CN114439294A - Clamping type parking robot with supporting and limiting functions - Google Patents

Clamping type parking robot with supporting and limiting functions Download PDF

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Publication number
CN114439294A
CN114439294A CN202210066689.2A CN202210066689A CN114439294A CN 114439294 A CN114439294 A CN 114439294A CN 202210066689 A CN202210066689 A CN 202210066689A CN 114439294 A CN114439294 A CN 114439294A
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CN
China
Prior art keywords
vehicle body
wheel
guide
steel
frame
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Pending
Application number
CN202210066689.2A
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Chinese (zh)
Inventor
谭强
袁全桥
陆城燕
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Zhejiang Xinbo Technology Co ltd
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Zhejiang Core Ball Intelligent Technology Co ltd
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Publication date
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Priority to CN202210066689.2A priority Critical patent/CN114439294A/en
Publication of CN114439294A publication Critical patent/CN114439294A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/24Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422Automatically operated car-parks
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/426Parking guides

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a clamping parking robot with supporting and limiting functions. A clamping parking robot with supporting and limiting functions comprises a first vehicle body, a second vehicle body and a supporting frame; the left side and the right side of the first vehicle body and the second vehicle body are respectively provided with a front guide pulley assembly and a rear guide pulley assembly, the guide pulley assemblies comprise first guide wheels which are horizontally outwards arranged on the outer sides, and second guide wheels which are vertically upwards arranged on the inner sides; the supporting frame comprises a front first steel frame, a rear first steel frame, a left second steel frame and a right second steel frame which are connected with each other and spliced into a rectangle; the cross section of the second steel frame is C-shaped, the openings of the two second steel frames are arranged inwards, and racks are arranged in the openings of the second steel frames; the first vehicle body and the second vehicle body are identical in structure and embedded in the supporting frame; the first guide wheel is matched with the inner vertical surfaces of the two second steel frames for prepressing.

Description

Clamping type parking robot with supporting and limiting functions
Technical Field
The invention belongs to the technical field of automobile transportation, and particularly relates to a clamping type parking robot with supporting and limiting functions.
Background
The quantity of automobiles kept at home and abroad is rapidly increased, the problem of difficult parking is increasingly obvious, and the parking robot used in the unmanned parking lot at present mainly has three forms: the parking robot comprises a vehicle loading plate type parking robot, a comb-tooth type parking robot and a clamping type parking robot. The vehicle-carrying plate type parking robot is simple in structure but low in efficiency; the comb tooth structure of the comb tooth type parking robot requires high parking precision, so that the use reliability is low and the safety is poor; compared with a vehicle-carrying plate type parking robot, the clamping type parking robot directly clamps the automobile tire, is high in efficiency, and has low requirements on parking positioning accuracy and high reliability compared with a comb-tooth type parking robot.
Two types of gripping parking robots are visible in China: one type of the cable is layered up and down, the structure is complex, and the later maintenance is difficult; a multi-deck lift parking robot, such as that of patent No. CN202021365269.7, wherein a first vehicle body and a second vehicle body are connected by a connecting streamer (1204); one type adopts a left split structure and a right split structure, and is connected by a connecting rod, so that the reliability between two vehicle bodies is poor.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a clamping parking robot with supporting and limiting functions, which embeds two car bodies in a supporting frame and locates on the same horizontal layer, and at the same time, ensures integrity between the two car bodies and has high reliability.
In order to solve the technical problem, the invention aims to realize that:
a clamping parking robot with supporting and limiting functions comprises a first vehicle body, a second vehicle body and a supporting frame;
the left side and the right side of the first vehicle body and the second vehicle body are respectively provided with a front guide pulley assembly and a rear guide pulley assembly, the guide pulley assemblies comprise first guide wheels which are horizontally outwards arranged on the outer sides, and second guide wheels which are vertically upwards arranged on the inner sides;
the supporting frame comprises a front first steel frame, a rear first steel frame, a left second steel frame and a right second steel frame which are connected with each other and spliced into a rectangle; the cross section of the second steel frame is C-shaped, the openings of the two second steel frames are arranged inwards, and racks are arranged in the openings of the second steel frames;
the first vehicle body and the second vehicle body are identical in structure and embedded in the supporting frame; the first guide wheel is matched with and pre-pressed on the inner vertical surfaces of the two second steel frames, and the second guide wheel is matched with and pre-pressed on the inner horizontal surfaces of the two second steel frames;
the left side and the right side of the first vehicle body are respectively provided with a guide gear assembly; the guide gear assembly comprises a first motor, a first speed reducer and a first gear; the first gear is meshed with the rack, so that the first motor controls the first vehicle body to move in the supporting frame.
By adopting the technical scheme: the guide pulley assembly is matched with the inner wall of the supporting frame, can roll in a front-back matching manner on a horizontal plane, is supported and limited at multiple points in the horizontal left-right direction, is integrally matched, and is high in rigidity.
The angle difference of the two vehicles after the front and back driving of the first vehicle body and the second vehicle body is not out of tolerance accurately, and the driving accuracy of the parking robot is guaranteed by matching with a guide control system. Simultaneously with first automobile body, second automobile body and braced frame arrange same horizontal layer in, simple structure is convenient for install in earlier stage and later maintenance.
On the basis of the above scheme and as a preferable scheme of the scheme: the first vehicle body and the second vehicle body are provided with wheel set driving systems; the wheel set driving system comprises a universal wheel and a driving rudder wheel set; the driving rudder wheel set comprises a first spring, a rotating pin, a first limit pin, a second limit pin, a rudder wheel mechanism and a universal joint component; the steering wheel mechanism is connected with the universal joint assembly through a rotating pin, a first spring is placed in a movable space connected with the pin and abuts against two ends of the movable space, and the movable space is limited by a first limiting pin and a second limiting pin; the universal wheel distributes on four corners, is equipped with the second spring on the universal wheel.
By adopting the technical scheme: the universal wheels are adopted to replace the driving rudder wheel group for supporting, so that the driving power source is reduced, and the overall cost is reduced; the universal wheels and the driving steering wheel set are provided with supporting springs, so that the suspension effect is achieved, the poor actual road surface environment can be adapted, and the requirement on the road surface smoothness is reduced; the parking robot has adaptability to the projections and depressions on the road surface, and the load operation stability of the parking robot is ensured; meanwhile, the spring specification of the driving steering wheel set is larger relative to the universal wheel, so that larger spring force can be output, large pressure is always kept between the driving steering wheel set and the ground after the driving steering wheel set contacts the ground, and the driving force of the whole vehicle in a normal state is guaranteed. Meanwhile, under the condition that the tire is abraded to a certain extent at the later stage, the driving steering wheel set can maintain the ground contact pressure all the time. The service time of the tire is prolonged, and the use cost is reduced.
On the basis of the above scheme and as a preferable scheme of the scheme: the first vehicle body and the second vehicle body are respectively provided with a clamping system; the clamping system comprises a second motor, a second speed reducer, a synchronous belt, a first driving wheel, a first synchronous wheel, a second synchronous wheel, a first tensioning wheel, a second tensioning wheel, a third tensioning wheel and a screw rod sliding group; the screw rod sliding group comprises a screw rod sliding block, a first clamping arm and a second clamping arm; the second motor is connected with a first driving wheel through a second speed reducer to drive a synchronous belt to rotate, the synchronous belt drives a first synchronous wheel and a second synchronous wheel to rotate in the same direction, a first tensioning wheel and a second tensioning wheel are respectively positioned on two sides of the first driving wheel, and a third tensioning wheel is positioned on one side of the second synchronous wheel; the first synchronous wheel drives a screw rod sliding group to move, so that the first clamping arm is opened and closed; the second synchronizing wheel drives the other screw rod sliding group to move, and the second clamping arm is opened and closed.
By adopting the technical scheme: the clamping system adopts a scheme that a single motor controls two arms, so that the number of electric systems is reduced, and the cost is reduced; meanwhile, compared with the traditional lead screw transmission scheme, the transmission scheme of the belt and the synchronizing wheel has the advantages of good maintainability and lower cost.
On the basis of the above scheme and as a preferable scheme of the scheme: a third steel frame is connected between the two second steel frames of the supporting frame; the device also comprises a guide control system which is respectively arranged on the first vehicle body, the second vehicle body and the supporting frame; the guiding control system comprises a first guiding magnetic sensor arranged on one first steel frame, a second guiding magnetic sensor arranged on the other first steel frame, a gyroscope sensor and an RFID sensor arranged on a third steel frame; a control box mounted on the first vehicle body.
Preferably, the guidance control system further comprises a pull rope sensor, and the pull rope sensor is respectively mounted on the first vehicle body and the second vehicle body and then connected with the support frame.
By adopting the technical scheme: can accurate determination first automobile body and the relative position of second automobile body through the stay cord sensor, ensure to press from both sides and embrace the wheelbase and can match accurately. And then the relative position of the support frame and the first vehicle body is accurately adjusted and controlled by meshing the guide gear assembly and the rack, and the relative position of the support frame, the first vehicle body and the first vehicle body is accurately controlled and adjusted by combining the pull rope sensor. To the rear of a vehicle or the very long motorcycle type of locomotive, can adjust automobile body and braced frame's relative position, prevent to appear colliding in handling. Meanwhile, the guide gear assembly and the rack adopt a double-drive design, so that the guide is free from the phenomenon of jamming.
On the basis of the above scheme and as a preferable scheme of the scheme: the supporting frame is provided with a protection system; the protection system comprises first induction radars and second induction radars, wherein the first induction radars are respectively installed on the two first steel frames, and the second induction radars are installed in the middle of the two second steel frames.
By adopting the technical scheme: the four induction radars can form an induction closed field to induce the surrounding state and prevent collision.
On the basis of the above scheme and as a preferable scheme of the scheme: the first vehicle body and the second vehicle body are provided with battery systems; the battery system comprises a first battery pack, a second battery pack, a first charging interface and a second charging interface; the first battery pack and the first charging interface are assembled on the first vehicle body to form a power supply and charging system, and the second battery pack and the second charging interface are assembled on the second vehicle body to form a power supply and charging system.
On the basis of the above scheme and as a preferable scheme of the scheme: guide wheels are installed at four corners of the supporting frame.
When the guide wheel can not be avoided, the guide wheel rolls along the plane, and the damage is reduced. Meanwhile, the guide wheels can be matched with the guide surfaces, so that the running precision of the vehicle body in the running process is further ensured.
Compared with the prior art, the invention has the outstanding and beneficial technical effects that:
compared with the prior art, the clamping parking robot with the supporting and limiting functions has the advantages that the first vehicle body and the second vehicle body are embedded into the supporting frame, the horizontal layer and integral limiting function is achieved, and the reliability is good.
The first and second bodies further include a guide pulley assembly. The guide pulley assembly is matched with the inner wall of the rigid horizontal guide supporting frame, can roll in a front-and-back matching manner on a horizontal plane, is supported at multiple points in the horizontal left-and-right direction, is integrally matched and has strong rigidity. The angle difference of two cars after first automobile body and second car body back and forth travel is not out of tolerance to accurate assurance, cooperates the guide system, has guaranteed the accuracy of traveling of robot. Simultaneously with first automobile body, second automobile body and rigidity horizontal guidance braced frame arrange same horizontal layer in, simple structure is convenient for install earlier stage and later maintenance.
Drawings
FIG. 1 is a top view of the overall structure of the present invention;
FIG. 2 is a bottom view of the overall structure of the present invention;
FIG. 3 is a bottom plan view of the first body of the present invention;
FIG. 4 is a schematic view of a wheel set drive system according to the present invention;
FIG. 5 is a schematic view of a universal wheel according to the present invention;
FIG. 6 is a top plan view of the first body of the present invention;
FIG. 7 is a bottom view of the rigid horizontal guide support frame of the present invention;
FIG. 8 is a schematic view of the guide gear assembly of the present invention;
FIG. 9 is a schematic view of a clamping system according to the present invention;
FIG. 10 is a schematic view of the position of the steering control system of the present invention;
reference numerals: 1. a first vehicle body; 18. a guide pulley assembly; 19. a first guide wheel; 20. a second guide wheel; 27. a guide gear assembly; 28. a first motor; 29. a first speed reducer; 30. a first gear; 2. a second vehicle body; 3. a support frame; 21. a first steel frame; 22. a second steel frame; 24. a third steel frame; 26. a rack; 4. a wheel set drive system; 9. a universal wheel; 17. a second spring; 10. a driving rudder wheel set; 11. a first spring; 12. a rotation pin; 13. a first limit pin; 14. a second limit pin; 15. a steering wheel mechanism; 16. a gimbal assembly; 5. a clamping system; 31. a second motor; 32. a second speed reducer; 33. a synchronous belt; 34. a first drive wheel; 35. a first synchronizing wheel; 36. a second synchronizing wheel; 37. a first tensioning wheel; 38. a second tensioning wheel; 39. a third tension pulley; 40. a screw rod sliding group; 41. a screw rod slide block; 42. a first clamping arm; 43. a second clamping arm; 6. a guidance control system; 44. a first steering magnetic sensor; 45. a second steering magnetic sensor; 46. a gyroscope sensor; 47. an RFID sensor; 48. a control box; 7. a protection system; 49. a first inductive radar; 50. a second inductive radar; 57. a guide wheel. 8. A battery system; 53. a first battery pack; 54. a second battery pack; 55. a first charging interface; 56. a second charging interface;
Detailed Description
The invention will be further described in the following with specific embodiments in conjunction with the accompanying drawings;
the embodiment provides a clamping parking robot with supporting and limiting functions, which comprises a first vehicle body 1, a second vehicle body 2 and a supporting frame 3;
the left and right sides of the first vehicle body 1 and the second vehicle body 2 are respectively provided with a front guide pulley assembly 18 and a rear guide pulley assembly 18, the guide pulley assemblies 18 comprise first guide wheels 19 which are horizontally arranged outwards at the outer sides, and second guide wheels 20 which are vertically arranged upwards at the inner sides;
the supporting frame 3 comprises a front first steel frame 21 and a rear first steel frame 21, and a left second steel frame 22 and a right second steel frame 22 which are connected with each other and spliced into a rectangle; the cross section of the second steel frame 22 is C-shaped, the openings of the two second steel frames 22 are arranged inwards, and the rack 26 is arranged in the opening of the second steel frame 22;
the first vehicle body 1 and the second vehicle body 2 are identical in structure, and the first vehicle body 1 and the second vehicle body 2 are embedded in the support frame 3; the first guide wheel 19 is matched with and pre-pressed on the inner vertical surfaces of the two second steel frames 22, and the second guide wheel 20 is matched with and pre-pressed on the inner horizontal surfaces of the two second steel frames 22;
the left side and the right side of the first vehicle body 1 are respectively provided with a guide gear assembly 27; the guide gear assembly 27 comprises a first motor 28, a first speed reducer 29 and a first gear 30; the first gear 30 is engaged with the rack 26 to enable the first motor 28 to control the movement of the first vehicle body 1 within the support frame 3.
As described above, the support frame 3 is assembled by four steel frames; two adjacent parts can be fixed by welding; the first vehicle body 1 and the second vehicle body 2 equipped with the guide pulley assembly 18 are built into the support frame 3 so that the first vehicle body 1 and the second vehicle body 2 can move back and forth along the support frame 3, are restrained in the support frame 3, and remain horizontal without being separated from each other and displaced. Two guide gear assemblies 27 are mounted on the first and second bodies 1 and 2, so that when the first motor 28 is controlled to move, the whole body can be controlled to slide on the support frame 3 to adjust the relative position by the meshing movement of the first gear 30 and the rack 2626.
When the system is used specifically, a user sends an instruction to the parking robot through the system, the parking robot firstly adjusts the relative position relation of the first vehicle body 1, the second vehicle body 2 and the rigid support frame 3 through the wheel set driving systems 4 on the first vehicle body 1 and the second vehicle body 2 and the guide gear assembly 2727 on the first vehicle body 1, and then under the control of the guide control system 6, the whole vehicle is transported to a vehicle parking space through the straight movement, the transverse movement, the rotation and other movements through the matching of the two wheel set driving systems 4 and the control of the guide control system 6.
And starting the clamping and holding system, clamping and holding four wheels of the automobile, then transporting the automobile to a parking space, loosening the clamping and holding system, finishing the placement of the automobile and finishing one-time transportation. The above is the overall working process of the invention, and the steps are repeated when the device is used next time.
Further, a wheel set driving system 4 is mounted on the first vehicle body 1 and the second vehicle body 2;
the wheel set driving system 4 comprises a universal wheel 9 and a driving rudder wheel set 10; the driving rudder wheel set 10 comprises a first spring 11, a rotating pin 12, a first limit pin 13, a second limit pin 14, a rudder wheel mechanism 15 and a universal joint assembly 16; the steering wheel mechanism 15 is connected with the universal joint assembly 16 through a rotating pin 12, a first spring 11 is placed in a pin-connected movable space and abuts against two ends of the pin-connected movable space, and the movable space is limited by a first limiting pin 13 and a second limiting pin 14;
the universal wheels 9 are distributed on four corners to prevent deflection; the universal wheel 9 is provided with a second spring 17.
As described above, the first spring 11 is placed in the movement space of the pin connection and is formed for both ends; the second spring 17 in the universal wheel 9 and the first spring 11 in the driving rudder wheel group 10 play a role in buffering the suspension of the whole vehicle;
further, the first vehicle body 1 and the second vehicle body 2 are respectively provided with a clamping system 5; the clamping system 5 comprises a second motor 31, a second speed reducer 32, a synchronous belt 33, a first driving wheel 34, a first synchronous wheel 35, a second synchronous wheel 36, a first tension wheel 37, a second tension wheel 38, a third tension wheel 39 and a screw rod sliding group 40;
the screw rod sliding group 40 comprises a screw rod sliding block 41, a first clamping arm 42 and a second clamping arm 43;
the second motor 31 is connected with the first driving wheel 34 through the second speed reducer 32 to drive the synchronous belt 33 to rotate, the synchronous belt 33 drives the first synchronous wheel 35 and the second synchronous wheel 36 to rotate in the same direction, the first tension wheel 37 and the second tension wheel 38 are respectively positioned at two sides of the first driving wheel 34, and the third tension wheel 39 is positioned at one side of the second synchronous wheel 36; the first synchronous wheel 35 drives a screw rod sliding group 40 to move, so that the first clamping arm 42 is opened and closed; the second synchronizing wheel 36 drives the other screw rod sliding group 40 to move, so that the second clamping arm 43 is opened and closed.
As described above, the front wheel or the rear wheel of the vehicle can be clamped together by mounting the two clamping systems 5 arranged in a face-to-face manner on the respective vehicle bodies.
Further, a third steel frame 24 is connected between the two second steel frames 22 of the supporting frame 3; the device also comprises a guide control system 6 which is respectively arranged on the first vehicle body 1, the second vehicle body 2 and the supporting frame 3;
the guidance control system 6 comprises a first guidance magnetic sensor 44 mounted on one first steel frame 21, a second guidance magnetic sensor 45 mounted on the other first steel frame 21, a gyroscope sensor 46 and an RFID sensor 47 mounted on the third steel frame 24; and a control box 48 mounted on the first vehicle body 1.
As described above, when the parking robot travels, the first guiding magnetic sensor 44, the second guiding magnetic sensor 45, and the gyro sensor 46 sense the magnetic field of the ground magnetic nail, determine the position and angle information of the vehicle body, and the control box 48 transmits a signal to the robot for motion control. During operation, the RFID sensor 47 of the parked robot reads the RFID tag to determine the location of the parked robot in the operating field. The RFID label is pre-buried in the place.
Further, a protection system 7 is arranged on the supporting frame 3; the protection system 7 comprises a first induction radar 49 respectively arranged on the two first steel frames 21 and a second induction radar 50 arranged in the middle of the two second steel frames 22.
As described above, the two first induction radars 49 and the two second induction radars 50 are alternately arranged, and the four induction radars form a four-way induction field to form a closed-loop induction area, so that the surrounding state can be induced, a real-time accident that wires may be outgoing in the field can be prevented, and the overall safety can be improved.
Further, the first vehicle body 1 and the second vehicle body 2 are provided with a battery system 8; the battery system 8 comprises a first battery pack 53, a second battery pack 54, a first charging interface 55 and a second charging interface 56; the first battery pack 53 and the first charging interface 55 are assembled on the first vehicle body 1 to constitute a power supply and charging system, and the second battery pack 54 and the second charging interface 56 are assembled on the second vehicle body 2 to constitute a power supply and charging system.
As described above, the first battery pack 53 is used to supply power to the electric appliances on the first vehicle body 1;
further, guide wheels 57 are installed at four corners of the support frame 3.
As mentioned above, the guide wheels 57 are distributed around the support frame 3 to provide a certain protection and guide function.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, refer to orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in use, or the orientations or positional relationships that are conventionally understood by those skilled in the art, and are used for convenience in describing and simplifying the description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected;
the above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims (7)

1. The utility model provides a spacing centre gripping formula parking robot is supported in area which characterized in that: comprises a first vehicle body, a second vehicle body and a supporting frame;
the left side and the right side of the first vehicle body and the second vehicle body are respectively provided with a front guide pulley assembly and a rear guide pulley assembly, the guide pulley assemblies comprise first guide wheels which are horizontally outwards arranged on the outer sides, and second guide wheels which are vertically upwards arranged on the inner sides;
the supporting frame comprises a front first steel frame, a rear first steel frame, a left second steel frame and a right second steel frame which are connected with each other and spliced into a rectangle; the cross section of the second steel frame is C-shaped, the openings of the two second steel frames are arranged inwards, and racks are arranged in the openings of the second steel frames;
the first vehicle body and the second vehicle body are identical in structure and embedded in the supporting frame; the first guide wheel is matched with and pre-pressed on the inner vertical surfaces of the two second steel frames, and the second guide wheel is matched with and pre-pressed on the inner horizontal surfaces of the two second steel frames;
the left side and the right side of the first vehicle body are respectively provided with a guide gear assembly; the guide gear assembly comprises a first motor, a first speed reducer and a first gear; the first gear is meshed with the rack, so that the first motor controls the first vehicle body to move in the supporting frame.
2. The held parking robot with support limit of claim 1 wherein: the first vehicle body and the second vehicle body are provided with wheel set driving systems;
the wheel set driving system comprises a universal wheel and a driving rudder wheel set; the driving rudder wheel set comprises a first spring, a rotating pin, a first limit pin, a second limit pin, a rudder wheel mechanism and a universal joint component; the steering wheel mechanism is connected with the universal joint assembly through a rotating pin, a first spring is placed in a movable space connected with the pin and abuts against two ends of the movable space, and the movable space is limited by a first limiting pin and a second limiting pin;
the universal wheel distributes on four corners, is equipped with the second spring on the universal wheel.
3. The clamp-on parking robot with support limit of claim 1, wherein: the first vehicle body and the second vehicle body are respectively provided with a clamping system; the clamping system comprises a second motor, a second speed reducer, a synchronous belt, a first driving wheel, a first synchronous wheel, a second synchronous wheel, a first tensioning wheel, a second tensioning wheel, a third tensioning wheel and a screw rod sliding group;
the screw rod sliding group comprises a screw rod sliding block, a first clamping arm and a second clamping arm;
the second motor is connected with a first driving wheel through a second speed reducer to drive a synchronous belt to rotate, the synchronous belt drives a first synchronous wheel and a second synchronous wheel to rotate in the same direction, a first tensioning wheel and a second tensioning wheel are respectively positioned on two sides of the first driving wheel, and a third tensioning wheel is positioned on one side of the second synchronous wheel; the first synchronous wheel drives a screw rod sliding group to move, so that the first clamping arm is opened and closed; the second synchronizing wheel drives the other screw rod sliding group to move, and the second clamping arm is opened and closed.
4. The clamp-on parking robot with support limit of claim 1, wherein: a third steel frame is connected between the two second steel frames of the supporting frame; the device also comprises a guide control system which is respectively arranged on the first vehicle body, the second vehicle body and the support frame;
the guiding control system comprises a first guiding magnetic sensor arranged on one first steel frame, a second guiding magnetic sensor arranged on the other first steel frame, a gyroscope sensor and an RFID sensor arranged on a third steel frame; a control box mounted on the first vehicle body.
5. The clamp-on parking robot with support limit of claim 1, wherein: the supporting frame is provided with a protection system; the protection system comprises first induction radars and second induction radars, wherein the first induction radars are respectively installed on the two first steel frames, and the second induction radars are installed in the middle of the two second steel frames.
6. The clamp-on parking robot with support limit of claim 1, wherein: the first vehicle body and the second vehicle body are provided with battery systems; the battery system comprises a first battery pack, a second battery pack, a first charging interface and a second charging interface; the first battery pack and the first charging interface are assembled on the first vehicle body to form a power supply and charging system, and the second battery pack and the second charging interface are assembled on the second vehicle body to form a power supply and charging system.
7. The clamp-on parking robot with support limit of claim 1, wherein: guide wheels are installed at four corners of the supporting frame.
CN202210066689.2A 2022-01-20 2022-01-20 Clamping type parking robot with supporting and limiting functions Pending CN114439294A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210066689.2A CN114439294A (en) 2022-01-20 2022-01-20 Clamping type parking robot with supporting and limiting functions

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210066689.2A CN114439294A (en) 2022-01-20 2022-01-20 Clamping type parking robot with supporting and limiting functions

Publications (1)

Publication Number Publication Date
CN114439294A true CN114439294A (en) 2022-05-06

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Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002266514A (en) * 2001-03-08 2002-09-18 Nippon Steel Corp Mechanical parking facility
JP2007015669A (en) * 2005-07-11 2007-01-25 Akio Kabuto Truck for disabled vehicle
JP2015040405A (en) * 2013-08-21 2015-03-02 新明和工業株式会社 Tire holding device and automobile conveyance device with the same
CN107355103A (en) * 2017-07-31 2017-11-17 江西丹巴赫机器人股份有限公司 Stop robot
KR20180031406A (en) * 2016-09-20 2018-03-28 삼중테크 주식회사 Apparatus to carry a car for parking facility
CN108422978A (en) * 2018-05-04 2018-08-21 北京泊宝机器人科技有限公司 A kind of vehicle conveying AGV
CN208586959U (en) * 2018-06-08 2019-03-08 河北机电职业技术学院 Carry movable trailer and translation ascending and descending parking access apparatus
CN110700663A (en) * 2019-10-25 2020-01-17 因特帕克科技集团有限公司 AGV trolley-based vehicle parking method
CN112761396A (en) * 2021-01-20 2021-05-07 北京鑫华源机械制造有限责任公司 Four-way walking parking carrier
CN214330120U (en) * 2020-12-29 2021-10-01 安徽博微联控科技有限公司 Holding and clamping mechanism of automobile carrier
CN214835208U (en) * 2021-01-20 2021-11-23 北京鑫华源机械制造有限责任公司 Parking carrier guiding device

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002266514A (en) * 2001-03-08 2002-09-18 Nippon Steel Corp Mechanical parking facility
JP2007015669A (en) * 2005-07-11 2007-01-25 Akio Kabuto Truck for disabled vehicle
JP2015040405A (en) * 2013-08-21 2015-03-02 新明和工業株式会社 Tire holding device and automobile conveyance device with the same
KR20180031406A (en) * 2016-09-20 2018-03-28 삼중테크 주식회사 Apparatus to carry a car for parking facility
CN107355103A (en) * 2017-07-31 2017-11-17 江西丹巴赫机器人股份有限公司 Stop robot
CN108422978A (en) * 2018-05-04 2018-08-21 北京泊宝机器人科技有限公司 A kind of vehicle conveying AGV
CN208586959U (en) * 2018-06-08 2019-03-08 河北机电职业技术学院 Carry movable trailer and translation ascending and descending parking access apparatus
CN110700663A (en) * 2019-10-25 2020-01-17 因特帕克科技集团有限公司 AGV trolley-based vehicle parking method
CN214330120U (en) * 2020-12-29 2021-10-01 安徽博微联控科技有限公司 Holding and clamping mechanism of automobile carrier
CN112761396A (en) * 2021-01-20 2021-05-07 北京鑫华源机械制造有限责任公司 Four-way walking parking carrier
CN214835208U (en) * 2021-01-20 2021-11-23 北京鑫华源机械制造有限责任公司 Parking carrier guiding device

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