CN109914884A - A kind of frame integrated armful of folder parking robot - Google Patents
A kind of frame integrated armful of folder parking robot Download PDFInfo
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- CN109914884A CN109914884A CN201910208392.3A CN201910208392A CN109914884A CN 109914884 A CN109914884 A CN 109914884A CN 201910208392 A CN201910208392 A CN 201910208392A CN 109914884 A CN109914884 A CN 109914884A
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- 230000001939 inductive effect Effects 0.000 claims description 8
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- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 description 5
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- 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
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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention discloses a kind of frame integrated armful of folder parking robot, including front frame, intermediate frame, Rear frame, first armful of clamp device includes an armful clamping bar, embraces clamping bar one end and shaft assembles the fixed, other end as open end；Gear is fixed in shaft, the outer ring of bearing is fixed with mounting plate, connecting plate assembly respectively, and mounting plate is fixed on front frame bottom, and connecting plate is fixed on a mounting board；Respectively with rack gear engaged transmission, rack gear is connected by a mounting plate with sliding block each gear, and sliding block is slidably assembled with the first sliding rail；First sliding rail is fixed on sliding rail mounting plate, and sliding rail mounting plate is fixed on a mounting board；Sliding block is fixed on feed screw nut mounting plate by sliding block mounting plate and connecting pin, and feed screw nut mounting plate is fixed on feed screw nut, and feed screw nut and lead screw are assembled by threaded engagement；Lead screw and the assembly of rolling bearing units inner ring are fixed, and the rolling bearing units outer ring and the assembly of lead screw support plate are fixed, and lead screw support plate and mounting plate assembly are fixed.
Description
Technical field
The present invention relates to a kind of automatic stopping robot more particularly to it is a kind of using rack pinion carry out embrace folder parking
Robot.
Background technique
Current widely used parking robot, such as automobile is positioned on supporting plate and is held the supporting plate by carrier
It receives to corresponding place；Which is stopped every time and pick-up is required from specific position carrier support plate, and Transport Vehicle efficiency drops significantly
It is low；
Clipping type parking robot solves the above problem, and directly carrier vehicle improves efficiency, to designated position to upper and lower every time
Class's peak time effect is more obvious；Clamping automobile tire formula parking robot, there are commonly several forms:
The first is the form that clamping automobile tire is carried out using Worm and worm-wheel gearing；In 105986688 A of patent CN
Disclosed technical solution；Second is to carry out tire clamping using gear drive, as disclosed in 104746915 A of patent CN
Technical solution.
The form of both clamping automobile tires is all haveed the defects that certain although can realize that automobile folder is lifted.The
A kind of: Worm and worm-wheel gearing carries out the form of clamping automobile tire, and turbine and worm transmission efficiency can only achieve 0.4 ~ 0.5,
Remaining is all depleted, and for the automobile for clamping 2-3T, power consumption can be higher to battery sizes and capacity requirement than very fast, electricity
Pond is too small to need frequent charge, influences handling efficiency, this does not allow at vehicle peak period.
Second: carrying out tire using gear drive and clamp form, rack pinion efficiency is driven 0.94 ~ 0.98
High-efficient, rack-and-pinion buying and processing cost are all relatively low.But the gear mentioned in 104746915 A of patent CN
Transmission is clamped that there are the following problems:
1, tire hold assembly uses linkage gear group, very occupied space, and the gap between gear is also not easy to adjust.
2, front and back uses two motors altogether, and lead screw is driven then to carry out front and back wheel clamping by rack-and-pinion again, although protecting
Synchronism is demonstrate,proved, for trolley, inner space is otherwise fully engaged, and is unfavorable for reducing entire parking robot, especially
Great limitation will receive to the lower automobile in chassis, it is difficult to realize miniaturization.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide a kind of frame integrated
Folder parking robot is embraced, can be realized miniaturization, and height substantially reduces, high stability.
To achieve the above object, the present invention provides a kind of frame integrated armful of folder parking robots, including, front frame,
Intermediate frame, Rear frame, the front frame, Rear frame bottom are separately installed with first armful of clamp device, second armful of clamp device, described
Second armful of clamp device is included in first armful of clamp device, regulating mechanism；First armful of clamp device, including, clamping bar is embraced, clamping bar one is embraced
End is fixed with shaft assembly, the other end is open end；
Be fixed with gear in the shaft, and both ends of the shaft assembles with bearing inner race fix respectively, the outer ring of bearing respectively with peace
Loading board, connecting plate assembly are fixed, and the mounting plate is fixed on front frame bottom, and connecting plate is fixed on a mounting board；
Respectively with rack gear engaged transmission, the rack gear is connected by a mounting plate with sliding block each gear, sliding block and first
Sliding rail slidably assembles；
First sliding rail is fixed on sliding rail mounting plate, and the sliding rail mounting plate is fixed on a mounting board；The sliding block passes through
Sliding block mounting plate and connecting pin are fixed on feed screw nut mounting plate, and feed screw nut mounting plate is fixed on feed screw nut, silk
Thick stick nut and lead screw are assembled by threaded engagement；
Lead screw and the assembly of rolling bearing units inner ring are fixed, and the rolling bearing units outer ring and the assembly of lead screw support plate are fixed, lead screw support plate
It assembles and fixes with mounting plate；The output shaft of lead screw one end and reduction gearbox is connected and fixed, the input shaft of reduction gearbox and driving motor
Output shaft is connected and fixed.
As a further improvement of the present invention, the front frame, intermediate frame, be respectively arranged with pipe sleeve in Rear frame, even
Pipe sleeve of the extension bar in front frame, intermediate frame, Rear frame is integral to assemble front frame, intermediate frame, Rear frame；
Intermediate frame is between front frame, Rear frame, and intermediate frame passes through with front frame, Rear frame by proximal end respectively respectively
Carriage bolt assembly is fixed.
As a further improvement of the present invention, the front frame, be separately installed in Rear frame end face outside safe touch side,
Obstacle avoidance sensor, the obstacle avoidance sensor is for detecting barrier；
The front frame, Rear frame are equipped with emergency stop switch at safe touch side, and emergency stop switch can control institute after being toggled
There is electrical equipment to power off or only control differential drive unit powers off.
As a further improvement of the present invention, the front frame, be fixed with vehicle frame mounting plate, vehicle frame mounting plate in Rear frame
On be fixed with emergency stop switch, the triggering end of emergency stop switch is fixed towards safe touch side, safe touch side and the assembly of guide rod one end, is led
To the bar other end pass through vehicle frame mounting plate and therewith can axis move up assembly, the guide rod is located at vehicle frame mounting plate and safety
Spring is set on part between touching side.
As a further improvement of the present invention, it is also equipped with detection switch in place on the mounting plate, in place detection switch,
Including switching fixed frame, switchs and be provided with inductive slot on fixed frame, inductive slot two sides are respectively arranged with transmitter and receiver, hair
Emitter is for issuing laser beam, and receiver is for receiving laser beam and generating electric signal, transmitter and the common structure of receiver
At grating sensor or photoelectric sensor.
As a further improvement of the present invention, it is provided with four on first armful of clamp device and embraces clamping bar, every two are embraced clamping bar pair
One piece of mounting plate is answered, is connected and fixed between two pieces of mounting plates by driving plate, is respectively arranged in driving plate and is assembled with mounting plate
Fixed extension board.
As a further improvement of the present invention, the regulating mechanism, including, chain, driving plate and chain assembly are fixed, institute
Chain both ends are stated to assemble to form chain drive structure respectively with sprocket wheel.
As a further improvement of the present invention, the regulating mechanism, including, belt, driving plate and belt assembly are fixed, institute
Belt both ends are stated to assemble to form belt drive structure respectively with belt wheel.
As a further improvement of the present invention, the sprocket wheel is mounted on sprocket shaft and can circumferentially rotate assembly, institute therewith
It states sprocket shaft to be fixed on sprocket support, sprocket support is fixed on Rear frame bottom and supports to form sprocket wheel；
The output shaft of one of sprocket shaft and decelerating motor is connected and fixed, and decelerating motor is mounted in speed reducer mounting bracket,
Speed reducer mounting bracket is fixed in Rear frame；
It is further fixed on the second sliding rail in the Rear frame, is provided on the mounting plate sliding with the adjusting of the second sliding rail slidable fit
Block.
As a further improvement of the present invention, intermediate frame bottom be equipped with power supply system, warning device, navigation device,
Auxiliary locator, the power supply system include battery, and battery is used to be all power supply for electrical equipment；
The warning device is used to sound an alarm when battery capacity deficiency or default components break down, and connects in warning device
It connects between electric end and battery a relay, the normally-closed contact and warning device power connection end of relay are conductively connected, relay
Movable contact and battery motor be conductively connected, the signal end of the control terminal of relay and processor communicates to connect；
Also be separately installed with automatic charging brush block in the front frame, Rear frame, the automatic charging brush block be respectively used to outside
Portion's charging equipment is conductively connected, to charge the battery.
The beneficial effects of the present invention are:
1) present invention is simple, safeguards that low with the expense of maintenance, light-weight, highly low, safe and reliable, low cost, saving are set
Standby energy consumption, access vehicle is easy fast, reduces the vehicle access time, the access of implementation vehicle that can be good and fast, and plans
It is elastic big.
2) components such as rack-and-pinion of the invention are easily worked and manufacture, complete machine long service life, maintenance and maintenance letter
It is single.
3) clamping bar of embracing of the invention is distributed in the left and right sides, and automobile is carried out lifting by an armful clamping bar clamping tire and is put
Under, it can be hidden when packing up in robot two sides, by configuring lead screw identical with vehicle body longitudinal direction and guide rail, driving motor is logical
It crosses drive feed screw nut to be moved forward and backward, feed screw nut carries out equidirectional movement with carry-over bar again, saves space.
4) present invention is moved by the rack gear of feed screw nut with movable slider and above, and rack gear is moved forward and backward band moving gear
Rotation, gear drive an armful clamping bar to be swung, and realize that tire is clamped and unclamped, driving motor (optional band-type brake motor) and lead screw
Ensure that clamping after it is self-locking, in place detection switch carry out detection embrace clamping bar clamping and released position detect.
5) rack gear of the invention is mounted on guide rail slide block, guarantee rack gear sliding it is smooth, and guarantee lead screw transmission when only by
Nut is moved forward and backward the power on direction, prevents biggish lateral forces on lead screw continent, prolongs the service life.
6) rack gear fitted underneath sliding block of the invention, embracing when clamping bar is clamped with release ensure that structural strength, also will pass to
Energy loss in the process is preferably minimized.
7) clamping bar is each embraced separately through motor control, the angle of swing arm can be adjusted, be facilitated debugging, it is corresponding
Decelerating motor size also reduce very much, save space.
8) present invention uses front and back three-stage connection, and vehicle vehicle frame difficulty of processing substantially reduces, and requires ground lower；With
Referenced patent two (104746915 A of patent CN) is different, and ground flat degree is wanted with hinge links are crossed in two front and back of referenced patent
It asks and increases, connecting portion is rigidly difficult to ensure vehicle at runtime.
9) present invention can carry out auxiliary positionings using inertial navigation and two codes, guarantee operational process precision, inertial navigation and two
Code belongs to very mature technology, and stability is very high.
10) present invention can save space (space saving), therefore may be implemented to take turns by embracing clamping bar Rotation Design
The space saving of tire clamping device (embracing clamping bar), makes automobile carrying device be formed as compact structure.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of specific embodiment.
Fig. 2 is enlarged drawing at A in Fig. 1.
Fig. 3 is C-C cross-sectional view in Fig. 2.
Fig. 4 is D-D cross-sectional view in Fig. 2.
Fig. 5 is enlarged drawing at B in Fig. 1.
Fig. 6 is structural schematic diagram of the specific embodiment at safe touch side, emergency stop switch.
Fig. 7 is structural schematic diagram at the detection switch in place of specific embodiment.
Fig. 8 is structural schematic diagram at the differential drive unit of specific embodiment.
Fig. 9 is state diagram when an armful clamping bar for armful clamp device is packed up.
Figure 10 is state diagram when an armful clamping bar for armful clamp device is packed up.
Figure 11 is state diagram when embracing clamping bar expansion for embracing clamp device.
Figure 12 is state diagram when an armful clamping bar for armful clamp device is packed up and is located at vehicle bottom.
Figure 13 is state diagram when an armful clamping bar for armful clamp device is packed up and is located at vehicle bottom.
Figure 14 is state diagram when embracing clamping bar expansion and being lifted automobile for embracing clamp device.
Figure 15 is state diagram when embracing clamping bar expansion and being lifted automobile for embracing clamp device.
Figure 16 is front frame, intermediate frame, the Rear frame assembling structure schematic diagram of specific embodiment.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
Referring to Fig. 1-Figure 16, the frame integrated armful of folder of the present embodiment stops robot, including, front frame 7, intermediate frame 8, after
Vehicle frame 10, the front frame 7, intermediate frame 8 are respectively arranged with pipe sleeve 41 in Rear frame 10, connecting rod 40 pass through front frame 7,
Pipe sleeve 41 on intermediate frame 8, Rear frame 10 is to assemble integrally front frame 7, intermediate frame 8, Rear frame 10；
Intermediate frame 8 is between front frame 7, Rear frame 10, and intermediate frame 8 leans on proximal end with front frame 7, Rear frame 10 respectively
It is fixed respectively by the assembly of carriage bolt 42, to realize front frame 7, intermediate frame 8, the rigidity assembly between Rear frame 10.
This design can either solve the problems, such as that current hinge type vehicle frame connection has rigidity deficiency, and easy to disassemble, fill convenient for early period
With being overhauled with the later period；
Safe touch side 3, obstacle avoidance sensor 1 are separately installed in the front frame 7,10 end face outside of Rear frame, the avoidance passes
Sensor 1 is for detecting barrier, so that avoiding obstacles are to prevent from colliding.The ultrasound of existing parking robot can be directly used
Wave obstacle avoidance sensor, IR evading obstacle sensors etc. or similar functions part, such as the barrier avoiding function of sweeping robot.
The front frame 7, Rear frame 10 are equipped with emergency stop switch 2 at safe touch side 3, and emergency stop switch 2 is toggled
After can control the power-off of all electrical equipments or only control differential drive unit 5 powers off, to prevent from colliding, emergency stop switch 2 can be adopted
With existing travel switch or microswitch.
Preferably, referring to Fig. 6, vehicle frame mounting plate 43, vehicle frame mounting plate 43 are fixed in the front frame 7, Rear frame 10
On be fixed with emergency stop switch 2, the triggering end of emergency stop switch 2 is assembled towards safe touch side 3, safe touch side 3 and 37 one end of guide rod
It is fixed, 37 other end of guide rod pass through vehicle frame mounting plate 43 and therewith can axis move up assembly, the guide rod 37 is located at vehicle
Spring 38 is set on part between frame mounting plate 43 and safe touch side 3.When 3 collision obstacle of safe touch side, meeting gram
It is mobile until triggering emergency stop switch 2 to emergency stop switch 2 to take spring force, to cut off battery to differential drive unit 5 or own
The power supply of electrical equipment, to play the role of emergent stopping.
The front frame 7,10 bottom of Rear frame are separately installed with first armful of clamp device, second armful of clamp device, and described second
It embraces to clamp to be set to and increases regulating mechanism on the basis of first armful of clamp device；
First armful of clamp device, including, clamping bar 21 is embraced, 21 one end of clamping bar is embraced and the assembly of shaft 23 is fixed, the other end is to open
End, in use, being lifted automobile to realize by open end clamping wheel；
Gear 22 is fixed in the shaft 23, and 23 both ends of shaft assemble with 24 inner ring of bearing fix respectively, outside bearing 24
Circle is fixed with mounting plate 11, the assembly of connecting plate 44 respectively, to realize the relative rotation of shaft 23 Yu mounting plate 11, connecting plate 44
Assembly, the mounting plate 11 are fixed on 7 bottom of front frame, and connecting plate 44 is fixed on mounting plate 11；
Each gear 22 is respectively with 20 engaged transmission of rack gear, to form rack and pinion drive mechanism, the rack gear 20 is logical
A mounting plate to be crossed to be connected with sliding block 19, sliding block 19 is slidably assembled with the first sliding rail 18, and the first sliding rail 18 can be C-shaped sliding rail,
And C-shaped sliding slot is set on sliding block 19 and engages with C-shaped sliding rail, slidably assemble；
First sliding rail 18 is fixed on sliding rail mounting plate 17, and the sliding rail mounting plate 17 is fixed on mounting plate 11；It is described
Sliding block 19 is fixed on feed screw nut mounting plate 15 that (sliding block mounting plate is exactly that block plate is long by sliding block mounting plate and connecting pin 25
Sliding block 19 is first fixed on sliding block mounting plate by square plate, is then assembled sliding block mounting plate and feed screw nut mounting plate solid
It is fixed), feed screw nut mounting plate 15 is fixed on feed screw nut 14, and feed screw nut 14 and lead screw 16 pass through threaded engagement assembly and shape
At ball screw arrangement；
Lead screw 16 and the assembly of rolling bearing units inner ring are fixed, and the rolling bearing units outer ring and the assembly of lead screw support plate 45 are fixed, lead screw branch
Fagging 45 and the assembly of mounting plate 11 are fixed, to realize the support to lead screw 16.
16 one end of lead screw and the output shaft of reduction gearbox 13 are connected and fixed, and the input shaft of reduction gearbox 13 is defeated with driving motor 12
Shaft is connected and fixed, so that the kinetic energy that driving motor 12 exports is delivered to lead screw 16 after the deceleration of reduction gearbox 13, thus
Driving feed screw nut 14 is moved up in 16 axis of lead screw, and also just driving feed screw nut mounting plate 15, sliding block 19, rack gear 20 are synchronous moves
It is dynamic, so that gear 22 be driven to rotate, also just drive an armful clamping bar 21 and rotated centered on shaft, in the present embodiment, embraces clamping bar 21
Rotational angle is 90 °.
Existing motor reduction gearbox can be directly used in the reduction gearbox 13, or directly by reduction gearbox 13 and driving motor
12 merge into a decelerating motor together.
Detection switch 36 in place are also equipped on the mounting plate 11, referring to Fig. 7, in place detection switch 36, including switch
Fixed frame 39 switchs and is provided with inductive slot 391 on fixed frame 39, and 391 two sides of inductive slot are respectively arranged with grating sensor
Transmitter 361 and receiver 362, transmitter 361 is for issuing laser beam, and receiver 362 is for receiving laser beam and producing
Raw electric signal, transmitter 361 and receiver 362 collectively form grating sensor or photoelectric sensor.
In use, embracing clamping bar 21 is packed into inductive slot 391, so that the light beam of at least two transmitters 361 is blocked, from
And corresponding receiver 362 is made not generate electric signal, and by this signal transduction to the processing being mounted on intermediate frame
In device, packed up so that clamping bar 21 is embraced in judgement.The processor can be CPU, MCU, PLC etc..At least two receivers 362
The setting of electric signal is not generated mainly according to the raw material of one line of two o'clock, judgement is embraced clamping bar 21 and is entirely enclosed in inductive slot 391,
It exactly embraces clamping bar 21 and packs up (such as Fig. 9-Figure 10 state) completely, this is also present invention state when not in use, and this design can be with
Effectively save space reduces overall volume, and can also substantially reduce whole height by way of embracing clamping bar 21 and being lifted, thus
It is adapted to the lower vehicle in chassis, while not being contacted directly with vehicle body, damage vehicle body can be prevented.And every armful of clamping bar 21 is logical
Individual driving motor driving is crossed, rising height, lifting angle etc. can be effectively controlled.In use, being located at automobile tire two sides
Embrace a clamping bar 21 rotate towards each other, so that tire on the drive wheels is moved up to be lifted automobile, such as Figure 14-Figure 15, Fig. 1 state.
Preferably, it is provided with four on first armful of clamp device and embraces clamping bar 21, every two are embraced the corresponding one piece of mounting plate of clamping bar 21
11, it is connected and fixed between two pieces of mounting plates 11, is respectively arranged in driving plate 46 solid with the assembly of mounting plate 11 by driving plate 46
Fixed extension board 33.In use, carrying out reinforcement assembly by extension board 33 and mounting plate 11.
Referring to Fig. 5, the regulating mechanism, including, chain 46, driving plate 46 and the assembly of chain 34 are fixed, the chain 34
It assembles to form chain drive structure with sprocket wheel 29 respectively in both ends.Certainly, chain 34 also could alternatively be belt, while by sprocket wheel
Belt wheel is replaced with, to obtain tape handler.
The sprocket wheel 29 is mounted on sprocket shaft 35 and can circumferentially rotate therewith assembly, and the sprocket shaft 35 is fixed on sprocket wheel
On bracket, sprocket support is fixed on 10 bottom of Rear frame and supports to be formed to sprocket wheel；
The output shaft of one of sprocket shaft 35 and decelerating motor 31 is connected and fixed, and decelerating motor 31 is mounted on speed reducer installation branch
On frame 30, speed reducer mounting bracket 30 is fixed in Rear frame 10；
It is further fixed on the second sliding rail 47 in the Rear frame 10, is provided on the mounting plate 11 and 47 slidable fit of the second sliding rail
Adjusting slider (being not drawn into figure), the structure of the adjusting slider and the second sliding rail 47, which connects assembly method, can refer to sliding block 19
With the structure and assembly method of the first sliding rail 18.
In actual use, since the distance between automobile front and back wheel has with short, it is located at first armful and clamps
Set, on second armful of clamp device embrace clamping bar between spacing be also required to adjust according to the actual situation, at this point, pass through decelerating motor 31
Drive the movement on the second sliding rail 47 of second armful of clamp device can adjust the spacing in first armful of clamp device, second armful of clamp device with
Meet the automobile of different wheelbases.
In practical application, vehicle wheel base can be detected by the equipment for being able to detect vehicle wheel base before automobile is marched into the arena,
To judge front and back wheel spacing.It such as identifies automotive type, is judged by the wheelbase of the vehicle manufacturer formula, or directly pass through
Existing image identification function acquires automobile side image, calculates wheelbase etc. after Direct Recognition front and back wheel.
Referring to Fig. 8, the differential drive unit 5 can use existing parking machine for driving entire robot mobile
The driving method of device people or the trolley that stops, or directly adopt such as flowering structure:
Steering bracket 53, fixed bracket 56 are set, be fixed on the steering bracket 53 first motor 55, first motor 55 it is defeated
Shaft is connected and fixed with wheel shaft 52, and wheel shaft 52 and delivery wheel 51 assemble, so that first motor 55 can directly drive conveying
51 rotation of wheel, the steering bracket 53 are fixed on the output shaft of the second motor 54, and the second motor 54 is fixed on fixed bracket 56
On, fixed bracket 56 is fixed on 10 bottom of front frame 7 or Rear frame.Preferably, delivery wheel 51 can select Mecanum wheel.Make
Automobile is lifted by first armful of clamp device, second armful of clamp device by the used time first, then drives conveying rotation by first motor
It is dynamic, to realize the transhipment to automobile, is rotated by the second motor and realize turning.When using Mecanum wheel certainly, itself
It can be displaced sideways, also there is no need to the second motors, fixed bracket 56, at this point it is possible to which steering bracket 53 is directly fixed
In front frame 7, Rear frame 10.
Preferably, the front frame 7, intermediate frame 8,10 bottom of Rear frame are also separately installed with auxiliary universal wheel 6, described
Auxiliary universal wheel 6 is mainly used for decomposing the pressure of delivery wheel 51, to increase the support strength of entirety of the invention.
Preferably, 8 bottom of intermediate frame is equipped with power supply system 9, warning device 26, navigation device 27, auxiliary positioning dress
28 are set, the power supply system 9 includes battery, and battery is used to be all power supply for electrical equipment.
The warning device 26 is used to sound an alarm when battery capacity deficiency or default components break down, and can adopt
With existing combined aural and visual alarm.In actual use, can connect a relay between 26 power connection end of warning device and battery
Device, the normally-closed contact and 26 power connection end of warning device of relay are conductively connected, and the movable contact and battery motor conduction of relay connect
It connects, the control terminal of relay and the signal end of processor communicate to connect.In use, the dynamic of relay can be controlled by processor
Contact contacts conduction with normally-closed contact, the operation so that warning device 26 is powered, to sound an alarm, to remind staff
Processing in time.
The navigation device 27 is the hardware device of inertial navigation, is used to provide navigation feature for entire robot, or
Directly adopt the airmanship of existing parking trolley or the robot that stops, such as airmanship of existing banking machine people.
The auxiliary locator 28 is mainly used for that entire navigation system is assisted to can be interior the positioning of the robot
It is equipped with positioning device, such as electronic tag, ZigBee locating module.When practical application, existing positioning dress can be directly used
It sets, such as existing banking machine people, storage robotic positioning device.
Preferably, the front frame 7, be also separately installed with automatic charging brush block 4, the automatic charging brush in Rear frame 10
Block 4 is respectively used to be conductively connected with external charging equipment, to charge the battery.It can be charging structure or wireless charging
The receiver of electric appliance.Particular technique can be directly used the automatic charging technology of existing robot, and this technology ten is divided into already
It is ripe.
Place is not described in detail by the present invention, is the well-known technique of those skilled in the art.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
- The robot 1. a kind of frame integrated armful of folder stops, including, front frame, intermediate frame, Rear frame, it is characterized in that:The front frame, Rear frame bottom are separately installed with first armful of clamp device, second armful of clamp device, second armful of clamp device It is included in first armful of clamp device, regulating mechanism；First armful of clamp device, including, clamping bar is embraced, clamping bar one end is embraced and shaft is assembled The fixed, other end is open end；Be fixed with gear in the shaft, and both ends of the shaft assembles with bearing inner race fix respectively, the outer ring of bearing respectively with peace Loading board, connecting plate assembly are fixed, and the mounting plate is fixed on front frame bottom, and connecting plate is fixed on a mounting board；Respectively with rack gear engaged transmission, the rack gear is connected by a mounting plate with sliding block each gear, sliding block and first Sliding rail slidably assembles；First sliding rail is fixed on sliding rail mounting plate, and the sliding rail mounting plate is fixed on a mounting board；The sliding block passes through Sliding block mounting plate and connecting pin are fixed on feed screw nut mounting plate, and feed screw nut mounting plate is fixed on feed screw nut, silk Thick stick nut and lead screw are assembled by threaded engagement；Lead screw and the assembly of rolling bearing units inner ring are fixed, and the rolling bearing units outer ring and the assembly of lead screw support plate are fixed, lead screw support plate It assembles and fixes with mounting plate；The output shaft of lead screw one end and reduction gearbox is connected and fixed, the input shaft of reduction gearbox and driving motor Output shaft is connected and fixed.
- 2. frame integrated armful of folder parking as described in claim 1 robot, it is characterized in that: the front frame, intermediate frame, Be respectively arranged with pipe sleeve in Rear frame, connecting rod pass through front frame, intermediate frame, the pipe sleeve in Rear frame to by front frame, Intermediate frame, Rear frame assembly are integral；Intermediate frame is between front frame, Rear frame, and intermediate frame passes through with front frame, Rear frame by proximal end respectively respectively Carriage bolt assembly is fixed.
- The robot 3. frame integrated armful of folder as described in claim 1 stops, it is characterized in that: outside the front frame, Rear frame Safe touch side, obstacle avoidance sensor are separately installed on side end face, the obstacle avoidance sensor is for detecting barrier；The front frame, Rear frame are equipped with emergency stop switch at safe touch side, and emergency stop switch can control institute after being toggled There is electrical equipment to power off or only control differential drive unit powers off.
- The robot 4. frame integrated armful of folder as claimed in claim 3 stops, it is characterized in that: in the front frame, Rear frame It is fixed with vehicle frame mounting plate, emergency stop switch is fixed on vehicle frame mounting plate, the triggering end of emergency stop switch is safe towards safe touch side Touch side and guide rod one end assembly fix, the guide rod other end pass through vehicle frame mounting plate and therewith can axis move up assembly, institute It states guide rod and is set with spring on the part between vehicle frame mounting plate and safe touch side.
- The robot 5. frame integrated armful of folder as described in claim 1 stops, it is characterized in that: being also equipped on the mounting plate Detection switch in place, in place detection switch, including switch fixed frame, switchs and is provided with inductive slot, inductive slot two sides on fixed frame It is respectively arranged with transmitter and receiver, transmitter is for issuing laser beam, and receiver is for receiving laser beam and generating Electric signal, transmitter and receiver collectively form grating sensor or photoelectric sensor.
- The robot 6. frame integrated armful of folder as claimed in claim 1 or 5 stops, it is characterized in that: being set on first armful of clamp device It is equipped with four and embraces clamping bar, every two are embraced the corresponding one piece of mounting plate of clamping bar, are connected and fixed, are driven by driving plate between two pieces of mounting plates The extension board fixed with mounting plate assembly is respectively arranged on movable plate.
- The robot 7. frame integrated armful of folder a method as claimed in any one of claims 1 to 5 stops, it is characterized in that: the regulating mechanism, Including chain, driving plate and chain assembly are fixed, and the chain both ends assemble to form chain drive structure respectively with sprocket wheel.
- The robot 8. frame integrated armful of folder a method as claimed in any one of claims 1 to 5 stops, it is characterized in that: the regulating mechanism, Including belt, driving plate and belt assembly are fixed, and the belt both ends assemble to form belt drive structure respectively with belt wheel.
- The robot 9. frame integrated armful of folder as claimed in claim 7 stops, it is characterized in that: the sprocket wheel is mounted on sprocket shaft Upper and can circumferentially rotate assembly therewith, the sprocket shaft is fixed on sprocket support, sprocket support be fixed on Rear frame bottom from And sprocket wheel is formed and is supported；The output shaft of one of sprocket shaft and decelerating motor is connected and fixed, and decelerating motor is mounted in speed reducer mounting bracket, Speed reducer mounting bracket is fixed in Rear frame；It is further fixed on the second sliding rail in the Rear frame, is provided on the mounting plate sliding with the adjusting of the second sliding rail slidable fit Block.
- The robot 10. frame integrated armful of folder as claimed in claim 3 stops, it is characterized in that: intermediate frame bottom is equipped with Power supply system, warning device, navigation device, auxiliary locator, the power supply system include battery, and battery is for being useful Electric equipment power supply；The warning device is used to sound an alarm when battery capacity deficiency or default components break down, and connects in warning device It connects between electric end and battery a relay, the normally-closed contact and warning device power connection end of relay are conductively connected, relay Movable contact and battery motor be conductively connected, the signal end of the control terminal of relay and processor communicates to connect；Also be separately installed with automatic charging brush block in the front frame, Rear frame, the automatic charging brush block be respectively used to outside Portion's charging equipment is conductively connected, to charge the battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910208392.3A CN109914884B (en) | 2019-03-19 | 2019-03-19 | Parking robot with integrated frame |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910208392.3A CN109914884B (en) | 2019-03-19 | 2019-03-19 | Parking robot with integrated frame |
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| CN109914884A true CN109914884A (en) | 2019-06-21 |
| CN109914884B CN109914884B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910208392.3A Active CN109914884B (en) | 2019-03-19 | 2019-03-19 | Parking robot with integrated frame |
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| CN115075639A (en) * | 2022-07-07 | 2022-09-20 | 河南国立信息科技有限公司 | Wisdom parking area parking protection device |
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|---|---|
| CN109914884B (en) | 2024-03-22 |
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