CN110294432B - Double-column lifting gripper structure for assisting automatic parking of automobile and operation method - Google Patents
Double-column lifting gripper structure for assisting automatic parking of automobile and operation method Download PDFInfo
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- CN110294432B CN110294432B CN201910584497.9A CN201910584497A CN110294432B CN 110294432 B CN110294432 B CN 110294432B CN 201910584497 A CN201910584497 A CN 201910584497A CN 110294432 B CN110294432 B CN 110294432B
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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
- 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
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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
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Load-Engaging Elements For Cranes (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a double-column lifting gripper structure for assisting automatic parking of an automobile and an operation method thereof. The lifting hand grab structure can be used for grabbing and lifting automobiles in an automatic parking garage of the automobiles, and can automatically adapt to the automobiles with different parking angles, so that the automobiles can be automatically righted after adjustment, and a follow-up AGV trolley can automatically drill into the automobile bottom so as to automatically park the automobiles.
Description
Technical Field
The invention relates to a double-column lifting gripper structure for assisting automatic parking of an automobile and an operation method, and belongs to the technical field of intelligent parking robots.
Background
The intelligent stereo garage plays a vital role in relieving parking pressure, and the existing stereo garage has the defects that a driver needs to accurately park a vehicle at a specified position and then parks the vehicle in the stereo garage after clamping the vehicle by a parking robot.
Most of intelligent stereo garages in the market can not directly grab vehicles parked on the ground at will, and although a vehicle grabbing device for grabbing an automobile chassis is disclosed in CN206769505U, the device aims to grab the automobile and then cooperate with a transfer robot to park the vehicle. The device can only complete the grabbing of the vehicle at the designated position, and the vehicle parking direction is required to be ensured to be consistent with the grabbing device before the grabbing.
CN106049941A discloses a robot carrier for garage, which includes a base and a vehicle-carrying robot, wherein a groove is formed on the base, the vehicle-carrying robot is installed at the groove, the vehicle-carrying robot clamps and lifts the vehicle tire, and the vehicle-carrying robot carries the whole vehicle to a parking space or a garage exit.
Disclosure of Invention
The invention aims to provide a double-column lifting gripper structure for assisting automatic parking of an automobile and an operation method thereof.
In order to achieve the technical features, the invention is realized as follows: the automatic twin columns that park of supplementary car lift tongs structure, it includes top hoist and mount crossbeam, installs the swing span at the bottom both ends symmetry of top hoist and mount crossbeam, install the twin columns vertical lifting mechanism who is used for lifting the car on the swing span, the cooperation is installed on the twin columns vertical lifting mechanism and is used for the car to snatch grabs the car device, the swing adjustment mechanism who is used for adjusting its swing angle is installed to the side symmetry respectively of swing span.
The double-column vertical lifting mechanism comprises lifting screw rods which are symmetrically arranged, the two lifting screw rods are respectively vertically arranged on two sides of the swing frame through a plurality of groups of first screw rod supporting seats, lifting nut seats are arranged on the lifting screw rods in a transmission fit mode through the screw rods, and the lifting nut seats are fixedly connected with the car grabbing device and drive the car grabbing device to vertically lift; and a chain wheel is arranged at the top of the lifting screw rod, and the chain wheel is connected with the chain transmission mechanism and drives the chain transmission mechanism to rotate.
The swing adjusting mechanism adopts a multi-connecting-rod type connecting rod swing mechanism, the connecting rod swing mechanism comprises a first hinged seat fixed on the side wall of the swing frame, a first connecting rod is hinged to the first hinged seat, the other end of the first connecting rod is hinged to a second connecting rod through a first pin shaft, the other end of the second connecting rod is used for driving a first power main shaft of the second connecting rod to rotate, and the first power main shaft is connected with an output shaft of a driving motor.
The swing adjusting mechanism adopts a slider-crank type swing mechanism, the slider type swing mechanism comprises a swing sliding rail fixed on the side wall of the swing frame, a sliding seat is installed on the swing sliding rail through sliding fit, a swing rod is hinged to the sliding seat through a second pin shaft, the other end of the swing rod is used for driving a second power main shaft to rotate, and the second power main shaft is connected with an output shaft of a driving motor.
Grab the car device including grabbing the frame, it links to each other with the swinging boom is fixed to grab the frame, grab and be fixed with linear slide rail on the frame and along its length direction, install the slip case through sliding seat sliding fit on the linear slide rail, the slip case cooperatees with the translation power unit of installing on grabbing the frame, it presss from both sides car mechanism to install the rotary type on the slip case.
The translation power mechanism comprises a translation screw rod, two ends of the translation screw rod are supported on the side wall of the grab frame through a second screw rod supporting seat, the end of the translation screw rod is connected with an output shaft of the first speed reducer through a first coupler, and an input shaft of the first speed reducer is connected with an output shaft of the first motor.
The rotary type presss from both sides car mechanism includes first main shaft, install first gear on the first main shaft, first gear and the meshing transmission of second gear of installing on the second main shaft, first car pole that presss from both sides is installed perpendicularly to the bottom of first main shaft, the second presss from both sides the car pole perpendicularly is installed to the bottom of second main shaft, the second main shaft links to each other with being used for driving its pivoted connecting rod actuating mechanism.
The connecting rod driving mechanism comprises a swinging rod matched on the second main shaft through a flat key, the other end of the swinging rod is hinged with a connecting rod through a pin shaft, the other end of the connecting rod is hinged on a driving seat, the driving seat and a clamping power screw rod form screw rod transmission matching through a nut, the clamping power screw rod is supported on a sliding box through a third screw rod supporting seat, and the end of the clamping power screw rod is connected with a speed reducing motor through a coupler and transmits torque.
The operation method of the double-column lifting hand grip structure for assisting the automatic parking of the automobile comprises the following steps:
the method comprises the following steps that firstly, according to the placing angle of an automobile, the angle of a swing frame is automatically adjusted through a swing adjusting mechanism, so that an automobile grabbing device is arranged along the direction parallel to the central line of the automobile;
step two, after the angle adjustment is finished, starting the car grabbing device, and clamping the tyre of the car through a first car clamping rod and a second car clamping rod of the car grabbing device so as to finish the grabbing of the car;
starting the double-column vertical lifting mechanism, driving a lifting nut seat through a lifting screw rod of the double-column vertical lifting mechanism, and synchronously lifting the car grabbing device and the car at the top of the lifting nut seat by the lifting nut seat so as to separate the wheels of the car from the ground;
step four, the swing adjusting mechanism is started again to automatically adjust the angle of the swing frame, so that the automobile rotates to a position parallel to the center line of the garage, and the position of the automobile is adjusted;
step five, the AGV carrying trolley device after the alignment automatically drills into the bottom of the automobile along the center line of the garage as guidance;
sixthly, after the AGV carrying trolley device moves in place, the AGV carrying trolley device is supported under wheels;
step seven, resetting the double-column vertical lifting mechanism, automatically dropping the automobile and supporting the automobile on the top of the AGV carrying trolley device so as to support the automobile;
and step eight, automatically moving the vehicle to a storage position through the AGV carrying trolley device to finish parking.
The working process of the swing adjusting mechanism in the first step and the fourth step is specifically as follows:
when the connecting rod swinging mechanism is adopted, the first power main shaft is driven by the driving motor, the second connecting rod is driven by the first power main shaft, the first connecting rod is driven by the second connecting rod, the first hinging seat is driven by the first connecting rod, and the swinging frame is driven to rotate by the first hinging seat, so that the swinging frame is suitable for automobiles parked at any angle;
when the sliding block type swing mechanism is adopted, the second power main shaft is driven by the driving motor, the swing rod is driven by the second power main shaft to swing, the sliding seat is driven by the swing rod to slide along the swing sliding rail, and the swing frame is driven to rotate at the same time, so that the sliding block type swing mechanism is suitable for automobiles parked at any angle.
The invention has the beneficial effects that:
1. the double-column lifting gripper structure with the structure can be used for automatically grabbing, lifting and righting a placed automobile at any angle, and further assists the AGV trolley device to finish automatic warehousing and parking of the automobile, so that parking efficiency of the automobile is improved, and mental pressure of a driver for parking the automobile is relieved.
2. The double-column vertical lifting mechanism can be used for lifting an automobile, the lifting nut seat is driven by the lifting screw rod in the working process, the whole car grabbing device is driven by the lifting nut seat to lift, and finally the automobile is driven by the car grabbing device to lift, so that the automobile leaves the ground and is conveniently and subsequently straightened.
3. The swing mechanism with the structure can be used for righting the automobile, the first power main shaft is driven through the driving motor in the working process, the second connecting rod is driven by the first power main shaft, the first connecting rod is driven through the second connecting rod, the first hinging seat is driven by the first connecting rod, and then the swing frame is driven to rotate through the first hinging seat, so that the swing frame is suitable for the automobile parked at any angle.
4. The driving motor drives the second power main shaft, the second power main shaft drives the swing rod to swing, the sliding seat is driven by the swing rod to slide along the swing sliding rail, and meanwhile, the swing frame is driven to rotate, so that the swing frame is suitable for automobiles parked at any angle.
5. The car grabbing device can be used for grabbing cars, the sliding box 509 is driven by the translation power mechanism to move to the positions of wheels in the grabbing process, and then the cars are grabbed by the rotary car clamping mechanism.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a front view of the overall structure of the present invention.
Fig. 2 is a top view of the present invention including a link swinging mechanism.
Fig. 3 is a top view of the present invention incorporating a slider-type swing mechanism.
Fig. 4 is a front view of the vehicle grabbing device.
Fig. 5 is a top view of the vehicle grabbing device of the invention.
Fig. 6 is a view a-a of the vehicle grasping apparatus of fig. 4 according to the present invention.
Fig. 7 is a state diagram of the vehicle clamping rod of the vehicle grabbing device when being retracted.
Fig. 8 is a schematic view of the initial parking of the automobile according to the present invention.
FIG. 9 is a schematic view of the final configuration of the automobile of the present invention.
In the figure: the automatic lifting device comprises a top lifting beam 1, a chain wheel 2, a first lead screw supporting seat 3, a lifting lead screw 4, a car grabbing device 5, a lifting nut seat 6, a swing frame 7, a connecting rod swing mechanism 8, a sliding block type swing mechanism 9, an automobile 10 and an AGV carrying trolley device 11;
the device comprises a grab frame 501, a first motor 502, a first speed reducer 503, a first coupler 504, a second lead screw supporting seat 505, a translation lead screw 506, a second linear sliding rail 507, a speed reducing motor 508, a sliding box 509, a first main shaft 510, a first gear 511, a second main shaft 512, a second gear 513, a swinging rod 514, a pin shaft 515, a connecting rod 516, a sliding seat 517, a first vehicle clamping rod 518, a second vehicle clamping rod 519, a third lead screw supporting seat 520, a clamping power lead screw 521 and a driving seat 522;
a first hinge seat 801, a first connecting rod 802, a first pin 803, a second connecting rod 804 and a first power spindle 805;
the device comprises a swinging sliding rail 901, a sliding seat 902, a second pin 903, a swing rod 904 and a second power main shaft 905.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-9, the double-column lifting gripper structure for assisting automatic parking of an automobile comprises a top lifting beam 1, swing frames 7 are symmetrically installed at two ends of the bottom of the top lifting beam 1, double-column vertical lifting mechanisms for lifting the automobile 10 are installed on the swing frames 7, a gripper device 5 for gripping the automobile 10 is installed on the double-column vertical lifting mechanisms in a matched mode, and swing adjusting mechanisms for adjusting swing angles of the swing frames 7 are symmetrically installed on the side faces of the swing frames 7 respectively. The double-column lifting gripper structure with the structure can be used for automatically grabbing, lifting and righting a placed automobile at any angle, and further assists the AGV trolley device to finish automatic warehousing and parking of the automobile, so that parking efficiency of the automobile is improved, and mental pressure of a driver for parking the automobile is relieved. In the process of parking, the navigating mate only need park the car in appointed region, the swing span 7 will be according to the parking position of car this moment, through the automatic angle modulation of accomplishing swing span 7 of swing adjustment mechanism, make its angle of putting that adapts to the car, snatch the car through grabbing car device 5 again, treat it and snatch after, promote it through the vertical lifting mechanism of twin columns, it is ajusted to rethread swing adjustment mechanism, the final swing operation of accomplishing the car, after ajusting, AGV dolly device is with the bottom of automatic brill to the car greatly, finally carry it through the dolly device.
Further, the double-column vertical lifting mechanism comprises lifting screw rods 4 which are symmetrically arranged, the two lifting screw rods 4 are respectively vertically arranged on two sides of a swing frame 7 through a plurality of groups of first screw rod supporting seats 3, lifting nut seats 6 are arranged on the lifting screw rods 4 in a transmission fit mode through screw rods, and the lifting nut seats 6 are fixedly connected with the car grabbing device 5 and drive the car grabbing device to vertically lift; and the top of the lifting screw rod 4 is provided with a chain wheel 2, and the chain wheel 2 is connected with a chain transmission mechanism and drives the chain transmission mechanism to rotate. The double-column vertical lifting mechanism can be used for lifting an automobile, the lifting nut seat 6 is driven by the lifting screw rod 4 in the working process, the whole automobile grabbing device 5 is driven by the lifting nut seat 6 to lift, and finally the automobile is driven by the automobile grabbing device 5 to lift, so that the automobile leaves the ground, and the automobile is conveniently and subsequently straightened.
Further, the swing adjusting mechanism adopts a multi-link type connecting rod swing mechanism 8, the connecting rod swing mechanism 8 comprises a first hinge seat 801 fixed on the side wall of the swing frame 7, a first connecting rod 802 is hinged on the first hinge seat 801, the other end of the first connecting rod 802 is hinged with a second connecting rod 804 through a first pin shaft 803, the other end of the second connecting rod 804 is connected with a first power spindle 805 for driving the second connecting rod to rotate, and the first power spindle 805 is connected with an output shaft of a driving motor. The swing mechanism with the structure can be used for righting the automobile, in the working process, the first power main shaft 805 is driven through the driving motor, the second connecting rod 804 is driven by the first power main shaft 805, the first connecting rod 802 is driven by the second connecting rod 804, the first connecting rod 802 drives the first hinging seat 801, and the swing frame 7 is driven to rotate through the first hinging seat 801, so that the swing frame is suitable for the automobile 10 parked at any angle.
Further, the swing adjusting mechanism adopts a slider-crank type swing mechanism 9, the slider type swing mechanism 9 includes a swing slide rail 901 fixed on the side wall of the swing frame 7, a slide seat 902 is mounted on the swing slide rail 901 through sliding fit, the slide seat 902 is hinged with a swing rod 904 through a second pin shaft 903, the other end of the swing rod 904 is connected with a second power main shaft 905 for driving the swing rod to rotate, and the second power main shaft 905 is connected with an output shaft of the driving motor. The driving motor drives the second power spindle 905, and the second power spindle 905 drives the swing rod 904 to swing, so that the sliding seat 902 is driven by the swing rod 904 to slide along the swing slide rail 901, and the swing frame 7 is driven to rotate at the same time, so that the automobile 10 parked at any angle is adapted.
Further, grab car device 5 including grabbing frame 501, grab frame 501 and swing span 7 fixed linking to each other, grab on the frame 501 and be fixed with linear slide rail 507 along its length direction, install slip case 509 through sliding seat 517 sliding fit on the linear slide rail 507, slip case 509 cooperatees with the translation power unit of installing on grabbing frame 501, install the rotary type on the slip case 509 and press from both sides the car mechanism. The car grabbing device 5 can be used for grabbing cars, in the grabbing process, the sliding box 509 is driven by the translation power mechanism to move to the position of a wheel, and then the cars are grabbed by the rotary car clamping mechanism.
Further, the translation power mechanism comprises a translation screw rod 506, two ends of the translation screw rod 506 are supported on the side wall of the grab frame 501 through a second screw rod supporting seat 505, an end of the translation screw rod 506 is connected with an output shaft of the first speed reducer 503 through a first coupling 504, and an input shaft of the first speed reducer 503 is connected with an output shaft of the first motor 502. The translation power mechanism is mainly suitable for automobiles with different wheel pitches, and in the use process, the first motor 502 drives the first speed reducer 503, the first speed reducer 503 drives the first coupler 504, the first coupler 504 drives the translation lead screw 506, and finally the translation lead screw 506 is matched with a nut inside the sliding box 509 and starts the sliding along the linear slide rail 507.
Further, the rotary type clamping mechanism comprises a first main shaft 510, a first gear 511 is installed on the first main shaft 510, the first gear 511 is in meshing transmission with a second gear 513 installed on a second main shaft 512, a first clamping rod 518 is vertically installed at the bottom of the first main shaft 510, a second clamping rod 519 is vertically installed at the bottom of the second main shaft 512, and the second main shaft 512 is connected with a connecting rod driving mechanism for driving the second main shaft to rotate. The rotary type vehicle clamping mechanism is mainly used for clamping the wheels through the first vehicle clamping rod 518 and the second vehicle clamping rod 519 which can rotate, in the working process, the second spindle 512 is driven through the connecting rod driving mechanism, the second spindle 512 drives the second gear 513, the second gear 513 drives the first gear 511, finally the first spindle 510 is driven through the first gear 511, the second vehicle clamping rod 519 and the first vehicle clamping rod 518 are respectively driven to rotate through the two spindles which synchronously rotate, and then the two spindles rotate to the two sides of the wheels to clamp the wheels.
Further, the connecting rod driving mechanism comprises a swinging rod 514 which is matched with the second main shaft 512 through a flat key, the other end of the swinging rod 514 is hinged with a connecting rod 516 through a pin shaft 515, the other end of the connecting rod 516 is hinged with a driving seat 522, the driving seat 522 forms screw rod transmission matching with a clamping power screw rod 521 through a nut, the clamping power screw rod 521 is supported on a sliding box 509 through a third screw rod supporting seat 520, and the end of the clamping power screw rod 521 is connected with the speed reduction motor 508 through a coupler and transmits torque. The connecting rod driving mechanism can drive the second main shaft 512 to rotate, in the operation process, the clamping power screw rod 521 is driven by the speed reduction motor 508, the driving seat 522 is driven by the clamping power screw rod 521, the connecting rod 516 is driven by the driving seat 522, the swinging rod 514 is driven by the connecting rod 516, and the second main shaft 512 is driven to rotate by the swinging rod 514.
Example 2:
the operation method of the double-column lifting hand grip structure for assisting the automatic parking of the automobile comprises the following steps:
firstly, automatically adjusting the angle of a swing frame 7 through a swing adjusting mechanism according to the placing angle of an automobile 10, so that a car grabbing device 5 is arranged along the direction parallel to the central line of the automobile 10;
step two, after the angle adjustment is completed, starting the vehicle grabbing device 5, and clamping the tire of the automobile 10 through the first vehicle clamping rod 518 and the second vehicle clamping rod 519 of the vehicle grabbing device 5, so as to complete the grabbing of the automobile 10;
starting the double-column vertical lifting mechanism, driving a lifting nut seat 6 through a lifting screw rod 4 of the double-column vertical lifting mechanism, and synchronously jacking a car grabbing device 5 and a car 10 on the top of the lifting nut seat 6 by the lifting nut seat 6 so as to separate wheels of the car 10 from the ground;
step four, the swing adjusting mechanism is started again to automatically adjust the angle of the swing frame 7, so that the automobile 10 rotates to a position parallel to the center line of the garage, and the position of the automobile is adjusted;
step five, after the alignment, the AGV carrying trolley device 11 automatically drills into the bottom of the automobile 10 along the center line of the garage as a guide;
sixthly, after the AGV carrying trolley device 11 moves in place, enabling the AGV carrying trolley device to be supported under wheels;
step seven, resetting the double-column vertical lifting mechanism, automatically dropping the automobile 10 and supporting the automobile at the top of the AGV carrying trolley device 11, and further supporting the automobile 10;
and step eight, automatically moving the vehicle to a storage position through the AGV carrying trolley device 11 to finish parking.
The working process of the swing adjusting mechanism in the first step and the fourth step is specifically as follows:
when the connecting rod swinging mechanism 8 is adopted, the driving motor drives the first power main shaft 805, the first power main shaft 805 drives the second connecting rod 804, the second connecting rod 804 drives the first connecting rod 802, the first connecting rod 802 drives the first hinge base 801, and the first hinge base 801 drives the swinging frame 7 to rotate so as to adapt to the automobile 10 parked at any angle;
when the slider type swing mechanism 9 is adopted, the driving motor drives the second power main shaft 905, and then the second power main shaft 905 drives the swing rod 904 to swing, so that the sliding seat 902 is driven by the swing rod 904 to slide along the swing sliding rail 901, and the swing frame 7 is driven to rotate at the same time, so that the slider type swing mechanism is suitable for the automobile 10 parked at any angle.
Claims (9)
1. The operation method of the double-column lifting gripper structure for assisting the automatic parking of the automobile comprises a top lifting beam (1), swing frames (7) are symmetrically installed at two ends of the bottom of the top lifting beam (1), a double-column vertical lifting mechanism for lifting the automobile (10) is installed on the swing frames (7), a gripping device (5) for gripping the automobile (10) is installed on the double-column vertical lifting mechanism in a matched mode, and swing adjusting mechanisms for adjusting the swing angles of the swing frames (7) are symmetrically installed on the side faces of the swing frames respectively;
characterized in that the operating method comprises the following steps:
firstly, automatically adjusting the angle of a swing frame (7) through a swing adjusting mechanism according to the placing angle of an automobile (10) to enable an automobile grabbing device (5) to be arranged along the direction parallel to the central line of the automobile (10);
step two, after the angle adjustment is finished, starting the vehicle grabbing device (5), clamping the tire of the automobile (10) through a first vehicle clamping rod (518) and a second vehicle clamping rod (519) of the vehicle grabbing device (5), and further finishing grabbing the automobile (10);
starting the double-column vertical lifting mechanism, driving a lifting nut seat (6) through a lifting screw rod (4) of the double-column vertical lifting mechanism, and synchronously jacking a car grabbing device (5) and a car (10) on the top of the lifting nut seat (6) by the lifting nut seat (6) so as to separate wheels of the car (10) from the ground;
fourthly, the swing adjusting mechanism is started again to automatically adjust the angle of the swing frame (7), so that the automobile (10) rotates to a position parallel to the center line of the garage, and the position of the automobile is adjusted;
step five, after the alignment, the AGV carrying trolley device (11) automatically drills into the bottom of the automobile (10) along the center line of the garage as a guide;
sixthly, after the AGV carrying trolley device (11) moves in place, the AGV carrying trolley device is supported under wheels;
seventhly, resetting the double-column vertical lifting mechanism, automatically dropping the automobile (10) and supporting the automobile at the top of the AGV carrying trolley device (11), and further supporting the automobile (10);
and step eight, automatically moving the vehicle to a storage position through the AGV carrying trolley device (11) to finish parking.
2. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 1, wherein: the double-column vertical lifting mechanism comprises lifting screw rods (4) which are symmetrically arranged, the two lifting screw rods (4) are respectively vertically arranged on two sides of a swing frame (7) through a plurality of groups of first screw rod supporting seats (3), lifting nut seats (6) are arranged on the lifting screw rods (4) in a transmission fit mode through screw rods, and the lifting nut seats (6) are fixedly connected with a vehicle grabbing device (5) and drive the vehicle grabbing device to vertically lift; and a chain wheel (2) is installed at the top of the lifting screw rod (4), and the chain wheel (2) is connected with the chain transmission mechanism and drives the chain transmission mechanism to rotate.
3. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 1, wherein: the swing adjusting mechanism adopts a multi-connecting-rod type connecting rod swing mechanism (8), the connecting rod swing mechanism (8) comprises a first hinged seat (801) fixed on the side wall of the swing frame (7), a first connecting rod (802) is hinged to the first hinged seat (801), the other end of the first connecting rod (802) is hinged to a second connecting rod (804) through a first pin shaft (803), the other end of the second connecting rod (804) is connected with a first power main shaft (805) used for driving the second connecting rod to rotate, and the first power main shaft (805) is connected with an output shaft of a driving motor.
4. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 1, wherein: the swing adjusting mechanism adopts a slider-crank type swing mechanism (9), the slider type swing mechanism (9) comprises a swing sliding rail (901) fixed on the side wall of a swing frame (7), a sliding seat (902) is installed on the swing sliding rail (901) through sliding fit, a swing rod (904) is hinged to the sliding seat (902) through a second pin shaft (903), the other end of the swing rod (904) is connected with a second power main shaft (905) used for driving the swing rod to rotate, and the second power main shaft (905) is connected with an output shaft of a driving motor.
5. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 1, wherein: grab car device (5) including grabbing frame (501), grab frame (501) and swing span (7) fixed linking to each other, grab frame (501) and go up and be fixed with linear slide rail (507) along its length direction, install slip case (509) through sliding seat (517) sliding fit on linear slide rail (507), slip case (509) with install the translation power unit cooperation on grabbing frame (501), install the rotary type and press from both sides car mechanism on slip case (509).
6. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 5, wherein: the translation power mechanism comprises a translation screw rod (506), two ends of the translation screw rod (506) are supported on the side wall of the grab frame (501) through a second screw rod supporting seat (505), the end of the translation screw rod (506) is connected with an output shaft of a first speed reducer (503) through a first coupler (504), and an input shaft of the first speed reducer (503) is connected with an output shaft of a first motor (502).
7. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 5, wherein: the rotary type presss from both sides car mechanism includes first main shaft (510), install first gear (511) on first main shaft (510), first gear (511) and second gear (513) meshing transmission of installing on second main shaft (512), first clamp car pole (518) are installed perpendicularly to the bottom of first main shaft (510), second clamp car pole (519) are installed perpendicularly to the bottom of second main shaft (512), second main shaft (512) link to each other with being used for driving its pivoted connecting rod actuating mechanism.
8. The operating method of the double column lifting hand grip structure for assisting automatic parking of a vehicle according to claim 7, wherein: the connecting rod driving mechanism comprises a swinging rod (514) matched on a second main shaft (512) through a flat key, the other end of the swinging rod (514) is hinged with a connecting rod (516) through a pin shaft (515), the other end of the connecting rod (516) is hinged on a driving seat (522), the driving seat (522) forms screw rod transmission matching with a clamping power screw rod (521) through a screw nut, the clamping power screw rod (521) is supported on a sliding box (509) through a third screw rod supporting seat (520), and the end of the clamping power screw rod (521) is connected with a speed reducing motor (508) through a coupler and transmits torque.
9. The method for operating the double-column lifting hand grip structure for assisting automatic parking of the automobile according to claim 1, wherein the working process of the swing adjusting mechanism in the first step and the fourth step is as follows:
when the connecting rod swinging mechanism (8) is adopted, a driving motor drives a first power main shaft (805), the first power main shaft (805) drives a second connecting rod (804), the second connecting rod (804) drives a first connecting rod (802), the first connecting rod (802) drives a first hinging seat (801), and the first hinging seat (801) drives a swinging frame (7) to rotate so as to adapt to the automobile (10) parked at any angle;
when the sliding block type swing mechanism (9) is adopted, the second power main shaft (905) is driven by the driving motor, the swing rod (904) is driven by the second power main shaft (905) to swing, the sliding seat (902) is driven by the swing rod (904) to slide along the swing sliding rail (901), and the swing frame (7) is driven to rotate at the same time, so that the sliding block type swing mechanism is suitable for automobiles (10) parked at any angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910584497.9A CN110294432B (en) | 2019-07-01 | 2019-07-01 | Double-column lifting gripper structure for assisting automatic parking of automobile and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108086768A (en) * | 2018-01-26 | 2018-05-29 | 福建汇创天下科技有限公司 | A kind of multi-storied garage vehicle is to positive platform |
| CN108751034A (en) * | 2018-05-28 | 2018-11-06 | 合肥航机械科技股份有限公司 | A kind of safe double-column hydraulic formula car lift |
| CN210655963U (en) * | 2019-07-01 | 2020-06-02 | 武汉智象机器人有限公司 | Double-column lifting gripper structure for assisting automatic parking of automobile |
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| CN102839838A (en) * | 2011-06-23 | 2012-12-26 | 姜勇 | Automobile carrier |
| CN206368013U (en) * | 2016-11-09 | 2017-08-01 | 杭州职业技术学院 | A kind of new double-column lifter for auto repair |
| CN206769505U (en) * | 2017-03-01 | 2017-12-19 | 武汉智象机器人有限公司 | A kind of pickup device for capturing automobile chassis |
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| CN108751034A (en) * | 2018-05-28 | 2018-11-06 | 合肥航机械科技股份有限公司 | A kind of safe double-column hydraulic formula car lift |
| CN210655963U (en) * | 2019-07-01 | 2020-06-02 | 武汉智象机器人有限公司 | Double-column lifting gripper structure for assisting automatic parking of automobile |
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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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