CN102758549B - Carrying mechanism of tyred flow intelligent parking robot - Google Patents
Carrying mechanism of tyred flow intelligent parking robot Download PDFInfo
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- CN102758549B CN102758549B CN201210228014.XA CN201210228014A CN102758549B CN 102758549 B CN102758549 B CN 102758549B CN 201210228014 A CN201210228014 A CN 201210228014A CN 102758549 B CN102758549 B CN 102758549B
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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
Technical field
the present invention relates to the carrying mechanism of a kind of rubber-tyred flowing intelligent parking robot.
Background technology
increasing along with motor vehicles in city, to the demand of parking facility also in continuous increase, if disequilibrium between the two, existing parking facility will be difficult to meet vehicle and increase demand to parking space, just there will be the problem of parking difficulty.
Summary of the invention
the object of this invention is to provide the carrying mechanism of a kind of rubber-tyred flowing intelligent parking robot.
for achieving the above object, the technical solution used in the present invention is:
a kind of carrying mechanism of rubber-tyred flowing intelligent parking robot, described parking robot comprises gantry type vehicle frame, be arranged on the driving mechanism below described vehicle frame, be arranged on the lifting mechanism above described vehicle frame and be arranged on described lifting mechanism, the carrying mechanism of frame inside, described carrying mechanism comprises and is fixed on described lifting jib, the flexing transverse arm that can stretch in the horizontal direction, be fixed on described flexing transverse arm, for blocking the claw of vehicle tyre, be fixed on described flexing transverse arm, the flexible traversing motor of the flexing transverse arm described in driving, described flexing transverse arm is provided with more piece jib, flexing transverse arm described in more piece is nested successively.
preferably, described flexing transverse arm comprises and is symmetrical set, the first segment flexing transverse arm be fixed on described lifting jib, is nested in the second section flexing transverse arm in described first segment flexing transverse arm and is nested in Section of three flexing transverse arm in described second section flexing transverse arm.
further preferably, described traversing motor is fixed on described first segment flexing transverse arm, and the motor shaft head of described traversing motor is provided with gear, and the tooth bar matched with described gear is fixed on described second section 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 described second section flexing transverse arm, and the oil cylinder head of described wheelbase adjustment oil cylinder is connected with Section of described three flexing transverse arm.
further preferably, it is four right that described claw is provided with, and four are fixed on Section of three described flexing transverse arm described claw.
preferably, described claw can vertically be rotated down 90 degree.
because technique scheme is used, the present invention compared with prior art has following advantages:
carrying mechanism of the present invention by arranging the sheathed flexing transverse arm of more piece, claw completes carrying to vehicle, and in docking process, vehicle can not arbitrarily movement, and structure is simple, carries effective.
Accompanying drawing explanation
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 top view of the present invention;
accompanying drawing 4 stretches out state front view for the present invention is elevated jib;
accompanying drawing 5 stretches out state front view for flexing transverse arm of the present invention;
accompanying drawing 6 is job state schematic diagram of the present invention.
wherein: 1, vehicle frame; 2, driving mechanism; 21, wheel; 22, traveling motor; 23, steer motor; 24, hang; 3, power-supply battery group; 4, lifting mechanism; 41, first segment jib; 42, second section jib; 43, Section of three jib; 44, sprocket wheel; 45, chain; 46, elevating ram; 5, carrying mechanism; 51, first segment flexing transverse arm; 52, second section flexing transverse arm; 53, Section of three flexing transverse arm; 54, claw; 55, wheelbase adjustment oil cylinder; 56, traversing motor.
Detailed description of the invention
below in conjunction with drawings and Examples, the invention will be further described:
a kind of rubber-tyred flowing intelligent parking robot as Figure 1-5, the carrying mechanism 5 comprising gantry type vehicle frame 1, be arranged on driving mechanism 2 below vehicle frame 1, be arranged on the lifting mechanism 4 above vehicle frame 1 and be arranged on lifting mechanism 4, inside vehicle frame 1.Specifically:
driving mechanism 2 comprises and is fixed on the suspension 24 below vehicle frame 1, the wheel 21 be fixed in suspension 24, the traveling motor 22 be fixed on vehicle frame 1, steer motor 23 and power-supply battery group 3.Wherein: wheel 21 is solid tyre, arranges four altogether, each two of left and right, is arranged symmetrically with; Traveling motor 22 is provided with two, respectively the clinodiagonal both sides being arranged on vehicle frame 1; Steer motor 23 is provided with four, acts on each respectively and hangs 24.Hang 24 inside and be provided with transmission device, the spindle nose of traveling motor 22 is connected with transmission device, drives wheel 21 to walk; Steer motor 23 is in transmission connection by gear mutually with suspension, drives wheel 21 to turn to.
lifting mechanism 4 comprises and to be fixed on above vehicle frame 1, the lifting jib that can vertically be elevated, to be fixed on elevating ram 46 on lifting jib, and elevating ram 46 drives the lifting of lifting jib.Wherein: lifting jib comprises and is symmetrical set, the first segment jib 41 be fixed on vehicle frame 1, is nested in the second section jib 42 in first segment jib 41 and is nested in Section of three jib 43 in second section jib 42, mutually nested design limits this three joints jib other degree of freedom except vertical direction, and often save in jib and be provided with roller, to ensure that jib can freely be elevated.The cylinder body of elevating ram 46 is fixed on first segment jib 41, and the oil cylinder head of elevating ram 46 is connected by ball pivot with second section jib 42.Second section jib 42 is fixed with sprocket wheel 44, one end of a chain 45 is fixed on first segment jib 41, and the other end is connected with Section of three jib 43 after walking around sprocket wheel 44.When elevating ram 46 implements lifting action, second section jib 42 moves upward, and drives Section of three jib 43 also to move upward by sprocket wheel 44, chain 45 simultaneously, and make second section jib 42, Section of three jib 43 be synchronized with the movement, speed is consistent.
carrying mechanism 5 comprises and being fixed on Section of three jib 43, the flexing transverse arm that can stretch in the horizontal direction, being fixed on flexing transverse arm, for blocking the claw 54 of vehicle tyre, the traversing motor 56 be fixed on flexing transverse arm, and traversing motor 56 drives the flexible of flexing transverse arm.Specifically: flexing transverse arm comprises left and right, front and back are symmetrical arranged, the first segment flexing transverse arm 51 be fixed on Section of three jib 43, be nested in the second section flexing transverse arm 52 in first segment flexing transverse arm 51 and be nested in Section of three flexing transverse arm 53 in second section flexing transverse arm 52.Mutually nested design limits this three joints flexing transverse arm other degree of freedom except horizontal direction.Traversing motor 56 is fixed on first segment flexing transverse arm 51, and the motor shaft head of traversing motor 56 is provided with gear, and the tooth bar matched with gear is fixed on second section flexing transverse arm 52,
when gear rotates, second section flexing transverse arm 52, Section of three flexing transverse arm 53 just can move forward and backward, to implement parking operation.Flexing transverse arm is provided with wheelbase adjustment oil cylinder 55, the cylinder body of wheelbase adjustment oil cylinder 55 is fixed on second section flexing transverse arm 52, the oil cylinder head of wheelbase adjustment oil cylinder 55 is connected by bearing pin with Section of three flexing transverse arm 53, wheelbase adjustment oil cylinder 55 is provided with four, each two of left and right altogether, like this, by the action of wheelbase adjustment oil cylinder 55, the movable of Section of three flexing transverse arm 53 can be realized, thus the longitudinal separation of adjustment claw 54, to adapt to the vehicle of disalignment distance.It is four right that claw is arranged altogether, and left and right is each two right, and often pair of claw 54 blocks a vehicle tyre, and claw 54 is fixed on Section of three flexing transverse arm 53, and each claw 54 can vertically be rotated down 90 degree.Claw 54 is used to block vehicle tyre, and to ensure in carrying, in docking process, vehicle can not arbitrarily movement; Meanwhile, claw 54 is also used for bearing the weight of whole vehicle.
due to this robot self-navigation function, as long as so vehicle is parked in the appointed place at Entrance place by car owner, parking robot automatically will be transported to room, garage and be deposited; The car owner that picks up the car only need send at EXIT place instruction of picking up the car, and designated vehicle can be transported to the exit in parking lot by parking robot automatically, as shown in Figure 6.And the lifting jib of this robot is modularized design, there is the jib of differing heights optional, select the jib of differing heights, just can realize the three-dimensional parking of bilayer, multilayer, considerably increase the utilization rate of parking space; The whole intelligent remote of whole docking process controls, and without the need to personnel on site's operation, safety is higher; This robot maneuverability, and its power source is free of contamination electric energy, environmental protection.
above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (3)
1. the carrying mechanism of a rubber-tyred flowing intelligent parking robot, described parking robot comprises gantry type vehicle frame, be arranged on the driving mechanism below described vehicle frame, be arranged on the lifting mechanism above described vehicle frame and be arranged on described lifting mechanism, the carrying mechanism of frame inside, it is characterized in that: described carrying mechanism comprise be fixed on lifting jib on, the flexing transverse arm that can stretch in the horizontal direction, be fixed on described flexing transverse arm, for blocking the claw of vehicle tyre, be fixed on described flexing transverse arm, the flexible traversing motor of the flexing transverse arm described in driving, described flexing transverse arm is provided with more piece jib, flexing transverse arm described in more piece is nested successively,
Described flexing transverse arm comprises and is symmetrical set and is fixed on first segment flexing transverse arm on described lifting jib, is symmetrical set and the second section flexing transverse arm be nested in described first segment flexing transverse arm and be symmetrical set and be nested in Section of three flexing transverse arm in described second section flexing transverse arm;
Described traversing motor is fixed on described first segment flexing transverse arm, and the motor shaft head of described traversing motor is provided with gear, and the tooth bar matched with described gear is fixed on described second section flexing transverse arm;
Described flexing transverse arm is provided with wheelbase adjustment oil cylinder, the cylinder body of described wheelbase adjustment oil cylinder is fixed on described second section flexing transverse arm, and the oil cylinder head of described wheelbase adjustment oil cylinder is connected with Section of described three flexing transverse arm.
2. the carrying mechanism of rubber-tyred according to claim 1 flowing intelligent parking robot, is characterized in that: it is four right that described claw is provided with, and four are fixed on Section of three described flexing transverse arm described claw.
3. the carrying mechanism of rubber-tyred flowing intelligent parking robot according to claim 1, is characterized in that: described claw can vertically be rotated down 90 degree.
Priority Applications (1)
| 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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| 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 CN102758549A (en) | 2012-10-31 |
| CN102758549B true CN102758549B (en) | 2014-12-24 |
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| CN201210228014.XA Active CN102758549B (en) | 2012-07-04 | 2012-07-04 | Carrying mechanism of tyred flow intelligent parking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021009420A1 (en) * | 2019-07-18 | 2021-01-21 | Stradot Société Par Actions Simplifiée À Associé Unique Et Capital Variable | Conveying device for moving vehicles, and robot system comprising such a device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112016007036T5 (en) | 2016-08-01 | 2019-05-02 | Ford Global Technologies, Llc | ANGLED PARKING |
| CN107859399A (en) * | 2017-11-18 | 2018-03-30 | 黄才雄 | A kind of through type is without avoidance lift-sliding parking system |
| CN108166811A (en) * | 2018-02-24 | 2018-06-15 | 国信机器人无锡股份有限公司 | The telescopic Wiring structure of parking robot |
| 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 |
| CN112681848B (en) * | 2021-01-30 | 2022-05-06 | 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021009420A1 (en) * | 2019-07-18 | 2021-01-21 | Stradot Société Par Actions Simplifiée À Associé Unique Et Capital Variable | Conveying device for moving vehicles, and robot system comprising such a device |
| FR3098835A1 (en) * | 2019-07-18 | 2021-01-22 | Stradot | Conveyor device for moving vehicles, and robotic system comprising such a device |
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| CN102758549A (en) | 2012-10-31 |
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