CN106812361B - A kind of Intelligent garage transfer robot of combined bidirectional movement - Google Patents
A kind of Intelligent garage transfer robot of combined bidirectional movement Download PDFInfo
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- CN106812361B CN106812361B CN201610390898.7A CN201610390898A CN106812361B CN 106812361 B CN106812361 B CN 106812361B CN 201610390898 A CN201610390898 A CN 201610390898A CN 106812361 B CN106812361 B CN 106812361B
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- clamping limb
- clamping
- trolley
- chassis
- lifting frame
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
Abstract
The invention discloses a kind of Intelligent garage transfer robots of combined bidirectional movement, first trolley is equipped with the walking mechanism for driving trolley to be moved forward and backward, sliding eliminating machine for eliminating vehicle parking deviation, elevating mechanism for promoting vehicle, the clamping device for vehicle tyre to be clamped；The present invention is exchanged without broach, it avoids excessively squeezing tire and reducing tyre life again, can realize Auto-matching tire location clamping degree consistent with size, centering process tire is without friction, ground vibration is isolated, versatility is high, the advantages that requiring low and handling efficiency high civil engineering, and the Intelligent garage transfer robot of combined bidirectional movement is simple in structure, it is at low cost, work efficiency is high, and service life is long, simple to operate.
Description
Technical field
The present invention relates to transfer robot, specifically a kind of intelligent garage conveying robot of combined bidirectional movement
People.
Background technology
Three kinds of the widely used automobile carrier of mechanical garage point at present：Vehicle-carrying plate is carried, and broach, which exchanges, carries and take turns
Tire is clipping.Maximum market occupancy volume is comb tooth exchange type device, needs the mounting broach frame on stopway and carrier, profit
The exchange of vehicle is realized with the stagger distance between broach, and one group of coaxial two tire is required to be pre-positioned, no
But processing is increased, the difficulty in capital construction and cost also have parking toll requirement to the driver stopped；Under normal circumstances
Carrier unidirectionally can only enter vehicle bottom from headstock or the tailstock and be carried.
The one group of tire that only located under normal conditions is supported with rolling pulley, during in, due to centering
The strong lateral passage of mechanism, the broach that another group of tire is had to and supported occur violent sliding friction, be easy to cause wheel
The abrasion of tire contact surface unbalanced stress variation and tread-rubber causes the unnecessary vibration in vehicle travel process, even
Reduce Life of Tyre.
Since the wheelbase of different vehicle is variation, there are two broach contacts for the tire contact plane after carrier handing-over not
Equilibrium, in addition only there are one broach contact the case where, in addition the presence of Uneven road or transition gap can cause in handling process
Left and right load is uneven and longitudinal axis length changes, and the differentiation of carrier and inside tires stress is caused to increase, and conducts extremely
The axle of carrying vehicle causes its fatigue life to shorten dramatically.
In addition the clipping equipment of tire in the market is mostly the method for clamping of constant spacing, does not adapt to different kinds of tyre size
Clamping degree consistency requirement；Or structure is relative complex, cost is relatively high, is mostly to be connect by squeezing tire by the way of
Contacting surface realizes the promotion of vehicle, easily causes the excessive stretching or extruding of tire liner, damages tire liner, and passability is again bad,
Generally speaking occupation rate of market is not high.
Invention content
The technical problem to be solved by the present invention is to the shortcomings that for the above prior art, propose a kind of combined bidirectional
The Intelligent garage transfer robot of movement exchanges without broach, and avoids excessively squeezing tire and reducing tyre life, can realize
Auto-matching tire location clamping degree consistent with size, centering process tire is without friction, and ground vibration isolation, versatility is high,
The advantages that requiring low and handling efficiency high civil engineering, and the Intelligent garage transfer robot structure letter of combined bidirectional movement
Single, at low cost, work efficiency is high, and service life is long, 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 combined type
The Intelligent garage transfer robot of bidirectional-movement, includes the first trolley and the second trolley for vehicle conveying, the first trolley and
The walking mechanism for driving trolley to be moved forward and backward is equipped on second trolley, the sliding for eliminating vehicle parking deviation is eliminated
Mechanism, the elevating mechanism for promoting vehicle, the clamping device for vehicle tyre to be clamped；
Walking mechanism includes horizontally disposed chassis, is mounted on the traveling wheel of chassis side, the walking being arranged on chassis
Motor is drive end along chassis length direction one end, and the other end is driven end, and movable motor, traveling wheel are equipped at drive end
Be fixed on chassis by main shaft, and first gear be equipped with positioned at the main shaft of drive end, the output end of movable motor be equipped with
First trolley and the second trolley can be distinguished the front-wheel of mobile vehicle by walking mechanism by the second gear that first gear is meshed
At trailing wheel；
Elevating mechanism includes the lifting frame being arranged in chassis centre position, the elevator for controlling lifting frame lifting
Structure is equipped with hoisting mechanism along the both ends in chassis length direction, and hoisting mechanism includes the lifting electric putter being arranged on chassis, with
The first connecting rod of lifting frame rotation connection, the second connecting rod with chassis rotation connection, leads between first connecting rod and second connecting rod
Shaft rotation connection is crossed, the working end for lifting electric putter is connect with shaft, so that first connecting rod and second is connected by lifting electric putter
Bar tends to be parallel, realizes and promotes lifting frame, otherwise declines lifting frame；
Eliminating machine setting is slided in lifting frame upper surface, sliding eliminating machine include be arranged on lifting frame it is inclined
Heart adjustment frame, the lateral adjustments component being arranged on eccentric adjusting frame, lateral adjustments component include two lateral and parallel
Linear guides on eccentric adjusting frame are set, linear guides are equipped with movable block, and movable block upper surface is equipped with mobile platform,
Equipped with the driving mechanism for driving mobile platform to move, driving mechanism packet between linear guides on eccentric adjusting frame
The first mounting base and the second mounting base being arranged on eccentric adjusting frame are included, is equipped between the first mounting base and the second mounting base
Can rotation lead screw, Mobile base is threaded on lead screw, the second mounting base is equipped with the lead screw driving electricity of driving lead screw rotation
Machine, Mobile base are connect with mobile platform, drive lead screw rotation that Mobile base is made to move back and forth by screw drive motor, to make shifting
Moving platform is moved back and forth；
It includes the clamping peace of setting on a mobile platform that clamping device, which uses collapsible clamping device, collapsible clamping device,
Loading board, is horizontally installed on clamping mounting plate and the clamp arm assembly with folder function, clamp arm assembly include that setting is being pressed from both sides
The clamping limb driving electric putter in mounting plate centre position is held, clamping limb drives electric putter telescopic end to be vertically equipped with flat-pushing bar, along flat
The both ends in push rod length direction are equipped with adapting rod, and adapting rod drives one end of electric putter to be rotatably connected to clamping far from clamping limb
Arm is equipped with clamping limb guide plate in adapting rod and clamping limb junction, offers guide groove on clamping limb guide plate, on clamping limb
Equipped with the matched clamping limb directive wheel of guide groove, by clamping limb drive electric putter drive adapting rod moved together with clamping limb
Dynamic, station and folding is being unfolded with clamping limb under the collective effect of clamping limb directive wheel, is realized in guide groove on clamping limb guide plate
Folded station any switching laws are equipped with trolley cover board on mobile platform at least provided with two collapsible clamping devices, clamping device upper end.
In this way, technical solution through the invention, by the way that walking mechanism, lifting are arranged on the first trolley and the second trolley
Eliminating machine and clamping device slide to realize car carrying process in mechanism, drive trolley to be moved forward and backward by walking mechanism, when
First trolley and the second trolley are moved at the front and back tire of vehicle and stop, and are then realized by elevating mechanism and clamping device
The clamping of vehicle tyre and the lifting of vehicle are sequentially connected using first connecting rod and second connecting rod in elevating mechanism, and in
Between position connect with lifting electric putter, in this way when first connecting rod and second connecting rod angle are at 180 °, lift the stress of electric putter
Very little, and lifting electric putter, there is self-locking function, while requirement of the reduction to lifting electric putter, increase service life to rise
It is laborsaving during drop, steadily, reliably；
Vehicle tyre is gripped by clamping limb in clamping device, and clamp structure has folder function, it is convenient
Two trolleies pass in and out below vehicle chassis, and ingenious in design, simple in structure, will be most of in clamping limb loading process
Power be transmitted to clamping mounting plate on, increase the bearing capacity of clamping limb, it is stable and reliable in work；
Then sliding eliminating machine eliminates the center line of vehicle centre-line and two trolleies according to tire location into line displacement
Not the same vertical plane the problem of, it is not only simple in structure, it is easy to operate, it is avoided that in the handling process due to two central rows
Do not cause unnecessary unbalance loading and shaking in same vertical plane, or even the ability to work range beyond transfer robot, makes
At the loss in garage or institute's carrying vehicle, the normal operation in garage is influenced, increases the safety and reliability of robot.
The technical solution that the present invention further limits is：
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, is additionally provided with guiding between lifting frame and chassis
Mechanism, guiding mechanism are arranged at the both ends on chassis, and guiding mechanism includes the guide sleeve being arranged on chassis, are arranged in lifting frame
On guide rod, guide rod is slidably matched with guide sleeve, and setting guiding mechanism can increase the steady of lifting frame rise and fall
Property, securely and reliably, increase service life.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, first connecting rod are vertical by band with second connecting rod
Formula seat bearing is rotatablely connected with lifting frame and chassis respectively, using band plummer block housing bearing, simplifies structure, buying is convenient, installation
Convenient, service life is long, and rotation is flexible.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, lifting frame is in "U" shaped shape, in this way can only
Space is rationally utilized, the volume of two trolleies is reduced, mitigates weight.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, adapting rod lower face are connected with sliding shoe, move
Moving platform is equipped with switching rod guide, and sliding shoe is dynamic to move back in switching rod guide；Clamping limb is close to the lower face of adapting rod
Equipped with position-limited wheel, the lower section that position-limited wheel is located in mobile platform is equipped with limit guide groove, and position-limited wheel is slidably matched with limit guide groove；It is flat
Push rod and the lower section of adapting rod junction are equipped with clamping limb torque resistant traveling wheel, are located at the walking of clamping limb torque resistant in mobile platform
Wheel lower section is equipped with walking trough, and clamping limb torque resistant traveling wheel is slidably matched with walking trough, and sliding shoe and position-limited wheel, which is arranged, to be increased
The stationarity of moving process.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, clamping device use telescopic clamping device,
Telescopic clamping device includes the clamping mounting plate of setting on a mobile platform, is clamped on mounting plate and is transversely provided with guiding square tube,
It is oriented to square tube and is internally located at top and bottom and offer upper hopper chute and gliding groove respectively, sliding connects respectively in upper hopper chute and gliding groove
Mounting blocks and lower mounting blocks are connected to, upper mounting blocks and lower mounting blocks one end are equipped with clamping limb adapter, clamping limb adapter
It is slided in upper hopper chute and gliding groove, clamping limb adapter is connect with clamping limb, opposite in upper mounting blocks and lower mounting blocks
End face is equipped with rack, is located at and is oriented to square tube bosom position equipped with clamping limb driving motor, clamping limb driving motor output end
Equipped with the matched gear of rack, the both ends of upper mounting blocks and lower mounting blocks along its length be additionally provided with mounting blocks walking
Wheel, mounting blocks traveling wheel outer circle are slidably matched with square tube inner wall is oriented to, using telescopic clamping device, are not only simple in structure, subtract
Skinny device volume, it is ingenious in design, it is easy to operate, and upper hopper chute, gliding groove and mounting blocks traveling wheel play in moving process
Stablize mobile effect, reduces vibrations.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, clamping limb is by adapter, main pipe, prestressing force
Core bar, servo-actuated short sleeve and end cap composition, adapter outer circle are arranged with main pipe, and inner hole thread is connected with prestressing force core bar,
Multiple servo-actuated short sleeves that can be rotated freely are arranged on main pipe, servo-actuated short sleeve is fixed by end cap, adapter and switching
Bar is connect with clamping limb adapter, and the servo-actuated short sleeve that setting can roll on the outside of clamping limb can automatically be adjusted in tire is clamped
It is whole, it avoids generating extruding force with tire to play protection surface of tyre, increases its service life, and the structural strength is high,
Bearing capacity is strong.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, between lifting frame and eccentric adjusting frame
Equipped with Damper Braces component, Damper Braces component includes the mounting means being connect with eccentric adjusting frame, is connect with lifting frame
Lower installation part, multiple springs are equipped between mounting means and lower installation part, and are also set between mounting means and lower installation part
There are attachment screw, setting Damper Braces component that there is certain cushioning effect, ground to pass through damping branch to the vibrational feedback on chassis
Support component is isolated, and ensure that the stationarity in vehicle moving process, while reducing installation requirement.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned, is additionally provided between the first trolley and the second trolley
Between elbow formula damper assembly, an elbow formula damper assembly includes two trough of belt toggle links being connect respectively with the first trolley and the second trolley,
Two circular hollow toggle links with the rotation connection of trough of belt toggle link respectively, are connected by bellows between two circular hollow toggle links,
Cable can be positioned in trough of belt toggle link, circular hollow toggle link by setting in this way, improve tidiness, and the mutual not shadow of two trolleies
It rings, avoids having an impact between each other when front and back trolley shakes in walking process by bellows.
The Intelligent garage transfer robot of combined bidirectional movement above-mentioned is equipped with carrying in 17 centre position of mobile platform
Rotation axis 62, clamping mounting plate 23 are connect by carrying rotation axis 62 with mobile platform 17, and clamping mounting plate 23 can be turned with carrying
Moving axis 62 is axis rotation, and edge is equipped with the servo-actuated load-bearing being slidably matched with mobile platform 17 on clamping mounting plate 23
Idler wheel 63；Clamping mounting plate in this way has the function of adaptive rotary fine adjustment, when the process of clamping limb and tire interface, can will be clamped
Mounting plate rotates by a certain angle, and clamping limb is made to be bonded completely with tire, to which bias effect will not be caused to the center line of trolley,
Aligning accuracy is reduced, is conveniently operated, working efficiency is improved.
The beneficial effects of the invention are as follows：It is right respectively using the trolley of two self-movements for the tire of different wheelbase vehicles
Antero posterior axis tire is identified and is clamped, can in broad Parking range utonomous working, while can extract additional thin
Information is saved, more preferable and safer parking service is provided；It can guarantee between the two than broad without rigid connection when walking
The uniform support without unbalance loading is realized to vehicle tyre within the scope of position error, road surface is effectively avoided while cross-country traveling ability
It rises and falls or the factors such as step transition segment difference causes axle additional water caused by dynamic deviation between prong centre-to-centre spacing and vehicle wheelbase
Straight snips shear force reduces the latent lesion to vehicle in garage docking process；The realization of front and back trolley independence coordinated operation reduces
The removal of requirement to carrier structural strength and manufacture difficulty, be corresponding to it broach and the location structure that stops reduces garage
Entrance, the technology and difficulty of construction on parking stall reach higher intelligent operational efficiency while cost is reduced.
Description of the drawings
Fig. 1 is the top view illustration of the present invention；
Fig. 2 is the front view of the first trolley in the present invention；
Fig. 3 is the structural schematic diagram of walking mechanism in the present invention；
Fig. 4, Fig. 5 are the structural schematic diagram of elevating mechanism in the present invention；
Fig. 6, Fig. 7, Fig. 8 are the structural schematic diagram that eliminating machine is slided in the present invention；
Fig. 9, Figure 10, Figure 11 are the structural schematic diagram of clamping device in the present invention；
Figure 12 is the structural schematic diagram of clamping limb in the present invention；
Figure 13 is the structural schematic diagram of Damper Braces component in the present invention；
Figure 14 is the structural schematic diagram of elbow formula damper assembly in the present invention
Figure 15, Figure 16 are respectively the off working state and working condition of the first trolley and the second trolley in the present embodiment 2
Structural schematic diagram；
Wherein：The first trolleies of 1-, the second trolleies of 2-, the chassis 3-, 4- traveling wheels, 5- movable motors, 6- main shafts, the first teeth of 7-
Wheel, 8- second gears, 9- lifting frames, 10- lifting electric putters, 11- first connecting rods, 12- second connecting rods, 13- shafts, 14- are inclined
Heart adjustment frame, 15- linear guides, 16- movable blocks, 17- mobile platforms, the first mounting bases of 18-, the second mounting bases of 19-, 20-
Mounting plate is clamped in driving lead screw, 21- Mobile bases, 22- screw drive motors, 23-, and 24- clamping limbs drive electric putter, 25- flat-pushing
Bar, 26- adapting rods, 27- clamping limbs, 28- clamping limb guide plates, 29- guide grooves, 30- clamping limb directive wheels, 31- trolley cover boards,
32- guide sleeves, 33- guide rods, 34- band plummer block housing bearings, 35- sliding shoes, 36- switching rod guides, 37- position-limited wheels, 38- limits
Guide groove, 40- mounting blocks traveling wheels, 41- are oriented to square tube, 42- upper hopper chutes, 43- gliding grooves, and 44- upper mounting blocks are installed under 45-
Block, 46- clamping limb adapters, 47- racks, 48- clamping limb driving motors, 49- gears, 50- adapters, the main pipes of 51-, 52-
Prestressing force core bar, 53- are servo-actuated short sleeve, 54- end caps, 55- mounting means, installation part under 56-, 57- springs, 58- pre-loading screws,
59- trough of belt toggle links, 60- circular hollow toggle links, 61- bellowss, 62- carry rotation axis, and 63- is servo-actuated weight bearing roller wheels, 64- clampings
Arm torque resistant traveling wheel.
Specific implementation mode
The present invention is described in further detail below：
Embodiment 1
A kind of Intelligent garage transfer robot of combined bidirectional movement provided in this embodiment, including it is used for vehicle conveying
The first trolley 1 and the second trolley 2, the first trolley 1 be equipped with for drive trolley be moved forward and backward walking mechanism, for eliminating
The sliding eliminating machine of vehicle parking deviation, the elevating mechanism for promoting vehicle, the clamping machine for vehicle tyre to be clamped
Structure；
Walking mechanism includes horizontally disposed chassis 3, is mounted on the traveling wheel 4 of 3 side of chassis, is arranged on chassis 3
Movable motor 5 is drive end along 3 length direction one end of chassis, and the other end is driven end, and movable motor 5 is equipped at drive end,
Traveling wheel 4 is fixed on by main shaft 6 on chassis 3, and is equipped with first gear 7 positioned at the main shaft 6 of drive end, movable motor 5
Output end is equipped with the second gear 8 being meshed with first gear 7, can be divided the first trolley 1 and the second trolley 2 by walking mechanism
At the front-wheel and trailing wheel of other mobile vehicle；
Elevating mechanism includes the lifting frame 9 being arranged in 3 centre position of chassis, and lifting frame 9 is in "U" shaped shape, is used for
The hoisting mechanism that lifting frame 9 lifts is controlled, is equipped with hoisting mechanism along the both ends of 3 length direction of chassis, hoisting mechanism includes
The lifting electric putter 10 being arranged on chassis 3, the first connecting rod 11 being rotatablely connected with lifting frame 9 are rotatablely connected with chassis 3
Second connecting rod 12 is rotatablely connected between first connecting rod 11 and second connecting rod 12 by shaft 13, and the working end of electric putter 10 is lifted
It is connect with shaft 13, so that first connecting rod 11 is tended to be parallel with second connecting rod 12 by lifting electric putter, realize and promote lifting frame
9, on the contrary decline lifting frame 9；
Eliminating machine setting is slided in 9 upper surface of lifting frame, sliding eliminating machine includes being arranged on lifting frame 9
Eccentric adjusting frame 14, the lateral adjustments component being arranged on eccentric adjusting frame 14, lateral adjustments component include two transverse directions
And the linear guides 15 on eccentric adjusting frame 14 are arranged in parallel in, linear guides 15 are equipped with movable block 16, on movable block 16
End face is equipped with mobile platform 17, is equipped between linear guides 15 for driving mobile platform 17 on eccentric adjusting frame 14
Mobile driving mechanism, driving mechanism include the first mounting base 18 and the second mounting base being arranged on eccentric adjusting frame 14
19, it is equipped with the lead screw 20 that can be rotated between the first mounting base 18 and the second mounting base 19, Mobile base is threaded on lead screw 20
21, the second mounting base 19 is equipped with the screw drive motor 22 that driving lead screw 20 rotates, and Mobile base 21 is connect with mobile platform 17,
Drive the rotation of lead screw 20 that Mobile base 21 is made to move back and forth by screw drive motor 22, to make 17 transverse reciprocating of mobile platform move
It is dynamic；
Clamping device uses collapsible clamping device, and collapsible clamping device includes the clamping being arranged on mobile platform 17
Mounting plate 23, is horizontally installed on clamping mounting plate 23 and the clamp arm assembly with folder function, clamp arm assembly include setting
Setting the clamping limb in 23 centre position of clamping mounting plate drives electric putter 24, clamping limb driving 24 telescopic end of electric putter to be vertically equipped with
Flat-pushing bar 25 is equipped with adapting rod 26 along the both ends of 25 length direction of flat-pushing bar, and adapting rod 26 drives electric putter 24 far from clamping limb
One end be rotatably connected to clamping limb 27, be equipped with clamping limb guide plate 28, clamping limb in adapting rod 26 and 27 junction of clamping limb
Offer guide groove 29 on guide plate 28, clamping limb 27 be equipped with 29 matched clamping limb directive wheel 30 of guide groove, pass through
Clamping limb driving electric putter 24 drive adapting rod 26 moved together with clamping limb 27, on clamping limb guide plate 28 guide groove 29 and
Under the collective effect of clamping limb directive wheel 30, realize clamping limb 27 in expansion station and folding station any switching laws, mobile platform
It is set on 17 there are two collapsible clamping device, clamping device upper end is equipped with trolley cover board 31；
Second trolley 2 and the first trolley 1 are equipped with walking mechanism, elevating mechanism, sliding eliminating machine and clamping device；
Guiding mechanism is additionally provided between lifting frame 9 and chassis 3, the both ends on chassis 3, guiding mechanism is arranged in guiding mechanism
Including the guide sleeve 32 being arranged on chassis 3, the guide rod 33 being arranged on lifting frame 9, guide rod 33 is slided with guide sleeve 32
Dynamic cooperation.
First connecting rod 11 is rotated with lifting frame 9 and chassis 3 by band plummer block housing bearing 34 respectively with second connecting rod 12
Connection.
26 lower face of adapting rod is connected with sliding shoe 35, and mobile platform 17 is equipped with switching rod guide 36, and sliding shoe 35 exists
Move back and forth in switching rod guide 36；Clamping limb 27 is equipped with position-limited wheel 37 close to the lower face of adapting rod 26, in mobile platform 17
It is equipped with limit guide groove 38 positioned at the lower section of position-limited wheel 37, position-limited wheel 37 is slidably matched with limit guide groove 38；Flat-pushing bar 25 and switching
The lower section of 26 junction of bar is equipped with clamping limb torque resistant traveling wheel 64, is located at clamping limb torque resistant traveling wheel 64 in mobile platform 17
Lower section is equipped with walking trough, and clamping limb torque resistant traveling wheel 64 is slidably matched with walking trough.
Clamping limb 27 is made of adapter 50, main pipe 51, prestressing force core bar 52, servo-actuated short sleeve 53 and end cap 54, is turned
50 outer circle of connector is arranged with main pipe 51, and inner hole thread is connected with prestressing force core bar 52, and multiple energy are arranged on main pipe 51
The servo-actuated short sleeve 53 rotated freely, servo-actuated short sleeve 53 are fixed by end cap 54, and adapter 50 is connect with adapting rod 26.
Between lifting frame 9 and eccentric adjusting frame 14 be equipped with Damper Braces component, Damper Braces component include with partially
The mounting means 55 of the connection of heart adjustment frame 14, the lower installation part 56 being connect with lifting frame 9, in mounting means 55 and lower installation
It is equipped with multiple springs 57 between part 56, and is additionally provided with connection pre-loading screw 58 between mounting means 55 and lower installation part 56.
An elbow formula damper assembly is additionally provided between first trolley 1 and the second trolley 2, elbow formula damper assembly includes two points
The trough of belt toggle link 59 not connect with the first trolley 1 and the second trolley 2, two circles being rotatablely connected respectively with trough of belt toggle link 59 are empty
Heart toggle link 60 is connected by bellows 61 between two circular hollow toggle links 60.
It is equipped with carrying rotation axis 62 in 17 centre position of mobile platform, clamping mounting plate 23 is by carrying rotation axis 62 and moving
Moving platform 17 connects, and clamping mounting plate 23 can be to carry rotation axis 62 as axis rotation, the edge on clamping mounting plate 23
Place is equipped with the servo-actuated weight bearing roller wheels 63 being slidably matched with mobile platform 17, wherein carrying rotation axis 62 is equipped in the prior art often
Dual spring spinning reduction mechanism, in the case where 23 no-load condition of mounting plate is clamped, clamping mounting plate 23 can restore automatically to first
Beginning state does not influence next use.
The course of work of the present embodiment：When vehicle stops into garage, the center line of vehicle and the center line in garage are not parallel
When, the first trolley is introduced into vehicle chassis, enters after the second trolley, while the clamping limb expansion in the outside of the second trolley, outside
Clamping limb when being bonded with vehicle tyre, the automatic rotary fine adjustment of mounting plate is clamped, the clamping limb in outside is made to be bonded completely with tire,
Then reinflated other clamping limbs are bonded with other tires, vehicle are then risen certain altitude by elevating mechanism, then lead to
It crosses sliding eliminating machine vehicle is become a full member, makes the centerline parallel of its center line and garage or in the same vertical plane, so
Vehicles while passing garage is realized by walking mechanism again afterwards；When vehicle stops into garage, the center line of vehicle and the center line in garage
It is identical as the above-mentioned course of work when parallel, wherein clamping mounting plate does not need rotary fine adjustment.
Embodiment 2
A kind of Intelligent garage transfer robot of combined bidirectional movement provided in this embodiment, including it is used for vehicle conveying
The first trolley 1 and the second trolley 2, the first trolley 1 be equipped with for drive trolley be moved forward and backward walking mechanism, for eliminating
The sliding eliminating machine of vehicle parking deviation, the elevating mechanism for promoting vehicle, the clamping machine for vehicle tyre to be clamped
Structure；
Walking mechanism includes horizontally disposed chassis 3, is mounted on the traveling wheel 4 of 3 side of chassis, is arranged on chassis 3
Movable motor 5 is drive end along 3 length direction one end of chassis, and the other end is driven end, and movable motor 5 is equipped at drive end,
Traveling wheel 4 is fixed on by main shaft 6 on chassis 3, and is equipped with first gear 7 positioned at the main shaft 6 of drive end, movable motor 5
Output end is equipped with the second gear 8 being meshed with first gear 7, can be divided the first trolley 1 and the second trolley 2 by walking mechanism
At the front-wheel and trailing wheel of other mobile vehicle；
Elevating mechanism includes the lifting frame 9 being arranged in 3 centre position of chassis, and lifting frame 9 is in "U" shaped shape, is used for
The hoisting mechanism that lifting frame 9 lifts is controlled, is equipped with hoisting mechanism along the both ends of 3 length direction of chassis, hoisting mechanism includes
The lifting electric putter 10 being arranged on chassis 3, the first connecting rod 11 being rotatablely connected with lifting frame 9 are rotatablely connected with chassis 3
Second connecting rod 12 is rotatablely connected between first connecting rod 11 and second connecting rod 12 by shaft 13, and the working end of electric putter 10 is lifted
It is connect with shaft 13, so that first connecting rod 11 is tended to be parallel with second connecting rod 12 by lifting electric putter, realize and promote lifting frame
9, on the contrary decline lifting frame 9；
Eliminating machine setting is slided in 9 upper surface of lifting frame, sliding eliminating machine includes being arranged on lifting frame 9
Eccentric adjusting frame 14, the lateral adjustments component being arranged on eccentric adjusting frame 14, lateral adjustments component include two transverse directions
And the linear guides 15 on eccentric adjusting frame 14 are arranged in parallel in, linear guides 15 are equipped with movable block 16, on movable block 16
End face is equipped with mobile platform 17, is equipped between linear guides 15 for driving mobile platform 17 on eccentric adjusting frame 14
Mobile driving mechanism, driving mechanism include the first mounting base 18 and the second mounting base being arranged on eccentric adjusting frame 14
19, it is equipped with the lead screw 20 that can be rotated between the first mounting base 18 and the second mounting base 19, Mobile base is threaded on lead screw 20
21, the second mounting base 19 is equipped with the screw drive motor 22 that driving lead screw 20 rotates, and Mobile base 21 is connect with mobile platform 17,
Drive the rotation of lead screw 20 that Mobile base 21 is made to move back and forth by screw drive motor 22, to make 17 transverse reciprocating of mobile platform move
It is dynamic；
Clamping device uses two collapsible clamping devices disposed in parallel and telescopic clamping device, collapsible clamping machine
Structure includes the clamping mounting plate 23 being arranged on mobile platform 17, is horizontally installed on clamping mounting plate 23 and has folder function
Clamp arm assembly, clamp arm assembly includes that the clamping limb being arranged in clamping mounting plate 23 centre position drives electric putter 24, folder
Gripping arm drives 24 telescopic end of electric putter to be vertically equipped with flat-pushing bar 25, and adapting rod 26 is equipped with along the both ends of 25 length direction of flat-pushing bar,
Adapting rod 26 drives one end of electric putter 24 to be rotatably connected to clamping limb 27 far from clamping limb, connects in adapting rod 26 and clamping limb 27
It meets place and is equipped with clamping limb guide plate 28, offer guide groove 29 on clamping limb guide plate 28, clamping limb 27 is equipped with and guide groove
29 matched clamping limb directive wheels 30 drive electric putter 24 that adapting rod 26 is driven to be moved together with clamping limb 27 by clamping limb
Dynamic, under the collective effect of clamping limb directive wheel 30, realization clamping limb 27 is being unfolded guide groove 29 on clamping limb guide plate 28
Station and folding station any switching laws；
Telescopic clamping device includes the clamping mounting plate 23 being arranged on mobile platform 17, is clamped on mounting plate 23 laterally
Equipped with square tube 41 is oriented to, guiding square tube 41 is internally located at top and bottom and offers upper hopper chute 42 and gliding groove 43, upper cunning respectively
Mounting blocks 44 and lower mounting blocks 45, upper mounting blocks 44 and lower mounting blocks 45 1 are slidably connected in slot 42 and gliding groove 43 respectively
End is equipped with clamping limb adapter 46, and clamping limb adapter 46 slides in upper hopper chute 42 and gliding groove 43, clamping limb switching
Part 46 is connect with clamping limb 27, is equipped with rack 47 in the opposite end face of upper mounting blocks 44 and lower mounting blocks 45, is located at and is oriented to square tube
41 bosom positions are equipped with clamping limb driving motor 48, and 48 output end of clamping limb driving motor is equipped with matched with rack 47
Gear 49 is additionally provided with mounting blocks traveling wheel 40, mounting blocks at the both ends of upper mounting blocks 44 and lower mounting blocks 45 along its length
40 outer circle of traveling wheel is slidably matched with 41 inner wall of square tube is oriented to；It is parallel on mobile platform 17 to be equipped with collapsible clamping device and stretch
Formula clamping device, clamping device upper end are equipped with trolley cover board 31；
Second trolley 2 and the first trolley 1 are equipped with walking mechanism, elevating mechanism, sliding elimination machine, wherein being introduced into vehicle
Collapsible clamping device and telescopic clamping device, rear the second trolley 2 for entering vehicle chassis are used on first trolley 1 on chassis
Upper to use collapsible clamping device and on-telescopic clamping device, wherein on-telescopic clamping device includes that setting is installed in clamping
Guiding square tube 41 on plate 23 is equipped with clamping limb 27 along 41 length direction both ends of square tube are oriented to；
Guiding mechanism is additionally provided between lifting frame 9 and chassis 3, the both ends on chassis 3, guiding mechanism is arranged in guiding mechanism
Including the guide sleeve 32 being arranged on chassis 3, the guide rod 33 being arranged on lifting frame 9, guide rod 33 is slided with guide sleeve 32
Dynamic cooperation.
First connecting rod 11 is rotated with lifting frame 9 and chassis 3 by band plummer block housing bearing 34 respectively with second connecting rod 12
Connection.
26 lower face of adapting rod is connected with sliding shoe 35, and mobile platform 17 is equipped with switching rod guide 36, and sliding shoe 35 exists
Move back and forth in switching rod guide 36；Clamping limb 27 is equipped with position-limited wheel 37 close to the lower face of adapting rod 26, in mobile platform 17
It is equipped with limit guide groove 38 positioned at the lower section of position-limited wheel 37, position-limited wheel 37 is slidably matched with limit guide groove 38；Flat-pushing bar 25 and switching
The lower section of 26 junction of bar is equipped with clamping limb torque resistant traveling wheel 64, is located at clamping limb torque resistant traveling wheel 64 in mobile platform 17
Lower section is equipped with walking trough, and clamping limb torque resistant traveling wheel 64 is slidably matched with walking trough.
Clamping limb 27 is made of adapter 50, main pipe 51, prestressing force core bar 52, servo-actuated short sleeve 53 and end cap 54, is turned
50 outer circle of connector is arranged with main pipe 51, and inner hole thread is connected with prestressing force core bar 52, and multiple energy are arranged on main pipe 51
The servo-actuated short sleeve 53 rotated freely, servo-actuated short sleeve 53 are fixed by end cap 54, and adapter 50 connects with clamping limb adapter 46
It connects.
Between lifting frame 9 and eccentric adjusting frame 14 be equipped with Damper Braces component, Damper Braces component include with partially
The mounting means 55 of the connection of heart adjustment frame 14, the lower installation part 56 being connect with lifting frame 9, in mounting means 55 and lower installation
It is equipped with multiple springs 57 between part 56, and is additionally provided with connection pre-loading screw 58 between mounting means 55 and lower installation part 56.
An elbow formula damper assembly is additionally provided between first trolley 1 and the second trolley 2, elbow formula damper assembly includes two points
The trough of belt toggle link 59 not connect with the first trolley 1 and the second trolley 2, two circles being rotatablely connected respectively with trough of belt toggle link 59 are empty
Heart toggle link 60 is connected by bellows 61 between two circular hollow toggle links 60.
It is equipped with carrying rotation axis 62 in 17 centre position of mobile platform, clamping mounting plate 23 is by carrying rotation axis 62 and moving
Moving platform 17 connects, and clamping mounting plate 23 can be to carry rotation axis 62 as axis rotation, the edge on clamping mounting plate 23
Place is equipped with the servo-actuated weight bearing roller wheels 63 being slidably matched with mobile platform 17, wherein carrying rotation axis 62 is equipped in the prior art often
Dual spring spinning reduction mechanism, in the case where 23 no-load condition of mounting plate is clamped, clamping mounting plate 23 can restore automatically to first
Beginning state does not influence next use.
By the technical solution of above example, the Intelligent garage transfer robot of combined bidirectional movement is not necessarily to broach
It exchanges, and avoids excessively squeezing tire and reducing tyre life, can realize the clamping consistent with size of Auto-matching tire location
Degree, centering process tire is without friction, and ground vibration isolation, versatility is high, the advantages that requiring low and handling efficiency high civil engineering, and
And the Intelligent garage transfer robot of combined bidirectional movement is simple in structure, at low cost, work efficiency is high, and service life is long,
It is simple to operate.
Above example is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within the scope of the present invention
Within.
Claims (6)
1. a kind of Intelligent garage transfer robot of combined bidirectional movement, includes for the first trolley of vehicle conveying and second
Trolley, it is characterised in that：The walking mechanism for driving trolley to be moved forward and backward is equipped on first trolley and the second trolley,
Sliding eliminating machine for eliminating vehicle parking deviation, the elevating mechanism for promoting vehicle, for vehicle tyre to be clamped
Clamping device；
The walking mechanism includes horizontally disposed chassis, is mounted on the traveling wheel of chassis side, the walking being arranged on chassis
Motor is drive end along chassis length direction one end, and the other end is driven end, and walking electricity is equipped at the drive end
Machine, the traveling wheel are fixed on by main shaft on chassis, and are equipped with first gear, the walking electricity positioned at the main shaft of drive end
The output end of machine is equipped with the second gear being meshed with first gear, can be by the first trolley and the second trolley point by walking mechanism
At the front-wheel and trailing wheel of other mobile vehicle；
The elevating mechanism includes the lifting frame being arranged in chassis centre position, the elevator for controlling lifting frame lifting
Structure is equipped with hoisting mechanism along the both ends in the chassis length direction, and the hoisting mechanism includes the lifting being arranged on chassis
Electric putter, the first connecting rod with lifting frame rotation connection, the second connecting rod with chassis rotation connection, the first connecting rod and the
It is rotatablely connected by shaft between two connecting rods, the working end of the lifting electric putter is connect with shaft, is made by lifting electric putter
First connecting rod tends to be parallel with second connecting rod, realizes and promotes lifting frame, otherwise declines lifting frame；
In lifting frame upper surface, the sliding eliminating machine includes being arranged on lifting frame for the sliding eliminating machine setting
Eccentric adjusting frame, the lateral adjustments component being arranged on eccentric adjusting frame, the lateral adjustments component include two cross
To and the linear guides that are arranged in parallel on eccentric adjusting frame, the linear guides are equipped with can be along linear rail length direction
Mobile mobile platform；
It includes the folder of setting on a mobile platform that the clamping device, which uses collapsible clamping device, the collapsible clamping device,
Mounting plate is held, is horizontally installed on clamping mounting plate and the clamp arm assembly with folder function, the clamp arm assembly includes
The clamping limb in clamping mounting plate centre position, which is arranged, drives electric putter, the clamping limb driving electric putter telescopic end to be vertically equipped with
Flat-pushing bar is equipped with adapting rod along the both ends in the flat-pushing pole length direction, and the adapting rod drives electric putter far from clamping limb
One end is rotatably connected to clamping limb, is equipped with clamping limb guide plate in the adapting rod and clamping limb junction, the clamping limb is led
Offer guide groove on plate, the clamping limb be equipped with the matched clamping limb directive wheel of guide groove, driven by clamping limb
Dynamic electric putter driving adapting rod is moved together with clamping limb, and guide groove and clamping limb directive wheel is common on clamping limb guide plate
Under effect, realize that clamping limb folds on expansion station and folding station any switching laws, the mobile platform at least provided with two
Formula clamping device, the clamping device upper end are equipped with trolley cover board；
Alternatively, it includes being arranged in mobile platform that the clamping device, which uses telescopic clamping device, the telescopic clamping device,
On clamping mounting plate, guiding square tube is transversely provided on the clamping mounting plate, the guiding square tube is internally located at upper end under
End offers upper hopper chute and gliding groove respectively, slidably connects mounting blocks and lower installation in the upper hopper chute and gliding groove respectively
Block, the upper mounting blocks and lower mounting blocks one end are equipped with clamping limb adapter, the clamping limb adapter in upper hopper chute and
It is slided in gliding groove, the clamping limb adapter is connect with the clamping limb, opposite in the upper mounting blocks and lower mounting blocks
End face is equipped with rack, is located at and is oriented to square tube bosom position equipped with clamping limb driving motor, the clamping limb driving motor is defeated
Outlet be equipped with the matched gear of rack, be additionally provided with peace at the both ends of the upper mounting blocks and lower mounting blocks along its length
Block traveling wheel is filled, the mounting blocks traveling wheel outer circle is slidably matched with square tube inner wall is oriented to；
It is additionally provided with guiding mechanism between the lifting frame and chassis, the guiding mechanism is arranged at the both ends on chassis, described to lead
Include the guide sleeve being arranged on chassis to mechanism, the guide rod being arranged on lifting frame, the guide rod is slided with guide sleeve
Dynamic cooperation；
The clamping limb is made of adapter, main pipe, prestressing force core bar, servo-actuated short sleeve and end cap, the adapter outer circle
Be arranged with main pipe, inner hole thread is connected with prestressing force core bar, be arranged on the main pipe it is multiple can rotate freely with
Dynamic short sleeve, the servo-actuated short sleeve are fixed by end cap, and the adapter is connect with adapting rod or with clamping limb adapter.
2. the Intelligent garage transfer robot of combined bidirectional movement according to claim 1, it is characterised in that：Described
One connecting rod is rotatablely connected with lifting frame and chassis by band plummer block housing bearing respectively with second connecting rod；The lifting frame is in
"U" shaped shape, equipped with the driving for driving mobile platform to move between linear guides on the eccentric adjusting frame
Mechanism, the driving mechanism include the first mounting base and the second mounting base being arranged on eccentric adjusting frame, first peace
It is equipped with the lead screw that can be rotated between dress seat and the second mounting base, Mobile base, second installation are threaded on the lead screw
Seat is equipped with the screw drive motor of driving lead screw rotation, and the Mobile base is connect with mobile platform, passes through screw drive motor
Driving lead screw rotation makes Mobile base move back and forth, to make mobile platform be moved back and forth.
3. the Intelligent garage transfer robot of combined bidirectional movement according to claim 1, it is characterised in that：Described turn
Extension bar lower face is connected with sliding shoe, and the mobile platform is equipped with switching rod guide, and the sliding shoe is led in the adapting rod
Move back and forth on rail；The clamping limb is equipped with position-limited wheel close to the lower face of adapting rod, is located at position-limited wheel in the mobile platform
Lower section be equipped with limit guide groove, the position-limited wheel is slidably matched with the limit guide groove；The flat-pushing bar and adapting rod junction
Lower section be equipped with clamping limb torque resistant traveling wheel, the mobile platform be located at below clamping limb torque resistant traveling wheel be equipped with walk
Slot, the clamping limb torque resistant traveling wheel are slidably matched with the walking trough.
4. the Intelligent garage transfer robot of combined bidirectional movement according to claim 1, it is characterised in that：Described
Damper Braces component is equipped between lifting frame and the eccentric adjusting frame, the Damper Braces component includes and the bias
The upper mounting blocks of adjustment frame connection, the lower mounting blocks being connect with the lifting frame, in the upper mounting blocks and lower mounting blocks
Between be equipped with multiple springs, and be additionally provided with attachment screw between the upper mounting blocks and lower mounting blocks.
5. the Intelligent garage transfer robot of combined bidirectional movement according to claim 1, it is characterised in that：Described
Be additionally provided with an elbow formula damper assembly between one trolley and the second trolley, it is described between elbow formula damper assembly include two respectively with first
The trough of belt toggle link of trolley and the connection of the second trolley, two circular hollow toggle links being rotatablely connected respectively with trough of belt toggle link, two institutes
It states and is connected by bellows between circular hollow toggle link.
6. the Intelligent garage transfer robot of combined bidirectional movement according to claim 1, it is characterised in that：In movement
Platform centre position is equipped with carrying rotation axis, and the clamping mounting plate is connect by carrying rotation axis with mobile platform, clamping peace
Loading board can be to carry rotation axis as axis rotation, and edge is equipped on the clamping mounting plate matches with mobile platform sliding
The servo-actuated weight bearing roller wheels closed.
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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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| 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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| CN106812361B true CN106812361B (en) | 2018-08-07 |
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| CN109324616B (en) * | 2018-09-20 | 2021-06-18 | 同济大学 | Alignment method of unmanned parking transfer robot based on vehicle-mounted sensor |
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