CN106437253B - A kind of X-type clamping-arm intelligent parking garage Yi Che robot - Google Patents
A kind of X-type clamping-arm intelligent parking garage Yi Che robot Download PDFInfo
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- CN106437253B CN106437253B CN201610913519.8A CN201610913519A CN106437253B CN 106437253 B CN106437253 B CN 106437253B CN 201610913519 A CN201610913519 A CN 201610913519A CN 106437253 B CN106437253 B CN 106437253B
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- vehicle frame
- parking garage
- intelligent parking
- type clamping
- curved
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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
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- Mechanical Engineering (AREA)
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Abstract
A kind of X-type clamping-arm intelligent parking garage Yi Che robot, pass through four radial curved yokes stretched out to quadrangle, drive four curved yokes in X-type cross state to support vehicle by six-edged steel column can be axially rotated, to the wheelbases of various station wagons can clamping freely, padded park 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, battery electricity is then enabled in no external power supply as driving power, the steering mechanism for respectively thering is control robot to turn on the driving wheel at both ends, steering mechanism is connected to angle steering motor by chain, it is the Yi Che robot of a accessible automatic obstacle avoiding and according to various navigation modes with the path row of Site Design.
Description
Technical field
The present invention relates to parking equipment technical fields, and in particular to a kind of X-type clamping-arm intelligent parking garage shifting vehicle device device
People.
Background technique
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 mature, 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 again the complicated structures such as power lifting body and padded parking platform position additional on independent warehouse compartment, and need
Have and manually drives precisely to be parked on fixation parking platform position to be moved away from.
Summary of the invention
In order to solve the deficiencies in the prior art, of the invention provides a kind of X-type clamping-arm intelligent parking garage shifting vehicle device device
People.
The technical solution that the present invention uses is: a kind of X-type clamping-arm intelligent parking garage Yi Che robot, including vehicle
Frame, the vehicle frame are made of channel steel, and the frame outside is equipped with the parking rack parked for wheel, and the vehicle frame is along confession
The parking rack horizontal movement that wheel is parked, the both ends of the vehicle frame are equipped with control terminal, extend in the control terminal
One can axially rotate six-edged steel column, and the steel column is equipped with XXing Cha pawl mechanism, the XXing Cha pawl mechanism quantity
It is two, is located at the both ends of steel column, the XXing Cha pawl mechanism includes the two-way Luo bar cylinder being set on steel column, described
Two-way Luo bar cylinder both ends be equipped with contrary screw thread, the XXing Cha pawl mechanism further include fork pawl main body, it is described
It pitches pawl main body and is equipped with four radial curved yokes stretched out to quadrangle, one end of the curved yoke is hinged on fork pawl
In main body, it is arranged with nut on the screw thread of the two-way Luo bar cylinder, is additionally provided with activity between the nut and curved yoke
Connecting rod, the both ends of the movable rod are hinged on nut and curved yoke, and four curved yokes include mutually flat
Capable first position and the second position for driving movable rod to make four curved yokes in X-type cross state by nut, institute
The top of the XXing Cha pawl mechanism stated is additionally provided with housing, and sliding slot, the curved yoke are formed between the housing and vehicle frame
Horizontal sliding along the chute.
The hexagonal inner hole to match in the two-way Luo bar cylinder equipped with steel column, the steel column are plugged on two-way Luo bar cylinder
It is interior.
The both ends of the fork pawl main body are additionally provided with mounting groove, and the curved yoke is hinged in mounting groove.
The vehicle frame is equipped with mounting base, and the housing is fixedly mounted in mounting base.
The front end of the vehicle frame is additionally provided with slipper.
Rolling bushing is arranged on the curved yoke, the rolling bushing is more piece, and more piece rolling bushing is set in song
On shape yoke.
The movable rod, which is equipped with, plays limit switch and sensor that yoke clamped and loosened stroke control function.
Range sensor and visual sensor are additionally provided in the robot.
The bottom of the vehicle frame is additionally provided with driven wheel.
The vehicle frame both ends are equipped with driving wheel, are additionally provided with what control robot turned between the driving wheel and vehicle frame
Steering mechanism, the steering mechanism are connected to motor driven driving wheel by chain and turn to, and the bottom of frame is also equipped with
Navigation sensor.
The beneficial effects of the present invention are: leading to the present invention provides a kind of X-type clamping-arm intelligent parking garage Yi Che robot
Four radial curved yokes stretched out to quadrangle are crossed, drive four curved yokes in X by six-edged steel column can be axially rotated
Type crossing condition to supporting vehicle, to the wheelbases of various station wagons can clamping freely, without stopping in similar product
Wheel position it is excessive it is padded park rack and power-assisted jacking unload laying mechanism and to by shifting vehicle wheel position find etc. various complexity
Construction.Because traveling only needs smaller traction power in orbit, battery electricity conduct is then enabled in no external power supply
Drive power.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is bottom substance schematic diagram of the present invention.
Fig. 3 is curved yoke first position of the invention structural schematic diagram.
1- control terminal in figure, 2- steel column, 3-X Xing Cha pawl mechanism, the two-way Luo bar cylinder of 4-, 5- vehicle frame, 6- are parked for wheel
Stop rack, 7- limit switch, 8- housing, and 31- pitches pawl main body, the curved yoke of 32-, 33- nut, 34- movable rod, 36- rolling
Bushing, 51- mounting base, 52- driven wheel, 81- sliding slot.
Specific embodiment
Now in conjunction with Fig. 1, Fig. 2, Fig. 3, invention is further explained, a kind of X-type clamping-arm intelligent parking garage shifting vehicle
Robot, including vehicle frame 5, the vehicle frame 5 are made of channel steel, and the parking platform parked for wheel is equipped on the outside of the vehicle frame 5
Frame 6, the vehicle frame 5 are equipped with control terminal along 6 horizontal movement of parking rack parked for wheel, the both ends of the vehicle frame 5
1, six-edged steel column 2 can be axially rotated by extending one in the control terminal 1, and the six-edged steel column 2 is pitched equipped with X-type
Pawl mechanism 3,3 quantity of XXing Cha pawl mechanism are two, are located at the both ends of six-edged steel column 2, and the X-type pitches pawl
Mechanism 3 includes the two-way Luo bar cylinder 4 being set on six-edged steel column 2, is equipped with 2 kissing of six-edged steel column in the two-way Luo bar cylinder 4
The hexagonal inner hole of conjunction, the six-edged steel column 2 are plugged in two-way Luo bar cylinder 4.The both ends of the two-way Luo bar cylinder 4 are equipped with side
To opposite screw thread, the XXing Cha pawl mechanism 3 further includes fork pawl main body 31, and the fork pawl main body 31 is equipped with four and is in
The radial curved yoke 32 stretched out to quadrangle, one end of the curved yoke 32 is hinged in fork pawl main body 31, described
The both ends of fork pawl main body 31 are additionally provided with mounting groove, and the curved yoke 32 is hinged in mounting groove.The two-way Luo bar cylinder 4
Screw thread on be arranged with nut 33, be additionally provided with movable rod 34, the activity between the nut 33 and curved yoke 32
The both ends of connecting rod 34 are hinged on nut 33 and curved yoke 32, and the curved yoke 32 of described four includes first to be parallel to each other
Position and the second position for driving movable rod 34 to make four curved yokes 32 in X-type cross state by nut 33.It is described
The top of XXing Cha pawl mechanism be additionally provided with housing 8, sliding slot 81, the curved fork are formed between the housing 8 and vehicle frame 5
81 horizontal sliding along the chute of arm 32.The vehicle frame 5 is equipped with mounting base 51, and the housing 8 is fixedly mounted on mounting base 51
On.
Rolling bushing 36 is arranged on the curved yoke 32, the rolling bushing 36 is more piece, and it is equal that more piece rolls bushing 36
It is set on curved yoke 32.
The front end of the vehicle frame 5 is additionally provided with slipper.
The movable rod 34, which is equipped with, plays limit switch 7 and searching that yoke clamped and loosened stroke control function
The sensor of vehicle wheel position.
Range sensor and visual sensor are additionally provided in the robot.It is surveyed for the distance to clamped vehicle
Measure, move the target of vehicle and the identification of characters on license plate.
The bottom of the vehicle frame 5 is additionally provided with driven wheel 52.
When robot enters the vehicle bottom pressed from both sides, by one ZuXXing Cha pawl mechanism of rear portion, 3 shaft end close to sensing
Device is made to move robot pause row close to response output switching signal, that is, six-edged steel is driven by motor to clamped vehicle tyre
Rotation makees pinching action to each clamp arm.It is pressed from both sides when one ZuXXing Cha pawl mechanism of front end, 3 any of them one curved yoke 32 is close
When vehicle tyre one side, the curved yoke 32 of whole group two-way Luo bar pinching action effect under curved yoke 32 be gradually becoming tight in
Required stress side is moved, until clamping is lifted entire wheel, has achieved the purpose that move vehicle.
The Yi Che robot structure is simple, and height of chassis above ground is low, suitable for mentioning the various station wagons of fortune, especially with X-type yoke
And clamp system of the six-edged steel column as clamp arm, it is more reduction of the height of complete vehicle structure, it is equal to the wheelbase of various station wagons
Can clamping freely be applicable in vehicle wheelbase and can take turns the excessive of position between 1-4 meter without parking in similar product and padded park rack
Laying mechanism is unloaded with power-assisted jacking and to by various complicated structures such as shifting vehicle wheel position searchings.Because traveling only needs more in orbit
Small traction power.Have in the case where the front of vehicle frame or the whippletree at rear portion are set a roof beam in place for overlapping the wiping for electrical source of power and charging
Line current-collector is contacted with the driving power that row moves on guide rail side.When Yi Che robot traveling is in the trolley for having power supply source
When grooved rail position, charged as driving power and simultaneously by current-collector by external power, in no external power supply Shi Zeqi
Use battery electricity 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 X-type clamping-arm intelligent parking garage Yi Che robot, including vehicle frame (5), the vehicle frame (5) are made of channel steel,
The parking rack (6) parked for wheel is equipped on the outside of the vehicle frame (5), the vehicle frame (5) is along the horizontal fortune of parking rack (6)
Dynamic, the both ends of the vehicle frame (5) are equipped with control terminal (1), and extending one in the control terminal (1) can axially rotate
Steel column (2), which is characterized in that the steel column (2) is equipped with XXing Cha pawl mechanism (3), XXing Cha pawl mechanism (3) number
Amount is two, is located at the both ends of steel column (2), is equipped on the steel column (2) at the both ends of the XXing Cha pawl mechanism (3) anti-
The Fixing shrink ring that ZhiXXing Cha pawl mechanism (3) axially slides, the XXing Cha pawl mechanism (3) further include fork pawl main body (31),
The fork pawl main body (31) is equipped with four radial curved yokes (32) stretched out to quadrangle, the curved yoke
(32) one end be hinged on fork pawl main body (31) on, the curved yoke (32) of described four include be parallel to each other clamping lifting it is whole
The first position of a wheel and movable rod (34) are driven to make four curved yokes (32) in X-type cross by nut (33)
The close second position by folder vehicle tyre one side of state, the top of the XXing Cha pawl mechanism is additionally provided with housing
(8), sliding slot (81) are formed between the housing (8) and vehicle frame (5), the curved yoke (32) is horizontal sliding along the chute (81)
It moves.
2. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
XXing Cha pawl mechanism (3) includes the two-way Luo bar cylinder (4) being set on steel column (2), and the both ends of the two-way Luo bar cylinder (4) are set
There is contrary screw thread, is arranged with nut (33) on the screw thread of the two-way Luo bar cylinder (4), the nut (33) and song
It is additionally provided between shape yoke (32) movable rod (34), the both ends of the movable rod (34) are hinged on nut (33) and curved
On yoke (32).
3. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
The both ends of fork pawl main body (31) are additionally provided with mounting groove, and the curved yoke (32) is hinged in mounting groove.
4. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
Vehicle frame (5) is equipped with mounting base (51), and the housing (8) is fixedly mounted on mounting base (51).
5. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
The front end of vehicle frame (5) is additionally provided with the slipper of charging.
6. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
Rolling bushing (36) is arranged on curved yoke (32), the rolling bushing (36) is more piece, and more piece rolling bushing (36) is set in
On curved yoke (32).
7. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 2, which is characterized in that described
Movable rod (34), which is equipped with, plays limit switch (7) and the searching vehicle wheel position of foetus that yoke clamped and loosened stroke control function
The sensor set.
8. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
Range sensor and visual sensor are additionally provided in robot.
9. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
The bottom of vehicle frame (5) is additionally provided with driven wheel (52).
10. a kind of X-type clamping-arm intelligent parking garage Yi Che robot according to claim 1, which is characterized in that described
Vehicle frame (5) both ends be equipped with driving wheel, be additionally provided between the driving wheel and vehicle frame (5) control robot steering turning machine
Structure, the steering mechanism are connected to motor driven driving wheel by chain and turn to, and the vehicle frame (5) bottom is also equipped with navigation
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913519.8A CN106437253B (en) | 2016-10-20 | 2016-10-20 | A kind of X-type clamping-arm intelligent parking garage Yi Che robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913519.8A CN106437253B (en) | 2016-10-20 | 2016-10-20 | A kind of X-type clamping-arm intelligent parking garage Yi Che robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106437253A CN106437253A (en) | 2017-02-22 |
| CN106437253B true CN106437253B (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610913519.8A Active CN106437253B (en) | 2016-10-20 | 2016-10-20 | A kind of X-type clamping-arm intelligent parking garage Yi Che robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108412281B (en) * | 2018-04-13 | 2023-09-29 | 西南交通大学 | Automobile carrying device |
| CN108843099B (en) * | 2018-07-02 | 2020-01-07 | 合肥市春华起重机械有限公司 | Self-adaptive table top structure of car moving robot for intelligent parking garage and system thereof |
| CN111827745B (en) * | 2019-04-18 | 2022-08-23 | 杭州海康机器人技术有限公司 | Parking robot |
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| JPH08144557A (en) * | 1994-11-16 | 1996-06-04 | Nagasaki Jack Kk | Housing/carrying-out method of automobile in multistory parking and its device |
| CN1629436A (en) * | 2003-12-19 | 2005-06-22 | 中国国际海运集装箱(集团)股份有限公司 | A vehicle body arrangement and conveying access system employing same |
| CN103089046A (en) * | 2011-11-04 | 2013-05-08 | 深圳怡丰自动化科技有限公司 | Handling robot and mechanical three-dimensional garage using the handling robot |
| CN205135058U (en) * | 2015-08-07 | 2016-04-06 | 方磅礴 | Move car system |
| CN206091478U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | X type arm lock formula intelligence garage parking moves car robot |
-
2016
- 2016-10-20 CN CN201610913519.8A patent/CN106437253B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08144557A (en) * | 1994-11-16 | 1996-06-04 | Nagasaki Jack Kk | Housing/carrying-out method of automobile in multistory parking and its device |
| CN1629436A (en) * | 2003-12-19 | 2005-06-22 | 中国国际海运集装箱(集团)股份有限公司 | A vehicle body arrangement and conveying access system employing same |
| CN103089046A (en) * | 2011-11-04 | 2013-05-08 | 深圳怡丰自动化科技有限公司 | Handling robot and mechanical three-dimensional garage using the handling robot |
| CN205135058U (en) * | 2015-08-07 | 2016-04-06 | 方磅礴 | Move car system |
| CN206091478U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | X type arm lock formula intelligence garage parking moves car robot |
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| CN106437253A (en) | 2017-02-22 |
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Denomination of invention: An X-type clip-arm intelligent parking garage moving robot Effective date of registration: 20220906 Granted publication date: 20190426 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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