CN101177977A - V-shaped arm-clamp hydraulic walking dolly - Google Patents

V-shaped arm-clamp hydraulic walking dolly Download PDF

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Publication number
CN101177977A
CN101177977A CNA2007101789700A CN200710178970A CN101177977A CN 101177977 A CN101177977 A CN 101177977A CN A2007101789700 A CNA2007101789700 A CN A2007101789700A CN 200710178970 A CN200710178970 A CN 200710178970A CN 101177977 A CN101177977 A CN 101177977A
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CN
China
Prior art keywords
hydraulic cylinder
dolly
walking
dolly main
main
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Granted
Application number
CNA2007101789700A
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Chinese (zh)
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CN100560919C (en
Inventor
李剑锋
段文军
冯春增
卿建喜
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Beijing University of Technology
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Beijing University of Technology
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Publication date
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Priority to CNB2007101789700A priority Critical patent/CN100560919C/en
Publication of CN101177977A publication Critical patent/CN101177977A/en
Application granted granted Critical
Publication of CN100560919C publication Critical patent/CN100560919C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention relates to a V-shaped and clamp-typed hydraulic walking car, pertaining to the vehicle parking and taking field in stereo garage. The invention comprises a walking part and a parking and taking part. The walking part is consists of four support wheels (2), a group of flexibly connected drive wheels (10) which provide direct drive to the walking car and a motor connected with the drive wheels; the parking and taking part comprises a car body I (1) and a car body II(9) which slides in the car walking direction on a guide rail (12) on the car body I(1). The car body I (1) and the car body II(9) are divided into an upper layer and a lower layer, wherein the lower layer is evenly provided with four V-shaped clamps (3). One side of the clamps (3) is the end for clamping vehicle wheels and the middle part of the other side is provided with a slide way; the end part of the clamps (3) is provided with a trolley (6). The two ends of a hydraulic cylinder (7) are articulated with two transverse pull rods (8) which are vertical to the hydraulic cylinder (7). The two ends of each transverse pull rod (8) are respectively connected with a sliding block (5). The invention is of simple structure and applicable for various stereo garages.

Description

The V-type arm-clamp hydraulic walking dolly
Technical field
The present invention relates to the key technology of access vehicle in the multi-storied garage, propose the higher vehicle access apparatus walking dolly of a kind of automaticity.
Background technology
At present, walking dolly in the existing multi-storied garage has many employing jig arm method of clamping to come the access vehicle, and the quantity of this kind frame mode hydraulic cylinder is more, and clamping limb is the single-point support cantilever beam type, easy deformation, and application life is shorter.By power transmission shaft driven in synchronism four-wheel, driving-chain is longer, complex structure, and reliability is relatively poor.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of novel V-type arm-clamp hydraulic walking dolly, can realize two-way vehicle access.
Technical scheme is: this walking dolly comprises running gear and access part, running gear is positioned at the below of access part, running gear comprises four at the four jiaos of equally distributed support wheels in the bottom of dolly main body I, one group of motor that elasticity connects driving wheel and is connected with driving wheel; Access partly comprises dolly main body I, middle part one side on dolly main body I is along the guide rail that is provided with on the carriage walking direction, and the dolly main body II of the guide rail upper edge carriage walking direction slip on dolly main body I, dolly main body I and II are by base plate, intermediate plate and cover plate are formed, dolly main body I and II are divided into the upper and lower, at equally distributed four the V-type clamping limbs that are equipped with in pairs of the lower floor of dolly main body I and II, angle between two arms of V-type clamping limb is the obtuse angle, and the V-type Jiao Chu of V-type clamping limb and the base plate of little vehicle main body and intermediate plate are hinged, the hinged place line of two paired V-type clamping limbs is vertical with the carriage walking direction, one side of clamping limb is the clamping road wheel end, parallel with the carriage walking direction, the middle part of opposite side is provided with chute, the end is equipped with roller, roller contacts with base plate and intermediate plate and the lower floor between base plate and intermediate plate rolls, the hydraulic cylinder consistent with the carriage walking direction laid at middle part, upper strata at dolly main body I and II respectively, the middle part of hinged respectively two cross-ties vertical with hydraulic cylinder in the two ends of hydraulic cylinder, the two ends of each cross-tie are connected with the slide block that slides in two paired V-type clamping limb chutes of lower floor respectively.The existing revolute pair of the articulated structure of cross-tie and hydraulic cylinder has moving sets again, hydraulic cylinder is rotated in the plane of hydraulic cylinder and cross-tie can also make hydraulic cylinder do little moving on the direction of cross-tie.
The invention has the beneficial effects as follows:
1. adopt novel elasticity to connect driving wheel, simple in structure, is connected with walking dolly elasticity and can guarantees that driving wheel contact with ground all the time, driving reliably and can realize the walking dolly bidirectional-movement.
2. hydraulic cylinder quantity is few, and the design of clamping limb can make clamping limb contact with little vehicle main body two places, makes the clamping limb contact reliable, improves application life.
3. the present invention is simple in structure, and structure design is relatively more novel, does not need to add in addition guide rail, applicable various types of multi-storied garages.
Description of drawings
Fig. 1 is a plan structure schematic diagram of the present invention;
Fig. 2 is main TV structure schematic diagram;
Fig. 3 duty plan structure of the present invention schematic diagram;
Fig. 4 is the A-A sectional structure chart;
Fig. 5-A is hinged lateral view;
Fig. 5-B is hinged front view
Among the figure: the guide rail on the intermediate plate 12-dolly main body I of the intermediate plate 5-slide block 6-roller 7-hydraulic cylinder 8-cross-tie 9-dolly main body II 10-elasticity connection driving wheel 11-dolly main body I of 1-dolly main body I 2-support wheel 3-V type clamping limb 4-dolly main body II
The specific embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is further described:
The composition of this walking dolly is divided into running gear and storing and taking out car part, 2 of four support wheels that are evenly distributed on four jiaos of dolly main body I bottoms support and guide effect, the driving wheel 10 that is connected with dolly main body I1 elasticity makes moving of car under the drive of motor, elasticity connects can guarantee that driving wheel contacts with ground all the time, and can make the dolly bidirectional-movement.
Middle part one side of dolly main body I 1 is provided with guide rail 12 along the carriage walking direction, the base plate middle part of dolly main body II9 is provided with the chute that matches with the guide rail of dolly main body I1, when walking dolly is worked, preceding two wheels of four clamping limb clamping vehicles that rotation is stretched out in the dolly main body II9, latter two wheel of four clamping limb clamping vehicles that rotation is stretched out in the dolly main body I1, dolly main body II9 slides in the guide rail upper edge of dolly main body I1 carriage walking direction, vehicle that can self adaptation disalignment distance; Dolly main body I1 and dolly main body II9 are by base plate, intermediate plate and cover plate are formed, the dolly main body is divided into two-layer up and down, at equally distributed four the V-type clamping limbs 3 that are equipped with in pairs of the lower floor of dolly main body I1 and II9, the V-type Jiao Chu of V-type clamping limb 3 and the base plate of little vehicle main body and intermediate plate are hinged, the hinged place line of two paired V-type clamping limbs 3 is vertical with the carriage walking direction, one side of clamping limb 3 is the clamping road wheel end, parallel with the carriage walking direction, the middle part of opposite side is provided with chute, the end is equipped with roller 6, roller 6 contacts with base plate and intermediate plate and the lower floor between base plate and intermediate plate rolls, and can guarantee that like this V-type clamping limb 3 has hinged when load and 6 two supports of roller; The hydraulic cylinder consistent with the carriage walking direction 7 laid at middle part, upper strata at dolly main body I1 and II9 respectively, the middle part of hinged respectively two cross-ties 8 vertical with hydraulic cylinder 7 in the two ends of hydraulic cylinder 7, the two ends of each cross-tie 8 are connected with the slide block 5 that slides in two paired V-type clamping limb 3 chutes of lower floor respectively.Cross-tie 8 has moving sets again with the articulated structure such as the existing revolute pair of Fig. 5 of hydraulic cylinder 7, hydraulic cylinder 7 is rotated in the plane of hydraulic cylinder 7 and cross-tie 8 can also make hydraulic cylinder 7 on the direction of cross-tie 8, do little moving, can guarantee that hydraulic cylinder 7 except being subjected to axial force, is not subjected to the power of other directions; Cross-tie 8 drives in the chute of two slide blocks 5 on V-type clamping limb 3 and slides, because cross-tie 8 is a rigid rod, length is immutable, so slide block 5 slides in chute and along with cross-tie 8 is done along the direction of carriage walking and done straight reciprocating motion, drive V-type clamping limb 3 and do rotatablely moving of 90 degree, the bare terminal end that makes V-type clamping limb 3 rotates to the withdrawal that realizes eight clamping limbs in the position vertical with the carriage walking direction and stretches out around the V-type angle of V-type clamping limb 3 from the position parallel with the carriage walking direction, thereby finish the clamping of wheel.
Work II principle of the present invention is:
Dolly connects driving wheel 10 under the drive of motor by elasticity, enter under the chassis of car, back, location hydraulic cylinder 7 stretches out along the carriage walking direction, the cross-tie 8 that drives both sides is along two lateral movements of hydraulic cylinder direction to hydraulic cylinder, make the slide block 5 in the clamping limb upper hopper chute do rectilinear motion, drive eight V-type clamping limbs 3 and do the rotation of 90 degree, make the bare terminal end of V-type clamping limb 3 rotate to the position vertical around the V-type angle of V-type clamping limb 3 with the carriage walking direction from the position parallel with the carriage walking direction, thereby thereby wheel picked up the access of finishing vehicle, dolly main body II can slide on the guide rail of dolly main body I1, comes the difference of self adaptation different vehicle wheelbase.

Claims (1)

1. V-type arm-clamp hydraulic walking dolly, comprise dolly main body I (1), be located at guide rail (12), dolly main body II (9), hydraulic cylinder (7), support wheel (2) and motor on the dolly main body I, this walking dolly comprises running gear and access part, running gear is positioned at the below of access part, access partly comprises dolly main body I (1), middle part one side on dolly main body I (1) is along the guide rail that is provided with on the carriage walking direction (12), and the dolly main body II (9) of the guide rail upper edge carriage walking direction slip on dolly main body I (1);
It is characterized in that: running gear comprises four four jiaos of equally distributed support wheels in bottom (2) at dolly main body I (1), one group of motor that elasticity connects driving wheel (10) and is connected with driving wheel, elasticity connects directly driving trolley of driving wheel (10), the dolly main body I (1) of access part and II (9) are by base plate, intermediate plate and cover plate are formed, dolly main body I (1) and II (9) are divided into the upper and lower, at equally distributed four the V-type clamping limbs (3) that are equipped with in pairs of the lower floor of dolly main body I (1) and II (9), angle between two arms of V-type clamping limb (3) is the obtuse angle, and the V-type Jiao Chu of V-type clamping limb (3) and the base plate and the intermediate plate of little vehicle main body are hinged, the hinged place line of two paired V-type clamping limbs (3) is vertical with the carriage walking direction, one side of clamping limb (3) is the clamping road wheel end, parallel with the carriage walking direction, the middle part of opposite side is provided with chute, the end is equipped with roller (6), roller (6) contacts with base plate and intermediate plate and the lower floor between base plate and intermediate plate rolls, the hydraulic cylinder consistent with the carriage walking direction (7) laid at middle part, upper strata at dolly main body I (1) and II (9) respectively, the middle part of hinged respectively two cross-ties (8) vertical in the two ends of hydraulic cylinder (7) with hydraulic cylinder (7), the two ends of each cross-tie (8) are connected with the slide block (5) of slip in two paired V-type clamping limb (3) chutes of lower floor respectively; Cross-tie (8) has moving sets again with the existing revolute pair of articulated structure of hydraulic cylinder (7), not only can make hydraulic cylinder (7) rotation in the plane of hydraulic cylinder (7) and cross-tie (8) can also make hydraulic cylinder (7) do little moving on the direction of cross-tie (8).
CNB2007101789700A 2007-12-07 2007-12-07 The V-type arm-clamp hydraulic walking dolly Expired - Fee Related CN100560919C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2007101789700A CN100560919C (en) 2007-12-07 2007-12-07 The V-type arm-clamp hydraulic walking dolly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2007101789700A CN100560919C (en) 2007-12-07 2007-12-07 The V-type arm-clamp hydraulic walking dolly

Publications (2)

Publication Number Publication Date
CN101177977A true CN101177977A (en) 2008-05-14
CN100560919C CN100560919C (en) 2009-11-18

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CNB2007101789700A Expired - Fee Related CN100560919C (en) 2007-12-07 2007-12-07 The V-type arm-clamp hydraulic walking dolly

Country Status (1)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102071824A (en) * 2010-12-28 2011-05-25 东莞市伟创东洋自动化设备有限公司 Intelligent conveying trolley for mechanical garage
CN105822117A (en) * 2016-03-29 2016-08-03 中建地下空间有限公司 Tire-holding automobile carrier
CN106382035A (en) * 2016-10-20 2017-02-08 温州燧人智能科技有限公司 X clamping arm type vehicle moving robot in intelligent parking garages
CN106586424A (en) * 2015-10-14 2017-04-26 唐山开元机器人系统有限公司 Multi-degree of freedom travelling bogie guide mechanism
CN109606510A (en) * 2018-12-29 2019-04-12 北京星航机电装备有限公司 A kind of car carrying AGV tire clamping and folding device

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102071824A (en) * 2010-12-28 2011-05-25 东莞市伟创东洋自动化设备有限公司 Intelligent conveying trolley for mechanical garage
CN106586424A (en) * 2015-10-14 2017-04-26 唐山开元机器人系统有限公司 Multi-degree of freedom travelling bogie guide mechanism
CN106586424B (en) * 2015-10-14 2018-12-04 唐山开元机器人系统有限公司 A kind of multiple degrees of freedom travelling bogie guiding mechanism
CN105822117A (en) * 2016-03-29 2016-08-03 中建地下空间有限公司 Tire-holding automobile carrier
CN105822117B (en) * 2016-03-29 2019-03-26 中建地下空间有限公司 A kind of wheel holding formula automobile carrier
CN106382035A (en) * 2016-10-20 2017-02-08 温州燧人智能科技有限公司 X clamping arm type vehicle moving robot in intelligent parking garages
CN106382035B (en) * 2016-10-20 2019-01-18 温州燧人智能科技有限公司 A kind of X-type clamping-arm intelligent parking garage Yi Che robot
CN109606510A (en) * 2018-12-29 2019-04-12 北京星航机电装备有限公司 A kind of car carrying AGV tire clamping and folding device

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Publication number Publication date
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