CN106320773A - Bidirectional mobile intelligent parking garage car moving robot - Google Patents

Abstract

A bidirectional mobile intelligent parking garage car moving robot is simple in structure, low in frame height and applicable to lifting of various minibuses, particularly clamping mechanisms with steel wire ropes used as clamping arms, the height of the whole minibus structure is reduced, free clamping can be realized for wheel bases of various minibuses, and various complex structures excessive cushioning of parking wheel locations, parking racks, power assisted jacking and unloading mechanisms, removed vehicle wheel location finding structures and the like in similar products are not required. Small traction powder is required for driving on tracks, a power supply for lap joint and a sliding contact line current collector for charging or a driving power supply contacted with the side edge of a sliding guide rail are arranged below a cross bar girder at the front or back part of a frame. When the robot is located in a sliding contact line grooved rail location provided with a power supply, an external power supply is used as driving power by the aid of the current collector while charging is performed, and a storage battery power is started to be used as driving power when no external power supply exists.

Description

A two-way mobile intelligent parking garage moving robot

technical field

The invention relates to the technical field of parking equipment, in particular to a two-way mobile intelligent parking garage moving robot.

Background technique

In recent years, with the rapid development of my country's automobile industry and urbanization, the number of urban motor vehicles has continued to increase, and large, medium and small cities have successively faced parking problems. The mechanical three-dimensional parking garage is an emerging industry that has gradually developed along with the problem of difficult parking. It is known as the preferred means to solve the problem of difficult parking in population, densely built areas, and public service areas. At present, various research and development subjects have developed various types of mechanical three-dimensional parking garages, which can be divided into the following types according to the different directions of space expansion and contraction: lifting and moving type, vertical lifting type, vertical circulation type, horizontal circulation type, plane Mobile, etc., among which the lifting and traversing three-dimensional parking garage is the most mature technology and the most widely used form. And existing common type parking garage must be manually parked in the difficulty of being hoisted suspension plate and the difficulty of moving position and waiting for a long time loaded down with trivial details steps. At present, even if there is a robot parking system, it is necessary to install complex structures such as a power jacking mechanism and a raised parking platform on a separate storage space, and a human driver is required to accurately park on the fixed parking platform to be removed.

Contents of the invention

In order to solve the deficiencies of the prior art, the present invention provides a two-way mobile intelligent parking garage moving robot.

The technical solution adopted by the present invention is: a two-way mobile intelligent parking garage moving robot, including a vehicle frame, the vehicle frame is composed of channel steel, the inner side of the channel steel is provided with channel rails, and the There are several power mechanisms at the bottom of the vehicle frame, and the number of the power mechanisms is 3, which are respectively installed at the two ends and the middle of the vehicle frame. Each of the power mechanisms is provided with a corresponding action axle. The front and rear ends of the frame are also equipped with vision sensors, distance measuring sensors and limit switches. There are several sets of yoke mechanisms in the frame, and each set of yoke mechanisms is composed of two sliding and clamping yokes. Assemblies, the sliding clamping yoke assembly slides horizontally along the groove rail inside the channel steel, the sliding clamping yoke assembly is provided with a pulley, and the pulley on the sliding clamping yoke assembly Wire ropes are arranged between them, and the two sliding and clamping yoke assemblies of each set of yoke mechanisms are driven by the wire ropes to translate in opposite directions along the grooved rails to realize the function of clamping vehicle tires. The sliding clamping yoke assembly includes axle end fixing plates at both ends and telescopic rods for clamping vehicle tires. The axle end fixing plate is provided with a short sliding shaft, and the short sliding shaft is fixed in the groove In the rail, the sliding short shaft is slidably matched with the shaft end fixing plate, and the sliding clamping yoke assembly also includes a telescopic column in the middle of the shaft end fixing plate at both ends, and the telescopic column includes an outer tube Cavity, the outer tube cavity is provided with two sections of telescopic tube, the telescopic tube is a hollow structure, the telescopic tube at one end is provided with a tubular motor, the front end of the tubular motor is provided with a nut, and the screw at the shaft end of the tubular motor Extend through the nut and be fixed in the telescopic tube at the other end.

The outer side of the telescopic column is also provided with an outer column, the wall of the telescopic column is provided with a pin, the wall of the outer column is provided with a guide groove, and the column pin and the guide groove slip fit.

A lead pin is provided on the outer wall of the end of the telescopic tube that is equipped with the tubular motor, and the lead pin slides and fits with the guide groove.

A reinforcement plate is also welded around the guide groove on the wall of the outer column.

The extended end of the telescopic tube extending out of the vehicle frame is provided with a sliding sleeve tube capable of radial rotation.

The fixed plate of the shaft end is also provided with a sliding long wheel shaft as a load-bearing movement function of the sliding clamping yoke assembly. The number of the long sliding wheel shafts is two, which are respectively located on the front and rear sides of the telescopic column.

A limiting top block is also provided between the two sliding and clamping yoke assemblies of the yoke mechanism.

A limit switch is also provided between the two sliding and clamping yoke components of the yoke mechanism.

The bottom of the vehicle frame is also provided with several moving axles.

The beneficial effects of the present invention are: the present invention provides a two-way mobile intelligent parking garage moving robot, which has a simple structure and a low frame height, and is suitable for lifting and transporting various small passenger cars, especially for clamping with steel wire ropes as clamping arms. mechanism, which reduces the height of the whole vehicle structure, and can freely clamp the wheelbase of various small passenger cars, without the need for excessively elevated parking stands and power-assisted jacking and unloading mechanisms and Various complex structures such as finding the wheel position of the moved vehicle. Because driving on the track requires less traction power. Under the horizontal bar beam at the front or rear of the vehicle frame, there is a trolley line collector for lapping power supply and charging or a driving power supply contacting the side of the travel guide rail. When the robot is in the trolley line slot rail area with a power supply, the external power supply is used as the driving power through the collector and charged at the same time. When there is no external power supply, the battery power is used as the driving power.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic diagram of the bottom structure of the present invention.

Fig. 3 is an enlarged view of A in the present invention.

Fig. 4 is an enlarged view of place B of the present invention.

In the figure 1-car frame, 2-sliding and clamping yoke assembly, 3-steel wire rope, 4-telescopic column, 5-sliding long axle, 6-limiting top block, 7-limit switch, 8-action axle, 11 -Slot rail, 21-Pulley, 22-Axle end fixed plate, 23-Telescopic rod, 41-Telescopic tube, 42-Outer column, 43-Pin, 44-Sliding sleeve tube, 45-Guiding groove, 46- Lead pin, 47-tubular motor, 221-slide short shaft.

detailed description

Now in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present invention is further described, a kind of two-way mobile intelligent parking garage moving robot, comprises vehicle frame 1, and described vehicle frame 1 is made up of channel steel, and described The inner side of the channel steel is provided with a channel rail 11, and the bottom of the vehicle frame (1) is provided with several power mechanisms, the number of which is 3, which are respectively installed at both ends and the middle of the vehicle frame (1). Each of the power mechanisms is provided with a corresponding action axle (8), so that the whole robot can enter the bottom of the desired moving vehicle from any direction at the front and rear ends to pick up the vehicle. The front and rear ends of the vehicle frame (1) are also equipped with visual sensors, distance measuring sensors and limit switches. The visual sensors are used to identify and judge the license plate number characters and appearance contours of the vehicles to be moved, and measure them in the upward direction. The distance sensor is the induction of the proximity switch signal when the flatbed car enters the position of the moved vehicle. Generally, a sensor at the rear end of the car is used to control the signal of the moved vehicle. Use roles reversed. The front and rear two direction sensors control the distance between the moving vehicle and surrounding obstacles and the distance signal control of multiple vehicles parked on the ground to be driven away after the vehicle leaves the warehouse.

The frame 1 is provided with several sets of yoke mechanisms, each set of yoke mechanisms is composed of two sliding clamping yoke assemblies 2, and the sliding clamping yoke assemblies 2 are along the inner side of the channel steel. The grooved rail 11 slides horizontally, the sliding clamping yoke assembly 2 is provided with a pulley 21, and a steel wire rope 3 is arranged between the pulleys 21 on the sliding clamping yoke assembly 2, and each set of The two sliding and clamping yoke assemblies 2 of the yoke mechanism are driven by the wire rope 3 to move toward each other along the groove rail 11 to realize the function of clamping the vehicle tires. The sliding and clamping yoke assemblies 2 include shaft end fixing plates 22 and The telescoping rod 23 that is used to clamp the vehicle tire, the described shaft end fixing plate 22 is provided with a sliding short shaft 221, and the described sliding short shaft 221 is fixed in the groove rail 11, and the described sliding short shaft 221 is connected with the shaft The end fixing plate 22 is slidingly fitted. The sliding clamping yoke assembly 2 also includes a telescopic column 4 in the middle of the shaft end fixing plates 22 at both ends. The telescopic column 4 includes an outer lumen. Two sections of telescopic tubes 41 are arranged in the lumen, and the telescopic tubes 41 are hollow structures. A tubular motor 47 is arranged in the telescopic tube 41 at one end, and a nut is provided at the front end of the tubular motor 47. The screw rod is extended and fixed in the telescopic tube 41 at the other end through the nut. The outer side of the telescopic pipe string 4 is also provided with an outer pipe string 42, the wall of the telescopic pipe string 4 is provided with a pin 43, and the wall of the outer pipe string 42 is provided with a guide groove 45. The pin 43 is slidingly fitted with the guide groove 45.

A lead pin 46 is provided on the outer wall of the end of the telescopic tube 41 where the tubular motor 47 is installed, and the lead pin 46 is slidingly fitted with the guide groove 45 . It can also be used as a telescopic travel guide pin for the inner plug tube at the motor end. There is a threading wire hole in the lead pin, and the lead pin protrudes outside the long grooved pipe arm of the outer tube, so that the clamping position of the power cord of the motor will not be worn and torn off.

A reinforcement plate is also welded around the guide groove 45 on the wall of the outer pipe string 42 to strengthen the outer pipe against deformation and bearing capacity.

The extended end of the telescopic tube 41 extending out of the vehicle frame 1 is provided with a sliding sleeve tube 44 capable of radial rotation. It is used for rolling in the circumferential direction when clamping the tire, reducing the frictional resistance between the outside of the clamp arm and the tire.

The shaft end fixing plate 22 is also provided with a sliding long wheel shaft 5 as a load-bearing movement function of the sliding clamping yoke assembly 2, and the number of the sliding long wheel shafts 5 is two, which are respectively located at the front and back of the telescopic column 4 sides.

A limiting top block 6 is also provided between the two sliding and clamping yoke assemblies 2 of the yoke mechanism.

A limit switch 7 is also provided between the two sliding and clamping yoke assemblies 2 of the yoke mechanism.

The bottom of the vehicle frame 1 is also provided with several action axles 8 .

A plurality of pulleys 21 winding wire ropes are installed on the sides of the sliding and clamping yoke assembly 2, and the pulleys on the frame sides of each sliding and clamping yoke assembly 2 and the two ends of the flatbed truck have logical wire ropes to go around each other, and pulling the wire winch wheel can Wind the wire rope two to three times more to prevent the wire rope from slipping when it is twisted tightly. Under the rotation of the pulling winch motor, the telescopic rods 23 of each sliding and clamping yoke assembly 2 move longitudinally along with the two sliding short shafts 221 along the channel steel frame, so as to reach the action of clamping the wheel or loosening and releasing. The winch motor is a large-speed reduction worm gear motor with a brake function, which can ensure that the tire will not rotate or loosen under the state of clamping the tire. When the vehicle is not clamped, the telescopic cylinder plunger yokes of each sliding clamping yoke assembly 2 are at the farthest stroke end, that is, the two sliding clamping yoke assemblies 2 are at the end of the maximum stroke of the vehicle frame head, tail and middle. , when there is a need to lift the car, the winch motor rotates and pulls the wire rope to make the two sets of sliding clamping yoke assemblies 2 approach the wheel. When any sliding clamping yoke assembly 2 approaches the side of the tire, the other sets of sliding clamps Tight yoke assembly 2 also can move along with the direction of wire rope pulling force. When the vehicle tire is about to be clamped, one group of sliding and clamping yoke assembly 2 without spring resistance continues to clamp until the limiting top block 6 of the two groups of sliding and clamping yoke assembly 2 can no longer move close to the movement. The sliding and clamping yoke assembly 2 with spring resistance continues to clamp and hold up the wheel, and when the limit switch is in place, the two-axis clamping action of the vehicle is completed.

There are three sets of six moving axles in the lower part of the channel steel frame as the driving device for moving on the ground. The sprocket chain is connected to the power motor on the wheel shaft with power end, and the other two sets of wheel shafts are driven wheels. There is a step smaller than the outer diameter on the radial surface of each group of rail wheels, which is used as a contact surface for running on small rails. In order to make the three sets of wheel shafts can effectively land on the ground, the channel steel frame is divided into two sections hinged to form a yoke mechanism. The pulley shaft bears most of the load.

There are drive motors, wire rope motors, air compressors, various pneumatic control valves, batteries, electrical control components, etc. on the rear end of the frame of the moving robot. Due to the tires of the moved vehicle, the height of the chassis and the obstruction of foreign objects, the movement is restricted. The visual sensor and the distance sensor are used to identify the license plate characters of the car and judge the outline and distance of the moved vehicle. There is a limit switch on the front of the rear frame with one power end and a spring baffle that cooperates with the limit switch to limit the setting of the approaching stroke of the vehicle when picking up the car. There are also various sensors and limit switches on the side of the rear frame, which are also used for detection of collision avoidance and obstacle distance.

The car moving robot has a simple structure and a low frame height, and is suitable for lifting and transporting various small passenger cars, especially the clamping mechanism using steel wire rope as the clamping arm, which reduces the height of the vehicle structure and is suitable for the axles of various small passenger cars. The distance can be clamped freely. The wheelbase of applicable models can be between 1-4 meters. There is no need for excessively elevated parking stands and power-assisted jacking and unloading mechanisms in similar products. various complex structures. Because driving on the track requires less traction power. Under the horizontal bar beam at the front or rear of the vehicle frame, there is a trolley line collector for lapping power supply and charging or a driving power supply contacting the side of the travel guide rail. When the moving robot is driving on the trolley line slot rail area with power supply, the external power supply is used as the driving power through the collector and charged at the same time. When there is no external power supply, the battery power is used as the driving power.

The above descriptions are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should also be regarded as the protection scope of the present invention.

Claims (10)

1. A two-way mobile intelligent parking garage moving robot, including a frame (1), the frame (1) is composed of channel steel, the inner side of the channel steel is provided with a channel rail (11), its It is characterized in that several power mechanisms are provided at the bottom of the vehicle frame (1), and the number of the power mechanisms is three, which are respectively installed at the two ends and the middle of the vehicle frame (1). Each of the power mechanisms All are equipped with corresponding action axles (8), and the front and rear ends of the vehicle frame (1) are also equipped with vision sensors, distance measuring sensors and limit switches, and the vehicle frame (1) is equipped with several A set of yoke mechanisms, each set of yoke mechanisms is composed of two sliding clamping yoke assemblies (2), and the sliding clamping yoke assemblies (2) are along the groove rail (11) on the inner side of the channel steel Horizontal sliding, a pulley (21) is provided on the sliding clamping yoke assembly (2), and a wire rope (3) is provided between the pulleys (21) on the sliding clamping yoke assembly (2) , the two sliding and clamping yoke assemblies (2) of each set of yoke mechanisms are driven by the steel wire rope (3) to translate in opposite directions along the grooved rail (11) to realize the function of clamping vehicle tires. 2. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that, the sliding clamping yoke assembly (2) includes shaft end fixing plates (22) at both ends and for The telescopic rod (23) that clamps the vehicle tire, the axle end fixing plate (22) is provided with a sliding short shaft (221), and the sliding short shaft (221) is fixed in the groove rail (11), so The sliding short shaft (221) and the shaft end fixing plate (22) slide and cooperate, and the sliding clamping yoke assembly (2) also includes a telescopic column (4) in the middle of the shaft end fixing plate (22) ), the telescopic tube string (4) includes an outer lumen, and the outer lumen is provided with two sections of telescopic tubes (41), the telescopic tubes (41) are hollow structures, and the telescopic tubes at one end ( 41) A tubular motor (47) is provided inside, and the front end of the tubular motor (47) is provided with a nut, and the screw at the shaft end of the tubular motor (47) is extended and fixed in the telescopic tube (41) at the other end through the nut. 3. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that an outer pipe column (42) is provided on the outside of the telescopic pipe column (4), and the telescopic pipe column (4) A column pin (43) is provided on the wall of the column (4), and a guide groove (45) is provided on the wall of the outer pipe column (42), and the column pin (43) slides with the guide groove (45) shift fit. 4. A two-way mobile intelligent parking garage moving robot according to claim 3, characterized in that, the outer wall of the end of the telescopic tube (41) equipped with the tubular motor (47) is provided with a lead pin (46), the lead pin (46) slides and fits with the guide groove (45). 5. A two-way mobile intelligent parking garage moving robot according to claim 3, characterized in that a reinforcement plate is welded around the guide groove (45) on the wall of the outer pipe column (42) . 6. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that, the protruding end of the telescopic tube (41) extending out of the vehicle frame (1) is provided with a Sliding sleeve tube (44) for radial rotation. 7. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that, the shaft end fixing plate (22) is also provided with a sliding clamping yoke assembly (2) load-bearing There are two sliding long wheel shafts (5) for the moving function, and the number of the long sliding wheel shafts (5) is respectively located on the front and back sides of the telescopic column (4). 8. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that a limiting top is set between the two sliding and clamping yoke assemblies (2) of the yoke mechanism. block (6). 9. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that a limit switch is set between the two sliding and clamping yoke assemblies (2) of the yoke mechanism (7). 10. A two-way mobile intelligent parking garage moving robot according to claim 1, characterized in that, the bottom of the frame (1) is also provided with several moving axles (8).