CN102080461A - Vehicle transporting manipulator adopting gear-type clamping mechanism - Google Patents

Vehicle transporting manipulator adopting gear-type clamping mechanism Download PDF

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Publication number
CN102080461A
CN102080461A CN 201010611344 CN201010611344A CN102080461A CN 102080461 A CN102080461 A CN 102080461A CN 201010611344 CN201010611344 CN 201010611344 CN 201010611344 A CN201010611344 A CN 201010611344A CN 102080461 A CN102080461 A CN 102080461A
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China
Prior art keywords
clamping
manipulator
vehicle
tooth bar
gear
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Granted
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CN 201010611344
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Chinese (zh)
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CN102080461B (en
Inventor
缪慰时
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Hangzhou Good Friend Precision Machinery Co Ltd
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缪慰时
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Priority to CN2010106113448A priority Critical patent/CN102080461B/en
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Publication of CN102080461B publication Critical patent/CN102080461B/en
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Abstract

The invention relates to a vehicle transporting manipulator adopting a gear-type clamping mechanism, comprising a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively and correspondingly matched to a pair of front wheels and a pair of rear wheels; the front vehicle body and the rear vehicle body are respectively provided with an independent walking mechanism and an independent clamping mechanism; a distance adjusting mechanism is arranged between the front vehicle body and the rear vehicle body; and the distance adjusting mechanism is used for adjusting the distance between the front vehicle body and the rear vehicle body so as to adapt to the distance between the front wheels and the rear wheels of the vehicle in a garage. The vehicle transporting manipulator is skilful and reasonable in structure, high in reliability, convenient in maintenance, and is capable of transporting in dual directions and the like; the vehicle transporting manipulator reduces the difficulty in manufacturing the manipulator and improves the possibility of popularizing and applying the manipulator at home.

Description

Adopt the car carrying manipulator of gear type clamping device
Technical field
The invention belongs to the mechanical parking equipment technical field, relate to a kind of car carrying equipment, specifically a kind of car carrying manipulator that adopts the gear type clamping device.
Background technology
In storage class mechanical type parking apparatus, adopt the mode of manipulator carrier vehicle usually, mode of transport such as pellet type, comb-tooth-type, crawler type are specifically arranged.It is few that the manipulator carrying has operation sequence, and warehouse compartment is simple in structure, and the advantages such as vehicle speed height of coming in and going out are the most advanced at present parking apparatus carrier forms.
Because manipulator works in the automobile bottom, and the space of automobile bottom is short narrow and small, be difficult to all workpieces (as be used for mechanical mechanism, walking and the contraposition mechanism of clamping and lifting vehicle and a considerable amount of sensing, scanning, spacing, etc. electric fixtures) all be arranged between the wheel of automobile bottom, from design with make and have a more difficult problem.
Present use-case is that the mechanical mechanism that will be used for clamping and lifting vehicle is arranged in the automobile bottom, with the Driven by Hydraulic Cylinder mechanical mechanism, and hydraulic power supplies such as motor, pump, valve, fuel tank is arranged in the outside of body.Such arrangement form is carried the walking path of a direction of automobile because of power source has blocked manipulator, and the carrying that makes automobile can only be unidirectional.On the warehouse compartment of both direction, carry automobile as need, just must install the slew gear of one 180 degree again additional, so not only make the integral device bulky complex that becomes, and increased operation sequence and come in and go out the car time.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of structure ingenious rational car carrying manipulator, this manipulator have the reliability height, easy to maintenance, advantage such as can two-wayly carry, reduce the difficulty of manipulator on manufacturing and designing, and improved the possibility that it is applied at home.
According to technical scheme provided by the invention: adopt the car carrying manipulator of gear type clamping device, it is characterized in that: it comprises front vehicle body and aftercarriage, front vehicle body and aftercarriage respectively with a pair of front-wheel and the pair of rear wheels corresponding matching of automobile; Respectively have independently walking mechanism and clamping device on described front vehicle body and the aftercarriage; Be provided with apart from guiding mechanism between described front vehicle body and the aftercarriage, be used to adjust the distance of front vehicle body and aftercarriage apart from guiding mechanism, to adapt to the wheel base of putting automobile in storage.
As a further improvement on the present invention, described walking mechanism comprises the walking casing, in the walking casing, drive motors and reducer, jackshaft, output shaft, live axle and driving wheel are installed, the output of drive motors and reducer is equipped with motor gear, motor gear and the idler gear engaged transmission that is contained on the jackshaft, idler gear and opposite side be sleeved on output gear engaged transmission on the output shaft, thereby promote the output shaft revolution; Described output shaft two ends connect live axle by universal coupling respectively, and driving wheel is installed on the live axle, and described output shaft revolution drives driving wheel and turns round synchronously.
As a further improvement on the present invention, the both sides of described walking mechanism are furnished with the direction of travel supporting roller identical with driving wheel respectively, and supporting roller and driving wheel are interval-staggered, the vibrations when crossing over gap, warehouse compartment limit in order to reduce manipulator.
As a further improvement on the present invention, be furnished with directive wheel respectively on the termination, both sides of described walking mechanism, directive wheel matches with the service aisle of manipulator, is used for the walking of correcting manipulator.
As a further improvement on the present invention, described clamping device respectively comprises two cover clamping assemblies, and two cover clamping assemblies are symmetrical arranged on the car body both sides, the corresponding clamping of an every cover clamping assembly tire on one side.
As a further improvement on the present invention, described clamp assemblies comprises clamping motor and reducer, two semi-circle gears and two clamping limbs, and the output of described clamping motor and reducer is installed the clamping driven wheel; The engagement of described two semi-circle gears symmetry, one of them semi-circle gear is meshed with the clamping driven wheel, and two semi-circle gears are by clamping driven wheel driven rotary; One end of described two clamping limbs is fixedly connected on the home position of two semi-circle gears respectively, and two clamping limbs open along with the rotation of two semi-circle gears or close up; The other end of described two clamping limbs is separately installed with a pair of support wheel that makes the manipulator held stationary.
As a further improvement on the present invention, described clamping limb comprises the clamping limb weldment, the one side of the corresponding contact with doughnut of clamping limb weldment is the inclined-plane, and two roller-ways that are parallel to clamping limb weldment length direction have been installed on the inclined-plane, so that doughnut can be lifted along the inclined-plane; Clamping limb weldment one end is connected and fixed by two gripper shoes and the coupling spindle that is welded with, and coupling spindle is connected and fixed with semi-circle gear again; When two semi-circle gears turned round in opposite directions, two clamping limbs were also made holding action in opposite directions simultaneously.
As a further improvement on the present invention, describedly comprise servomotor and reducer, tooth bar and tooth bar positioner apart from guiding mechanism, servomotor and reducer are fixedly mounted on the aftercarriage, the output of servomotor and reducer is equipped with the roll adjustment driven wheel, the tooth bar positioner is arranged on the both sides of roll adjustment driven wheel, tooth bar is located in the tooth bar positioner, tooth bar and roll adjustment driven wheel engaged transmission, and tooth bar one end links to each other with front vehicle body by Hooks coupling universal coupling.
As a further improvement on the present invention, described tooth bar positioner comprises casing, Positioning Gear, roller and nylon guide pad, and Positioning Gear, roller are installed in the casing by a little axle respectively, leave the tooth bar passage between Positioning Gear and the roller; Described tooth bar passes in the tooth bar passage, and the teeth face of tooth bar and Positioning Gear keep engagement, and the opposite face of teeth face limits by roller, and two adjacent surfaces of teeth face are by two nylon guide pad guiding.
As a further improvement on the present invention, be provided with electrical connection arrangement between described front vehicle body and the aftercarriage in order to transmission signal and power supply, electrical connection arrangement comprises drag chain, dee and groove support, dee one end is fixedlyed connected with the front vehicle body rear portion, and the dee other end is held by the groove support that is installed on the aftercarriage; Described groove support is provided with backing roll and guide wheel, and backing roll is held dee from the bottom, and guide wheel is clamped dee from both sides; Described drag chain is placed in the dee, and the drag chain two ends are electrically connected respectively at front vehicle body, aftercarriage.
The present invention compared with prior art, advantage is: structure is ingenious rationally, does not need to be provided with bulky hydraulic power supply; The reliability height, easy to maintenance, can two-wayly carry, solved two-way discrepancy car problem; Reduce the difficulty of manipulator on manufacturing and designing simultaneously, improved the possibility that manipulator is applied at home.
Description of drawings
Fig. 1 .1 is the concrete applicable cases schematic diagram of manipulator of the present invention.
Fig. 1 .2 is the lateral view of Fig. 1 .1.
Fig. 1 .3 is the vertical view of Fig. 1 .2.
Fig. 2 .1 is the structural representation of walking mechanism.
Fig. 2 .2 is the lateral view of Fig. 2 .1.
Fig. 2 .3 is the vertical view of Fig. 2 .2.
Fig. 3 .1 is the structural representation of clamping device.
Fig. 3 .2 is the vertical view of Fig. 3 .1.
Fig. 3 .3 is the applicable cases schematic diagram of clamping device clamping tire.
Fig. 4 .1 is the structural representation of the cover of one in clamping device clamping assembly.
Fig. 4 .2 is the vertical view of Fig. 4 .1.
Fig. 4 .3 is the A-A cross sectional view among Fig. 4 .2.
Fig. 5 .1 is the structural representation apart from guiding mechanism.
Fig. 5 .2 is the vertical view of Fig. 5 .1.
Fig. 5 .3 is the B-B cross sectional view among Fig. 5 .2.
Fig. 6 .1 is the structural representation of electrical connection arrangement.
Fig. 6 .2 is that C among Fig. 6 .1 is to view.
Description of reference numerals: A-front vehicle body, the B-aftercarriage, the 1-service aisle, 2-is apart from guiding mechanism, the 3-clamping device, the 4-walking mechanism, 5-drive motors and reducer, the 6-motor gear, the 7-idler gear, the 8-jackshaft, the 9-output gear, the 10-output shaft, the 11-casing of walking, the 12-universal coupling, the 13-live axle, the 14-driving wheel, the 15-supporting roller, the 16-directive wheel, 17-clamping motor and reducer, 18-clamping driven wheel, the 19-semi-circle gear, the 20-clamping limb, 21-clamping limb weldment, the 22-roller-way, the 23-gripper shoe, the 24-coupling spindle, the 25-support wheel, the 26-Hooks coupling universal coupling, the 27-tooth bar, 28-servomotor and reducer, 29-roll adjustment driven wheel, 30-tooth bar positioner, the 31-casing, the 32-Positioning Gear, the little axle of 33-, the 34-roller, 35-nylon guide pad, the 36-electrical connection arrangement, the 37-drag chain, the 38-dee, the 39-backing roll, the 40-guide wheel, 41-groove support.
The specific embodiment
The invention will be further described below in conjunction with concrete drawings and Examples.
What the present invention proposed is a kind of manipulator that adopts gear type clamping device carrier vehicle, its general arrangement form is shown in Fig. 1 .1 ~ Fig. 1 .3, warehouse compartment is provided with the service aisle 1 of manipulator, and service aisle 1 is one and is lower than about 100 millimeters of parking space, the shallow ridges that width is about 1000 millimeters.Described car carrying manipulator works in the service aisle 1 under the automobile chassis, and it mainly is made up of front vehicle body A and aftercarriage B, front vehicle body A and aftercarriage B respectively with a pair of front-wheel and the pair of rear wheels corresponding matching of automobile; Respectively have independently walking mechanism 4 and clamping device 3 on described front vehicle body A and the aftercarriage B; Be provided with apart from guiding mechanism 2 between described front vehicle body A and the aftercarriage B, the distance that is used to adjust front vehicle body A and aftercarriage B apart from guiding mechanism 2, to adapt to the wheel base of putting automobile in storage, make the center of the clamping device 3 on front vehicle body A and the aftercarriage B correctly be in the wheel center of automobile.
The structure of described walking mechanism 4 is shown in Fig. 2 .1 ~ Fig. 2 .3, and walking mechanism 4 mainly is made up of drive motors and reducer 5, motor gear 6, idler gear 7, jackshaft 8, output gear 9, output shaft 10, walking casing 11, universal coupling 12, live axle 13 and driving wheel 14; Drive motors and reducer 5, jackshaft 8, output shaft 10, live axle 13 and driving wheel 14 are installed in the walking casing 11, motor gear 6 is contained in the output of drive motors and reducer 5, motor gear 6 and idler gear 7 engaged transmission that are contained on the jackshaft 8, idler gear 7 and opposite side be sleeved on output gear 9 engaged transmission on the output shaft 10, thereby promote output shaft 10 revolutions; Described output shaft 10 two ends connect live axle 13 by universal coupling 12 respectively, and driving wheel 14 is installed on the live axle 13, and described output shaft 10 revolutions drive driving wheel 14 and turn round synchronously.The effect of described universal coupling 12 is also can keep good ground state when driving wheel 14 is walked on rugged road surface, avoids occurring skidding.
Shown in Fig. 2 .1 ~ Fig. 2 .3, the both sides of described walking mechanism 4 are furnished with the identical supporting roller 15 of direction of travel and driving wheel 14 respectively, supporting roller 15 is interval-staggered with driving wheel 14, vibrations when gap, warehouse compartment limit is crossed in order to reduce manipulator in about 100 millimeters of the interval of supporting roller 15 and driving wheel 14, supporting roller 15.In addition, be furnished with directive wheel 16 respectively on the termination, both sides of described walking mechanism 4, directive wheel 16 matches with the service aisle 1 of manipulator, so that manipulator can walking in service aisle 1 correctly.
The structure of described clamping device 3 is shown in Fig. 3 .1 ~ Fig. 3 .3, and it comprises two cover clamping assemblies, and two cover clamping assemblies are symmetrical arranged on the car body both sides, the corresponding clamping of an every cover clamping assembly tire on one side.Every cover clamping assembly all is made up of clamping motor and reducer 17, clamping driven wheel 18, two semi-circle gears 19 and two clamping limbs 20, the output of described clamping motor and reducer 17 is installed clamping driven wheel 18, described two semi-circle gears, 19 symmetry engagements, one of them semi-circle gear 19 is meshed with clamping driven wheel 18, and two semi-circle gears 19 are by clamping driven wheel 18 driven rotary; One end of described two clamping limbs 20 is fixedly connected on the home position of two semi-circle gears 19 respectively, and two clamping limbs 20 open along with the rotation of two semi-circle gears 19 or close up, and two clamping limbs 20 lift doughnut when closing up; In addition, the other end of described two clamping limbs 20 is separately installed with a pair of support wheel 25, is lifted at automobile, and when manipulator bore a heavy burden walking, support wheel 25 can make the manipulator held stationary.
The detailed structure of described clamping limb 20 is shown in Fig. 4 .1 ~ Fig. 4 .3, described clamping limb 20 comprises clamping limb weldment 21, the one side of the corresponding contact with doughnut of clamping limb weldment 21 is the inclined-plane, two roller-ways 22 that are parallel to clamping limb weldment 21 length directions have been installed on the inclined-plane, when clamping limb 20 closes up, doughnut contacts and orders about roller-way 22 with roller-way 22 and rolls, thereby doughnut is lifted along the inclined-plane; Clamping limb weldment 21 1 ends are connected and fixed with coupling spindle 24 by two gripper shoes 23 that are welded with, and coupling spindle 24 is connected and fixed with semi-circle gear 19 again; When two semi-circle gears 19 turned round in opposite directions, two clamping limbs 20 were also made holding action in opposite directions simultaneously.
For adapting to the automobile of the various different wheelspans of carrying, the present invention is provided with the distance measuring device that is used to detect warehouse-in automobile wheel base before the garage inlet, and distance measuring device can adopt matured product of the prior art such as grating chi, laser range finder etc.When automobile was prepared the garage, distance measuring device was measured the wheel base of warehouse-in automobile, and manipulator of the present invention relies on the distance of adjusting between front vehicle body A and the aftercarriage B apart from guiding mechanism 2, to adapt to the wheel base of putting automobile in storage.
Described structure apart from guiding mechanism 2 is shown in Fig. 5 .1 ~ Fig. 5 .3, it is mainly by servomotor and reducer 28, tooth bar 27, Hooks coupling universal coupling 26 and tooth bar positioner 30 are formed, servomotor and reducer 28 are fixedly mounted on the aftercarriage B, the output of servomotor and reducer 28 is equipped with roll adjustment driven wheel 29, tooth bar positioner 30 is arranged on the both sides of roll adjustment driven wheel 29, tooth bar 27 is located in the tooth bar positioner 30, tooth bar 27 and roll adjustment driven wheel 29 engaged transmission, tooth bar 27 1 ends link to each other with front vehicle body A by Hooks coupling universal coupling 26, and the effect of Hooks coupling universal coupling 26 is the abundant ground connection of walking mechanism 4 that makes on front vehicle body A and the aftercarriage B.During work, roll adjustment driven wheel 29 promotes tooth bar 27, makes the distance of front vehicle body A and aftercarriage B reach command request.
Described tooth bar positioner 30 mainly is made up of casing 31, Positioning Gear 32, little axle 33, roller 34 and nylon guide pad 35, Positioning Gear 32, roller 34 are installed in the casing 31 by a little axle 33 respectively, leave the tooth bar passage between Positioning Gear 32 and the roller 34; Described tooth bar 27 passes in the tooth bar passage, and the teeth face of tooth bar 27 and Positioning Gear 32 keep engagement, and the opposite face of teeth face is by roller 34 restrictions, and two adjacent surfaces of teeth face are by two nylon guide pads, 35 guiding.Under the correcting effect of two groups of tooth bar positioners 30, described tooth bar 27 can be in the correct engagement state all the time with roll adjustment driven wheel 29.
Shown in Fig. 1 .3, also be provided with electrical connection arrangement 36 between described front vehicle body A and the aftercarriage B in order to transmission signal and power supply.The structure of electrical connection arrangement 36 is shown in Fig. 6 .1, Fig. 6 .2, it mainly is made up of drag chain 37, dee 38, groove support 41, backing roll 39 and guide wheel 40, dee 38 1 ends are fixedlyed connected with front vehicle body A rear portion, and dee 38 other ends are held by the groove support 41 that is installed on the aftercarriage B; Described backing roll 39 and guide wheel 40 are installed on the groove support 41, and backing roll 39 is held dee 38 from the bottom, and guide wheel 40 is clamped dee 38 from both sides, thereby dee 38 is under the guiding of backing roll 39 and guide wheel 40 all the time; Described drag chain 37 is placed in the dee 38, and drag chain 37 two ends are electrically connected respectively at front vehicle body A, aftercarriage B, can protect holding wire, power line unlikely sustaining damage in the mobile adjustment process of manipulator in drag chain 37 and the drag chain 37 like this.

Claims (10)

1. adopt the car carrying manipulator of gear type clamping device, it is characterized in that: it comprises front vehicle body (A) and aftercarriage (B), front vehicle body (A) and aftercarriage (B) respectively with a pair of front-wheel and the pair of rear wheels corresponding matching of automobile; Respectively have independently walking mechanism (4) and clamping device (3) on described front vehicle body (A) and the aftercarriage (B); Be provided with apart from guiding mechanism (2) between described front vehicle body (A) and the aftercarriage (B), be used to adjust the distance of front vehicle body (A) and aftercarriage (B) apart from guiding mechanism (2), to adapt to the wheel base of putting automobile in storage.
2. the car carrying manipulator of employing gear type clamping device as claimed in claim 1, it is characterized in that: described walking mechanism (4) comprises walking casing (11), in walking casing (11), drive motors and reducer (5) are installed, jackshaft (8), output shaft (10), live axle (13) and driving wheel (14), the output of drive motors and reducer (5) is equipped with motor gear (6), motor gear (6) and idler gear (7) engaged transmission that is contained on the jackshaft (8), idler gear (7) and opposite side be sleeved on output gear (9) engaged transmission on the output shaft (10), thereby promote output shaft (10) revolution; Described output shaft (10) two ends connect live axle (13) by universal coupling (12) respectively, and live axle (13) is gone up driving wheel (14) is installed, and described output shaft (10) revolution drives driving wheel (14) revolution synchronously.
3. the car carrying manipulator of employing gear type clamping device as claimed in claim 2, it is characterized in that: the both sides of described walking mechanism (4) are furnished with the direction of travel supporting roller (15) identical with driving wheel (14) respectively, supporting roller (15) is interval-staggered with driving wheel (14), the vibrations when crossing over gap, warehouse compartment limit in order to reduce manipulator.
4. the car carrying manipulator of employing gear type clamping device as claimed in claim 2, it is characterized in that: be furnished with directive wheel (16) on the termination, both sides of described walking mechanism (4) respectively, directive wheel (16) matches with the service aisle (1) of manipulator, is used for the walking of correcting manipulator.
5. the car carrying manipulator of employing gear type clamping device as claimed in claim 1, it is characterized in that: described clamping device (3) respectively comprises two cover clamping assemblies, two cover clamping assemblies are symmetrical arranged on the car body both sides, the corresponding clamping of an every cover clamping assembly tire on one side.
6. the car carrying manipulator of employing gear type clamping device as claimed in claim 5, it is characterized in that: described clamp assemblies comprises clamping motor and reducer (17), two semi-circle gears (19) and two clamping limbs (20), and the output of described clamping motor and reducer (17) is installed clamping driven wheel (18); The engagement of described two semi-circle gears (19) symmetry, one of them semi-circle gear (19) is meshed with clamping driven wheel (18), and two semi-circle gears (19) are by clamping driven wheel (18) driven rotary; One end of described two clamping limbs (20) is fixedly connected on the home position of two semi-circle gears (19) respectively, and two clamping limbs (20) open along with the rotation of two semi-circle gears (19) or close up; The other end of described two clamping limbs (20) is separately installed with a pair of support wheel (25) that makes the manipulator held stationary.
7. the car carrying manipulator of employing gear type clamping device as claimed in claim 6, it is characterized in that: described clamping limb (20) comprises clamping limb weldment (21), the one side of the corresponding contact with doughnut of clamping limb weldment (21) is the inclined-plane, two roller-ways (22) that are parallel to clamping limb weldment (21) length direction have been installed, so that doughnut can be lifted along the inclined-plane on the inclined-plane; Clamping limb weldment (21) one ends are connected and fixed with coupling spindle (24) by two gripper shoes (23) that are welded with, and coupling spindle (24) is connected and fixed with semi-circle gear (19) again; Two semi-circle gears (19) are when turning round in opposite directions, and two clamping limbs (20) are also made holding action in opposite directions simultaneously.
8. the car carrying manipulator of employing gear type clamping device as claimed in claim 1, it is characterized in that: describedly comprise servomotor and reducer (28) apart from guiding mechanism (2), tooth bar (27) and tooth bar positioner (30), servomotor and reducer (28) are fixedly mounted on the aftercarriage (B), the output of servomotor and reducer (28) is equipped with roll adjustment driven wheel (29), tooth bar positioner (30) is arranged on the both sides of roll adjustment driven wheel (29), tooth bar (27) is located in the tooth bar positioner (30), tooth bar (27) and roll adjustment driven wheel (29) engaged transmission, tooth bar (27) one ends link to each other with front vehicle body (A) by Hooks coupling universal coupling (26).
9. the car carrying manipulator of employing gear type clamping device as claimed in claim 1, it is characterized in that: described tooth bar positioner (30) comprises casing (31), Positioning Gear (32), roller (34) and nylon guide pad (35), Positioning Gear (32), roller (34) are installed in the casing (31) by a little axle (33) respectively, leave the tooth bar passage between Positioning Gear (32) and the roller (34); Described tooth bar (27) passes in the tooth bar passage, and the teeth face of tooth bar (27) and Positioning Gear (32) keep engagement, and the opposite face of teeth face is by roller (34) restriction, and two adjacent surfaces of teeth face are by two nylon guide pads (35) guiding.
10. the car carrying manipulator of employing gear type clamping device as claimed in claim 1, it is characterized in that: be provided with electrical connection arrangement (36) between described front vehicle body (A) and the aftercarriage (B) in order to transmission signal and power supply, electrical connection arrangement (36) comprises drag chain (37), dee (38) and groove support (41), dee (38) one ends are fixedlyed connected with front vehicle body (A) rear portion, and dee (38) other end is held by the groove support (41) that is installed on the aftercarriage (B); Described groove support (41) is provided with backing roll (39) and guide wheel (40), and backing roll (39) is held dee (38) from the bottom, and guide wheel (40) is clamped dee (38) from both sides; Described drag chain (37) is placed in the dee (38), and drag chain (37) two ends are electrically connected respectively at front vehicle body (A), aftercarriage (B).
CN2010106113448A 2010-12-29 2010-12-29 Vehicle transporting manipulator adopting gear-type clamping mechanism Active CN102080461B (en)

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Application Number Priority Date Filing Date Title
CN2010106113448A CN102080461B (en) 2010-12-29 2010-12-29 Vehicle transporting manipulator adopting gear-type clamping mechanism

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Application Number Priority Date Filing Date Title
CN2010106113448A CN102080461B (en) 2010-12-29 2010-12-29 Vehicle transporting manipulator adopting gear-type clamping mechanism

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CN102080461B CN102080461B (en) 2012-05-02

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103132760A (en) * 2013-03-20 2013-06-05 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
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
CN105715087A (en) * 2016-03-11 2016-06-29 武汉卡洛斯智能车泊设备有限公司 Automobile electric carrying trolley for mechanical stereoscopic garage

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3909702A1 (en) * 1988-06-21 1990-09-27 Schwoererhaus Gmbh & Co Apparatus, in particular for the automatic parking of motor vehicles in a multi-storey car park
CN2573618Y (en) * 2002-08-19 2003-09-17 缪慰时 Industrial robot for longitudinally handling automobile
CN2784508Y (en) * 2005-03-30 2006-05-31 朱燕 Longitudinal-feeding automobile-fetching robot
CN101289901A (en) * 2008-06-17 2008-10-22 王俊 Multi-storied garage intelligent carrier

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3909702A1 (en) * 1988-06-21 1990-09-27 Schwoererhaus Gmbh & Co Apparatus, in particular for the automatic parking of motor vehicles in a multi-storey car park
CN2573618Y (en) * 2002-08-19 2003-09-17 缪慰时 Industrial robot for longitudinally handling automobile
CN2784508Y (en) * 2005-03-30 2006-05-31 朱燕 Longitudinal-feeding automobile-fetching robot
CN101289901A (en) * 2008-06-17 2008-10-22 王俊 Multi-storied garage intelligent carrier

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103132760A (en) * 2013-03-20 2013-06-05 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
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
CN105715087A (en) * 2016-03-11 2016-06-29 武汉卡洛斯智能车泊设备有限公司 Automobile electric carrying trolley for mechanical stereoscopic garage
CN105715087B (en) * 2016-03-11 2018-08-31 武汉卡洛斯智能车泊设备有限公司 A kind of mechanical type three-dimensional parking garage motorcar electric conveying trolley

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