CN108331409A - Quadrant drive clamping carrier - Google Patents
Quadrant drive clamping carrier Download PDFInfo
- Publication number
- CN108331409A CN108331409A CN201810314413.5A CN201810314413A CN108331409A CN 108331409 A CN108331409 A CN 108331409A CN 201810314413 A CN201810314413 A CN 201810314413A CN 108331409 A CN108331409 A CN 108331409A
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- China
- Prior art keywords
- gear
- mechanical hand
- rack
- wheel
- car body
- 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.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
-
- 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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
Abstract
The invention discloses a kind of quadrant drive clamping carriers, including the identical floor truck for embracing folder automobile front and back wheel respectively of two structures, two floor trucks are connected with towing chain device, and the floor truck includes small car body rack, armful clamp device, walking mechanism, intermediate auxiliary support wheel and guiding mechanism；The present invention is combined using ball screw with linear guides, become the rotary motion of the second servo drive motor as the linear motion of rack, rack is engaged with first gear, then first gear engages again with second gear, so that the first coaxial with first gear, second gear respectively mechanical hand, the second mechanical hand is embraced folder vehicle tyre, realizes Transport Vehicle function.The first gear of the present invention uses sector gear with second gear, reduces small car body rack space size；The present invention is reducing carrier height simultaneously, is ensureing that small car body rack relative deformation is small by increasing auxiliary support wheel in small car body rack centre position.
Description
【Technical field】
The invention belongs to mechanical three-dimensional parking device field, it is related to a kind of quadrant drive of carrier vehicle and embraces folder removing
Transport device.
【Background technology】
With automobile quantity ownership rapid growth, parking of automobile is difficult, it is also more and more prominent disorderly to park problem.For this purpose, vapour
Parking to direction in space development for vehicle has become inevitable requirement, and the mechanical parking equipment for solving to park comes into being.
In machinery garage there are many modes of carrying vehicle, it is one of which to embrace folder rubber-tyred carrier, it has knot
The advantages that structure is compact, and height dimension is small, it can enter automobile lower along guide rail, by waggon after clamping arm armful clip wheel tire
.Through patent retrieval, China Patent No. CN106223681A discloses a kind of stereo garage rack pinion formula vehicle armful
Press from both sides carrier.The patent the problem is that：Clamping arm idler wheel is sliding friction, and frictional resistance is big, ball screw two-part connection
Knot, there are connection error, two floor trucks are connected using telescopic movable connector, complex structure and other problems.
【Invention content】
In view of the foregoing, the invention discloses a kind of quadrant drive clamping carrier, the prior art can be overcome to deposit
Some problems.
A kind of quadrant drive clamping carrier, including two structures are identical embraces folder vehicle front respectively and trailing wheel is removed
Transport trolley, it is characterised in that：
Above-mentioned floor truck includes small car body rack, synchronous clamp device, running mechanism, intermediate auxiliary support wheel, Guiding machine
Structure, small car body anticollision device, collision-prevention device；
Above-mentioned single floor truck has two sets of identical running mechanisms, is located at the both ends of floor truck；Above-mentioned carrying
Trolley traveling mechanism includes the first servo drive motor, the first pinion gear, the first gear wheel, driving wheel, drive sprocket axle；Above-mentioned
One gear wheel is fixed on the stretching shaft end of the first servo drive motor, and the first pinion gear is fixed on drive sprocket axle, drive sprocket axle
Driving wheel is installed in outside, and driving wheel is located at the external side of trolley；Above-mentioned first gear wheel is engaged with the first pinion gear；First servo is driven
Dynamic motor drives the first gear wheel to be engaged with the first pinion gear on drive sprocket axle；Power is provided for trolley traveling.
At left and right sides of above-mentioned intermediate auxiliary support wheel is located among floor truck, totally four；Driving wheel position is opposite to be assisted
The low 1mm in support wheel position；Ensure small car body frame strength.
Above-mentioned synchronous clamp device includes the clamp device with a pair of of mechanical hand for being symmetrically distributed in small car body rack both sides, on
It includes the upper cover plate being connect with small car body rack, the first live spindle, the second live spindle, the first mechanical hand, to state clamp device
Two mechanical hands, first gear, second gear, rack, linear guides, push plate, ball screw, ball screw nut, screw rod are fixed
Side, screw support side, shaft coupling, the second servo drive motor；Synchronous clamp device is for embracing folder vehicle tyre.
Above-mentioned first mechanical hand, first gear overlapping are mounted in the first live spindle, the second mechanical hand, second gear weight
It is folded to be mounted in the second live spindle, the first live spindle, the second live spindle both ends fulcrum respectively in small car body rack and
On upper cover plate, middle section couples gear and mechanical hand with spline so that the first mechanical hand, the second mechanical hand are rotating around the first rotation
Turn main shaft, the rotation of the second live spindle；The first gear, second gear are sector gear；First gear, second gear are mutual
Engagement.
A part for above-mentioned push plate is placed on above rack, and rack is placed on the sliding block of linear guides, is fixed on together
On sliding block；Another part of push plate is fixed together with ball screw nut, work of the ball screw in the second servo drive motor
With lower rotation, drives ball screw nut, rack, push plate along linear guides horizontal movement, become rotary motion as linear motion, tooth
Item is engaged with first gear, and first gear, second gear intermeshing make the first mechanical hand, the mutually opposing rotation of the second mechanical hand
Turn.
The both ends of above-mentioned ball screw are fixed on screw rod affixed side, screw support side in small car body rack respectively, and second
Servo drive motor is bound up by shaft coupling and ball screw.Above-mentioned ball screw nut is mounted on ball screw.
Above-mentioned first mechanical hand, the second mechanical hand include robotic arm, embrace nip rolls, roll shaft, and the folder face of embracing on robotic arm is oblique
Face, be provided on inclined-plane it is two rows of embrace nip rolls and roll shafts, embrace and bearing be installed between nip rolls and roll shaft, be rolling friction pair.
It is connected, including buffer unit, removed with towing chain device between two floor trucks of tire before and after above-mentioned carrying vehicle
It transports trolley mutual alignment and confirms device.The cushioning support-saddle of above-mentioned buffer unit is trapezoidal faces, can be in drag chain due to gravity
When sinking, drag chain is held up.
It is provided with electrical Location system in above-mentioned floor truck trolley body, includes the scattered reflection type of one group of positioning front wheel positions
Optoelectronic switch and the ultrasonic sensor for detecting trailing wheel.
Above-mentioned type leading wheel framework setting is symmetrically mounted on small vehicle body side at floor truck both ends, and every floor truck is total
There are four groups of guiding mechanisms.The clamping carrier is provided with angle steel track on parking stall, and horizontal plane is driving wheel and auxiliary
The running face of support wheel, vertical plane are guide surfaces.
When the present invention works, the gear wheel on the first servo drive motor is engaged with the first pinion gear on drive sprocket axle,
Driving wheel is driven to walk on angle steel track, two floor trucks sequentially enter automobile lower space along angle steel track, work as carrying
When trolley reaches vehicle front tire, the electric switch that diffuses detects the reflecting plate beside parking stall, sends out confirmation signal, preceding to remove
Trolley is transported to stop, rear floor truck continues to move ahead, when after floor truck ultrasound examination to rear wheel position, rear floor truck stops
Only, then the second servo drive motor drives ball screw to rotate, the nut, push plate, rack on ball screw and line
Sliding block on property guide rail is fixed together, by the convert rotational motion of the second servo drive motor at the linear motion of rack, tooth
Item is engaged with first gear, and first gear engages again with second gear, makes first mechanical hand coaxial with first gear and second
The second coaxial mechanical hand of gear is reversely rotated rotating around the first live spindle, the second live spindle, when front and back floor truck
When first mechanical hand, the second mechanical hand relative rotation reach parastate, the first mechanical hand, the second mechanical hand stop rotating；
It embraces in clip process, wheel scrolls up on the nip rolls upper edge inclined-plane of embracing of the first mechanical hand, the second mechanical hand, and vehicle tyre is detached from ground
Face；Subsequent first servo drive motor drives drive sprocket axle and driving wheel to rotate by gear drive, floor truck carrying vehicle
Original place is returned to along angle steel track.
Power of the present invention is combined using ball-screw with linear guides, and the rotary motion of the second servo drive motor is turned
It is melted into the linear motion of push plate and rack, then rack and first gear engaged transmission, gear is changed to by linear motion again
Rotary motion, first gear engage again with second gear, the first mechanical hand for keeping first gear coaxial, second gear it is coaxial the
Two mechanical hands are reversely rotated rotating around the first live spindle, the second live spindle, are realized and are embraced clip wheel tire function.Every floor truck
4 sets of auxiliary support wheels are arranged in intermediate both sides, and auxiliary support wheel position 1mm high with respect to driving wheel position ensures the rigidity of small car body,
It can guarantee that auxiliary support wheel and driving wheel can be contacted with track upper surface again, and every floor truck uses two sets of traveling machine
Structure ensures that the traveling passability of small car body is good.The present invention is a kind of full-automatic mechanical parking equipment access mechanism of car, is both applicable in
It is suitable for transverse shifting mechanical parking device again in tunnel stacking class, is the optimal technical scheme for solving city parking hardly possible.
【Description of the drawings】
Fig. 1 is the front view of the present invention；
Fig. 2 is the vertical view of the present invention；
Fig. 3 is the side view of the present invention；
Fig. 4 is the sectional view of the side view of the present invention；
Fig. 5 is that the mechanical hand of the present invention opens schematic diagram；
Fig. 6 is that two floor truck folding arms of the present invention open schematic diagram；
Fig. 7 a, 7b are the mechanical hand vertical view and sectional view of the present invention；
Buffer unit front views of the Fig. 8 between floor truck of the present invention.
In figure：1, floor truck, 2, synchronous clamp device, 3, drag chain, 4, small car body anticollision device, collision-prevention device, 5, ultrasonic sensor,
6, running mechanism, 7, guiding mechanism, 8, small car body rack, the 9, first pinion gear, the 10, first gear wheel, 11, driving wheel, 12, main
Driving wheel axis, the 13, first servo drive motor, 14, intermediate auxiliary support wheel, 15, Auxiliary support axis, 16, auxiliary support wheel, 17,
Upper cover plate, the 18, first live spindle, the 19, second live spindle, the 20, first mechanical hand, the 21, second mechanical hand, the 22, first tooth
Wheel, 23, second gear, 24, rack, 25, linear guides, 26, linear guides sliding block, 27, push plate, 28, ball screw, 29, rolling
Ballscrew nut, 30, screw rod affixed side, 31, screw support side, 32, shaft coupling, the 33, second servo drive motor, 34, buffering
Bearing, 35, cushion pad, 36, close to switch, 37, close to inductive switching plate, 38, wheel carrier, 39, wheel shaft, 40, directive wheel, 41, the
One robotic arm, the 42, second robotic arm, 43, embrace nip rolls, 44, roll shaft, 45, walking rails, 46, front wheel alignment diffuses and establish by cable
It closes.
【Specific implementation mode】
To facilitate the understanding of the present invention, the present invention is comprehensively described below with reference to relevant drawings.But this hair
It is bright to realize in many different forms, however it is not limited to embodiment described herein.
The present invention in order to solve the problems existing in the prior art, provides a kind of quadrant drive armful folder of ball-screw driving
Carrier is suitable for the carrying of vehicle in mechanical stereo garage.
As Figure 1-Figure 8, two 1 structures of floor truck are identical before and after the present invention, embrace folder vehicle front tire respectively with after
Tire illustrates its structure for one below.Two sets of trolley traveling mechanisms 6 being arranged on every floor truck 1, setting exist
The intermediate auxiliary support wheel 14 of 1 intermediate both sides of small car body, the synchronization with two pairs of mechanical hands being arranged on every floor truck 1
Clamp device 2, is arranged the guiding mechanism 7 of the front and back end both sides on every floor truck 1, setting front and back two floor trucks 1 it
Between drag chain 3, the electrical Location system of detection automobile front and back wheel position.
Single floor truck has two sets of identical running mechanisms 6, is located at the both ends of floor truck 1；For one
Illustrate its structure.Trolley traveling mechanism 6 includes the first servo drive motor 13, the first pinion gear 9, the first gear wheel 10, active
Wheel 11, drive sprocket axle 12；First servo drive motor 13 is fixed in small car body rack 8；Small car body rack 8 is rectangular frame knot
There are stiffener plate in structure, inside；First gear wheel 10 is fixed on the stretching shaft end of the first servo drive motor 13, the first pinion gear 9
It is fixed on drive sprocket axle 12；Drive sprocket axle 12 is fixed on by bearing in small car body rack 8,12 both sides of drive sprocket axle installation master
Driving wheel 11, driving wheel 11 are located at 8 outside of small car body rack.First servo drive motor 13 drives the first gear wheel 10 and driving wheel
The first pinion gear 9 engagement on axis 12, drives 11 traveling of driving wheel, makes the traveling on angle steel track 45 of floor truck 1.
At left and right sides of intermediate auxiliary support wheel 14 is located among floor truck 1, totally four；Intermediate auxiliary support wheel 14 is by auxiliary
Support wheel 16, Auxiliary support axis 15 is helped to constitute, Auxiliary support axis 15 is fixed in small car body rack 8.11 position of driving wheel is opposite
The low 1mm in 16 position of auxiliary support wheel, it is ensured that the rigidity of small car body rack 8, and can guarantee auxiliary support wheel 16 and driving wheel 11
It is contacted with 45 upper surface of track in the case where there is load condition, plays enough supporting roles.
Small car body has driving wheel 11, auxiliary support wheel 16 to support, and 8 points land, and using two sets of running mechanisms 6, power is abundant,
Traveling passability is good.
Synchronization clamp device 2 with a pair of of mechanical hand includes the rotation master of upper cover plate 17, first being connect with small car body rack 8
Axis 18, the second live spindle 19, the first mechanical hand 20, the second mechanical hand 21, first gear 22, second gear 23, rack 24, line
Property guide rail 25, push plate 27, ball screw 28, ball screw nut 29, screw rod affixed side 30, screw support side 31, shaft coupling 32,
Second servo drive motor 33.First mechanical hand 20, the overlapping of first gear 22 are mounted in the first live spindle 18, the second machine
Hand 21, the overlapping of second gear 23 are mounted in the second live spindle 19, the first live spindle 18,19 both ends branch of the second live spindle
Point is respectively in small car body rack 8 and upper cover plate 17, and middle section couples gear and mechanical hand with spline so that the first mechanical hand
20, the second mechanical hand 21 is rotated rotating around the first live spindle 18, the second live spindle 19；First gear 22, second gear 23
Intermeshing makes a pair of first mechanical hand 20, the second mechanical hand 21 reversely rotate, it is ensured that manipulator can embrace folder and opening, real
Now embrace folder vehicle tyre function.
A part for push plate 27 is placed on above rack 24, and rack 24 is placed on above the sliding block 26 of linear guides 25, and one
It rises and is fixed on the sliding block 26 of linear guides 25；Another part of push plate 27 is fixed together with ball screw nut 29, ball
Lead screw 28 rotates under the action of the second servo drive motor 33, drives ball screw nut 29, rack 24, push plate 27 along linear
25 horizontal movement of guide rail, it is to move along a straight line to become rotary motion, and rack 24 engages with first gear 22, makes the first mechanical hand 20, the
Two mechanical hands 21 can reversely rotate.First gear 22, second gear 23 are sector, are first gear 22, the second tooth in order to prevent
Wheel 23 is interfered when being installed with the first mechanical hand 20, the second mechanical hand 21, and can reduce small 8 structure of car body rack, and in order to
When preventing with 22 engaged transmission of first gear, rack 24 occurs interference situation in extreme position with second gear 23.
The both ends of ball screw 28 are fixed on screw rod affixed side 30, screw support side 31 in small car body rack 8 respectively, the
Two servo drive motors 33 are bound up by shaft coupling 32 and ball screw 28.Ball screw nut 29 is mounted on ball wire
On bar 28.Linear guides 25 are combined with ball screw 28, when the second servo drive motor 33 drives ball screw 28 to rotate,
Push plate 27, ball screw nut 29, rack 24 can be made to be moved in a straight line along linear guides 25.
First mechanical hand 20, the second mechanical hand 21 are symmetrical structure, by mechanical arm (the first robotic arm 41, the second robotic arm
42) nip rolls 43, is embraced, roll shaft 44 forms；Folder face of embracing on robotic arm is inclined-plane, and two rows of armfuls of nip rolls 43 and roll shafts are provided on inclined-plane
44, it embraces and bearing is installed between nip rolls 43 and roll shaft 44, be rolling friction pair.When embracing folder vehicle tyre, tire, which is pressed in, embraces folder
On roller 43, tire can be made to be rolled along the inclined-plane of robotic arm and risen, reduce and embrace folder resistance.
When embracing folder automobile tire, two the second servo drive motors 33 respectively drive two ball screws 28 and rotate, ball
The rotary motion of lead screw 28 becomes the linear motion run along linear guides 25 under the effect of linear guides 25, on linear guides 25
Rack 24 push first gear 22 rotate, first gear 22, second gear 23 be intermeshed, make and first gear 22
Coaxial the first mechanical hand 20, second mechanical hand 21 coaxial with second gear 23 are revolved rotating around the first live spindle 18, second
Turn main shaft 19 for the center of circle reversely rotate, move closer to, until two the first mechanical hands 20, the second mechanical hand 21 arrive parastate,
Tire is lifted, vehicle action is taken in realization in one's arms；When unclamping automobile tire, two the first mechanical hands 20, the second mechanical hand 21 difference
It is reversely rotated for the center of circle with the first live spindle 18, the second live spindle 19, the first mechanical hand 20, the second mechanical hand 21 are recovered to
Small 8 both sides of car body rack, tire is put on carrier vehicle frame, realizes storage action.Every synchronous 2 both sides of clamp device are arranged symmetrically,
Two groups of totally four mechanical hands, every mechanical hand (the first mechanical hand 20, the second mechanical hand 21) includes mechanical arm (the first robotic arm
41, the second robotic arm 42), embrace nip rolls 43, roll shaft 44, embrace folder face on mechanical arm (the first robotic arm 41, the second robotic arm 42)
For inclined-plane, it is provided with two row of two rows on inclined-plane and embraces nip rolls 43 and a roll shafts 44, embraces and is stringed together with bearing between nip rolls 43 and roll shaft 44,
To roll dynamic friction pair；When embracing clip wheel tire, mechanical hand (the first mechanical hand 20, the second mechanical hand 21) is along live spindle (the first rotation
Turn main shaft 18, the second live spindle 19) rotating contact automobile tire, it embraces the rolling rotation of nip rolls 43 and gradually lifts tire；When removing
When transporting 1 light condition of trolley, the mechanical hand (the first mechanical hand 20, the second mechanical hand 21) of both sides is recovered to 8 both sides of small car body, side
Just it is moved forward and backward.
It is connected with drag chain 3 between two floor trucks 1, cushioning support-saddle 34, cushion pad 35 is provided between floor truck 1,
It is mutually collided when preventing floor truck 1 from recycling.By being positioned proximate to switch 36 in a cushion pad 35 between two small car bodies,
It is positioned proximate to inductive switching plate 37 in another cushion pad 35, the minimum spacing between floor truck can be confirmed, that is, embrace folder vehicle
Minimum wheelbase 2100mm；By the tally function of the first servo drive motor of rear floor truck 13, it can be confirmed that carrying is small
Maximum spacing between vehicle embraces the maximum axle spacing 3250mm of folder vehicle.Cushioning support-saddle 34 is set as trapezium structure, in drag chain 3
When centre position sinks to directly bearing against buffing pad due to dead weight, play the role of slowly lifting drag chain 3.
Front wheel alignment is provided with before floor truck 1 in floor truck body rack 8 to diffuse electric switch 46, when diffusing
When electric switch 46 detects the reflecting plate of parking position, 1 stop motion of preceding floor truck, rear floor truck 1 continues to move, when after
When the ultrasonic sensor 5 of floor truck 1 senses vehicle rear wheel tire, rear floor truck 1 is out of service, at this moment synchronous to embrace folder
Device 2 acts simultaneously, and vehicle tyre is taken in one's arms, completes pick-up action.
The above content is to detailed description of the presently preferred embodiments, it can not assert that present invention is limited only by this.
General technical staff of the technical field of the invention should be understood that every further to improve on the basis of present inventive concept
And equivalent technical solution, it all belongs to the scope of protection of the present invention.
Claims (7)
1. a kind of quadrant drive clamping carrier, including the identical carrying for embracing folder vehicle front and trailing wheel respectively of two structures
Trolley 1, it is characterised in that：
Two front and back wheel floor trucks 1 are connected with 3 device of drag chain, and the floor truck includes small car body rack 8, synchronizes and embrace
Binder 2, running mechanism 6, intermediate auxiliary support wheel 14, guiding mechanism 7, small car body anticollision device, collision-prevention device 4；
The floor truck running mechanism 6 includes the first servo drive motor 13, the first pinion gear 9, the first gear wheel 10, active
Wheel 11, drive sprocket axle 12；The running mechanism 6 of single floor truck is walked using the identical gear drive control trolley of two structures
Row；
The intermediate auxiliary support wheel 14 is located at the left and right sides among floor truck, prevents floor truck body rack 8 from deforming excessive；
11 position of driving wheel 1mm low with respect to 16 position of auxiliary support wheel ensures that auxiliary support wheel 16 can land with driving wheel 11.
The driving wheel 11, intermediate auxiliary support wheel 14, guiding mechanism 6 are symmetrically mounted on 8 outside of small car body rack；First servo
Driving motor 13 drives the first gear wheel 10 to be engaged with the first pinion gear 9 on drive sprocket axle 12, drives 11 traveling of driving wheel.
The synchronous clamp device 2 includes the clamp device with a pair of of mechanical hand for being symmetrically distributed in small car body rack both sides, described
Clamp device includes the upper cover plate 17 being connect with small car body rack 8, the first live spindle 18, the second live spindle 19, the first machine
Hand 20, the second mechanical hand 21, first gear 22, second gear 23, rack 24, linear guides 25, push plate 27, ball screw 28,
Ball screw nut 29, screw rod affixed side 30, screw support side 31, shaft coupling 32, the second servo drive motor 33；
First mechanical hand 20, the overlapping of first gear 22 are mounted in the first live spindle 18, the second mechanical hand 21, the second tooth
23 overlapping of wheel is mounted in the second live spindle 19, live spindle both ends fulcrum respectively in small car body rack 8 and upper cover plate 17,
Middle section is splined gear and mechanical hand；First gear 22, second gear 23 are sector, first gear 22, the second tooth
23 intermeshing of wheel, makes a pair of of manipulator reversely rotate, it is ensured that manipulator can embrace folder and opening, realize and embrace folder vehicle tyre work(
Energy.
The rack 24 is fixed on linear guides sliding block 26, and rack 24, push plate 27, ball screw nut 29 are fixed together,
Ball screw 28 rotates under the action of the second servo drive motor 33, and band carry-over bar 24 moves along a straight line along linear guides 25, tooth
Item 24 is engaged with first gear 22, and the first mechanical hand 20, the second mechanical hand 21 is enable to reversely rotate.
The both ends of the ball screw 28 are fixed on screw rod affixed side 30, screw support side 31 in small car body rack 8 respectively, the
Two servo drive motors 33 are bound up by shaft coupling 32 and ball screw 28.
First mechanical hand 20, the second mechanical hand 21 respectively include mechanical arm (the first robotic arm 41, the second robotic arm 42), embrace
Nip rolls 43, roll shaft 44, the folder face of embracing on robotic arm is inclined-plane, be provided on inclined-plane it is two rows of embrace nip rolls 43 and roll shafts 44, embrace nip rolls
Bearing is installed between 43 and roll shaft 44, is rolling friction pair.
Front and back two floor trucks 1 are connected with 3 device of drag chain, including small car body anticollision device, collision-prevention device 4 between trolley, carry it is small
Vehicle mutual alignment confirms device.It can confirm that minimum between two floor truck bodies, minimum position, the final wheel for confirming carrying vehicle
Away from range.
2. quadrant drive clamping carrier as claimed in claim 1, it is characterised in that：First mechanical hand 20,
The overlapping of first gear 22 is mounted in the first live spindle 18, and the second mechanical hand 21, the overlapping of second gear 23 are mounted on the second rotation
Turn on main shaft 19；First gear 22, second gear 23 are intermeshed, and a pair of of manipulator is made to reversely rotate.
3. quadrant drive clamping carrier as claimed in claim 1, it is characterised in that：The first gear 22,
Two gears 23 are sector gear.
4. quadrant drive clamping carrier as claimed in claim 1, it is characterised in that：The rack 24 is fixed online
On property guide rail slide block 26, make rack 24 along 25 horizontal movement of linear guides, rack 24 is engaged with first gear 22, makes the first machine
Hand 20, the second mechanical hand 21 can reversely rotate.
5. quadrant drive clamping carrier as claimed in claim 1, it is characterised in that：The ball screw 28 is installed
In small car body rack 8, rack 24, push plate 27, rolling lead screw nut 29 are fixed together, become rotary motion be move along a straight line,
Ensure that rack 24 along 25 horizontal movement of linear guides, enables the first mechanical hand 20, the second mechanical hand 21 to reversely rotate.
6. quadrant drive clamping carrier as claimed in claim 1, it is characterised in that：Two floor truck 1 it
Between small car body anticollision device, collision-prevention device 4 in be positioned proximate to switch 36, pass through close to 36 and first servo drive motor 13 of switch servo
Tally function, the final wheelspan range for confirming carrying vehicle.
7. quadrant drive clamping carrier as claimed in claim 1, it is characterised in that：Two floor truck 1 it
Between small car body anticollision device, collision-prevention device 4 cushioning support-saddle 34 be trapezium structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314413.5A CN108331409A (en) | 2018-04-09 | 2018-04-09 | Quadrant drive clamping carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314413.5A CN108331409A (en) | 2018-04-09 | 2018-04-09 | Quadrant drive clamping carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108331409A true CN108331409A (en) | 2018-07-27 |
Family
ID=62932872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810314413.5A Pending CN108331409A (en) | 2018-04-09 | 2018-04-09 | Quadrant drive clamping carrier |
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|---|---|
| CN (1) | CN108331409A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109238848A (en) * | 2018-09-12 | 2019-01-18 | 中国科学技术大学 | ESEM in-situ mechanical test platform |
| CN109854038A (en) * | 2019-01-14 | 2019-06-07 | 广东伟创五洋智能设备有限公司 | Charge the clipping RGV carrier of manipulator |
| CN110616924A (en) * | 2019-08-22 | 2019-12-27 | 北京首嘉钢结构有限公司 | Stereo garage and car carrier thereof |
| WO2020073728A1 (en) * | 2018-10-12 | 2020-04-16 | 广州达泊智能科技有限公司 | Intelligent parking lot and cluster transport robot thereof |
| CN111762082A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Gripper with single-arm unfolding and AGV thereof |
| CN113137100A (en) * | 2021-04-25 | 2021-07-20 | 北京交通大学 | Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation |
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2018
- 2018-04-09 CN CN201810314413.5A patent/CN108331409A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109238848A (en) * | 2018-09-12 | 2019-01-18 | 中国科学技术大学 | ESEM in-situ mechanical test platform |
| CN109238848B (en) * | 2018-09-12 | 2020-05-15 | 中国科学技术大学 | ESEM (electronic stability and electromagnetic Engineers) in-situ mechanical test platform |
| WO2020073728A1 (en) * | 2018-10-12 | 2020-04-16 | 广州达泊智能科技有限公司 | Intelligent parking lot and cluster transport robot thereof |
| CN109854038A (en) * | 2019-01-14 | 2019-06-07 | 广东伟创五洋智能设备有限公司 | Charge the clipping RGV carrier of manipulator |
| CN111762082A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Gripper with single-arm unfolding and AGV thereof |
| CN111762082B (en) * | 2019-04-02 | 2023-10-20 | 广东远能机器人有限公司 | Single-arm unfolded gripper and AGV thereof |
| CN110616924A (en) * | 2019-08-22 | 2019-12-27 | 北京首嘉钢结构有限公司 | Stereo garage and car carrier thereof |
| CN113137100A (en) * | 2021-04-25 | 2021-07-20 | 北京交通大学 | Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation |
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