CN113931503A - Multilayer lifting type parking robot - Google Patents
Multilayer lifting type parking robot Download PDFInfo
- Publication number
- CN113931503A CN113931503A CN202010670361.2A CN202010670361A CN113931503A CN 113931503 A CN113931503 A CN 113931503A CN 202010670361 A CN202010670361 A CN 202010670361A CN 113931503 A CN113931503 A CN 113931503A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- driving
- chain wheel
- wheel
- shaft
- 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
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
Abstract
A multilayer lifting type parking robot comprises a first vehicle body and a second vehicle body, wherein a lifting frame is arranged between the first vehicle body and the second vehicle body, two opposite sides of the first vehicle body and the second vehicle body are respectively provided with a guide slide rail, a screw rod motor is fixedly arranged in the first vehicle body and the second vehicle body, and a driving end of the screw rod motor is in transmission connection with a screw rod; sliding blocks are fixedly arranged on two sides of the lifting frame, the lifting frame is connected between the guide sliding rails in a sliding mode through the sliding blocks, screw nuts are arranged on two sides of the lifting frame through nut mounting frames, and the screw nuts are movably connected to the outer surface of the screw rod; the lifting frame is provided with an automobile carrying device; and traveling mechanisms are arranged on two sides of the bottom of the first vehicle body and the bottom of the second vehicle body. The invention overcomes the defects of the prior art, can not only travel transversely, move longitudinally and change direction rotationally as a common parking robot, but also lift up and down, effectively solves the problem of single-layer space waste, and has simple structure, low cost and high efficiency.
Description
Technical Field
The invention relates to the technical field of automobile transportation, in particular to a multi-layer lifting type parking robot.
Background
With the rapid development of national economy, the holding quantity of automobiles at home and abroad is rapidly increased, the problem of difficult parking is increasingly obvious, and the parking robot is an effective method for solving the problem of difficult parking. At present, for a part of floors with higher heights, if the floor is only a single layer, space is greatly wasted, if the floor is a multi-layer floor, an elevator and other accessory structures are additionally arranged, cost is very high, and vehicle taking efficiency is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-layer lifting type parking robot, which overcomes the defects of the prior art, is reasonable in design, can effectively solve the problem of single-layer space waste, and is simple in structure, low in cost and high in efficiency.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a multilayer lifting type parking robot comprises a first vehicle body and a second vehicle body, wherein a lifting frame is arranged between the first vehicle body and the second vehicle body, two opposite sides of the first vehicle body and the second vehicle body are respectively provided with a guide slide rail, a screw rod motor is fixedly arranged in the first vehicle body and the second vehicle body, a driving end of the screw rod motor is in transmission connection with one end of a screw rod through a coupler, the other end of the screw rod is movably connected in a bearing seat, and the bearing seats are respectively and fixedly arranged at the bottoms of inner cavities of the first vehicle body and the second vehicle body; sliding blocks are fixedly arranged on two sides of the lifting frame, the lifting frame is connected between the guide sliding rails in a sliding mode through the sliding blocks, nut mounting frames are fixedly arranged on two sides of the lifting frame, lead screw nuts are fixedly arranged in the nut mounting frames, and the lead screw nuts are movably connected to the outer surface of a lead screw through threads; the lifting frame is provided with an automobile carrying device; and traveling mechanisms are fixedly arranged on two sides of the bottom of the first vehicle body and two sides of the bottom of the second vehicle body.
Preferably, the automobile carrying device comprises a clamping mechanism, a driving mechanism and two groups of automobile bodies, the two groups of automobile bodies are connected through connecting towing cables, the clamping mechanism is respectively arranged on two side faces of the two groups of automobile bodies, a first driving motor is fixedly arranged in the middle of the automobile bodies, a first chain wheel is fixedly sleeved on an output shaft of the first driving motor, the first chain wheel is in transmission connection with a second chain wheel, the second chain wheel is fixedly sleeved on a first transmission shaft, the first transmission shaft is rotatably arranged on the automobile bodies, a third chain wheel and a fourth chain wheel are further fixedly sleeved on the first transmission shaft, a rotating lead screw is rotatably arranged on the automobile bodies, a fifth chain wheel and a sixth chain wheel are coaxially and fixedly arranged at the end part of the rotating lead screw, the rotating lead screw is in transmission connection with a driving plate, and the driving plate is fixedly connected with a driving slide block on the clamping mechanism, and the third chain wheel and the fourth chain wheel on the first transmission shaft are in chain transmission connection with the fifth chain wheel and the sixth chain wheel at the end part of the rotating screw rod through a transmission chain.
Preferably, fixture includes centre gripping arm and guide bar, the tip of centre gripping arm rotates and connects on the automobile body, the one end of guide bar is rotated and is installed on the centre gripping arm, the other end of guide bar is rotated and is installed on the drive slider, drive slider slidable mounting is on the guide rail, guide rail fixed mounting is on the automobile body.
Preferably, the driving mechanism comprises a second driving motor, the second driving motor is fixedly mounted on a walking frame, the walking frame is fixedly mounted at two ends of the vehicle body, a seventh chain wheel is fixedly sleeved on an output shaft of the second driving motor, the seventh chain wheel is in transmission connection with an eighth chain wheel on a second transmission shaft, and a first driving wheel is fixedly mounted at the end part of the second transmission shaft; and a second driving wheel is rotatably installed on the walking frame, the second driving wheel is coaxially and fixedly connected with a ninth chain wheel, and the ninth chain wheel is in chain transmission connection with an eighth chain wheel through a transmission chain.
Preferably, running gear includes frame and steering wheel subassembly, the frame is fixed mounting respectively in the both sides face bottom of first automobile body and second automobile body, the one end of two connecting rods of steering wheel subassembly both sides through first round pin hub connection respectively, and the other end of two connecting rods passes through second round pin hub connection in the frame, two connecting rod parallel arrangement, and is connected through the connecting plate between two connecting rods, the connecting plate is connected at the both sides face of two connecting rods through third round pin axle and fourth round pin hub connection respectively, third round pin axle surface still is connected with the one end of spring axle, the other end of spring axle passes the frame and through screw thread fixedly connected with set nut, the spring has been cup jointed to the spring axle surface, the both ends of spring are contradicted respectively under frame and spring axle between the terminal surface.
Preferably, the steering wheel assembly comprises a steering wheel and a connecting seat, two sides of the connecting seat are respectively connected with two connecting rods through first pin shafts, a rotary speed reduction motor is fixedly mounted on the upper surface of the connecting seat, an externally-mounted seat is fixedly mounted on the lower surface of the connecting seat, the externally-mounted seat is fixedly mounted in an inner ring of a rotary bearing, an outer ring of the rotary bearing is fixedly mounted on the rotary bearing seat, a first gear is arranged on the outer surface of the rotary bearing, a driving end of the rotary speed reduction motor penetrates through the connecting seat and is movably connected with a rotary gear, the rotary gear is in transmission connection with the first gear, a walking speed reduction motor is fixedly mounted in the rotary bearing seat, a steering wheel shaft is fixedly connected in the middle of the steering wheel through a key, two ends of the steering wheel shaft are movably connected in the inner ring of the bearing, the outer ring of the bearing is respectively and fixedly mounted on two steering wheel shaft seats, the steering wheel shaft bearing is fixedly connected with the rotating shaft bearing, one end of the steering wheel shaft penetrates through the steering wheel shaft bearing and is fixedly connected with a second gear, a walking gear is arranged at the driving end of the walking speed reduction motor, and the walking gear is in transmission connection with the second gear.
Preferably, a damper is fixedly mounted on the frame, and a telescopic end of the damper is in contact with the upper surface of the connecting rod.
The invention provides a multi-layer lifting type parking robot. The method has the following beneficial effects: compared with a traditional roadway piling and hiding machine (a transverse moving vehicle), the multilayer parking robot has the advantages that transverse movement and lifting are achieved, longitudinal movement can be achieved, rotation is achieved, the posture is adjusted automatically, the multilayer parking robot is more flexible than the traditional piling and hiding machine, intelligentization is higher, the application environment is wider, the problem of single-layer space waste is effectively solved, and the multilayer parking robot is simple in structure, low in cost and high in efficiency. The automobile body adopts split type connected mode, and first automobile body and second automobile body are connected with lift frame with direction slide rail and sliding block respectively, do not make any crossbeam in the middle of first automobile body and the second automobile body and connect, make the intensity of whole individual automobile body, rigidity, stability are decided by guide structure completely. And the running gear of this application adopts the synchronous over-and-under type rudder wheel suspension structure of connecting rod to can let the rudder wheel atress even, in order to improve rudder wheel life, can also reduce the impact to equipment, reduce the vibration range of equipment, guarantee equipment even running.
Drawings
In order to more clearly illustrate the present invention or the prior art solutions, the drawings that are needed in the description of the prior art will be briefly described below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the first vehicle body of the present invention;
FIG. 3 is a schematic view of the structure of the vehicle handling apparatus of the present invention;
FIG. 4 is a schematic view of the structure of the body of the vehicle handling apparatus of the present invention;
FIG. 5 is a schematic view of the drive mechanism of the vehicle transfer device of the present invention;
FIG. 6 is a schematic view of the clamping mechanism and its operation transmission in the automobile transporter of the present invention;
FIG. 7 is a schematic view of a clamping mechanism of the vehicle transfer device of the present invention;
FIG. 8 is a schematic view showing a driving structure of a first driving motor of the clamping mechanism in the automobile mover of the present invention;
FIG. 9 is a schematic view of the structure of the traveling mechanism of the present invention;
FIG. 10 is a cross-sectional view of the traveling mechanism of the present invention;
FIG. 11 is a schematic view of a link of the traveling mechanism according to the present invention;
FIG. 12 is a schematic view showing the structure of a spring shaft in the running gear of the present invention;
the reference numbers in the figures illustrate:
1. a first vehicle body; 2. a second vehicle body; 3. a lifting frame; 4. a guide slide rail; 5. a screw motor; 6. a coupling; 7. a screw rod; 8. a bearing seat; 9. a slider; 10. a nut mounting bracket; 11. a feed screw nut; 12. an automobile handling device; 13. a traveling mechanism;
1201. a clamping mechanism; 1202. a drive mechanism; 1203. a vehicle body; 1204. connecting the towing cables; 1205. a first drive motor; 1206. a first sprocket; 1207. a second sprocket; 1208. a first drive shaft; 1209. a third sprocket; 1210. a fourth sprocket; 1211. rotating the screw rod; 1212. a fifth sprocket; 1213. a sixth sprocket; 1214. a drive plate; 1215. driving the slide block; 1216. a clamp arm; 1217. a guide bar; 1218. a guide rail; 1219. a second drive motor; 1220. a traveling frame; 1221. a seventh sprocket; 1222. a second drive shaft; 1223. an eighth sprocket; 1224. a first drive wheel; 1225. a second drive wheel; 1226. a ninth sprocket; 1227. a tenth sprocket;
1301. a frame; 1302. a steering wheel assembly; 1303. a first pin shaft; 1304. a connecting rod; 1305. a second pin shaft; 1306. a connecting plate; 1307. a third pin shaft; 1308. a fourth pin shaft; 1309. positioning a nut; 1310. a spring; 1311. a steering wheel; 1312. a connecting seat; 1313. a walking speed reducing motor; 1314. a rotating gear motor; 1315. an external hanging seat; 1316. a rotating bearing; 1317. rotating the bearing block; 1318. a first gear; 1319. a rotating gear; 1320. a rudder wheel shaft; 1321. a bearing; 1322. a rudder wheel bearing; 1323. a second gear; 1324. a traveling gear; 1325. a damper; 1326: a spring shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings.
In the first embodiment, as shown in fig. 1-2, a multi-layer lifting parking robot includes a first vehicle body 1 and a second vehicle body 2, a lifting frame 3 is disposed between the first vehicle body 1 and the second vehicle body 2, guide slide rails 4 are disposed on two sides of opposite surfaces of the first vehicle body 1 and the second vehicle body 2, a lead screw motor 5 is fixedly mounted in the first vehicle body 1 and the second vehicle body 2, a driving end of the lead screw motor 5 is in transmission connection with one end of a lead screw 7 through a coupler 6, the other end of the lead screw 7 is movably connected in a bearing seat 8, and the bearing seats 8 are respectively and fixedly mounted at bottoms of inner cavities of the first vehicle body 1 and the second vehicle body 2; sliding blocks 9 are fixedly installed on two sides of the lifting frame 3, the lifting frame 3 is connected between the guide sliding rails 4 in a sliding mode through the sliding blocks 9, nut installation frames 10 are fixedly installed on two sides of the lifting frame 3, lead screw nuts 11 are fixedly installed in the nut installation frames 10, and the lead screw nuts 11 are movably connected to the outer surface of the lead screw 7 through threads; the lifting frame 3 is provided with an automobile carrying device 12; and traveling mechanisms 13 are fixedly arranged on two sides of the bottoms of the first vehicle body 1 and the second vehicle body 2.
When the garage is of a multilayer structure, the screw rod 7 can drive the whole lifting frame 3 to move up and down to the height of a specified layer, the vehicle is conveyed to the parking space by the automobile conveying device 12 and then returns to the parking robot, and the parking process is finished; similarly, when the vehicle needs to be taken out, the reverse steps are executed; the whole process is convenient and fast, the problem of single-layer space waste can be effectively solved, and the device is simple in structure, low in cost and high in efficiency.
In the second embodiment, as shown in fig. 3 to 8, as a further scheme of the first embodiment, the automobile carrying device 12 includes a clamping mechanism 1201, a driving mechanism 1202, and two sets of car bodies 1203, the two sets of car bodies 1203 are connected with each other through a connecting towing cable 1204, the clamping mechanism 1201 is respectively disposed on two side surfaces of the two sets of car bodies 1203, a first driving motor 1205 is fixedly mounted in the middle of the car body 1203, a first sprocket 1206 is fixedly mounted on an output shaft of the first driving motor 1205, the first sprocket 1206 is in transmission connection with a second sprocket 1207, the second sprocket 1207 is fixedly mounted on a first transmission shaft 1208, the first transmission shaft 1208 is rotatably mounted on the car body 1203, a third sprocket 1209 and a fourth sprocket 1210 are also fixedly mounted on the car body 1203, a rotating screw 1211 is rotatably mounted on the car body 1203, a fifth sprocket 1212 and a sixth sprocket 1213 are coaxially and fixedly mounted on end portions of the rotating screw 1211, the rotating screw 1211 is movably connected with the driving plate 1214 through a screw thread, the driving plate 1214 is fixedly connected with the driving slider 1215 on the clamping mechanism 1201, and the third sprocket 1209 and the fourth sprocket 1210 on the first transmission shaft 1208 are connected with the fifth sprocket 1212 and the sixth sprocket 1213 at the end of the rotating screw 1211 through a transmission chain.
When the automobile carrying device 12 works, the driving mechanism 1202 is controlled to drive the automobile carrying device 12 to move to the bottom of a vehicle, then the first driving motor 1205 is controlled to be started, the first driving motor 1205 drives the first chain wheel 1206 to rotate, the first chain wheel 1206 transmits power to the second chain wheel 1207 through the transmission chain and drives the first transmission shaft 1208 to rotate, so that the rotating screw rod 1211 is driven to rotate, the driving plate 1214 on the rotating screw rod 1211 is driven to move on the surface of the screw rod 1211, the driving plate 1214 is driven to move to drive the driving slide block 1215 to move, and the clamping mechanism 1201 is driven to perform clamping action to clamp the wheels to carry out carrying and parking; the vehicle is then transported to a predetermined position by the drive mechanism 1202. By adopting one driving motor to drive two sets of sliding block mechanisms of the rotary screw 1211, compared with the prior art, the clamping mechanism 1201 is more compact, has a more ingenious structure, reduces the size and the thickness, and is more stable in operation; meanwhile, the two groups of vehicle bodies 1203 are connected through the connecting towing cables 1204, power or transmission signals are provided for the two groups of vehicle bodies 1203, and the motion speed and the angle of the vehicle bodies 1203 are flexibly adjusted.
In the third embodiment, as a further scheme of the second embodiment, the clamping mechanism 1201 includes a clamping arm 1216 and a guide rod 1217, an end of the clamping arm 1216 is rotatably connected to the vehicle body 1203, one end of the guide rod 1217 is rotatably mounted on the clamping arm 1216, the other end of the guide rod 1217 is rotatably mounted on the driving slider 1215, the driving slider 1215 is slidably mounted on the guide rail 1218, and the guide rail 1218 is fixedly mounted on the vehicle body 1203. By giving an electrical signal to the first driving motor 1205, the driving slider 1215 slides on the guiding rail 1218, so that the guiding rod 1217 is moved by the driving slider 1215 and the holding arm 1216 is rotated, so that the holding arm 1216 is opened and holds four tires of the car, and the car is held off the ground.
In the fourth embodiment, as a further scheme of the second embodiment, the driving mechanism 1202 includes a second driving motor 1219, the second driving motor 1219 is fixedly mounted on the traveling frame 1220, the traveling frame 1220 is fixedly mounted at both ends of the vehicle body 1203, a seventh sprocket 1221 is fixedly mounted on an output shaft of the second driving motor 1219, the seventh sprocket 1221 is in transmission connection with an eighth sprocket 1223 on a second transmission shaft 1222, a first driving wheel 1224 is fixedly mounted at an end of the second transmission shaft 1222, and a tenth sprocket 1227 is fixedly mounted on the second transmission shaft 1222; the traveling frame 1220 is rotatably provided with a second driving wheel 1225, the second driving wheel 1225 is coaxially and fixedly connected with a ninth chain wheel 1226, and the ninth chain wheel 1226 is in chain transmission connection with a tenth chain wheel 1227 through a transmission chain. The driving mechanism 1202 is driven by the second driving motor 1219, and the seventh chain wheel 1221 transmits power to the eighth chain wheel 1223 through the transmission chain, and the eighth chain wheel 1223 drives the first driving wheel 1224 at the end of the second transmission shaft 1222 to rotate, so as to realize the movement of the whole vehicle transportation device 12. The weight of the entire apparatus is supported by the second drive wheel 1225 in cooperation with the first drive wheel 1224.
The driving mechanism 1202 in this embodiment employs a driving motor to drive the sprocket to rotate, and drives power to the driving wheel through the transmission chain, so as to enhance the stability of the traveling crane and the adaptability to the ground for review.
Fifth embodiment, as shown in fig. 9 to 12, as a further solution of the first embodiment, the traveling mechanism 13 includes a frame 1301 and a steering wheel assembly 1302, the frame 1301 is respectively and fixedly installed at the bottom of two side surfaces of the first vehicle body 1 and the second vehicle body 2, two sides of the steering wheel assembly 1302 are respectively connected with one end of two links 1304 through a first pin 1303, the other end of the two links 1304 is connected to the frame 1301 through a second pin 1305, the two links 1304 are arranged in parallel, the two connecting rods 1304 are connected through a connecting plate 1306, the connecting plate 1306 is fixedly connected to two side faces of the two connecting rods 1304 through a third pin 1307 and a fourth pin 1308, the surface of the third pin 1307 is further connected with one end of a spring shaft 1326, the other end of the spring shaft 1326 penetrates through the rack 1301 and is fixedly connected with a positioning nut 1309 through threads, a spring 1310 is sleeved on the outer surface of the spring shaft 1326, and two ends of the spring 1310 abut against the lower end faces of the rack 1301 and the spring shaft 1326 respectively.
During operation, the steering wheel assembly 1302 provides walking and rotating power for the whole walking mechanism, and in the walking and rotating process, the steering wheel assembly 1302 is connected with the frame 1301 through the two connecting rods 1304 arranged in parallel, so that according to the parallelogram principle, horizontal lifting adjustment of the steering wheel assembly 1302 in the walking process is guaranteed, stress on each steering wheel assembly 1302 is more uniform, and the steering wheel assembly 1302 can be fully contacted with the ground through the elastic action of the spring 1310 on the outer surface of the spring shaft 1326, and meanwhile, the damping effect is achieved.
Sixth embodiment, as a further scheme of the fifth embodiment, the steering wheel assembly 1302 includes a steering wheel 1311 and a connecting seat 1312, two sides of the connecting seat 1312 are respectively connected to two connecting rods 1304 through first pins 1303, a rotation deceleration motor 1314 is fixedly installed on an upper surface of the connecting seat 1312, an external hanging seat 1315 is fixedly installed on a lower surface of the connecting seat 1312, the external hanging seat 1315 is fixedly installed in an inner ring of a rotation bearing 1316, an outer ring of the rotation bearing 1316 is fixedly installed on a rotation bearing seat 1317, a first gear 1318 is arranged on an outer surface of the rotation bearing 1316, a driving end of the rotation deceleration motor 1314 passes through the connecting seat 1312 and is movably connected with a rotation gear 1319, the rotation gear 1319 is in transmission connection with the first gear 1318, a walking deceleration motor 1313 is fixedly installed in the rotation bearing seat 1317, a steering wheel shaft 1320 is fixedly connected to the middle of the steering wheel 1311 through a key, two ends of the steering wheel shaft 1320 are both movably connected to inner rings of the bearing 1321, and outer rings of the bearing 1321 are respectively and are fixedly installed on two steering wheel shafts of the two steering wheel seats, the rudder wheel axle bearing 1322 is fixedly connected with the rotating axle bearing 1317, one end of the rudder wheel axle 1320 penetrates through the rudder wheel axle bearing 1322 to be fixedly connected with a second gear 1323, a traveling gear 1324 is arranged at the driving end of the traveling speed reducing motor 1313, and the traveling gear 1324 is in transmission connection with the second gear 1323.
When the steering wheel steering device operates, the rotation reducing motor 1314 is controlled to be started, the driving end of the rotation reducing motor 1314 drives the rotation gear 1319 to rotate, and then the transmission chain drives the first gear 1318 to rotate, and as the first gear 1318 is fixed on the outer ring of the rotation bearing 1316 and the rotating bearing block 1317 is also fixed on the outer ring of the rotation bearing 1316, the whole rotating bearing block 1317 and the steering wheel 1311 below the rotating bearing block 1317 can be driven to rotate by driving the first gear 1318 to rotate; the running gear 1324 is driven to rotate by the driving end of the running gear 1313 by controlling the starting of the running gear 1313, and then the second gear 1323 is driven to rotate by a transmission chain, and the second gear 1323 is fixed on the rudder wheel shaft 1320, and the rudder wheel shaft 1320 is fixedly connected with the rudder wheel 1311 through keys, so that the rudder wheel 1311 can be driven to rotate and run by the rotation of the second gear 1323.
In the seventh embodiment, as a further solution of the fifth embodiment, a damper 1325 is further fixedly mounted on the frame 1301, and a buffering end of the damper 1325 contacts with an upper surface of the link 1304. The vibration amplitude of the traveling mechanism 13 can be effectively reduced by the damper 1325, thereby further ensuring the smooth operation of the traveling mechanism 13.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A multi-layer lifting type parking robot is characterized in that: the lifting device comprises a first vehicle body (1) and a second vehicle body (2), wherein a lifting frame (3) is arranged between the first vehicle body (1) and the second vehicle body (2), guide slide rails (4) are arranged on two sides of opposite surfaces of the first vehicle body (1) and the second vehicle body (2), a lead screw motor (5) is fixedly arranged in the first vehicle body (1) and the second vehicle body (2), a driving end of the lead screw motor (5) is in transmission connection with one end of a lead screw (7) through a coupler (6), the other end of the lead screw (7) is movably connected in a bearing seat (8), and the bearing seat (8) is fixedly arranged at the bottoms of inner cavities of the first vehicle body (1) and the second vehicle body (2) respectively;
sliding blocks (9) are fixedly installed on two sides of the lifting frame (3), the lifting frame (3) is connected between the guide sliding rails (4) in a sliding mode through the sliding blocks (9), nut installation frames (10) are fixedly installed on two sides of the lifting frame (3), screw nuts (11) are fixedly installed in the nut installation frames (10), and the screw nuts (11) are movably connected to the outer surface of the screw rod (7) through threads; the lifting frame (3) is provided with an automobile carrying device (12);
and traveling mechanisms (13) are fixedly mounted on two sides of the bottoms of the first vehicle body (1) and the second vehicle body (2).
2. The multi-deck lifting parking robot of claim 1, wherein: the automobile carrying device (12) comprises a clamping mechanism (1201), a driving mechanism (1202) and two groups of automobile bodies (1203), the two groups of automobile bodies (1203) are connected through connecting towlines (1204), the clamping mechanism (1201) is respectively arranged on two side faces of the two groups of automobile bodies (1203), a first driving motor (1205) is fixedly installed in the middle of each automobile body (1203), a first chain wheel (1206) is fixedly installed on an output shaft of the first driving motor (1205) in a sleeved mode, the first chain wheel (1206) is in transmission connection with a second chain wheel (1207), the second chain wheel (1207) is fixedly sleeved on a first transmission shaft (1208), the first transmission shaft (1208) is rotatably installed on each automobile body (1203), a third chain wheel (1209) and a fourth chain wheel (1210) are further fixedly sleeved on the first transmission shaft (1208), and a rotary screw rod (1211) is rotatably installed on each automobile body (1203), the end part of the rotating screw rod (1211) is coaxially and fixedly provided with a fifth chain wheel (1212) and a sixth chain wheel (1213), the rotating screw rod (1211) is in transmission connection with a driving plate (1214), the driving plate (1214) is fixedly connected with a driving slider (1215) on the clamping mechanism (1201), and the third chain wheel (1209) and the fourth chain wheel (1210) on the first transmission shaft (1208) are in transmission connection with the fifth chain wheel (1212) and the sixth chain wheel (1213) at the end part of the rotating screw rod (1211).
3. The multi-deck lifting parking robot of claim 2, wherein: the clamping mechanism (1201) comprises a clamping arm (1216) and a guide rod (1217), the end of the clamping arm (1216) is rotatably connected to the vehicle body (1203), one end of the guide rod (1217) is rotatably mounted on the clamping arm (1216), the other end of the guide rod (1217) is rotatably mounted on a driving slider (1215), the driving slider (1215) is slidably mounted on a guide rail (1218), and the guide rail (1218) is fixedly mounted on the vehicle body (1203).
4. The multi-deck lifting parking robot of claim 1, wherein: the driving mechanism (1202) comprises a second driving motor (1219), the second driving motor (1219) is fixedly installed on a walking frame (1220), the walking frame (1220) is fixedly installed at two ends of the vehicle body (1203), a seventh chain wheel (1221) is fixedly sleeved on an output shaft of the second driving motor (1219), the seventh chain wheel (1221) is in transmission connection with an eighth chain wheel (1223) on a second transmission shaft (1222), a first driving wheel (1224) is fixedly installed at the end of the second transmission shaft (1222), and a tenth chain wheel (1227) is fixedly installed on the second transmission shaft (1222); a second driving wheel (1225) is rotatably mounted on the traveling rack (1220), the second driving wheel (1225) is coaxially and fixedly connected with a ninth chain wheel (1226), and the ninth chain wheel (1226) is connected with a tenth chain wheel (1227) through a transmission chain.
5. The multi-deck lifting parking robot of claim 1, wherein: the travelling mechanism (13) comprises a rack (1301) and a steering wheel assembly (1302), the rack (1301) is fixedly installed at the bottoms of two side surfaces of a first vehicle body (1) and a second vehicle body (2) respectively, two sides of the steering wheel assembly (1302) are connected with one ends of two connecting rods (1304) through first pin shafts (1303), the other ends of the two connecting rods (1304) are connected to the rack (1301) through second pin shafts (1305), the two connecting rods (1304) are arranged in parallel, the two connecting rods (1304) are connected through connecting plates (1306), the connecting plates (1306) are connected and fixed on two side surfaces of the two connecting rods (1304) through third pin shafts (1307) and fourth pin shafts (1308) respectively, one end of a spring shaft (1326) is further connected to the surface of the third pin shaft (1307), the other end of the spring shaft (1326) penetrates through the rack (1301) and is fixedly connected with a positioning nut (1309) through threads, the outer surface of the spring shaft (1326) is sleeved with a spring (1310), and two ends of the spring (1310) respectively abut against the lower end faces of the rack (1301) and the spring shaft (1326).
6. The multi-deck lifting parking robot of claim 5, wherein: the steering wheel assembly (1302) comprises a steering wheel (1311) and a connecting seat (1312), two sides of the connecting seat (1312) are respectively connected with two connecting rods (1304) through first pin shafts (1303), a rotary speed reducing motor (1314) is fixedly installed on the upper surface of the connecting seat (1312), an externally hung seat (1315) is fixedly installed on the lower surface of the connecting seat (1312), the externally hung seat (1315) is fixedly installed in an inner ring of a rotary bearing (1316), an outer ring of the rotary bearing (1316) is fixedly installed on a rotary bearing seat (1317), a first gear (1318) is arranged on the outer surface of the rotary bearing (1316), a driving end of the rotary speed reducing motor (1314) penetrates through the connecting seat (1312) and is movably connected with a rotary gear (1319), the rotary gear (1319) is in transmission connection with the first gear (1318), and a walking speed reducing motor (1313) is fixedly installed in the rotary bearing seat (1317), the middle of the rudder wheel (1311) is fixedly connected with a rudder wheel shaft (1320) through a key, two ends of the rudder wheel shaft (1320) are movably connected into an inner ring of a bearing (1321), an outer ring of the bearing (1321) is fixedly installed on two rudder wheel shaft bearings (1322) respectively, the rudder wheel shaft bearings (1322) are fixedly connected with a rotating shaft bearing (1317), one end of the rudder wheel shaft (1320) penetrates through the rudder wheel shaft bearings (1322) and is fixedly connected with a second gear (1323), a traveling gear (1324) is arranged at a driving end of the traveling speed reduction motor (1313), and the traveling gear (1324) is in transmission connection with the second gear (1323).
7. The multi-deck lifting parking robot of claim 5, wherein: still fixed mounting has attenuator (1325) on frame (1301), the buffer end of attenuator (1325) contacts with the upper surface of connecting rod (1304).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010670361.2A CN113931503A (en) | 2020-07-13 | 2020-07-13 | Multilayer lifting type parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010670361.2A CN113931503A (en) | 2020-07-13 | 2020-07-13 | Multilayer lifting type parking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113931503A true CN113931503A (en) | 2022-01-14 |
Family
ID=79273618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010670361.2A Pending CN113931503A (en) | 2020-07-13 | 2020-07-13 | Multilayer lifting type parking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113931503A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940452A (en) * | 2022-04-20 | 2022-08-26 | 上海汇聚自动化科技有限公司 | Transfer robot and transfer system |
| CN117584842A (en) * | 2024-01-19 | 2024-02-23 | 烟台港股份有限公司汽车码头分公司 | AGV for transfer vehicle |
-
2020
- 2020-07-13 CN CN202010670361.2A patent/CN113931503A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940452A (en) * | 2022-04-20 | 2022-08-26 | 上海汇聚自动化科技有限公司 | Transfer robot and transfer system |
| CN114940452B (en) * | 2022-04-20 | 2023-08-15 | 上海汇聚自动化科技有限公司 | Transfer robot and transfer system |
| CN117584842A (en) * | 2024-01-19 | 2024-02-23 | 烟台港股份有限公司汽车码头分公司 | AGV for transfer vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107214685B (en) | Suspension type robot rail running gear | |
| CN111906805B (en) | Electric locomotive wheel drive unit assembling manipulator | |
| CN114013975B (en) | Multi-degree-of-freedom cargo overturning and transferring device | |
| CN111232078B (en) | Adsorption type obstacle-crossing pole-climbing bionic robot | |
| CN110385702B (en) | Door beam type metallurgical saw blade automatic overturning manipulator | |
| CN113931503A (en) | Multilayer lifting type parking robot | |
| CN209757064U (en) | High-efficiency electric automobile battery replacement station | |
| CN102900256B (en) | Intelligent automobile lengthways handling device | |
| CN108412285A (en) | A kind of foldable general automobile handling device | |
| CN104060870B (en) | A kind of manipulator Transport Vehicle handling equipment | |
| CN101672121A (en) | Clamping tire type automobile carrier of three-dimensional garage | |
| CN112110384A (en) | Auxiliary stacking robot | |
| CN208399062U (en) | The centering body of Heavy-duty chassis dynamometer | |
| CN212507620U (en) | Multilayer lifting type parking robot | |
| CN113715674A (en) | Battery replacing device and battery replacing station | |
| CN210483172U (en) | Translational tire clamping and lifting device of parking robot | |
| CN101177977A (en) | V-shaped arm-clamp hydraulic walking dolly | |
| CN214402949U (en) | Shuttle type gear transmission outer clamping type carrier | |
| CN112627612B (en) | Pneumatic large tire external clamping type automobile carrier driven by traction mechanism and using method | |
| CN213015652U (en) | Split type parking robot | |
| CN111455745B (en) | Lifting platform containing gap filling device and intelligent stereo garage | |
| CN210307817U (en) | Door beam type automatic turnover mechanical arm for metallurgical saw blade | |
| CN106672545A (en) | Pipe piece production line chain type traction system and using method thereof | |
| CN220078465U (en) | Vehicle-mounted unmanned aerial vehicle lifting platform | |
| CN115234062B (en) | Use method of shuttle gear transmission external clamping type carrier |
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 |