonging the service life of the stop devices.

[0085] Referring back to Figure 1 , the automatic carrying vehicle further comprises two driving steering devices 5.

[0086] The two driving steering devices 5 are arranged on the front and rear ends of the vehicle frame 1 along the running direction, so that the AGV can realize double driving and double steering.

[0087] The driving steering device 5 comprises a driving axle 51, a steering axle 52, a power supply part 53, two steering knuckles 54, and two steering knuckle arms.

[0088] The driving axle 51 is arranged at the bottom of the vehicle frame 1. The power supply part 53 is the power source of the driving axle 51, which can be a motor and a speed reducer. The power supply part 53 is drivingly connected with the driving axle 51, and the driving axle 51 is provided with steering knuckles 54 for driving connection with wheels at both ends thereof. The steering knuckle 54 is in transmission connection with the driving axle 51, and the main function of the steering knuckle 54 is to connect the driving axle 51 with the hub of the wheel and allow the wheel to rotate left and right within a certain range. The steering axle 52 is an important component for realizing the steering of the AGV. The steering axle 52 is connected with the steering knuckles 54 of the left and right wheels through steering knuckle arms at both axial ends thereof, so that the movement of the steering axle 52 itself can be transmitted to the steering knuckles 54 through the steering knuckle arms, thereby realizing the steering of the left and right wheels of the vehicle.

[0089] The front and rear wheels of the parking AGV in the embodiment are all provided with the steering axle 52, so that the AGV can not only flexibly steer when advancing, but also realize the same flexibility when reversing. Such a design of steering both front and rear wheels not only fine-tunes the position of the vehicle body, but also performs complex reversing operations, thereby improving the operation flexibility of the AGV in a small area and enabling the AGV to easily cope with various complex parking environments. Therefore, compared with the conventional unmanned AGV trolley, the parking AGV in the embodiment has obvious advantages in flexibility, and brings a more convenient and efficient parking experience.

[0090] Although the present application has been described with reference to several exemplary embodiments, it will be understood that the terms used are terms of description and illustration and not of limitation. Since the present application can be embodied in various forms without departing from the spirit or essential characteristics thereof, it should also be understood that the aforementioned embodiments are not limited to any of the foregoing details, but are to be broadly interpreted in the spirit and scope of the appended claims, all changes and modifications that completely or partially come within the meaning and range of equivalency of the claims are therefore intended to be embraced.

Claims

1. An automated carrier for carrying a vehicle to be transported, characterized in that The automatic carrier comprises: a frame; a carrier frame arranged on opposite sides of the frame for supporting tires of the vehicle to be carried; and a plurality of stop devices arranged at intervals along the length direction of the frame, each of the stop devices comprising a push rod extending along the width direction of the frame and two stop portions connected to two ends of the push rod respectively, and each of the stop portions being opposite to two tires in the same axial direction of the vehicle to be carried; wherein the push rod drives the stop portions to move towards and away from the tires, and the stop portions are pushed against the tires to limit the vehicle to be carried.

2. The automated carrier of claim 1, wherein, The frame has mounting plates on opposite sides, the mounting plates are provided with mounting holes, the push rod is movably arranged in the mounting holes, and the stop portions are arranged on the ends of the push rod exposed outside the mounting plates, and the stop portions are not lower than the carrier frame.

3. The automated carrier of claim 2, wherein, The mounting plates are also provided with guide holes adjacent to the mounting holes. The stop device further comprises a guide rod movably arranged in the guide hole and parallel to the push rod.

4. The automated carrier of claim 1, wherein, The stop device comprises a first stop device arranged at the front end of the frame and a second stop device arranged at the rear end of the frame. The length of the second stop portion of the second stop device extending along the length direction of the frame is greater than the length of the first stop portion of the first stop device extending along the length direction of the frame.

5. The automated carrier of claim 4, wherein, The carrier frame is a comb-shaped support frame comprising a front support frame corresponding to the first stop device and a rear support frame corresponding to the second stop device, wherein the front support frame comprises at least two support rods spaced apart along the length direction of the frame. The first stop portion is located in the gap between the two support rods.

6. The automated carrier of claim 4, wherein, The first stop device further comprises a first driving mechanism comprising a first motor, a first speed reducer and a first gear box connected in transmission; The first stop device comprises two first push rods corresponding to the two first stop portions; the first push rod is a rack, and the two racks are parallel and spaced apart and meshed with a first gear shaft of the first gear box in transmission, thereby moving synchronously in opposite directions or in the same direction.

7. The automated carrier of claim 6, wherein, The first stop device further comprises a base detachably arranged on the frame; the first push rod is movably arranged in the base, and the first driving mechanism is supported on the base.

8. The automated carrier of claim 4, wherein, The second stop device further comprises a second driving mechanism comprising two driven assemblies arranged at intervals along the length direction of the frame and a main driving assembly clamped between the two driven assemblies, and the output end of the main driving assembly is in transmission connection with the input ends of the two driven assemblies. The second stop device comprises a plurality of second push rods, which are divided into a front group of second push rods and a rear group of second push rods, two of the driven assemblies are correspondingly connected with the front group of second push rods and the rear group of second push rods, respectively, the output end of the driven assembly is connected and drives the front group of second push rods or the rear group of second push rods to perform telescopic movement, the front group of second push rods is connected to the same second stop portion toward the outer end of the carrier frame, and the rear group of second push rods is connected to the same second stop portion toward the outer end of the carrier frame.

9. The automated carrier of claim 8, wherein, The main drive assembly comprises a second motor, a second reducer and a driving sprocket connected in transmission, the driven assembly comprises a driven sprocket and a second gear box in transmission cooperation with the driven sprocket, wherein the driving sprocket drives the driven sprocket to rotate through a chain, and the driven sprocket drives the second gear shaft of the second gear box to rotate; The front group of second push rods comprises two parallel and spaced second push rods, the rear group of second push rods comprises two parallel and spaced second push rods, and the second push rod is a rack, two of the racks connected to the same second gear box are in mesh transmission with the second gear shaft.

10. The automated carrier of claim 1, wherein, The automatic carrier further comprises a plurality of drive steering devices, which are arranged at the front and rear ends of the vehicle frame, the drive steering device comprises a drive axle, a steering axle, a power supply part and two steering knuckles, wherein the power supply part is drivingly connected with the drive axle, the drive axle is arranged at the bottom of the vehicle frame, two ends of the drive axle are respectively provided with steering knuckles for driving connection with wheels of the vehicle to be transported, the steering knuckles are drivingly connected with the drive axle, and two ends of the steering axle are respectively hingedly connected with two steering knuckles to drive two wheels located on the same drive axle to steer.

11. A parking system, characterized by The parking system comprises a stereo garage, an elevator and the automatic carrier according to any one of claims 1 to 10, the elevator is arranged at a designated parking point of the stereo garage, and the elevator has a lifting support for interaction with the carrier frame of the automatic carrier.

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