CN106988585B - A kind of adaptive parking systems automatic device for parking vehicle - Google Patents

A kind of adaptive parking systems automatic device for parking vehicle Download PDF

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Publication number
CN106988585B
CN106988585B CN201710134591.5A CN201710134591A CN106988585B CN 106988585 B CN106988585 B CN 106988585B CN 201710134591 A CN201710134591 A CN 201710134591A CN 106988585 B CN106988585 B CN 106988585B
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CN
China
Prior art keywords
clamping
clamp arm
drive sprocket
axle
wheel
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CN201710134591.5A
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Chinese (zh)
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CN106988585A (en
Inventor
冯毅雄
宋晨俊
高聪
高一聪
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201710134591.5A priority Critical patent/CN106988585B/en
Publication of CN106988585A publication Critical patent/CN106988585A/en
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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/34Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms

Abstract

The invention discloses a kind of adaptive parking systems automatic device for parking vehicle.Two retained parts are symmetrically mounted on the front and rear sides of main part along device direction of travel, and two retained parts are connected by telescopic hydraulic device between main part respectively;Retained part includes the clamping device for clamping rack and being mounted in clamping rack, main part includes main stand and the walking mechanism that is mounted on main stand, the clamping rack of two main parts is respectively fixedly connected with the main stand front and back sides of main part, the tire that support automobile is pressed from both sides by clamping device drives described device is mobile to advance by walking mechanism.The present invention walks rotation to, it can be achieved that level land moves freely by control left and right, can be adaptive to complex plane space;Structure is simple, easily manufactured, at low cost, and the vehicle of different wheelbases can be adapted to by adjusting clamp arm position.

Description

A kind of adaptive parking systems automatic device for parking vehicle
Technical field
The invention belongs to vehicle mobile device technologys, and in particular to deposit automatically for a kind of adaptive parking systems Pickup device.
Background technique
With the improvement of people's living standards, automobile occupancy volume is continuously increased per capita in city, urban transportation congestion further can It is fewer and fewer for the position of parking.In order to adapt to the demand of parking, people start largely to use stereo garage, to solve parking stall not The problem of foot.
Adaptive parking systems automatic device for parking vehicle is core the most in planar movement class mechanical type parking apparatus The mechanism of driving of technology.Adaptive parking systems automatic device for parking vehicle directly pierces below vehicle, using clamp arm by vehicle Tire picks up, thus move vehicle.Traditional clamping tire carrier, structure is more complicated, and transmission is unstable, cannot be flat Ground moves freely, meanwhile, the oneself height of entire mechanism is relatively high, and the clear height requirement for resulting in bicycle parking position is relatively high.
Summary of the invention
It is an object of the invention to overcome defect and deficiency mentioned above, and provide a kind of adaptive parking systems Automatic device for parking vehicle.
The present invention realize its purpose the technical solution adopted is as follows:
The present invention includes two retained parts and a main part, and two retained parts are symmetrically pacified along device direction of travel Mounted in the front and rear sides of main part, two retained parts are connected by telescopic hydraulic device between main part respectively It connects.
The retained part includes the clamping device for clamping rack and being mounted in clamping rack, and the main part includes Main stand and the walking mechanism being mounted on main stand, the clamping rack of two main parts is through respective hydraulic device point It is not fixedly attached to the main stand front and back sides of main part, is controlled between clamping rack and main stand by hydraulic device Spacing be adapted to the automobiles of different wheelbases, press from both sides the tire of support automobile by clamping device, driven by walking mechanism described in Device is mobile to advance.
The clamping device includes clamping motor, two lead screws, feed screw nut, clamp arm, support wheel, guide rail and sliding block, folder It holds bottom of the frame and the support wheel for rolling traveling for device is installed, clamping motor is fixedly mounted in clamping rack;Two silks Coaxially connected by shaft coupling between thick stick, the thread rotary orientation of two lead screws is on the contrary, the both ends after two lead screws are coaxially connected pass through Screw rod bearing support is mounted in clamping rack, and lead screw is arranged along device direction of travel, wherein the one end suit of a lead screw There is clamping sprocket wheel, clamping sprocket wheel connect with the output shaft chain conveyer of clamping motor through clamping chain, is set on every lead screw Respective feed screw nut, each feed screw nut and one end of respective clamp arm are hinged, are hinged in the middle part of two clamp arm, hinge joint Sliding block is installed, sliding block insertion is installed in the guide rail that clamping rack opens up, and guide rail is along perpendicular to device direction of travel;
The clamp arm includes mounting rod, arm axle, roller set, outer baffle block, internal stop, location nut and outer bearing;Mounting rod one End and feed screw nut are hinged, and arm axle one end is fixedly connected with the mounting rod other end, and roller set is set on arm axle, and roller covers both ends and arm The internal stop for limit is equipped between axis, the arm axle other end is equipped with outer baffle block, arm axle other end end dress by outer bearing sleeve There is the location nut for positioning outer baffle block;Roller set surface is corrugated, and diameter is gradually become by the lateral outer baffle block side of mounting rod Greatly;
By clamping motor driven lead screw rotation, clamp arm one end is moved through feed screw nut's subband and is moved along lead screw, in the middle part of clamp arm The sliding block of hinge joint moves limit along guide rail, realizes that the roller set of two clamp arm forms holding action.
For the clamp arm non-parallel to horizontal plane to be obliquely installed, end height of the clamp arm in outer baffle block side is higher than the other side End height, tilt angle be 3 °~10 °.
The walking mechanism includes being arranged in two groups of the left and right of device direction of travel two sides to walk wheel assembly, and every group is walked wheel Component includes movable motor, mobile chain, connection chain, driving wheel, drive sprocket axle, driven wheel and follower shaft, movable motor It is fixedly mounted on main stand, drive sprocket axle and follower shaft are mounted on main body machine along perpendicular to device direction of travel arrangement On frame, one end of drive sprocket axle and follower shaft is coaxially connected with driving wheel and driven wheel, drive sprocket axle and follower shaft respectively Be fixed on main stand by active bearings and driven bearing respectively, on drive sprocket axle fixing sleeve equipped with the first drive sprocket and Second drive sprocket, fixing sleeve is equipped with driven sprocket on follower shaft, and the output shaft of movable motor is led through mobile chain with first The connection of movable sprocket chain conveyer, the second drive sprocket is connected through connection chain with driven sprocket chain conveyer, so that movable motor Operation drives driving wheel and driven wheel on drive sprocket axle and follower shaft to rotate through two-stage chain conveyer, to drive described device It advances.
Apparatus of the present invention have the advantage that
1. the power of transmitting is big and stablizes, and controls precisely, and transmission is flat by the way of feed screw nut lead screw transmission Surely.
2. whole device uses transversal arrangement, carrier is allowed to be suitble to making for different wheelbase vehicles to a greater extent With it is 1850mm that minimum, which adapts to wheelbase, and maximum axle spacing is suitable for 2000mm.And use feed screw nut lead screw transmission and row Motor driven is walked, makes mechanism more compact, whole height controls within 100mm.
3. the design that clamp arm is lifted upwards in advance, allow it is pre- raise the size deformation later with clamp arm clip wheel tire and cancel out each other, from And avoid the case where mopping floor on the outside of clamp arm.
4. a clamping trolley left and right wheels rotate in same direction, trolley linear motion is rotated backward, trolley rotation, can be by adjusting Motor steering control trolley planar moves freely.
5. clamp arm is designed using a kind of corrugated roller bar, lateral direction of car is avoided to slide.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention;
Fig. 2 is the partial structural diagram that clamp arm is closed up;
Fig. 3 is the partial structural diagram of clamp arm expansion;
Fig. 4 is the partial structural diagram of movement mechanism;
Fig. 5 is the structural schematic diagram of clamp arm;
Fig. 6 is clamp arm clamping automobile tire schematic diagram.
In figure: 101- main stand, 200- clamping device, 201- clamping rack, 202- clamp motor, 203- clamping chain Item, 204- screw rod, 205- feed screw nut, 206- shaft coupling, 207- screw rod bearing, 208- clamp arm, 209- guide rail, 210- sliding block, 211- clamps sprocket wheel, 212- support wheel, 2081- arm axle, 2082- roller set, 2083- outer baffle block, 2084- internal stop, 2085- positioning Nut, 2086- outer bearing;The mobile chain of 300- walking mechanism, 301- movable motor, 302-, 303- connection chain, 304- are actively Wheel, 305- drive sprocket axle, 306- driven wheel, 307- follower shaft, 308- active bearings, the driven bearing of 309-, 310- first are main Movable sprocket, the second drive sprocket of 311-, 312- driven sprocket;400- hydraulic device, 500- automobile tire.
Specific embodiment
With reference to the accompanying drawing, invention is further described in detail.
As shown in Figure 1, present invention specific implementation includes two retained parts and a main part, two retained part edges Device direction of travel is symmetrically mounted on the front and rear sides of main part, and two retained parts pass through between main part respectively Telescopic hydraulic device 400 connects.
Retained part includes the clamping device 200 for clamping rack 201 and being mounted in clamping rack 201, the main part Divide the walking mechanism 300 for including main stand 101 and being mounted on main stand 101, the clamping rack 201 of two retained parts It is respectively fixedly connected with 101 front and back sides of main stand of main part through respective hydraulic device 400, forms two clamping machines Frame 201 and main stand 101 control clamping rack 201 and main body machine by hydraulic device 400 along the arrangement of device direction of travel Spacing between frame 101 passes through walking by the tire of the folder support automobile of clamping device 200 to be adapted to the automobile of different wheelbases Mechanism 300 drives described device is mobile to advance.
As shown in Figures 2 and 3, clamping device 200 includes clamping 202, two lead screws 204 of motor, feed screw nut 205, folder Arm 208, guide rail 209, sliding block 210 and support wheel 212, clamping 201 bottom of rack, which is equipped with, rolls the support advanced for device Wheel 212, clamping motor 202 are fixedly mounted in clamping rack 201;Coaxially connected between two lead screws 204 by shaft coupling 206 Connect, the thread rotary orientations of two lead screws 204 on the contrary, a lead screw 204 be it is left-handed, another lead screw 204 is dextrorotation, two lead screws 204 it is coaxially connected after both ends by screw rod bearing 207 support be mounted on clamping rack 201 on, lead screw 204 is along device traveling side To arrangement, wherein the one end of a lead screw 204 is set with clamping sprocket wheel 211, clamping sprocket wheel 211 is through clamping chain 203 and folder The output shaft chain conveyer connection of motor 202 is held, is set with respective feed screw nut 205, each lead screw spiral shell on every lead screw 204 Mother 205 is hinged with one end of respective clamp arm 208, and the middle part of two clamp arm 208 is hinged, and hinge joint is equipped with sliding block 210, sliding Block 210, which is embedded in, to be installed in the guide rail 209 that clamping rack 201 opens up, and guide rail 209 is along perpendicular to device direction of travel, guide rail 209 Perpendicular to screw rod 204, it is symmetrically placed in retained part two sides.
Screw rod 204 shares two, and oppositely oriented, coaxially connected by shaft coupling 206, both ends are solid by screw rod bearing 207 It is scheduled in clamping rack 201, so that two screw rods 204, which rotate in same direction, can be achieved reversed turn of two feed screw nuts 205 of bilateral symmetry It is dynamic, it ensure that 208 synchronization action of clamp arm of retained part two sides.
It drives lead screw 204 to rotate by clamping motor 202, moves 208 one end of clamp arm through feed screw nut's subband and moved along lead screw 204 Dynamic, the sliding block 210 of 208 middle part hinge joint of clamp arm moves limit along guide rail 209, realizes that two clamp arm 208 form holding action.
As shown in figure 5, clamp arm 208 include mounting rod, arm axle 2081, roller set 2082, outer baffle block 2083, internal stop 2084, Location nut 2085 and outer bearing 2086;Mounting rod one end and feed screw nut 205 are hinged, and 2081 one end of arm axle and mounting rod are another End is fixedly connected, and roller set 2082 is set on arm axle 2081, and roller, which covers, to be equipped between 2082 both ends and arm axle 2081 for limit Internal stop 2084,2081 other end of arm axle are set with outer baffle block 2083,2081 other end end of arm axle dress by outer bearing 2086 There is the location nut 2085 for positioning outer baffle block 2083, location nut 2085 is installed on 2081 outer end of arm axle and deduction outer shaft Hold 2086.
2082 surfaces of roller set are corrugated, and diameter is become larger by lateral 2083 side of outer baffle block of mounting rod, so that roller set 2082 two clamping faces being clamped between 500 two sides of automobile tire are parallel to each other.
Non-parallel to horizontal plane to be obliquely installed, end height of the clamp arm 208 in 2083 side of outer baffle block is higher than clamp arm 208 The end height of the other side, tilt angle are 3 °~10 °, allow and pre- raise the size deformation phase later with 208 clip wheel tire 500 of clamp arm It mutually offsets, the case where so as to avoid mopping floor on the outside of clamp arm 208.
As shown in figure 4, walking mechanism 300 walks wheel group including being arranged in two groups of the left and right of device direction of travel two sides Part, every group walk wheel assembly include movable motor 301, mobile chain 302, connection chain 303, driving wheel 304, drive sprocket axle 305, Driven wheel 306 and follower shaft 307, movable motor 301 are fixedly mounted on main stand 101, drive sprocket axle 305 and driven wheel Axis 307 is mounted on main stand 101 along perpendicular to device direction of travel arrangement, drive sprocket axle 305 and follower shaft 307 One end is coaxially connected with driving wheel 304 and driven wheel 306 respectively, and drive sprocket axle 305 and follower shaft 307 pass through driving shaft respectively Hold 308 and driven bearing 309 be fixed on main stand 101, on drive sprocket axle 305 fixing sleeve be equipped with the first drive sprocket 310 With the second drive sprocket 311, fixing sleeve is equipped with driven sprocket 312 on follower shaft 307, and the output shaft of movable motor 301 is through moving Dynamic chain 302 is connect with 310 chain conveyer of the first drive sprocket, and the second drive sprocket 311 is through connection chain 303 and driven sprocket 312 chain conveyers connection, so that the operation of movable motor 301 drives drive sprocket axle 305 and follower shaft 307 through two-stage chain conveyer On driving wheel 304 and driven wheel 306 rotate, so that described device be driven to advance.
Driving wheel 304 is equipped with drive sprocket axle 305 at axle center, passes through driving shaft inside and outside the drive sprocket axle 305 308 are held to be rotatablely connected with main stand 101.The driven wheel 306 is equipped with follower shaft 307, follower shaft 307 at axle center Inside and outside be rotatablely connected by driven bearing 309 and main stand 101.
It walks wheel for every group to be driven with a movable motor 301, left and right movable motor 301 rotates in same direction, the walking of trolley straight line, left Right movable motor 301 reversely rotates, and trolley rotation can be adaptive to complex plane space, free movement.
The specific implementation course of work of the invention is as follows:
The spacing between the flexible adjustment main part of hydraulic device 400 and two retained parts is first passed through, to adapt to difference The automobile of wheelbase.
Then mobile mechanism 300 works, and movable motor 301 is rotated by chain-driving traveling wheel, to control carrier It is mobile.Specifically: the movement of movable motor 301 controls drive sprocket axle 305 by mobile chain 302 and rotates, and then drives driving wheel Driving wheel 304 on axis 305 rotates synchronously.Drive sprocket axle 305 drives follower shaft 307 to rotate by connection chain 303, driven Wheel 306 is rotated synchronously with follower shaft 307, and then drives main stand 101 mobile, thus by main stand 101 and clamping machine Frame 201 is moved to immediately below automobile, and makes 200 face automobile tire 500 of clamping device.
Then the clamping device 200 of device quadrangle moves at the same time, and clamping motor 202 drives screw rod by clamping chain 203 204 rotations drive clamp arm 208 to realize folding so that feed screw nut 205 is mobile.As shown in fig. 6, clamping motor 202 passes through Closing up for each pair of clamp arm 208 of transmission mechanism control is clamped in tire two sides of the bottom, lifts to realize to automobile tire, thus will Automobile, which lifts, is supported on described device, is then worked by mobile mechanism 300 by car carrying to required position.It again will clamping electricity Machine 202 realizes putting down to automobile tire 500 by the separation of each pair of clamp arm 208 of transmission mechanism control, passes through mobile mechanism 300 Device is moved in work, leaves automobile following position directly, completes the carrying of automobile, so that repeating the above process can complete The automatic access of automobile.
The present invention is illustrated according to embodiment, under the premise of not departing from present principles, if the present apparatus can also make Dry modification and improvement.It should be pointed out that it is all using modes technical solutions obtained such as equivalent substitution or equivalent transformations, all fall within this In the protection scope of invention.

Claims (3)

1. a kind of adaptive parking systems automatic device for parking vehicle, it is characterised in that: including two retained parts and one Main part, two retained parts are symmetrically mounted on the front and rear sides of main part, two retained parts along device direction of travel It is connected respectively by telescopic hydraulic device (400) between main part;
The retained part includes clamping rack (201) and is mounted on the clamping device (200) clamped on rack (201), described Main part includes main stand (101) and the walking mechanism (300) being mounted on main stand (101), two main parts Clamping rack (201) be respectively fixedly connected with before and after the main stand (101) of main part through respective hydraulic device (400) Side controls the spacing between clamping rack (201) and main stand (101) by hydraulic device (400) to be adapted to difference The automobile of wheelbase presss from both sides the tire of support automobile by clamping device (200), drives described device mobile by walking mechanism (300) It advances;
The clamping device (200) include clamping motor (202), two lead screws (204), feed screw nut (205), clamp arm (208), Support wheel (212), guide rail (209) and sliding block (210), clamping rack (201) bottom, which is equipped with, rolls the branch advanced for device Support wheel (212), clamping motor (202) are fixedly mounted in clamping rack (201);Pass through shaft coupling between two lead screws (204) (206) coaxially connected, the thread rotary orientation of two lead screws (204) is on the contrary, the both ends after two lead screws (204) are coaxially connected pass through silk Rod bearing (207) support is mounted in clamping rack (201), and lead screw (204) is arranged along device direction of travel, wherein a lead screw (204) one end is set with clamping sprocket wheel (211), and clamping sprocket wheel (211) is through clamping chain (203) and clamping motor (202) The connection of output shaft chain conveyer, be set with respective feed screw nut (205), each feed screw nut on every lead screw (204) (205) hinged with one end of respective clamp arm (208), it is hinged in the middle part of two clamp arm (208), hinge joint is equipped with sliding block (210), sliding block (210) insertion is installed in the guide rail (209) that clamping rack (201) opens up, and guide rail (209) is along perpendicular to device Direction of travel;
The clamp arm (208) include mounting rod, arm axle (2081), roller set (2082), outer baffle block (2083), internal stop (2084), Location nut (2085) and outer bearing (2086);Mounting rod one end and feed screw nut (205) hingedly, arm axle (2081) one end and peace The dress bar other end is fixedly connected, and is set on arm axle (2081) roller set (2082), roller set (2082) both ends and arm axle (2081) it Between be equipped with internal stop (2084) for limit, arm axle (2081) other end is set with outer baffle block by outer bearing (2086) (2083), arm axle (2081) other end end is equipped with the location nut (2085) for positioning outer baffle block (2083);Roller set (2082) surface is corrugated, and diameter is become larger by the lateral outer baffle block of mounting rod (2083) side;
By clamping motor (202) driving lead screw (204) rotation, clamp arm (208) one end is moved along lead screw through feed screw nut's subband (204) mobile, the sliding block (210) of hinge joint realizes two clamp arm (208) along guide rail (209) mobile limit in the middle part of clamp arm (208) Roller set (2082) formed holding action.
2. the adaptive parking systems automatic device for parking vehicle of one kind according to claim 1, it is characterised in that: described Non-parallel to horizontal plane to be obliquely installed, end height of the clamp arm (208) in outer baffle block (2083) side is higher than another clamp arm (208) The end height of side, tilt angle are 3 °~10 °.
3. the adaptive parking systems automatic device for parking vehicle of one kind according to claim 1, it is characterised in that: described Walking mechanism (300) includes being arranged in two groups of the left and right of device direction of travel two sides to walk wheel assembly, and every group is walked wheel assembly packet Include movable motor (301), mobile chain (302), connection chain (303), driving wheel (304), drive sprocket axle (305), driven wheel (306) be fixedly mounted on main stand (101) with follower shaft (307), movable motor (301), drive sprocket axle (305) and from Driving wheel axis (307) along perpendicular to device direction of travel arrangement is mounted on main stand (101), drive sprocket axle (305) and from One end of driving wheel axis (307) is coaxially connected with driving wheel (304) and driven wheel (306), drive sprocket axle (305) and driven wheel respectively Axis (307) is fixed on main stand (101) by active bearings (308) and driven bearing (309) respectively, drive sprocket axle (305) fixing sleeve is equipped with the first drive sprocket (310) and the second drive sprocket (311), fixed suit on follower shaft (307) on Have driven sprocket (312), the output shaft of movable motor (301) is through mobile chain (302) and the first drive sprocket (310) chain conveyer Connection, the second drive sprocket (311) are connected through connection chain (303) with driven sprocket (312) chain conveyer, so that walking electricity Machine (301) operation drives driving wheel (304) on drive sprocket axle (305) and follower shaft (307) and driven through two-stage chain conveyer (306) rotation is taken turns, so that described device be driven to advance.
CN201710134591.5A 2017-03-08 2017-03-08 A kind of adaptive parking systems automatic device for parking vehicle Active CN106988585B (en)

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Application Number Priority Date Filing Date Title
CN201710134591.5A CN106988585B (en) 2017-03-08 2017-03-08 A kind of adaptive parking systems automatic device for parking vehicle

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Application Number Priority Date Filing Date Title
CN201710134591.5A CN106988585B (en) 2017-03-08 2017-03-08 A kind of adaptive parking systems automatic device for parking vehicle

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CN106988585B true CN106988585B (en) 2019-01-25

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107859401B (en) * 2017-10-17 2019-10-15 浙江大学 A kind of adaptive lift vehicle device of bias carried for car

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2386127Y (en) * 1999-09-20 2000-07-05 深圳一和实业有限公司 Creeping join mechanism for lane starking type garage
CN101289901B (en) * 2008-06-17 2010-08-25 王俊 Multi-storied garage intelligent carrier
CN103089046B (en) * 2011-11-04 2015-11-25 深圳怡丰自动化科技有限公司 A kind of transfer robot and apply the mechanical stereo garage of this transfer robot
CN103015766B (en) * 2012-12-31 2015-09-16 青岛齐星铁塔有限公司 A kind of clamp arm pickup device
JP6280433B2 (en) * 2014-04-28 2018-02-14 新明和工業株式会社 Tire clamping apparatus and automobile conveying apparatus equipped with the same
CN205206441U (en) * 2015-12-18 2016-05-04 兰州远达停车产业有限公司 A two segmentation centre gripping carriers for vehicle transport

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