CN106351490B - A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots - Google Patents

A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots Download PDF

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Publication number
CN106351490B
CN106351490B CN201610913947.0A CN201610913947A CN106351490B CN 106351490 B CN106351490 B CN 106351490B CN 201610913947 A CN201610913947 A CN 201610913947A CN 106351490 B CN106351490 B CN 106351490B
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CN
China
Prior art keywords
sliding
universal wheel
parking garage
intelligent parking
yoke
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CN201610913947.0A
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CN106351490A (en
Inventor
詹永泽
詹有为
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Wenzhou Suiren Intelligent Technology Co Ltd
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Wenzhou Suiren Intelligent Technology Co Ltd
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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/305Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means

Abstract

A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, it is simple in structure, height of chassis above ground is low, suitable for carrying the various station wagons of fortune, especially using steel wire rope as the clamp system of clamp arm, it is more reduction of the height of complete vehicle structure, clamping that can be freely to the wheelbase of various station wagons padded parks rack and power-assisted jacking unloads laying mechanism and to the various complicated structures such as being found by shifting vehicle wheel position without the excessive of parking wheel position in similar product.Because traveling only needs smaller traction power in orbit.It is useful for the current collector for trolley conductor overlapped for accumulator and charging in the case where the whippletree of the front of vehicle frame or rear portion is set a roof beam in place or is contacted with the driving power that row moves on guide rail side, universal wheel converts the steering of universal wheel an angle of 90 degrees by motor capstan winch twist steel wire rope, it can make robot that can also make laterally to walk and spin in situ in addition to two-way linear is walked, reach turning radius minimum.

Description

A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots
Technical field
The present invention relates to parking equipment technical fields, and in particular to a kind of automatic obstacle avoiding formula intelligent parking garage shifting vehicle device device People.
Background technology
In recent years, with the fast development of Domestic Automotive Industry and urbanization, Urban vehicles poputation is continuously increased, There is the problem of parking difficulty in succession in large, medium and small city.Mechanical solid parking lot library is gradually sent out along with parking difficulty problem Exhibition get up new industry, be known as solve the problems, such as population, building dense area, common service area parking difficulty preferred means. Currently, all kinds of research and development main bodys oneself develop a plurality of types of mechanical stereo parking garages, can be with according to the difference in space telescopic direction It is divided into following several:Lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., wherein rising Drop cross sliding type parking systems be current technology it is the most ripe, using most forms.And existing plain edition garage parking must be by Manually accurately it is parked in the tedious steps when hanging scaffold lifted and shift position difficulty and more waiting.Even if organic at present Device people shutdown system need to also install the complicated structures such as power lifting body and padded parking platform position additional again on independent warehouse compartment, and need Have and manually drives precisely to be parked on fixation parking platform position to be moved away from.
Invention content
In order to solve the deficiencies in the prior art, of the invention provides a kind of automatic obstacle avoiding formula intelligent parking garage shifting vehicle device device People.
The technical solution that the present invention uses is:A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, including vehicle Frame, the vehicle frame are made of channel steel, and the inside of the channel steel is equipped with grooved rail, and several groups yoke machine is equipped in the vehicle frame Structure, every group of yoke mechanism clamp yoke component by two slidings and form, and the sliding clamps yoke component along channel steel Inside grooved rail horizontal sliding, the sliding clamp yoke component be equipped with pulley, the sliding clamp yoke component On pulley between be equipped with steel wire rope, two of every group of yoke mechanism slidings clamp yoke components and drive edge by steel wire rope Grooved rail translates the function of realizing clamping vehicle tyre in opposite directions.The sliding clamps the shaft end fixed plate that yoke component includes both ends With the telescopic rod for clamping vehicle tyre, the shaft end fixed plate is equipped with sliding short axle, and the sliding short axle is fixed In grooved rail, the sliding short axle coordinates with the sliding of shaft end fixed plate, and it further includes both ends that the sliding, which clamps yoke component, Shaft end fixed plate among flexible tubing string, the flexible tubing string includes outer lumen, is stretched equipped with two sections in the outer lumen The draw, telescoping tube are hollow structure, tube shaped electric machine are equipped in the telescoping tube of described one end, the front end of the tube shaped electric machine is set There are nut, the screw rod of tube shaped electric machine shaft end that nut extension is passed through to be fixed in the telescoping tube of the other end, the vehicle frame both ends It is equipped with universal wheel on four angles, individual motor, the individual motor band are respectively connected on each universal wheel Dynamic universal wheel movement, the universal wheel are rotatably assorted with vehicle frame, are additionally provided with pull wire pulley on the universal wheel, and described ten thousand It is wound between pull wire pulley on wheel through steel wire rope, the universal wheel realizes 90 ° of angles by rope belt movable pulley Degree is adjusted.
Outer tubing string is additionally provided on the outside of the flexible tubing string, the wall of the flexible tubing string is equipped with pin, and described is outer The wall of tubing string is equipped with guide groove, and the pin coordinates with guide groove sliding.
The outer wall of one end equipped with tube shaped electric machine of the telescoping tube is equipped with lead pin, the lead pin and guiding Slot sliding cooperation.
The universal wheel includes pedestal, and the individual motor is mounted on pedestal, and the pull wire pulley is mounted on On pedestal.
The external part for extending the telescoping tube outside vehicle frame is equipped with the sliding sleeve bobbin that can make radial rotating.
The magnetic force locking device for preventing universal wheel from shaking is additionally provided on the vehicle frame of the universal wheel both sides, it is described Pedestal both sides are equipped with magnetic plate, and the pedestal is coordinated by magnetic plate and magnetic force locking device magnetic.
Two slidings of the yoke mechanism are additionally provided with travel limit jacking block between clamping yoke component.
Two slidings of the yoke mechanism are additionally provided with limit switch between clamping yoke component.
The bottom of frame is additionally provided with several universal road wheels, the universal road wheel be mounted on shaft end fixed plate and It is rotatably assorted with shaft end fixed plate.
The beneficial effects of the invention are as follows:The present invention provides a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, knots Structure is simple, and height of chassis above ground is low, suitable for carrying the various station wagons of fortune, especially using steel wire rope as the clamp system of clamp arm, more It is reduction of the height of complete vehicle structure, clamping that can be freely to the wheelbase of various station wagons, without stopping in similar product The excessive of wheel position padded parks rack and power-assisted jacking unloads laying mechanism and to the various complicated structures such as being found by shifting vehicle wheel position It makes.Because traveling only needs smaller traction power in orbit.It is useful for overlapping in the case where the whippletree of the front of vehicle frame or rear portion is set a roof beam in place Current collector for trolley conductor for electrical source of power and charging is contacted with the driving power that row moves on guide rail side, and universal wheel is by motor Capstan winch twist steel wire rope converts the steering of universal wheel an angle of 90 degrees, can make robot that can also make lateral line in addition to two-way linear is walked It walks and spins in situ, reach turning radius minimum.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is bottom 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 frames in figure, 2- slidings clamp yoke component, 3- steel wire ropes, and 4- stretch tubing string, 5- universal wheels, and 6- limitations are pushed up Block, 7- limit switches, 8-universal road wheels, 11- grooved rails, 21- pulleys, the shaft ends 22- fixed plate, 23- telescopic rods, 41- are flexible Pipe, the outer tubing strings of 42-, 43- pins, 44- sliding sleeve bobbins, 45- guide grooves, 46- lead pins, 47- tube shaped electric machines, 51- pedestals, 52- magnetic force locking devices, 53- magnetic plates, 221- slide short axle.
Specific implementation mode
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, invention is further explained, a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, including vehicle frame 1, the vehicle frame 1 are made of channel steel, and the inside of the channel steel is equipped with grooved rail 11, described Several groups yoke mechanism is equipped in vehicle frame 1, every group of yoke mechanism clamps yoke component 2 by two slidings and form, described Sliding clamp grooved rail 11 horizontal sliding of the yoke component 2 along the inside of channel steel, the sliding clamps yoke component 2 and is equipped with Pulley 21, the sliding are equipped with steel wire rope 3 between clamping the pulley 21 on yoke component 2, every group of yoke mechanism Two slidings clamp yoke component 2 and drive the function of realizing clamping vehicle tyre along the opposite translation of grooved rail 11 by steel wire rope 3, described Sliding clamp the shaft end fixed plate 22 that yoke component 2 includes both ends and the telescopic rod 23 for clamping vehicle tyre, it is described Shaft end fixed plate 22 is equipped with sliding short axle 221, and the sliding short axle 221 is fixed in grooved rail 11, the sliding short axle 221 coordinate with the sliding of shaft end fixed plate 22, and it further includes among the shaft end fixed plate 22 at both ends that the sliding, which clamps yoke component 2, Flexible tubing string 4, the flexible tubing string 4 includes outer lumen, and two sections of telescoping tubes 41, telescoping tube 41 are equipped in the outer lumen For hollow structure, the telescoping tube 41 of described one end is interior to be equipped with tube shaped electric machine 47, and the front end of the tube shaped electric machine 47 is equipped with spiral shell The screw rod of mother, 47 shaft end of tube shaped electric machine pass through nut extension to be fixed in the telescoping tube 41 of the other end.Outside the flexible tubing string 4 Side is additionally provided with outer tubing string 42, and the wall of the flexible tubing string 4 is equipped with pin 43, and the wall of the outer tubing string 42, which is equipped with, to be oriented to Slot 45, the pin 43 coordinate with the sliding of guide groove 45.It is equipped with universal wheel on four angles at 1 both ends of vehicle frame, institute Individual motor is respectively connected on each universal wheel stated, the individual motor drives universal wheel movement, and described is universal Wheel is rotatably assorted with vehicle frame 1, and pull wire pulley is additionally provided on the universal wheel 5, is wound between the pulley on the universal wheel 5 Have through steel wire rope, the universal wheel 5 drives pull wire pulley to realize 90 ° of angular adjustments by steel wire 3.The universal wheel 5 Including pedestal 51, the individual motor is mounted on pedestal 51, and the pulley is mounted on pedestal 51.The universal wheel The magnetic force locking device 52 for preventing universal wheel 5 from shaking is additionally provided on the vehicle frame 1 of 5 both sides, 51 both sides of pedestal are equipped with Magnetic plate 53, the universal wheel 5 are coordinated by magnetic plate 53 and 52 magnetic of magnetic force locking device.In bracing wire motor close to one side There is the strong magnetic of neodymium iron boron as motor and driving is stablized in one direction when frame, does not make motor and universal wheel 5 in moving process In have the unstable phenomenon of shaking.During converting universal wheel 5 and pulling and when controlling in place, with travel switch in advance in motor side When plate is close to side framework magnet 5mm or so, limit switch makees cut-off signal, is delayed again the several seconds by PLC programming controller Time continues as driving motor work, so that the driving wheel angle that transformation turns to is completely in place.Magnetic force suck or can by permanent magnetism and Electrical cooperation is installed together, and conducive to pulling when separation is close to not by strong influence, easily converts motor angle.
The outer wall of one end equipped with tube shaped electric machine 47 of the telescoping tube 41 is equipped with lead pin 46, the lead pin 46 coordinate with the sliding of guide groove 45.Dual-purpose is that the flexible row of plug pipe moves guide pin in motor side.Wire hole is connected in lead pin, is drawn Line pin stretches out in outside the long barrel arm of outer tube, wears the power cord screens of motor and pulls apart.
45 side of guide groove on the wall of the outer tubing string 42 is also welded with reinforcing plate, to reinforce outer tube anti-deformation and hold Gravity.
The external part for extending the telescoping tube 41 outside vehicle frame 1 is equipped with the sliding sleeve bobbin that can make radial rotating 44.Circumferential roll is acted as when for clamping tire to be used, and mitigating clamp arm outside and tire frictional resistance.
Two slidings of the yoke mechanism are additionally provided with limitation jacking block 6 between clamping yoke component 2.
Two slidings of the yoke mechanism are additionally provided with limit switch 7 between clamping yoke component 2.
1 bottom of vehicle frame is additionally provided with several universal road wheels 8, and the universal road wheel 8 is fixed mounted on shaft end It plate 22 and is rotatably assorted with shaft end fixed plate 22.
One end of the vehicle frame 1 holds 12 in order to control, and driving motor is equipped in the control terminal 12, wrings steel wire rope 3 Motor, air compressor, pneumatic control valve, accumulator and electrical equipment control component.
Sliding clamps and multiple pulleys 21 around steel wire rope is housed on 2 side of yoke component, each sliding clamp yoke component 2 and The pulley of the flat car both ends leg of frame has the steel wire rope of logicality mutually to detour, and pulling steel wire winch wheel can be mostly around two to three circle steel Cord is skidded when being wrung to prevent steel wire rope.Each sliding is set to clamp the telescopic rod 23 of yoke component 2 in the case where pulling the rotation of capstan winch motor Prolong U-steel frame longitudinal movement with two sliding short axles 221, reach clamping wheel or loosens discharge action.Capstan winch motor is then big speed The deceleration worm gear motor of ratio, and carry brake function, can guarantee the unlikely revolution in the case where clamping tire condition and loosen.It is not clamped When vehicle, each sliding clamps the telescopic cylinder plunger yoke of yoke component 2 then in farthest stroke end, i.e., two slidings clamp yoke Component 2 vehicle frame end to end and intermediate maximum end of travel, when carrying vehicle and needing, the rotation of capstan winch motor pulls steel wire rope, makes Two groups of slidings clamping yoke components 2 are close to wheel, other when any one sliding clamps yoke component 2 close to tire side Each group sliding clamps yoke component 2 can also pull the direction row shifting of active force with steel wire rope.One when i.e. by clamping trolley tire Group slides clamping yoke component 2 without spring resistance and continues to clamp, until two groups of slidings clamp the limitation jacking block 6 of yoke component 2 not Capable shifting can be reacceesed, another at this time group of sliding with spring resistance clamps yoke component 2 and continue to clamp picking-up wheel, works as limit After switching in place, that is, complete two axis holding action of vehicle.
There is driving motor in the upper surface of Yi Che robots vehicle frame rear portion one end, wrings steel wire rope motor, is air compressor, various Pneumatic control valve, accumulator, electrical equipment control component etc., the front end both sides of vehicle frame and middle part limit switch, for by shifting vehicle Tire, chassis height and foreign body from blocking act limitation by force.It is the trade mark word for identifying automobile that vision, which passes device, range sensor then, It accords with and judges putting forward shifting vehicle outline and distance.Limit switches and match on rear frame front with dynamic one end The spring stop for closing limit switch proposes settings of the Che Shiyu by shifting vehicle close to stroke with limitation.Rear frame side also has various Sensor and limit switch are equally used for anticollision and the detection of obstacle distance.
The Yi Che robots structure is simple, and height of chassis above ground is low, suitable for carrying the various station wagons of fortune, is especially made with steel wire rope For the clamp system of clamp arm, it is more reduction of the height of complete vehicle structure, clamping that can be freely to the wheelbase of various station wagons Vehicle wheelbase is applicable in take turns the excessive of position between 1-4 meter without parking in similar product and padded park rack and power-assisted top It rises and unloads laying mechanism and to by various complicated structures such as shifting vehicle wheel position searchings.Because traveling only needs smaller traction dynamic in orbit Power.Be useful for overlapping in the case where the whippletree of the front of vehicle frame or rear portion is set a roof beam in place current collector for trolley conductor for electrical source of power and charging or It is contacted with the driving power that row moves on guide rail side.When Yi Che robots are travelled in the trolley grooved rail position with power supply source When, by current-collector by external power be used as driving power and while charge, then enable accumulator in no external supply of electric power Electricity is as driving power.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (10)

1. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, including vehicle frame(1), the vehicle frame(1)Inside be equipped with Grooved rail(11), which is characterized in that the vehicle frame(1)Interior to be equipped with several groups yoke mechanism, every group of yoke mechanism is by two A sliding clamps yoke component(2)Composition, the sliding clamp yoke component(2)Grooved rail along the inside of channel steel(11)It is horizontal Sliding, the sliding clamp yoke component(2)It is equipped with pulley(21), the sliding clamps yoke component(2)On cunning Wheel(21)Between be equipped with steel wire rope(3), two sliding clamping yoke components of every group of yoke mechanism(2)By steel wire rope (3)It drives along grooved rail(11)The function of clamping vehicle tyre, the vehicle frame are realized in opposite translation(1)On four angles at both ends Equipped with universal wheel, individual motor is connected on each universal wheel, the individual motor drives universal wheel movement, described Universal wheel and vehicle frame(1)It is rotatably assorted, the universal wheel(5)On be additionally provided with pull wire pulley, the universal wheel(5)On It is wound between pull wire pulley through steel wire rope, the universal wheel(5)Angular adjustment is realized by rope belt movable pulley.
2. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, which is characterized in that described Sliding clamps yoke component(2)Shaft end fixed plate including both ends(22)With the telescopic rod for clamping vehicle tyre(23), institute The shaft end fixed plate stated(22)It is equipped with sliding short axle(221), the sliding short axle(221)It is fixed on grooved rail(11)It is interior, institute The sliding short axle stated(221)With shaft end fixed plate(22)Sliding cooperation, the sliding clamp yoke component(2)Further include both ends Shaft end fixed plate(22)Intermediate flexible tubing string(4), the flexible tubing string(4)Including outer lumen, in the outer lumen Equipped with two sections of telescoping tubes(41), telescoping tube(41)For hollow structure, the telescoping tube of described one end(41)It is interior to be equipped with tube shaped electric machine (47), the tube shaped electric machine(47)Front end be equipped with nut, tube shaped electric machine(47)The screw rod of shaft end passes through nut to extend and fixes In the telescoping tube of the other end(41)It is interior.
3. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 2, which is characterized in that described Flexible tubing string(4)Outside is additionally provided with outer tubing string(42), the flexible tubing string(4)Wall be equipped with pin(43), described is outer Tubing string(42)Wall be equipped with guide groove(45), the pin(43)With guide groove(45)Sliding cooperation.
4. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 3, which is characterized in that described Telescoping tube(41)Be equipped with tube shaped electric machine(47)One end outer wall be equipped with lead pin(46), the lead pin(46)With lead To slot(45)Sliding cooperation.
5. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 3, which is characterized in that described Universal wheel(5)Including pedestal(51), the individual motor is mounted on pedestal(51)On, the pull wire pulley is mounted on pedestal (51)On.
6. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 2, which is characterized in that described Extend vehicle frame(1)Outer telescoping tube(41)External part be equipped with and can make the sliding sleeve bobbin of radial rotating(44).
7. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 5, which is characterized in that described Universal wheel(5)The vehicle frame of both sides(1)On be additionally provided with for preventing universal wheel(5)The magnetic force locking device of shaking(52), described Pedestal(51)Both sides are equipped with magnetic plate(53), the pedestal(51)Pass through magnetic plate(53)With magnetic force locking device(52)Magnetic Cooperation.
8. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, which is characterized in that described Two slidings of yoke mechanism clamp yoke component(2)Between be additionally provided with limitation stroke jacking block(6).
9. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, which is characterized in that described Two slidings of yoke mechanism clamp yoke component(2)Between be additionally provided with limit switch(7).
10. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, which is characterized in that described Vehicle frame(1)Bottom is additionally provided with several universal road wheels(8), the universal road wheel(8)Mounted on shaft end fixed plate(22) And with shaft end fixed plate(22)It is rotatably assorted.
CN201610913947.0A 2016-10-20 2016-10-20 A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots Active CN106351490B (en)

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DE102017008048A1 (en) * 2017-08-25 2019-02-28 Kuka Deutschland Gmbh Driving platform for vehicle transport

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Publication number Priority date Publication date Assignee Title
JPH0249869A (en) * 1988-05-13 1990-02-20 Fuji Electric Co Ltd Parking system and driver thereof
CN101289901A (en) * 2008-06-17 2008-10-22 王俊 Multi-storied garage intelligent carrier
CN201232380Y (en) * 2008-06-16 2009-05-06 王俊 Intelligent carrier of stereo garage
CN103015769A (en) * 2012-12-19 2013-04-03 周秀莹 Automobile carrier of stereo garage
CN103661314A (en) * 2014-01-07 2014-03-26 东北林业大学 Vehicle moving device for vehicle
CN206091477U (en) * 2016-10-20 2017-04-12 温州燧人智能科技有限公司 Automatic obstacle avoiding formula intelligence garage parking moves car robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0249869A (en) * 1988-05-13 1990-02-20 Fuji Electric Co Ltd Parking system and driver thereof
CN201232380Y (en) * 2008-06-16 2009-05-06 王俊 Intelligent carrier of stereo garage
CN101289901A (en) * 2008-06-17 2008-10-22 王俊 Multi-storied garage intelligent carrier
CN103015769A (en) * 2012-12-19 2013-04-03 周秀莹 Automobile carrier of stereo garage
CN103661314A (en) * 2014-01-07 2014-03-26 东北林业大学 Vehicle moving device for vehicle
CN206091477U (en) * 2016-10-20 2017-04-12 温州燧人智能科技有限公司 Automatic obstacle avoiding formula intelligence garage parking moves car robot

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