CN106812361A - A kind of Intelligent garage transfer robot of combined bidirectional motion - Google Patents
A kind of Intelligent garage transfer robot of combined bidirectional motion Download PDFInfo
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- CN106812361A CN106812361A CN201610390898.7A CN201610390898A CN106812361A CN 106812361 A CN106812361 A CN 106812361A CN 201610390898 A CN201610390898 A CN 201610390898A CN 106812361 A CN106812361 A CN 106812361A
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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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Abstract
The invention discloses a kind of Intelligent garage transfer robot of combined bidirectional motion, first dolly is provided with the walking mechanism for driving dolly movable, slip eliminating machine for eliminating vehicle parking deviation, for the elevating mechanism for lifting vehicle, the clamping device for clamping vehicle tyre；The present invention is exchanged without comb, too extruding tire is avoided again and tyre life is reduced, Auto-matching tire location clamping degree consistent with size can be realized, centering process tire is without friction, ground vibration is isolated, versatility is high, to civil engineering requirement low and handling efficiency high the advantages of, and the combined bidirectional motion Intelligent garage transfer robot simple structure, low cost, high working efficiency, long service life is simple to operate.
Description
Technical field
The present invention relates to transfer robot, specifically a kind of Intelligent garage transfer robot of combined bidirectional motion.
Background technology
Three kinds of current mechanical garage widely used automobile carrier point：Vehicle-carrying plate is carried, and comb is exchanged carries clipping with tire.Market share amount maximum is comb tooth exchange type device, need the mounting broach frame on stopway and carrier, the exchange of vehicle is realized using the stagger distance between comb, and it is required that one group of coaxial two tire carry out it is pre-aligned, not only increased processing, difficulty and cost in capital construction, also have parking toll requirement to the driver stopped；Generally carrier can only be carried unidirectionally from headstock or the tailstock into vehicle bottom.
There is the one group of tire that only located under normal circumstances rolling pulley to support, during in, due to the strong lateral passage of centering body, another group of tire is had to and the comb that supports occurs violent sliding friction, easily cause the abrasion of the unbalanced STRESS VARIATION in tire contact plane and tread-rubber, cause the unnecessary vibration in vehicle travel process, or even reduce Life of Tyre.
Because the wheelbase of different vehicle is change, it is unbalanced to there are two comb contacts in the tire contact plane after carrier handing-over, the situation that even only one of which comb is contacted, presence plus Uneven road in handling process or transition gap can cause left and right load uneven and longitudinal axis length change, the differentiation of carrier and inside tires stress is caused to increase, and conduct to the axletree of carrying vehicle, cause its fatigue life to shorten dramatically.
The clipping equipment of tire of other in the market is generally the method for clamping of constant spacing, it is impossible to adapt to the requirement of the clamping degree uniformity of different kinds of tyre size；Or structure is relative complex, cost is higher, is generally that again bad by property, generally speaking occupation rate of market is not high by extruding tire contact plane, realizing the lifting of vehicle, easily cause the undue stretching or extruding of tire inner bag, damage tire inner bag by the way of.
The content of the invention
The technical problems to be solved by the invention are, for the shortcoming of above prior art, propose a kind of Intelligent garage transfer robot of combined bidirectional motion, exchanged without comb, too extruding tire is avoided again and reduces tyre life, Auto-matching tire location clamping degree consistent with size can be realized, centering process tire is without friction, ground vibration is isolated, versatility is high, the advantages of to civil engineering requirement low and handling efficiency high, and the Intelligent garage transfer robot simple structure of combined bidirectional motion, low cost, high working efficiency, long service life, it is simple to operate.
In order to solve the above-mentioned technical problem, the technical scheme is that being accomplished by the following way：A kind of Intelligent garage transfer robot of combined bidirectional motion, including the first dolly and the second dolly for vehicle conveying, the walking mechanism for driving dolly movable is equipped with first dolly and the second dolly, slip eliminating machine for eliminating vehicle parking deviation, for the elevating mechanism for lifting vehicle, the clamping device for clamping vehicle tyre；
Walking mechanism includes horizontally disposed chassis, installed in the road wheel of chassis side, it is arranged on the movable motor on chassis, it is drive end along chassis length direction one end, the other end is driven end, movable motor is provided with drive end, road wheel is fixed on chassis by main shaft, and the main shaft positioned at drive end is provided with first gear, the output end of movable motor is provided with the second gear being meshed with first gear, can be distinguished at the front-wheel and trailing wheel of mobile vehicle the first dolly and the second dolly by walking mechanism；
Elevating mechanism includes being arranged on the lifting frame in chassis centre position, for the hoisting mechanism for controlling lifting frame to lift, hoisting mechanism is equipped with along the two ends in chassis length direction, hoisting mechanism includes the lifting electric putter being arranged on chassis, the first connecting rod being connected is rotated with lifting frame, the second connecting rod being connected is rotated with chassis, connected by axis of rotation between first connecting rod and second connecting rod, the working end for lifting electric putter is connected with rotating shaft, first connecting rod is set to tend to parallel with second connecting rod by lifting electric putter, realize lifting lifting frame, otherwise decline lifting frame；
Slide eliminating machine and be arranged on lifting frame upper surface,Sliding eliminating machine includes the eccentric adjusting framework being arranged on lifting frame,It is arranged on the lateral adjustments component on eccentric adjusting framework,Lateral adjustments component includes two transverse directions and the linear guides being set in parallel on eccentric adjusting framework,Linear guides are provided with movable block,Movable block upper surface is provided with mobile platform,The drive mechanism for driving mobile platform to move is provided between being located at linear guides on eccentric adjusting framework,Drive mechanism includes the first mounting seat and the second mounting seat that are arranged on eccentric adjusting framework,The screw mandrel that can be rotated is provided between first mounting seat and the second mounting seat,Mobile base is threaded with screw mandrel,Second mounting seat is provided with the screw mandrel motor of drive screw rotation,Mobile base is connected with mobile platform,Being rotated by screw mandrel motor drive screw moves back and forth Mobile base,So that mobile platform is moved back and forth；
Clamping device uses collapsible clamping device,Collapsible clamping device includes setting clamping installing plate on a mobile platform,It is horizontally installed on clamping installing plate and the clamping arm component with folder function,Clamping arm component includes that the clamping limb for being arranged on clamping installing plate centre position drives electric putter,Clamping limb drives electric putter telescopic end to be vertically provided with horizontal sliding bar,Adapting rod is provided with along the two ends in horizontal sliding pole length direction,Adapting rod drives one end of electric putter to be rotatably connected to clamping limb away from clamping limb,Clamping limb guide plate is provided with adapting rod and clamping limb junction,Gathering sill is offered on clamping limb guide plate,Clamping limb is provided with the clamping limb directive wheel being engaged with gathering sill,Electric putter is driven to drive adapting rod to be moved together with clamping limb by clamping limb,Under collective effect of the gathering sill with clamping limb directive wheel on clamping limb guide plate,Realize that clamping limb is launching station and folding station any switching laws,At least provided with two collapsible clamping devices on mobile platform,Clamping device upper end is provided with dolly cover plate.
So, by technical scheme, by on the first dolly and the second dolly, walking mechanism is set, elevating mechanism, eliminating machine and clamping device is slided to realize car carrying process, dolly is driven to move forward and backward by walking mechanism, when the first dolly and the second dolly are moved at the front and rear tire of vehicle and stop, then the clamping of vehicle tyre and the lifting of vehicle are realized by elevating mechanism and clamping device, it is connected with second connecting rod using first connecting rod in elevating mechanism, and it is connected with lifting electric putter in centre position, so when first connecting rod and second connecting rod angle are into 180 °, lift the stress very little of electric putter, and lifting electric putter has auto-lock function, the requirement to lifting electric putter is reduced simultaneously, increase service life, it is laborsaving in lifting process, steadily, it is reliable；
Vehicle tyre is gripped by clamping limb in clamping device, and clamp structure has folder function, two dollies are facilitated to be passed in and out from vehicle chassis lower section, and design ingenious, simple structure, in clamping limb loading process, most power is delivered on clamping installing plate, the bearing capacity of clamping limb is increased, it is stable and reliable in work；
Then slide eliminating machine and line displacement is entered according to tire location, vehicle centre-line is eliminated with two center lines of dolly not in the problem of same vertical plane, it is not only simple in structure, it is easy to operate, it is avoided that in handling process and do not cause unnecessary unbalance loading in same vertical plane due to two central rows and rock, or even beyond the ability to work scope of transfer robot, causes the loss of garage or institute's carrying vehicle, the normal operation in garage is influenceed, increases the safety and reliability of robot.
The technical scheme that further limits of the invention is：
The Intelligent garage transfer robot of foregoing combined bidirectional motion, guiding mechanism is additionally provided between lifting frame and chassis, guiding mechanism is arranged on the two ends on chassis, guiding mechanism includes the fairlead being arranged on chassis, the guide post on lifting frame is arranged on, guide post is slidably matched with fairlead, setting guiding mechanism can increase the stationarity of lifting frame rise and fall, it is safe and reliable, increase service life.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, first connecting rod is rotated with lifting frame and chassis and is connected respectively with second connecting rod by band plummer block housing bearing, using band plummer block housing bearing, simplify structure, buying is convenient, easy for installation, long service life, rotates flexible.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, lifting frame is in "U" shaped shape, and so this can only rationally utilization space, two volumes of dolly of reduction, mitigation weight.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, adapting rod lower surface is connected with sliding shoe, and mobile platform is provided with switching rod guide, and sliding shoe is dynamic to move back in switching rod guide；Clamping limb is provided with position-limited wheel near the lower surface of adapting rod, is located at below position-limited wheel in mobile platform and is provided with limit guide groove, and position-limited wheel is slidably matched with limit guide groove；Clamping limb torque resistant road wheel is provided with below horizontal sliding bar and adapting rod junction, it is located at below clamping limb torque resistant road wheel in mobile platform and is provided with walking trough, clamping limb torque resistant road wheel is slidably matched with walking trough, and setting sliding shoe and position-limited wheel can increase the stationarity of moving process.
The Intelligent garage transfer robot of foregoing combined bidirectional motion,Clamping device uses telescopic clamping device,Telescopic clamping device includes setting clamping installing plate on a mobile platform,Guiding square tube is transversely provided with clamping installing plate,Guiding square tube is internally located at top and bottom and offers upper hopper chute and gliding groove respectively,Mounting blocks and lower mounting blocks are slidably connected in upper hopper chute and gliding groove respectively,Upper mounting blocks and lower mounting blocks one end are equipped with clamping limb adaptor,Clamping limb adaptor is slided in upper hopper chute and gliding groove,Clamping limb adaptor is connected with clamping limb,Tooth bar is provided with upper mounting blocks and the relative end face of lower mounting blocks,Clamping limb motor is provided with positioned at square tube bosom position is oriented to,Clamping limb motor output end is provided with the gear being engaged with tooth bar,Mounting blocks road wheel is additionally provided with upper mounting blocks and lower mounting blocks two ends along its length,Mounting blocks road wheel is cylindrical to be slidably matched with guiding square tube inwall,Using telescopic clamping device,It is not only simple in structure,Reduce equipment volume,Design is ingenious,It is easy to operate,And the upper hopper chute in moving process,Gliding groove and mounting blocks road wheel play the effect of stabilization movement,Reduce vibrations.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, clamping limb is by adapter, main pipe, prestressing force core bar, servo-actuated short sleeve and end cap composition, adapter is cylindrical to be arranged with main pipe, inner hole thread is connected with prestressing force core bar, multiple servo-actuated short sleeves that can be rotated freely are arranged with main pipe, servo-actuated short sleeve is fixed by end cap, adapter is connected with adapting rod or with clamping limb adaptor, clamping limb outside sets the servo-actuated short sleeve that can be rolled, can clamp tire in adjust automatically, avoid producing extruding force so as to play protection surface of tyre with tire, increase its service life, and the structural strength is high, bearing capacity is strong.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, Damper Braces component is provided between lifting frame and eccentric adjusting framework, Damper Braces component includes the mounting means being connected with eccentric adjusting framework, the lower installed part being connected with lifting frame, multiple springs are provided between mounting means and lower installed part, and between mounting means and lower installed part between be additionally provided with attachment screw, setting Damper Braces component has certain cushioning effect, ground is isolated to the vibrational feedback on chassis by Damper Braces component, ensure that the stationarity in vehicle moving process, installation requirement is reduced simultaneously.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, an elbow formula damper assembly is additionally provided between first dolly and the second dolly, between elbow formula damper assembly include two trough of belt toggle links being connected with the first dolly and the second dolly respectively, two rotate the circular hollow toggle link being connected with trough of belt toggle link respectively, connected by bellows between two circular hollow toggle links, so, so setting can be positioned over trough of belt toggle link by cable, in circular hollow toggle link, improve tidiness, and two dollies are independent of each other, avoid producing influence each other when front and rear dolly shakes in walking process by bellows.
The Intelligent garage transfer robot of foregoing combined bidirectional motion, carrying rotary shaft 62 is provided with the centre position of mobile platform 17, clamping installing plate 23 is connected by carrying rotary shaft 62 with mobile platform 17, clamping installing plate 23 can be axis rotation to carry rotary shaft 62, and edge is provided with the servo-actuated weight bearing roller wheels 63 being slidably matched with mobile platform 17 on clamping installing plate 23；So clamping installing plate has self adaptation rotary fine adjustment function, when clamping limb and the process of tire interface, clamping installing plate can be rotated to an angle, clamping limb is set to be fitted completely with tire, so as to bias effect will not be caused to the center line of dolly, aligning accuracy is reduced, convenient operation improves operating efficiency.
The beneficial effects of the invention are as follows：Tire for different wheelbase vehicles is identified and clamped to antero posterior axis tire respectively using two dollies of self-movement, can in broad Parking range utonomous working, while extra detailed information can be extracted, there is provided more preferably and safer parking service；Between the two without being rigidly connected during walking, can guarantee that and the uniform support without unbalance loading is realized to vehicle tyre in the range of more wide in range position error, it is effective while cross-country traveling ability to avoid that road surface rises and falls or the factor such as step transition segment difference causes the axletree additional levels shearing force that dynamic deviation causes between prong centre-to-centre spacing and vehicle wheelbase, reduce the latent lesion to vehicle in garage docking process；The realization of front and rear dolly independence coordinated operation reduces the requirement to carrier structural strength and manufacture difficulty, comb is corresponded to therewith reduces garage port with the removal of parking location structure, the technology and difficulty of construction on parking stall, reach intelligent operational efficiency higher while reduces cost.
Brief description of the drawings
Fig. 1 is top view schematic diagram of the invention；
Fig. 2 is the front view of the first dolly in the present invention；
Fig. 3 is the structural representation of walking mechanism in the present invention；
Fig. 4, Fig. 5 are the structural representation of elevating mechanism in the present invention；
Fig. 6, Fig. 7, Fig. 8 are the structural representation of slip eliminating machine in the present invention；
Fig. 9, Figure 10, Figure 11 are the structural representation of clamping device in the present invention；
Figure 12 is the structural representation of clamping limb in the present invention；
Figure 13 is the structural representation of Damper Braces component in the present invention；
Figure 14 is the structural representation of elbow formula damper assembly in the present invention
Figure 15, Figure 16 are respectively the structural representation of the off working state and working condition of the first dolly and the second dolly in the present embodiment 2；
Wherein：The dollies of 1- first,The dollies of 2- second,3- chassis,4- road wheels,5- movable motors,6- main shafts,7- first gears,8- second gears,9- lifting frames,10- lifts electric putter,11- first connecting rods,12- second connecting rods,13- rotating shafts,14- eccentric adjusting frameworks,15- linear guides,16- movable blocks,17- mobile platforms,The mounting seats of 18- first,The mounting seats of 19- second,20- drive screws,21- Mobile bases,22- screw mandrel motors,23- clamps installing plate,24- clamping limbs drive electric putter,25- horizontal sliding bars,26- adapting rods,27- clamping limbs,28- clamping limb guide plates,29- gathering sills,30- clamping limb directive wheels,31- dolly cover plates,32- fairleads,33- guide posts,34- band plummer block housing bearings,35- sliding shoes,36- switching rod guides,37- position-limited wheels,38- limit guide grooves,39- walking troughs,40- mounting blocks road wheels,41- is oriented to square tube,42- upper hopper chutes,43- gliding grooves,The upper mounting blocks of 44-,Mounting blocks under 45-,46- clamping limb adaptors,47- tooth bars,48- clamping limb motors,49- gears,50- adapters,The main pipes of 51-,52- prestressing force core bars,53- is servo-actuated short sleeve,54- end caps,55- mounting means,Installed part under 56-,57- springs,58- pre-loading screws,59- trough of belt toggle links,60- circular hollow toggle links,61- bellowss,62- carries rotary shaft,63- is servo-actuated weight bearing roller wheels,64- clamping limb torque resistant road wheels,.
Specific embodiment
The present invention is described in further detail below：
Embodiment 1
A kind of Intelligent garage transfer robot of combined bidirectional motion that the present embodiment is provided, including the first dolly 1 and the second dolly 2 for vehicle conveying, first dolly 1 is provided with the walking mechanism for driving dolly movable, slip eliminating machine for eliminating vehicle parking deviation, for the elevating mechanism for lifting vehicle, the clamping device for clamping vehicle tyre；
Walking mechanism includes horizontally disposed chassis 3, installed in the road wheel 4 of the side of chassis 3, it is arranged on the movable motor 5 on chassis 3, it is drive end along the length direction one end of chassis 3, the other end is driven end, movable motor 5 is provided with drive end, road wheel 4 is fixed on chassis 3 by main shaft 6, and the main shaft 6 positioned at drive end is provided with first gear 7, the output end of movable motor 5 is provided with the second gear 8 being meshed with first gear 7, can be distinguished at the front-wheel and trailing wheel of mobile vehicle the first dolly 1 and the second dolly 2 by walking mechanism；
Elevating mechanism includes being arranged on the lifting frame 9 in the centre position of chassis 3, lifting frame 9 is in "U" shaped shape, for the hoisting mechanism for controlling lifting frame 9 to lift, hoisting mechanism is equipped with along the two ends of the length direction of chassis 3, hoisting mechanism includes the lifting electric putter 10 being arranged on chassis 3, the first connecting rod 11 being connected is rotated with lifting frame 9, the second connecting rod 12 being connected is rotated with chassis 3, connection is rotated by rotating shaft 13 between first connecting rod 11 and second connecting rod 12, the working end for lifting electric putter 10 is connected with rotating shaft 13, first connecting rod 11 is set to tend to parallel with second connecting rod 12 by lifting electric putter, realize lifting lifting frame 9, otherwise decline lifting frame 9；
Slide eliminating machine and be arranged on the upper surface of lifting frame 9,Sliding eliminating machine includes the eccentric adjusting framework 14 being arranged on lifting frame 9,It is arranged on the lateral adjustments component on eccentric adjusting framework 14,Lateral adjustments component includes two transverse directions and the linear guides 15 being set in parallel on eccentric adjusting framework 14,Linear guides 15 are provided with movable block 16,The upper surface of movable block 16 is provided with mobile platform 17,The drive mechanism for driving mobile platform 17 to move is provided between being located at linear guides 15 on eccentric adjusting framework 14,Drive mechanism includes the first mounting seat 18 and the second mounting seat 19 that are arranged on eccentric adjusting framework 14,The screw mandrel 20 that can be rotated is provided between first mounting seat 18 and the second mounting seat 19,Mobile base 21 is threaded with screw mandrel 20,Second mounting seat 19 is provided with the screw mandrel motor 22 of the rotation of drive screw 20,Mobile base 21 is connected with mobile platform 17,Being rotated by 22 drive screw of screw mandrel motor 20 moves back and forth Mobile base 21,So that mobile platform 17 is moved back and forth；
Clamping device uses collapsible clamping device,Collapsible clamping device includes the clamping installing plate 23 being arranged on mobile platform 17,It is horizontally installed on clamping installing plate 23 and the clamping arm component with folder function,Clamping arm component includes that the clamping limb for being arranged on clamping installing plate 23 centre position drives electric putter 24,Clamping limb drives the telescopic end of electric putter 24 to be vertically provided with horizontal sliding bar 25,Adapting rod 26 is provided with along the two ends of the length direction of horizontal sliding bar 25,Adapting rod 26 drives one end of electric putter 24 to be rotatably connected to clamping limb 27 away from clamping limb,Clamping limb guide plate 28 is provided with adapting rod 26 and the junction of clamping limb 27,Gathering sill 29 is offered on clamping limb guide plate 28,Clamping limb 27 is provided with the clamping limb directive wheel 30 being engaged with gathering sill 29,Electric putter 24 is driven to drive adapting rod 26 to be moved together with clamping limb 27 by clamping limb,Under collective effect of the gathering sill 29 with clamping limb directive wheel 30 on clamping limb guide plate 28,Realize that clamping limb 27 is launching station and folding station any switching laws,Mobile platform 17 is provided with two collapsible clamping devices,Clamping device upper end is provided with dolly cover plate 31；
Second dolly 2 and the first dolly 1 are equipped with walking mechanism, elevating mechanism, slide eliminating machine and clamping device；
Guiding mechanism is additionally provided between lifting frame 9 and chassis 3, guiding mechanism is arranged on the two ends on chassis 3, and guiding mechanism includes the fairlead 32 being arranged on chassis 3, is arranged on the guide post 33 on lifting frame 9, and guide post 33 is slidably matched with fairlead 32.
First connecting rod 11 is rotated with lifting frame 9 and chassis 3 and is connected respectively with second connecting rod 12 by band plummer block housing bearing 34.
The lower surface of adapting rod 26 is connected with sliding shoe 35, and mobile platform 17 is provided with switching rod guide 36, and sliding shoe 35 moves back and forth in switching rod guide 36；Clamping limb 27 is provided with position-limited wheel 37 near the lower surface of adapting rod 26, and the lower section for being located at position-limited wheel 37 in mobile platform 17 is provided with limit guide groove 38, and position-limited wheel 37 is slidably matched with limit guide groove 38；Clamping limb torque resistant road wheel 38 is provided with below horizontal sliding bar 25 and the junction of adapting rod 26, is located at below clamping limb torque resistant road wheel 64 in mobile platform 17 and is provided with walking trough 39, clamping limb torque resistant road wheel 64 is slidably matched with walking trough 39.
Clamping limb 27 is made up of adapter 50, main pipe 51, prestressing force core bar 52, servo-actuated short sleeve 53 and end cap 54, adapter 50 is cylindrical to be arranged with main pipe 51, inner hole thread is connected with prestressing force core bar 52, multiple servo-actuated short sleeves 53 that can be rotated freely are arranged with main pipe 51, servo-actuated short sleeve 53 is fixed by end cap 54, and adapter 50 is connected with adapting rod 26.
Damper Braces component is provided between lifting frame 9 and eccentric adjusting framework 14, Damper Braces component includes the lower installed part 56 of the mounting means 55 being connected with eccentric adjusting framework 14 and the connection of lifting frame 9, connection pre-loading screw 58 is additionally provided between being provided between multiple springs 57, and mounting means 55 and lower installed part 56 between mounting means 55 and lower installed part 56.
An elbow formula damper assembly is additionally provided between first dolly 1 and the second dolly 2, between elbow formula damper assembly include two trough of belt toggle links 59 being connected with the first dolly 1 and the second dolly 2 respectively, two rotate the circular hollow toggle link 60 being connected with trough of belt toggle link 59 respectively, are connected by bellows 61 between two circular hollow toggle links 60.
Carrying rotary shaft 62 is provided with the centre position of mobile platform 17, clamping installing plate 23 is connected by carrying rotary shaft 62 with mobile platform 17, clamping installing plate 23 can be axis rotation to carry rotary shaft 62, edge is provided with the servo-actuated weight bearing roller wheels 63 being slidably matched with mobile platform 17 on clamping installing plate 23, wherein carry rotary shaft 62 and be provided with dual spring spinning reduction mechanism commonly used in the prior art, in the case where the no-load condition of installing plate 23 is clamped, clamping installing plate 23 can recover to original state automatically, not influence use next time.
The course of work of the present embodiment：When vehicle stops into garage, when the center line of vehicle is not parallel with the center line in garage, first dolly is introduced into vehicle chassis, enter after second dolly, the clamping limb in the outside of the second dolly launches simultaneously, when the clamping limb in outside is fitted with vehicle tyre, the clamping automatic rotary fine adjustment of installing plate, the clamping limb in outside is set to be fitted completely with tire, then reinflated other clamping limbs are fitted with other tires, then vehicle is risen by certain altitude by elevating mechanism, vehicle is become a full member by sliding eliminating machine again, make its center line with the centerline parallel in garage or in same vertical plane, then vehicles while passing garage is realized by walking mechanism again；It is identical with the above-mentioned course of work during centerline parallel in the center line of vehicle and garage when vehicle stops into garage, wherein clamping installing plate does not need rotary fine adjustment.
Embodiment 2
A kind of Intelligent garage transfer robot of combined bidirectional motion that the present embodiment is provided, including the first dolly 1 and the second dolly 2 for vehicle conveying, first dolly 1 is provided with the walking mechanism for driving dolly movable, slip eliminating machine for eliminating vehicle parking deviation, for the elevating mechanism for lifting vehicle, the clamping device for clamping vehicle tyre；
Walking mechanism includes horizontally disposed chassis 3, installed in the road wheel 4 of the side of chassis 3, it is arranged on the movable motor 5 on chassis 3, it is drive end along the length direction one end of chassis 3, the other end is driven end, movable motor 5 is provided with drive end, road wheel 4 is fixed on chassis 3 by main shaft 6, and the main shaft 6 positioned at drive end is provided with first gear 7, the output end of movable motor 5 is provided with the second gear 8 being meshed with first gear 7, can be distinguished at the front-wheel and trailing wheel of mobile vehicle the first dolly 1 and the second dolly 2 by walking mechanism；
Elevating mechanism includes being arranged on the lifting frame 9 in the centre position of chassis 3, lifting frame 9 is in "U" shaped shape, for the hoisting mechanism for controlling lifting frame 9 to lift, hoisting mechanism is equipped with along the two ends of the length direction of chassis 3, hoisting mechanism includes the lifting electric putter 10 being arranged on chassis 3, the first connecting rod 11 being connected is rotated with lifting frame 9, the second connecting rod 12 being connected is rotated with chassis 3, connection is rotated by rotating shaft 13 between first connecting rod 11 and second connecting rod 12, the working end for lifting electric putter 10 is connected with rotating shaft 13, first connecting rod 11 is set to tend to parallel with second connecting rod 12 by lifting electric putter, realize lifting lifting frame 9, otherwise decline lifting frame 9；
Slide eliminating machine and be arranged on the upper surface of lifting frame 9,Sliding eliminating machine includes the eccentric adjusting framework 14 being arranged on lifting frame 9,It is arranged on the lateral adjustments component on eccentric adjusting framework 14,Lateral adjustments component includes two transverse directions and the linear guides 15 being set in parallel on eccentric adjusting framework 14,Linear guides 15 are provided with movable block 16,The upper surface of movable block 16 is provided with mobile platform 17,The drive mechanism for driving mobile platform 17 to move is provided between being located at linear guides 15 on eccentric adjusting framework 14,Drive mechanism includes the first mounting seat 18 and the second mounting seat 19 that are arranged on eccentric adjusting framework 14,The screw mandrel 20 that can be rotated is provided between first mounting seat 18 and the second mounting seat 19,Mobile base 21 is threaded with screw mandrel 20,Second mounting seat 19 is provided with the screw mandrel motor 22 of the rotation of drive screw 20,Mobile base 21 is connected with mobile platform 17,Being rotated by 22 drive screw of screw mandrel motor 20 moves back and forth Mobile base 21,So that mobile platform 17 is moved back and forth；
Collapsible clamping device and telescopic clamping device that clamping device is be arranged in parallel using two,Collapsible clamping device includes the clamping installing plate 23 being arranged on mobile platform 17,It is horizontally installed on clamping installing plate 23 and the clamping arm component with folder function,Clamping arm component includes that the clamping limb for being arranged on clamping installing plate 23 centre position drives electric putter 24,Clamping limb drives the telescopic end of electric putter 24 to be vertically provided with horizontal sliding bar 25,Adapting rod 26 is provided with along the two ends of the length direction of horizontal sliding bar 25,Adapting rod 26 drives one end of electric putter 24 to be rotatably connected to clamping limb 27 away from clamping limb,Clamping limb guide plate 28 is provided with adapting rod 26 and the junction of clamping limb 27,Gathering sill 29 is offered on clamping limb guide plate 28,Clamping limb 27 is provided with the clamping limb directive wheel 30 being engaged with gathering sill 29,Electric putter 24 is driven to drive adapting rod 26 to be moved together with clamping limb 27 by clamping limb,Under collective effect of the gathering sill 29 with clamping limb directive wheel 30 on clamping limb guide plate 28,Realize that clamping limb 27 is launching station and folding station any switching laws；
Telescopic clamping device includes the clamping installing plate 23 being arranged on mobile platform 17,Guiding square tube 41 is transversely provided with clamping installing plate 23,Guiding square tube 41 is internally located at top and bottom and offers upper hopper chute 42 and gliding groove 43 respectively,Mounting blocks 44 and lower mounting blocks 45 are slidably connected in upper hopper chute 42 and gliding groove 43 respectively,Upper mounting blocks 44 and lower one end of mounting blocks 45 are equipped with clamping limb adaptor 46,Clamping limb adaptor 46 is slided in upper hopper chute 42 and gliding groove 43,Clamping limb adaptor 46 is connected with clamping limb 27,Tooth bar 47 is provided with upper mounting blocks 44 and the relative end face of lower mounting blocks 45,Clamping limb motor 48 is provided with positioned at the bosom position of square tube 41 is oriented to,The output end of clamping limb motor 48 is provided with the gear 49 being engaged with tooth bar 47,Mounting blocks road wheel 40 is additionally provided with upper mounting blocks 44 and lower mounting blocks 45 two ends along its length,Mounting blocks road wheel 40 is cylindrical to be slidably matched with the guiding inwall of square tube 41；Parallel on mobile platform 17 to be provided with collapsible clamping device and telescopic clamping device, clamping device upper end is provided with dolly cover plate 31；
Second dolly 2 and the first dolly 1 are equipped with walking mechanism, elevating mechanism, slide elimination machine, wherein it is introduced into and collapsible clamping device and telescopic clamping device is used on the first dolly 1 of vehicle chassis, collapsible clamping device and on-telescopic clamping device are used on the second dolly 2 for entering vehicle chassis afterwards, wherein on-telescopic clamping device includes the guiding square tube 41 being arranged on clamping installing plate 23, and clamping limb 27 is provided with along the length direction two ends of square tube 41 are oriented to；
Guiding mechanism is additionally provided between lifting frame 9 and chassis 3, guiding mechanism is arranged on the two ends on chassis 3, and guiding mechanism includes the fairlead 32 being arranged on chassis 3, is arranged on the guide post 33 on lifting frame 9, and guide post 33 is slidably matched with fairlead 32.
First connecting rod 11 is rotated with lifting frame 9 and chassis 3 and is connected respectively with second connecting rod 12 by band plummer block housing bearing 34.
The lower surface of adapting rod 26 is connected with sliding shoe 35, and mobile platform 17 is provided with switching rod guide 36, and sliding shoe 35 moves back and forth in switching rod guide 36；Clamping limb 27 is provided with position-limited wheel 37 near the lower surface of adapting rod 26, and the lower section for being located at position-limited wheel 37 in mobile platform 17 is provided with limit guide groove 38, and position-limited wheel 37 is slidably matched with limit guide groove 38；Clamping limb torque resistant road wheel 64 is provided with below horizontal sliding bar 25 and the junction of adapting rod 26, is located at below clamping limb torque resistant road wheel 64 in mobile platform 17 and is provided with walking trough 39, clamping limb torque resistant road wheel 64 is slidably matched with walking trough 39.
Clamping limb 27 is made up of adapter 50, main pipe 51, prestressing force core bar 52, servo-actuated short sleeve 53 and end cap 54, adapter 50 is cylindrical to be arranged with main pipe 51, inner hole thread is connected with prestressing force core bar 52, multiple servo-actuated short sleeves 53 that can be rotated freely are arranged with main pipe 51, servo-actuated short sleeve 53 is fixed by end cap 54, and adapter 50 is connected with clamping limb adaptor 46.
Damper Braces component is provided between lifting frame 9 and eccentric adjusting framework 14, Damper Braces component includes the lower installed part 56 of the mounting means 55 being connected with eccentric adjusting framework 14 and the connection of lifting frame 9, connection pre-loading screw 58 is additionally provided between being provided between multiple springs 57, and mounting means 55 and lower installed part 56 between mounting means 55 and lower installed part 56.
An elbow formula damper assembly is additionally provided between first dolly 1 and the second dolly 2, between elbow formula damper assembly include two trough of belt toggle links 59 being connected with the first dolly 1 and the second dolly 2 respectively, two rotate the circular hollow toggle link 60 being connected with trough of belt toggle link 59 respectively, are connected by bellows 61 between two circular hollow toggle links 60.
Carrying rotary shaft 62 is provided with the centre position of mobile platform 17, clamping installing plate 23 is connected by carrying rotary shaft 62 with mobile platform 17, clamping installing plate 23 can be axis rotation to carry rotary shaft 62, edge is provided with the servo-actuated weight bearing roller wheels 63 being slidably matched with mobile platform 17 on clamping installing plate 23, wherein carry rotary shaft 62 and be provided with dual spring spinning reduction mechanism commonly used in the prior art, in the case where the no-load condition of installing plate 23 is clamped, clamping installing plate 23 can recover to original state automatically, not influence use next time.
By the technical scheme of above example, the Intelligent garage transfer robot of combined bidirectional motion is exchanged without comb, too extruding tire is avoided again and reduces tyre life, Auto-matching tire location clamping degree consistent with size can be realized, centering process tire is without friction, ground vibration is isolated, versatility is high, the advantages of to civil engineering requirement low and handling efficiency high, and the Intelligent garage transfer robot simple structure of combined bidirectional motion, low cost, high working efficiency, long service life, it is simple to operate.
Above example is only explanation technological thought of the invention, it is impossible to limit protection scope of the present invention with this, every according to technological thought proposed by the present invention, any change done on the basis of technical scheme is each fallen within the scope of the present invention.
Claims (9)
1. the Intelligent garage transfer robot that a kind of combined bidirectional is moved, including for first dolly and the second dolly of vehicle conveying, it is characterised in that：The walking mechanism for driving dolly movable, the slip eliminating machine for eliminating vehicle parking deviation, for the elevating mechanism for lifting vehicle, the clamping device for clamping vehicle tyre are equipped with first dolly and the second dolly；
The walking mechanism includes horizontally disposed chassis, installed in the road wheel of chassis side, it is arranged on the movable motor on chassis, it is drive end along chassis length direction one end, the other end is driven end, movable motor is provided with the drive end, the road wheel is fixed on chassis by main shaft, and the main shaft positioned at drive end is provided with first gear, the output end of the movable motor is provided with the second gear being meshed with first gear, can be distinguished at the front-wheel and trailing wheel of mobile vehicle the first dolly and the second dolly by walking mechanism；
The elevating mechanism includes being arranged on the lifting frame in chassis centre position, for the hoisting mechanism for controlling lifting frame to lift, hoisting mechanism is equipped with along the two ends in the chassis length direction, the hoisting mechanism includes the lifting electric putter being arranged on chassis, the first connecting rod being connected is rotated with lifting frame, the second connecting rod being connected is rotated with chassis, connected by axis of rotation between the first connecting rod and second connecting rod, the working end of the lifting electric putter is connected with rotating shaft, first connecting rod is set to tend to parallel with second connecting rod by lifting electric putter, realize lifting lifting frame, otherwise decline lifting frame；
The slip eliminating machine is arranged on lifting frame upper surface, the eliminating machine that slides includes the eccentric adjusting framework being arranged on lifting frame, it is arranged on the lateral adjustments component on eccentric adjusting framework, the lateral adjustments component includes two transverse directions and the linear guides being set in parallel on eccentric adjusting framework, and the linear guides are provided with the mobile platform that can be moved along linear rail length direction；
The clamping device uses collapsible clamping device,The collapsible clamping device includes setting clamping installing plate on a mobile platform,It is horizontally installed on clamping installing plate and the clamping arm component with folder function,The clamping arm component includes that the clamping limb for being arranged on clamping installing plate centre position drives electric putter,The clamping limb drives electric putter telescopic end to be vertically provided with horizontal sliding bar,Adapting rod is provided with along the two ends in the horizontal sliding pole length direction,The adapting rod drives one end of electric putter to be rotatably connected to clamping limb away from clamping limb,Clamping limb guide plate is provided with the adapting rod and clamping limb junction,Gathering sill is offered on the clamping limb guide plate,The clamping limb is provided with the clamping limb directive wheel being engaged with gathering sill,Electric putter is driven to drive adapting rod to be moved together with clamping limb by clamping limb,Under collective effect of the gathering sill with clamping limb directive wheel on clamping limb guide plate,Realize that clamping limb is launching station and folding station any switching laws,At least provided with two collapsible clamping devices on the mobile platform,The clamping device upper end is provided with dolly cover plate.
2. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：Guiding mechanism is additionally provided between the lifting frame and chassis, the guiding mechanism is arranged on the two ends on chassis, and the guiding mechanism includes the fairlead being arranged on chassis, is arranged on the guide post on lifting frame, and the guide post is slidably matched with fairlead.
3. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：The first connecting rod is rotated with lifting frame and chassis and is connected respectively with second connecting rod by band plummer block housing bearing；The lifting frame is in "U" shaped shape, the drive mechanism for driving mobile platform to move is provided between being located at linear guides on the eccentric adjusting framework, the drive mechanism includes the first mounting seat and the second mounting seat that are arranged on eccentric adjusting framework, the screw mandrel that can be rotated is provided between first mounting seat and the second mounting seat, Mobile base is threaded with the screw mandrel, second mounting seat is provided with the screw mandrel motor of drive screw rotation, the Mobile base is connected with mobile platform, being rotated by screw mandrel motor drive screw moves back and forth Mobile base, so that mobile platform is moved back and forth.
4. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：The adapting rod lower surface is connected with sliding shoe, and the mobile platform is provided with switching rod guide, and the sliding shoe is dynamic to move back in the switching rod guide；The clamping limb is provided with position-limited wheel near the lower surface of adapting rod, is located at below position-limited wheel in the mobile platform and is provided with limit guide groove, and the position-limited wheel is slidably matched with the limit guide groove；Clamping limb torque resistant road wheel is provided with below the horizontal sliding bar and adapting rod junction, is located at below clamping limb torque resistant road wheel in the mobile platform and is provided with walking trough, the clamping limb torque resistant road wheel is slidably matched with the walking trough.
5. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：The clamping device uses telescopic clamping device,The telescopic clamping device includes setting clamping installing plate on a mobile platform,Guiding square tube is transversely provided with the clamping installing plate,The guiding square tube is internally located at top and bottom and offers upper hopper chute and gliding groove respectively,Mounting blocks and lower mounting blocks are slidably connected in the upper hopper chute and gliding groove respectively,The upper mounting blocks and lower mounting blocks one end are equipped with clamping limb adaptor,The clamping limb adaptor is slided in upper hopper chute and gliding groove,The clamping limb adaptor is connected with the clamping limb,Mounting blocks and the relative end face of lower mounting blocks are provided with tooth bar on described,Clamping limb motor is provided with positioned at square tube bosom position is oriented to,The clamping limb motor output end is provided with the gear being engaged with tooth bar,Mounting blocks and lower mounting blocks two ends along its length are additionally provided with mounting blocks road wheel on described,The mounting blocks road wheel is cylindrical to be slidably matched with guiding square tube inwall.
6. the Intelligent garage transfer robot that combined bidirectional is moved according to claim 1 or 5, it is characterised in that：The clamping limb is made up of adapter, main pipe, prestressing force core bar, servo-actuated short sleeve and end cap, the adapter is cylindrical to be arranged with main pipe, inner hole thread is connected with prestressing force core bar, multiple servo-actuated short sleeves that can be rotated freely are arranged with the main pipe, the servo-actuated short sleeve is fixed by end cap, and the adapter is connected with adapting rod or with clamping limb adaptor.
7. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：Damper Braces component is provided between the lifting frame and the eccentric adjusting framework, the Damper Braces component includes the lower mounting blocks of the upper mounting blocks being connected with the eccentric adjusting framework and lifting frame connection, attachment screw is additionally provided between being provided between mounting blocks and lower mounting blocks between multiple springs, and the upper mounting blocks and lower mounting blocks on described.
8. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：An elbow formula damper assembly is additionally provided between first dolly and the second dolly, described elbow formula damper assembly includes two trough of belt toggle links being connected with the first dolly and the second dolly respectively, two rotate the circular hollow toggle link being connected with trough of belt toggle link respectively, are connected by bellows between two circular hollow toggle links.
9. the Intelligent garage transfer robot that combined bidirectional according to claim 1 is moved, it is characterised in that：Carrying rotary shaft is provided with mobile platform centre position, the clamping installing plate is connected by carrying rotary shaft with mobile platform, clamping installing plate can be to carry rotary shaft as axis rotation, and edge is provided with the servo-actuated weight bearing roller wheels being slidably matched with mobile platform on the clamping installing plate.
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| CN201610390898.7A CN106812361B (en) | 2016-06-03 | 2016-06-03 | A kind of Intelligent garage transfer robot of combined bidirectional movement |
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| CN108643663A (en) * | 2018-07-27 | 2018-10-12 | 南京车立方智能交通科技有限公司 | A kind of automobile carrier |
| CN108979271A (en) * | 2018-08-07 | 2018-12-11 | 温州伊诺韦特科技有限公司 | A kind of automobile carrier of three-dimensional garage with flexible halting mechanism |
| CN108996240A (en) * | 2018-09-27 | 2018-12-14 | 袁年来 | A kind of combined steel plate transfer robot |
| CN109025438A (en) * | 2018-08-12 | 2018-12-18 | 芜湖挺优机电技术有限公司 | New car rackwork |
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| CN109958309B (en) * | 2019-02-28 | 2021-05-14 | 江苏中泰停车产业有限公司 | Split type self-adaptive floating car carrier and working method thereof |
| CN109930874B (en) * | 2019-03-18 | 2021-03-02 | 江苏中泰停车产业有限公司 | Novel split type self-adaptive telescopic arm vehicle carrier |
| CN109930874A (en) * | 2019-03-18 | 2019-06-25 | 江苏中泰停车产业有限公司 | A kind of New type detachable self-adapting stretching arm vehicle carrier |
| CN112357569A (en) * | 2020-11-30 | 2021-02-12 | 江苏集萃华科智能装备科技有限公司 | Material container handling robot system |
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| CN114310999A (en) * | 2022-01-04 | 2022-04-12 | 深圳爱络凯寻科技有限公司 | Intelligent integrated robot clamping mechanism telescopic adjusting mechanism |
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