CN105804460A - Stereo garage carrying and clamping mechanism and clamping type carrying robot with same - Google Patents
Stereo garage carrying and clamping mechanism and clamping type carrying robot with same Download PDFInfo
- Publication number
- CN105804460A CN105804460A CN201610295115.7A CN201610295115A CN105804460A CN 105804460 A CN105804460 A CN 105804460A CN 201610295115 A CN201610295115 A CN 201610295115A CN 105804460 A CN105804460 A CN 105804460A
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- Prior art keywords
- motor
- carrying
- storied garage
- worm
- frame
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Classifications
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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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stereo garage carrying and clamping mechanism and a clamping type carrying robot with the same. The stereo garage carrying and clamping mechanism comprises a rack. Two worms are mounted on the two sides of the rack respectively. Two worm wheels are mounted on the two sides of each worm, and the worm wheels are in power connection with the worms. The worm wheels are in power connection with clamping rods through first connecting blocks. A motor is further mounted on the rack, and an output shaft of the motor is in power connection with the worms through speed reducers. The worm wheels are driven by the worms to rotate, then the clamping rods are indirectly driven to be unfolded and folded on the rack, the mechanism can directly and longitudinally enter the bottom of a car to clamp a car tire through the clamping rods, the car tire is separated from the ground, and then the car is carried to a specified parking place in a stereo garage. Compared with traditional stereo garage carrying equipment, the use space of an original stereo garage does not need to be increased when the carrying and clamping mechanism is combined to be used as the carrying robot. Meanwhile, the stereo garage carrying and clamping mechanism and the clamping type carrying robot are simple in structure, low in use cost, suitable for various stereo garage occasions and wide in application range.
Description
Technical field
The present invention relates to a kind of multi-storied garage match mechanism, in particular, the invention mainly relates to the clipping transfer robot of a kind of multi-storied garage carrying clamping device and application thereof.
Background technology
Mechanical three-dimensional parking device complies with the development of market economy, arises at the historic moment under the urgent impact of the market demand, and this newborn type equipment changes traditional parking lot monolayer plane parking method, to aerial or underground development.And this type parking equipment is in use, it is necessary to using haulage equipment by the parking stall in vehicle conveying to multi-storied garage, haulage equipment general on the market at present is roughly divided into several as follows: a class is vehicle-containing access technique；Another kind of is comb switching technology；Also having a class is folder wheel exchange mechanism；In use all there is different defects in aforementioned three class haulage equipments, for instance the mode of vehicle-containing access needs there is vehicle-containing in each parking stall, deposits every time and all needs to transport vehicle-containing back parking stall；In comb switching technology, each parking stall is required for mounting broach board, and take up room height, invests bigger；Folder every supporting rod of wheel exchange mechanism all needs hydraulic pressure and decelerator to drive, and structure is complicated.Thus be necessary for based on prior art, the structure of multi-storied garage haulage equipment being done further research and improved.
Summary of the invention
An object of the present invention is in that for above-mentioned deficiency, the clipping transfer robot of a kind of multi-storied garage carrying clamping device and application thereof is provided, taking up room height expecting to solve prior art neutral body garage haulage equipment, investment is relatively big, and the technical problem such as structure is complicated.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
One aspect of the present invention provides a kind of multi-storied garage carrying clamping device, including frame, the both sides of described frame are separately installed with two worm screws, the both sides of said two worm screw are mounted on two worm gears that power connects with it, for being driven two worm gears that power connects with it to rotate respectively by two worm screws simultaneously, described worm gear is connected with supporting rod power by the first contiguous block, for being driven supporting rod to launch in frame by worm gear wheel and regaining；Being also equipped with motor in described frame, the output shaft of described motor is connected with worm screw power by decelerator, for being rotated by driven by motor worm screw.
As preferably, further technical scheme is: be connected by bearing between described first contiguous block and supporting rod.
Further technical scheme is: described motor includes the first motor and the second motor, described first motor and the second motor and is connected with two worm screw power respectively respectively through respective decelerator；Described first motor and the equal servomotor of the second motor, and decelerator is planetary reduction gear.
Further technical scheme is: be provided with the 3rd motor in described frame, and the bottom of frame is also equipped with road wheel, and described 3rd motor is connected with road wheel power by traveling speed reducer；Described 3rd motor is servomotor, and traveling speed reducer is planetary reduction gear.
Further technical scheme is: the bottom of frame is also equipped with the driven pulley matched with road wheel.
Another aspect of the present invention provides the clipping transfer robot of a kind of multi-storied garage, robot at least includes two above-mentioned multi-storied garage carrying clamping devices, being mounted on the second contiguous block on relative one end of frame of said two multi-storied garage carrying clamping device, between described second contiguous block, installation activity is provided with swing arm.
As preferably, further technical scheme is: described swing arm at least has two joints, and is flexibly connected between two joint swing arms.
Compared with prior art, one of beneficial effects of the present invention is: drive worm gear wheel by worm screw, and then indirectly drive supporting rod expansion in frame and withdrawal, directly can longitudinally enter vehicle bottom and clamp vehicle tyre by supporting rod, vehicle tyre is made to depart from bottom surface and then the parking stall will specified in vehicle conveying to multi-storied garage；For traditional multi-storied garage haulage equipment, without increasing the use space of original multi-storied garage when this carrying clamping Mechanism Combination uses as transfer robot；The clipping transfer robot simple in construction of a kind of multi-storied garage provided by the present invention carrying clamping device and application thereof simultaneously, unit failure rate is extremely low, and use cost is relatively low, is suitable to use in the place of all kinds of multi-storied garages, and range of application is wide.
Accompanying drawing explanation
Fig. 1 is the structural representation for one embodiment of the invention is described；
Fig. 2 is for the first of another embodiment of the present invention the use status architecture schematic diagram is described；
Fig. 3 is for the second of another embodiment of the present invention the use status architecture schematic diagram is described；
In figure, 1 be frame, 2 be worm screw, 3 be worm gear, 4 be the first contiguous block, 5 be supporting rod, 6 be decelerator, 7 be the first motor, 8 be the second motor, 9 be the 3rd motor, 10 be swing arm, 11 be road wheel, 12 be driven pulley, 13 be the second contiguous block, 14 for bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated.
With reference to shown in Fig. 1, one embodiment of the present of invention is a kind of multi-storied garage carrying clamping device, including frame 1, the both sides of this frame 1 are separately installed with two worm screws 2, the both sides of two worm screws 2 are mounted on two worm gears 3 that power connects with it, for being driven two worm gears 3 that power connects with it to rotate respectively by two worm screws 2 simultaneously；For the more important thing is, aforesaid worm gear 3 is connected with supporting rod 5 power by the first contiguous block 4, launches for being rotated drive supporting rod 5 by worm gear 3 and regains in frame 1；In addition, aforementioned frame 1 also needs to install motor, and the output shaft of motor is connected with worm screw 2 power by decelerator 6, for being rotated by driven by motor worm screw 2.And reduce the frictional force between the first contiguous block 4 and supporting rod 5, it is desirable to will be connected by rolling bearing between the first contiguous block 4 and supporting rod 5.
In the present embodiment, worm gear 3 is driven to rotate by worm screw 2, and then indirectly drive the supporting rod 5 expansion in frame 1 and withdrawal, directly can longitudinally enter vehicle bottom in using and clamp vehicle tyre by supporting rod 5, vehicle tyre is made to depart from bottom surface and then the parking stall will specified in vehicle conveying to multi-storied garage；For traditional multi-storied garage haulage equipment, without increasing the use space of original multi-storied garage when this carrying clamping Mechanism Combination uses as transfer robot, and Reliability of Microprocessor is high, uses middle component failure rate extremely low.
Further, for ease of making two shown in the figure group supporting rod 5 can single movement, in another embodiment of the invention, also can being respectively mounted the first motor 7 and the second motor 8 in frame, wherein the first motor 7 is connected with two worm screw 2 power respectively through respective decelerator 6 respectively with the second motor 8；It addition, for the ease of being controlled by computer program motor, aforementioned first motor 7 and the second motor 8 all can adopt servomotor；And decelerator 6 can adopt planetary reduction gear comparatively conventional on the market.
Owing to clamping device have employed the double; two worm gear arrangement of single worm screw, make clamping device structure extremely simple, clamping torque is big, and possessing auto-lock function, power adopts servomotor, and clamping position positional precision is high, supporting rod 5 and the first contiguous block 4 be connected by rolling bearing 14, when supporting rod 5 holding-wheel free to rotate, reduce holding-wheel frictional force, do not damage vehicle tyre.Supporting rod 5 surface also can adopt supersonic spray coating to have wear-resisting antiskid ceramic layer, effectively prevents vehicle in handling process from sliding；Simultaneously for convenience of clamping, it is preferred that technical scheme is that the upper lateral part contacted with wheel at first by supporting rod 5 is set to inclined-plane (or slope) structure, consequently facilitating enter the action completing clamping bottom wheel.
Shown in Fig. 1, on the other hand, for ease of walking, also carrying clamping device in the above-described embodiments can set up ground-engaging element, it is specially in frame 1 and the 3rd motor 9 is installed, and the bottom of frame 1 is also equipped with road wheel 11, and the outfan of the 3rd motor 9 is connected with road wheel 11 power by traveling speed reducer 6；Same for the ease of controlling, adopt servomotor as aforesaid 3rd motor 9, adopt planetary reduction gear as traveling speed reducer 6；In order to promote the stability of clamping device walking, the driven pulley 12 matched with road wheel 11 also can be installed in the bottom of frame 1 again.Same, the walking mechanism that the 3rd motor 9 and road wheel 11 form adopts servomotor to drive road wheel through planetary reduction gear, it is possible to achieve relative to being accurately positioned of front and back tire.
With reference to shown in Fig. 2, an alternative embodiment of the invention is the clipping transfer robot of a kind of multi-storied garage, this robot can be formed by multiple above-mentioned multi-storied garage carrying clamping Mechanism Combinations, the present embodiment carries clamping device (major part namely parked in multi-storied garage is two axle cars) for two multi-storied garages to the structure of robot and realize principle and illustrate, one end that the frame 1 of these two multi-storied garages carrying clamping devices is relative is mounted on the second contiguous block 13, and installation activity installs swing arm 10 between the second contiguous block 13.
Based on above-described embodiment, preferably this swing arm 14 should at least have two joints, and two joint swing arm 14 between be flexibly connected, namely this swing arm 10 can be folded as shown in Figure 2, it is easy to meet the problem that the wheelbase of common two axle automobiles is inconsistent, in order in use can be accurately positioned according to the position of vehicle tyre.Specifically, the front and back clamping walking mechanism of composition robot adopts fork to connect, and front and back clamping device can relative movement in certain distance.Meanwhile, in robot clamping and walking action all adopt driven by servomotor, motor servo driver accepts instruction device signal, according to instruction device signal perform pick up put down, walk stop corresponding actions.
Simultaneously, servomotor in above-described embodiment can adopt AC servo motor, is powered by cable or bus carbon brush, it would however also be possible to employ DC servo motor, front and back clamping walking mechanism (including road wheel 11 and the 3rd motor 9) are placed lithium battery group and are powered, and can charge at any time in district standby.
nullWith reference to shown in Fig. 2 and Fig. 3，The above-mentioned preferred embodiment of the present invention is in actual use，When needing the parking stall by vehicle conveying to multi-storied garage，First vehicle sails the landing in garage parking into，Garage parking laser、Ultrasound wave or infrared or image recognition start scanning，Identify vehicle tire location，Send control instruction to the transfer robot of the present invention，Transfer robot supporting rod 5 is in the collapsed state shown in Fig. 2，The front and back clamping walking mechanism of robot longitudinally enters from under-vehicle，After front and back clamping road wheel 11 runs to front and back tire centre bit according to instruction respectively，Supporting rod 5 action clamping tire，Present the state shown in Fig. 3，Holding action completes，After vehicle tyre departs from ground，Road wheel and 11 and the 3rd motor 9 composition walking mechanism work，The parking stall will specified in vehicle conveying to multi-storied garage，Then supporting rod 5 is packed up in the state shown in Fig. 2，Vehicle is made to land (vehicle tyre and earth surface)，The action again of aforementioned walking mechanism，Transfer robot runs to region standby and waits next assignment instructions.
On the other hand, when vehicle need to roll garage parking away from, namely need to be carried to vehicle from the parking stall of parking systems the landing in garage parking, transfer robot receives garage instruction, run to the parking stall that vehicle is parked in multi-storied garage, tire location storage data when parking are sailed into according to above-mentioned vehicle, the clamping carrying mechanism of front and back robot respectively enters tire centre bit before and after under-vehicle, supporting rod 5 action is to the state shown in Fig. 3, holding action completes, after vehicle tyre departs from ground, walking mechanism works, landing by vehicle conveying to garage port, supporting rod 5 is packed up in the state shown in Fig. 2, vehicle is made to land (tire and earth surface), transfer robot runs to region standby and waits next assignment instructions, so circulation.
Than that described above, it can further be stated that " embodiment ", " another embodiment ", " embodiment " spoken of in this manual etc., refer to the specific features, structure or the feature that describe in conjunction with this embodiment and include at least one embodiment that the application generality describes.Multiple local appearance statement of the same race is not necessarily refer to same embodiment in the description.Furthermore, it is understood that when describing a specific features, structure or feature in conjunction with any embodiment, what advocate is also fall within the scope of the present invention to realize this feature, structure or feature in conjunction with other embodiments.
Although reference be made herein to invention has been described for the multiple explanatory embodiment of the present invention, but, it should be understood that those skilled in the art can be designed that a lot of other amendments and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More specifically, disclosure, drawings and claims scope in, it is possible to building block and/or layout to theme composite configuration carry out multiple modification and improvement.Except the modification that building block and/or layout are carried out and improvement, to those skilled in the art, other purposes also will be apparent from.
Claims (7)
1. a multi-storied garage carrying clamping device, including frame (1), it is characterized in that: the both sides of described frame (1) are separately installed with two worm screws (2), the both sides of said two worm screw (2) are mounted on two worm gears (3) that power connects with it, for being driven two worm gears (3) that power connects with it to rotate respectively by two worm screws (2) simultaneously, described worm gear (3) is connected with supporting rod (5) power by the first contiguous block (4), drives supporting rod (5) above launch in frame (1) and regain for being rotated by worm gear (3)；Being also equipped with motor in described frame (1), the output shaft of described motor is connected with worm screw (2) power by decelerator (6), for being rotated by driven by motor worm screw (2).
2. multi-storied garage according to claim 1 carrying clamping device, it is characterised in that: it is connected by bearing (14) between described first contiguous block (4) and supporting rod (5).
3. multi-storied garage according to claim 1 carrying clamping device, it is characterized in that: described motor includes the first motor (7) and the second motor (8), and described first motor (7) is connected with two worm screw (2) power respectively through respective decelerator (6) respectively with the second motor (8)；Described first motor (7) and the second motor (8) be servomotor all, and decelerator (6) is planetary reduction gear.
4. the multi-storied garage carrying clamping device according to claim 1 or 3, it is characterized in that: described frame (1) is provided with the 3rd motor (9), and the bottom of frame (1) is also equipped with road wheel (11), described 3rd motor (9) is connected with road wheel (11) power by traveling speed reducer (6)；Described 3rd motor (9) is servomotor, and traveling speed reducer (6) is planetary reduction gear.
5. multi-storied garage according to claim 4 carrying clamping device, it is characterised in that: the bottom of described frame (1) is also equipped with the driven pulley (12) matched with road wheel (11).
6. the clipping transfer robot of a multi-storied garage, it is characterized in that: described robot at least includes the multi-storied garage carrying clamping device described in two claim 1 to 5 any one, being mounted on the second contiguous block (13) on relative one end of frame (1) of said two multi-storied garage carrying clamping device, between described second contiguous block (13), installation activity is provided with swing arm (10).
7. clipping transfer robot according to claim 4, it is characterised in that: described swing arm (10) at least has two joints, and is flexibly connected between two joints swing arm (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610295115.7A CN105804460A (en) | 2016-05-06 | 2016-05-06 | Stereo garage carrying and clamping mechanism and clamping type carrying robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610295115.7A CN105804460A (en) | 2016-05-06 | 2016-05-06 | Stereo garage carrying and clamping mechanism and clamping type carrying robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105804460A true CN105804460A (en) | 2016-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610295115.7A Pending CN105804460A (en) | 2016-05-06 | 2016-05-06 | Stereo garage carrying and clamping mechanism and clamping type carrying robot with same |
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| CN (1) | CN105804460A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106013905A (en) * | 2016-07-28 | 2016-10-12 | 北京鑫华源机械制造有限责任公司 | Intelligent control system of planar mobile stereoscopic garage |
| CN106088738A (en) * | 2016-07-29 | 2016-11-09 | 李国勇 | A kind of shifting car device and multi-storied garage |
| CN106567570A (en) * | 2016-11-04 | 2017-04-19 | 李国勇 | Automatic vehicle moving device |
| CN107605207A (en) * | 2017-10-31 | 2018-01-19 | 杭州极木科技有限公司 | Intelligent parking robot and control method thereof |
| CN107762210A (en) * | 2017-11-20 | 2018-03-06 | 杭州西子智能停车股份有限公司 | A kind of separate mechanical hand and the method using the separate mechanical hand carrying vehicle |
| CN110863682A (en) * | 2019-11-06 | 2020-03-06 | 河北高西宅智能车库工程有限公司 | Ultra-thin centre gripping formula carrier |
| CN111946122A (en) * | 2020-08-20 | 2020-11-17 | 大洋泊车股份有限公司 | Vehicle access method |
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| CN201232380Y (en) * | 2008-06-16 | 2009-05-06 | 王俊 | Intelligent carrier of stereo garage |
| CN103603519A (en) * | 2013-12-02 | 2014-02-26 | 山东天辰智能停车设备有限公司 | Tire clamping type three-dimensional garage automobile carrier |
| CN205172110U (en) * | 2015-10-28 | 2016-04-20 | 中冶南方工程技术有限公司 | Driven wheel centre gripping formula car carrier of worm gear |
| CN205172081U (en) * | 2015-10-28 | 2016-04-20 | 中冶南方工程技术有限公司 | Wheel centre gripping formula car carrier |
| CN205604794U (en) * | 2016-05-06 | 2016-09-28 | 南京湛泸科技有限公司 | Stereo garage carries fixture and centre gripping formula transfer robot of using thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201232380Y (en) * | 2008-06-16 | 2009-05-06 | 王俊 | Intelligent carrier of stereo garage |
| CN103603519A (en) * | 2013-12-02 | 2014-02-26 | 山东天辰智能停车设备有限公司 | Tire clamping type three-dimensional garage automobile carrier |
| CN205172110U (en) * | 2015-10-28 | 2016-04-20 | 中冶南方工程技术有限公司 | Driven wheel centre gripping formula car carrier of worm gear |
| CN205172081U (en) * | 2015-10-28 | 2016-04-20 | 中冶南方工程技术有限公司 | Wheel centre gripping formula car carrier |
| CN205604794U (en) * | 2016-05-06 | 2016-09-28 | 南京湛泸科技有限公司 | Stereo garage carries fixture and centre gripping formula transfer robot of using thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106013905A (en) * | 2016-07-28 | 2016-10-12 | 北京鑫华源机械制造有限责任公司 | Intelligent control system of planar mobile stereoscopic garage |
| CN106088738A (en) * | 2016-07-29 | 2016-11-09 | 李国勇 | A kind of shifting car device and multi-storied garage |
| CN106567570A (en) * | 2016-11-04 | 2017-04-19 | 李国勇 | Automatic vehicle moving device |
| CN107605207A (en) * | 2017-10-31 | 2018-01-19 | 杭州极木科技有限公司 | Intelligent parking robot and control method thereof |
| CN107762210A (en) * | 2017-11-20 | 2018-03-06 | 杭州西子智能停车股份有限公司 | A kind of separate mechanical hand and the method using the separate mechanical hand carrying vehicle |
| CN110863682A (en) * | 2019-11-06 | 2020-03-06 | 河北高西宅智能车库工程有限公司 | Ultra-thin centre gripping formula carrier |
| CN111946122A (en) * | 2020-08-20 | 2020-11-17 | 大洋泊车股份有限公司 | Vehicle access method |
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Application publication date: 20160727 |
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