CN105604361A - Clamping and tire thrust-lifting integrated type automobile intelligent carrier - Google Patents
Clamping and tire thrust-lifting integrated type automobile intelligent carrier Download PDFInfo
- Publication number
- CN105604361A CN105604361A CN201610042484.5A CN201610042484A CN105604361A CN 105604361 A CN105604361 A CN 105604361A CN 201610042484 A CN201610042484 A CN 201610042484A CN 105604361 A CN105604361 A CN 105604361A
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- slide plate
- arm
- line slideway
- plate
- chassis
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a clamping and tire thrust-lifting integrated type automobile intelligent carrier. A walking mechanism is arranged on a chassis. A clamping mechanism is arranged at the front end of the chassis. A thrust-lifting mechanism is arranged at the rear end of the chassis. The clamping mechanism comprises a first sliding plate movably connected with clamping arms and a driving mechanism of the first sliding plate. A guiding groove plate is fixed to the chassis. Linear motion of the sliding plate is made to force the clamping arms to perform swirl pendulum and linear motions under the guidance of an L-shaped guiding groove by means of the interaction and matching of the sliding plate and the L-shaped guiding groove and the clamping arms on the guiding groove plate, and horizontal wheel holding and vehicle carrying of the working arm can be achieved through the linear motion after rotating unfolding and folding actions of the clamping arms are performed. The thrust-lifting mechanism comprises a second sliding plate movably connected with a thrust-lifting arm and a driving mechanism of the second sliding plate. The thrust-lifting arm is similar to the clamping arms in structure, and thrust lifting of rear tires is performed gradually when the thrust-lifting arm moves backwards. The clamping arms need no driving motor, the structure is simple, and the reliability is high; the clamping arms oppositely and horizontally push and clamp the tires, and no damage is caused to an automobile.
Description
Technical field
The present invention relates to a kind of automobile carrier, be specifically a kind ofly applicable to the tire clamping type automobile carrier that intelligent three-dimensional garage Transport Vehicle is used, belong to three-dimensional parking device technical field.
Background technology
Along with the development of auto industry and the raising of living standards of the people, popularizing of automobile is more and more extensive, city per capita automobile occupancy volume constantly increases, and still with annual 20% to 30% speed increment, the problem of parking of automobile is also more and more outstanding, due to the limited space of urban ground, construction multi-storied garage has just become to solve an important method of parking difficulty. For the vehicle carrier of three-dimensional parking device, mainly contain at present vehicle-containing type, interdigitated electrode structure and clamping wheel fetalism.
Clamping wheel fetalism carrier can directly pierce below vehicle, utilizes clamping limb that vehicle tyre is picked up, and vehicle is delivered on parking stall; Due to its also direct carrying vehicle, so efficiency is high, speed is fast, be carrier more satisfactory in storage type parking equipment. As disclosed by the utility model patent design such as Wang Jun, Guan Hu, that the patent No. is 200820094641.8, name is called multi-storied garage intelligent carrier on May 6th, 2009 in State Intellectual Property Office, this carrier comprises two vehicle bodies that connected by a connecting rod, walking mechanism, positioner are set at least one vehicle body, and two vehicle bodies are respectively provided to few two rushing board mechanisms; Rushing board mechanism is provided with to be controlled the control motor of its motion and under the effect of this control motor, controls the action control mechanism that rushing board mechanism moves; Controlling motor is arranged in action control mechanism; Rushing board mechanism comprises the rotatable clamping bar, the drive motors of this clamping bar and the spinning movement mechanism of clamping bar that are arranged on two ends; Rotatable clamping bar connects its spinning movement mechanism, and drive motors is arranged in spinning movement mechanism. Because its spinning movement mechanism is made up of leading screw, nut, tooth bar and the first gear, the drive motors of clamping bar is set in one end of leading screw, drive motors drives leading screw rotation, nut rectilinear motion, leading screw, the motion of nut band carry-over bar, rack drives the first gear rotates, the first gear driven clamping bar action. Spinning movement mechanism also comprises one second gear, and this second gear engages with described the first gear, jointly drives clamping bar action. Its shortcoming one is that complex structure, transmission are many, the 2nd, and the wider width of tooth bar, as without guide rail constraint, there will be tooth bar to swing up and down, and causes transmission unstable, increases guide rail and makes structure more complicated. In addition, technique scheme needs two vehicle bodies, and two vehicle bodies are cascaded by connecting rod, and rushing board mechanism is set respectively on two vehicle bodies, is responsible for respectively the folder of embracing of vehicle front tire and rear tyre and carries. Owing to treating the difference of carrying vehicle wheel base, be responsible for the vehicle body of trailing wheel and need first find rear tyre accurately, then position, Cai Nengshi action control mechanism drives clamping bar action afterwards, and vehicle is implemented to embrace folder, promoted, and the access time is longer, has reduced Transport Vehicle efficiency.
For another example State Intellectual Property Office is disclosed by Tang Zhenyu on January 29th, 2014, Wang Ping, Xiao Hui design, application number is 201310450145.7, name is called the application for a patent for invention of multi-storied garage intelligent lifting transport device, this carrier comprises the carrying frame that contains two longerons and is driven at least one rebound vertically moving along this two longeron by power set, each rebound two ends downside is separately installed with a guide holder, be installed with a bar of clasping of clasping vehicle tyre away from each guide holder outer end of longeron one side, described rebound is clasped bar along longeron lengthwise movement by driving guide holder to vertically move to drive, described rebound is by driving guide holder lifting to vertically move and make its outer end rotation to stop near this guide holder the inner of longeron one side, guide holder outer end rotarily drives clasps bar rotation. its shortcoming one is that parts are many, complex structure, the 2nd, to clasp bar orbit complexity, and be distributed on multiple parts, difficulty of processing is large, and installation requirement is high, the 3rd, clasping between bar and automobile tire is sliding friction, can increase like this tire wear, reduces Using Life of Tyre.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art part, provide a kind of simple in structure, easy for installation, cost is low, reliability is high, good integrity, Transport Vehicle efficiency are high and harmless armful of vehicle and tire pressed from both sides and raise tire integral automobile intelligent carrier.
The technical scheme that the present invention adopted is for achieving the above object:
A kind of embracing pressed from both sides and raises tire integral automobile intelligent carrier, comprises a chassis, and walking mechanism is set on chassis, it is characterized in that: the front end setting on described chassis includes the clamping device of clamping limb, and rear end arranges and includes the mechanism that raises that raises arm.
In the present invention, described clamping device comprises the first slide plate and the first sled drive mechanism that are slidably connected on chassis, and described clamping limb is movably connected on the first slide plate; The described mechanism that raises comprises the second slide plate and the second sled drive mechanism that are slidably connected on chassis, and the described arm that raises is movably connected on the second slide plate.
Further, described chassis comprises base plate and left frame, left frame;
The first described sled drive mechanism comprises:
Front propulsion electric machine, is installed on base plate, is positioned at the front end on chassis;
Front leading screw is positive and negative leading screw, is rotationally connected with on base plate, and front end is connected with front propulsion electric machine, and the screw thread of its leading portion is contrary with the thread rotary orientation of back segment;
Front left line slideway, front right line slideway, is installed on base plate, lays respectively at the left and right sides of chassis front end;
The first described slide plate comprises:
Left front slide plate, left back slide plate, can slide along front left line slideway;
Right front slide plate, right back slide plate, can slide along front right line slideway;
Front slide connecting plate, interconnects left front slide plate, right front slide plate, and bottom is connected with the front feed screw nut being meshed with front leading screw leading portion;
Tail skid connecting plate, interconnects left back slide plate, right back slide plate, and bottom is connected with the rear feed screw nut being meshed with front leading screw back segment;
On left front slide plate, right front slide plate, left back slide plate, right back slide plate, be connected with respectively described clamping limb; Chassis is provided with clamping limb drive unit;
The second described sled drive mechanism comprises:
Rear propulsion electric machine, is installed on base plate, is positioned at the rear end on chassis;
Rear leading screw, is rotationally connected with on base plate, and one end is connected with rear propulsion electric machine;
Rear left line slideway, rear right line slideway, is installed on base plate, lays respectively at the left and right sides of the extreme end of chassis;
The second described slide plate comprises:
Left skateboard, can slide along rear left line slideway;
Right slide plate, can slide along rear right line slideway;
Slide plate connecting plate, interconnects left skateboard, right slide plate, and bottom is connected with the feed screw nut being meshed with rear leading screw;
On left skateboard, right slide plate, be connected with respectively the described arm that raises; Chassis is provided with and raises arm drive unit.
Further, described clamping limb shape is " L " square, and one of them right-angle side is working arm A, and another right-angle side is leading arm A; On described left front slide plate, right front slide plate, left back slide plate, right back slide plate, be respectively equipped with hinge A, clamping limb is hinged at the position of intersecting point of its working arm A and leading arm A and described hinge A;
Described clamping limb drive unit comprises:
The short frid of left guiding, the short frid of right guiding, the short frid of left guiding is fixed between the left frame and base plate on chassis, and the short frid of right guiding is fixed between the left frame and base plate on chassis; Left front slide plate, left back slide plate, front left line slideway are between the short frid of left guiding and base plate; Right front slide plate, right back slide plate, front right line slideway are between the short frid of right guiding and base plate; On the short frid of left guiding, the short frid of right guiding, be respectively provided with a pair of corresponding gathering sill;
Lead A, is connected in described leading arm A and goes up the one end away from the intersection point of working arm A and leading arm A, and axis is parallel with the axis of described hinge A, and lead A can slide along gathering sill.
Further, described gathering sill is " L " square, one of them right-angle side is the first chute A of the linearity that parallels with front left line slideway, front right line slideway, another right-angle side is the second chute A of the linearity perpendicular with front left line slideway, front right line slideway, is one section of circular-arc curve chute A between the first chute A and the second chute A; Left front slide plate, left back slide plate do fore-and-aft direction rectilinear motion along front left line slideway under the effect of the front propulsion electric machine of clamping device, right front slide plate, right back slide plate do fore-and-aft direction rectilinear motion along front right line slideway under the effect of the front propulsion electric machine of clamping device, and then drive clamping limb to follow on one side left front slide plate, right front slide plate, left back slide plate, right back slide plate to do fore-and-aft direction rectilinear motion, an edge first chute A, the second chute A and curve chute A slide.
In the present invention, the described arm shape that raises is " L " square, and one of them right-angle side is working arm B, and another right-angle side is leading arm B; On described left skateboard, right slide plate, be respectively equipped with hinge B, raise arm and be hinged at the position of intersecting point of its working arm B and leading arm B and described hinge B;
The described arm drive unit that raises comprises:
Left guiding elongated slot plate, right guiding elongated slot plate, left guiding elongated slot plate is fixed between the left frame and base plate on chassis, and right guiding elongated slot plate is fixed between the left frame and base plate on chassis; Left skateboard, rear left line slideway are between left guiding elongated slot plate and base plate; Right slide plate, rear right line slideway are between right guiding elongated slot plate and base plate; On left guiding elongated slot plate, right guiding elongated slot plate, be respectively equipped with guiding elongated slot;
Lead B, is connected in described leading arm B and goes up the one end away from the intersection point of working arm B and leading arm B, and axis is parallel with the axis of described hinge B, and lead B can slide along guiding elongated slot.
Further, described guiding elongated slot is " L " square, one of them right-angle side is the first chute B of the linearity that parallels with rear left line slideway, rear right line slideway, another right-angle side is the second chute B of the linearity perpendicular with rear left line slideway, rear right line slideway, is one section of circular-arc curve chute B between the first chute B and the second chute B; Left skateboard does fore-and-aft direction rectilinear motion along rear left line slideway under the effect of rear propulsion electric machine that raises mechanism, right slide plate does fore-and-aft direction rectilinear motion along rear right line slideway under the effect of rear propulsion electric machine that raises mechanism, and then drive and raise that arm is on one side followed left skateboard, right slide plate does fore-and-aft direction rectilinear motion, an edge first chute B, the second chute B and curve chute B slide.
In the present invention, the working arm A of described clamping limb upper be accessed the position that vehicle contacts and be rotatably connected to single roller. The working arm A of two clamping limbs before and after tire clamp with unclamp the process of tire in be parallel, and be rolling friction between working arm A and tire, tire is not almost damaged.
In the present invention, described in raise the working arm B of arm upper be accessed the position that vehicle tyre contacts and be rotatably connected to two-row roller. Raise the working arm B of arm in the time implementing backward parallel propelling, gradually tire is held up by the rolling of the two-row roller on it, and be rolling friction between working arm B and tire, tire is not almost damaged.
In order to reduce lead A, the lead B resistance to sliding in gathering sill, guiding elongated slot, on lead A of the present invention, lead B, rolling bearing B is all housed.
Beneficial effect of the present invention:
1, by embrace folder vehicle front a clamping device, raise automobile back wheel raise mechanism's concentrated setting on an overall intelligence carrier, good integrity, simple in structure, compact; When access vehicle, the front tyre of first embracing folder automobile taking the working arm A of clamping device is as benchmark, meanwhile, the working arm B that raises mechanism is extanded rearward to fast near trailing wheel, then rear tyre is raised liftoff, can not only adapt to the vehicle of disalignment distance, also greatly reduce the early-stage preparations time, improve Transport Vehicle efficiency.
2, changed into the monoblock type carrier of a vehicle body by two original vehicle body teamworks, reduced electrical equipment control cost and controlled difficulty.
3, by the interaction between slide plate and " L " shape gathering sill and clamping limb (or raising arm) three with coordinate, the rectilinear motion of slide plate forces clamping limb under the guiding of " L " shape gathering sill, raise arm first does swing and does linearly operating again; The one, realize clamping limb working arm A, raise rotary expansion and the gathering of the working arm B of arm, the 2nd, the working arm A that realizes clamping limb with rectilinear motion is the parallel armful of folder to automobile tire or raise with the working arm B that raises arm; The 3rd, due to the combination of actions of rotation and the parallel clamping of working arm/raise tire together, not only saved corresponding special drive motors, and simplified system architecture, reduced the trouble point of intelligent carrier, improved system reliability;
4,, when Transport Vehicle, front and back two clamping limbs or raise the parallel propelling of arm and embrace folder, raise tire, only have radial load to tire, without other component, harmless to vehicle.
Brief description of the drawings
Fig. 1 is the present invention at clamping limb, raises the structural representation under arm rotation collapsed state.
Fig. 2 is structural representation of the present invention.
Fig. 3 is structural representation of the present invention (removing after the short frid of left guiding, the short frid of right guiding, left guiding elongated slot plate, right guiding elongated slot plate).
Fig. 4 is the schematic diagram on chassis in the present invention.
Fig. 5 is the connection diagram of front slide connecting plate and left front slide plate in the present invention, right front slide plate.
Fig. 6 is the connection diagram of tail skid connecting plate and left back slide plate in the present invention, right back slide plate.
Fig. 7 is the schematic diagram of clamping limb in the present invention.
Fig. 8 is the schematic diagram of the short frid of left guiding in the present invention.
Fig. 9 is the schematic diagram of the short frid of right guiding in the present invention.
Figure 10 is the connection diagram of middle slide plate connecting plate of the present invention and left skateboard, right slide plate.
Figure 11 is the schematic diagram that raises arm in the present invention.
Figure 12 is the schematic diagram of left guiding elongated slot plate in the present invention.
Figure 13 is the schematic diagram of right guiding elongated slot plate in the present invention.
Figure 14 is that in the present invention, carrier runs to after bottom of car in treating the schematic diagram of Transport Vehicle state.
Figure 15 is clamping limb in the present invention, raise that arm launches and near the view of automobile tire.
Figure 16 is carrier clamping limb in the present invention, raise arm implements the schematic diagram embracing folder, raise state to vehicle tyre.
Figure 17 is that the embodiment carrier working arm in process of picking up the car launches the view in each stage gradually.
In figure: 1-chassis, the left guiding elongated slot of 2-plate, leading screw after 3-,
4-raises arm, 41-working arm B, and 42-leading arm B, 43-lead B, 44-two-row roller, 45-rolling bearing B,
5-slide plate connecting plate, 6-passive walking wheel,
7-clamping limb, 71-working arm A, 72-leading arm A, 73-lead A, the single roller of 74-, 75-rolling bearing A,
8-gathering sill, 81-the first chute A, 82-the second chute A, 83-curve chute A,
The short frid of the left guiding of 9-, leading screw before 10-, 11-front slide connecting plate, 12-movable motor, 13-positive transport wheel, the short frid of the right guiding of 14-, 15-tail skid connecting plate, propulsion electric machine before 16-, the right guiding elongated slot of 17-plate,
The 18-elongated slot that leads, 181-the first chute B, 182-the second chute B, 183-curve chute B,
Propulsion electric machine after 19-, 20-directive wheel, 21-rear left line slideway, 22-left skateboard, the left back slide plate of 23-, 24-front left line slideway, the left front slide plate of 25-, the right front slide plate of 26-, 27-front right line slideway, the right back slide plate of 28-, 29-hinge A, the right slide plate of 30-, 31-hinge B, 32-rear right line slideway, 33-base plate, 34-frame.
Detailed description of the invention
Below by non-limiting embodiment, also the present invention is described further by reference to the accompanying drawings.
Refer to Fig. 1 to Fig. 3, as shown in the figure, the present embodiment has disclosed a kind of embracing and has pressed from both sides and raise tire integral automobile intelligent carrier, and this carrier comprises a chassis 1, is provided with walking mechanism and positioner on chassis 1; In walking mechanism, be provided with 13 and 4 passive walking wheels 6 of 12,2 positive transport wheels of 1 movable motor, driven chain and then driven 2 positive transport wheels 13 by movable motor 12, walking mechanism drives carrier mass motion by movable motor 12. Chassis 1 on the left side frame, left frame are provided with 20,4 directive wheels 20 of directive wheel and are symmetrically distributed in four bights on chassis, seesaw along the walking track side surfaces guiding carrier that rolls, and avoid it that deflection occurs, and make carrier even running. Described positioner has been used for the location of chassis 1 and vehicle. Said structure is prior art, seldom repeats.
The front end setting on chassis 1 includes the clamping device of clamping limb, and rear end arranges and includes the mechanism that raises that raises arm.
Clamping device comprises and is slidably connected to the One On The Chassis a pair of the first slide plate and the first sled drive mechanism, and clamping limb 7 is movably connected on the first slide plate; Raise mechanism and comprise the second slide plate and the second sled drive mechanism that are slidably connected on chassis, raise arm 4 and be movably connected on the second slide plate.
Chassis 1 comprises the frame 34 of base plate 33 and surrounding, and frame 34 is made up of left frame, left frame, front bezel, rear frame;
The first sled drive mechanism comprises:
Front propulsion electric machine 16, is installed on base plate 33, is positioned at the front end on chassis 1;
Front leading screw 10 is positive and negative leading screw, is rotationally connected with on base plate 33, and front end is connected with front propulsion electric machine 16, and the screw thread of leading portion is contrary with the thread rotary orientation of back segment;
Front left line slideway 24, front right line slideway 27, is installed on base plate 33, lays respectively at the left and right sides of chassis 1 front end;
The first described slide plate comprises:
Left front slide plate 25, left back slide plate 23, can slide along front left line slideway 24;
Right front slide plate 26, right back slide plate 28, can slide along front right line slideway 27;
Front slide connecting plate 11, interconnects left front slide plate 25, right front slide plate 26, and bottom is connected with the front feed screw nut being meshed with the leading portion of front leading screw 10;
Tail skid connecting plate 15, interconnects left back slide plate 23, right back slide plate 28, and bottom is connected with the rear feed screw nut being meshed with the back segment of front leading screw 10;
On left front slide plate 25, right front slide plate 26, left back slide plate 23, right back slide plate 28, be connected with respectively described clamping limb 7; Chassis 1 is provided with clamping limb drive unit;
Before front propulsion electric machine 16 drives, leading screw 10 rotates, and the front feed screw nut being meshed with the front end of front leading screw 10 does rectilinear motion, drives left front slide plate 25, right front slide plate 26 to move by front slide connecting plate 11;
Meanwhile, the rear feed screw nut being meshed with the rear end of front leading screw 10 does rectilinear motion, drives left front slide plate 25, right front slide plate 26 to move in the other direction by tail skid connecting plate 15.
The second described sled drive mechanism comprises:
Rear propulsion electric machine 19, is installed on base plate 33, is positioned at the rear end on chassis 1;
Rear leading screw 3, is rotationally connected with on base plate 33, and one end is connected with rear propulsion electric machine 19;
Rear left line slideway 21, rear right line slideway 32, is installed on base plate 33, lays respectively at the left and right sides of 1 rear end, chassis;
The second described slide plate comprises:
Left skateboard 22, can slide along rear left line slideway 21;
Right slide plate 30, can slide along rear right line slideway 32;
Slide plate connecting plate 5, interconnects left skateboard 22, right slide plate 30, and bottom is connected with the feed screw nut being meshed with rear leading screw 3;
On left skateboard 22, right slide plate 30, be connected with respectively the described arm 4 that raises; Chassis 1 is provided with and raises arm drive unit.
After rear propulsion electric machine 19 drives, leading screw 3 rotates, and feed screw nut does rectilinear motion and drives left skateboard 22, right slide plate 30 to move by slide plate connecting plate 5.
Clamping limb 7 shapes are " L " square, and one of them right-angle side is working arm A71, and another right-angle side is leading arm A72; On described left front slide plate 25, right front slide plate 26, left back slide plate 23, right back slide plate 28, be respectively equipped with hinge A29, clamping limb is hinged at the position of intersecting point of its working arm A71 and leading arm A72 and described hinge A29;
Clamping limb drive unit comprises:
The short frid 9 of left guiding, the short frid 14 of right guiding, a limit of the short frid 9 of left guiding is fixed on the left frame on chassis 1, another limit is fixed on base plate 33 by support, a limit of the short frid 14 of right guiding is fixed on the left frame on chassis 1, and another limit is fixed on base plate 33 by support; Left front slide plate 25, left back slide plate 23, front left line slideway 24 are between the short frid 9 of left guiding and base plate 33; Right front slide plate 26, right back slide plate 28, front right line slideway 27 are between the short frid 14 of right guiding and base plate 33; On the short frid 9 of left guiding, the short frid 14 of right guiding, be respectively equipped with gathering sill 8;
Lead A73, is connected in described leading arm A72 and goes up the one end away from the intersection point of working arm A71 and leading arm A72, and axis is parallel with the axis of described hinge A29, and lead A73 can slide along gathering sill 8. Rolling bearing A75 is housed on lead A73;
Described gathering sill 8 is " L " square, one of them right-angle side is the first chute A81 of the linearity that parallels with front left line slideway 24, front right line slideway 27, another right-angle side is the second chute A82 of the linearity perpendicular with front left line slideway 24, front right line slideway 27, is one section of circular-arc curve chute A83 between the first chute A81 and the second chute A82; Left front slide plate 25, left back slide plate 23 do fore-and-aft direction rectilinear motion along front left line slideway 24 under the effect of the front propulsion electric machine 16 of clamping device, right front slide plate 26, right back slide plate 28 do fore-and-aft direction rectilinear motion along front right line slideway 27 under the effect of the front propulsion electric machine 16 of clamping device, and then drive respectively clamping limb on it 7 to follow left front slide plate 25, right front slide plate 26, left back slide plate 23, right back slide plate 28 on one side to do fore-and-aft direction rectilinear motion, an edge first chute A81, the second chute A82 and curve chute A83 slide.
Raise arm 4 shapes and be " L " square, one of them right-angle side is working arm B41, and another right-angle side is leading arm B42; On described left skateboard 22, right slide plate 30, be respectively equipped with hinge B31, raise arm 4 and be hinged at the position of intersecting point of its working arm B41 and leading arm B42 and described hinge B31;
The described arm drive unit that raises comprises:
Left guiding elongated slot plate 2, right guiding elongated slot plate 17, a limit of left guiding elongated slot plate 2 is fixed on the left frame on chassis 1, another limit is fixed on base plate 33 by support, a limit of right guiding elongated slot plate 17 is fixed on the left frame on chassis 1, and another limit is fixed on base plate 33 by support; Left skateboard 22, rear left line slideway 21 are between left guiding elongated slot plate 2 and base plate 33; Right slide plate 30, rear right line slideway 32 are between right guiding elongated slot plate 17 and base plate 1; On left guiding elongated slot plate 2, right guiding elongated slot plate 17, be respectively equipped with guiding elongated slot 18;
Lead B43, is connected in described leading arm B42 and goes up the one end away from the intersection point of working arm B41 and leading arm B42, and axis is parallel with the axis of described hinge B31, and lead B43 can slide along guiding elongated slot 18. Rolling bearing B45 is housed on lead B43;
Guiding elongated slot 18 is " L " square, one of them right-angle side is the first chute B181 of the linearity that parallels with rear left line slideway 21, rear right line slideway 32, another right-angle side is the second chute B182 of the linearity perpendicular with rear left line slideway 21, rear right line slideway 32, is one section of circular-arc curve chute B183 between the first chute B181 and the second chute B182; Left skateboard 22 does fore-and-aft direction rectilinear motion along rear left line slideway 21 under the effect of rear propulsion electric machine 19 that raises mechanism, right slide plate 30 does fore-and-aft direction rectilinear motion along rear right line slideway 32 under the effect of rear propulsion electric machine 19 that raises mechanism, and then drive respectively and raise that arm 4 is followed left skateboard 22 on one side, right slide plate 30 does fore-and-aft direction rectilinear motion on it, an edge first chute B181, the second chute B182 and curve chute B183 slide.
In the present embodiment, comprise 7,2 of 4 clamping limbs and raise arm 4 in chassis 1, clamping limb 7, the arrangement that raises arm 4 are symmetrical mode.
In addition, for fear of the excessive friction between clamping limb 7 and tire, the upper position contacting with the tire that is accessed vehicle of the working arm A71 of clamping limb 7 is rotatably connected to single roller 74. Make tire in radially squeezed liter or decline process and between single roller 74 and be relative rolling condition uniformly.
Equally, for fear of the excessive friction raising between arm 4 and tire, the upper position contacting with the tire that is accessed vehicle of working arm B41 that raises arm 4 is rotatably connected to two-row roller 44. Make tire radially raised or decline process in and between two-row roller 44, be relative uniformly rolling condition.
Below introduce operation principle of the present invention and flow process.
Referring to Figure 15, in armful clip wheel tire process, clamping limb 7 has two superimposed motion processes:
A motion process is rectilinear motion, and a motion process is for rotatablely moving, and two motion processes move simultaneously, and is all to be moved as power source by sled drive mechanism, and is led by gathering sill 8. taking a pair of clamping limb 7 of chassis 1 upper left side as example, because clamping limb 7 is positioned at left front slide plate 25 by hinge A29, on left back slide plate 23, left front slide plate 25, left back slide plate 23 drives respectively the clamping limb 7 on it to move simultaneously while movement in opposite directions, again because the lead A73 of the leading arm A72 end of clamping limb 7 can only be in the interior slip of gathering sill 8 of the short frid 9 of left guiding, in the time that sled drive mechanism promotion clamping limb 7 does rectilinear motion, first lead A73 slides in the second chute A82 of gathering sill 8, force clamping limb 7 to rotate around hinge A29, left front slide plate 25, left back slide plate 23 drives respectively the working arm A71 of the clamping limb 7 on it to screw out gradually expansion when movement in opposite directions. in the time that the lead A73 of the leading arm A72 of clamping limb 7 end starts to turn in the first chute A81 from the second chute A82 of gathering sill 8, clamping limb 7 stops operating, now working arm A71 and the vehicle wheel shaft of clamping limb 7 are the state of being arranged in parallel, and start to do linear advancement action with left front slide plate 25, left back slide plate 23 linear slide in opposite directions, making the working arm A71 of clamping limb 7 keep the state parallel with vehicle wheel shaft close to tire and vehicle tyre is lifted gradually gradually, is more than the motion process of clamping limb 7 while picking up the car.
When bicycle parking, left front slide plate 25, left back slide plate 23 oppositely retreat movement, drive respectively the clamping limb 7 on it to retreat movement simultaneously, sled drive mechanism promotes clamping limb 7 and does straight line setback, first make lead A73 straight line in the first chute A81 of gathering sill 8 retreat slip, the clamping limb 7 of automobile tire front and back is retreated, and automobile tire is put into ground gradually. Then, left front slide plate 25, left back slide plate 23 continue to retreat, in the time that the lead A73 of the leading arm A72 of clamping limb 7 end starts to turn in the second chute A82 from the first chute A81 of gathering sill 8, because being subject to the restriction of the second chute A72, clamping limb 7 can not continue straight line setback, the second chute A72 forces clamping limb 7 to rotate backward around hinge A29, meanwhile, along with left front slide plate 25, left back slide plate 23 continue retreat, drive the working arm A71 of the clamping limb 7 on it to regain gradually, press close to be hidden in the frame outside on chassis 1.
On same chassis 1, the course of work of a pair of clamping limb 7 on right side is identical therewith, repeats no more.
In tire process, raise arm 4 and also have two superimposed motion processes raising:
A motion process is rectilinear motion, and a motion process is for rotatablely moving, and two motion processes move simultaneously, and is all to be moved as power source by sled drive mechanism, and is led by guiding elongated slot 18. be positioned at left skateboard 22 owing to raising arm 4 by hinge B31, on right slide plate 30, left skateboard 22, right slide plate 30 drives respectively the arm 4 that raises on it to move simultaneously while movement, again because the lead B43 of the leading arm B42 end that raises arm 4 can only be at left guiding elongated slot plate 2, the interior slip of guiding elongated slot 18 of right guiding elongated slot plate 17, in the time that sled drive mechanism raises arm 4 and does rectilinear motion, first lead B43 slides in the second chute B182 of guiding elongated slot 18, force and raise arm 4 and rotate around hinge B31, left skateboard 22, right slide plate 30 drives respectively the working arm B41 that raises arm 4 on it to screw out gradually expansion when movement. when the lead B43 of the leading arm B42 end that raises arm 4 turns round while slipping in the first chute B181 in the second chute B182 of guiding elongated slot 18, raising arm 4 stops operating, the working arm B41 and the vehicle wheel shaft that now raise arm 4 are the state of being arranged in parallel, and start with left skateboard 22, the linear slide of right slide plate 30 is done linear advancement action, the working arm B41 that makes to raise arm 4 keeps the state parallel with vehicle wheel shaft close to tire gradually, working arm B41 is progressively extended under automobile tire, vehicle tyre is held up gradually, it is more than the motion process that raises arm 4 while picking up the car.
When bicycle parking, left skateboard 22, right slide plate 30 oppositely retreat movement, drive respectively the arm 4 that raises on it to retreat movement simultaneously, sled drive mechanism raises arm 4 and does straight line setback, first make lead B43 straight line in the first chute B181 of guiding elongated slot 18 retreat slip, make to raise arm 4 and retreat, automobile tire is put into ground gradually. Then, left skateboard 22, right slide plate 30 continue to retreat, when the lead B43 of leading arm B42 end that raises arm 4 is from the first chute B181 of guiding elongated slot 18 while starting to turn in the second chute B182, be subject to the restriction of the second chute B182 and can not continue straight line setback owing to raising arm 4, the second chute B182 forces and raises arm 4 and rotate backward around hinge B31, meanwhile, along with left skateboard 22, right slide plate 30 continue retreat, drive the working arm B41 that raises arm 4 on it to regain gradually, press close to be hidden in the frame outside on chassis 1.
Intelligent carrier comprises in the course of the work picks up the car and two processes of bicycle parking:
While picking up the car, intelligent carrier is by the driving of movable motor 12, run to bottom of car, and by control system control, by intelligent carrier with treat that the tire of access vehicle positions by positioner, before front propulsion electric machine 16 drives, leading screw 10 rotates, drive left front slide plate 25, right front slide plate 26 and left back slide plate 23, right back slide plate 28 does rectilinear motion in opposite directions, rotation by clamping limb 7 launches its working arm A71 gradually, to being after the state of being arranged in parallel with vehicle wheel shaft, slide plate continues to promote, after this, the working arm A71 of clamping limb 7 only does linear advancement, make its working arm A71 keep the state parallel with vehicle wheel shaft close to tire and with together with the clamping limb 7 on opposite, the front tyre of vehicle is lifted gradually gradually.
Meanwhile, under the promotion of rear propulsion electric machine 19, drive left skateboard 22, right slide plate 30 to do rectilinear motion, by the rotation that raises arm 4, its working arm B41 is launched gradually, to becoming to be arranged in parallel after state with vehicle wheel shaft, slide plate continues to promote, after this, the working arm B41 that raises arm 4 only does linear advancement, makes its working arm B41 keep the state parallel with vehicle wheel shaft the rear tyre of vehicle to be held up near also progressively extending to automobile tire bottom to tire gradually.
As can be seen here, overall carrier at one time the front-wheel of automobile is taken in one's arms, trailing wheel hold up after just automobile can be taken away.
When bicycle parking, intelligent carrier drives by movable motor 12, carrier vehicle is to assigned address, before front propulsion electric machine 16 drives, leading screw 10 rotates, drive left front slide plate 25, right front slide plate 26 and left back slide plate 23, right back slide plate 28 does reverse rectilinear motion, working arm A71 retreats, automobile tire is put into ground gradually, after this, left front slide plate 25, right front slide plate 26 and left back slide plate 23, right back slide plate 28 drives the working arm A71 of the clamping limb 7 on it to regain gradually and press close to be hidden in the frame outside on chassis in continuing reverse movement, complete the process of depositing of vehicle front.
Meanwhile, raise mechanism under the promotion of rear propulsion electric machine 19, drive left skateboard 22, right slide plate 30 to do reverse linear motion, raising arm 4 retreats, automobile back wheel tire is put into ground gradually, after this, when left skateboard 22, right slide plate 30 continue oppositely to move, drive the working arm B41 that raises arm 4 on it regain gradually and hide in the both sides of frame 34, complete the process of depositing to automobile back wheel.
In the time that overall intelligence carrier is placed on tire before and after automobile on ground (or bicycle parking face of regulation) simultaneously, just calculate the process of depositing to automobile.
Below in conjunction with Fig. 1 and Figure 14 to Figure 17, introduce the workflow that carrier of the present invention is picked up the car:
The first step: as shown in Figure 1, carrier is in treating the state of work, clamping limb 7, raises arm 4 and all packs up, in preparing the state of picking up the car.
Second step: as shown in figure 14, first carrier runs to vehicle bottom by movable motor 12 entirety, and by control system control, by intelligent carrier with treat that the tire of access vehicle positions by positioner, make the front tyre of vehicle between the front and back of carrier both sides clamping limb 7.
The 3rd step: as shown in figure 15, after intelligent carrier and vehicle front tire relative position are confirmed, clamping limb 7 and raise arm 4 and launches simultaneously, makes working arm A71 and working arm B41 and vehicle wheel shaft be parastate, and close corresponding tire progressively.
The 4th step: as shown in figure 16, the working arm A71 of the clamping limb 7 before and after front tyre first takes vehicle front tire in one's arms. Then, launched and moved and gradually rear tyre is raised to picking-up backward near the working arm B41 that raises arm 4 of rear tyre, having made vehicle tyre built on stilts, vehicle is lifted gradually.
The 5th step: after vehicle is lifted gradually, intelligent carrier is under the effect of movable motor 12, and drive is accessed vehicle and leaves original position, and the process of picking up the car finishes.
When bicycle parking, suppose that vehicle is on intelligent carrier, intelligent carrier and on vehicle first move to and want parking stall. Front propulsion electric machine 16 on chassis, rear propulsion electric machine 19 do the antiport when picking up the car, the working arm A71 of the clamping limb 7 before and after front tyre, raise arm 4 working arm B41 respectively first parallel unclamp tire again straight line retreat, tire is lowered by be put to ground; Then, the working arm A71 of clamping limb 7, the working arm B41 that raises arm 4 draw and are hidden in frame 34 both sides gradually in. Finally, carrier exits from bottom of car by movable motor 12, completes bicycle parking action.
Cited embodiment is only for understanding the present invention's above; it is not the restriction to technical scheme described in the invention; about the those of ordinary skill in field; on the basis of technical scheme described in claim; can also make multiple variation or distortion, within all variations that are equal to or distortion all should be encompassed in claim protection domain of the present invention.
Claims (11)
1. embrace folder and raise a tire integral automobile intelligent carrier, comprising a chassis, walking mechanism is set on chassis, it is characterized in that: the front end setting on described chassis includes the clamping device of clamping limb, rear end arranges and includes the mechanism that raises that raises arm.
2. according to claim 1 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterized in that: described clamping device comprises the first slide plate and the first sled drive mechanism that are slidably connected on chassis, and described clamping limb is movably connected on the first slide plate; The described mechanism that raises comprises the second slide plate and the second sled drive mechanism that are slidably connected on chassis, and the described arm that raises is movably connected on the second slide plate.
3. according to claim 2 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterized in that: described chassis comprises base plate and left frame, left frame;
The first described sled drive mechanism comprises:
Front propulsion electric machine, is installed on base plate, is positioned at the front end on chassis;
Front leading screw is positive and negative leading screw, is rotationally connected with on base plate, and front end is connected with front propulsion electric machine, and the screw thread of its leading portion is contrary with the thread rotary orientation of back segment;
Front left line slideway, front right line slideway, is installed on base plate, lays respectively at the left and right sides of chassis front end;
The first described slide plate comprises:
Left front slide plate, left back slide plate, can slide along front left line slideway;
Right front slide plate, right back slide plate, can slide along front right line slideway;
Front slide connecting plate, interconnects left front slide plate, right front slide plate, and bottom is connected with the front feed screw nut being meshed with front leading screw leading portion;
Tail skid connecting plate, interconnects left back slide plate, right back slide plate, and bottom is connected with the rear feed screw nut being meshed with front leading screw back segment;
On left front slide plate, right front slide plate, left back slide plate, right back slide plate, be connected with respectively described clamping limb; Chassis is provided with clamping limb drive unit;
The second described sled drive mechanism comprises:
Rear propulsion electric machine, is installed on base plate, is positioned at the rear end on chassis;
Rear leading screw, is rotationally connected with on base plate, and one end is connected with rear propulsion electric machine;
Rear left line slideway, rear right line slideway, is installed on base plate, lays respectively at the left and right sides of the extreme end of chassis;
The second described slide plate comprises:
Left skateboard, can slide along rear left line slideway;
Right slide plate, can slide along rear right line slideway;
Slide plate connecting plate, interconnects left skateboard, right slide plate, and bottom is connected with the feed screw nut being meshed with rear leading screw;
On left skateboard, right slide plate, be connected with respectively the described arm that raises; Chassis is provided with and raises arm drive unit.
4. according to claim 3 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterized in that: described clamping limb shape is " L " square, and one of them right-angle side is working arm A, and another right-angle side is leading arm A; On described left front slide plate, right front slide plate, left back slide plate, right back slide plate, be respectively equipped with hinge A, clamping limb is hinged at the position of intersecting point of its working arm A and leading arm A and described hinge A;
Described clamping limb drive unit comprises:
The short frid of left guiding, the short frid of right guiding, the short frid of left guiding is fixed between the left frame and base plate on chassis, and the short frid of right guiding is fixed between the left frame and base plate on chassis; Left front slide plate, left back slide plate, front left line slideway are between the short frid of left guiding and base plate; Right front slide plate, right back slide plate, front right line slideway are between the short frid of right guiding and base plate; On the short frid of left guiding, the short frid of right guiding, be respectively provided with a pair of corresponding gathering sill;
Lead A, is connected in described leading arm A and goes up the one end away from the intersection point of working arm A and leading arm A, and axis is parallel with the axis of described hinge A, and lead A can slide along gathering sill.
5. according to claim 4 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterized in that: described gathering sill is " L " square, one of them right-angle side is the first chute A of the linearity that parallels with front left line slideway, front right line slideway, another right-angle side is the second chute A of the linearity perpendicular with front left line slideway, front right line slideway, is one section of circular-arc curve chute A between the first chute A and the second chute A; Left front slide plate, left back slide plate do fore-and-aft direction rectilinear motion along front left line slideway under the effect of the front propulsion electric machine of clamping device, right front slide plate, right back slide plate do fore-and-aft direction rectilinear motion along front right line slideway under the effect of the front propulsion electric machine of clamping device, and then drive clamping limb to follow on one side left front slide plate, right front slide plate, left back slide plate, right back slide plate to do fore-and-aft direction rectilinear motion, an edge first chute A, the second chute A and curve chute A slide.
6. according to claim 3 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterized in that: the described arm shape that raises is " L " square, and one of them right-angle side is working arm B, and another right-angle side is leading arm B; On described left skateboard, right slide plate, be respectively equipped with hinge B, raise arm and be hinged at the position of intersecting point of its working arm B and leading arm B and described hinge B;
The described arm drive unit that raises comprises:
Left guiding elongated slot plate, right guiding elongated slot plate, left guiding elongated slot plate is fixed between the left frame and base plate on chassis, and right guiding elongated slot plate is fixed between the left frame and base plate on chassis; Left skateboard, rear left line slideway are between left guiding elongated slot plate and base plate; Right slide plate, rear right line slideway are between right guiding elongated slot plate and base plate; On left guiding elongated slot plate, right guiding elongated slot plate, be respectively equipped with guiding elongated slot;
Lead B, is connected in described leading arm B and goes up the one end away from the intersection point of working arm B and leading arm B, and axis is parallel with the axis of described hinge B, and lead B can slide along guiding elongated slot.
7. according to claim 6 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterized in that: described guiding elongated slot is " L " square, one of them right-angle side is the first chute B of the linearity that parallels with rear left line slideway, rear right line slideway, another right-angle side is the second chute B of the linearity perpendicular with rear left line slideway, rear right line slideway, is one section of circular-arc curve chute B between the first chute B and the second chute B; Left skateboard does fore-and-aft direction rectilinear motion along rear left line slideway under the effect of rear propulsion electric machine that raises mechanism, right slide plate does fore-and-aft direction rectilinear motion along rear right line slideway under the effect of rear propulsion electric machine that raises mechanism, and then drive and raise that arm is on one side followed left skateboard, right slide plate does fore-and-aft direction rectilinear motion, an edge first chute B, the second chute B and curve chute B slide.
8. according to embracing folder and raising tire integral automobile intelligent carrier described in claim 4 or 5, it is characterized in that: the working arm A of described clamping limb upper be accessed the position that vehicle tyre contacts and be rotatably connected to single roller.
9. according to embracing folder and raising tire integral automobile intelligent carrier described in claim 6 or 7, it is characterized in that: described in raise the working arm B of arm upper be accessed the position that vehicle tyre contacts and be rotatably connected to two-row roller.
10. according to embracing folder and raising tire integral automobile intelligent carrier described in claim 4 or 5, it is characterized in that: on described lead A, rolling bearing A is housed.
11. according to embracing folder and raising tire integral automobile intelligent carrier described in claim 6 or 7, it is characterized in that: on described lead B, rolling bearing B is housed.
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| CN201610042484.5A CN105604361B (en) | 2016-01-22 | 2016-01-22 | Embrace folder and raise tire integral automobile intelligent carrier |
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| CN201610042484.5A CN105604361B (en) | 2016-01-22 | 2016-01-22 | Embrace folder and raise tire integral automobile intelligent carrier |
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| CN108266029A (en) * | 2016-12-30 | 2018-07-10 | 山东建筑大学 | Self-supporting raises formula automobile carrier |
| CN108422978A (en) * | 2018-05-04 | 2018-08-21 | 北京泊宝机器人科技有限公司 | A kind of vehicle conveying AGV |
| CN108661387A (en) * | 2018-06-13 | 2018-10-16 | 深圳怡丰自动化科技有限公司 | A kind of vehicle carrier and its position-limit mechanism |
| CN114290260A (en) * | 2021-12-24 | 2022-04-08 | 重庆复融科技有限公司 | Wheel non-damage clamping system |
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Address after: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee after: SHANDONG TIANCHEN INTELLIGENT PARKING EQUIPMENT LTD. Address before: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee before: SHANDONG TIANCHEN INTELLIGENT PARKING Co.,Ltd. Address after: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee after: SHANDONG TIANCHEN INTELLIGENT PARKING Co.,Ltd. Address before: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee before: SHANDONG TIANCHEN AUTOMATIC PARKING EQUIPMENT CO.,LTD. |