CN103774881A - Parallel type vehicle carrying robot and parking equipment - Google Patents
Parallel type vehicle carrying robot and parking equipment Download PDFInfo
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- CN103774881A CN103774881A CN201410035621.3A CN201410035621A CN103774881A CN 103774881 A CN103774881 A CN 103774881A CN 201410035621 A CN201410035621 A CN 201410035621A CN 103774881 A CN103774881 A CN 103774881A
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Abstract
The invention discloses a parallel type vehicle carrying robot and parking equipment. The parallel type vehicle carrying robot comprises a support frame, a walking mechanism, a lifting system and a lift car with a rotary disc, wherein the support frame comprises upright post rails and a top cross beam, the walking mechanism is arranged at the bottoms of the upright post guide rails, the lifting system is arranged on a cross beam arranged on the top, and the lift car with the rotary disc is arranged between the upright post guide rails and can upwards and downwards move along the upright post guide rails under the effect of the lifting system. The parallel type vehicle carrying robot and the parking equipment have the advantages that the limitation of conventional parking equipment is broken through, the vehicle access efficiency can be improved, and the cost of the whole equipment is reduced; through middle line civil engineering upright post regions, the parallel type carrying robot can operate, ordinary vehicles can also pass on the ground, and three-dimensional transportation allowing parallel carrying trolleys and ordinary vehicles at top and bottom is formed. The vehicle passing speed is greatly accelerated.
Description
Technical field
The present invention relates generally to parking apparatus technical equipment.
Background technology
Emerging parking apparatus industry existing market competition upgrading gradually, each family has vehicle number also to be increased gradually, user is more and more higher to the requirement in home-use garage, not only need efficiency high, must be cheap, this proposes a difficult problem to our parking apparatus manufacturer, how to design a cheap and use stable parking apparatus.Traditional each berth of lift-sliding series products is all with dynamic, and equipment cost is high, and the traffic aisle in front, garage only can be driven a vehicle on ground simultaneously, and Transport Vehicle efficiency is low.AisleStack product needed is taken whole tunnel into one's own possession, for piler walking, Transport Vehicle inefficiency.
Parallel type parking apparatus can address this problem.It is similar to piler but difference, and it has realized the state that parallel type transfer robot and ground traveling vehicle move simultaneously.Improve the utilization rate of traffic aisle, improved Transport Vehicle efficiency.Meanwhile, berth is unpowered, has also saved the holistic cost of equipment.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides one and drive a vehicle vehicle conveying robot and parking apparatus, with respect to traditional lifting cross sliding type parking equipment, each berth all needs to be equipped with motor and transmission system, make each berth can lifting or traversing, cost be higher; With respect to common aisle stacking parking equipment or horizontal mobile parking equipment, middle column civil engineering column region both can allow parallel type transfer robot move, ground can allow again common vehicle current, has formed the multilevel traffic of operation simultaneously up and down of parallel floor truck and common vehicle.Greatly improve the passage rate of vehicle.
Technical scheme: for achieving the above object, the present invention adopts following technology: a kind of parallel type vehicle conveying robot, comprise bracing frame, walking mechanism, Hoisting System and the car with rotary disk, support frame as described above comprises the crossbeam at column track and top, described walking mechanism is located at the bottom of column guide rail, described Hoisting System is located on the crossbeam at top, described in treat that the car that can turn is located between column guide rail, promote just as left and right under can move up and down along column guide rail.
Also comprise the parking area of multilayer space structures, this parking area is provided with multiple parking positions; Described vehicle conveying robot and parking area are equipped with.
The described lifting car with rotary disk comprises car, pressure-bearing wheels, guiding wheels and rotary disk, wherein rotary disk comprises year hull, turning motor and a thumb wheel, described turning motor is realized and being in transmission connection by chain sprocket structure and thumb wheel, and described thumb wheel is connected and drives year hull to rotate with a year hull gear; Described pressure-bearing wheels are fixed on car, carry hull pressure-bearing on pressure bearing wheels; Described guiding wheels are located at four jiaos of car, and directive wheel and column guide rail compress.
Described Hoisting System comprises lifting motor, rotating shaft and the reel with wire rope, and described rotating shaft is fixed on the crossbeam of bracing frame, and lifting motor drives rotating shaft to rotate by chain sprocket structure, and described reel is fixed in rotating shaft, and described wire rope is connected with car.
Described walking mechanism comprises the movable motor that is fixed on column guide rail bottom and the road wheel that is fixed on the bottom of column guide rail, and movable motor rotates by chain sprocket structure ground-engaging wheel.
Described parking area is civil engineering concrete column region or steel structure platform, and parking area is divided into two rows, and vehicle conveying robot is located between two row's parking areas.
Described vehicle conveying robot is provided with position-detection sensor.
Described vehicle conveying robot is provided with safety detection switch.
Described parking position is provided with liftable roll guard.
Beneficial effect: compared with prior art, the present invention has the following advantages: transfer robot and common vehicle can be expert at simultaneously, and vehicle passage is interior to be moved, and Transport Vehicle efficiency is high; Transfer robot carries safety detection switch and walking safety detection switch, liftable roll guard acting in conjunction, and vehicle delimited safe-guard line on ground simultaneously, safe and reliable, guarantee the safety of Vehicle Driving Cycle; When region is large, can arrange multiple transfer robots simultaneously, increase work efficiency; Lifting car adopts directive wheel accurately to lead, and accurate positioning guarantees that equipment is reliable; Device structure novelty, can, in indoor, outdoor flexible arrangement, require low to installation environment.
This patent is safe and reliable, has broken the limitation of conventional parking apparatus, has improved Transport Vehicle efficiency, reduce the cost of whole equipment, can extensively be installed on individual and the public places such as hotel, hotel, school, villa, be applicable to whole Transporting, installation is convenient, simple to operate.
Accompanying drawing explanation
Fig. 1 is the structural representation of parallel type parking apparatus of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is the structural representation of vehicle conveying of the present invention robot;
Fig. 5 is the left view of Fig. 4;
Fig. 6 is the enlarged drawing at A-A place in Fig. 4;
Fig. 7 is the enlarged drawing at B-B place in Fig. 4;
Fig. 8 is the structural representation of the car with rotary disk of the present invention;
Fig. 9 is the enlarged drawing at A-A place in Fig. 8;
Figure 10 is the left view of Fig. 8.
Wherein, vehicle conveying robot 1, column guide rail 11, crossbeam 12, driving mechanism 13, Hoisting System 14, the car 15 with rotary disk, safety detection switch 16, parking area 2, roll guard 21, vehicle 3, movable motor 131, road wheel 132, rotating shaft 141, reel 142, lifting motor 143, wire rope 144, chain sprocket structure 145, car 151, thumb wheel 152, rotary disk 153, car 154, guiding wheels 155, pressure-bearing wheels 156.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in accompanying drawing 1～2, parallel type parking apparatus comprises parallel type transfer robot, the composition such as the roll guard of activity, walking safety detection switch on berth.Parallel type transfer robot main composition: the compositions such as steel work, the lifting car of being with meeting rotating disk, Hoisting System, walking mechanism, position detecting device, safety detection device, roll guard.Wherein walking mechanism is made up of movable motor, gear wheel, pinion, road wheel etc.Hoisting System is made up of lifting motor, lifting motor sprocket wheel, hinge wheel, power transmission shaft, boom hoist cable, reel etc.Lifting car is made up of car, rotary disk, turning motor, slew gear, two-way guide wheel etc.
Operating principle is introduced:
Theory of mechanics: lifting car that parallel type transfer robot can rotating disk by steel work, band, Hoisting System, walking mechanism, position detecting device, safety detection device etc. form.
Lifting car can do operation up and down under the effect of Hoisting System.Hoisting System is made up of lifting motor, lifting motor sprocket wheel, hinge wheel, power transmission shaft, boom hoist cable, reel etc.Motor provides power, passes to reel by chain sprocket, and reel rotarily drives boom hoist cable, and lifting car moves up and down under the pulling force of boom hoist cable.There is two-way guide wheel at each angle, 4 angles of car.Guide wheel compresses web and the wing plate of steel structural upright column track, 4 groups of two-way guide wheel actings in conjunction X and Y direction location to car, guarantee lifting car steadily, accurately operation.
Lifting car center is rotary disk, and rotary disk forms by carrying hull, turning motor, sprocket wheel, chain, latch, thumb wheel, pressure-bearing wheels, guiding wheels etc.Turning motor provides power, is delivered to thumb wheel by chain sprocket, and thumb wheel is stirred the uniform latch carrying on hull that is welded on, and makes to rotate at hull.Within whole year, hull is pressed on uniform pressure bearing wheels, and pressure bearing wheels is fixed on car, and provides guiding by uniform guiding wheels for carrying hull.This kind of structure operation accurately, simple in structure, and reduced to greatest extent the thickness of rotary disk.For sailing rotary disk into, surface car provides comfortableness.
Whole parallel type transfer robot relies on 4 groups of synchronous walking mechanisms that walking power is provided.Walking mechanism is made up of movable motor, gear wheel, pinion, road wheel etc.4 synchronous walking motors provide power.By gear train transferring power to road wheel.Under the effect of frequency converter, the operational speed range of parallel type transfer robot is very large.And operation is accurately, is the walking of robot, acceleration and deceleration, brake hard dodges that vehicle etc. provides may.
3 rows arrange equal making cement floor up and down at civil engineering concrete column region (take 3 rows as example, can be many rows) arranged side by side, on floor, longitudinally park cars side by side.Walkway is all left in the parking area rear end of each floor.Middle draining mud columnar region, for driving passage, passes through for transfer robot and common vehicle.Berth parking front end (near the position of driving passage) has liftable roll guard.In the time that transfer robot moves to front, target vehicle berth, roll guard is opened.Driver driving vehicle sails transfer robot into.The photoelectric detection switch that transfer robot carries by itself, detects its below and has or not vehicle.In the time meeting, the cage descending on transfer robot also turns round 90 °.Drop to ground, vehicle sails out of transfer robot, and follows vehicle passage and sail out of.
Roll guard on berth is always in protection height, unless vehicle needs to come in and go out.Region between roll guard and walking safety detection switch is the walking region of parallel type transfer robot.When roll guard is opened or when the safety detection switch of walking obstruction detected, transfer robot must not be walked.When the safety detection device carrying when robot detects obstruction, transfer robot must not be walked and decline.
Driving passage on 2 seniority among brothers and sisters walk safety detection switch region be safety zone, common vehicle can normally be walked.Common vehicle need normally be travelled in safety zone, must not exceed the warning line on ground.Exceeding warning line will make robot out of service.All there is numbering in each berth.Ground is provided with position collision block, judges self-position for robot.
Vehicle rolls away from: the button rolling away from need be pressed in berth, waits robot to run to target vehicle dead ahead, and roll guard is opened just and can be rolled away from.
2 layers, 3 layers on the ground, the vehicle of multilayer sail into: need press in the button of exit position, wait for robot judgement below accessible and by cage descending to ground, bright just can the sailing on car of indicator lamp in robot.Treat that robot moves to front, target parking stall, lattice door is opened, and just can sail berth into.
The vehicle that ground is 1 layer sails into: need press in the button of exit position, wait for robot parking walking, lattice door is opened, and just can sail berth into.
If region is larger, also can on a driving passage, arrange multiple transfer robots, to increase the speed of access vehicle.
It than parking apparatus common on present market technical advantage be: (the present invention can be for not having the region of civil engineering column yet to set up the region of post in 3 castings, change by steel work and set for this platform), with respect to traditional lifting cross sliding type parking equipment, each berth all needs to be equipped with motor and transmission system, make each berth can lifting or traversing, cost be higher; With respect to common aisle stacking parking equipment or horizontal mobile parking equipment, middle column civil engineering column region both can allow parallel type transfer robot move, ground can allow again common vehicle current, has formed the multilevel traffic of operation simultaneously up and down of parallel floor truck and common vehicle.Greatly improve the passage rate of vehicle.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. a parallel type vehicle conveying robot, it is characterized in that: comprise bracing frame, walking mechanism, Hoisting System and the car with rotary disk, support frame as described above comprises the crossbeam at column track and top, described walking mechanism is located at the bottom of column guide rail, described Hoisting System is located on the crossbeam at top, describedly treat that the car that can turn is located between column guide rail, promote just as left and right under can move up and down along column guide rail.
2. the parallel type parking apparatus based on vehicle conveying robot described in claim 1, is characterized in that: also comprise the parking area of multilayer space structures, this parking area is provided with multiple parking positions; Described vehicle conveying robot and parking area are equipped with.
3. parallel type parking apparatus according to claim 2, it is characterized in that: the described lifting car with rotary disk comprises car, pressure-bearing wheels, guiding wheels and rotary disk, wherein rotary disk comprises year hull, turning motor and a thumb wheel, described turning motor is realized and being in transmission connection by chain sprocket structure and thumb wheel, and described thumb wheel is connected and drives year hull to rotate with a year hull gear; Described pressure-bearing wheels are fixed on car, carry hull pressure-bearing on pressure bearing wheels; Described guiding wheels are located at four jiaos of car, and directive wheel and column guide rail compress.
4. parallel type parking apparatus according to claim 2, it is characterized in that: described Hoisting System comprises lifting motor, rotating shaft and the reel with wire rope, described rotating shaft is fixed on the crossbeam of bracing frame, lifting motor drives rotating shaft to rotate by chain sprocket structure, described reel is fixed in rotating shaft, and described wire rope is connected with car.
5. parallel type parking apparatus according to claim 2, is characterized in that: described walking mechanism comprises the movable motor that is fixed on column guide rail bottom and the road wheel that is fixed on the bottom of column guide rail, and movable motor rotates by chain sprocket structure ground-engaging wheel.
6. according to the arbitrary described parallel type parking apparatus of claim 2～5, it is characterized in that: described parking area is civil engineering concrete column region or steel structure platform, and parking area is divided into two rows, and vehicle conveying robot is located between two row's parking areas.
7. parallel type parking apparatus according to claim 6, is characterized in that: described vehicle conveying robot is provided with position-detection sensor.
8. parallel type parking apparatus according to claim 6, is characterized in that: described vehicle conveying robot is provided with safety detection switch.
9. parallel type parking apparatus according to claim 6, is characterized in that: described parking position is provided with liftable roll guard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410035621.3A CN103774881B (en) | 2014-01-24 | 2014-01-24 | A kind of parallel type parking apparatus based on vehicle conveying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410035621.3A CN103774881B (en) | 2014-01-24 | 2014-01-24 | A kind of parallel type parking apparatus based on vehicle conveying robot |
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| CN103774881A true CN103774881A (en) | 2014-05-07 |
| CN103774881B CN103774881B (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410035621.3A Active CN103774881B (en) | 2014-01-24 | 2014-01-24 | A kind of parallel type parking apparatus based on vehicle conveying robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104806062A (en) * | 2015-05-18 | 2015-07-29 | 梁崇彦 | Automatic lifting-type fence device for lifting and transverse-moving parking equipment |
| CN108086751A (en) * | 2017-12-20 | 2018-05-29 | 上海理工大学 | Parallel operation tunnel stacking multi-storied garage |
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| CN102003092A (en) * | 2009-08-28 | 2011-04-06 | 陈大超 | Convenient and quick modern three-dimensional garage |
| CN201810012U (en) * | 2010-09-17 | 2011-04-27 | 广州华城埃尔肯停车设备有限公司 | Novel lift with hidden counterweights |
| CN201865384U (en) * | 2010-11-16 | 2011-06-15 | 南京康尼科技实业有限公司 | Stereoscopic garage |
| CN201991276U (en) * | 2011-03-02 | 2011-09-28 | 北京大兆新元停车设备有限公司 | Vertical elevating garage with multi-row parking space carrier and traversing mechanism |
| CN103334615A (en) * | 2013-07-22 | 2013-10-02 | 深圳怡丰自动化科技有限公司 | Comb-shaped exchange type vertical-lifting type mechanical stereoscopic parking garage |
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2014
- 2014-01-24 CN CN201410035621.3A patent/CN103774881B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102003092A (en) * | 2009-08-28 | 2011-04-06 | 陈大超 | Convenient and quick modern three-dimensional garage |
| CN201810012U (en) * | 2010-09-17 | 2011-04-27 | 广州华城埃尔肯停车设备有限公司 | Novel lift with hidden counterweights |
| CN201865384U (en) * | 2010-11-16 | 2011-06-15 | 南京康尼科技实业有限公司 | Stereoscopic garage |
| CN201991276U (en) * | 2011-03-02 | 2011-09-28 | 北京大兆新元停车设备有限公司 | Vertical elevating garage with multi-row parking space carrier and traversing mechanism |
| CN103334615A (en) * | 2013-07-22 | 2013-10-02 | 深圳怡丰自动化科技有限公司 | Comb-shaped exchange type vertical-lifting type mechanical stereoscopic parking garage |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104806062A (en) * | 2015-05-18 | 2015-07-29 | 梁崇彦 | Automatic lifting-type fence device for lifting and transverse-moving parking equipment |
| CN108086751A (en) * | 2017-12-20 | 2018-05-29 | 上海理工大学 | Parallel operation tunnel stacking multi-storied garage |
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| Publication number | Publication date |
|---|---|
| CN103774881B (en) | 2016-04-13 |
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Effective date of registration: 20190711 Address after: 518000 Chuangwei Innovation Valley B0923 (2#) Building, No. 8 Tangtou Community Tangtou Road, Shiyan Street, Baoan District, Shenzhen City, Guangdong Province Co-patentee after: Jiangsu Puteng Parking Equipment Co., Ltd. Patentee after: Shenzhen Huadachuan Automation Technology Co., Ltd. Address before: 226017 Tongsheng South Road 32-9, Nantong Economic and Technological Development Zone, Jiangsu Province Patentee before: Jiangsu Puteng Parking Equipment Co., Ltd. |