CN106320773A - Bidirectional mobile intelligent parking garage car moving robot - Google Patents
Bidirectional mobile intelligent parking garage car moving robot Download PDFInfo
- Publication number
- CN106320773A CN106320773A CN201610913800.1A CN201610913800A CN106320773A CN 106320773 A CN106320773 A CN 106320773A CN 201610913800 A CN201610913800 A CN 201610913800A CN 106320773 A CN106320773 A CN 106320773A
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- Prior art keywords
- clamping
- parking garage
- intelligent parking
- slip
- tubing string
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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)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
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
Technical field
The present invention relates to parking equipment technical field, be specifically related to a kind of Bidirectional mobile intelligent parking garage and move car machine
People.
Background technology
In recent years, along with Domestic Automotive Industry and the fast development of urbanization, being continuously increased of Urban vehicles poputation,
The problem that large, medium and small city occurs in that parking difficulty in succession.Storehouse, mechanical solid parking lot is accompanied by parking difficulty problem and progressively sends out
The new industry that exhibition is got up, be known as solution population, building dense district, the preferred means of common service area parking difficulty problem.
At present, all kinds of research and development main bodys oneself develop polytype mechanical stereo parking garage, according to the difference in space telescopic direction, permissible
It is divided into following several: lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., Qi Zhongsheng
Fall cross sliding type parking systems is that current technology is the most ripe, applies most forms.And existing plain edition garage parking must be by
Artificial that be accurately parked in the hanging scaffold that lifted and the difficulty of shift position and tedious steps when waiting many.Even if it is the most organic
Device people's shutdown system also need to install the complicated structure such as power lifting body and padded parking platform position on independent warehouse compartment again additional and it needs to
Have and manually drive precisely to be parked in fixing parking platform position to be moved apart.
Summary of the invention
In order to solve the deficiencies in the prior art, a kind of Bidirectional mobile intelligent parking garage that provides of the present invention moves car machine
People.
The technical solution that the present invention uses is: a kind of Bidirectional mobile intelligent parking garage Yi Che robot, including car
Frame, described vehicle frame is made up of channel-section steel, and the inner side of described channel-section steel is provided with grooved rail, and described bottom of frame is provided with several power
Mechanism, described actuating unit quantity is 3, is separately mounted to two ends and the centre of vehicle frame, and described each actuating unit is equal
Being provided with wheel shaft of taking action accordingly, before and after described vehicle frame, two ends are all additionally provided with vision sensor, distance measuring sensor and spacing open
Closing, be provided with some groups of yoke mechanisms in described vehicle frame, described Mei Zu yoke mechanism is by two clamping yoke assembly groups of sliding
Becoming, the described clamping yoke assembly grooved rail horizontal sliding along the inner side of channel-section steel that slides, on described slip clamping yoke assembly
It is provided with pulley, between the described pulley slided on clamping yoke assembly, is provided with steel wire rope, the two of described Mei Zu yoke mechanism
The individual clamping yoke assembly that slides is driven by steel wire rope and translates the function realizing clamping vehicle tyre along grooved rail in opposite directions.Described slip
Clamping yoke assembly includes the axle head fixed plate at two ends and for clamping the expansion link of vehicle tyre, in described axle head fixed plate
Being provided with the short axle of slip, the short axle of described slip is fixed in grooved rail, and the short axle of described slip coordinates with axle head fixed plate sliding, institute
The clamping yoke assembly that slides stated also includes the flexible tubing string in the middle of the axle head fixed plate at two ends, outside described flexible tubing string includes
Tube chamber, is provided with two sections of telescoping tubes in described outer lumen, telescoping tube is hollow structure, is provided with pipe in the telescoping tube of described one end
Shape motor, the front end of described tube shaped electric machine is provided with nut, and the screw rod of tube shaped electric machine axle head is fixed on another through nut extension
In the telescoping tube of end.
Being additionally provided with outer tubing string outside described flexible tubing string, the wall of described flexible tubing string is provided with pin, described outside
The wall of tubing string is provided with gathering sill, and described pin coordinates with gathering sill sliding.
The outer wall equipped with one end of tube shaped electric machine of described telescoping tube is provided with lead-in wire pin, described lead-in wire pin and guiding
Groove sliding coordinates.
Gathering sill week side on the wall of described outer tubing string is also welded with reinforcing plate.
The external part of the described telescoping tube extended outside vehicle frame is provided with the slip cap bobbin that can make radial rotating.
The long wheel shaft of slip as the clamping yoke assembly load-bearing locomotive function that slides it is additionally provided with in described axle head fixed plate,
The quantity of the described long wheel shaft that slides is two, lays respectively at both sides before and after flexible tubing string.
It is additionally provided with restriction jacking block between two slip clamping yoke assemblies of described yoke mechanism.
It is additionally provided with limit switch between two slip clamping yoke assemblies of described yoke mechanism.
Described bottom of frame is additionally provided with the several rows axis of a movable block.
The invention has the beneficial effects as follows: the invention provides a kind of Bidirectional mobile intelligent parking garage Yi Che robot, knot
Structure is simple, and height of chassis above ground is low, it is adaptable to carry the various station wagons of fortune, particularly using steel wire rope as the clamp system of jig arm, more
It is reduction of the height of complete vehicle structure, all can clamping freely to the wheelbase of various station wagons, it is not necessary to like product stops
Stand parked by position of wheel the most padded and power-assisted jacking unloads laying mechanism and to being moved the various complicated structures such as vehicle position of wheel searching
Make.Less traction power is only needed because travelling in orbit.Have for overlapping under setting a roof beam in place in the front portion of vehicle frame or the whippletree at rear portion
For electrical source of power and the current collector for trolley conductor of charging or be contacted with row and move the driving power supply on guide rail side.When robot is at band
When having the trolley grooved rail position of power supply source, by current collector by external power as driving power and charging simultaneously, the most outward
Storage battery is then enabled as driving power when carrying out supply of electric power.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is polycrystalline substance schematic diagram of the present invention.
Fig. 3 is enlarged drawing at A of the present invention.
Fig. 4 is enlarged drawing at B of the present invention.
1-vehicle frame in figure, 2-slides clamping yoke assembly, 3-steel wire rope, and 4-stretches tubing string, and 5-slides long wheel shaft, 6-restriction
Jacking block, 7-limit switch, 8-action wheel shaft, 11-grooved rail, 21-pulley, 22-axle head fixed plate, 23-expansion link, 41-stretches
Pipe, the outer tubing string of 42-, 43-pin, 44-slip cap bobbin, 45-gathering sill, 46-go between pin, and 47-tube shaped electric machine, 221-slip is short
Axle.
Detailed description of the invention
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present invention is further described, a kind of Bidirectional mobile intelligent parking garage
Yi Che robot, including vehicle frame 1, described vehicle frame 1 is made up of channel-section steel, and the inner side of described channel-section steel is provided with grooved rail 11, described
Vehicle frame (1) bottom is provided with several actuating units, and described actuating unit quantity is 3, is separately mounted to the two ends of vehicle frame (1)
With centre, described each actuating unit is equipped with wheel shaft of taking action accordingly (8), makes the whole robot can be any from rear and front end
Direction is moved vehicle bottom needed for entering and is carried car.Before and after described vehicle frame (1), two ends are all additionally provided with vision sensor, range finding sensing
Device and limit switch, the identification of vehicle moved by vision sensor license plate number character and appearance profile needed for being used for judges, upward
Direction ranging sensor is the sensing close to range switch signal that flat car enters when being put in place by shifting vehicle, typically with car rear end
One sensor as controlling being moved the vehicle signal that puts in place, when flat car make rightabout row move time, front and back end sensor is then made
Function and usage role exchange front and back.Towards two direction sensors front and back then to moved vehicle and periphery obstacle distance identification and car
After outbound, many cars are parked in ground distance signal to be sailed out of and control.
Being provided with some groups of yoke mechanisms in described vehicle frame 1, described Mei Zu yoke mechanism is by two clamping yokes that slide
Assembly 2 forms, the described clamping yoke assembly 2 grooved rail 11 horizontal sliding along the inner side of channel-section steel that slides, described slip clamping
Yoke assembly 2 is provided with pulley 21, is provided with steel wire rope 3 between the described pulley 21 slided on clamping yoke assembly 2, described
Two slip clamping yoke assemblies 2 of Mei Zu yoke mechanism are driven by steel wire rope 3 and translates realization along grooved rail 11 in opposite directions and clamp vehicle
The function of tire, the described clamping yoke assembly 2 that slides includes the axle head fixed plate 22 at two ends and for clamping vehicle tyre
Expansion link 23, described axle head fixed plate 22 is provided with the short axle 221 of slip, and the short axle of described slip 221 is fixed in grooved rail 11,
The short axle of described slip 221 coordinates with axle head fixed plate 22 sliding, and the described clamping yoke assembly 2 that slides also includes the axle at two ends
Flexible tubing string 4 in the middle of end fixed plate 22, described flexible tubing string 4 includes outer lumen, is provided with two sections and stretches in described outer lumen
The draw 41, telescoping tube 41 is hollow structure, is provided with tube shaped electric machine 47, described tube shaped electric machine in the telescoping tube 41 of described one end
The front end of 47 is provided with nut, and the screw rod of tube shaped electric machine 47 axle head extends through nut in the telescoping tube 41 being fixed on the other end.Institute
Being additionally provided with outer tubing string 42 outside the flexible tubing string 4 stated, the wall of described flexible tubing string 4 is provided with pin 43, described outer tubing string
The wall of 42 is provided with gathering sill 45, and described pin 43 coordinates with gathering sill 45 sliding.
The outer wall equipped with one end of tube shaped electric machine 47 of described telescoping tube 41 is provided with lead-in wire pin 46, described lead-in wire pin
46 coordinate with gathering sill 45 sliding.Dual-purpose is plug pipe flexible row shifting guide finger in motor side.Connect wire hole in lead-in wire pin, draw
Line pin stretches out in outside outer tube long barrel arm, does not make the power line screens abrasion of motor pull apart.
45 weeks sides of gathering sill on the wall of described outer tubing string 42 are also welded with reinforcing plate, to reinforce outer tube anti-deformation and to hold
Gravity.
The external part of the described telescoping tube 41 extended outside vehicle frame 1 is provided with the slip cap bobbin that can make radial rotating
44.For clamping tire time act as circumference roll be used, alleviate outside jig arm with tire frictional resistance.
The slip length wheel as the clamping yoke assembly 2 load-bearing locomotive function that slides it is additionally provided with in described axle head fixed plate 22
Axle 5, the quantity of the described long wheel shaft 5 that slides is two, lays respectively at both sides before and after flexible tubing string 4.
It is additionally provided with restriction jacking block 6 between two slip clamping yoke assemblies 2 of described yoke mechanism.
It is additionally provided with limit switch 7 between two slip clamping yoke assemblies 2 of described yoke mechanism.
It is additionally provided with the several rows axis of a movable block 8 bottom described vehicle frame 1.
Slide on clamping yoke assembly 2 side equipped with multiple pulleys 21 around steel wire rope, each slide clamping yoke assembly 2 and
The pulley of the flat car two ends leg of frame has the steel wire rope of logicality mutually to detour, and pulling steel wire winch wheel can be how around two to three circle steel
Cord, in case skidding when steel wire rope wrings.The expansion link 23 of each clamping yoke assembly 2 that slides is made under pulling capstan winch electric machine rotation
Prolong U-steel frame with two short axles 221 that slide to vertically move, reach clamping wheel or the discharge action that gets loose.Capstan winch motor is then big speed
The deceleration worm gear motor of ratio, and with brake function, can guarantee that under clamping tire condition unlikely revolution and gets loose.Do not clamping
During vehicle, the telescopic cylinder plunger yoke of each clamping yoke assembly 2 that slides is then at farthest stroke end, and i.e. two slide clamps yoke
At vehicle frame end to end and middle maximum end of travel, when carrying car and needing, capstan winch electric machine rotation pulls steel wire rope to assembly 2, makes
Two groups of clamping yoke assemblies 2 that slide are close to wheel, when any one clamping yoke assembly 2 that slides is near tire side, other
Each group slip clamping yoke assembly 2 also can pull the direction row shifting of active force with steel wire rope.Will clamping trolley tire time one
Organizing slides without spring resistance clamps yoke assembly 2 continuation clamping, until the restriction jacking block 6 of two groups of clamping yoke assemblies 2 that slide is not
Row of reacceesing moves, and now another group holds up wheel, when spacing with the slip clamping yoke assembly 2 continuation clamping of spring resistance
After switch puts in place, i.e. complete vehicle two axle holding action.
Three groups of six roots of sensation action wheel shafts are arranged at panel-type frame bottom, as the driving means taken action with ground.Carry dynamic one end
Wheel shaft on have sprocket wheel chain to be connected on power motor, another two groups of wheel shafts are then driven pulley.Have one little on each group rail wheel diametric plane
In the step of overall diameter, the contact surface travelled on Mini-railway.For making three groups of wheel shafts all can effectively land, U-steel frame is then
It is divided into two sections of hinged yoke mechanism pulley spindles that form to act the weight undertaking major part carrying.
One end, Yi Che robot vehicle frame rear portion above has driving motor, wrings steel wire rope motor, air compressor, various
Pneumatic control valve, accumulator, electrical equipment control components and parts etc., the both sides, front end of vehicle frame and middle part limit switch, for being moved vehicle
The action by force of tire, chassis height and foreign body from blocking limit.Vision passes device, range sensor then for identifying the trade mark word of automobile
Symbol and to carried shifting vehicle outline and distance judge.With limit switches on the rear frame front of dynamic one end and joining
Close the spring stop of limit switch, carry Che Shiyu with restriction and moved the vehicle setting close to stroke.Rear frame limit also has various
Sensor and limit switch, be equally used for crashproof and obstacle distance detection.
This Yi Che robot structure is simple, and height of chassis above ground is low, it is adaptable to carries the various station wagons of fortune, particularly makees with steel wire rope
For the clamp system of jig arm, more it is reduction of the height of complete vehicle structure, all can clamping freely to the wheelbase of various station wagons
Being suitable for vehicle wheelbase can be between 1-4 rice, it is not necessary in like product, the most padded of parking position of wheel parks stand and power-assisted top
Rise and unload laying mechanism and to being moved the various complicated structures such as vehicle position of wheel searching.Less traction is only needed to move because travelling in orbit
Power.Have under setting a roof beam in place in the front portion of vehicle frame or the whippletree at rear portion for overlap for electrical source of power and charging current collector for trolley conductor or
It is contacted with row and moves the driving power supply on guide rail side.When moving car robot ride in the trolley grooved rail position with power supply source
Time, by current collector by external power as driving power and charging simultaneously, then enable accumulator when there is no external supply of electric power
Electricity is as driving power.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned enforcement
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that, for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications are also
Should be regarded as protection scope of the present invention.
Claims (10)
1. a Bidirectional mobile intelligent parking garage Yi Che robot, including vehicle frame (1), described vehicle frame (1) is made up of channel-section steel,
The inner side of described channel-section steel is provided with grooved rail (11), it is characterised in that described vehicle frame (1) bottom is provided with several actuating units,
Described actuating unit quantity is 3, is separately mounted to two ends and the centre of vehicle frame (1), and described each actuating unit is all provided with
Having wheel shaft of taking action accordingly (8), before and after described vehicle frame (1), two ends are all additionally provided with vision sensor, distance measuring sensor and limit
Bit switch, is provided with some groups of yoke mechanisms in described vehicle frame (1), described Mei Zu yoke mechanism is by two clamping yokes that slide
Assembly (2) forms, and described slip clamping yoke assembly (2) is along grooved rail (11) horizontal sliding of the inner side of channel-section steel, described cunning
Dynamic clamping yoke assembly (2) is provided with pulley (21), is provided with between the described pulley (21) in slip clamping yoke assembly (2)
Steel wire rope (3), two slips clamping yoke assembly (2) of described Mei Zu yoke mechanism are driven along grooved rail by steel wire rope (3)
(11) translation realizes the function of clamping vehicle tyre in opposite directions.
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
Clamping yoke assembly (2) of sliding includes the axle head fixed plate (22) at two ends and for clamping the expansion link (23) of vehicle tyre, institute
The axle head fixed plate (22) stated is provided with the short axle of slip (221), and the short axle of described slip (221) is fixed in grooved rail (11), institute
The short axle of the slip (221) stated coordinates with axle head fixed plate (22) sliding, and described slip clamping yoke assembly (2) also includes two ends
Axle head fixed plate (22) in the middle of flexible tubing string (4), described flexible tubing string (4) includes outer lumen, in described outer lumen
Being provided with two sections of telescoping tubes (41), telescoping tube (41) is hollow structure, is provided with tube shaped electric machine in the telescoping tube (41) of described one end
(47), the front end of described tube shaped electric machine (47) is provided with nut, and the screw rod of tube shaped electric machine (47) axle head extends fixing through nut
In the telescoping tube (41) of the other end.
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
Flexible tubing string (4) outside is additionally provided with outer tubing string (42), and the wall of described flexible tubing string (4) is provided with pin (43), described outside
The wall of tubing string (42) is provided with gathering sill (45), and described pin (43) coordinates with gathering sill (45) sliding.
A kind of Bidirectional mobile the most according to claim 3 intelligent parking garage Yi Che robot, it is characterised in that described
The outer wall equipped with one end of tube shaped electric machine (47) of telescoping tube (41) be provided with lead-in wire pin (46), described lead-in wire pin (46) with lead
Coordinate to groove (45) sliding.
A kind of Bidirectional mobile the most according to claim 3 intelligent parking garage Yi Che robot, it is characterised in that described
Gathering sill (45) week side on the wall of outer tubing string (42) is also welded with reinforcing plate.
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
The external part extending vehicle frame (1) telescoping tube (41) outward is provided with the slip cap bobbin (44) that can make radial rotating.
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
The long wheel shaft of the slip (5) as clamping yoke assembly (2) the load-bearing locomotive function that slides it is additionally provided with in axle head fixed plate (22), described
The quantity of the long wheel shaft of slip (5) be two, lay respectively at both sides before and after flexible tubing string (4).
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
It is additionally provided with restriction jacking block (6) between two slips clamping yoke assembly (2) of yoke mechanism.
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
It is additionally provided with limit switch (7) between two slips clamping yoke assembly (2) of yoke mechanism.
A kind of Bidirectional mobile the most according to claim 1 intelligent parking garage Yi Che robot, it is characterised in that described
Vehicle frame (1) bottom be additionally provided with the several rows axis of a movable block (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913800.1A CN106320773B (en) | 2016-10-20 | 2016-10-20 | A kind of Bidirectional mobile intelligent parking garage Yi Che robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913800.1A CN106320773B (en) | 2016-10-20 | 2016-10-20 | A kind of Bidirectional mobile intelligent parking garage Yi Che robots |
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| Publication Number | Publication Date |
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| CN106320773A true CN106320773A (en) | 2017-01-11 |
| CN106320773B CN106320773B (en) | 2018-05-04 |
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| CN201610913800.1A Active CN106320773B (en) | 2016-10-20 | 2016-10-20 | A kind of Bidirectional mobile intelligent parking garage Yi Che robots |
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| CN107919743A (en) * | 2017-12-22 | 2018-04-17 | 谭晓云 | A kind of power supply of wireless charger seeks a module |
| CN109129406A (en) * | 2018-10-09 | 2019-01-04 | 西安航空学院 | The mobile platform of industrial machinery people |
| WO2019100851A1 (en) * | 2017-11-21 | 2019-05-31 | 江苏中天华宇智能科技有限公司 | Rail transportation system |
| CN110344627A (en) * | 2019-07-17 | 2019-10-18 | 汕头市富力机器制造有限公司 | A kind of shifting fork device of electric drive plane movable parking position |
| CN111987785A (en) * | 2018-04-26 | 2020-11-24 | 肖剑 | Stereo garage system based on Bluetooth equipment and LI-Fi wireless transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019100851A1 (en) * | 2017-11-21 | 2019-05-31 | 江苏中天华宇智能科技有限公司 | Rail transportation system |
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| CN110344627A (en) * | 2019-07-17 | 2019-10-18 | 汕头市富力机器制造有限公司 | A kind of shifting fork device of electric drive plane movable parking position |
| CN110344627B (en) * | 2019-07-17 | 2021-03-30 | 汕头市富力机器制造有限公司 | Shifting fork device for electrically driving plane to move parking space |
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| Publication number | Publication date |
|---|---|
| CN106320773B (en) | 2018-05-04 |
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Denomination of invention: A two-way mobile intelligent parking garage moving robot Effective date of registration: 20220906 Granted publication date: 20180504 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Wenzhou Pingyang Wanquan small and micro enterprise franchise sub branch Pledgor: WENZHOU SUIREN INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2022330002140 |
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