CN110725590A - Automatic parking robot for underground parking lot - Google Patents
Automatic parking robot for underground parking lot Download PDFInfo
- Publication number
- CN110725590A CN110725590A CN201910908062.5A CN201910908062A CN110725590A CN 110725590 A CN110725590 A CN 110725590A CN 201910908062 A CN201910908062 A CN 201910908062A CN 110725590 A CN110725590 A CN 110725590A
- Authority
- CN
- China
- Prior art keywords
- loading
- motor
- robot
- rack
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses an automatic parking robot for an underground parking lot, which comprises a loading assembly, wherein the loading assembly is arranged on a rack, the rack is divided into a front rack and a rear rack, the loading assembly consists of a loading mechanism, the loading mechanism is arranged on the front rack and the rear rack, the loading mechanism comprises a loading disc, a loading disc ball, a screw pair, a loading motor and a first screw, and the loading motor is fixed in the middle of the loading disc to control the first screw to move; the loading mechanism can stretch out and draw back in the frame, after the loading mechanism retracts into the frame, the robot is pushed in all directions to enter the vehicle bottom, the loading mechanism extends out, the loading tray is further folded, the tire slides along the slope and is lifted up, and finally lifting of the vehicle is completed. The loading assembly of the automatic parking robot can adjust the length according to the wheel spacing of different vehicles so as to be suitable for consignment of different vehicles, is simple and reliable in consignment process, does not damage tires, is short in time consumption, and greatly improves parking efficiency.
Description
Technical Field
The invention belongs to the field of automobile auxiliary devices, and particularly relates to an automatic parking robot for an underground parking lot.
Background
With the continuous and rapid development of economy in China and the continuous enhancement of large and medium-sized city construction, urban traffic congestion and parking become important factors influencing urban development, roadside parking and the traditional self-propelled parking garage cannot meet the requirement of urban development, and in addition, the continuous increase of the automobile holding capacity in China, the stereo garage becomes a necessary way for solving the problem. The space utilization rate of the three-dimensional parking lot is high, land resources and civil engineering development cost are greatly saved, and the three-dimensional parking lot is the mainstream trend of future development of the parking lot. The stereo garage using the robot carrier can effectively solve the problem of difficult parking, has more efficient, rapid and convenient storage and taking experience, and the core part of each type of stereo garage is the robot carrying trolley.
At present, the existing parking robot mostly adopts a steering movement mechanism, the stability is good, the flexibility is insufficient, the defects of small space utilization rate, low efficiency and the like exist, the applicability in the places with limited space such as warehouses, garages and the like is poor, and the new requirement of the current stereo garage for high efficiency and intelligence cannot be met.
Present parking robot need have rather than the parking stall of collocation as comb-tooth type parking robot and can operate, need process alone the parking stall like this when building the garage, and also need to berth when the driver gets into the garage and enter into special position side and can park, later need other delivery device with car delivery to comb tooth parking stall on, park by comb-tooth type robot again, so just increased the construction cost and the time cost of parking in garage, it is expensive and not convenient. The parking robot adopting the steering movement mechanism has the advantages that the turning radius is large, the area of a lane for the robot is large, and the interval between parking spaces is increased, so that the area of the parking spaces in the garage is relatively reduced, and the vehicle accommodating rate of the garage is also reduced.
Therefore, the parking robot which is convenient to park, low in cost and high in efficiency has very important economic value and social significance.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an automatic parking robot for an underground parking lot, which does not need to perform special processing on parking spaces, saves cost, and is simple and convenient to operate, so as to make up for the deficiencies of the prior art.
The invention provides an automatic parking robot for an underground parking lot, which comprises a loading assembly, wherein the loading assembly is arranged on a rack, the rack is divided into a front rack and a rear rack, photoelectric sensors are respectively arranged at the front and the rear of the rack, distance sensors are respectively arranged at two sides of the rack, the loading assembly consists of a loading mechanism, the loading mechanism is arranged on the front rack and the rear rack, the loading mechanism comprises a loading disc, loading disc balls, a screw pair, a loading motor and a first screw, two sides of the loading disc are long cylinders, the loading disc is connected with the first screw through the screw pair, the loading disc balls are attached to the rollers, and the loading motor is fixed in the middle of the loading disc to control the first screw to move; the loading mechanism can stretch out and draw back in the frame, after the loading mechanism retracts into the frame, the robot is pushed in all directions to enter the vehicle bottom and extend out of the loading mechanism, the loading motor drives the first screw rod to act, the first screw rod further drives the loading disc to fold, the ball of the loading disc attached to the roller extrudes with the tire to generate sliding friction, the loading disc is further folded, the tire slides along the slope and is further lifted, and finally the lifting of the vehicle is finished, and driving modules are distributed on the four corners of the front frame and the rear frame and used for providing power for the turning and advancing of the robot; the driving module comprises a rotary motor, a rotary support, a motor base and a driving motor, the rotary motor and the driving motor are reversely arranged below the motor base side by side, the rotary support is arranged right above the motor base and is connected with a vehicle body through a built-in bearing, the driving motor provides power for the driving wheel, the rotary motor drives the rotary support to provide turning power, the driving motor is a motor for providing power for the driving wheel so as to drive the automatic parking robot to move forward, a transfer module is arranged between the two loading mechanisms and on the front frame and the rear frame, the transfer module comprises a transfer motor, a second lead screw and a four-bar mechanism, the front part and the rear part of the four-bar mechanism are respectively connected with a group of loading mechanisms, and the second lead screw drives the four-bar mechanism to complete transfer action under the driving of the transfer motor so as to act on the loading mechanisms to enable the loading mechanisms to extend out of or retract into the frame, the utility model discloses a vehicle driving safety device, including frame, control module, sensor, distance sensor, guider, photoelectric sensor, distance sensor, control module is used for detecting the vehicle type and the tire distance around the vehicle, the guider is used for guiding the vehicle to move ahead, control module is used for receiving behind each sensor signal, transmits each motor with its processing to control robot accomplishes the action.
Preferably, the middle of the front frame and the middle of the rear frame are connected through an adjustable guide rail, the front frame and the rear frame are symmetrical in front and back, and the distance between the front frame and the rear frame is controlled by the adjustable guide rail, so that the distance between balls of the front loading disc and the rear loading disc of the loading mechanism is driven to be adjustable, and the mobile robot is ensured to be suitable for vehicles of different types.
Preferably, the loading assembly and the transfer module are connected with each other, the transfer module is responsible for extending or pushing the loading assembly into the robot frame, and other modules are mechanically mounted independently.
Preferably, the rotary support can be driven by a rotary motor to rotate for 360 degrees, so as to drive the whole driving module to rotate.
The invention has the advantages and beneficial effects that:
1. the invention can lift and carry vehicles on the horizontal ground, can rotate on site, has certain driving force, can adjust the length of the vehicle according to the type of the vehicle, and finishes the parking operation of different types of vehicles.
2. The automatic parking robot can consign the vehicle on the horizontal ground without special processing of the parking space, so that the cost is saved, and the operation is simple and convenient; the loading assembly of the automatic parking robot can adjust the length according to the wheel spacing of different vehicles so as to be suitable for consignment of different vehicles, is simple and reliable in consignment process, does not damage tires, is short in time consumption, and greatly improves parking efficiency.
3. The automatic parking robot driving module can rotate around the automatic parking robot driving module due to the existence of the rotary support, so that the automatic parking robot can complete parking actions in a narrow space, lanes for the robot are greatly reduced, and the vehicle accommodating rate of the stereo garage is improved. The automatic parking robot adopts a modular design concept, and five modules are mechanically and independently installed, so that the whole robot is convenient to install, process and maintain.
Drawings
Fig. 1 is a schematic structural view of an automatic parking robot according to the present invention.
Fig. 2 is a schematic view of an automated parking robot loading assembly of the present invention.
Fig. 3 is a schematic diagram of a driving module of an automatic parking robot according to the present invention.
Fig. 4 is a schematic diagram of a vehicle moving module of the automatic parking robot of the invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1-4, an automatic parking robot for an underground parking lot is divided into two-section structure, the front and rear frames are connected by an adjustable guide rail 5 in the middle, the front and rear frames are symmetrical, the distance between the front and rear frames is controlled by the adjustable guide rail, so that the distance between the balls 8 of the front and rear loading discs of the loading mechanism 3 is driven to be adjustable, and the movable robot is ensured to be suitable for different types of vehicles.
The automatic parking robot comprises a front and rear telescopic detection module 1, four groups of loading mechanisms 3, eight groups of driving mechanisms 2, two groups of vehicle moving mechanisms 6, a plurality of distance sensors 7, a front frame, a rear frame and an adjustable guide rail 5, wherein the mechanisms are connected with the frames in a bolt or convenient dismounting connection mode, the vehicle moving mechanisms 6 are connected with the loading mechanisms 3 through bolts, the whole battery pack is arranged at the middle part of a front vehicle body and a rear vehicle body, a loading assembly is arranged on a rack, the front part and the rear part of the rack 4 are respectively provided with a photoelectric sensor, the two sides of the rack are respectively provided with the distance sensors, the loading assembly consists of the loading mechanisms 3, the loading mechanisms 3 are arranged on the front frame and the rear frame, the loading mechanisms 3 comprise loading discs, loading disc balls 8, screw pairs 9, loading motors 10, first screw rods 11 and motor controllers 12, the two sides of the loading discs are long cylindrical rollers, and the loading, the ball 8 of the loading disc is attached to the roller, and the motor controller 12 is fixed in the middle of the loading disc to control the first lead screw 11 to move; the loading mechanism 3 can stretch out and draw back in the frame 4, after the loading mechanism 3 retracts into the frame, the robot is pushed in all directions to enter the vehicle bottom, the loading mechanism 3 extends out, the loading motor 10 drives the first lead screw 11 to act, the first lead screw 11 further drives the loading disc to fold, the loading disc balls 8 attached to the roller and tires are extruded to generate sliding friction, the loading disc is further folded, the tires slide along the slope and are lifted, and finally the lifting of the vehicle is completed.
The distance between the front frame and the rear frame is controlled by the adjustable guide rail, so that the distance between the front frame and the rear frame is adjustable, and the mobile robot is ensured to be suitable for vehicles of different types.
Driving modules are distributed at four corners of the front frame and the rear frame and used for providing power for turning and advancing of the robot; the driving module comprises a rotary motor 13, a rotary support bracket 14, a motor base 15, a driving motor 16 and a first speed reducer 17, wherein the rotary motor 13 and the driving motor 16 are reversely arranged below the motor base 15 side by side, the rotary support bracket 14 is arranged right above the motor base 15 and is internally provided with a bearing to be connected with a vehicle body, and the rotary support bracket 14 can rotate for 360 degrees under the driving of the rotary motor 13, so that the whole driving module is driven to rotate. The driving motor 16 provides power for the driving wheel, the rotary motor 13 drives the rotary support bracket 14 to provide turning power, the driving motor 16 is a motor providing power for the driving wheel, the automatic parking robot is driven to advance, the robot is controlled to slowly run through the first speed reducer 17, the front frame and the rear frame are respectively provided with a vehicle moving module in the middle of the two loading mechanisms 3, the loading assemblies are connected with the vehicle moving modules, the vehicle moving modules are responsible for extending out or pushing the loading assemblies into the robot frame, and the other modules are mechanically mounted independently. The moving module comprises a moving motor 18, a second speed reducer 19, a support 20, a second lead screw 21 and a four-bar mechanism 22, the front part and the rear part of the four-bar mechanism 22 are respectively connected with a group of loading mechanisms 3, the second lead screw 21 drives the four-bar mechanism 22 to complete moving action under the driving of the moving motor 18 so as to act on the loading mechanisms 3 to enable the loading mechanisms 3 to extend out or retract into the rack 4, sensing modules are distributed around the rack 3, control modules are arranged at the front end and the rear end of the rack, each sensing module comprises a photoelectric sensor, a distance sensor 7 and a guide device, the photoelectric sensors are distributed at the front end and the rear end of the rack 4 and used for detecting obstacles on a road in which the vehicle advances to ensure the safety of the vehicle, each distance sensor is used for detecting the distance between the front tire and the rear tire of the vehicle, each guide device is used for guiding the, the processing is transmitted to each motor, and the robot is controlled to finish the action. The automatic parking robot can enter the vehicle bottom to carry out loading and lifting, namely, the parking process of the vehicle can be finished on a plane, special processing on parking spaces is not needed, the construction cost of a three-dimensional garage is saved, and the parking is simple and convenient; the eight groups of driving mechanisms of the movable module act together to enable the automatic parking robot to rotate around the automatic parking robot, namely, the automatic parking robot has zero turning radius, so that the lane space for the robot is saved, and more parking spaces can be divided under the same area; the adjustable length of the vehicle body enables the automatic parking robot to be suitable for vehicles of different types, and the universality is better than that of a traditional parking robot.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or that certain features may be substituted for those skilled in the art, and all changes, equivalents, and improvements that fall within the spirit and scope of the invention are therefore intended to be embraced by the appended claims.
Claims (4)
1. The utility model provides an automatic parking robot in underground parking garage, includes the loading subassembly, its characterized in that: the loading assembly is arranged on a rack, the rack is divided into a front rack and a rear rack, photoelectric sensors are respectively arranged on the front and the rear of the rack, distance sensors are respectively arranged on two sides of the rack, the loading assembly consists of a loading mechanism, the loading mechanism is arranged on the front rack and the rear rack, the loading mechanism comprises a loading disc, loading disc balls, a screw pair, a loading motor and a first screw, long cylinders are arranged on two sides of the loading disc, the loading disc is connected with the first screw through the screw pair, the loading disc balls are attached to the cylinders, and the loading motor is fixed in the middle of the loading disc to control the first screw to move; the loading mechanism can stretch out and draw back in the frame, after the loading mechanism retracts into the frame, the robot is pushed in all directions to enter the vehicle bottom and extend out of the loading mechanism, the loading motor drives the first screw rod to act, the first screw rod further drives the loading disc to fold, the ball of the loading disc attached to the roller extrudes with the tire to generate sliding friction, the loading disc is further folded, the tire slides along the slope and is further lifted, and finally the lifting of the vehicle is finished, and driving modules are distributed on the four corners of the front frame and the rear frame and used for providing power for the turning and advancing of the robot; the driving module comprises a rotary motor, a rotary support, a motor base and a driving motor, the rotary motor and the driving motor are reversely arranged below the motor base side by side, the rotary support is arranged right above the motor base and is connected with a vehicle body through a built-in bearing, the driving motor provides power for the driving wheel, the rotary motor drives the rotary support to provide turning power, the driving motor is a motor for providing power for the driving wheel so as to drive the automatic parking robot to move forward, a transfer module is arranged between the two loading mechanisms and on the front frame and the rear frame, the transfer module comprises a transfer motor, a second lead screw and a four-bar mechanism, the front part and the rear part of the four-bar mechanism are respectively connected with a group of loading mechanisms, and the second lead screw drives the four-bar mechanism to complete transfer action under the driving of the transfer motor so as to act on the loading mechanisms to enable the loading mechanisms to extend out of or retract into the frame, the utility model discloses a vehicle driving safety device, including frame, control module, sensor, distance sensor, guider, photoelectric sensor, distance sensor, control module is used for detecting the vehicle type and the tire distance around the vehicle, the guider is used for guiding the vehicle to move ahead, control module is used for receiving behind each sensor signal, transmits each motor with its processing to control robot accomplishes the action.
2. The automatic parking robot for underground parking lot of claim 1, wherein the front and rear frames are connected by an adjustable guide rail, the front and rear frames are connected by an adjustable guide rail and are symmetrical front and back, the distance between the front and rear frames is controlled by the adjustable guide rail, so that the distance between the balls of the front and rear loading trays of the loading mechanism is adjustable, and the mobile robot is ensured to be suitable for different types of vehicles.
3. The automated parking robot for an underground parking garage of claim 1, wherein the loading module is interconnected with a transfer module, the transfer module is responsible for pushing the loading module out of or into the robot frame, and other modules are mechanically independent from each other.
4. The automatic parking robot for underground parking lot as claimed in claim 1, wherein the rotary bracket is capable of rotating 360 ° by the rotation of the rotary motor, thereby rotating the entire driving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910908062.5A CN110725590A (en) | 2019-09-25 | 2019-09-25 | Automatic parking robot for underground parking lot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910908062.5A CN110725590A (en) | 2019-09-25 | 2019-09-25 | Automatic parking robot for underground parking lot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110725590A true CN110725590A (en) | 2020-01-24 |
Family
ID=69218356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910908062.5A Pending CN110725590A (en) | 2019-09-25 | 2019-09-25 | Automatic parking robot for underground parking lot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110725590A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233381A (en) * | 2021-05-07 | 2021-08-10 | 盐城工学院 | Intelligent unmanned vehicle moving robot and operation process thereof |
| CN113296516A (en) * | 2021-05-24 | 2021-08-24 | 淮阴工学院 | Robot control method for automatically lifting automobile |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107939120A (en) * | 2017-11-27 | 2018-04-20 | 华侨大学 | Special-shaped unidirectional binary channels underground stereo shutdown system |
| CN108952273A (en) * | 2018-08-06 | 2018-12-07 | 上海义嘉工业技术有限公司 | A kind of Omni-mobile AGV parking apparatus |
| CN208899946U (en) * | 2018-08-06 | 2019-05-24 | 上海义嘉工业技术有限公司 | A kind of Omni-mobile AGV parking apparatus |
-
2019
- 2019-09-25 CN CN201910908062.5A patent/CN110725590A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107939120A (en) * | 2017-11-27 | 2018-04-20 | 华侨大学 | Special-shaped unidirectional binary channels underground stereo shutdown system |
| CN108952273A (en) * | 2018-08-06 | 2018-12-07 | 上海义嘉工业技术有限公司 | A kind of Omni-mobile AGV parking apparatus |
| CN208899946U (en) * | 2018-08-06 | 2019-05-24 | 上海义嘉工业技术有限公司 | A kind of Omni-mobile AGV parking apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233381A (en) * | 2021-05-07 | 2021-08-10 | 盐城工学院 | Intelligent unmanned vehicle moving robot and operation process thereof |
| CN113233381B (en) * | 2021-05-07 | 2022-05-24 | 盐城工学院 | Intelligent unmanned vehicle moving robot and operation process thereof |
| CN113296516A (en) * | 2021-05-24 | 2021-08-24 | 淮阴工学院 | Robot control method for automatically lifting automobile |
| CN113296516B (en) * | 2021-05-24 | 2022-07-12 | 淮阴工学院 | Robot control method for automatically lifting automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208899946U (en) | A kind of Omni-mobile AGV parking apparatus | |
| CN108952273A (en) | A kind of Omni-mobile AGV parking apparatus | |
| CN201232380Y (en) | Intelligent carrier of stereo garage | |
| CN202000711U (en) | Intelligent carrier for mechanical car garage | |
| CN102900256B (en) | Intelligent automobile lengthways handling device | |
| CN107869267B (en) | Fork comb type automobile carrier | |
| CN104074382A (en) | Single point supporting clamping wheel type carrier for three-dimensional garage | |
| CN108729706A (en) | A kind of AisleStack parking house for bicycles | |
| CN110725590A (en) | Automatic parking robot for underground parking lot | |
| CN206971837U (en) | A kind of new double-layer parking field | |
| CN205935860U (en) | But intelligent carrier loader of automatic adjustment access car | |
| CN108222602B (en) | Automobile carrying device | |
| CN101812933B (en) | Conveying device and vehicle conveyer | |
| CN108316724B (en) | A kind of parking storage method of parking systems | |
| CN208073067U (en) | A kind of car carrying mechanism | |
| CN208456238U (en) | A kind of stereo garage vehicle parking position automatic straightening system | |
| CN206091478U (en) | X type arm lock formula intelligence garage parking moves car robot | |
| CN210264096U (en) | Wireless charging vehicle position adjusting mechanism and stereo garage thereof | |
| CN108343299B (en) | A kind of parking systems | |
| CN208702228U (en) | A kind of AisleStack parking house for bicycles | |
| CN106437253A (en) | X-shaped clamp arm type vehicle moving robot for intelligent parking garage | |
| CN103015769B (en) | Automobile carrier of stereo garage | |
| CN108086742B (en) | Intelligent carrier for loading and unloading vehicles and storing vehicles | |
| CN208152655U (en) | Move forward rotating avoiding-type lift-sliding stereo garage | |
| CN202944764U (en) | Lift type shuttle car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200124 |