CN102758549A - Carrying mechanism of tyred flow intelligent parking robot - Google Patents

Carrying mechanism of tyred flow intelligent parking robot Download PDF

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Publication number
CN102758549A
CN102758549A CN201210228014XA CN201210228014A CN102758549A CN 102758549 A CN102758549 A CN 102758549A CN 201210228014X A CN201210228014X A CN 201210228014XA CN 201210228014 A CN201210228014 A CN 201210228014A CN 102758549 A CN102758549 A CN 102758549A
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CN
China
Prior art keywords
transverse arm
flexing transverse
fixed
carrying mechanism
parking robot
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Granted
Application number
CN201210228014XA
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Chinese (zh)
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CN102758549B (en
Inventor
王一奇
曹新杰
曾召生
齐越
曹辉杰
李春涛
叶柳军
高强
赵鹏
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Suzhou Dafang Special Vehicle Co Ltd
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Suzhou Dafang Special Vehicle Co Ltd
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Priority to CN201210228014.XA priority Critical patent/CN102758549B/en
Publication of CN102758549A publication Critical patent/CN102758549A/en
Application granted granted Critical
Publication of CN102758549B publication Critical patent/CN102758549B/en
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Abstract

The invention relates to a carrying mechanism of a tyred flow intelligent parking robot. The parking robot comprises a portal frame type car frame, a traveling mechanism, a lifting mechanism and the carrying mechanism, wherein the traveling mechanism is arranged under the car frame; the lifting mechanism is arranged above the car frame; the carrying mechanism is arranged on the lifting mechanism and positioned inside the car frame; the carrying mechanism comprises transverse retractable arms which are fixed on lifting arm frames and can retract along the horizontal directions; claws which are fixed on the transverse retractable arms and are used for clamping the tyres of cars; and side-sliding motors which are fixed on the transverse retractable arms and are used for driving the transverse retractable arms to retract, wherein multiple sections of arm frames are arranged on the transverse retractable arms into which multiple transverse retractable arms are sequentially embedded. With the adoption of the carrying mechanism, the cars are carried by the multiple sections of transverse retractable arms and the claws, and the cars do not move at random in the parking process; and in addition, the carrying mechanism has a simple structure and is good in carrying effect.

Description

The carrying mechanism of the mobile intelligent parking robot of rubber-tyred
Technical field
the present invention relates to the carrying 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 carrying 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 carrying 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 carrying mechanism comprise be fixed on the described up-down jib, can along continuous straight runs flexible flexing transverse arm, be fixed on the described flexing transverse arm, be used to block vehicle tyre claw, be fixed on described flexing transverse arm, drive the flexible traversing motor of described flexing transverse arm; Described flexing transverse arm is provided with the more piece jib, and the described flexing transverse arm of more piece is nested successively.
preferably, described flexing transverse arm comprises the first segment flexing transverse arm that is symmetrical set, is fixed on the described up-down jib, is nested in the second joint flexing transverse arm in the described first segment flexing transverse arm and is nested in the 3rd joint flexing transverse arm in the described second joint flexing transverse arm.
further preferably; Described traversing motor is fixed on the described first segment flexing transverse arm; The motor shaft head of described traversing motor is provided with gear, and the tooth bar that matches with described gear is fixed on the described second joint flexing transverse arm.
further preferably; Described flexing transverse arm is provided with wheelbase adjustment oil cylinder; The cylinder body of described wheelbase adjustment oil cylinder is fixed on the described second joint flexing transverse arm, and the oil cylinder head of described wheelbase adjustment oil cylinder is connected with described the 3rd joint flexing transverse arm.
further preferably, described claw is provided with four pairs, the four pairs of described claws are fixed on described the 3rd joint flexing transverse arm.
preferably, described claw can vertically be rotated down 90 the degree.
Because the technique scheme utilization, the present invention compared with prior art has advantage:
carrying mechanism of the present invention is accomplished the carrying to vehicle through the sheathed flexing transverse arm of more piece, claw are set, and in the docking process, vehicle can arbitrarily not move, and is simple in structure, carries effective.
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 (6)

1. the rubber-tyred carrying 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 carrying mechanism comprise be fixed on the described up-down jib, can along continuous straight runs flexible flexing transverse arm, be fixed on the described flexing transverse arm, be used to block vehicle tyre claw, be fixed on described flexing transverse arm, drive the flexible traversing motor of described flexing transverse arm; Described flexing transverse arm is provided with the more piece jib, and the described flexing transverse arm of more piece is nested successively.
2. the flow carrying mechanism of intelligent parking robot of rubber-tyred according to claim 1 is characterized in that: described flexing transverse arm comprises the first segment flexing transverse arm that is symmetrical set, is fixed on the described up-down jib, is nested in the second joint flexing transverse arm in the described first segment flexing transverse arm and is nested in the 3rd joint flexing transverse arm in the described second joint flexing transverse arm.
3. the carrying mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 2; It is characterized in that: described traversing motor is fixed on the described first segment flexing transverse arm; The motor shaft head of described traversing motor is provided with gear, and the tooth bar that matches with described gear is fixed on the described second joint flexing transverse arm.
4. the carrying mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 2; It is characterized in that: described flexing transverse arm is provided with wheelbase adjustment oil cylinder; The cylinder body of described wheelbase adjustment oil cylinder is fixed on the described second joint flexing transverse arm, and the oil cylinder head of described wheelbase adjustment oil cylinder is connected with described the 3rd joint flexing transverse arm.
5. the carrying mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 2, it is characterized in that: described claw is provided with four pairs, and four pairs of described claws are fixed on described the 3rd joint flexing transverse arm.
6. the carrying mechanism of the mobile intelligent parking robot of rubber-tyred according to claim 1 is characterized in that: described claw can vertically be rotated down 90 degree.
CN201210228014.XA 2012-07-04 2012-07-04 Carrying mechanism of tyred flow intelligent parking robot Active CN102758549B (en)

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Application Number Priority Date Filing Date Title
CN201210228014.XA CN102758549B (en) 2012-07-04 2012-07-04 Carrying mechanism of tyred flow intelligent parking robot

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CN102758549A true CN102758549A (en) 2012-10-31
CN102758549B CN102758549B (en) 2014-12-24

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018026347A1 (en) * 2016-08-01 2018-02-08 Ford Global Technologies, Llc Angulated parking
CN107859399A (en) * 2017-11-18 2018-03-30 黄才雄 A kind of through type is without avoidance lift-sliding parking system
CN111622556A (en) * 2020-06-01 2020-09-04 合肥巍华智能停车设备有限公司 Tunnel stack type garage carrier
CN112681848A (en) * 2021-01-30 2021-04-20 武汉智象机器人有限公司 Guiding device applied to outer clamping type carrier of large pneumatic tire and using method
CN112727205A (en) * 2021-01-30 2021-04-30 武汉智象机器人有限公司 Steering wheel steering device for large pneumatic tire outer clamping type carrier and using method
CN112727206A (en) * 2021-01-30 2021-04-30 武汉智象机器人有限公司 Outer clamping type automobile carrier for large inflatable tire and using method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3098836A1 (en) * 2019-07-18 2021-01-22 José IRIARTE Four-wheel vehicle transporter

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WO2002079597A1 (en) * 2001-04-02 2002-10-10 Payne William S Parking garage elevator system
CN2764866Y (en) * 2004-11-08 2006-03-15 潘建忠 Mobile car carrying appliance for parking equipment
CN2918643Y (en) * 2006-05-19 2007-07-04 方兴友 Multipurpose hydraulic lifting carrying device for hand truck
US20100119338A1 (en) * 2008-11-12 2010-05-13 Pflow Industries, Inc. Multi-level vehicle lift
CN101451403B (en) * 2007-12-04 2010-09-22 上海机械设备成套集团物流工程有限公司 Logistic storage type tridimensional bin/garage
CN201614768U (en) * 2010-01-21 2010-10-27 李亚仁 Spooning multilayer parking frame
CN202672814U (en) * 2012-07-04 2013-01-16 苏州大方特种车股份有限公司 Carrying mechanism of tyre-type flowing intelligent parking robot

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Publication number Priority date Publication date Assignee Title
WO2002079597A1 (en) * 2001-04-02 2002-10-10 Payne William S Parking garage elevator system
CN2764866Y (en) * 2004-11-08 2006-03-15 潘建忠 Mobile car carrying appliance for parking equipment
CN2918643Y (en) * 2006-05-19 2007-07-04 方兴友 Multipurpose hydraulic lifting carrying device for hand truck
CN101451403B (en) * 2007-12-04 2010-09-22 上海机械设备成套集团物流工程有限公司 Logistic storage type tridimensional bin/garage
US20100119338A1 (en) * 2008-11-12 2010-05-13 Pflow Industries, Inc. Multi-level vehicle lift
CN201614768U (en) * 2010-01-21 2010-10-27 李亚仁 Spooning multilayer parking frame
CN202672814U (en) * 2012-07-04 2013-01-16 苏州大方特种车股份有限公司 Carrying mechanism of tyre-type flowing intelligent parking robot

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018026347A1 (en) * 2016-08-01 2018-02-08 Ford Global Technologies, Llc Angulated parking
CN109563716A (en) * 2016-08-01 2019-04-02 福特全球技术公司 Angled parking
CN109563716B (en) * 2016-08-01 2021-04-06 福特全球技术公司 Angle parking
US11427447B2 (en) 2016-08-01 2022-08-30 Ford Global Technologies, Llc Angulated parking
CN107859399A (en) * 2017-11-18 2018-03-30 黄才雄 A kind of through type is without avoidance lift-sliding parking system
CN111622556A (en) * 2020-06-01 2020-09-04 合肥巍华智能停车设备有限公司 Tunnel stack type garage carrier
CN112681848A (en) * 2021-01-30 2021-04-20 武汉智象机器人有限公司 Guiding device applied to outer clamping type carrier of large pneumatic tire and using method
CN112727205A (en) * 2021-01-30 2021-04-30 武汉智象机器人有限公司 Steering wheel steering device for large pneumatic tire outer clamping type carrier and using method
CN112727206A (en) * 2021-01-30 2021-04-30 武汉智象机器人有限公司 Outer clamping type automobile carrier for large inflatable tire and using method
CN112727205B (en) * 2021-01-30 2022-06-10 武汉智象机器人有限公司 Steering wheel steering device for large pneumatic tire outer clamping type carrier and using method
CN112727206B (en) * 2021-01-30 2022-06-10 武汉智象机器人有限公司 Outer clamping type automobile carrier for large inflatable tire and using method

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