CN102758550A - Rubber-tyred flowable intelligent parking robot - Google Patents

Rubber-tyred flowable intelligent parking robot Download PDF

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Publication number
CN102758550A
CN102758550A CN2012102281496A CN201210228149A CN102758550A CN 102758550 A CN102758550 A CN 102758550A CN 2012102281496 A CN2012102281496 A CN 2012102281496A CN 201210228149 A CN201210228149 A CN 201210228149A CN 102758550 A CN102758550 A CN 102758550A
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China
Prior art keywords
jib
fixed
transverse arm
flexing transverse
joint
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CN2012102281496A
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Chinese (zh)
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CN102758550B (en
Inventor
李荣生
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Suzhou Dafang Special Vehicle Co Ltd
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Suzhou Dafang Special Vehicle Co Ltd
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Abstract

The invention relates to a rubber-tyred flowable intelligent parking robot which comprises a frame, a travelling mechanism, a lifting mechanism and a conveying mechanism, wherein wheels, a travelling motor, a steering motor and a power-source battery pack are hung on the travelling mechanism; the lifting mechanism comprises a lifting arm support and a hoisting cylinder, the lifting arm support can lift along the vertical direction, and the hoisting cylinder drives the lifting arm support to lift; and the conveying mechanism comprises a horizontal telescopic arm, a jack catch and a traversing motor, the horizontal telescopic arm can stretch along the horizontal direction, the jack catch is used for clamping tyres, and the traversing motor drives the stretching of the horizontal telescopic arm. By using the rubber-tyred flowable intelligent parking robot disclosed by the invention, an effect of double-layer and multilayer stereoscopic parking can be achieved, thereby greatly increasing the utilization rate of parking places; the complete intelligent remote control of the whole parking process is implemented without the field operation of persons, so that the safety is high; and the robot is flexible, and the power source of the robot is pollution-free electric energy, so that the robot is environmentally-friendly.

Description

The rubber-tyred intelligent parking robot that flows
Technical field
the present invention relates to 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 mobile intelligent parking robot of a kind of rubber-tyred.
For achieving the above object, the technical scheme that the present invention adopts is:
A kind of rubber-tyred intelligent parking robot that flows; Comprise 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, wherein:
Described driving mechanism comprises the suspension that is fixed on described vehicle frame below, be fixed on wheel in the described suspension, be fixed on driving motor, steer motor and power-supply battery group on the described vehicle frame;
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 elevating ram on the described up-down jib that described elevating ram drives described up-down jib and goes up and down;
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 the traversing motor on the described flexing transverse arm, the described flexing transverse arm of described traversing motor-driven flexible.
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, 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.
Because the technique scheme utilization, the present invention compared with prior art has advantage:
parking robot of the present invention can be realized 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.
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. a rubber-tyred intelligent parking robot that flows; It is characterized in that: comprise 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, wherein:
Described driving mechanism comprises the suspension that is fixed on described vehicle frame below, be fixed on wheel in the described suspension, be fixed on driving motor, steer motor and power-supply battery group on the described vehicle frame;
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 elevating ram on the described up-down jib that described elevating ram drives described up-down jib and goes up and down;
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 the traversing motor on the described flexing transverse arm, the described flexing transverse arm of described traversing motor-driven flexible.
2. the rubber-tyred according to claim 1 intelligent parking robot that flows; 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 rubber-tyred according to claim 2 intelligent parking robot that flows; 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 rubber-tyred according to claim 1 intelligent parking robot that flows 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.
5. the rubber-tyred according to claim 4 intelligent parking robot that flows; 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.
6. the rubber-tyred according to claim 4 intelligent parking robot that flows; 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.
CN201210228149.6A 2012-07-04 2012-07-04 Rubber-tyred flowable intelligent parking robot Active CN102758550B (en)

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CN102758550B CN102758550B (en) 2014-06-18

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104612437A (en) * 2015-02-10 2015-05-13 广州信邦汽车装备制造有限公司 Liftable parking robot
CN104895369A (en) * 2015-06-10 2015-09-09 深圳怡丰机器人科技有限公司 Intelligent robot capable of moving automobiles in side directions
CN108483187A (en) * 2018-03-01 2018-09-04 昆明创培知识产权服务有限公司 A kind of intelligent carrier vehicle lift appliance based on viaduct
CN109179155A (en) * 2018-06-10 2019-01-11 昆明创培知识产权服务有限公司 A kind of intelligent carrier vehicle lift appliance based on viaduct
CN109208977A (en) * 2018-10-29 2019-01-15 黄河科技学院 A kind of stereo-parking system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08105234A (en) * 1994-10-07 1996-04-23 Daifuku Co Ltd Turning device of sky parking facility
NL1003799C2 (en) * 1996-08-14 1998-02-20 Loesje Lensink Motor vehicles parking arrangement
RU2376430C1 (en) * 2008-05-27 2009-12-20 Петр Николаевич Смородин Module-type multi-storied automated parking place
CN101424133B (en) * 2008-09-26 2011-04-27 杭州德萨科技有限公司 Transport carriage for parking floor of stereo garage
CN202672815U (en) * 2012-07-04 2013-01-16 苏州大方特种车股份有限公司 Tyre-type flowing intelligent parking robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08105234A (en) * 1994-10-07 1996-04-23 Daifuku Co Ltd Turning device of sky parking facility
NL1003799C2 (en) * 1996-08-14 1998-02-20 Loesje Lensink Motor vehicles parking arrangement
RU2376430C1 (en) * 2008-05-27 2009-12-20 Петр Николаевич Смородин Module-type multi-storied automated parking place
CN101424133B (en) * 2008-09-26 2011-04-27 杭州德萨科技有限公司 Transport carriage for parking floor of stereo garage
CN202672815U (en) * 2012-07-04 2013-01-16 苏州大方特种车股份有限公司 Tyre-type flowing intelligent parking robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104612437A (en) * 2015-02-10 2015-05-13 广州信邦汽车装备制造有限公司 Liftable parking robot
CN104612437B (en) * 2015-02-10 2017-06-23 广州信邦智能装备股份有限公司 A kind of liftable parking robot
CN104895369A (en) * 2015-06-10 2015-09-09 深圳怡丰机器人科技有限公司 Intelligent robot capable of moving automobiles in side directions
CN108483187A (en) * 2018-03-01 2018-09-04 昆明创培知识产权服务有限公司 A kind of intelligent carrier vehicle lift appliance based on viaduct
CN109179155A (en) * 2018-06-10 2019-01-11 昆明创培知识产权服务有限公司 A kind of intelligent carrier vehicle lift appliance based on viaduct
CN109208977A (en) * 2018-10-29 2019-01-15 黄河科技学院 A kind of stereo-parking system

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