CN206360438U - Trackless vehicle conveying equipment - Google Patents
Trackless vehicle conveying equipment Download PDFInfo
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- CN206360438U CN206360438U CN201621487219.XU CN201621487219U CN206360438U CN 206360438 U CN206360438 U CN 206360438U CN 201621487219 U CN201621487219 U CN 201621487219U CN 206360438 U CN206360438 U CN 206360438U
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Abstract
The utility model discloses a kind of trackless vehicle conveying equipment, belong to transhipment haulage equipment technical field.Trackless vehicle conveying equipment, including：The base of shift mechanism is installed, base ground running where bottom landing is controlled by the shift mechanism；Car bearing platform；The elevating mechanism of connect base and car bearing platform, the elevating mechanism control car bearing platform is lifted to different layers landing；Vehicle on car bearing platform is output to the parking stall of different layers landing by the exchange mechanism on car bearing platform, the exchange mechanism from car bearing platform, and/or the vehicle on the parking stall of different layers landing is input into car bearing platform.Efficiently, Transport Vehicle efficiency high, energy autonomous, free travel route, space availability ratio is big for trackless vehicle conveying device intelligence of the present utility model, improves the vehicle full-automation access of multi-storied garage.
Description
Technical field
The utility model is related to transhipment haulage equipment technical field, and in particular to the trackless vehicle conveying of multi-storied garage is set
It is standby.
Background technology
With the progress and the raising of living standards of the people of society, automobile is popularized rapidly, and the demand on parking stall is increasing,
Traditional parking garage gradually develops to intelligent machine solid parking mode.
In intelligent three-dimensional parking apparatus, intelligent stereo garage mainly has planar movement class, tunnel stacking class, vertical lift
Class.Their operation principle is exactly to have one or more haulage equipment in simple terms, can be from bottom of car is automobile lifting
To carry, then it is moved to together on lift, lift together with automobile transports haulage equipment to different parking tiers again, then by
Haulage equipment sends into automobile on the parking stall specified.Laying walking track and connection power supply electricity are needed existing car carrying equipment more
Cable, and haulage equipment can only realize advance or retreat walking, it is extremely low that this has resulted in handling efficiency, it is difficult to realizes the efficient of garage
Rate Transport Vehicle.
In intelligent storage formula parking apparatus, the vehicle access exchange mechanism used in it generally includes comb tooth exchange type, friendship
Change trains board-like and clamping tire type.Comb tooth exchange type completes broach exchange because of itself intrinsic lifting action, directly determines
The parking stall of the type parking equipment requires that building floor height is larger, and each parking stall needs additionally mounted broach frame, increase Material Cost and
Installation cost.Wagon transferred from one yard to another is board-like, in horizontal mobile parking equipment and part vertical lift type parking equipment, needing also exist for
Larger bicycle parking height, meanwhile, this kind of parking apparatus causes the less efficient of shutdown system.Clamping tire type, this kind of pattern be
The minimum one kind of building floor height is required in storage type parking equipment, but handling efficiency is relatively low.
Above-mentioned two type parking equipment, due to the limitation of haulage equipment and parking garage, multi-storied garage parking apparatus structure is answered
It is miscellaneous, it is necessary to lay walking track and connection service cable is cumbersome, running efficiency is relatively low, it is difficult to realize intelligence truly
Can parking；Storage type parking equipment low space utilization, it is difficult to solve city parking position supply wretched insufficiency, parking stall demand
Big the problem of.The utility model is for being currently needed for solving the above problems trackless vehicle conveying equipment there is provided one kind.
The content of the invention
The purpose of this utility model is that there is provided one kind is simple to operate, operating is efficient, space in view of the shortcomings of the prior art
The big intelligent trackless vehicle conveying equipment of utilization rate.Using the present invention, vehicle access is convenient, safety, and turnover is quick, together
When, parking lot space utilization rate is improved, carrying, access of the vehicle in different height parking tier is realized.
To realize above-mentioned target, the utility model provides following technical scheme：
A kind of trackless vehicle conveying equipment, including the base of shift mechanism is installed, controlled by the shift mechanism
Base ground running where bottom landing, in addition to：
Car bearing platform；
The elevating mechanism of connect base and car bearing platform, the elevating mechanism control car bearing platform lifts flat to different layers parking
Platform；
Vehicle on car bearing platform is output to by the exchange mechanism on car bearing platform, the exchange mechanism from car bearing platform
The parking stall of different layers landing, and/or the vehicle on the parking stall of different layers landing is input to car bearing platform.
The elevating mechanism is screw-threaded shaft elevator, including leading screw, with the wire rod thread coordinates and can be transported along above and below leading screw
Dynamic elevator, and the drive device that drive screw rotates；The elevator of the elevating mechanism is connected with car bearing platform.
Screw-threaded shaft elevator can be single screw lift, and the elevator is the nut coordinated with wire rod thread, leading screw peace
On base, the output shaft connection of leading screw lower end and drive device.
Screw-threaded shaft elevator can be double lead-screw lift, and the elevator is the nut coordinated with wire rod thread, double lead-screw
Lift includes the first screw mandrel and the second leading screw being arranged in pairs, and the drive that the first screw mandrel of driving and the second screw synchronous rotate
Dynamic device.First leading screw and the second leading screw are arranged on base, are respectively mounted and silk on the first leading screw and the second leading screw
The first nut and the second nut that thick stick screw thread coordinates, first nut and the second nut are connected with car bearing platform.
It can be rotated by same drive device or the control of different drive devices.When passing through same drive device driving the
When one leading screw and the rotation of the second screw synchronous, set on the output shaft of drive device and set first on driving wheel, the first leading screw
The second driven pulley is set on driven pulley, the second leading screw, it is by timing belt or synchronous chain that the driving wheel is described driven with two
Wheel is connected.
Further, the drive device is arranged on base.
Further, the second drive device of drive nut rotation is included, the nut is identical with the direction of rotation of leading screw
Or it is opposite.
Further, the drive device of leading screw includes leading screw servomotor, decelerator and shaft coupling, the drive device bag of nut
Nut servomotor, reductor are included, nut actuator servo motor via reducer is connected transmission with nut.When the elevating mechanism
During for double lead-screw lift, the output shaft of leading screw servomotor connects the decelerator of lead-screw driving device, and the driving wheel is set
On the output shaft of decelerator.
Further to improve the stationarity of elevating movement, the guide rod parallel with leading screw is set, the guide rod is arranged on
On base；The connecting rod that one end is fixedly connected with nut, the other end of the connecting rod is slidably mounted on guide rod.Institute
The connecting rod other end is stated for ring, the ring set is set can slide up and down along guide rod on the guide bar.The connecting rod other end is
The chute matched with the pulley or ball is provided with pulley or ball, the guide rod, the pulley or ball can be along cunnings
Groove is slided up and down.
It is preferred that, the quantity of the guide rod is identical with the quantity of leading screw, or two times of leading screw quantity.
Further, the elevating mechanism includes the Collapsible rack that one or more X-type link assembly units are constituted, and
Drive device；Multiple X-type link assembly unit in the vertical directions are articulated and connected successively, the output end of the drive device and institute
Collapsible rack connection is stated, control Collapsible rack is in vertical raw folding or deploys.Two lower ends of Collapsible rack are arranged on
On base, slide bar or chute are installed with the base, a lower end is fixedly connected with base, another lower slide connects
It is connected on slide bar or chute and is connected with the output end of drive device；Two upper ends of Collapsible rack are arranged on car bearing platform,
Slide bar or chute are installed with the car bearing platform, a upper end is fixedly connected with car bearing platform, and another upper end is slidably connected
On slide bar or chute.
Further, the elevating mechanism is sixdegree-of-freedom simulation, and mechanical arm includes arm, elbow, wrist, by solid on base
Determine the bottom that hinged-support installs mechanical arm, then pass sequentially through stud connection arm, elbow, wrist formation joint, the top of mechanical arm leads to
Cross slip support abutment or fixed-hinged support is arranged on car bearing platform.The lifting of control arm, elbow, wrist can be distinguished by 6 servomotors,
Opening and closing joint and control machinery arm bottom rotate relative to base.
Further, the exchange mechanism is comb tooth exchange type, and each parking stall mounting broach frame, exchange mechanism includes carrying
The broach of wheel of vehicle, the broach lowering or hoisting gear for lifting vehicle, vehicle lifting and parking are controlled by the broach lowering or hoisting gear
Position departs from vehicle is input to car bearing platform from parking stall broach frame, or control vehicle landing is placed into parking stall by vehicle from carrier vehicle
Platform is output to parking stall broach frame.
Or, the exchange mechanism is crawler type, and exchange mechanism includes the carrier vehicle crawler belt for being used to translate vehicle, and driving
Parking stall corresponding with carrier vehicle crawler belt crawler belt is provided with the motor of carrier vehicle crawler belt, parking stall and for driving parking stall crawler belt
Parking stall motor.The parking stall crawler belt includes front-wheel crawler belt and trailing wheel crawler belt with carrier vehicle crawler belt, and the width of front-wheel crawler belt is small
In trailing wheel crawler belt.
Or, the exchange mechanism is hand type, and exchange mechanism includes manipulator and detent mechanism, the detent mechanism
For the position of each wheel of precise positioning, the manipulator is used for the front wheels and rear wheels that folder vehicle is embraced according to location information, will
Wheel lifting departs from car bearing platform or parking stall, or wheel is drop on car bearing platform or parking stall.
Or, the exchange mechanism is wheel hub clipping type, and exchange mechanism includes wheel hub clip device and detent mechanism, described fixed
Position mechanism is used for the position of each wheel hub of precise positioning, and the wheel hub clip device is used for the front-wheel according to location information clip vehicle
Wheel hub and rear-wheel hub, lifting vehicle depart from car bearing platform or parking stall, or vehicle is drop on car bearing platform or parking stall.
Further, the shift mechanism is rigid castors and/or movable castor.
Further, the trackless vehicle conveying equipment also includes navigation sector, and the navigation sector is the navigation of magnetic nail, magnetic
One or more in bar navigation, electromagnetic navigation, laser navigation, inertial navigation, quantum navigation and hybrid navigation.
And safe detection agency, the safe detection agency is laser anti-collision module, mechanical anticollision module, infrared anti-collision
One or more in module, ultrasonic anti-collision module, anticollision module is one or more.
Further, at least one steering mechanism is installed on the car bearing platform, adjusted by the steering mechanism on car bearing platform
The direction of vehicle.
And the power management mechanism of electricity, detection electricity and automatic charging function is provided, and/or for trackless car
The communication agency that haulage equipment is communicated wirelessly with Terminal Server Client, and/or transfer robot parameter is set and
Show the man-machine interaction mechanism of the running status of transfer robot, and/or the progress brake hard under non-security use state
Emergency braking mechanism.
As an example, the beneficial effects of the utility model are：User need to only exist storing cycle in multi-storied garage bicycle parking
The parking stall in garage parking lot, trackless vehicle conveying equipment by the vehicle conveying on the parking stall and can be stored in stereoscopic vehicle
The parking stall of storehouse different layers landing；When user picks up the car, the vehicle parking equipment stops target vehicle from garage different layers
The parking stall of platform is carried to the parking stall at garage pick-up, realizes intelligent bicycle parking of the user outside garage, pick-up.Using trackless
Formula vehicle conveying equipment automatically controls turnover, realizes garage external access vehicle, and access is convenient, safety, and turnover is quick；Meanwhile,
Track need not be set, the electrical cables that connect without laying track, trackless vehicle conveying equipment energy autonomous of the present utility model,
Free travel route, under the guiding of parking ground control system, difference is transported to by vehicle by trackless vehicle conveying equipment
The parking tier of height, improves parking lot space utilization rate, realizes carrying, access of the vehicle in different height parking tier.
Brief description of the drawings
The structural representation for the trackless vehicle conveying equipment that Fig. 1 provides for the utility model embodiment.
Fig. 2 is the structural representation in above-described embodiment using crawler belt exchange vehicle.
Front view when Fig. 3 places for car in above-described embodiment in garage.
Side view when Fig. 4 places for car in above-described embodiment in garage.
The elevating mechanism schematic diagram for the use single screw that Fig. 5 provides for the utility model embodiment.
The elevating mechanism schematic diagram for the use dual drive leading screw that Fig. 6 provides for the utility model embodiment.
The elevating mechanism schematic diagram for the use double lead-screw synchronization that Fig. 7 provides for the utility model embodiment.
The elevating mechanism schematic diagram for the use Collapsible rack that Fig. 8 provides for the utility model embodiment.
The elevating mechanism schematic diagram for the use sixdegree-of-freedom simulation that Fig. 9 provides for the utility model embodiment.
Top view of the trackless vehicle conveying equipment that Figure 10 is provided for the utility model embodiment when garage is walked.
Embodiment
To be done below in conjunction with the trackless vehicle conveying equipment that the drawings and specific embodiments are provided the utility model into one
Walk explanation.It should be noted that the combination of the technical characteristic or technical characteristic described in following embodiments should not be regarded as
It is isolated, they can be mutually combined to reach superior technique effect.In the accompanying drawing of following embodiments, each accompanying drawing
The identical label occurred represents identical feature or part, can be applied in not be the same as Example.
Embodiment one
Fig. 1 describes the structural representation of trackless vehicle conveying equipment of the present utility model.
A kind of trackless vehicle conveying equipment 200, including：
The base 201 of shift mechanism 205 is installed, base is controlled where bottom landing by the shift mechanism
Ground running；
Car bearing platform 202；
Elevating mechanism 203 between base 201 and car bearing platform 202, the elevating mechanism 203 controls car bearing platform
202 lift to different layers landing；
Exchange mechanism 204 on car bearing platform, the exchange mechanism 204 is by the vehicle on car bearing platform 202 from carrier vehicle
It is output to the parking stall 101 of different layers landing on platform 202, and/or by the car on the parking stall 101 of different layers landing
It is input to car bearing platform 202.
Ground where bottom landing, refers to the face where the plate upper surface of bottom landing.Garage is by bottom
The multi-storied garage of landing and upper-layer parking platform (being not limited to 2 layers, more than 2 layers) composition, the trackless vehicle is removed
The operating position face for transporting the shift mechanism of equipment is the ground where bottom landing, i.e., when vehicle parking equipment works, institute
Shift mechanism is stated only freely to walk on the ground where bottom landing.
Screw type elevating mechanism has that gearratio big, stable drive, compact conformation, noise be low, shock loading is small and tool
The features such as having reverse self-locking.In the present embodiment, the elevating mechanism 203 be screw-threaded shaft elevator, including leading screw, with the screw mandrel
The elevator that screw thread coordinates and can moved up and down along leading screw, and the drive device that drive screw rotates；The elevating mechanism
Elevator is connected with car bearing platform 202, and the drive device is arranged on base 201.Per the leading screw liter on chassis mobile device
Drop machine can be one, or multiple, when being installed as multiple, preferably be symmetricly set on base.
The exchange mechanism, can be using comb tooth exchange type, exchange sweep based on current vehicle access exchange mechanism
Formula, clamping tire type, crawler type etc..
It is preferred that, the interaction means are fixedly mounted on carrier loader platform.
The present embodiment uses crawler type, is illustrated with reference to Fig. 2.
Exchange mechanism 204 includes crawler belt, drives crawler belt to rotate by crawler belt axle wheel, interaction means are in itself relative to car bearing platform
The change of position does not occur.The load for translating vehicle is provided with such as Fig. 2, the car bearing platform 202 of trackless vehicle conveying equipment
Car crawler belt, and driving carrier vehicle crawler belt motor, be provided with parking stall corresponding with carrier vehicle crawler belt interchanger on parking stall 101
Structure 102 and the parking stall motor 103 for driving parking stall crawler belt, parking stall exchange mechanism are parking stall crawler belt.
In view of cost, the parking stall crawler belt includes front-wheel crawler belt and trailing wheel crawler belt with carrier vehicle crawler belt, front-wheel crawler belt
Width is less than trailing wheel crawler belt, is not used in entirely setting crawler belt on parking stall and trackless vehicle conveying equipment.Being provided with is used for
The control system (not shown) of parking apparatus operation is controlled, in the course of the work, parking stall motor and trackless vehicle
The motor rotating speed of haulage equipment is consistent.
During bicycle parking, vehicle 300 is parked on the parking lot parking stall of garage 100 by user, and trackless vehicle conveying equipment 200 is transported
Move to the parking stall 101 in garage parking lot, the carrier vehicle crawler belt in trackless vehicle conveying equipment is under the drive of motor to specifying
The removing direction on parking stall is rotated, while specifying the parking stall motor on parking stall to drive parking stall crawler belt on parking stall to trackless
Formula vehicle conveying device orientation is rotated, and vehicle is transplanted on the car bearing platform 202 of trackless vehicle conveying equipment above parking stall 101
Above, 301 be automobile 300 wheel；Vehicle parking equipment is walked, and available parking places 101 are found in garage 100, finds mesh
Mark behind parking stall, the car bearing platform 202 of trackless vehicle conveying equipment rises to specified parking tier under the driving of elevating mechanism 203
Specified parking stall 101 aspect, carrier vehicle crawler belt under direction from the drive of motor to specified parking stall rotate, refer to simultaneously
The parking stall motor for determining parking stall drives the parking stall crawler belt on parking stall to rotate, and vehicle is from trackless vehicle conveying equipment carrier vehicle
It is transplanted on platform above parking stall, so that vehicle to be transplanted on to the parking stall of different layers landing in garage, bicycle parking is completed.It is complete
Into deposit action, after transfer terminates, trackless vehicle conveying equipment waits next operation.
Fig. 3 is front view when car is placed in garage.
Fig. 4 is side view when car is placed in garage.
Pick-up process and said process are on the contrary, trackless vehicle conveying equipment moving is to parking stall, trackless vehicle conveying
The car bearing platform of equipment rises to the aspect on the specified parking stall of specified parking tier under the driving of elevating mechanism, while specifying parking
The parking stall motor of position drives the parking stall crawler belt on parking stall to be rotated to trackless vehicle conveying device orientation, and vehicle is from parking
Position is transplanted on above the car bearing platform of trackless vehicle conveying equipment above, completes to exchange for the first time, car bearing platform drops in elevating mechanism
Drop down onto on base；Then trackless vehicle conveying equipment walking, vehicle is run to the parking stall at garage pick-up, carrier vehicle crawler belt
Rotated under the drive of motor to the direction on specified parking stall, while specifying the parking stall motor on parking stall to drive parking
Parking stall crawler belt on position is rotated, and vehicle is transplanted at pick-up above parking stall from trackless vehicle conveying equipment car bearing platform, is used
Family can pick up the car.
It is of course also possible to use other exchanged forms.
Comb tooth exchange type, is by each parking stall mounting broach frame (i.e. parking stall switching fabric), then being set in carrying
The broach for the carrying wheel that standby upper setting coordinates with foregoing broach frame, by the broach that rises and land on haulage equipment by vehicle
Exchanged to from parking stall on haulage equipment, or vehicle is exchanged on parking stall from haulage equipment.For example and without limitation,
Such as, the exchange mechanism for including the broach of vehicle wheel, lifting the broach lowering or hoisting gear of vehicle is set on car bearing platform, led to
Cross the broach lowering or hoisting gear control vehicle lifting and vehicle is input to car bearing platform from parking stall broach frame with parking stall disengaging, or
Control vehicle landing is placed into parking stall and vehicle is output into parking stall broach frame from car bearing platform.
Further, because comb-tooth-type exchange mechanism needs trackless vehicle conveying equipment moving to the lower section of target parking position
Space, when target parking position is upper strata (more than two layers) parking stall, when there is vehicle on bottom parking stall, common base can not be just
Often enter target parking position underlying space, now, base can be set to U-shaped, the inner space of the U-shaped base can accommodate bottom
Layer parking stall, stops in this way, the vehicle on bottom parking stall does not influence vehicle parking equipment of the present utility model normally to run to target
Below parking stall.Certainly, be also not necessarily limited to it is U-shaped, also can use L-type, H types, as long as can guarantee that base can normally travel to target parking
Position lower section.
Directly the vehicle on haulage equipment can also be picked up and removed using manipulator using manipulator as exchange mechanism
Transport equipment to depart from, be then placed into target location.For example and without limitation, such as, exchange mechanism includes manipulator and positioning
Mechanism, the detent mechanism is used for the position of each wheel of precise positioning, and the manipulator is used to embrace folder car according to location information
Front wheels and rear wheels, Wheel lifting and car bearing platform or parking stall are departed from, or wheel is drop to car bearing platform or parking stall
On.
Ibid the principle of manipulator, can use wheel hub clipping type, direct by the car on haulage equipment using clamp device is embraced
Lift and to depart from haulage equipment, be then placed into target location.For example and without limitation, such as, exchange mechanism includes wheel
Hub clip device and detent mechanism, the detent mechanism are used for the position of each wheel hub of precise positioning, and the wheel hub clip device is used for
According to the front-wheel hub and rear-wheel hub of location information clip vehicle, lifting vehicle departs from car bearing platform or parking stall, or will
Vehicle is drop on car bearing platform or parking stall.
The shift mechanism 205, can use castor.Castor includes movable castor and rigid castors.Movable castor is also with regard to me
Described universal wheel, it is allowed to 360 degree rotate；Rigid castors are also direction-caster, it is impossible to rotate.Can individually it make as needed
With movable castor or rigid castors, can also two kinds of collocation use.Such as in the front of haulage equipment using two directional wheels, after
Side uses two universal wheels.The material of castor can be cast iron, nylon etc..
It is the trackless vehicle conveying equipment of precise positioning, in trackless car when controlling base walking by shift mechanism 205
Guider is installed on haulage equipment, unrestricted as an example, the guider is installed on base.
Navigation sensor can be using magnetic navigation sensing technology, electromagnetic navigation sensing technology, laser navigation sensing technology, used
Property navigation sensing technology, one or more combinations in quantum navigation sensing technology.Accordingly, the guider can be installed
Magnetic nail or magnetic stripe navigation module on base, electromagnetic navigation module, laser navigation module, inertial navigation module, quantum navigation
One or more in module, or the such as laser magnetic nail hybrid navigation of hybrid navigation module.The magnetic nail navigation module, electricity
Magnetic navigation module is preferentially installed on bedframe periphery；The inertial navigation module (such as gyroscope) is preferentially installed on bottom
In seat frame frame；The laser navigation module is preferentially installed in bedframe.
To prevent transfer robot from being collided during advancing with surrounding objects, it is ensured that safety, the trackless vehicle is removed
Transporting equipment also includes safe detection agency.The safe detection agency can be laser anti-collision module, mechanical anticollision module, infrared
One or more in anticollision module, ultrasonic anti-collision module.Anticollision module can be one or more, for conveying robot
Object around people is scanned, recognized.By taking laser anti-collision module as an example, its operation principle is：The transmitting of laser anti-collision module swashs
Light beam, irradiates the object of surrounding, by the reflected light of exploring laser light beam come the presence or absence of cognitive disorders thing, and is fed back to control system
Signal, so that control system sends instruction, the traveling and stopping of control machine people.
The trackless vehicle conveying equipment, may also include the electricity for providing electricity, detection electricity and automatic charging function
Source control mechanism, the communication agency communicated wirelessly for trackless vehicle conveying equipment and Terminal Server Client, to carrying implement
Device people's parameter is set and shown the man-machine interaction mechanism of the running status of transfer robot, is entered under non-security use state
The emergency braking mechanism of row brake hard.
Embodiment two
Fig. 5 describes the structure chart as elevating mechanism using single-screw mandrel lift.
The screw type elevating mechanism can be single screw lift, including leading screw 2031, with the wire rod thread coordinate
Elevator 2032, and drive screw 2031 rotate drive device.The elevator can use common nut；It is described to drive
Dynamic device, common such as motor.Structure such as Fig. 5 of the car bearing platform lifting is typically controlled using above-mentioned single-screw mandrel lift
It is shown.Lift control method is described with reference to Fig. 5：Leading screw 2031 is arranged on base, the lower end of leading screw 2031 and motor 2033
Output shaft is connected, and the nut 2032 coordinated with threads of lead screw, the nut 2032 and car bearing platform 202 are provided with leading screw 2031
Connection, leading screw upper end sets top plate 2036.During implementation, start motor 2033 and rotate forward, motor is driven by shaft coupling 2034
Leading screw 2031 rotates, and nut 2032 does ascending motion on leading screw 2031, and car bearing platform 202 rises with nut, completes car bearing platform
202 rising movement；Start motor 2033 to reversely rotate, motor drives leading screw to rotate by shaft coupling 2034, nut 2032 exists
Descending motion is done on leading screw 2031, car bearing platform 202 declines with nut 2032, complete the descending motion of car bearing platform 202.
In view of security, when connecting leading screw 2031 with motor output shaft by shaft coupling 2034, it can also exist as needed
Safe block 2035 is set between nut and motor output shaft, and the safe block 2035 avoids causing safety hidden as position limiting structure
Suffer from.
And when transmitting motion merely with leading screw, the speed of related movement of nut is difficult to extend, therefore driving spiral shell also can be set
The drive device of mother's rotation.
Referring to Fig. 6, the screw-threaded shaft elevator structure using dual drive is described.
Now, the drive device of elevating mechanism is made up of the drive device of leading screw and the drive device of nut, leading screw 2041
Drive device be made up of leading screw servomotor 2043, reductor 2044 and shaft coupling 2045, the drive device of nut 2042 by
Nut servomotor 2049, reductor 2050 are constituted, and nut actuator servo motor 2049 passes through reductor 2050 and nut 2042
Connection transmission, nut 2042 is connected by bearing holder (housing, cover) 2048 with car bearing platform 202, and leading screw upper end sets top plate 2046, in nut and
Safe block is set between motor output shaft.
By dual drive, while driving leading screw and nut, be allowed to produce relative motion, such as when needing high-speed motion,
Nut is with leading screw direction of rotation on the contrary, the ultrahigh speed for realizing moving component by speed discrepancy is moved；When needing low-speed motion, spiral shell
Female identical with leading screw direction of rotation, the Ultra-Low Speed for realizing moving component by speed discrepancy is moved.With this, carrier loader platform is extended
Lifting speed scope, further optimizes vehicle conveying device.
The connected mode of the nut and car bearing platform, can be directly connected to, also can by connecting bracket or contiguous block 2037,
2047 (such as " [, ", " " shape structure) connection.
Embodiment three
Fig. 7 is described using double-screw lifter as the structure chart of elevating mechanism, and Fig. 7 upper figure is three-dimensional structure diagram,
Figure below is upward view.It should be noted that, accompanying drawing is using simplified form and non-accurately ratio, only to convenient, lucidly auxiliary
The purpose of explanation the utility model embodiment is helped, the proportional sizes of material object are not represented.
Further to improve the stationarity of lifting process, elevating mechanism described in the embodiment uses double lead-screw lift
Structure.The double lead-screw elevating mechanism is to utilize double lead-screw synchronization lifting, including two leading screws on base.
Including the first leading screw 2051 on base 201, the second leading screw 2052, the first elevator 2053, second liter
Block 2054 is dropped, the first driven pulley 2055 for be provided with the rotating driving device of active synchronization belt wheel, being arranged on the first leading screw, is set
Put the second driven pulley 2056 on the second leading screw and the timing belt that driving wheel 2057 is connected with two driven pulleys
2058, elevator can use nut, and nut is connected with the (not shown) of car bearing platform 201, it is preferred that pass through connecting rod or company
Fishplate bar is connected.
As shown in Figure 7, specifically, can also set top plate above elevating mechanism, top plate can play spacing and correction
Effect.The bottom of first leading screw 2051 and the second leading screw 2052 is arranged on base, is set on the other end on top plate.
First leading screw 2051 and the second leading screw 2052 be arranged in parallel, and the first elevator 2053, the second elevator 2054 are located at
Between base and top plate and be set on leading screw, the first elevator 2053, the second elevator 2054 respectively with the first leading screw and
Two threads of lead screw coordinate, and rotating driving device is arranged on base 201, set driving wheel 2057 on drive device output shaft
It is connected with the first driven pulley 2055 and the second driven pulley 2056 by timing belt.
The output shaft of rotating driving device can be rotated and reverse, above and below this can just realize that elevator is carried out along leading screw
Move, and the output shaft due to the first leading screw 2051 and the second leading screw 2052 with same rotating driving device is connected, and revolves
The rotary motion of rotary driving device passes to the first leading screw 2051 and the second leading screw 2052 by synchronous pulley and timing belt, and this can
To ensure that the first leading screw 2051 and the second leading screw 2052 synchronize rotating Vortex, it is stuck to be prevented effectively from elevator, so as to realize
Lifting platform carries out steadily, quietly moving up and down under the supporting role of two leading screws；Elevator is entered additionally by double lead-screw
Row support also effectively reduces the weight that every leading screw is born, and this also just effectively reduces the abrasion speed of leading screw and elevator
Degree.
Rotating driving device, can be used as rotating driving device using screw pump, rotating hydraulic cylinder of hydraulic power etc.
To use, but the rotating driving device structure of hydraulic power is complex, safeguards inconvenient；Servomotor has action corresponding
It hurry up, the characteristics of anglec of rotation control is accurate, this can further improve the overall performance of double lead-screw synchronization lifting mechanism, therefore this
The rotating driving device of embodiment is servomotor 2059.Decelerator 2060 is connected with the output shaft of servomotor, driving wheel
2057 are arranged on the output shaft of decelerator 2060.
In view of security, servomotor 2059 uses band brake type servomotor, the anomaly such as power-off suddenly is occurring
When servomotor being capable of band-type brake, it is ensured that car bearing platform will not decline automatically.
Stationarity when being moved up and down in view of car bearing platform, in double lead-screw synchronization lifting mechanism, in addition to through lifting
Block, and distinguish parallel guide rod with the first leading screw 2051 and the second leading screw 2052, one end of guide rod is connected with base, separately
One end is connected with top plate.The quantity of guide rod is set according to the quantity of leading screw, can such as be schemed with a guide rod with unification root leading screw
The first leading screw of difference 2051 in 7 guide rod 11,21 parallel with the second leading screw 2052；Or, two root guide rods are with unification
Root leading screw is to further provide for stationary performance.
In order to avoid the abrasion between guide rod and elevator, it can also be also provided between elevator and guide rod
Anti-abrasion structure.
Example IV
Fig. 8 describes the structure chart as elevating mechanism using kinking support.
The elevating mechanism includes the X-type link assembly unit that middle part rotates connection, according to actual needs, and the X-type connects
Bar assembly unit can be one or more, and each X-type link assembly unit is made up of two bars being hinged at middle part 41, with 2
Exemplified by individual, 2 X-types link assembly unit in the vertical direction passes sequentially through axle and is hinged to form Collapsible rack, typically
Mode, such as pass through two upper ends of bottom X-type link assembly with two lower ends of corresponding top X-type link assembly respectively
Axle is hinged.
Two lower ends of bottom X-type link assembly are arranged on base 201, it is preferred that a lower end is fixed with base 201
Connection, another lower slide is connected on slide bar 42, and the slide bar 42 is fixedly mounted on base 201, the side being slidably connected
Formula, such as can be set to ring by the lower end, the ring set is located on slide bar, or, the lower end can also be set to slide
Correspond to the pulley on wheel or ball, the slide bar or ball sets chute, and the lower end and the output end of motor 43, pass through
The motor 43 controls the lower end to slide on slide bar to control lifting.It is corresponding, two upper ends of top X-type link assembly
On car bearing platform 202, a upper end is fixedly connected with car bearing platform 202, and another upper end is slidably connected on slide bar 44, institute
State slide bar to be fixedly mounted on car bearing platform, the mode being slidably connected is similar with foregoing bottom X-type link assembly.
Embodiment five
Fig. 9 describes the structure chart as elevating mechanism using sixdegree-of-freedom simulation.
The elevating mechanism is sixdegree-of-freedom simulation, and mechanical arm includes arm 2061, elbow 2062, wrist 2063, in base 201
The upper bottom that mechanical arm is installed by rotatable bearing, then passes sequentially through stud connection arm, elbow, wrist formation joint, mechanical arm
Top be arranged on by slip support abutment or fixed-hinged support on car bearing platform 202.
The lifting of control arm 2061, elbow 2062, wrist 2063, opening and closing joint and control machine can be distinguished by 6 servomotors
Tool arm bottom rotates relative to base, and synergy realizes lifting, the commutation function of car bearing platform 202.
Embodiment six
Figure 10 describes top view of the trackless vehicle conveying equipment of the present utility model when garage is walked.Specific implementation
When, the vehicle conveying method implemented using aforementioned vehicle equipment 200 can include step：
First use state, the vehicle 300 on car bearing platform is output to the parking stall of bottom landing；
Second use state, the vehicle 300 on car bearing platform is output to the parking stall of upper-layer parking platform.
The typical exchange process that the exchange mechanism is performed includes following manner.
The vehicle 300 being parked on the parking lot parking stall of garage 100 is transported to target parking position：First, trackless vehicle
Haulage equipment 200 moves to the landing on the parking lot parking stall of garage 100, by exchange mechanism by the car on the landing
It is input on car bearing platform, after the completion of exchange, the trackless vehicle conveying equipment 200 leaves the landing, by vehicle 300
Corresponding target parking position is carried to, when target parking position is positioned at the upper strata of garage 100 (more than two layers) landing, driving
Elevating mechanism rises the vehicle on the height that control car bearing platform moves to the target landing, interaction means control car bearing platform
300 depart from, and vehicle 300 is output into target parking position, after the completion of exchange, and elevating mechanism control car bearing platform is dropped on base,
Other carrying tasks are received, or are moved to rest area or charging zone；
The vehicle 300 being parked in garage 100 on parking stall is transported to parking stall at garage pick-up：First, it is trackless
Vehicle conveying equipment 200 moves to parking stall in corresponding garage, when parking stall is to stop positioned at the upper strata of garage 100 (more than two layers)
During car platform, driving elevating mechanism rises the height that control car bearing platform moves to the target landing, controls the parking stall
Vehicle 300 on the landing, is input on car bearing platform by vehicle derailing landing by exchange mechanism, is exchanged and is completed
Afterwards, elevating mechanism control car bearing platform is dropped on base, and vehicle 300 is carried to phase by the trackless vehicle conveying equipment 200
Parking stall at the pick-up answered, parking stall at pick-up is output to by exchange mechanism by the vehicle 300 on car bearing platform, completes to exchange
Afterwards, trackless vehicle conveying equipment 200 leaves the parking stall, receives other carrying tasks, or be moved to rest area or charging
Area.Above-mentioned exchange process is as an example and unrestricted.
Foregoing description is only the description to the utility model preferred embodiment, not to any limit of the utility model scope
Calmly, the those of ordinary skill in the utility model field does according to the disclosure above content any change, modification, belonging to right will
Seek the protection domain of book.
Claims (10)
1. a kind of trackless vehicle conveying equipment, including the base of shift mechanism is installed, bottom is controlled by the shift mechanism
Seat ground running where bottom landing, it is characterised in that also include：
Car bearing platform；
The elevating mechanism of connect base and car bearing platform, the elevating mechanism control car bearing platform is lifted to different layers landing；
Vehicle on car bearing platform is output to difference by the exchange mechanism on car bearing platform, the exchange mechanism from car bearing platform
The parking stall of layer landing, and/or the vehicle on the parking stall of different layers landing is input to car bearing platform.
2. trackless vehicle conveying equipment according to claim 1, it is characterised in that：The elevating mechanism lifts for leading screw
Machine, including leading screw, the drive with threads of lead screw cooperation and the elevator that can be moved up and down along leading screw, and drive screw rotation
Dynamic device；The elevator of the elevating mechanism is connected with car bearing platform.
3. trackless vehicle conveying equipment according to claim 2, it is characterised in that：The elevating mechanism is double lead-screw liter
Drop machine, the elevator is the nut coordinated with wire rod thread, and double lead-screw lift includes the first screw mandrel for being arranged in pairs and the
Two leading screws, and the first screw mandrel of driving and the drive device of the second screw synchronous rotation.
4. trackless vehicle conveying equipment according to claim 3, it is characterised in that：Pass through same drive device driving the
One leading screw and the second screw synchronous rotation, set on the output shaft of drive device on driving wheel, the first leading screw set first from
The second driven pulley is set on driving wheel, the second leading screw, by timing belt or synchronous chain by the driving wheel and two driven pulleys
It is connected.
5. the trackless vehicle conveying equipment according to any one of claim 2-4, it is characterised in that also include：
The guide rod parallel with leading screw, the guide rod is arranged on base；
The connecting rod that one end is fixedly connected with nut, the other end of the connecting rod is slidably mounted on guide rod.
6. trackless vehicle conveying equipment according to claim 1, it is characterised in that：The elevating mechanism is six degree of freedom
Mechanical arm, mechanical arm include arm, elbow, wrist, on base install mechanical arm bottom, then pass sequentially through stud connection arm, elbow,
Wrist formation joint, the top of mechanical arm is arranged on car bearing platform by slip support abutment or fixed-hinged support.
7. trackless vehicle conveying equipment according to claim 1, it is characterised in that：The exchange mechanism is handed over for broach
Formula, parking stall mounting broach frame are changed, exchange mechanism includes the broach of vehicle wheel, lifts the broach lowering or hoisting gear of vehicle,
Control vehicle lifting that vehicle is input into car bearing platform from parking stall broach frame with parking stall disengaging by the broach lowering or hoisting gear,
Or control vehicle landing is placed into parking stall and vehicle is output into parking stall broach frame from car bearing platform.
8. trackless vehicle conveying equipment according to claim 1, it is characterised in that：Exchange mechanism includes being used for Horizontal shifting platform
Carrier vehicle crawler belt, and driving carrier vehicle crawler belt motor, parking stall corresponding with carrier vehicle crawler belt is provided with parking stall and is carried out
Band and the parking stall motor for driving parking stall crawler belt；The parking stall crawler belt and carrier vehicle crawler belt include front-wheel crawler belt and trailing wheel
Crawler belt, the width of front-wheel crawler belt is less than trailing wheel crawler belt.
9. trackless vehicle conveying equipment according to claim 1, it is characterised in that：Exchange mechanism includes manipulator and fixed
Position mechanism, the detent mechanism is used for the position of each wheel of precise positioning, and the manipulator is used to embrace folder according to location information
The front wheels and rear wheels of vehicle, Wheel lifting and car bearing platform or parking stall are departed from, or wheel is drop into car bearing platform or parking
On position.
10. trackless vehicle conveying equipment according to claim 1, it is characterised in that：The exchange mechanism is embraced for wheel hub
Clip, exchange mechanism includes wheel hub clip device and detent mechanism, and the detent mechanism is used for the position of each wheel hub of precise positioning,
The wheel hub clip device is used for according to the front-wheel hub and rear-wheel hub of location information clip vehicle, lifting vehicle and car bearing platform or
Parking stall departs from, or vehicle is drop on car bearing platform or parking stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621487219.XU CN206360438U (en) | 2016-12-31 | 2016-12-31 | Trackless vehicle conveying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621487219.XU CN206360438U (en) | 2016-12-31 | 2016-12-31 | Trackless vehicle conveying equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206360438U true CN206360438U (en) | 2017-07-28 |
Family
ID=59378191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621487219.XU Active CN206360438U (en) | 2016-12-31 | 2016-12-31 | Trackless vehicle conveying equipment |
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| Country | Link |
|---|---|
| CN (1) | CN206360438U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106522618A (en) * | 2016-12-31 | 2017-03-22 | 上海涂思机电技术有限公司 | Trackless vehicle handling equipment and handling method of the same |
| CN110094090A (en) * | 2019-04-26 | 2019-08-06 | 成都智狐科技有限公司 | Intelligent three-dimensional shutdown system |
| CN111622557A (en) * | 2020-06-01 | 2020-09-04 | 合肥巍华智能停车设备有限公司 | Automatic car equipment of getting in tunnel stack garage parking |
| CN112727197A (en) * | 2020-12-29 | 2021-04-30 | 安徽春华智能科技有限公司 | Two-layer intelligent lifting and transverse moving parking equipment and working method thereof |
-
2016
- 2016-12-31 CN CN201621487219.XU patent/CN206360438U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106522618A (en) * | 2016-12-31 | 2017-03-22 | 上海涂思机电技术有限公司 | Trackless vehicle handling equipment and handling method of the same |
| CN110094090A (en) * | 2019-04-26 | 2019-08-06 | 成都智狐科技有限公司 | Intelligent three-dimensional shutdown system |
| CN111622557A (en) * | 2020-06-01 | 2020-09-04 | 合肥巍华智能停车设备有限公司 | Automatic car equipment of getting in tunnel stack garage parking |
| CN112727197A (en) * | 2020-12-29 | 2021-04-30 | 安徽春华智能科技有限公司 | Two-layer intelligent lifting and transverse moving parking equipment and working method thereof |
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| TR01 | Transfer of patent right |
Effective date of registration: 20180502 Address after: 315500 2 5, 98 Hui Ming Road, Fenghua District, Ningbo, Zhejiang. Patentee after: Ningbo transit Mechanical & Electrical Co., Ltd. Address before: 201203 mailbox 470, Chunxiao Road, China (Shanghai) free trade trial area, Pudong New Area, Shanghai, 203-32 Patentee before: Upper tidal land is thought mechanical & electrical technology Co., Ltd |
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