CN101121262A - Mechanical arm with separate clamping and lifting mechanism for carrying automobile - Google Patents
Mechanical arm with separate clamping and lifting mechanism for carrying automobile Download PDFInfo
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- CN101121262A CN101121262A CNA2007101318011A CN200710131801A CN101121262A CN 101121262 A CN101121262 A CN 101121262A CN A2007101318011 A CNA2007101318011 A CN A2007101318011A CN 200710131801 A CN200710131801 A CN 200710131801A CN 101121262 A CN101121262 A CN 101121262A
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Abstract
The present invention relates to a manipulator for conveying automobile, in particular to a manipulator for conveying automobile, which is equipped with independent clamping and hoisting mechanisms. The technical proposal provided by the present invention is that the manipulator comprises a flat A unit and flat B unit. The present invention is characterized in that an external unit and an internal unit are separately equipped in the A and B units; the internal unit is equipped with the manipulator which can be turned for clamping wheels and an elevation mechanism and a guide mechanism are equipped between the internal and external units; the elevation mechanism can drive the internal unit to move up and down in the external unit and the guide mechanism can guide the internal unit movement; a road wheel and a driving mechanism which drives the road wheel are equipped on the external unit; the external unit is a hollow frame. Another set of hoisting mechanism is used to lift the road wheel away from the ground after the manipulator is aimed at the tyre position and complete clamping actions. The hoisting action is not affected by the tyre condition which can prevent failure form happening and prevent the procedure action failure from happening under the worst circumstances; in this way, the working reliability of the manipulator is effectively promoted.
Description
Technical field
The present invention relates to a kind of manipulator of carrier vehicle, particularly a kind of manipulator with carrier vehicle of independent clamping and lifting mechanism.
Background technology
In recent years explosive the growth appears in the auto output of China, and parking position day is becoming tight; And the chance that provides acreage property to be used to build the garage parking in the city is few.Account at present in the mechanical parking equipment about 80% semiautomatic lifting cross sliding type parking equipment not high owing to its space availability ratio, occupy floor area big, be unsuitable for improving reason such as automation degree of equipment, higher vertical lifting and the tunnel stacking kind equipment of automaticity that its occupation rate of market is suitable for building up high tower or underground garage gradually substitutes.Though this two type parking equipments structure is complicated, cost is higher, because space availability ratio and automaticity are all higher, still has the trend that rises year by year.Tunnel stacking type parking equipment particularly because it is derived from technical ripe storied 3-D warehouse, and is suitable for building up the bigger underground garage of storage capacity and demonstrates certain vitality.5000 parking stalls of tunnel stacking type parking equipment were built up in the whole nation approximately in 2006, and rate of growth is the hat of each type parking equipment.
The operation principle and the storied 3-D warehouse of tunnel stacking type parking equipment are identical.The parking warehouse compartment of multilayer is arranged in the both sides in tunnel, and the rail lane stacker works in the tunnel with the directions X walking of finishing automobile and the conveying task that the Y direction promotes.And finish its Z direction by conveyor pallet, comb body switch type dolly or manipulator, the task of carrier vehicle on the warehouse compartment just.Lane stacker has been mature technology now, and just platform size and loading capacity are a bit bigger than common high-rise warehouse, the technical difficulty that there is no.Therefore operating efficiency, economy and the reliability of tunnel stacking type parking equipment just depend on the carrier of Z direction substantially.
The early stage carrier that uses nearly all is a pellet type.Automobile is parked on the pallet, and the transportation tray while is carrier vehicle also.This form is just progressively withdrawn from the market owing to exist the idle program of empty pallet carrying.Present more use be the comb body formula, hand type still is in the starting stage.Wherein the operation principle of hand type is such: manipulator is a flat, has the walking driving mechanism, can enter the below of automobile chassis from the fore-and-aft direction of automobile.Stretch out the mechanical arm that it has raceway behind the aiming tire location, utilize the thrust of oil cylinder to push the below of doughnut to finish the program of lifting automobile.This form has does not need any device on the warehouse compartment, it is highly little to take up room, and operating efficiency is than advantages such as height.But some problems in the practice in several years, have also been found.Maximum problem is the action that it has used clamping and lifting unification, just relies on the lateral thrust of clamping tire to come the lifting automobile.When therefore running into tire deflation or surface of tyre damage, holding action can't be put in place; Though perhaps clamping puts in place, in fact automobile does not have lifting, and detection system also can't reflect this situation.At this moment may cause system-wide major accident.Because this class automatic garage is unmanned often, the workman enters fix a breakdown unusual difficulty of garage.Cause garage paralysis and stoppage in transit for a long time because of the failure of a program behavior.This situation at home and abroad repeatedly occurs.
Summary of the invention
The present invention is directed to the problems referred to above, propose a kind of manipulator with carrier vehicle of independent clamping and lifting mechanism.Its arrangement form is different from the manipulator of clamping and lifting unification action fully.Use this manipulator at mechanical arm aiming tire location and after finishing holding action, other has a cover lifting mechanism to make tire be lifted away from ground.Its lifting action is not subjected to the influence of tire condition, therefore can prevent the generation of fault, has prevented to cause the failure of program behavior yet under worst situation, thereby has improved the reliability of manipulator work effectively.
According to technical scheme provided by the invention, described mechanical arm comprises the A unit of flat and the B unit of flat, it is characterized in that: unit and interior unit outside having respectively in A unit and B unit; The mechanical arm that can rotatingly be used for the clamping wheel is arranged on interior unit, interior unit and outside be useful between the unit drive in the elevating mechanism that moves up and down in the unit outside of unit and the guiding mechanism that play the guiding role during in interior cell moving, road wheel is arranged on the unit outside and be used for the driving mechanism that ground-engaging wheel rotates, outer unit is the framework of hollow.
Driving mechanism is positioned at an end of framework, at the other end of framework supporting roller is installed, and interior unit is positioned at the framework inside of hollow, and the both sides of framework are girder; In driving mechanism, the output of motor and decelerator is connected with gear-box, and the output of gear-box is connected with road wheel, and the power of motor and decelerator output drives road wheel by gear-box and rotates.
In driving mechanism, the output of motor and decelerator is connected with first gear-box that is positioned at framework one side, the output of first gear-box is connected with the road wheel that is positioned at framework the same side, first gear-box utilizes universal joint to be connected with second gear-box that is positioned at the framework opposite side simultaneously, and the output of second gear-box is connected with the road wheel that is positioned at this side.
In elevating mechanism, the tooth bar that climbs is positioned at the inboard of framework, have at the junction surface of interior unit and framework can with the gear that climbs of the tooth bar engagement of climbing, the gear that climbs is connected with lifting driving mechanism on being installed on interior unit; Perhaps at the installed inside of the framework screw mandrel that climbs, the nut that climbs that cooperates with the screw mandrel that climbs is installed on interior unit, the nut that climbs is connected with lifting driving mechanism on being installed on interior unit; Described lifting driving mechanism comprises motor and reductor thereof.
In guiding mechanism, guide rail is positioned at the inboard of framework, and the directive wheel that cooperates with the spigot surface of guide rail is installed on interior unit; On the side of interior unit, shelf is installed, is used for interior unit is shelved on the framework of outer unit; There is side guide wheel in the outside, end at framework.
Guide rail is a V-way, has trace to regulate leeway, so that can mesh better with the V-arrangement guide wheel of interior unit and the gear that climbs.
A group rotary gear box and A group drive motors are set on the interior unit of A unit, 1 output shaft and 3 driven shafts are arranged at the bottom at A group rotary gear box, driving wheel on the output shaft drives the driven pulley that is installed on the driven shaft and rotates, drive also is installed on output shaft and driven shaft simultaneously, each drive connects with the corresponding drive that is installed in the rotating shaft with driving-belt respectively, is separately installed with the mechanical arm that is used for the clamping wheel in every rotating shaft; When starting drive motors, make two pairs of mechanical arms simultaneously to 90 ° of its symmetrical center line n revolutions by drive;
Two B group rotary gear boxes and two corresponding B group drive motors thereof are set on the interior unit of B unit, 1 output shaft and 1 driven shaft are arranged at the bottom at each B group rotary gear box, driving wheel and drive are installed on output shaft, driven pulley and drive are installed on driven shaft, each drive connects with the corresponding drive that is installed in the rotating shaft with driving-belt respectively, is separately installed with the mechanical arm that is used for the clamping wheel in every rotating shaft; After starting B group drive motors,, make to be in the revolution that the inboard equidirectional two pairs of mechanical arms of automobile back wheel are made car of turning direction trailing wheel and clamping automobile back wheel successively by drive.
Mechanical arm is a cantilever design, and on the unit, axle utilized bearing to be installed on the bearing block in bearing block wherein was installed in, and at the axle sleeve of the upper end of axle mounting strap welded plate, sprocket wheel is installed in the lower end; The mechanical arm plate is connected on the welded plate of axle sleeve.
On mechanical arm and plane that doughnut contacts, groove is arranged, frizzen is arranged in groove and adjust plate, on the adjustment plate, spring base is arranged, groove is stretched out in the outer end of frizzen, the inner is positioned on the spring base, microswitch is arranged on spring base, on the head of frizzen and the frizzen between the spring base, spring is arranged, form a kind of mechanical arm of belt sensor spare; When mechanical arm touched tire, frizzen retreated, and drove the push rod of microswitch, thereby provided signal, made B group manipulator stop to retreat, and opened a pair of mechanical arm of opposite side.
Described method of operating with manipulator that is used for carrier vehicle of independently clamping and lifting mechanism is characterized in that: the A unit enters after the automobile chassis below, aiming vehicle front center; A of unit group rotary gear box drives two pairs of mechanical arms simultaneously to its symmetrical center line n revolution, the front-wheel of clamping automobile in it; The elevating mechanism of interior unit starts then, makes two front-wheels of automobile be lifted away from ground simultaneously; B unit and A unit enter automobile chassis simultaneously, and after the A unit was lifted away from ground with two front-wheels of automobile, the B unit at first opened the mechanical arm of a pair of belt sensor spare that is in front-wheel one side by a B group rotary gear box in unit in it; The B unit is to automobile back wheel direction walking then, and when doughnut was triggered to senser element on the mechanical arm, the B unit stopped walking; Another B group rotary gear box of unit makes a pair of mechanical arm that is in the automobile back wheel outside open the clamping automobile back wheel in the B unit; The elevating mechanism of unit starts in the B unit, makes automobile back wheel also be lifted away from ground; A unit and B aircrew cooperation transport automobile to the instruction place then.
Advantage of the present invention is: manipulator is divided into two kinds of A unit and B units.The work of two-shipper group is with the front-wheel and the trailing wheel of difference clamping and lifting automobile.Each unit is divided into two parts in outer unit and interior unit again.Rely on the V-arrangement guidance system, interior unit moves up and down inside, unit outside.Outer unit has walking function.Actions such as can do to rise in interior unit, the left side revolution of decline and mechanical arm, right-hand rotation.The action mutually noninterfere of inside and outside two unit.The instruction action of host computer is pressed in two unit, cooperates the task of finishing carrier vehicle.
Description of drawings
Fig. 1 is manipulator and the position view of as ready automobile on warehouse compartment;
Fig. 2 is the vertical view of Fig. 1; Flow chart when Fig. 3 is carrier vehicle;
Fig. 4 is the side view of the outer unit of A unit; Fig. 5 is the vertical view of the outer unit of A unit;
Fig. 6 is the side view of unit in the A unit; Fig. 7 is the vertical view of Fig. 6;
Fig. 8 is the left view of Fig. 7; Fig. 9 is the upward view of Figure 10.
Figure 10 is the structure chart of A unit rotary gear box.
Figure 11 is the sprocket wheel layout drawing of A unit rotary gear box.
Figure 12 is the upward view of B unit.Figure 13 is the vertical view of B unit.
Figure 14 is the left view of Figure 13.Figure 15 is the upward view of Figure 16.
Figure 16 is the structure chart of B unit rotary gear box;
Figure 17 is the sprocket wheel layout drawing of B unit rotary gear box.
Figure 18 is the structure chart of mechanical arm.Figure 19 is the vertical view of Figure 18.
Figure 20 is the scheme of installation of senser element among Figure 19.Figure 21 is that the structure of A unit is always schemed.
Figure 22 is the upward view of Figure 21.Figure 23 is the upward view of Figure 24.
Figure 24 is that the structure of B unit is always schemed.
The specific embodiment
Below by accompanying drawing, technical scheme of the present invention is described in further detail.
The manipulator that the present invention has a carrier vehicle of independent clamping and lifting mechanism is divided into two kinds of A unit and B units, and two kinds of units all overlap mechanisms by interior unit and outer unit two and formed.
The structure of outer unit is as shown in Figure 5: outer unit is the tower structure of hollow, and the one end is the walking driving mechanism, and integral body is flat.The framework inside of hollow is residing position, unit in the manipulator.The walking driving mechanism is made up of by former and later two road wheels 3 that gear-box 2 drives the one end motor and decelerator 1.Because exist bigger gap between the warehouse compartment of piler platform and parking, gap value is generally 3-5 centimetre.The vibrations that produce when manipulator is crossed over the gap might make mechanical part and electric component bear extra stress, so be designed to stride the front and back wheel structure of ditch formula.The walking of one end drives power and drives the front and back wheel 6 of the other end to finish the synchronous walking action by the gear-box 5 of the universal joint 4 transmission other ends again.The other end of framework is installed with supporting roller 8 and side guide wheel 9 in the end of two edge-beams 7.Four side guide wheels guarantee that manipulator can correctly walk in safely in the gathering sill on warehouse compartment and the piler platform, depart from and collide and be unlikely to produce.
Two pairs of V-ways 10 of the inboard symmetric arrangement of unit framework and a pair of tooth bar 11 that climbs outside.The V-way and the tooth bar that climbs all pass through bolting, have trace to regulate leeway, so that can mesh better with the V-arrangement guide wheel of interior unit and the gear that climbs.
Fig. 6,7,8 is depicted as the interior cellular construction of manipulator A unit.Interior unit is corresponding with outer unit also to be the frame structure of flat.It relies on 8 V-arrangement guide wheels 12 can make a certain amount of lifting action in the inside of unit framework outside.Then rely on 4 shelves 13 to be shelved on the girder 7 of outer unit at ordinary times.The tooth bar 11 that climbs of gear 14 and outer unit of climbing meshes.Whole unit lifting 100 millimeter under the driving of lifting mechanism, can making.Lifting mechanism is by motor and decelerator 15, and gear-box 16 and universal drive festival 17 are formed.When manipulator was received the lifting instruction, the low speed output of motor made the gear that climbs climb along tooth bar, and omnidistance 100 millimeters need 2.5 seconds approximately.
The interior unit of A unit, its function are after manipulator is positioned the vehicle front center, and four mechanical arms are opened simultaneously, lifting then.Therefore it has a concentrated rotary gear box 18, by four output chain gears of rotary gear box bottom, by chain drive mechanical arm sprocket wheel, and makes 90 ° of mechanical arm 19 revolutions.
The structure of rotary gear box 18 is shown in Fig. 9,10,11.Drive motors 20 is quill shaft structures, and driving gear 21 is by splay its excess-three of layout transmission driven gear 22,23,24.Can reach the purpose that two pairs of mechanical arms are spent to center steering 90 simultaneously with four sprocket wheels of four gear coaxial arrangement 25,26,27,28 by illustrated chain arrangement form.
The outer unit of B unit is identical with the A unit.Function of unit is that the B unit retreats after the inboard equidirectional a pair of mechanical arm of automobile back wheel is opened in it, and mechanical arm contact automobile back wheel tire triggers its senser element, and another is opened mechanical arm again then.Therefore there are two groups of rotary gear boxes unit in it, and an elder generation one back is two pairs of mechanical arms of transmission respectively.
The interior cellular construction of B unit such as Figure 12,13,14.Wherein except that 2 rotary gear boxes 29 were different with the A unit, all the other were identical with the A group.
The swiveling gear box structure of B unit is shown in Figure 15,16,17: drive motors 30 driven wheels 31 and 32 and and the sprocket wheel 33 and 34 of gear coaxial arrangement, make by illustrated chain arrangement form to be in the inboard equidirectional a pair of mechanical arm of automobile back wheel and to do forward and reverse revolution, thereby reach its functional requirement.
The mechanical arm that lifts doughnut is a cantilever design, also has two kinds.Wherein the mechanical arm of belt sensor spare is not as shown in figure 18.Bearing block 35 and the welding of interior unit rack are fixing.The two ends up and down of bearing block are thrust bearing 36 and needle bearing 37.The axle sleeve 39 of the upper end mounting strap welded plate of axle 38, sprocket wheel 40 is installed in the lower end, and fixing with round nut 41.Sprocket wheel 40 is connected with the sprocket wheel of rotary gear box lower end.Mechanical arm plate 42 is detachable, fixes with the welded plate on bolt 43 and the axle sleeve.
The mechanical arm of belt sensor spare is shown in Figure 19,20.On mechanical arm and plane that doughnut contacts, two grooves 44 are arranged, semicircular frizzen 45 wherein is installed, and is supported by spring 46.The other end of spring is adjusted plate 47 compressions.When mechanical arm touched tire, frizzen retreated, and drove and was connected in the push rod of the microswitch 49 on the spring base 48, thereby provide signal.Make B group manipulator stop to retreat, and open a pair of mechanical arm of opposite side.
A unit after interior unit and outer unit are installed is shown in Figure 21,22, and the structure of A group manipulator is: unit+outer unit in the A group.Its function is: enter after the automobile chassis below aiming vehicle front center; The rotary gear box of interior unit is opened four mechanical arms simultaneously; The lifting mechanism of interior unit starts, and makes two front-wheels of automobile be lifted away from ground simultaneously.
After interior unit and outer unit are installed shown in Figure 23,24, the structure of B group manipulator is: the interior unit of B group+outer unit.Its function is: it and A unit enter automobile chassis simultaneously, and after the A unit was finished whole program behaviors, the B unit at first opened the mechanical arm of a pair of belt sensor spare that is in front-wheel one side by a rotary gear box in the interior unit; The B unit is walked to the automobile back wheel direction; When doughnut was triggered to sensing mechanism, the B unit stopped; Another rotary gear box of unit is opened a pair of mechanical arm that is in the automobile back wheel outside in the B unit; The lifting mechanism of unit starts in the B unit, makes automobile back wheel also be lifted away from ground.A unit and B aircrew cooperation transport automobile to the instruction place then.
The flow chart of Fig. 3 during for carrier vehicle of the present invention.
In the operation 1 of Fig. 3, A unit and B unit are awaited orders on the piler platform, after receiving instruction, set out to the as ready automobile simultaneously;
In operation 2, the A unit relies on sensor-based system to be positioned the vehicle front center, A, B unit are stopped simultaneously and brakes;
In operation 3, the A unit is opened mechanical arm, and the lifting vehicle front; The B unit is opened the mechanical arm that is positioned at the front, and prepares walking backward;
In operation 4, the preceding mechanical arm of B unit touches the trailing wheel of automobile when retreating, and triggers the sensor on this mechanical arm; Then, the B unit stops to retreat and braking;
In operation 5, the mechanical arm that is positioned at the back in the B unit is opened, with its preceding mechanical arm clamping automobile back wheel, lifting automobile back wheel again; At this moment, the front and back wheel of automobile is all lifted, and A, B unit are prepared walking, and automobile is carried on piler;
In the operation 6, to the piler platform, its road wheel shuts down and brakes with car carrying for A, B unit again;
In operation 7, A, B unit front portion reset and await orders.
The present invention has following features:
1, manipulator is divided into two kinds of A unit and B units. The work of two-shipper group is with difference clamping and lifting vapour The front-wheel of car C and trailing wheel, thus satisfy the different requirements of all kinds of different wheelspan automobiles. Two units are all worked Within guide groove D set in the middle of the vehicle right and left wheel. See Fig. 1,2.
2, simplified the working procedure of manipulator: make the A unit be positioned the front-wheel of automobile by sensor-based system, At first make the front-wheel lifting, and A unit running gear is braked immediately. The B unit aims at and the lifting trailing wheel then. Can prevent that like this automobile from producing displacement in clamping and lifting process, and each procedure automobile parking after the impact The correctness of position. See Fig. 3.
3, each unit is divided into two parts in outer unit and interior unit. Rely on the V-arrangement guidance system, interior unit Under the constraint of four V-ways in unit, do steady and limited moving up and down outside. Outer unit has row Stop ﹠ go function can be done to advance according to the host computer instruction, retreats, the at a slow speed action such as in place and braking. Interior unit root Can do to rise, descend according to the host computer instruction, and the actions such as the left revolution of mechanical arm, right-hand rotation. Inside and outside two The action mutually noninterfere of unit, the interoperation of two unit then can be finished the desired every finger of manipulator The order action.
4, arrange the gear type climbing device on the interior unit. Climbing gear and the tooth bar that is arranged on the outer unit mesh. Rely on the low speed output of lifting motor to drive climbing gear, and in the pact of 4 internal unit of V-arrangement guidance system Bundle is lower, makes the equably outside interior slowly lifting of the framework of unit of interior whole unit. Design the omnidistance lifting time approximately It is 2.5 seconds.
5, the revolution of mechanical arm action is driven by two kinds of different rotary gear boxes. The rotary gear box of A unit Make the simultaneously revolution in the other direction of four mechanical arms of lifting vehicle front, clamping is two front-wheels of immediately lifting also. B The rotary gear box of unit at first moves a pair of mechanical arm of automobile back wheel front side, retreats opportunity at the B unit Tool arm contact tire triggers the senser element that is installed on the mechanical arm, then the machinery of automobile back wheel opposite side Arm is also done the revolution action, thereby finishes the holding action to automobile back wheel. Again automobile back wheel is lifted at last.
6, manipulator is the Alternating Current Power Supply formula. The power supply of two units and signal are all by cable and permanent tension force cable Reel is imported from the hoistable platform of lane stacker.
Claims (10)
1. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism comprises the A unit of flat and the B unit of flat, it is characterized in that: unit and interior unit outside having respectively in A unit and B unit; The mechanical arm that can rotatingly be used for the clamping wheel is arranged on interior unit, interior unit and outside be useful between the unit drive in the elevating mechanism that moves up and down in the unit outside of unit and the guiding mechanism that play the guiding role during in interior cell moving, road wheel is arranged on the unit outside and be used for the driving mechanism that ground-engaging wheel rotates, outer unit is the framework of hollow.
2. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 1, it is characterized in that: driving mechanism is positioned at an end of framework, the other end at framework is installed supporting roller (8), and interior unit is positioned at the framework inside of hollow, and the both sides of framework are girder (7); In driving mechanism, the output of motor and decelerator (1) is connected with gear-box, and the output of gear-box is connected with road wheel, and the power of motor and decelerator (1) output drives road wheel by gear-box and rotates.
3. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 1 or 2, it is characterized in that: in driving mechanism, the output of motor and decelerator (1) is connected with first gear-box (2) that is positioned at framework one side, the output of first gear-box (2) is connected with the road wheel that is positioned at framework the same side (3), first gear-box (2) utilizes universal joint (4) to be connected with second gear-box (5) that is positioned at the framework opposite side simultaneously, and the output of second gear-box (5) is connected with the road wheel that is positioned at this side (6).
4. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 1, it is characterized in that: in elevating mechanism, the tooth bar (11) that climbs is positioned at the inboard of framework, have at the junction surface of interior unit and framework can with the gear that climbs of the tooth bar that climbs (11) engagement, the gear that climbs is connected with lifting driving mechanism on being installed on interior unit; Perhaps at the installed inside of the framework screw mandrel that climbs, the nut that climbs that cooperates with the screw mandrel that climbs is installed on interior unit, the nut that climbs is connected with lifting driving mechanism on being installed on interior unit; Described lifting driving mechanism comprises motor and reductor thereof.
5. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 1, it is characterized in that: in guiding mechanism, guide rail (10) is positioned at the inboard of framework, and the directive wheel (12) that cooperates with the spigot surface of guide rail (10) is installed on interior unit; Shelf (13) is installed on the side of interior unit, is used for interior unit is shelved on the framework of outer unit; There is side guide wheel (9) in the outside, end at framework.
6. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 5 is characterized in that: guide rail (10) is a V-way, has trace to regulate leeway, so that can mesh better with the V-arrangement guide wheel of interior unit and the gear that climbs.
7. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 1, it is characterized in that: A group rotary gear box (18) and A group drive motors (20) are set on the interior unit of A unit, 1 output shaft and 3 driven shafts are arranged at the bottom at A group rotary gear box (18), driving wheel on the output shaft (21) drives the driven pulley that is installed on the driven shaft and rotates, drive also is installed on output shaft and driven shaft simultaneously, each drive connects with the corresponding drive (40) that is installed in the rotating shaft with driving-belt respectively, is separately installed with the mechanical arm (19) that is used for the clamping wheel in every rotating shaft; When starting drive motors (20), make two pairs of mechanical arms simultaneously to 90 ° of its symmetrical center line n revolutions by drive;
Two B group rotary gear boxes (29) and two corresponding B group drive motors (30) thereof are set on the interior unit of B unit, 1 output shaft and 1 driven shaft are arranged at the bottom at each B group rotary gear box (29), driving wheel and drive are installed on output shaft, driven pulley and drive are installed on driven shaft, each drive connects with the corresponding drive (40) that is installed in the rotating shaft with driving-belt respectively, is separately installed with the mechanical arm (19) that is used for the clamping wheel in every rotating shaft; After starting B group drive motors (30),, make to be in the revolution that the inboard equidirectional two pairs of mechanical arms of automobile back wheel are made car of turning direction trailing wheel and clamping automobile back wheel successively by drive.
8. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 1, it is characterized in that: mechanical arm is a cantilever design, bearing block wherein (35) is installed on the interior unit, axle (38) utilizes bearing to be installed on the bearing block (35), at the axle sleeve (39) of the upper end of axle (38) mounting strap welded plate, sprocket wheel (40) is installed in the lower end; Mechanical arm plate (42) is connected on the welded plate of axle sleeve (39).
9. the manipulator that is used for carrier vehicle with independently clamping and lifting mechanism as claimed in claim 8, it is characterized in that: on mechanical arm and plane that doughnut contacts, groove (44) is arranged, frizzen (45) is arranged in groove (44) and adjust plate (47), on adjustment plate (47), spring base (48) is arranged, groove (44) is stretched out in the outer end of frizzen (45), the inner is positioned on the spring base (48), microswitch (49) is arranged on spring base (48), on the head of frizzen (45) and the frizzen (45) between the spring base (48), spring (46) is arranged, form a kind of mechanical arm of belt sensor spare; When mechanical arm touched tire, frizzen (45) retreated, and drove the push rod of microswitch (49), thereby provided signal, made B group manipulator stop to retreat, and opened a pair of mechanical arm of opposite side.
10. as having the method for operating of the manipulator that is used for carrier vehicle of independently clamping and lifting mechanism as described in one of claim 1～9, it is characterized in that: the A unit enters after the automobile chassis below, aiming vehicle front center; A of unit group rotary gear box drives two pairs of mechanical arms simultaneously to its symmetrical center line n revolution, the front-wheel of clamping automobile in it; The elevating mechanism of interior unit starts then, makes two front-wheels of automobile be lifted away from ground simultaneously; B unit and A unit enter automobile chassis simultaneously, and after the A unit was lifted away from ground with two front-wheels of automobile, the B unit at first opened the mechanical arm of a pair of belt sensor spare that is in front-wheel one side by a B group rotary gear box in unit in it; The B unit is to automobile back wheel direction walking then, and when doughnut was triggered to senser element on the mechanical arm, the B unit stopped walking; Another B group rotary gear box of unit makes a pair of mechanical arm that is in the automobile back wheel outside open the clamping automobile back wheel in the B unit; The elevating mechanism of unit starts in the B unit, makes automobile back wheel also be lifted away from ground; A unit and B aircrew cooperation transport automobile to the instruction place then.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101318011A CN100534729C (en) | 2007-09-03 | 2007-09-03 | Mechanical arm with separate clamping and lifting mechanism for carrying automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101318011A CN100534729C (en) | 2007-09-03 | 2007-09-03 | Mechanical arm with separate clamping and lifting mechanism for carrying automobile |
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| Publication Number | Publication Date |
|---|---|
| CN101121262A true CN101121262A (en) | 2008-02-13 |
| CN100534729C CN100534729C (en) | 2009-09-02 |
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| CNB2007101318011A Active CN100534729C (en) | 2007-09-03 | 2007-09-03 | Mechanical arm with separate clamping and lifting mechanism for carrying automobile |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102009395A (en) * | 2010-11-19 | 2011-04-13 | 大连德新机电技术工程有限公司 | Tire gripping device for tire tightening machine |
| CN104355073A (en) * | 2014-10-24 | 2015-02-18 | 无锡华联科技集团有限公司 | Base moving mechanism |
| CN104420686A (en) * | 2013-08-21 | 2015-03-18 | 新明和工业株式会社 | Tire clamping device and vehicle transferring device equipped with the same |
| CN102535912B (en) * | 2010-12-24 | 2016-03-09 | 杨崇恩 | Energy-saving starlike distribution type underground stereo garage |
| CN106918221A (en) * | 2015-12-28 | 2017-07-04 | 楚天科技股份有限公司 | A kind of freeze dryer feeds at a high speed intelligent robot |
| CN107200202A (en) * | 2017-05-27 | 2017-09-26 | 罗斯（无锡）设备有限公司 | A kind of locomotive alignment system |
| CN108161928A (en) * | 2018-02-13 | 2018-06-15 | 唐山君自科技有限公司 | Mechanical arm holds the detection method and device of object |
| CN111021804A (en) * | 2019-12-29 | 2020-04-17 | 中国海洋大学 | AGV's centre gripping lifting device parks |
-
2007
- 2007-09-03 CN CNB2007101318011A patent/CN100534729C/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009395A (en) * | 2010-11-19 | 2011-04-13 | 大连德新机电技术工程有限公司 | Tire gripping device for tire tightening machine |
| CN102535912B (en) * | 2010-12-24 | 2016-03-09 | 杨崇恩 | Energy-saving starlike distribution type underground stereo garage |
| CN104420686A (en) * | 2013-08-21 | 2015-03-18 | 新明和工业株式会社 | Tire clamping device and vehicle transferring device equipped with the same |
| CN104355073A (en) * | 2014-10-24 | 2015-02-18 | 无锡华联科技集团有限公司 | Base moving mechanism |
| CN106918221A (en) * | 2015-12-28 | 2017-07-04 | 楚天科技股份有限公司 | A kind of freeze dryer feeds at a high speed intelligent robot |
| CN107200202A (en) * | 2017-05-27 | 2017-09-26 | 罗斯（无锡）设备有限公司 | A kind of locomotive alignment system |
| CN108161928A (en) * | 2018-02-13 | 2018-06-15 | 唐山君自科技有限公司 | Mechanical arm holds the detection method and device of object |
| CN108161928B (en) * | 2018-02-13 | 2022-04-12 | 北京众驰自动化设备有限公司 | Detection method and device for clamping object by mechanical arm |
| CN111021804A (en) * | 2019-12-29 | 2020-04-17 | 中国海洋大学 | AGV's centre gripping lifting device parks |
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| CN100534729C (en) | 2009-09-02 |
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