CN100408797C - Cars hand-over transporting robot - Google Patents
Cars hand-over transporting robot Download PDFInfo
- Publication number
- CN100408797C CN100408797C CNB200610040868XA CN200610040868A CN100408797C CN 100408797 C CN100408797 C CN 100408797C CN B200610040868X A CNB200610040868X A CN B200610040868XA CN 200610040868 A CN200610040868 A CN 200610040868A CN 100408797 C CN100408797 C CN 100408797C
- Authority
- CN
- China
- Prior art keywords
- reducing motor
- carrying roller
- sprocket wheel
- walking
- barrow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 abstract description 6
- 230000000979 retarding effect Effects 0.000 abstract 4
- 230000033001 locomotion Effects 0.000 description 5
- 241000219098 Parthenocissus Species 0.000 description 4
- 230000009183 running Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a robot for handing over and carrying car, including traveling carrying frame, traveling mechanism, carrier roller drive mechanism, telescoping mechanism and holding mechanism. Said traveling mechanism is mounted on the traveling carrying frame, and includes traveling wheels, retarding motor and drive shaft; the carrier roller drive mechanism includes carrier roller, carrier roller chain wheel, carrier roller chain, retarding motor, drive shaft, chain wheel and chain; it has two telescoping mechanisms, every telescoping mechanism includes retarding motor, gear and rack rod; it also has two holding mechanisms, every holding mechanism includes holding self-body, retarding motor, gear, chain wheel, mechanical arm, holding chain wheel and chain. Said invention also provides the concrete operation method of said robot.
Description
Technical field
The present invention relates to a kind of automation parking apparatus, especially relate to a kind of cars hand-over transporting robot.Belong to parking equipment technical field.
Background technology
In parking apparatus, year car mode on parking space is forms such as vehicle-containing, pectination frame or creeper tread at present.Car is parked in these above device of berth, and the parking apparatus product cost is very high; The vehicle-containing parking mode is picked up the car needs unloaded sweep playback motion process and running time, and the storing and taking out car time is longer; Pectination frame or creeper tread parking mode floor height are higher, and device space utilization rate is lower.
Summary of the invention
The objective of the invention is to overcome above-mentioned deficiency, provide a kind of and make that the parking apparatus product cost is lower, the storing and taking out car time is short, the cars hand-over transporting robot of parking tier height.
The object of the present invention is achieved like this: a kind of cars hand-over transporting robot, it is characterized in that it comprises walking barrow, walking mechanism, carrying roller driving mechanism, telescoping mechanism and clamping device,
Described walking mechanism is installed on the walking barrow, comprise driving wheel, first reducing motor and first power transmission shaft, driving wheel has many, be installed on the bottom of walking barrow, first reducing motor is installed in the middle of the walking front, barrow rear end, and first power transmission shaft has two, left and right each one, be horizontally placed on the left and right both sides of first reducing motor, the one end links to each other with first reducing motor, and the other end links to each other with the rear end driving wheel;
Described carrying roller driving mechanism comprises carrying roller, the carrying roller sprocket wheel, the carrying roller chain, second reducing motor, second power transmission shaft, first sprocket wheel and first chain, carrying roller has two rows, a left side, right each row, be arranged in the left side in walking barrow front, right both sides, be a left side, right symmetric arrangement, the carrying roller chain gear apparatus is in the one or both ends of carrying roller, the carrying roller chain is connected on the carrying roller sprocket wheel, second reducing motor is installed in the middle of the walking barrow front end front, second power transmission shaft has two, a left side, right each one, be horizontally placed on the left side of second reducing motor, right both sides, the one end links to each other with second reducing motor, and the other end links to each other with first sprocket wheel, and first sprocket wheel links to each other with the carrying roller sprocket wheel with first chain;
Described telescoping mechanism has two, forward and backward each one, be installed on the front-end and back-end of walking barrow, every telescoping mechanism comprises the 3rd reducing motor, first gear and tooth bar, and the 3rd reducing motor is installed in the middle of the walking barrow front, links to each other with first gear, first gear is a pair of external gear pump, with two tooth bar engagements, two tooth bars vertically are arranged side by side in the outside of two first gears respectively, and two tooth bars, one end links to each other with clamping device;
Described clamping device has two, before, each one of back, respectively forward, be connected in the front-end and back-end of telescoping mechanism backward, every clamping device comprises the clamping body, the 4th reducing motor, second gear, second sprocket wheel, mechanical arm, the clamping sprocket wheel and second chain, the clamping body links to each other with telescoping mechanism tooth bar one end, the 4th reducing motor is installed on the clamping body, the output of the 4th reducing motor is installed second gear, second gear is a pair of external gear pump, link to each other with two second sprocket wheels respectively, mechanical arm has two, a left side, right each one, the one end is articulated in a clamping body left side, right both sides, the other end suspends, and the clamping sprocket wheel has two, a left side, right each one, be installed on an end of mechanical arm, link to each other with second sprocket wheel with second chain.
Walking barrow of the present invention is the support body of car transfer robot, and other mechanism is installed on this, is used to carry the weight that is handled upside down car and transfer robot self; Walking mechanism is used for driving walking barrow level run; The car wheel that the carrying roller driving mechanism is used to drive on it moves; Telescoping mechanism is used to drive clamping device and moves horizontally.Clamping device is used to drive the mechanical arm rotation and stretchs out or draw in.
The present invention has following advantage:
1, adopts transfer robot access switching technology, car can directly be parked on the bearing surfaces such as floor, saved traditional mechanical parking equipment parking the rigs such as vehicle-containing, pectination frame or creeper tread that Gong park cars must have been arranged, greatly reduce the cost of automation parking apparatus, improved the price competitiveness of automation parking apparatus on market.
2, adopt transfer robot access switching technology, abandoned the vehicle-containing parking mode of traditional parking apparatus, do not need the process and the time of unloaded sweep playback operation during storing and taking out car, improved the smoothness of the storing and taking out car in mechanical three-dimensional parking garage.
3, adopt transfer robot access and connection technology, greatly reduce the floor height that uses pectination frame or creeper tread parking mode, improved mechanical garage space effective rate of utilization and parking density.
Description of drawings
Fig. 1 is the vertical view of cars hand-over transporting robot of the present invention.
Fig. 2 is the process flow diagram flow chart of picking up the car of cars hand-over transporting robot of the present invention.
Among the figure: walking barrow 1, first reducing motor 2, first power transmission shaft 3, driving wheel 4, carrying roller chain 5, carrying roller sprocket wheel 6, carrying roller 7, second reducing motor 8, second power transmission shaft 9, first gear 10, the 3rd reducing motor 11, tooth bar 12, second chain 13, clamping sprocket wheel 14, mechanical arm 15, second gear 16, the 4th reducing motor 17, clamping body 18, second sprocket wheel 19, first chain 20, first sprocket wheel 21.
The specific embodiment
Referring to Fig. 1, cars hand-over transporting robot of the present invention mainly is made up of walking barrow, walking mechanism, carrying roller driving mechanism, telescoping mechanism and clamping device.Described walking barrow is the support body of car transfer robot, and other mechanism is installed on this, is used to carry the weight that is handled upside down car and transfer robot self.Described walking mechanism is installed on the walking barrow 1, mainly is made of driving wheel 4, first reducing motor 2 and first power transmission shaft 3 etc.Driving wheel 4 has many (among the figure being four), is installed on the bottom of walking barrow 1.First reducing motor 2 has one, is installed in the middle of the walking front, barrow 1 rear end, and first power transmission shaft 3 has two, left and right each one, be horizontally placed on the left and right both sides of first reducing motor 2, the one end links to each other with first reducing motor 2, and the other end links to each other with driving wheel 4.Drive 3 rotations of first power transmission shaft by first reducing motor 2, first power transmission shaft 3 drives driving wheel 4 motions and makes walking barrow 1 level run.
Described carrying roller driving mechanism mainly is made of carrying roller 7, carrying roller sprocket wheel 6, carrying roller chain 5, second reducing motor 8, second power transmission shaft 9, first sprocket wheel 21 and first chain 20 etc.Carrying roller 7 has two rows, and left and right each row is arranged in the left and right both sides in walking barrow 1 front, is left and right symmetric arrangement, and carrying roller sprocket wheel 6 is installed on the one or both ends of carrying roller 7, and carrying roller chain 5 is connected on each carrying roller sprocket wheel 6; Second reducing motor 8 has one, be installed in the middle of the walking barrow 1 front end front, second power transmission shaft 9 has two, left and right each one, be horizontally placed on the left and right both sides of second reducing motor 8, the one end links to each other with second reducing motor 8, and the other end links to each other with first sprocket wheel 21, and first sprocket wheel, 21 usefulness, first chain 20 links to each other with carrying roller sprocket wheel 6.Second reducing motor 8 drives first sprocket wheel, 21 rotations on second power transmission shaft 9, first sprocket wheel 21 drives 20 motions of first chain, first chain 20 drives 6 motions of carrying roller sprocket wheel, and each carrying roller is moved simultaneously, and the car wheel that the carrying roller that rotatablely moves drives on it moves.
Described telescoping mechanism has two, forward and backward each one, be installed on the walking barrow 1 front-end and back-end, every telescoping mechanism mainly is made of the 3rd reducing motor 11, first gear 10 and tooth bar 12 etc.It is positive middle that the 3rd reducing motor 11 is installed on walking barrow 1, link to each other with first gear 10, first gear 10 is a pair of external gear pump, respectively with 12 engagements of two tooth bars, two tooth bars 12 vertically are arranged side by side in the outside of two first gears 10, and two tooth bars, 12 1 ends link to each other with clamping device, and 11 energisings of the 3rd reducing motor drive 10 rotations of first gear, make tooth bar 12 stretching motions that are engaged with, and then the drive clamping device moves horizontally.
Described clamping device has two, forward and backward each one, be connected in the front-end and back-end of telescoping mechanism respectively forward, backward, every clamping device mainly is made of clamping body 18, the 4th reducing motor 17, second gear 16, second sprocket wheel 19, mechanical arm 15, clamping sprocket wheel 14 and second chain 13 etc.Clamping body 18 links to each other with telescoping mechanism tooth bar 12 1 ends.The 4th reducing motor 17 is installed on the clamping body 18, it is a pair of external gear pump that the output of the 4th reducing motor 17 is installed second gear, 16, the second gears 16, links to each other with two second sprocket wheels 19 respectively, mechanical arm 15 has two, left and right each one, the one end is articulated in clamping body 18 left and right both sides, and the other end suspends, clamping sprocket wheel 14 has two, left and right each one, be installed on mechanical arm 15 1 ends, link to each other with second sprocket wheel 19 with second chain 13.17 energisings of the 4th reducing motor drive 16 rotations of a pair of external toothing second gear, and then drive second sprocket wheel 19, second chain 13 and 14 rotations of clamping sprocket wheel, make it to drive mechanical arm 15 rotations and stretch out or draw in.
Referring to Fig. 2, in conjunction with the figure explanation cars hand-over transporting robot of the present invention process flow of picking up the car.Car is parked in the place, berth, and transfer robot is packed up clamping body 18 and mechanical arm 15 in advance, and transfer robot runs under the vehicle chassis of berth, and clamping this moment body 18 stretches out a segment distance automatically, shown in Fig. 2 (a); Behind the carrying roller contact wheel, the mechanical arm 15 on the clamping body 18 screws out and opens, shown in Fig. 2 (b) before when transfer robot continues to move ahead; Clamping body 18 shrinks subsequently, and the operation of carrying roller driving mechanism makes carrying roller 7 runnings, makes the vehicle front-wheel be lifted away from ground, shown in Fig. 2 (c); Clamping body 18 continues to shrink until drawing close, and carrying roller 7 runnings travel on the carrying roller of transfer robot the vehicle front-wheel, fully shown in Fig. 2 (d); The carrying roller of transfer robot remains in operation, the frictional force that rotation by carrying roller 7 and car tires produces promotes car and moves on the carrying roller of transfer robot, until the four wheels of car all during the suitable position on carrying roller, carrying roller just shuts down, shown in Fig. 2 (e).Transfer robot did not produce and relatively moved with stopping thereon car this moment, and the transfer robot walking is put down vehicle after making vehicle move to the position, access from the berth again, has finished the whole process of picking up the car.
Claims (1)
1. a cars hand-over transporting robot is characterized in that it comprises walking barrow, walking mechanism, carrying roller driving mechanism, telescoping mechanism and clamping device,
Described walking mechanism is installed on the walking barrow (1), comprise driving wheel (4), first reducing motor (2) and first power transmission shaft (3), driving wheel (4) has many, be installed on the bottom of walking barrow (1), first reducing motor (2) is installed in the middle of walking barrow (1) front, rear end, first power transmission shaft (3) has two, left and right each one, be horizontally placed on the left and right both sides of first reducing motor (2), the one end links to each other with first reducing motor (2), and the other end links to each other with rear end driving wheel (4);
Described carrying roller driving mechanism comprises carrying roller (7), carrying roller sprocket wheel (6), carrying roller chain (5), second reducing motor (8), second power transmission shaft (9), first sprocket wheel (21) and first chain (20), carrying roller (7) has two rows, a left side, right each row, be arranged in the positive left side of walking barrow (1), right both sides, be a left side, right symmetric arrangement, carrying roller sprocket wheel (6) is installed on the one or both ends of carrying roller (7), carrying roller chain (5) is connected on the carrying roller sprocket wheel (6), second reducing motor (8) is installed in the middle of walking barrow (1) the front end front, second power transmission shaft (9) has two, a left side, right each one, be horizontally placed on the left side of second reducing motor (8), right both sides, the one end links to each other with second reducing motor (8), and the other end links to each other with first sprocket wheel (21), and first sprocket wheel (21) links to each other with carrying roller sprocket wheel (6) with first chain (20);
Described telescoping mechanism has two, forward and backward each one, be installed on the front-end and back-end of walking barrow (1), every telescoping mechanism comprises the 3rd reducing motor (11), first gear (10) and tooth bar (12), it is positive middle that the 3rd reducing motor (11) is installed on walking barrow (1), link to each other with first gear (10), first gear (10) is a pair of external gear pump, mesh with two tooth bars (12) respectively, two tooth bars (12) vertically are arranged side by side in the outside of two first gears (10), and two tooth bars (12) one ends link to each other with clamping device;
Described clamping device has two, before, each one of back, respectively forward, be connected in the front-end and back-end of telescoping mechanism backward, every clamping device comprises clamping body (18), the 4th reducing motor (17), second gear (16), second sprocket wheel (19), mechanical arm (15), clamping sprocket wheel (14) and second chain (13), clamping body (18) links to each other with telescoping mechanism tooth bar (12) one ends, the 4th reducing motor (17) is installed on the clamping body (18), the output of the 4th reducing motor (17) is installed second gear (16), second gear (16) is a pair of external gear pump, link to each other with two second sprocket wheels (19) respectively, mechanical arm (15) has two, a left side, right each one, the one end is articulated in clamping body (a 18) left side, right both sides, the other end suspends, and clamping sprocket wheel (14) has two, a left side, right each one, be installed on an end of mechanical arm (15), link to each other with second sprocket wheel (19) with second chain (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610040868XA CN100408797C (en) | 2006-07-31 | 2006-07-31 | Cars hand-over transporting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610040868XA CN100408797C (en) | 2006-07-31 | 2006-07-31 | Cars hand-over transporting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1888357A CN1888357A (en) | 2007-01-03 |
| CN100408797C true CN100408797C (en) | 2008-08-06 |
Family
ID=37577645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200610040868XA Expired - Fee Related CN100408797C (en) | 2006-07-31 | 2006-07-31 | Cars hand-over transporting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100408797C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103132760B (en) * | 2013-03-20 | 2015-06-03 | 东莞市伟创东洋自动化设备有限公司 | Mechanical arm intelligent garage transportation small car and car storing-taking process |
| CN103541568B (en) * | 2013-09-29 | 2016-01-20 | 湖南地生工业设备有限公司 | Multi-storied garage intelligent lifting transport device |
| CN104358460B (en) * | 2014-10-30 | 2017-02-01 | 王洋 | Telescopic transmission shaft |
| CN105952213A (en) * | 2016-01-13 | 2016-09-21 | 安徽凯旋智能停车设备有限公司 | Vertical lifting type elevating carrying device |
| CN107100403A (en) * | 2017-06-05 | 2017-08-29 | 东莞松山湖国际机器人研究院有限公司 | AGV transfer robots and the positioning and guiding method for it |
| CN108792606B (en) * | 2018-07-26 | 2024-01-02 | 深圳怡丰机器人科技有限公司 | Clamping and lifting conveying type carrying robot and carrying method thereof |
| CN110374380B (en) * | 2019-07-29 | 2020-09-29 | 佛山市诺行科技有限公司 | Outside clamp tire cooperation gyro wheel structure of AGV |
| CN110512930A (en) * | 2019-08-29 | 2019-11-29 | 广州广日智能停车设备有限公司 | Automobile carrier |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5314284A (en) * | 1993-04-23 | 1994-05-24 | Tsai Chi Chung | Parking tower with a carrier handling device on a elevator |
| JPH0734708A (en) * | 1993-07-19 | 1995-02-03 | Nissei Ltd | Attaching structure for comb for traversing track for fork type parking device |
| CN2560703Y (en) * | 2002-08-23 | 2003-07-16 | 缪慰时 | Industrial robot for horizontal transport truck |
| CN2615251Y (en) * | 2003-01-22 | 2004-05-12 | 赵忠义 | Stereo garage vehicle-carrying dolly |
| CN2703082Y (en) * | 2004-04-22 | 2005-06-01 | 深圳怡丰自动化停车设备有限公司 | Double-vehicle platform transporter for exchanging vehicles simultaneously |
| CN2780900Y (en) * | 2005-02-01 | 2006-05-17 | 杭州西子石川岛停车设备有限公司 | Carrying device and auxiliary mechanism |
| CN200999482Y (en) * | 2006-08-01 | 2008-01-02 | 江苏双良停车设备有限公司 | Small automobile conjoined conveying robot |
-
2006
- 2006-07-31 CN CNB200610040868XA patent/CN100408797C/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5314284A (en) * | 1993-04-23 | 1994-05-24 | Tsai Chi Chung | Parking tower with a carrier handling device on a elevator |
| JPH0734708A (en) * | 1993-07-19 | 1995-02-03 | Nissei Ltd | Attaching structure for comb for traversing track for fork type parking device |
| CN2560703Y (en) * | 2002-08-23 | 2003-07-16 | 缪慰时 | Industrial robot for horizontal transport truck |
| CN2615251Y (en) * | 2003-01-22 | 2004-05-12 | 赵忠义 | Stereo garage vehicle-carrying dolly |
| CN2703082Y (en) * | 2004-04-22 | 2005-06-01 | 深圳怡丰自动化停车设备有限公司 | Double-vehicle platform transporter for exchanging vehicles simultaneously |
| CN2780900Y (en) * | 2005-02-01 | 2006-05-17 | 杭州西子石川岛停车设备有限公司 | Carrying device and auxiliary mechanism |
| CN200999482Y (en) * | 2006-08-01 | 2008-01-02 | 江苏双良停车设备有限公司 | Small automobile conjoined conveying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1888357A (en) | 2007-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100408797C (en) | Cars hand-over transporting robot | |
| CN104806057B (en) | A kind of parking systems vehicle carrier of anti-end surface cam type lifting | |
| CN106494811B (en) | It is a kind of can comprehensive steering energy saving shuttle | |
| CN201943403U (en) | Vertical clamping tire type automobile carrier for three-dimensional garage | |
| CN108412285A (en) | A kind of foldable general automobile handling device | |
| CN206971854U (en) | AGV transfer robots | |
| CN103132760B (en) | Mechanical arm intelligent garage transportation small car and car storing-taking process | |
| CN105480632A (en) | Multifunctional roller type shuttle vehicle for stacking machine | |
| CN102071824A (en) | Intelligent conveying trolley for mechanical garage | |
| CN205441792U (en) | Arris car is worn to drum -type | |
| CN100534729C (en) | Mechanical arm with separate clamping and lifting mechanism for carrying automobile | |
| CN200999482Y (en) | Small automobile conjoined conveying robot | |
| CN107869267A (en) | Fork comb type automobile carrier | |
| CN104120906B (en) | Multi-storied garage intelligent floor truck | |
| CN205935866U (en) | Ziche structure of car during stopping, intelligence is used for realizing holding in palm | |
| CN101761258B (en) | Lifting type automobile access device | |
| CN206016371U (en) | A kind of intelligent parking robot | |
| CN203285123U (en) | Intelligent mechanical arm garage transporting trolley | |
| CN103132744A (en) | Wheel-boot type parking device | |
| CN203583961U (en) | Clamping tire type automobile carrier of three-dimensional garage | |
| CN210417926U (en) | Automatic commodity circulation pile up neatly is with pile up neatly device with height adjusting mechanism | |
| CN205476734U (en) | It raises horizontal intelligent carrier of formula car to control parallel | |
| CN215706778U (en) | AGV dolly is used in parking area vehicle transfer | |
| CN208815972U (en) | A kind of lifting of automobile carrier and Obstruct apparatus | |
| CN201495816U (en) | Friction car taking up device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: JIANGSU LICHUANG NEW ENERGY CO., LTD. Free format text: FORMER NAME: SHUANGLIANG PARKING APPTS CO. LTD, JIANGSU |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 214444 No. 1 Li Li Town, Jiangsu, Jiangyin Patentee after: Jiangsu innovation Energy Co.,Ltd. Address before: 214444 No. 1 Li Li Town, Jiangsu, Jiangyin Patentee before: Jiangsu Shuangliang Parking System Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080806 |