CN106368466A - Intelligent parking garage vehicle transferring robot - Google Patents
Intelligent parking garage vehicle transferring robot Download PDFInfo
- Publication number
- CN106368466A CN106368466A CN201610913488.6A CN201610913488A CN106368466A CN 106368466 A CN106368466 A CN 106368466A CN 201610913488 A CN201610913488 A CN 201610913488A CN 106368466 A CN106368466 A CN 106368466A
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- China
- Prior art keywords
- clamping
- parking garage
- intelligent parking
- slip
- vehicle frame
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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
The invention provides an intelligent parking garage vehicle transferring robot. The intelligent parking garage vehicle transferring robot is simple in structure and suitable for lifting and transferring various small passenger cars, and the height of a vehicle frame is small; particularly, by adoption of a clamping mechanism with steel wire ropes serving as clamping arms, the height of a whole vehicle structure is reduced, and various small passenger cars with different axle distances can be freely clamped; and various complex structures, such as an excessively-elevated parking rack in parking wheel positions, a power-assisted jacking and releasing mechanism and a device for searching the positions of wheels of a transferred vehicle, of a similar product are not needed. Since the robot travels on a rail, only smaller traction power is needed. A slide wire collector connected with a power source and used for charging or a driving power source making contact with the side edge of the traveling guide rail is arranged below a horizontal bar beam on the front portion or the rear portion of the vehicle frame. When the robot is located in the zone of the slide wire grooved rail provided with the power source, an external power source is used for providing driving power through the collector, and charging is conducted at the same time; and when no external power supply is available, a storage battery is used for providing driving power.
Description
Technical field
The present invention relates to parking equipment technical field is and in particular to a kind of intelligent parking garage Yi Che robot.
Background technology
In recent years, with the fast development of Domestic Automotive Industry and urbanization, being continuously increased of Urban vehicles poputation,
Large, medium and small city occurs in that the problem of parking difficulty in succession.Mechanical solid parking lot storehouse is accompanied by parking difficulty problem and progressively sends out
The new industry that exhibition is got up, is known as and solves the problems, such as population, building dense area, the preferred means of common service area parking difficulty.
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., wherein rise
Fall cross sliding type parking systems is the form that current technology is the most ripe, application is most.And existing plain edition garage parking must be by
Tedious steps when being manually accurately parked in the difficulty of hanging scaffold and shift position being lifted and waiting many.Even if organic at present
Device people's shutdown system also the complicated structure such as power lifting body and padded parking platform position need to be installed on independent warehouse compartment additional again and it needs to
Have and manually drive precisely to be parked in fixing parking platform position to be moved apart.
Content of the invention
In order to solve the deficiencies in the prior art, the present invention provides a kind of intelligent parking garage Yi Che robot.
The technical solution that the present invention adopts is: a kind of intelligent parking garage Yi Che robot, including vehicle frame, described car
Frame is made up of channel-section steel, and the inner side of described channel-section steel is provided with grooved rail, is provided with some groups of yoke mechanisms in described vehicle frame, and described is every
Group yoke mechanism is made up of two clamping yoke assemblies that slide, and described slip clamps yoke assembly along the grooved rail of the inner side of channel-section steel
Horizontal sliding, described slip clamping yoke assembly is provided with pulley, and described slip clamps between the pulley on yoke assembly
It is provided with steel wire rope, two slip clamping yoke assemblies of described Mei Zu yoke mechanism are driven by steel wire rope and translate in opposite directions along grooved rail
Realize the function of clamping vehicle tyre.
Described slip clamps yoke assembly and includes the axle head fixed plate at two ends and the expansion link for clamping vehicle tyre,
Described axle head fixed plate is provided with slip short axle, and described slip short axle is fixed in grooved rail, described slip short axle and axle
End fixed plate sliding cooperation.
Described slip clamps the piston tube column that yoke assembly also includes in the middle of the axle head fixed plate at two ends, described piston
Tubing string includes outer lumen, and described outer tube intracavity is provided with two sections of piston column jeckets, and piston column jecket is hollow structure, two sections of piston column jeckets
Between be provided with back-moving spring, the outside end of piston column jecket is provided with hush panel, and the inner side of piston column jecket is provided with rubber seal, institute
The external port of the outer lumen stated is additionally provided with positive stop lug boss, and described outer lumen passes through positive stop lug boss and the spacing cooperation of piston column jecket,
Prevent piston column jecket from making offside during elongation action coming off.
Described hush panel is provided with clasp, and described back-moving spring is fixedly connected on clasp.
The external part of the described piston column jecket extending 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 is additionally provided with described axle head fixed plate,
The quantity of the described long wheel shaft of slip is two, is located at the both sides in front and back of piston tube column respectively.
It is additionally provided with travel limit 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.
One end of described vehicle frame is control end, is provided with motor, wrings steel wire rope motor, sky in described control end
Air compressor, pneumatic control valve, accumulator and electrical equipment control components and parts.
The invention has the beneficial effects as follows: the invention provides a kind of intelligent parking garage Yi Che robot, structure is simple, vehicle frame
Highly low it is adaptable to carry fortune various station wagons, particularly using steel wire rope as the clamp system of jig arm, be more reduction of car load
The height of structure, to the wheelbase of various station wagons all can clamping freely, without the excessive pad of wheel position of stopping in like product
Height parks stand and power-assisted jacking unloads laying mechanism and to by various complicated structures such as shifting vehicle wheel position searchings.Because in orbit
Travel and only need less traction power.Have under setting a roof beam in place in the front portion of vehicle frame or the whippletree at rear portion and for electrical source of power and fill for overlap joint
Electricity current collector for trolley conductor or be contacted with row shifting guide rail side on driving power supply.When robot is in the wiping with power supply source
During wire casing rail position, driving power is used as by external power by current collector and charges simultaneously, when there is no external supply of electric power then
Enable storage battery as driving power.
Brief description
Fig. 1 is present configuration schematic diagram.
Fig. 2 is polycrystalline substance schematic diagram of the present invention.
Fig. 3 is polycrystalline substance schematic diagram of the present invention.
Fig. 4 is enlarged drawing at a of the present invention.
Fig. 5 is enlarged drawing at b of the present invention.
In figure 1- vehicle frame, 2- slides and clamps yoke assembly, 3- steel wire rope, 4- piston tube column, the 5- long wheel shaft of slip, 6- stroke
Limit jacking block, 7- limit switch, 8-action wheel shaft, 11- grooved rail, 12- control end, 21- pulley, 22- axle head fixed plate, 23- stretches
Contracting bar, 41- piston column jecket, 42- back-moving spring, 43- rubber seal, 44- slip cap bobbin, 221- slip short axle.
Specific embodiment
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, the present invention is further described, a kind of intelligent parking garage moves car machine
Device people, 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, in described vehicle frame 1
It is provided with some groups of yoke mechanisms, described Mei Zu yoke mechanism is made up of two clamping yoke assemblies 2 that slide, described slip clamp
Tight yoke assembly 2 is provided with pulley 21 along grooved rail 11 horizontal sliding of the inner side of channel-section steel, described slip clamping yoke assembly 2,
It is provided with steel wire rope 3, two of described Mei Zu yoke mechanism are slided between pulley 21 on described slip clamping yoke assembly 2
Clamping yoke assembly 2 is driven by steel wire rope 3 and translates, along grooved rail 11, the function of realizing clamping vehicle tyre in opposite directions.Described slip clamp
Tight yoke assembly 2 includes the axle head fixed plate 22 at two ends and the expansion link 23 for clamping vehicle tyre, and described axle head is fixed
Plate 22 is provided with slip short axle 221, and described slip short axle 221 is fixed in grooved rail 11, described slip short axle 221 and axle head
Fixed plate 22 sliding coordinates.Described slip clamps yoke assembly 2 and also includes the piston tube in the middle of the axle head fixed plate 22 at two ends
Post 4, described piston tube column 4 includes outer lumen, and described outer tube intracavity is provided with two sections of piston column jeckets 41, during piston column jecket 41 is
Hollow structure, is provided with back-moving spring 42, the outside end of piston column jecket 41 is provided with hush panel, described between two sections of piston column jeckets 41
Hush panel is provided with clasp, and described back-moving spring 42 is fixedly connected on clasp.It is close that the inner side of piston column jecket 41 is provided with rubber
Seal 43, the external port of described outer lumen is additionally provided with positive stop lug boss, and described outer lumen passes through positive stop lug boss and piston column jecket
41 spacing cooperations, prevent piston column jecket 41 from making offside during elongation action coming off.
The external part of the described piston column jecket 41 extending outside vehicle frame 1 is provided with the slip cap bobbin that can make radial rotating
44.Act as circumference rolling during for clamping tire to be used, with tire frictional resistance outside mitigation jig arm.
The long wheel of slip as the clamping yoke assembly 2 load-bearing locomotive function that slides is additionally provided with described axle head fixed plate 22
Axle 5, the quantity of the described long wheel shaft 5 of slip is two, is located at the both sides in front and back of piston tube column 4 respectively.
It is additionally provided with travel limit 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.
Described vehicle frame 1 bottom is additionally provided with the several rows axis of a movable block 8.
One end of described vehicle frame 1 is control end 12, is provided with motor, wrings steel wire rope electricity in described control end 12
Machine, air compressor, pneumatic control valve, accumulator and electrical equipment control components and parts.
Slide on clamping yoke assembly 2 side equipped with multiple pulleys 21 around steel wire rope, each slide clamping yoke assembly 2 and
The steel wire rope that the pulley of the flat car two ends leg of frame has logicality mutually detours, and pulling steel wire winch wheel can be how around two to three circle steel
Cord, in case skid when steel wire rope wrings.Pulling the expansion link 23 making each clamping yoke assembly 2 that slides under capstan winch motor rotates
Prolong U-steel frame with two slip short axles 221 to vertically move, reach clamping wheel or the discharge action that gets loose.Capstan winch motor is then fast greatly
The deceleration worm gear motor of ratio, and carry brake function, can guarantee that and unlikely turn round and get loose under clamping tire condition.Do not clamping
During vehicle, the telescopic cylinder plunger yoke of each clamping yoke assembly 2 that slides is then in farthest stroke end, i.e. two slip clamping yoke
In vehicle frame end to end and middle maximum end of travel, when carrying car and needing, capstan winch motor rotates and pulls steel wire rope 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 is slided and is clamped the direction row shifting that yoke assembly 2 also can pull active force with steel wire rope.Will clamping trolley tire when one
Group no spring resistance slides and clamps yoke assembly 2 continuation clamping, until two groups are slided and clamp the travel limit jacking block of yoke assemblies 2
6 can not reaccees row move, now another group carry spring resistance slip clamping yoke assembly 2 continue clamping hold up wheel, when
After limit switch puts in place, that is, 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 then be driven pulley.Have one little on each group rail wheel diametric plane
In the step of overall diameter, for the contact surface travelling 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 most of carrying.
There is motor above the one end of Yi Che robot vehicle frame rear portion, wring steel wire rope motor, air compressor, various
Pneumatic control valve, accumulator, electrical equipment control components and parts etc., the front end both sides of vehicle frame and middle part limit switch, for being moved vehicle
Tire, action limits by force for chassis height and foreign body from blocking.Vision passes the trade mark word that device, range sensor are then identification automobile
Symbol and moved vehicle outline and distance and judge to carrying.Limit switches and joining on rear frame front with dynamic one end
Close the spring stop of limit switch, Che Shiyu is carried with restriction and is moved the setting close to stroke for the vehicle.Rear frame side also has various
Sensor and limit switch, are equally used for anticollision and the detection of obstacle distance.
This Yi Che robot structure is simple, and height of chassis above ground is low to transport various station wagons it is adaptable to carry, and is particularly made 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
Applicable vehicle wheelbase can be between 1-4 rice, and without stopping in like product, wheel the excessively padded of position parks stand and power-assisted top
Rise and unload laying mechanism and to by various complicated structures such as shifting vehicle wheel position searchings.Because in orbit traveling only needs less traction to move
Power.Have under setting a roof beam in place in the front portion of vehicle frame or the whippletree at rear portion for overlap joint for electrical source of power and charging current collector for trolley conductor or
It is contacted with row and move the driving power supply on guide rail side.When shifting car robot ride is in the trolley grooved rail position with power supply source
When, driving power is used as by external power by current collector and charges 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 belonging 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
Should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of intelligent parking garage Yi Che robot, including vehicle frame (1), the inner side of described vehicle frame (1) is provided with grooved rail (11),
It is characterized in that, it is provided with some groups of yoke mechanisms in described vehicle frame (1), described Mei Zu yoke mechanism is by two clampings of sliding
Yoke assembly (2) forms, and described slip clamps grooved rail (11) horizontal sliding of the inner side along vehicle frame (1) for the yoke assembly (2), institute
Two slips clamping yoke assembly (2) of the Mei Zu yoke mechanism stating realize clamping vehicle tyre along the opposite translation of grooved rail (11)
Function.
2. a kind of intelligent parking garage Yi Che robot according to claim 1 is it is characterised in that described slip clamping is pitched
Arm component (2) is provided with pulley (21), is provided with steel wire rope between the pulley (21) in described slip clamping yoke assembly (2)
(3) two slips clamping yoke assembly (2) of, described Mei Zu yoke mechanism are driven opposite along grooved rail (11) by steel wire rope (3)
The function of clamping vehicle tyre is realized in translation.
3. a kind of intelligent parking garage Yi Che robot according to claim 1 is it is characterised in that described slip clamping is pitched
Arm component (2) includes the axle head fixed plate (22) at two ends and the expansion link (23) for clamping vehicle tyre, and described axle head is solid
Fixed board (22) is provided with slip short axle (221), and described slip short axle (221) is fixed in grooved rail (11), and described slip is short
Axle (221) is coordinated with axle head fixed plate (22) sliding.
4. a kind of intelligent parking garage Yi Che robot according to claim 3 is it is characterised in that described slip clamping is pitched
Arm component (2) also includes the piston tube column (4) in the middle of the axle head fixed plate (22) at two ends, and described piston tube column (4) includes outer
Tube chamber, described outer tube intracavity is provided with two sections of piston column jeckets (41), and piston column jecket (41) is hollow structure, two sections of piston column jeckets
(41) it is provided with back-moving spring (42) between, the outside end of piston column jecket (41) is provided with hush panel, the inner side of piston column jecket (41)
It is provided with rubber seal (43), the external port of described outer lumen is additionally provided with positive stop lug boss, and described outer lumen passes through limit convex
Platform and the spacing cooperation of piston column jecket (41), prevent piston column jecket (41) from making offside during elongation action coming off.
5. a kind of intelligent parking garage Yi Che robot according to claim 4 is it is characterised in that set in described hush panel
There is clasp, described back-moving spring (42) is fixedly connected on clasp.
6. a kind of intelligent parking garage Yi Che robot according to claim 4 is it is characterised in that described extends vehicle frame
(1) external part of piston column jecket (41) outward is provided with the slip cap bobbin (44) that can make radial rotating.
7. a kind of intelligent parking garage Yi Che robot according to claim 4 is it is characterised in that described axle head fixed plate
(22) it is additionally provided with the long wheel shaft of the slip (5) as clamping yoke assembly (2) the load-bearing locomotive function that slides, the long wheel of described slip on
The quantity of axle (5) is two, is located at the both sides in front and back of piston tube column (4) respectively.
8. a kind of intelligent parking garage Yi Che robot according to claim 1 is it is characterised in that described yoke mechanism
It is additionally provided with travel limit jacking block (6) between two slips clamping yoke assembly (2).
9. a kind of intelligent parking garage Yi Che robot according to claim 1 is it is characterised in that described yoke mechanism
It is additionally provided with limit switch (7) between two slips clamping yoke assembly (2).
10. a kind of intelligent parking garage Yi Che robot according to claim 1 is it is characterised in that described vehicle frame (1)
One end is control end (12), is provided with motor, wrings steel wire rope motor, air compressor, gas in described control end (12)
Dynamic control valve, accumulator and electrical equipment control components and parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913488.6A CN106368466B (en) | 2016-10-20 | 2016-10-20 | A kind of intelligent parking garage Yi Che robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913488.6A CN106368466B (en) | 2016-10-20 | 2016-10-20 | A kind of intelligent parking garage Yi Che robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106368466A true CN106368466A (en) | 2017-02-01 |
| CN106368466B CN106368466B (en) | 2018-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610913488.6A Active CN106368466B (en) | 2016-10-20 | 2016-10-20 | A kind of intelligent parking garage Yi Che robots |
Country Status (1)
| Country | Link |
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| CN (1) | CN106368466B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002004620A (en) * | 2000-06-23 | 2002-01-09 | Ishikawajima Transport Machinery Co Ltd | Pallet with charging contact, and mechanical parking device using the same |
| CN101289901A (en) * | 2008-06-17 | 2008-10-22 | 王俊 | Multi-storied garage intelligent carrier |
| CN201810010U (en) * | 2010-07-26 | 2011-04-27 | 王俊 | Cross sliding carriers and track thereof, plane mobile parking equipment and garage |
| CN103643819A (en) * | 2013-11-28 | 2014-03-19 | 江苏启良停车设备有限公司 | Power built-in platen for three-dimensional garage |
| CN206091467U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | Intelligence garage parking moves car robot |
-
2016
- 2016-10-20 CN CN201610913488.6A patent/CN106368466B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002004620A (en) * | 2000-06-23 | 2002-01-09 | Ishikawajima Transport Machinery Co Ltd | Pallet with charging contact, and mechanical parking device using the same |
| CN101289901A (en) * | 2008-06-17 | 2008-10-22 | 王俊 | Multi-storied garage intelligent carrier |
| CN201810010U (en) * | 2010-07-26 | 2011-04-27 | 王俊 | Cross sliding carriers and track thereof, plane mobile parking equipment and garage |
| CN103643819A (en) * | 2013-11-28 | 2014-03-19 | 江苏启良停车设备有限公司 | Power built-in platen for three-dimensional garage |
| CN206091467U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | Intelligence garage parking moves car robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106368466B (en) | 2018-08-03 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An intelligent parking garage moving robot Effective date of registration: 20220906 Granted publication date: 20180803 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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