CN102758547A - Hoisting mechanism of rubber-tired flow intelligent parking robot - Google Patents

Hoisting mechanism of rubber-tired flow intelligent parking robot Download PDF

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Publication number
CN102758547A
CN102758547A CN2012102280120A CN201210228012A CN102758547A CN 102758547 A CN102758547 A CN 102758547A CN 2012102280120 A CN2012102280120 A CN 2012102280120A CN 201210228012 A CN201210228012 A CN 201210228012A CN 102758547 A CN102758547 A CN 102758547A
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CN
China
Prior art keywords
jib
joint
fixed
vehicle frame
lifting mechanism
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.)
Pending
Application number
CN2012102280120A
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Chinese (zh)
Inventor
王一奇
曹新杰
赵鹏
高强
曾召生
齐越
李春涛
曹辉杰
叶柳军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Dafang Special Vehicle Co Ltd
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Suzhou Dafang Special Vehicle Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Dafang Special Vehicle Co Ltd filed Critical Suzhou Dafang Special Vehicle Co Ltd
Priority to CN2012102280120A priority Critical patent/CN102758547A/en
Publication of CN102758547A publication Critical patent/CN102758547A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a hoisting mechanism of a rubber-tired flow intelligent parking robot. The parking robot includes a gantry frame, a travelling mechanism arranged under the frame, a hoisting mechanism arranged above the frame and a transferring mechanism arranged on the hoisting mechanism and the inner side of the frame; the hoisting mechanism includes a lifting arm rack fixed above the frame and capable of lifting along the vertical direction and a lift cylinder fixed on the lifting arm rack and used for driving the lifting arm rack to ascend and descend; and the lifting arm rack is provided with multiple nodes of arm rack that are sequentially embedded. The lifting arm rack of the hoisting mechanism adopts the modular design, and the arm racks with different heights are subject to choosing and can be chosen to realize double-layered or multi-layered three-dimensional parking, so as to greatly improve the utilization rate of the parking lot.

Description

The lifting mechanism of the mobile intelligent parking robot of rubber-tyred
Technical field
the present invention relates to the lifting mechanism of the mobile intelligent parking robot of a kind of rubber-tyred.
Background technology
are along with motor vehicles in the city is increasing; To the demand of parking facility also in continuous increase; Increase demand if disequilibrium between the two, existing parking facility will be difficult to satisfy vehicle, the problem of parking difficulty will occur parking space.
Summary of the invention
the purpose of this invention is to provide the lifting mechanism of the mobile intelligent parking robot of a kind of rubber-tyred.
For achieving the above object, the technical scheme that the present invention adopts is:
The lifting mechanism of the mobile intelligent parking robot of a kind of rubber-tyred; Described parking robot comprises the gantry type vehicle frame, be arranged on described vehicle frame below driving mechanism, be arranged on the lifting mechanism of described vehicle frame top and be arranged on the described lifting mechanism, carrying mechanism that vehicle frame is inboard; Described lifting mechanism comprises and is fixed on described vehicle frame top, the up-down jib that can vertically go up and down, is fixed on the described up-down jib, drives the elevating ram that described up-down jib goes up and down; Described lifting arm sets up and is equipped with the more piece jib, and the described jib of more piece is nested successively.
preferably; Described up-down jib comprises the first segment jib that is symmetrical set, is fixed on the described vehicle frame, is nested in the second joint jib in the described first segment jib and is nested in the 3rd joint jib in the described second joint jib; The cylinder body of described elevating ram is fixed on the described first segment jib, and the oil cylinder head of described elevating ram is connected with the described second joint jib.
further preferably are fixed with sprocket wheel on the described second joint jib, and an end of a chain is fixed on the described first segment jib, and the other end is connected with described the 3rd joint jib after walking around described sprocket wheel.
preferably are provided with roller in the described jib of every joint.
Because the technique scheme utilization, the present invention compared with prior art has advantage:
The up-down jib of lifting mechanism of the present invention is modularized design, has the jib of differing heights optional, selects the jib of differing heights for use, just can realize the three-dimensional parking of bilayer, multilayer, has increased the utilization rate of parking space greatly.
Description of drawings
Accompanying drawing 1 is contraction state front view of the present invention;
Accompanying drawing 2 is contraction state lateral view of the present invention;
Accompanying drawing 3 is contraction state vertical view of the present invention;
Accompanying drawing 4 stretches out the state front view for the present invention's jib that goes up and down;
Accompanying drawing 5 stretches out the state front view for flexing transverse arm of the present invention;
accompanying drawing 6 is job state sketch map of the present invention.
wherein: 1, vehicle frame; 2, driving mechanism; 21, wheel; 22, driving motor; 23, steer motor; 24, suspension; 3, power-supply battery group; 4, lifting mechanism; 41, first segment jib; 42, the second joint jib; 43, the 3rd joint jib; 44, sprocket wheel; 45, chain; 46, elevating ram; 5, carrying mechanism; 51, first segment flexing transverse arm; 52, the second joint flexing transverse arm; 53, the 3rd joint flexing transverse arm; 54, claw; 55, wheelbase adjustment oil cylinder; 56, traversing motor.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
a kind of rubber-tyred shown in Fig. 1-5 intelligent parking robot that flows, comprise gantry type vehicle frame 1, be arranged on vehicle frame 1 below driving mechanism 2, be arranged on the lifting mechanism 4 of vehicle frame 1 top and be arranged on the lifting mechanism 4, carrying mechanism 5 that vehicle frame 1 is inboard.Specifically:
driving mechanism 2 comprises the suspension 24 that is fixed on vehicle frame 1 below, be fixed on wheel 21 in the suspension 24, be fixed on driving motor 22, steer motor 23 and power-supply battery group 3 on the vehicle frame 1.Wherein: wheel 21 is a solid tyre, is provided with four altogether, about each two, symmetric arrangement; Driving motor 22 is provided with two, the clinodiagonal respectively both sides that are arranged on vehicle frame 1; Steer motor 23 is provided with four, acts on each suspension 24 respectively.Hanging 24 set inside has transmission device, and the spindle nose of driving motor 22 is connected with transmission device, drive wheels 21 walkings; Steer motor 23 is in transmission connection through gear with suspension mutually, and drive wheels 21 turns to.
lifting mechanism 4 comprises and is fixed on vehicle frame top 1, the up-down jib that can vertically go up and down, is fixed on elevating ram 46 on the up-down jib that elevating ram 46 drives the up-down jibs and goes up and down.Wherein: the up-down jib comprises the first segment jib 41 that is symmetrical set, is fixed on the vehicle frame 1, is nested in the second joint jib 42 in the first segment jib 41 and is nested in the 3rd joint jib 43 in the second joint jib 42; Mutually nested design limitations this three joints jib except other degree of freedom of vertical direction; And be provided with roller in every joint jib, can free lifting to guarantee jib.The cylinder body of elevating ram 46 is fixed on the first segment jib 41, and the oil cylinder head of elevating ram 46 and the second joint jib 42 are connected through ball pivot.An end that is fixed with sprocket wheel 44, one chains 45 on the second joint jib 42 is fixed on the first segment jib 41, and the other end is walked around sprocket wheel 44 backs and is connected with the 3rd joint jib 43.When elevating ram 46 was implemented the liftings action, the second joint jib 42 moved upward, and drove the 3rd joint jib 43 through sprocket wheel 44, chain 45 simultaneously and also moved upward, and the second joint jib 42, the 3rd joint jib 43 are synchronized with the movement, and speed is consistent.
carrying mechanism 5 comprise be fixed on the 3rd joint jib 43, can along continuous straight runs flexible flexing transverse arm, be fixed on the flexing transverse arm, be used to block vehicle tyre claw 54, be fixed on the traversing motor 56 on the flexing transverse arm, traversing motor 56 drives the flexible of flexing transverse arms.Specifically: about flexing transverse arm comprises, front and back are symmetrical set, are fixed on the first segment flexing transverse arm 51 of the 3rd joint on the jib 43, are nested in the second joint flexing transverse arm 52 in the first segment flexing transverse arm 51 and are nested in the 3rd joint flexing transverse arm 53 in the second joint flexing transverse arm 52.Mutually nested design limitations this three joints flexing transverse arm except other degree of freedom of horizontal direction.Traversing motor 56 is fixed on the first segment flexing transverse arm 51, and the motor shaft head of traversing motor 56 is provided with gear, and the tooth bar that matches with gear is fixed on the second joint flexing transverse arm 52, When gear rotated, the second joint flexing transverse arm the 52, the 3rd saved flexing transverse arm 53 and just can move forward and backward, to implement the parking operation.Flexing transverse arm is provided with wheelbase adjustment oil cylinder 55, and the cylinder body of wheelbase adjustment oil cylinder 55 is fixed on the second joint flexing transverse arm 52, and the oil cylinder head and the 3rd of wheelbase adjustment oil cylinder 55 saves flexing transverse arm 53 and is connected through bearing pin; Wheelbase adjustment oil cylinder 55 is provided with four altogether, about each two, like this; Action through wheelbase adjustment oil cylinder 55; Can realize moving forward and backward of the 3rd joint flexing transverse arm 53, thus the longitudinal separation of adjustment claw 54, to adapt to the vehicle of disalignment distance.Claw is provided with four pairs altogether, about each two pairs, every pair of claw 54 blocks a vehicle tyre, claw 54 be fixed on the 3rd the joint flexing transverse arm 53 on, each claw 54 can vertically be rotated down 90 the degree.Claw 54 is to be used for blocking vehicle tyre, to guarantee that vehicle can arbitrarily not move in carrying, docking process; Simultaneously, claw 54 also is used for bearing the weight of whole vehicle.
Because this robot possesses the self-navigation function, so the car owner needs only the appointed place that vehicle is parked in the Entrance place, parking robot will be transported to the room, garage with it automatically and deposit ; The car owner that picks up the car only needs to send the instruction of picking up the car at the EXIT place, and parking robot can be transported to designated vehicle the exit in parking lot automatically, and is as shown in Figure 6.And the up-down jib of this robot is modularized design, has the jib of differing heights optional, selects the jib of differing heights for use, just can realize the three-dimensional parking of bilayer, multilayer, has increased the utilization rate of parking space greatly; The whole intelligent remote controls of whole docking process need not personnel's field operation, and safety is higher; This robot maneuverability, and its power source is free of contamination electric energy, environmental protection.
the foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to let the personage who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.

Claims (4)

1. the rubber-tyred lifting mechanism of intelligent parking robot that flows; Described parking robot comprises the gantry type vehicle frame, be arranged on described vehicle frame below driving mechanism, be arranged on the lifting mechanism of described vehicle frame top and be arranged on the described lifting mechanism, carrying mechanism that vehicle frame is inboard; It is characterized in that: described lifting mechanism comprises and is fixed on described vehicle frame top, the up-down jib that can vertically go up and down, is fixed on the described up-down jib, drives the elevating ram that described up-down jib goes up and down; Described lifting arm sets up and is equipped with the more piece jib, and the described jib of more piece is nested successively.
2. the lifting mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 1; It is characterized in that: described up-down jib comprises the first segment jib that is symmetrical set, is fixed on the described vehicle frame, is nested in the second joint jib in the described first segment jib and is nested in the 3rd joint jib in the described second joint jib; The cylinder body of described elevating ram is fixed on the described first segment jib, and the oil cylinder head of described elevating ram is connected with the described second joint jib.
3. the lifting mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 2; It is characterized in that: be fixed with sprocket wheel on the described second joint jib; One end of one chain is fixed on the described first segment jib, and the other end is connected with described the 3rd joint jib after walking around described sprocket wheel.
4. the lifting mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 1 is characterized in that: be provided with roller in the described jib of every joint.
CN2012102280120A 2012-07-04 2012-07-04 Hoisting mechanism of rubber-tired flow intelligent parking robot Pending CN102758547A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012102280120A CN102758547A (en) 2012-07-04 2012-07-04 Hoisting mechanism of rubber-tired flow intelligent parking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012102280120A CN102758547A (en) 2012-07-04 2012-07-04 Hoisting mechanism of rubber-tired flow intelligent parking robot

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CN102758547A true CN102758547A (en) 2012-10-31

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104314342A (en) * 2014-11-13 2015-01-28 安徽乐库智能停车设备有限公司 Hoisting device in three-section hoisting pattern
CN104453312A (en) * 2014-11-13 2015-03-25 安徽乐库智能停车设备有限公司 Stopping device driven by hydraulic cylinder to ascend and descend
CN106639444A (en) * 2016-11-07 2017-05-10 苏州曾智沃德智能科技有限公司 Intelligent robot for parking and transportation

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07243270A (en) * 1994-03-07 1995-09-19 Tokyu Car Corp Mechanical parking device
JP2000248767A (en) * 1999-03-01 2000-09-12 San:Kk Gate device for multistory parking facility
CN2853989Y (en) * 2005-08-12 2007-01-03 贾广生 Structure of one-cylinder hydraulic multi-storey garage
CN101250951A (en) * 2008-03-12 2008-08-27 江苏双良停车设备有限公司 Gantry crane carrier for novel parking equipment
CN201228218Y (en) * 2008-05-16 2009-04-29 江阴市华澄特种机械工程有限公司 Double telescopic oil cylinder controlled four-section working arm support capable of stably and flexibly stretching
CN202007551U (en) * 2010-11-29 2011-10-12 张铭勇 Stereo garage
CN202164855U (en) * 2011-07-11 2012-03-14 成都正武封头制造股份有限公司 Solid garage
CN202672813U (en) * 2012-07-04 2013-01-16 苏州大方特种车股份有限公司 Hoisting mechanism of tired mobile intelligent parking robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07243270A (en) * 1994-03-07 1995-09-19 Tokyu Car Corp Mechanical parking device
JP2000248767A (en) * 1999-03-01 2000-09-12 San:Kk Gate device for multistory parking facility
CN2853989Y (en) * 2005-08-12 2007-01-03 贾广生 Structure of one-cylinder hydraulic multi-storey garage
CN101250951A (en) * 2008-03-12 2008-08-27 江苏双良停车设备有限公司 Gantry crane carrier for novel parking equipment
CN201228218Y (en) * 2008-05-16 2009-04-29 江阴市华澄特种机械工程有限公司 Double telescopic oil cylinder controlled four-section working arm support capable of stably and flexibly stretching
CN202007551U (en) * 2010-11-29 2011-10-12 张铭勇 Stereo garage
CN202164855U (en) * 2011-07-11 2012-03-14 成都正武封头制造股份有限公司 Solid garage
CN202672813U (en) * 2012-07-04 2013-01-16 苏州大方特种车股份有限公司 Hoisting mechanism of tired mobile intelligent parking robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104314342A (en) * 2014-11-13 2015-01-28 安徽乐库智能停车设备有限公司 Hoisting device in three-section hoisting pattern
CN104453312A (en) * 2014-11-13 2015-03-25 安徽乐库智能停车设备有限公司 Stopping device driven by hydraulic cylinder to ascend and descend
CN104314342B (en) * 2014-11-13 2017-07-18 安徽乐库智能停车设备有限公司 A kind of jack up unit of three sections raising pattern
CN104453312B (en) * 2014-11-13 2017-07-18 安徽乐库智能停车设备有限公司 A kind of hydraulic jack drives the lugs of raising
CN106639444A (en) * 2016-11-07 2017-05-10 苏州曾智沃德智能科技有限公司 Intelligent robot for parking and transportation

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Application publication date: 20121031