CN106760754A - Parking apparatus packaging robot and packaging method - Google Patents
Parking apparatus packaging robot and packaging method Download PDFInfo
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- CN106760754A CN106760754A CN201611243561.XA CN201611243561A CN106760754A CN 106760754 A CN106760754 A CN 106760754A CN 201611243561 A CN201611243561 A CN 201611243561A CN 106760754 A CN106760754 A CN 106760754A
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- parking apparatus
- parking
- storage region
- packaging robot
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- 238000004806 packaging method and process Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 149
- 230000003028 elevating effect Effects 0.000 claims description 44
- 239000000725 suspension Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000000528 Ricinus communis Species 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 235000020004 porter Nutrition 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention provides a kind of parking apparatus packaging robot, it is related to intelligent parking lot engineering device technique field.Parking apparatus packaging robot includes：Controller；The walking basal seat of shift mechanism is installed；Parking apparatus storage region on base, the parking apparatus storage region has the space for accommodating at least one parking apparatus；Installed in base or the parking apparatus distributor gear of parking apparatus storage region, parking apparatus are stored to or moved away from out the parking apparatus storage region by the parking apparatus distributor gear.Parking apparatus packaging robot of the invention can deliver parking apparatus and reach installation region, and parking apparatus are placed into target location, and parking apparatus are carried in packaging robot are stored, and the low amount of labour of staff, efficiency high, security is good.
Description
Technical field
Intelligence the present invention relates to intelligent parking lot engineering device technique field, more particularly to parking apparatus collects assembling device.
Background technology
Three-dimensional compound parking stall equipment has turned into a kind of effective technical scheme for solving parking stall deficiency.It is vertical at present
The compound parking stall equipment of body formula is all mostly double-deck without the form of avoidance, and bottom parking stall is directly freed in and out without car bearing platform by vehicle,
Upper-layer parking platform is column cantilever structure, then completes the vehicle on upper-layer parking platform by traversing, elevating mechanism
Sail into or roll away from, the equipment of the in the market frame mode has complicated in mechanical structure, cumbersome shortcoming.Therefore, occur in that each
Simple lifting three-dimensional parking device is planted, they are mostly from above-mentioned lifting cross-sliding type garage change of technique.
More typical Simple lifting three-dimensional parking device, each each vehicle of the parking apparatus upper and lower two-layer of energy capacity,
The vehicle on upper strata is with the lifting of vehicle-carrying plate one and is parked on vehicle-carrying plate, the vehicle parking of lower floor in lower section, when parking space is not stopped
When putting vehicle, vehicle-carrying plate can land and freely be come in and gone out by the vehicle on vehicle-carrying plate on ground, is parked in.
Those skilled in the art are when simple parking apparatus are installed in parking stall, it is necessary to artificial or artificial operation machinery sets parking
It is standby to be carried to parking stall region, it is cumbersome and dangerous, easily make porter, installer injured, increased work
The amount of labour of personnel, also reduces installation effectiveness.Also, for the occasion for needing the multiple parking apparatus of setting, multiple parking sets
, there is potential safety hazard in standby arbitrarily stacking.
The content of the invention
It is an object of the invention to：Overcome the deficiencies in the prior art, there is provided for the machine for the assembly of unit load of intelligent management parking apparatus
Device people, multiple parking apparatus are stored in the packaging robot.Present invention reduces the amount of labour of staff, efficiency high, peace
Good perfection.
To realize above-mentioned target, the invention provides following technical scheme:
A kind of parking apparatus packaging robot, including：Controller；The walking basal seat of shift mechanism is installed；On base
Parking apparatus storage region, the parking apparatus storage region has the space for accommodating at least one parking apparatus；The bottom of installed in
The parking apparatus distributor gear of seat or parking apparatus storage region, is stored parking apparatus by the parking apparatus distributor gear
To or move away from out the parking apparatus storage region.
Further, also including balanced controls, the balanced controls be used to adjusting plane where parking apparatus storage region with
The angle of horizontal plane.
Preferably, the balanced structure is telescopic oil cylinder, and the telescopic oil cylinder lower end is arranged on base, the flexible oil
Cylinder upper end is arranged under parking apparatus storage region, when base is walked on the slope, controls the collapsing length of telescopic oil cylinder, is adjusted
Plane where the whole parking apparatus storage region is in horizontal plane.
Further, the parking apparatus distributor gear includes the travel mechanism of movable parking equipment and captures parking apparatus
Grasping mechanism.
Further, the travel mechanism is telescopic or folding type mechanical arm, and the lower end of mechanical arm is pacified by rotating base
On base, the upper end connection grasping mechanism of mechanical arm controls grasping mechanism to move by the mechanical arm.
Further, the travel mechanism includes the elevating mechanism being slidably mounted on base, and the elevating mechanism can be relative
Base is skidded off, elevating mechanism connection grasping mechanism.
Preferably, the elevating mechanism includes the lifting rope or suspension rod at the top of parking apparatus storage region, described to hang
Rope or downrod lower end install grasping mechanism；After grasping mechanism crawl parking apparatus, parking is set by lifting rope or suspension rod
Standby liter is down to target location.
Or, the elevating mechanism includes the elevating screw installed in parking apparatus storage region, on the parking apparatus
It is provided with the silk hole matched with threads of lead screw；When the elevating mechanism is moved to above parking apparatus, leading screw and silk hole are controlled
Coordinate, lead-screw driving device drives leading screw rotation, drive the parking apparatus liter to be down to target location.
May need to be fixed on precalculated position in view of the parking apparatus, the parking apparatus storage region is provided with solid
Determine the pin-and-hole or pin of parking apparatus, the pin or pin-and-hole matched with the pin-and-hole or pin be provided with the parking apparatus,
When parking apparatus liter is down to target location, control pin protrudes into pin-and-hole, and parking apparatus are fixed on into target location.
Further, the travel mechanism includes elevating mechanism and transverse-moving mechanism, and transverse-moving mechanism is to be deposited installed in parking apparatus
The guide rail in storage area domain, elevating mechanism is arranged on guide rail, and grasping mechanism, the elevating mechanism control are provided with the elevating mechanism
Grasping mechanism processed is moved up and down.
Further, when the parking apparatus have shift mechanism, parking apparatus storage region has and above-mentioned shift mechanism
The track of matching.
Further, the grasping mechanism include clamping jaw and jig arm, the clamping jaw can be moved in jig arm with adjust clamping jaw it
Between distance.
Preferably, the grasping mechanism is suspension hook or sucker.
Preferably, the sucker is magnechuck, and the electric supply installation of the magnechuck is communicated with controller.
Preferably, the grasping mechanism includes clamping locking device, and the clamping locking device includes Contraband type supporting plate, folder
Block, gripper cylinder are held, gripper cylinder is separately fixed in the upper plate of Contraband type supporting plate, lower plate, the expansion link difference of gripper cylinder
Grip block is connected after upper plate, lower plate through Contraband type supporting plate.
Present invention also offers a kind of packaging method using foregoing parking apparatus packaging robot, including step：
The parking apparatus packaging robot for being mounted with least one parking apparatus moves to parking stall；
Using the parking apparatus distributor gear in parking apparatus packaging robot, parking apparatus are moved away from into out the parking and is set
Standby storage region is simultaneously positioned over target stand；Or, the parking apparatus that will be parked on parking stall are carried and stored to parking and set
Successively stacked in standby container.
Further, when parking apparatus have shift mechanism, parking apparatus are moved away from out described stopping by parking apparatus distributor gear
After vehicle device storage region, the parking apparatus move to target stand.
The present invention compared with prior art, as an example, has the following advantages that and accumulates due to using above technical scheme
Pole effect：Using the present invention, when needing to be allocated parking apparatus, parking apparatus packaging robot carrys parking apparatus
Parking apparatus installation region is reached, parking apparatus are placed to object mounting position, the parking apparatus just can be used for storing cycle.
The parking apparatus packaging robot can also carry out packaging management, during this, machine for the assembly of unit load to scattered parking apparatus in garage
Device people is automatically moved into the installation site of parking apparatus, parking apparatus are carried to one by one in packaging robot stored, heap
Put.Parking apparatus packaging robot of the invention realizes the intelligent management of parking apparatus, reduces the amount of labour of staff,
The efficiency of parking apparatus distribution and packaging is improve, security is good, realize parking apparatus distribution and the automation of packaging.
Brief description of the drawings
Fig. 1 is the structural representation one of the parking apparatus packaging robot that the embodiment of the present invention one is provided.
Fig. 2 is the top view of above-mentioned parking apparatus packaging robot.
Fig. 3 is the structural representation of the parking apparatus distributor gear of above-mentioned parking apparatus packaging robot.
Fig. 4 is the structural representation two of the parking apparatus packaging robot that the embodiment of the present invention one is provided.
Fig. 5-7 is the structure of the parking apparatus distributor gear of the parking apparatus packaging robot that the embodiment of the present invention two is provided
Schematic diagram.
Fig. 8-10 is the knot of the parking apparatus distributor gear of the parking apparatus packaging robot that the embodiment of the present invention three is provided
Structure schematic diagram.
Figure 11 is the grasping mechanism schematic diagram of above-mentioned parking apparatus distributor gear.
Figure 12 is the flow chart of the packaging method that the embodiment of the present invention four is provided.
Label is as follows in figure：
Parking apparatus packaging robot 100；
Controller 110；
Walking basal seat 120, shift mechanism 121, groove 122；
Parking apparatus storage region 130, sidewall paneling 131, track 132；
Parking apparatus distributor gear 140, rotating base 141, connecting rod 142, arm 143, elbow 144, grasping mechanism 145, hinge
Axle 146,147,148；
Elevating mechanism 150, gate frame 151, hoist engine 152, lifting rope 153, grasping mechanism 154, groove 155, pulley
156；
Chute 21, guide rail 22, elevating mechanism 23, lifting rope or suspension rod 24, grasping mechanism 25；
Clamping locking device 160, connecting plate 161, Contraband type supporting plate 162, grip block 163, gripper cylinder 164, expansion link
1641, rubber blanket 165；
Parking apparatus 200, parking apparatus shift mechanism 210；
Vehicle 300.
Specific embodiment
The parking apparatus packaging robot and packaging method provided the present invention below in conjunction with the drawings and specific embodiments make
Further describe.It should be noted that the combination of the technical characteristic or technical characteristic described in following embodiments should not
When being considered as isolated, they can be mutually combined so as to reach superior technique effect.In the accompanying drawing of following embodiments
In, the identical label that each accompanying drawing occurs represents identical feature or part, in can be applied to different embodiments.
It should be noted that, structure, ratio, size depicted in this specification institute accompanying drawings etc. are only used to coordinate explanation
Content disclosed in book, so that those skilled in the art understands and reads, is not limited to invent enforceable restriction bar
Part, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influenceing to invent effect and the institute's energy that can be generated
Under the purpose reached, all should fall in the range of the technology contents disclosed in invention to be covered.The side of being preferable to carry out of the invention
The scope of formula includes other realization, wherein order that is shown or discussing can not be pressed, including function involved by basis is pressed
Basic mode simultaneously or in the opposite order, carrys out perform function, and this should be by the skill of embodiments of the invention art
Art personnel understood.In addition, " transverse direction " in the present invention refers to level or close to horizontal direction, in the present invention alleged " vertical "
Refer to vertical or near vertical direction.
Embodiment one
Fig. 1 is the structural representation one of the parking apparatus packaging robot that the embodiment of the present invention one is provided.
Fig. 2 is the top view of above-mentioned parking apparatus packaging robot.
Fig. 3 is the structural representation of the parking apparatus distributor gear of above-mentioned parking apparatus packaging robot.
Fig. 4 is the structural representation two of the parking apparatus packaging robot that the embodiment of the present invention one is provided.
A kind of parking apparatus packaging robot 100, including：Controller 110；The walking basal seat of shift mechanism 121 is installed
120；There is parking apparatus storage region 130 on base 120, the parking apparatus storage region 130 receiving at least one to stop
The space of vehicle device；Installed in base 120 or the parking apparatus distributor gear 140 of parking apparatus storage region 130, by described
Parking apparatus 200 are stored to or moved away from out the parking apparatus storage region 130 by parking apparatus distributor gear 140.
The circuit that controller 110 is used for parking apparatus packaging robot is controlled, can be independently in the case of unmanned the intervention
The operation and operating of parking apparatus packaging robot all parts are driven, unrestricted as an example, controller may be mounted at
On base 120, it is also possible to which parking apparatus storage region 130 is installed.
Base 120 can freely be walked by shift mechanism 121, and the shift mechanism 121 can be that rigid castors can also
It is movable castor (universal wheel).
In the present embodiment, it is contemplated that parking apparatus packaging robot 100 walks in not good local of pavement behavior,
Such as when road surface is domatic larger, center of gravity can be shifted, and now be susceptible to topple, and balanced controls are installed on base 120
(not shown), the balanced controls are used to adjust the angle of plane where parking apparatus storage region and horizontal plane.At this
In embodiment, the balanced structure is telescopic oil cylinder, and the telescopic oil cylinder lower end is arranged on base, the telescopic oil cylinder upper end
Under parking apparatus storage region, when base is walked on the slope, the collapsing length of telescopic oil cylinder is controlled, adjustment is described
Plane is in horizontal plane where parking apparatus storage region.Above-mentioned regulating measure is unrestricted as an example, it would however also be possible to employ this
Other conventional leveling means of field are adjusted.
With reference to Fig. 1, be stored with 6 parking apparatus 200 in parking apparatus storage region 130, difference label 1,2,3,4,
5,6.The parking apparatus 200 are used for storing cycle.Unrestricted as an example, the parking apparatus in the present embodiment can have 2
Layer landing, levels landing may be folded on together, control levels landing to launch when needed, upper strata, under
Layer landing can park cars.
Parking apparatus storage region 130 can be Open architecture, such as in Fig. 1 only one piece of base plate, or
Container with top board and/or side wall, parking apparatus are deposited wherein.
Parking apparatus distributor gear 140 includes the travel mechanism of movable parking equipment 200 and grabbing for crawl parking apparatus 200
Take mechanism.Described crawl, refers to before movable parking equipment 200, parking apparatus to be fixed, described grasping mechanism,
Also can be regarded as fixed mechanism during movable parking equipment.
The travel mechanism can be folding type mechanical arm, referring to shown in Fig. 1-3；Or telescopic mechanical arm, referring to
Shown in Fig. 4.The lower end of mechanical arm is arranged on base by rotating base, the upper end connection grasping mechanism of mechanical arm, by institute
Mechanical arm control grasping mechanism is stated to move.
Referring to Fig. 3, the folding type mechanical arm is sixdegree-of-freedom simulation, unrestricted as an example, six degree of freedom machine
Tool arm includes：Arm 143, elbow 144, hand (i.e. grasping mechanism) 145.
Sixdegree-of-freedom simulation is arranged on base 120 by rotating base 141, and connection is fixed with rotating base 141
Bar 142, arm 143 is arranged in connecting rod 142 by hinge 146, when the forwards/reverse of rotating base 141 rotates, can be existed with swing arm
Forwards/reverse rotation on horizontal plane, meanwhile, arm 143 can rotate around connecting rod 142 in vertical plane.Elbow 144 is pacified by hinge 146
On arm 143, elbow 144 can rotate around arm 143 in vertical plane, and hand (i.e. grasping mechanism) 145 is arranged on elbow by hinge 148
On 144, grasping mechanism 145 can rotate around elbow 144 in horizontal plane, and the grasping mechanism 145 is used for parking apparatus to be moved
200 are fixed in travel mechanism.
Referring to Fig. 4, the travel mechanism is the hydraulically extensible bar being arranged on by rotating base 141 on base 120, hydraulic pressure
Expansion link includes hydraulic cylinder and expansion link, and one end connection liquid cylinder pressure of expansion link, one end is provided with lifting rope, lifting rope one by pulley
End connection winding plant, one end connection grasping mechanism 145.Its operation principle is captured similar to crane in grasping mechanism 145
After (fixation) parking apparatus 200, after lifting rope is lifted by crane, target location placement is moved to.
In the present embodiment, the grasping mechanism can be suspension hook or sucker, it is preferred that the sucker is magnechuck, institute
The electric supply installation for stating magnechuck is communicated with controller.Above-mentioned grasping mechanism is unrestricted as an example, typically, described
Grasping mechanism can also be claw structure, it is preferred that claw structure includes clamping jaw and jig arm, and the clamping jaw can be moved in jig arm
To adjust the distance between clamping jaw, various sizes of parking apparatus are adapted to this.
Embodiment two
Fig. 5-7 is the structure of the parking apparatus distributor gear of the parking apparatus packaging robot that the embodiment of the present invention two is provided
Schematic diagram.The difference of the embodiment and embodiment one, is that the structure of parking apparatus distributor gear is different with set-up mode.
Parking apparatus distributor gear 140 includes the travel mechanism of movable parking equipment 200 and grabbing for crawl parking apparatus 200
Take mechanism.In the present embodiment, the travel mechanism includes the elevating mechanism 150 being slidably mounted on base 120, the lift
Structure 150 can respect thereto skid off, elevating mechanism 150 connection grasping mechanism.
The elevating mechanism 150 includes the lifting rope or suspension rod at the top of parking apparatus storage region, lifting rope and suspension rod
Lower connection grasping mechanism, after grasping mechanism crawl parking apparatus 200, by lifting rope or suspension rod by 200 liters of parking apparatus
It is down to target location placement.
By taking lifting rope as an example, the travel mechanism is illustrated with reference to Fig. 5.
Referring to Fig. 5 A, the parking apparatus storage region on base 120 lays 5 parking apparatus, respectively label 1, and 2,3,
4,5.The elevating mechanism 150 includes installing the gate frame 151 of lifting part, and the gate frame 151 includes that left and right is collateral
Strut and top cross-bar, are provided with hoist engine 152 in top cross-bar.The one end of lifting rope 153 is connected with hoist engine 152, one end with
Grasping mechanism 154 is connected.The length of lifting rope is controlled by hoist engine, so as to control grasping mechanism 154 to move up and down.
The grasping mechanism 154 can be suspension hook or sucker.When using suspension hook, can be set on parking apparatus as needed
Put the hanger or suspension ring matched with suspension hook.When using sucker, it is preferred to use magnetic suction disc, such as conventional magnechuck, institute
The electric supply installation for stating magnechuck is communicated with controller.
It is first when needing that the parking apparatus 200 that parking apparatus storage region is deposited are placed to ground parking stall and are laid
First parking apparatus packaging robot is moved near the ground parking stall, and control hoist engine puts lifting rope 153, and grasping mechanism 154 declines.
After the decline of grasping mechanism 154 is contacted with No. 5 parking apparatus 200 of the superiors, rope is put in stopping, and controller starts electromagnetism
The electric supply installation of sucker, magnechuck just can fix No. 5 parking apparatus 200 after having magnetic by suction, referring to Fig. 5 B, crawl
Mechanism 154 secures No. 5 parking apparatus 200, drives the parking apparatus 200 to rise by lifting rope 153.
Then, elevating mechanism 150 needs overall respect thereto to remove so that No. 5 parking apparatus 200 are placed into Ground Vehicle
Position.The overall relative method for removing of elevating mechanism is realized, it is unrestricted as an example, can be using the structure shown in Fig. 6.Referring to figure
6A, fluted 155 are set in the lower inside of gate frame 151, are provided with what can be rolled in groove 155 on groove 155
Pulley 156；Base 120 outside set fluted 122, groove 122 as pulley 156 chute.Control pulley 156 is rolled
It is dynamic, the position where sliding out to foregoing ground parking stall relative to the respect thereto 120 of gate frame 151.Control hoist engine release is hung
No. 5 parking apparatus 200 are placed in ground parking stall by rope 153.Then, controller closes the electric supply installation of magnechuck, and electromagnetism is inhaled
Disk magnetic force disappears, and control hoist engine tightens up lifting rope 153.Referring to shown in Fig. 6 B, now, the parking apparatus 200 on base 120 are left
4.
Now, the respect thereto counter motion of gate frame 151 is controlled, home position is returned back to, referring to shown in Fig. 7 A, together
When, can be used to normally park cars 300 on No. 5 parking apparatus 200.As needed, then control base 120 pass through shift mechanism row
Walk to the position of next ground parking stall, carry out the placement of other parking apparatus.
The elevating mechanism of above-mentioned use framework and lifting rope/suspension rod is as an example and unrestricted.Elevating mechanism is also adoptable
Screw-threaded shaft elevator, typical structure is as follows.
The elevating mechanism bag be arranged on parking apparatus storage region elevating screw, be provided with the parking apparatus with
The silk hole of threads of lead screw matching；When the elevating mechanism is moved to above parking apparatus, control leading screw and silk hole coordinate, leading screw
Drive device drives leading screw rotation, drives the parking apparatus liter to be down to target location.
The process and said process of parking apparatus storage are carried out as the parking apparatus packaging robot by the present embodiment
Conversely.
When by parking apparatus storage in the parking apparatus storage region of parking apparatus packaging robot, it is contemplated that described to stop
Vehicle device may need to be fixed on precalculated position, and the parking apparatus storage region is provided with the pin-and-hole or pin of fixed parking apparatus
Post, is provided with the pin or pin-and-hole matched with the pin-and-hole or pin on the parking apparatus, when parking apparatus liter is down to target
During position, control pin protrudes into pin-and-hole, and parking apparatus are fixed on into target location.Above-mentioned fixed form as an example rather than
Limit.
Embodiment three
Fig. 8-10 is the knot of the parking apparatus distributor gear of the parking apparatus packaging robot that the embodiment of the present invention three is provided
Structure schematic diagram.
Figure 11 is the grasping mechanism schematic diagram of above-mentioned parking apparatus distributor gear.
The difference of the embodiment and embodiment two, is that the structure of parking apparatus distributor gear is different with set-up mode.
Parking apparatus distributor gear 140 includes the travel mechanism of movable parking equipment 200 and grabbing for crawl parking apparatus 200
Take mechanism.In the present embodiment, the travel mechanism includes elevating mechanism and transverse-moving mechanism.
Illustrated referring to Fig. 8.Parking apparatus storage region 130 includes sidewall paneling 131, although Fig. 8 only shows 2 surface sides
Wallboard --- back plate and left plate, but those skilled in the art are it can be deduced that sidewall paneling may also include right plate, and can basis
Need to increase bottom plate, the parking apparatus to being deposited in parking apparatus storage region 130 provide preferably protection.
Chute 21 is installed in the lower end both sides of sidewall paneling 131, guide rail 22 is installed on chute 21, elevating mechanism 23 is pacified
On guide rail 22, guide rail 22 in chute 21 can horizontal sliding, so as to drive the horizontal sliding of elevating mechanism 23.
Grasping mechanism 25 is installed on the elevating mechanism 23.In the present embodiment, crawl is installed by lifting rope or suspension rod 24
Mechanism 25, controls the grasping mechanism 25 to move up and down by discharging, tightening up lifting rope.The mode of control lifting rope or suspension rod, can be with
Using hoist engine, it would however also be possible to employ assembly pulley, do not limit herein, as long as lifting can be realized.
Certainly, the elevating mechanism of above-mentioned use lifting rope/suspension rod is unrestricted as an example, and typically, elevating mechanism may be used also
The screw-threaded shaft elevator of use, hydraulically extensible bar etc..
In the present embodiment, the parking apparatus have shift mechanism 210, can set receiving in parking apparatus storage region and stop
Vehicle device shift mechanism track 132.
It is first when needing that the parking apparatus 200 that parking apparatus storage region is deposited are placed to ground parking stall and are laid
First parking apparatus packaging robot is moved near the ground parking stall, and control lifting rope or suspension rod 24 discharge, and grasping mechanism 25 declines.
In the present embodiment, grasping mechanism may include pin and the flexible driving structure of control pin, the side of parking apparatus 200
Portion is provided with and matches pin-and-hole with pin.
Grasping mechanism 25 drops to the sidepiece pin-and-hole position of parking apparatus 200, and rope is put in stopping, and control pin is protruded into
Pin-and-hole.Referring to Fig. 9, grasping mechanism 25 has captured parking apparatus 200, and control guide rail 22 is relative to the horizontal sliding of chute 21, guide rail
22 drive elevating mechanisms 23 are skidded off relative to parking apparatus storage region 130, now, 4 are left in parking apparatus memory block 130
Parking apparatus, it is shown in Figure 10.
Then, after elevating mechanism 23 is moved to the upper area of ground parking stall, control release lifting rope 24, by parking apparatus
200 are placed in ground parking stall.Then, controller pin withdraws.Control guide rail 22 withdraws, and elevating mechanism 23 returns back to raw bits
Put.
The process and said process of parking apparatus storage are carried out as the parking apparatus packaging robot by the present embodiment
Conversely.Unrestricted as an example, typical way is as follows.
Parking apparatus packaging robot is moved near parking apparatus to be stored first, and control guide rail 22 is laterally moved out,
Elevating mechanism 23 is driven to be moved to parking apparatus both sides, lifting rope drops to parking apparatus both sides, and grasping mechanism captures parking apparatus,
Lifting rope rises to object height, and guide rail 22 is retracted to home position, and lifting rope control parking apparatus are placed on target location.
In the present embodiment, in addition to flexible pin, can also be using clamping locking device as grasping mechanism.
Unrestricted as an example, the clamping locking device 160 includes Contraband type supporting plate 162, grip block 163, clamping
Cylinder 164, gripper cylinder 164 is separately fixed in the upper plate of Contraband type supporting plate, lower plate, the expansion link 1641 of gripper cylinder 164
Grip block 163 is connected after being each passed through the upper plate of Contraband type supporting plate, lower plate, the locking of grip block is realized by gripper cylinder and is released
Put.The gripper cylinder is arranged in pairs, and can be multipair.Meanwhile, rubber blanket 165 can be installed on grip block 163 as needed,
Protection parking apparatus improve chucking power simultaneously.
Example IV
Figure 12 is the flow chart of the packaging method that the embodiment of the present invention four is provided
Present invention also offers a kind of packaging method using foregoing parking apparatus packaging robot, including step：
The parking apparatus packaging robot for being mounted with least one parking apparatus moves to parking stall；
Using the parking apparatus distributor gear in parking apparatus packaging robot, parking apparatus are moved away from into out the parking and is set
Standby storage region is simultaneously positioned over target stand；Or, the parking apparatus that will be parked on parking stall are carried and stored to parking and set
Successively stacked in standby container.
In the present embodiment, when parking apparatus have shift mechanism, parking apparatus are moved away from out institute by parking apparatus distributor gear
After stating parking apparatus storage region, the parking apparatus move to target stand.
Unrestricted as an example, the method for typical distribution and storage parking apparatus is as follows.
Parking apparatus distributor gear includes travel mechanism and grasping mechanism.
The parking apparatus 200 that parking apparatus storage region is deposited are placed to by Ground Vehicle by parking apparatus packaging robot
The method that position is laid comprises the following steps.
Parking apparatus packaging robot is moved near the ground parking stall, controls the grasping mechanism of parking apparatus distributor gear
Decline.
Grasping mechanism declines crawl parking apparatus 200 and rises to object height, and travel mechanism's movable parking equipment leaves and stops
Vehicle device storage region, then parking apparatus 200 be placed in ground parking stall.As needed, then the shift mechanism that controls on base
Run near the position of next ground parking stall, carry out the placement of other parking apparatus.The parking apparatus 200 for placing can be used for car
300 park.
The parking apparatus that will be parked in parking stall by parking apparatus packaging robot are carried and stored to parking apparatus container
In the method successively stacked comprise the following steps.
Parking apparatus packaging robot is moved near parking apparatus to be stored first, controls parking apparatus distributor gear
Grasping mechanism crawl parking apparatus, by travel mechanism by parking apparatus move to parking apparatus storage region place.Then,
Parking apparatus packaging robot is moved near next parking apparatus to be stored, and the grasping mechanism of parking apparatus distributor gear is grabbed
The parking apparatus are taken, the parking apparatus of crawl are placed in into parking apparatus storage region by travel mechanism places.Preferably, should
Parking apparatus are overlayed on the parking apparatus of previous storage.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Scope.
Claims (14)
1. a kind of parking apparatus packaging robot, including controller, it is characterised in that including：
The walking basal seat of shift mechanism is installed；
Parking apparatus storage region on base, the parking apparatus storage region has the sky for accommodating at least one parking apparatus
Between；
Installed in base or the parking apparatus distributor gear of parking apparatus storage region, will by the parking apparatus distributor gear
Parking apparatus store to or move away from out the parking apparatus storage region.
2. parking apparatus packaging robot according to claim 1, it is characterised in that：Including balanced controls, the balance
Mechanism is used to adjust the angle of plane where parking apparatus storage region and horizontal plane.
3. parking apparatus packaging robot according to claim 2, it is characterised in that：The balanced structure is flexible oil
Cylinder, the telescopic oil cylinder lower end is arranged on base, and the telescopic oil cylinder upper end is arranged under parking apparatus storage region, works as bottom
When seat is walked on the slope, the collapsing length of telescopic oil cylinder is controlled, plane where adjusting the parking apparatus storage region is in
Horizontal plane.
4. parking apparatus packaging robot according to claim 1, it is characterised in that：The parking apparatus distributor gear bag
Include the travel mechanism of movable parking equipment and the grasping mechanism of crawl parking apparatus.
5. parking apparatus packaging robot according to claim 4, it is characterised in that：The travel mechanism for telescopic or
Folding type mechanical arm, the lower end of mechanical arm is arranged on base by rotating base, the upper end connection grasping mechanism of mechanical arm, is led to
The mechanical arm control grasping mechanism is crossed to move.
6. parking apparatus packaging robot according to claim 4, it is characterised in that：The travel mechanism includes sliding to be pacified
Base-mounted elevating mechanism, the elevating mechanism can respect thereto skid off, elevating mechanism connection grasping mechanism.
7. parking apparatus packaging robot according to claim 6, it is characterised in that：The elevating mechanism includes being arranged on
Lifting rope or suspension rod at the top of parking apparatus storage region, the lifting rope or downrod lower end install grasping mechanism；In the gripper
After structure crawl parking apparatus, parking apparatus liter is down to by target location by lifting rope or suspension rod.
8. parking apparatus packaging robot according to claim 6, it is characterised in that：The elevating mechanism includes being arranged on
The elevating screw of parking apparatus storage region, is provided with the silk hole matched with threads of lead screw on the parking apparatus；In the liter
When descending mechanism is moved to parking apparatus top, control leading screw and silk hole coordinate, and lead-screw driving device drives leading screw rotation, drives institute
State parking apparatus liter and be down to target location.
9. the parking apparatus packaging robot according to claim 7 or 8, it is characterised in that：The parking apparatus memory block
Domain is provided with the pin-and-hole or pin of fixed parking apparatus, and the pin matched with the pin-and-hole or pin is provided with the parking apparatus
Post or pin-and-hole, when parking apparatus liter is down to target location, control pin protrudes into pin-and-hole, and parking apparatus are fixed on into target
Position.
10. parking apparatus packaging robot according to claim 4, it is characterised in that：The travel mechanism includes lifting
Mechanism and transverse-moving mechanism, transverse-moving mechanism are the guide rail installed in parking apparatus storage region, and elevating mechanism is arranged on guide rail, institute
State and be provided with elevating mechanism crawl structure, the elevating mechanism control grasping mechanism is moved up and down.
11. parking apparatus packaging robots according to claim 4, it is characterised in that：The grasping mechanism includes clamping jaw
And jig arm, the clamping jaw can move to adjust the distance between clamping jaw in jig arm.
12. parking apparatus packaging robots according to claim 4, it is characterised in that：The crawl structure includes clamping
Locking device, the clamping locking device includes Contraband type supporting plate, grip block, gripper cylinder, and gripper cylinder is separately fixed at Contraband
In the upper plate of type supporting plate, lower plate, the expansion link of gripper cylinder connects clamping after being each passed through the upper plate of Contraband type supporting plate, lower plate
Block.
The packaging method of parking apparatus packaging robot described in a kind of 13. utilization claims 1, it is characterised in that including step：
The parking apparatus packaging robot for being mounted with least one parking apparatus moves to parking stall；
Using the parking apparatus distributor gear in parking apparatus packaging robot, parking apparatus are moved away from into out the parking apparatus and is deposited
Storage area domain is simultaneously positioned over target stand；Or, the parking apparatus that will be parked on parking stall are carried and stored to parking apparatus and hold
Successively stacked in device.
14. packaging methods according to claim 13, it is characterised in that：
Parking apparatus have shift mechanism, and parking apparatus are moved away from out the parking apparatus storage region by parking apparatus distributor gear
Afterwards, the parking apparatus move to target stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611243561.XA CN106760754A (en) | 2016-12-29 | 2016-12-29 | Parking apparatus packaging robot and packaging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611243561.XA CN106760754A (en) | 2016-12-29 | 2016-12-29 | Parking apparatus packaging robot and packaging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106760754A true CN106760754A (en) | 2017-05-31 |
Family
ID=58927475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611243561.XA Pending CN106760754A (en) | 2016-12-29 | 2016-12-29 | Parking apparatus packaging robot and packaging method |
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| Country | Link |
|---|---|
| CN (1) | CN106760754A (en) |
Citations (7)
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| US6328521B1 (en) * | 1997-03-10 | 2001-12-11 | Shakbar Investments, Ltd. | Vehicle parking system |
| CN102295162A (en) * | 2011-08-17 | 2011-12-28 | 苏州工业园区惠颖精密科技有限公司 | Transplanting device |
| CN203373091U (en) * | 2013-07-15 | 2014-01-01 | 浙江鼎力机械股份有限公司 | High-altitude working platform capable of being used for slope ground |
| CN204660933U (en) * | 2015-04-22 | 2015-09-23 | 湖州圣航纺织有限公司 | A kind of cloth reel captures lift system |
| CN205158461U (en) * | 2015-12-01 | 2016-04-13 | 深圳市盛视科技有限公司 | Robot goes out access control system |
| CN205438526U (en) * | 2015-12-31 | 2016-08-10 | 天津禹汀科技有限公司 | Carrying robot |
| CN206376599U (en) * | 2016-12-29 | 2017-08-04 | 上海涂思机电技术有限公司 | Parking apparatus packaging robot |
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2016
- 2016-12-29 CN CN201611243561.XA patent/CN106760754A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6328521B1 (en) * | 1997-03-10 | 2001-12-11 | Shakbar Investments, Ltd. | Vehicle parking system |
| CN102295162A (en) * | 2011-08-17 | 2011-12-28 | 苏州工业园区惠颖精密科技有限公司 | Transplanting device |
| CN203373091U (en) * | 2013-07-15 | 2014-01-01 | 浙江鼎力机械股份有限公司 | High-altitude working platform capable of being used for slope ground |
| CN204660933U (en) * | 2015-04-22 | 2015-09-23 | 湖州圣航纺织有限公司 | A kind of cloth reel captures lift system |
| CN205158461U (en) * | 2015-12-01 | 2016-04-13 | 深圳市盛视科技有限公司 | Robot goes out access control system |
| CN205438526U (en) * | 2015-12-31 | 2016-08-10 | 天津禹汀科技有限公司 | Carrying robot |
| CN206376599U (en) * | 2016-12-29 | 2017-08-04 | 上海涂思机电技术有限公司 | Parking apparatus packaging robot |
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| CB03 | Change of inventor or designer information |
Inventor after: Ma Yuchen Inventor after: Liao Zebang Inventor before: Ma Yuchen |
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Effective date of registration: 20180425 Address after: 315500 2 5, 98 Hui Ming Road, Fenghua District, Ningbo, Zhejiang. Applicant after: NINGBO TOOLSIR ELECTROMECHANICAL CO.,LTD. Address before: 201203 mailbox 470, Chunxiao Road, China (Shanghai) free trade trial area, Pudong New Area, Shanghai, 203-32 Applicant before: SHANGHAI TUSI ELECTROMECHANICAL TECHNOLOGY CO.,LTD. |
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