CN110294432A - The car assisted double-column lifting gripping structure parked automatically and operating method - Google Patents
The car assisted double-column lifting gripping structure parked automatically and operating method Download PDFInfo
- Publication number
- CN110294432A CN110294432A CN201910584497.9A CN201910584497A CN110294432A CN 110294432 A CN110294432 A CN 110294432A CN 201910584497 A CN201910584497 A CN 201910584497A CN 110294432 A CN110294432 A CN 110294432A
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- Prior art keywords
- automobile
- swing
- vehicle
- lifting
- connecting rod
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/46—Combinations of several jacks with means for interrelating lifting or lowering movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses the car assisted double-column lifting gripping structure parked automatically and operating methods, it includes top lifting cross beam, at top, the bottom both ends of lifting cross beam are symmetrically installed with swinging frame, twin columns vertical lifting mechanism for being lifted to automobile is installed on the swinging frame, it is fitted on the vertical lifting mechanism of twin columns and grabs vehicle device for automobile crawl, the side of the swinging frame is respectively symmetrically equipped with the swing regulation mechanism for adjusting its swing angle.Lifting gripping structure can be used in the crawl and lifting of automobile in the automatic parking garage of automobile, and the different automobiles for parking angle can be adapted to automatically, ajust it automatically after the adjustment, in order to which subsequent AGV trolley can automatically be drilled into vehicle bottom parking automatically in order to automobile.
Description
Technical field
The present invention relates to the car assisted double-column lifting gripping structure parked automatically and operating methods, belong to Intelligent stop vehicle device
Device people's technical field.
Background technique
Intelligent three-dimensional garage plays the role of stopping at release pressure vital, lacks existing for vertical vehicle garage at present
It is trapped in driver needs accurately to park vehicle designated position and then by stopping after parking robot clamping automobile
It is put into stereo garage, in above-mentioned docking process, due to being limited by parking space, has one to the driving technology of driver
Fixed requirement can generate certain pressure to driver's psychology, and then its generation is caused to be afraid of difficulty psychology, be reluctant through heat from by vehicle
It is parked in stereo garage.
And most intelligent three-dimensional garage cannot directly grab the vehicle for arbitrarily parking on the ground currently on the market
It is taken into position, although disclosing a kind of pickup device for grabbing automobile chassis in CN206769505U, aims at automobile
Crawl cooperates transfer robot to realize parking for vehicle again.Above-mentioned device can be only done the crawl of designated position vehicle, grab
Also it is the need to ensure that also grabbing device is consistent in vehicle parking direction before taking.
A kind of garage robot carrier is disclosed in CN106049941A, this carrier includes pedestal and car-carrying machine
Device people installs carrier vehicle robot in groove location, is pressed from both sides automobile tire by carrier vehicle robot by the way that groove is arranged on pedestal
It tightly and lifts, then entire automobile is carried by pedestal and is moved to parking stall or library outlet, but such technical solution cannot be direct
Robot device is grabbed applied to the random parked vehicle of solution and vehicle.
Summary of the invention
The purpose of the present invention is to provide the car assisted double-column lifting gripping structure parked automatically and operating method, liftings
Gripping structure can be used in the crawl and lifting of automobile in the automatic parking garage of automobile, and can adapt to automatically difference and park angle
Automobile, ajust it automatically after the adjustment, in order to which subsequent AGV trolley can be drilled into vehicle bottom automatically in order to automobile
Automatically park.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this: car assisted pair parked automatically
Column lifts gripping structure, it includes top lifting cross beam, and at top, the bottom both ends of lifting cross beam are symmetrically installed with swinging frame, institute
The vertical lifting mechanism of twin columns being equipped on swinging frame for being lifted to automobile is stated, is matched on the vertical lifting mechanism of twin columns
It closes to be equipped with and grabs vehicle device for automobile crawl, the side of the swinging frame is respectively symmetrically equipped with for adjusting its angle of oscillation
The swing regulation mechanism of degree.
The vertical lifting mechanism of twin columns includes the elevating screw being arranged symmetrically, and two elevating screws pass through multiple groups the
One screw mandrel support seat is vertically installed at the two sides of swinging frame respectively, is fitted with liter by screw rod transmission on the elevating screw
Drop nut seat, the lifting nut seat and grab vehicle device be fixedly linked and drive its vertical lifting act；The elevating screw
Top is equipped with sprocket wheel, and the sprocket wheel is connected with chain-drive mechanism and drives its rotation.
The swing regulation mechanism uses the linkage swing mechanism of multi link formula, and the linkage swing mechanism includes being fixed on
The first hinged seat on swinging frame side wall is hinged with first connecting rod, the other end of the first connecting rod on first hinged seat
Second connecting rod, the other end of the second connecting rod and the first power master for driving it to rotate are hinged with by the first pin shaft
Axis, first power spindle are connected with the output shaft of driving motor.
The swing regulation mechanism uses the slide block type swing mechanism of crank block type, and the slide block type swing mechanism includes
The swing sliding rail being fixed on swinging frame side wall has slip base by being slidably installed on the swing sliding rail, the sliding
Swing rod, the other end of the swing rod and the second power spindle for driving it to rotate, institute are hinged with by the second pin shaft on seat
The second power spindle is stated to be connected with the output shaft of driving motor.
The vehicle device of grabbing includes grabbing vehicle frame, and the vehicle frame of grabbing is fixedly linked with swinging frame, described to grab on vehicle frame and along it
Length direction is fixed with line slide rail, and being slidably installed on the line slide rail by slip base has sliding case, the sliding
Case is matched with the translational power mechanism grabbed on vehicle frame is mounted on, and rotary type folder mechanism of car is equipped on the sliding case.
The translational power mechanism includes translation screw rod, and the both ends of the translation screw rod are supported by the second screw mandrel support seat
On the side wall for grabbing vehicle frame, the end of the translation screw rod is connected by first shaft coupling with the output shaft of the first retarder, institute
The input shaft for stating the first retarder is connected with the output shaft of first motor.
Rotary type folder mechanism of car includes the first main shaft, is equipped with first gear on first main shaft, and described first
Gear and the second gear engaged transmission being mounted on the second main shaft, the bottom of first main shaft is vertically installed with the first folder vehicle
Bar, the bottom of second main shaft are vertically installed with the second folder vehicle bar, second main shaft and the connecting rod for driving it to rotate
Driving mechanism is connected.
The bar-link drive includes cooperating oscillating rod on the second main shaft by flat key, the oscillating rod it is another
End is hinged with connecting rod by pin shaft, and the other end of the connecting rod is hinged in drive seat, and the drive seat is by screw and clamps
Power screw rod constitutes screw rod transmission cooperation, and the clamping power screw rod is supported on sliding case by third screw mandrel support seat, institute
The end for stating clamping power screw rod is connected by shaft coupling with decelerating motor, and transmits torque.
The operating method of the car assisted double-column lifting gripping structure parked automatically of any one, he the following steps are included:
Step 1, the angle put according to automobile automatically adjust the angle of swinging frame by swing regulation mechanism, so that grabbing vehicle dress
It sets along the direction arrangement parallel with vehicle centerline；
Step 2, after angular adjustment is completed, vehicle device is grabbed in starting, by the first folder vehicle bar and the second folder vehicle bar of grabbing vehicle device
The tire of automobile is clamped, and then completes the crawl to automobile；
Step 3 starts the vertical lifting mechanism of twin columns, drives lifting nut seat by the elevating screw of the vertical lifting mechanism of twin columns,
Again by lifting nut seat synchronize at the top of it grab vehicle device and automobile jacks so that automobile wheel be detached from ground；
Step 4, be again started up swing regulation mechanism automatic adjustment swinging frame angle so that automobile turn to in garage
The parallel position of heart line, ajusts its position；
Step 5, AGV floor truck device, as guidance, is drilled into automobile for along the center line in garage automatically after ajusting
Bottom；
Step 6 makes it be supported on the underface of wheel after the movement in place of AGV floor truck device；
Step 7, the vertical lifting mechanism of twin columns reset, and automobile is automatically fallen off to and is supported on the top of AGV floor truck device,
And then automobile is supported；
Vehicle is automatically moved warehouse compartment by AGV floor truck device, completes it and park by step 8.
The course of work of swing regulation mechanism in the step 1 and step 4 specifically:
When using linkage swing mechanism, the first power spindle is driven by driving motor, then drives the by the first power spindle
Two connecting rods drive first connecting rod by second connecting rod, then drive the first hinged seat by first connecting rod, and then pass through the first hinged seat
Swinging frame rotation is driven, any angle parked car is adapted it to；
When using slide block type swing mechanism, the second power spindle is driven by driving motor, then driven by the second power spindle
Swing rod is swung, and then drives slip base to slide along sliding rail is swung by swing rod, while swinging frame being driven to rotate, and adapts it to appoint
Meaning angle parked car.
Beneficial effects of the present invention:
1, can be used in any angle by using the double-column lifting gripping structure of above structure to put the automatically grabbing of automobile, lift
It rises and ajusts, and then the automatic storage for assisting AGV carriage device to complete automobile is parked, and is improved the efficiency of parking of automobile, is mitigated
The pressure at heart that driver parks a car.
2, lifting is passed through during the work time by the lifting that the above-mentioned vertical lifting mechanism of twin columns can be used in automobile
Screw rod will drive lifting nut seat, then be driven by lifting nut seat and entirely grab vehicle device and gone up and down, eventually by grabbing vehicle device
Band electrical automobile is gone up and down, and away from ground, and then facilitates subsequent ajusted.
3, ajusting for automobile can be used in by the swing mechanism of above structure, during the work time, passes through driving motor
It drives the first power spindle, then second connecting rod is driven by the first power spindle, first connecting rod is driven by second connecting rod, then by the
One connecting rod drives the first hinged seat, and then drives swinging frame rotation by the first hinged seat, adapts it to what any angle was parked
Automobile.
4, the second power spindle is driven by driving motor, then drives swing rod to swing by the second power spindle, and then pass through
Swing rod drives slip base to slide along sliding rail is swung, while swinging frame being driven to rotate, and adapts it to any angle parked car.
5, the crawl of automobile can be used in by above-mentioned vehicle device of grabbing, in the process of grasping, first passes through translational power machine
Structure driving sliding case 509 is moved to wheel position, then presss from both sides mechanism of car by rotary type and grab to automobile.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall structure main view of the present invention.
Fig. 2 is the top view that the present invention includes linkage swing mechanism.
Fig. 3 is the top view that the present invention includes slide block type swing mechanism.
Fig. 4 is that the present invention grabs vehicle device main view.
Fig. 5 is that the present invention grabs vehicle device top view.
Fig. 6 is the A-A view of the invention grabbed in vehicle device Fig. 4.
Fig. 7 is the state diagram pressed from both sides when vehicle bar is withdrawn that the present invention grabs vehicle device.
Fig. 8 is shape body schematic diagram when automobile of the present invention is initially parked.
Fig. 9 is the shape body schematic diagram after automobile of the present invention is finally ajusted.
In figure: top lifting cross beam 1, the first screw mandrel support seat 3, elevating screw 4, grabs vehicle device 5, lifting nut at sprocket wheel 2
Seat 6, swinging frame 7, linkage swing mechanism 8, slide block type swing mechanism 9, automobile 10, AGV floor truck device 11；
Grab vehicle frame 501, first motor 502, the first retarder 503, first shaft coupling 504, the second screw mandrel support seat 505, translation
Screw rod 506, second straight line sliding rail 507, decelerating motor 508, sliding case 509, the first main shaft 510, first gear 511, second are main
Axis 512, second gear 513, oscillating rod 514, pin shaft 515, connecting rod 516, slip base 517, first press from both sides vehicle bar 518, second and press from both sides vehicle
Bar 519, clamps power screw rod 521, drive seat 522 at third screw mandrel support seat 520；
First hinged seat 801, first connecting rod 802, the first pin shaft 803, second connecting rod 804, the first power spindle 805；
Swing sliding rail 901, slip base 902, the second pin shaft 903, swing rod 904, the second power spindle 905.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
Embodiment 1:
As shown in figs 1-9, the car assisted double-column lifting gripping structure parked automatically, it includes top lifting cross beam 1, at top
The bottom both ends of lifting cross beam 1 are symmetrically installed with swinging frame 7, are equipped on the swinging frame 7 for lifting to automobile 10
The vertical lifting mechanism of twin columns, be fitted on the vertical lifting mechanism of twin columns and grab vehicle device 5 for what automobile 10 grabbed,
The side of the swinging frame 7 is respectively symmetrically equipped with the swing regulation mechanism for adjusting its swing angle.By using above-mentioned
The double-column lifting gripping structure of structure can be used in any angle and put automatically grabbing, lift and ajusting for automobile, and then assist
The automatic storage that AGV carriage device completes automobile is parked, and improve automobile parks efficiency, alleviates driver and parks a car
Pressure at heart.In parking period, driver only needs automobile parking in specified region, and swinging frame 7 is by root at this time
According to the stand of automobile, the angular adjustment of swinging frame 7 is automatically completed by swing regulation mechanism, adapts it to the pendulum of automobile
Put angle, then automobile grabbed by grabbing vehicle device 5, to its crawl after, by the vertical lifting mechanism of twin columns to its into
Row is promoted, then is ajusted by swing regulation mechanism, and be finally completed automobile ajusts operation, after ajusting, AGV carriage device
The big bottom for arriving automobile will be automatically pierced, is carried eventually by AGV carriage device.
Further, the vertical lifting mechanism of the twin columns includes the elevating screw 4 being arranged symmetrically, two elevating screws
4 are vertically installed at the two sides of swinging frame 7 by the first screw mandrel support seat of multiple groups 3 respectively, are passed on the elevating screw 4 by screw rod
It is dynamic to be fitted with lifting nut seat 6, the lifting nut seat 6 with grab vehicle device 5 and be fixedly linked and drive its vertical lifting dynamic
Make；The top of the elevating screw 4 is equipped with sprocket wheel 2, and the sprocket wheel 2 is connected with chain-drive mechanism and drives its rotation.Pass through
The vertical lifting mechanism of above-mentioned twin columns can be used in the lifting of automobile, during the work time, will be driven and is gone up and down by elevating screw 4
Nut seat 6, then driven by lifting nut seat 6 and entirely grab vehicle device 5 and gone up and down, eventually by grab vehicle device 5 with electrical automobile into
Row lifting, away from ground, and then facilitates subsequent ajusted.
Further, the swing regulation mechanism uses the linkage swing mechanism 8 of multi link formula, the linkage swing mechanism
8 include the first hinged seat 801 being fixed on 7 side wall of swinging frame, is hinged with first connecting rod 802 on first hinged seat 801,
The other end of the first connecting rod 802 is hinged with second connecting rod 804 by the first pin shaft 803, the second connecting rod 804 it is another
End and the first power spindle 805 for driving it to rotate, the output shaft phase of first power spindle 805 and driving motor
Even.It can be used in ajusting for automobile by the swing mechanism of above structure, during the work time, drive first by driving motor
Power spindle 805, then second connecting rod 804 is driven by the first power spindle 805, first connecting rod is driven by second connecting rod 804
802, then the first hinged seat 801 is driven by first connecting rod 802, and then drive swinging frame 7 to rotate by the first hinged seat 801, make
It adapts to any angle parked car 10.
Further, the swing regulation mechanism uses the slide block type swing mechanism 9 of crank block type, the slide block type pendulum
Motivation structure 9 includes the swing sliding rail 901 being fixed on 7 side wall of swinging frame, passes through on the swing sliding rail 901 and is slidably installed
Have a slip base 902, swing rod 904 be hinged with by the second pin shaft 903 on the slip base 902, the other end of the swing rod 904 with
The second power spindle 905 for driving it to rotate, second power spindle 905 are connected with the output shaft of driving motor.It is logical
Motor of overdriving drives the second power spindle 905, then drives swing rod 904 to swing by the second power spindle 905, and then pass through swing rod
904 driving slip bases 902 are slided along sliding rail 901 is swung, while swinging frame 7 being driven to rotate, and are adapted it to any angle and are parked
Automobile 10.
Further, the vehicle device 5 of grabbing includes grabbing vehicle frame 501, and the vehicle frame 501 of grabbing is fixedly linked with swinging frame 7, institute
It states and grabs on vehicle frame 501 and be fixed with along its length line slide rail 507, it is sliding by slip base 517 on the line slide rail 507
Dynamic to be fitted with sliding case 509, the sliding case 509 is matched with the translational power mechanism grabbed on vehicle frame 501 is mounted on, institute
It states and rotary type folder mechanism of car is installed on sliding case 509.It can be used in the crawl of automobile by above-mentioned vehicle device 5 of grabbing, grabbing
During taking, first passes through translational power mechanism driving sliding case 509 and be moved to wheel position, then vehicle device is pressed from both sides by rotary type
Structure grabs automobile.
Further, the translational power mechanism includes translation screw rod 506, and the both ends of the translation screw rod 506 pass through the
Two screw mandrel support seats 505 are supported on the side wall for grabbing vehicle frame 501, and the end of the translation screw rod 506 passes through first shaft coupling 504
It is connected with the output shaft of the first retarder 503, the input shaft and the output shaft phase of first motor 502 of first retarder 503
Even.It is mainly to adapt to the different automobiles for taking turns spacing to drive by first motor 502 in use by translational power mechanism
Dynamic first retarder 503, then first shaft coupling 504 is driven by the first retarder 503, and then drive by first shaft coupling 504
Screw rod 506 is translated, is matched eventually by translation screw rod 506 with the screw slid inside case 509, and then start it along straight line
Sliding rail 507 slides.
Further, rotary type folder mechanism of car includes the first main shaft 510, and the is equipped on first main shaft 510
One gear 511, the first gear 511 and 513 engaged transmission of second gear being mounted on the second main shaft 512, described first
The bottom of main shaft 510 is vertically installed with the first folder vehicle bar 518, and the bottom of second main shaft 512 is vertically installed with the second folder vehicle
Bar 519, second main shaft 512 are connected with the bar-link drive for driving it to rotate.Vehicle is pressed from both sides by above-mentioned rotary type
Mechanism mainly passes through the first folder vehicle bar 518 that can be rotated and the second folder vehicle bar 519 is clamped wheel, in the course of work
In, the second main shaft 512 is driven by bar-link drive, then second gear 513 is driven by the second main shaft 512, and by the second tooth
513 driving first gear 511 of wheel, drives the first main shaft 510, and two by rotating synchronously masters eventually by first gear 511
Axis respectively drives the second folder vehicle bar 519 and the first folder vehicle bar 518 rotates, and then turns to the two sides of wheel, presss from both sides to wheel
Tightly.
Further, the bar-link drive includes cooperating the oscillating rod 514 on the second main shaft 512 by flat key,
The other end of the oscillating rod 514 is hinged with connecting rod 516 by pin shaft 515, and the other end of the connecting rod 516 is hinged on drive seat
On 522, the drive seat 522 is by screw and clamps the composition screw rod transmission cooperation of power screw rod 521, the clamping power screw rod
521 are supported on sliding case 509 by third screw mandrel support seat 520, and the end for clamping power screw rod 521 passes through shaft coupling
It is connected with decelerating motor 508, and transmits torque.By above-mentioned bar-link drive, the second main shaft 512 can be driven to rotate,
In operation process, is driven by decelerating motor 508 and clamp power screw rod 521, then drive seat is driven by clamping power screw rod 521
522, and then connecting rod 516 is driven by drive seat 522, then oscillating rod 514 is driven by connecting rod 516, and then drive by oscillating rod 514
Dynamic second main shaft 512 rotation.
Embodiment 2:
The operating method of the car assisted double-column lifting gripping structure parked automatically of any one, he the following steps are included:
Step 1 automatically adjusts the angle of swinging frame 7 by swing regulation mechanism, so that grabbing according to the angle that automobile 10 is put
Vehicle device 5 is arranged along the direction parallel with 10 center line of automobile；
Step 2, after angular adjustment is completed, vehicle device 5 is grabbed in starting, by the first folder vehicle bar 518 and second for grabbing vehicle device 5
The tire of automobile 10 is clamped by folder vehicle bar 519, and then completes the crawl to automobile 10；
Step 3 starts the vertical lifting mechanism of twin columns, drives lifting nut seat by the elevating screw 4 of the vertical lifting mechanism of twin columns
6, then by lifting nut seat 6 synchronize at the top of it grab vehicle device 5 and automobile 10 jacks so that the wheel of automobile 10 is detached from
Ground；
Step 4 is again started up the angle of swing regulation mechanism automatic adjustment swinging frame 7, so that automobile 10 turns to and garage
The parallel position of center line, ajusts its position；
Step 5, AGV floor truck device 11, as guidance, is drilled into automobile for along the center line in garage automatically after ajusting
10 bottom；
Step 6 makes it be supported on the underface of wheel after the movement in place of AGV floor truck device 11；
Step 7, the vertical lifting mechanism of twin columns reset, and automobile 10 is automatically fallen off to and is supported on the top of AGV floor truck device 11
Portion, and then automobile 10 is supported；
Vehicle is automatically moved warehouse compartment by AGV floor truck device 11, completes it and park by step 8.
The course of work of swing regulation mechanism in the step 1 and step 4 specifically:
When using linkage swing mechanism 8, the first power spindle 805 is driven by driving motor, then by the first power spindle 805
Second connecting rod 804 is driven, first connecting rod 802 is driven by second connecting rod 804, then the first hinged seat is driven by first connecting rod 802
801, and then drive swinging frame 7 to rotate by the first hinged seat 801, adapt it to any angle parked car 10；
When using slide block type swing mechanism 9, the second power spindle 905 is driven by driving motor, then by the second power spindle
905 drive swing rod 904 to swing, and then drive slip base 902 to slide along sliding rail 901 is swung by swing rod 904, while driving pendulum
Moving frame 7 rotates, and adapts it to any angle parked car 10.
Claims (10)
1. the car assisted double-column lifting gripping structure parked automatically, it is characterised in that: it includes top lifting cross beam (1),
The bottom both ends of top lifting cross beam (1) are symmetrically installed with swinging frame (7), are equipped on the swinging frame (7) for automobile
(10) twin columns lifted vertical lifting mechanism is fitted on the vertical lifting mechanism of twin columns and grabs for automobile (10)
What is taken grabs vehicle device (5), and the side of the swinging frame (7) is respectively symmetrically equipped with the oscillation adjustment for adjusting its swing angle
Mechanism.
2. the car assisted double-column lifting gripping structure parked automatically according to claim 1, it is characterised in that: described double
The vertical lifting mechanism of column includes the elevating screw (4) being arranged symmetrically, and two elevating screws (4) pass through the first screw rod of multiple groups branch
Support seat (3) is vertically installed at the two sides of swinging frame (7) respectively, is fitted on the elevating screw (4) by screw rod transmission
Lifting nut seat (6), the lifting nut seat (6) and grab vehicle device (5) be fixedly linked and drive its vertical lifting act；It is described
It is equipped at the top of elevating screw (4) sprocket wheel (2), the sprocket wheel (2) is connected with chain-drive mechanism and drives its rotation.
3. the car assisted double-column lifting gripping structure parked automatically according to claim 1, it is characterised in that: the pendulum
Dynamic regulating mechanism uses the linkage swing mechanism (8) of multi link formula, and the linkage swing mechanism (8) includes being fixed on swinging frame
(7) the first hinged seat (801) on side wall is hinged with first connecting rod (802) on first hinged seat (801), described first
The other end of connecting rod (802) is hinged with second connecting rod (804) by the first pin shaft (803), the second connecting rod (804) it is another
End and the first power spindle (805) for driving it to rotate, the output shaft of the first power spindle (805) and driving motor
It is connected.
4. the car assisted double-column lifting gripping structure parked automatically according to claim 1, it is characterised in that: the pendulum
Dynamic regulating mechanism uses the slide block type swing mechanism (9) of crank block type, and the slide block type swing mechanism (9) includes being fixed on pendulum
Swing sliding rail (901) on moving frame (7) side wall has slip base by being slidably installed on the swing sliding rail (901)
(902), it is hinged with swing rod (904) on the slip base (902) by the second pin shaft (903), the other end of the swing rod (904)
With the second power spindle (905) for driving it to rotate, the output shaft phase of second power spindle (905) and driving motor
Even.
5. the car assisted double-column lifting gripping structure parked automatically according to claim 1, it is characterised in that: described to grab
Vehicle device (5) includes grabbing vehicle frame (501), and the vehicle frame (501) of grabbing is fixedly linked with swinging frame (7), described to grab on vehicle frame (501)
And it is fixed with line slide rail (507) along its length, it is slidably matched on the line slide rail (507) by slip base (517)
Sliding case (509) is installed, sliding case (509) is grabbed the translational power mechanism on vehicle frame (501) and matched with being mounted on, institute
It states and rotary type folder mechanism of car is installed in sliding case (509).
6. the car assisted double-column lifting gripping structure parked automatically according to claim 5, it is characterised in that: described flat
Mobile force mechanisms include translation screw rod (506), and the both ends of translation screw rod (506) are propped up by the second screw mandrel support seat (505)
On the side wall for grabbing vehicle frame (501), the end of translation screw rod (506) is slowed down by first shaft coupling (504) with first for support
The output shaft of device (503) is connected, and the input shaft of first retarder (503) is connected with the output shaft of first motor (502).
7. the car assisted double-column lifting gripping structure parked automatically according to claim 5, it is characterised in that: described turn
It includes the first main shaft (510) that dynamic formula, which presss from both sides mechanism of car, is equipped with first gear (511) on first main shaft (510), described first
Gear (511) and second gear (513) engaged transmission being mounted on the second main shaft (512), the bottom of first main shaft (510)
Portion is vertically installed with the first folder vehicle bar (518), and the bottom of second main shaft (512) is vertically installed with the second folder vehicle bar (519),
Second main shaft (512) is connected with the bar-link drive for driving it to rotate.
8. the car assisted double-column lifting gripping structure parked automatically according to claim 7, it is characterised in that: the company
Bar driving mechanism includes cooperating oscillating rod (514) on the second main shaft (512) by flat key, the oscillating rod (514) it is another
One end is hinged with connecting rod (516) by pin shaft (515), and the other end of the connecting rod (516) is hinged on drive seat (522), institute
Drive seat (522) are stated by screw and clamp the screw rod transmission cooperation of power screw rod (521) composition, the clamping power screw rod
(521) it is supported in sliding case (509) by third screw mandrel support seat (520), the end for clamping power screw rod (521) is logical
It crosses shaft coupling to be connected with decelerating motor (508), and transmits torque.
9. the operating method of the car assisted double-column lifting gripping structure parked automatically of claim 1-8 any one, feature
Be him the following steps are included:
Step 1 is made according to the angle that automobile (10) is put by the angle of swing regulation mechanism automatic adjustment swinging frame (7)
Vehicle device (5) must be grabbed to arrange along the direction parallel with automobile (10) center line；
Step 2, after angular adjustment is completed, vehicle device (5) are grabbed in starting, by the first folder vehicle bar (518) for grabbing vehicle device (5)
The tire of automobile (10) is clamped with the second folder vehicle bar (519), and then completes the crawl to automobile (10)；
Step 3 starts the vertical lifting mechanism of twin columns, drives lifting nut by the elevating screw (4) of the vertical lifting mechanism of twin columns
Seat (6), then by lifting nut seat (6) synchronize at the top of it grab vehicle device (5) and automobile (10) jacks so that automobile
(10) wheel is detached from ground；
Step 4 is again started up the angle of swing regulation mechanism automatic adjustment swinging frame (7), so that automobile (10) turns to and vehicle
The parallel position of the center line in library, ajusts its position；
Step 5, AGV floor truck device (11), as guidance, is drilled into vapour for along the center line in garage automatically after ajusting
The bottom of vehicle (10)；
Step 6 makes it be supported on the underface of wheel after AGV floor truck device (11) movement in place；
Step 7, the vertical lifting mechanism of twin columns reset, automobile (10) are automatically fallen off and is supported on AGV floor truck device (11)
Top, and then automobile (10) is supported；
Vehicle is automatically moved warehouse compartment by AGV floor truck device (11), completes it and park by step 8.
10. the operating method of the car assisted double-column lifting gripping structure parked automatically, feature exist according to claim 9
In the course of work of swing regulation mechanism in the step 1 and step 4 specifically:
When using linkage swing mechanism (8), the first power spindle (805) are driven by driving motor, then by the first power master
Axis (805) drives second connecting rod (804), drives first connecting rod (802) by second connecting rod (804), then by first connecting rod (802)
It drives the first hinged seat (801), and then drives swinging frame (7) rotation by the first hinged seat (801), adapt it to any angle
Parked car (10)；
When using slide block type swing mechanism (9), the second power spindle (905) are driven by driving motor, then by the second power
Main shaft (905) drives swing rod (904) to swing, and then by swing rod (904) driving slip base (902) along swing sliding rail (901)
Sliding, while swinging frame (7) being driven to rotate, adapt it to any angle parked car (10).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114261925A (en) * | 2022-01-12 | 2022-04-01 | 中国人民解放军陆军装甲兵学院 | Armored car overhauls hydraulic pressure jacking supporting platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110294432B (en) | 2020-11-24 |
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Denomination of invention: Double column lifting grab structure and operation method for assisting automobile automatic parking Effective date of registration: 20220304 Granted publication date: 20201124 Pledgee: Wuhan area branch of Hubei pilot free trade zone of Bank of China Ltd. Pledgor: WUHAN ZHIXIANG ROBOT Co.,Ltd. Registration number: Y2022420000051 |
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