CN107826087A - A kind of intelligent parking ferry-boat robot - Google Patents
A kind of intelligent parking ferry-boat robot Download PDFInfo
- Publication number
- CN107826087A CN107826087A CN201711308015.4A CN201711308015A CN107826087A CN 107826087 A CN107826087 A CN 107826087A CN 201711308015 A CN201711308015 A CN 201711308015A CN 107826087 A CN107826087 A CN 107826087A
- Authority
- CN
- China
- Prior art keywords
- double
- pendulum
- steering wheel
- arm
- pendulum arms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
- B60S13/02—Turntables; Traversers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of intelligent parking ferry-boat robot, solves the problems, such as that existing parking robot needs supporting a large amount of vehicle bearing pallets and stability low.In U-shaped body framework（28）Four angles on be respectively arranged with universal wheel mechanism and elevator wheel mechanism, be provided with lifting motor retarder system in universal wheel mechanism and elevator wheel mechanism, they synchronously realize to U-shaped body framework（28）Lifting, parking into U-shaped body framework will be stopped and lifted；The drive mechanism of whole vehicle is additionally provided with the two elevator wheel mechanisms diagonally set, to realize the mobile delivery to parking；Pass through Laser emission receiver（52）Position and navigate, and by the driving of elevator wheel mechanism, realize translation and the turning function of equipment.Coordinate automatic running to the position of automobile with the identifying system of disengaging car room under the control of computer program.The present invention can carry out movement of parking to the vehicle of different dimensions lengths, and jacking capacity is big, be suitable for various intelligent parking garages and use.
Description
Technical field
The present invention relates to a kind of robot, more particularly to it is a kind of used in intelligent parking garage parking vehicle is put
The ferry-boat robot that parks crossed.
Background technology
Intelligent parking robot is a kind of one of nucleus equipment of novel intelligent parking just risen in recent years, is represented
The new developing direction of intelligent three-dimensional garage.At present, the parking robot of in the market needs to be equipped with vehicle bearing pallet, and driver stops automobile
It is placed on huge vehicle bearing pallet, then, is drilled into the lower section of vehicle bearing pallet by puma arm by robot, is lifted and incited somebody to action
Park and be moved on parking stall, complete shaped automobile access action.This intelligent parking scheme, it is necessary to be equipped with substantial amounts of vehicle bearing pallet,
And cause whole garage cost greatly to improve, in addition, vehicle bearing pallet needs to occupy certain height, cause intelligent three-dimensional garage
Floor height become big, vehicle bearing pallet also occupies mass efficient bicycle parking space.In addition, the existing car device that moves is to the vehicle that is moved
Size have certain limitation, it is impossible to adjusted according to the flexible in size for wanting mobile vehicle vehicle lift arm lifting position
Put, jacking capacity is poor, and stability is low.
The content of the invention
The invention provides a kind of intelligent parking ferry-boat robot, solving existing parking robot needs supporting big loading gage
Car pallet, wastes effective bicycle parking space and jacking capacity is poor, the low technical problem of stability.
The present invention is that solve above technical problem by the following technical programs：
A kind of intelligent parking ferry-boat robot, including U-shaped body framework, are provided with left back in the left openend rear end of U-shaped body framework
Universal wheel mechanism, the left openend front end of U-shaped body framework is provided with left front elevator wheel mechanism, in the right envelope of U-shaped body framework
Closed end rear end is provided with elevator wheel mechanism behind the right side, and universal wheel mechanism before the right side is provided with the right blind end front end of U-shaped body framework,
The structure of left back universal wheel mechanism is identical with the structure of universal wheel mechanism before the right side, structure and the right side of left front elevator wheel mechanism
The structure of elevator wheel mechanism is identical afterwards, and rear left double-pendulum arms regulation machine is respectively arranged with the rear cross beam of U-shaped body framework
Structure and rear right single pendulum arm mechanism, are respectively arranged with front left double-pendulum arms governor motion and front right list on the front beam of U-shaped body framework
Oscillating arm mechanisms, the structure of rear left double-pendulum arms governor motion is identical with the structure of front left double-pendulum arms governor motion, rear right single pendulum
The structure of arm mechanism is identical with the structure of front right single pendulum arm mechanism, is respectively arranged with the right vertical beam of U-shaped body framework sharp
Light transceiver and electric controller；Electric controller respectively with the motor on left back universal wheel mechanism, left front elevator wheel mechanism
Motor before motor, the right side behind motor, the right side in elevator wheel mechanism on universal wheel mechanism, the electricity on rear left double-pendulum arms governor motion
Machine, the motor on front left double-pendulum arms governor motion, the motor on rear right single pendulum arm mechanism and the motor on front right single pendulum arm mechanism
It is electrically connected.
Universal wheel is provided with the middle part of the caster bracket of left back universal wheel mechanism, caster bracket is shoulder pole type,
Caster bracket left end is fixedly installed the left feed screw nut of universal wheel, and the right silk of universal wheel is fixedly installed in caster bracket right-hand member
Thick stick nut, the left leading screw of universal wheel is provided with the left feed screw nut of universal wheel, is provided with the right feed screw nut of universal wheel universal
Right leading screw is taken turns, universal wheel lifting motor decelerator is connected with the top of the left leading screw of universal wheel, at the top of the left leading screw of universal wheel
Universal wheel synchronous cog belt is provided between the top of the right leading screw of universal wheel；Pass through ring flange on the top of the left leading screw of universal wheel
For left roof together with the rear cross beam apical grafting of U-shaped body framework, the top of the right leading screw of universal wheel passes through the right top plate of ring flange and U-shaped car
The rear cross beam apical grafting of body frame is together.
Steering wheel is provided with the middle part of the steering wheel support of left front elevator wheel mechanism, steering wheel support is shoulder pole type, in steering wheel
Support left end is fixedly installed the left feed screw nut of steering wheel, the right feed screw nut of steering wheel is fixedly installed in steering wheel support right-hand member, in rudder
Take turns and the left leading screw of steering wheel is provided with left feed screw nut, the right leading screw of steering wheel is provided with the right feed screw nut of steering wheel, in the left silk of steering wheel
Steering wheel lifting motor decelerator is connected with the top of thick stick, is set between the top of the left leading screw of steering wheel and the top of the right leading screw of steering wheel
There is steering wheel synchronous cog belt；Front beam top on the top of the left leading screw of steering wheel by another ring flange left roof and U-shaped body framework
It is connected together, the top of the right leading screw of steering wheel is by the right top plate of another ring flange together with the front beam apical grafting of U-shaped body framework；
Steering wheel motor and steering wheel steering motor are respectively arranged with steering wheel support.
Clip wheel tire simple pendulum arm the inner hinge and single pendulum are respectively arranged with the simple pendulum arm support frame of rear right single pendulum arm mechanism
Arm motor, simple pendulum arm is hinged with the hinge of simple pendulum arm the inner, master is hinged with the output shaft of simple pendulum arm motor
Movable pendulum arm, slave pendulum is hinged between the hinge seat of outer end in the principal and subordinate outer end hinge seat of active swing arm and the single of simple pendulum arm outer end
Arm, limited block on the outside of active swing arm is fixedly installed on the simple pendulum arm support frame on the right side of active swing arm.
Double-pendulum arms Mobile mounting rack is movably set with the cross rail inner face of U-shaped body framework, moves and installs in double-pendulum arms
Rack is fixedly installed on frame, is fixedly installed the movement driving of double-pendulum arms Mobile mounting rack respectively on the crossbeam of U-shaped body framework
Motor and double-pendulum arms Mobile mounting rack movement drive gear, it is same by mobile driving that double-pendulum arms Mobile mounting rack moves drive gear
The output shaft of step band and double-pendulum arms Mobile mounting rack movement motor links together；On double-pendulum arms Mobile mounting rack respectively
Double-pendulum arms motor reductor, double-pendulum arms the inner transmission gear and double-pendulum arms the inner transfer driven gear are provided with,
Driving gear set is provided between double-pendulum arms the inner transmission gear and double-pendulum arms the inner transfer driven gear, in double-pendulum arms
Hold and be connected with the driven jig arm of double-pendulum arms on the gear shaft of transfer driven gear, in the gear shaft of double-pendulum arms the inner transmission gear
On be connected with double-pendulum arms active jig arm, double-pendulum arms active swing arm is connected with the output shaft of double-pendulum arms motor reductor,
Double-pendulum arms active swing arm hinge and the double-pendulum arms active jig arm of double-pendulum arms active jig arm outer end in double-pendulum arms active swing arm outer end
The driven swing arm of double-pendulum arms is hinged between hinge.
The present invention can carry out movement of parking to the vehicle of different dimensions lengths, and jacking capacity is big, and car body stability is good, synchronous
Coordination function is strong, is suitable for various intelligent parking garages and uses.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the present invention and car body fiting relation figure；
Fig. 3 is the structural representation of the universal wheel mechanism of the present invention；
Fig. 4 is the structural representation of the elevator wheel mechanism of the present invention；
Fig. 5 is the structural representation of the single pendulum arm mechanism of the present invention in the on-state；
Fig. 6 is structural representation of the single pendulum arm mechanism of the present invention under retracted state；
Fig. 7 is the fiting relation figure between the U-shaped body framework 28 and double-pendulum arms Mobile mounting rack 33 of the present invention；
Fig. 8 is the structural representation of the double-swing-arm mechanism of the present invention.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings：
A kind of intelligent parking ferry-boat robot, including U-shaped body framework 28, are provided with the left openend rear end of U-shaped body framework 28
Left back universal wheel mechanism 44, the left openend front end of U-shaped body framework 28 is provided with left front elevator wheel mechanism 45, in U-shaped car
The right blind end rear end of body frame 28 is provided with elevator wheel mechanism 46 behind the right side, is set in the right blind end front end of U-shaped body framework 28
Have a universal wheel mechanism 47 before the right side, the structure of left back universal wheel mechanism 44 with it is right before universal wheel mechanism 47 structure it is identical, it is left
The structure of preceding elevator wheel mechanism 45 is identical with the structure of elevator wheel mechanism 46 behind the right side, in two universal wheel mechanisms and two
Lifting motor retarder system is provided with individual elevator wheel mechanism, they synchronously realize the lifting to U-shaped body framework 28, will
Stop parking into U-shaped body framework 28 to lift；Whole vehicle is additionally provided with the two elevator wheel mechanisms diagonally set
Drive mechanism, to realize the mobile delivery to parking；Rear left double-pendulum arms tune is respectively arranged with the rear cross beam of U-shaped body framework 28
Mechanism 48 and rear right single pendulum arm mechanism 50 are saved, front left double-pendulum arms regulation machine is respectively arranged with the front beam of U-shaped body framework 28
Structure 49 and front right single pendulum arm mechanism 51, the structure of rear left double-pendulum arms governor motion 48 and the structure of front left double-pendulum arms governor motion 49
Identical, the structure of rear right single pendulum arm mechanism 50 is identical with the structure of front right single pendulum arm mechanism 51, two single pendulum arm mechanisms
The inner side blind end of U-shaped body framework 28 is arranged on, realizes and front-wheel of parking is praised, two double-pendulum arms governor motions can be according to parking
Size carry out position movement, to meet the requirement to the wheelbases of different size automobiles；Divide on the right vertical beam of U-shaped body framework 28
Laser emission receiver 52 and electric controller 53 are not provided with；Electric controller 53 respectively with the motor on left back universal wheel mechanism 44, a left side
Motor in preceding elevator wheel mechanism 45, it is right after motor in elevator wheel mechanism 46, it is right before motor on universal wheel mechanism 47,
Motor on rear left double-pendulum arms governor motion 48, the motor on front left double-pendulum arms governor motion 49, on rear right single pendulum arm mechanism 50
Motor and front right single pendulum arm mechanism 51 on motor be electrically connected, realize synchronous lifting and movement, and send out according to laser
Penetrate receiver 52 and carry out location control.
Universal wheel 8 is provided with the middle part of the caster bracket 7 of left back universal wheel mechanism 44, caster bracket 7 is shoulder pole
Shape, the left feed screw nut 5 of universal wheel is fixedly installed in the left end of caster bracket 7, ten thousand are fixedly installed in the right-hand member of caster bracket 7
To right feed screw nut 6 is taken turns, the left leading screw 2 of universal wheel is provided with the left feed screw nut 5 of universal wheel, in the right feed screw nut 6 of universal wheel
In be provided with the right leading screw 3 of universal wheel, universal wheel lifting motor decelerator 1 is connected with the top of the left leading screw 2 of universal wheel, universal
Take turns and be provided with universal wheel synchronous cog belt 4 between the top of left leading screw 2 and the top of the right leading screw 3 of universal wheel；In the left silk of universal wheel
The top of thick stick 2 by ring flange left roof together with the rear cross beam apical grafting of U-shaped body framework 28, the top of the right leading screw 3 of universal wheel
By the right top plate of ring flange together with the rear cross beam apical grafting of U-shaped body framework 28.
Steering wheel 16 is provided with the middle part of the steering wheel support 15 of left front elevator wheel mechanism 45, steering wheel support 15 is shoulder pole
Shape, the left feed screw nut 13 of steering wheel is fixedly installed in the left end of steering wheel support 15, steering wheel is fixedly installed in the right-hand member of steering wheel support 15
Right feed screw nut 14, the left leading screw 10 of steering wheel is provided with the left feed screw nut 13 of steering wheel, is set in the right feed screw nut 14 of steering wheel
There is the right leading screw 11 of steering wheel, steering wheel lifting motor decelerator 9 is connected with the top of the left leading screw 10 of steering wheel, in the left leading screw 10 of steering wheel
Steering wheel synchronous cog belt 12 is provided between top and the top of the right leading screw 11 of steering wheel；Pass through on the top of the left leading screw 10 of steering wheel another
For one ring flange left roof together with the front beam apical grafting of U-shaped body framework 28, the top of the right leading screw 11 of steering wheel passes through another flange
The right top plate of disk is together with the front beam apical grafting of U-shaped body framework 28；Steering wheel motor is respectively arranged with steering wheel support 15
17 and steering wheel steering motor 18.
Clip wheel tire simple pendulum arm the inner hinge 21 is respectively arranged with the simple pendulum arm support frame 19 of rear right single pendulum arm mechanism 50
With simple pendulum arm motor 20, simple pendulum arm 22 is hinged with simple pendulum arm the inner hinge 21, in the defeated of simple pendulum arm motor 20
Active swing arm 25 is hinged with shaft, in the single from outer end of principal and subordinate outer end hinge seat 26 and the outer end of simple pendulum arm 22 of active swing arm 25
Driven swing arm 24 is hinged between hinge seat 23, master is fixedly installed on the simple pendulum arm support frame 19 on the right side of active swing arm 25
Limited block 27 on the outside of movable pendulum arm.
Double-pendulum arms Mobile mounting rack 33 is movably set with the cross rail inner face of U-shaped body framework 28, is moved in double-pendulum arms
Rack 32 is fixedly installed on mounting bracket 33, is fixedly installed double-pendulum arms movement installation respectively on the crossbeam of U-shaped body framework 28
Frame moves motor 30 and double-pendulum arms Mobile mounting rack movement drive gear 29, double-pendulum arms Mobile mounting rack movement drive gear
29 output shafts for moving motor 30 with double-pendulum arms Mobile mounting rack by mobile driving timing belt 31 link together；Double
Double-pendulum arms motor reductor 34, the and of double-pendulum arms the inner transmission gear 41 are respectively arranged with swing arm Mobile mounting rack 33
Double-pendulum arms the inner transfer driven gear 43, transmission gear 41 and double-pendulum arms the inner transfer driven gear 43 in double-pendulum arms the inner
Between be provided with driving gear set 42, be connected with double-pendulum arms slave clip on the gear shaft of double-pendulum arms the inner transfer driven gear 43
Arm 40, double-pendulum arms active jig arm 38 is connected with the gear shaft of double-pendulum arms the inner transmission gear 41, is driven in double-pendulum arms
Double-pendulum arms active swing arm 35 is connected with the output shaft of motor reducer 34, the double-pendulum arms master in the outer end of double-pendulum arms active swing arm 35
It is driven that double-pendulum arms are hinged between dynamic swing arm hinge 36 and the double-pendulum arms active jig arm hinge 39 of the outer end of double-pendulum arms active jig arm 38
Swing arm 37.
The present invention is positioned and navigated by Laser emission receiver 52, and by being lifted behind the left front right side of elevator wheel mechanism 45
Steering wheel mechanism 46 drives, and realizes translation and the turning function of equipment.Under the control of computer program with the identification system of disengaging car room
It is under unified central planning conjunction automatic running to the position of automobile, and by rear left double-pendulum arms governor motion 48, front left double-pendulum arms governor motion 49, after
Right single pendulum arm mechanism 50, the automatic identification of front right single pendulum arm mechanism 51 alignment automobile tire are lifted, and realize the Transport Vehicle of automobile
Function.
Claims (5)
- The robot 1. a kind of intelligent parking is ferried, including U-shaped body framework（28）, it is characterised in that in U-shaped body framework（28）A left side Openend rear end is provided with left back universal wheel mechanism（44）, in U-shaped body framework（28）Left openend front end be provided with left front liter Steering wheel mechanism drops（45）, in U-shaped body framework（28）Right blind end rear end be provided with elevator wheel mechanism behind the right side（46）, in U-shaped Body framework（28）Right blind end front end be provided with universal wheel mechanism before the right side（47）, left back universal wheel mechanism（44）Structure with it is right Preceding universal wheel mechanism（47）Structure it is identical, left front elevator wheel mechanism（45）Structure with it is right after elevator wheel mechanism （46）Structure it is identical, in U-shaped body framework（28）Rear cross beam on be respectively arranged with rear left double-pendulum arms governor motion（48） With rear right single pendulum arm mechanism（50）, in U-shaped body framework（28）Front beam on be respectively arranged with front left double-pendulum arms governor motion （49）With front right single pendulum arm mechanism（51）, rear left double-pendulum arms governor motion（48）Structure and front left double-pendulum arms governor motion（49） Structure it is identical, rear right single pendulum arm mechanism（50）Structure and front right single pendulum arm mechanism（51）Structure it is identical, in U Shape body framework（28）Right vertical beam on be respectively arranged with Laser emission receiver（52）And electric controller（53）；Electric controller（53）Respectively With left back universal wheel mechanism（44）On motor, left front elevator wheel mechanism（45）On motor, it is right after elevator wheel mechanism （46）On motor, it is right before universal wheel mechanism（47）On motor, rear left double-pendulum arms governor motion（48）On motor, front left it is double Swing arm modulating mechanism（49）On motor, rear right single pendulum arm mechanism（50）On motor and front right single pendulum arm mechanism（51）On electricity Mechatronics are together.
- 2. a kind of intelligent parking ferry-boat robot according to claim 1, it is characterised in that in left back universal wheel mechanism （44）Caster bracket（7）Middle part be provided with universal wheel（8）, caster bracket（7）For shoulder pole type, in caster bracket （7）Left end is fixedly installed the left feed screw nut of universal wheel（5）, in caster bracket（7）Right-hand member is fixedly installed the right silk of universal wheel Thick stick nut（6）, in the left feed screw nut of universal wheel（5）In be provided with the left leading screw of universal wheel（2）, in the right feed screw nut of universal wheel（6） In be provided with the right leading screw of universal wheel（3）, in the left leading screw of universal wheel（2）Top be connected with universal wheel lifting motor decelerator（1）, In the left leading screw of universal wheel（2）Top and the right leading screw of universal wheel（3）Top between be provided with universal wheel synchronous cog belt（4）； In the left leading screw of universal wheel（2）Top pass through ring flange left roof and U-shaped body framework（28）Rear cross beam apical grafting together, it is universal Take turns right leading screw（3）Top pass through the right top plate of ring flange and U-shaped body framework（28）Rear cross beam apical grafting together.
- 3. a kind of intelligent parking ferry-boat robot according to claim 2, it is characterised in that in left front elevator wheel mechanism （45）Steering wheel support（15）Middle part be provided with steering wheel（16）, steering wheel support（15）For shoulder pole type, in steering wheel support（15）It is left End is fixedly installed the left feed screw nut of steering wheel（13）, in steering wheel support（15）Right-hand member is fixedly installed the right feed screw nut of steering wheel （14）, in the left feed screw nut of steering wheel（13）In be provided with the left leading screw of steering wheel（10）, in the right feed screw nut of steering wheel（14）In be provided with The right leading screw of steering wheel（11）, in the left leading screw of steering wheel（10）Top be connected with steering wheel lifting motor decelerator（9）, in the left leading screw of steering wheel （10）Top and the right leading screw of steering wheel（11）Top between be provided with steering wheel synchronous cog belt（12）；In the left leading screw of steering wheel（10） Top pass through another ring flange left roof and U-shaped body framework（28）Front beam apical grafting together, the right leading screw of steering wheel（11）'s Top passes through the right top plate of another ring flange and U-shaped body framework（28）Front beam apical grafting together；In steering wheel support（15）Upper point Steering wheel motor is not provided with（17）With steering wheel steering motor（18）.
- 4. a kind of intelligent parking ferry-boat robot according to claim 3, it is characterised in that in rear right single pendulum arm mechanism （50）Simple pendulum arm support frame（19）On be respectively arranged with clip wheel tire simple pendulum arm the inner hinge（21）With simple pendulum arm motor （20）, in simple pendulum arm the inner hinge（21）On be hinged with simple pendulum arm（22）, in simple pendulum arm motor（20）Output shaft on cut with scissors It is connected to active swing arm（25）, in active swing arm（25）Principal and subordinate outer end hinge seat（26）With simple pendulum arm（22）Outer end it is single from outer end Hinge seat（23）Between be hinged with driven swing arm（24）, in active swing arm（25）Right side simple pendulum arm support frame（19）Upper fixation It is provided with limited block on the outside of active swing arm（27）.
- 5. a kind of intelligent parking ferry-boat robot according to claim 4, it is characterised in that in U-shaped body framework（28）'s Double-pendulum arms Mobile mounting rack is movably set with cross rail inner face（33）, in double-pendulum arms Mobile mounting rack（33）On be fixedly installed Rack（32）, in U-shaped body framework（28）Crossbeam on be fixedly installed respectively double-pendulum arms Mobile mounting rack movement motor （30）Drive gear is moved with double-pendulum arms Mobile mounting rack（29）, double-pendulum arms Mobile mounting rack movement drive gear（29）Pass through shifting Dynamic driving timing belt（31）Motor is moved with double-pendulum arms Mobile mounting rack（30）Output shaft link together；In double-pendulum arms Mobile mounting rack（33）On be respectively arranged with double-pendulum arms motor reductor（34）, double-pendulum arms the inner transmission gear（41） With double-pendulum arms the inner transfer driven gear（43）, in double-pendulum arms the inner transmission gear（41）With double-pendulum arms the inner driven transmission Gear（43）Between be provided with driving gear set（42）, in double-pendulum arms the inner transfer driven gear（43）Gear shaft on be connected with The driven jig arm of double-pendulum arms（40）, in double-pendulum arms the inner transmission gear（41）Gear shaft on be connected with double-pendulum arms active jig arm （38）, in double-pendulum arms motor reductor（34）Output shaft on be connected with double-pendulum arms active swing arm（35）, in double-pendulum arms master Movable pendulum arm（35）The double-pendulum arms active swing arm hinge of outer end（36）With double-pendulum arms active jig arm（38）The double-pendulum arms of outer end are actively pressed from both sides Arm hinge（39）Between be hinged with the driven swing arm of double-pendulum arms（37）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308015.4A CN107826087B (en) | 2017-12-11 | 2017-12-11 | Intelligent parking ferry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308015.4A CN107826087B (en) | 2017-12-11 | 2017-12-11 | Intelligent parking ferry robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107826087A true CN107826087A (en) | 2018-03-23 |
| CN107826087B CN107826087B (en) | 2023-07-25 |
Family
ID=61642896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711308015.4A Active CN107826087B (en) | 2017-12-11 | 2017-12-11 | Intelligent parking ferry robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107826087B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN108640014A (en) * | 2018-04-28 | 2018-10-12 | 佛山市甄睿智能科技有限公司 | A kind of clamping lifting gear for parking robot platform |
| CN112723243A (en) * | 2020-12-04 | 2021-04-30 | 北京星航机电装备有限公司 | Automobile carrying AGV |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201261705Y (en) * | 2008-09-04 | 2009-06-24 | 杭州鼎升机械有限公司 | Platform capable of lifting and moving vehicle |
| CN202000711U (en) * | 2010-12-28 | 2011-10-05 | 东莞市伟创东洋自动化设备有限公司 | Intelligent carrier for mechanical car garage |
| US20130251481A1 (en) * | 2008-10-06 | 2013-09-26 | Unitronics Parking Solutions Ltd. | Vehicle shuttle |
| CN103603529A (en) * | 2013-12-03 | 2014-02-26 | 山东天辰智能停车设备有限公司 | Tire clamping type automobile carrier applied to stereo garage |
| CN104912372A (en) * | 2015-06-10 | 2015-09-16 | 深圳怡丰机器人科技有限公司 | AGV comb type transfer robot |
| CN205531522U (en) * | 2016-01-22 | 2016-08-31 | 山东天辰智能停车设备有限公司 | Embrace and press from both sides and raise integral car of tire intelligence carrier |
| CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
| US20170226764A1 (en) * | 2014-08-27 | 2017-08-10 | Nussbaum Technologies Gmbh | Automated parking system for vehicles |
| CN207644358U (en) * | 2017-12-11 | 2018-07-24 | 山西东杰智能物流装备股份有限公司 | A kind of intelligent parking ferry-boat robot |
-
2017
- 2017-12-11 CN CN201711308015.4A patent/CN107826087B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201261705Y (en) * | 2008-09-04 | 2009-06-24 | 杭州鼎升机械有限公司 | Platform capable of lifting and moving vehicle |
| US20130251481A1 (en) * | 2008-10-06 | 2013-09-26 | Unitronics Parking Solutions Ltd. | Vehicle shuttle |
| CN202000711U (en) * | 2010-12-28 | 2011-10-05 | 东莞市伟创东洋自动化设备有限公司 | Intelligent carrier for mechanical car garage |
| CN103603529A (en) * | 2013-12-03 | 2014-02-26 | 山东天辰智能停车设备有限公司 | Tire clamping type automobile carrier applied to stereo garage |
| US20170226764A1 (en) * | 2014-08-27 | 2017-08-10 | Nussbaum Technologies Gmbh | Automated parking system for vehicles |
| CN104912372A (en) * | 2015-06-10 | 2015-09-16 | 深圳怡丰机器人科技有限公司 | AGV comb type transfer robot |
| CN205531522U (en) * | 2016-01-22 | 2016-08-31 | 山东天辰智能停车设备有限公司 | Embrace and press from both sides and raise integral car of tire intelligence carrier |
| CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
| CN207644358U (en) * | 2017-12-11 | 2018-07-24 | 山西东杰智能物流装备股份有限公司 | A kind of intelligent parking ferry-boat robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108640014A (en) * | 2018-04-28 | 2018-10-12 | 佛山市甄睿智能科技有限公司 | A kind of clamping lifting gear for parking robot platform |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN112723243A (en) * | 2020-12-04 | 2021-04-30 | 北京星航机电装备有限公司 | Automobile carrying AGV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107826087B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107826087A (en) | A kind of intelligent parking ferry-boat robot | |
| CN109607390B (en) | Double-track suspension conveyor | |
| CN106368467A (en) | Intelligent garage car moving device based on single chip microcomputer | |
| CN202064670U (en) | Intelligent carrying trolley | |
| CN101649681B (en) | Storage-style parking device for finishing automobile exchange procedures by adopting trackless comb-body dolly | |
| CN110185303B (en) | Driving type double-arm intelligent parking system and method | |
| CN106939716A (en) | A kind of mechanical transport formula double-deck stereo parking apparatus | |
| CN109025439A (en) | Intelligent robot for carrying automobiles | |
| CN205601804U (en) | Kart takes lift translation ware | |
| CN109235990A (en) | A kind of parking robot based on hydraulic system | |
| CN203211209U (en) | Automobile pedal | |
| CN203230209U (en) | Auxiliary mechanism for car transverse parking | |
| CN207644358U (en) | A kind of intelligent parking ferry-boat robot | |
| CN102587709A (en) | Stereoscopic garage of overhead bridge across street or along street | |
| CN103334389A (en) | Reverse-driving preventing device | |
| CN205637745U (en) | It removes stereo garage's lift to be exclusively used in comb -tooth type plane | |
| CN102561755A (en) | Upright post translation multi-point lifting three-dimensional parking equipment | |
| CN202509829U (en) | Flat bed positioning device and three-dimensional parking garage | |
| CN102561775A (en) | Level positioning device and stereoscopic packing garage | |
| CN108222602A (en) | A kind of automobile carrying device | |
| CN210264096U (en) | Wireless charging vehicle position adjusting mechanism and stereo garage thereof | |
| CN208310353U (en) | A kind of lateral automobile carrier | |
| CN102926568A (en) | Two-dimensional moving vehicle-mounted platform and operating method and application thereof | |
| CN102381318A (en) | Airbus | |
| CN205777742U (en) | A kind of pitching simple lifting parking equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 030008 No.51 Xinlan Road, Jiancaoping District, Taiyuan City, Shanxi Province Applicant after: Dongjie Intelligent Technology Group Co.,Ltd. Address before: 030008 No.51 Xinlan Road, Jiancaoping District, Taiyuan City, Shanxi Province Applicant before: SHANXI ORIENTAL MATERIAL HANDLING Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |