CN205089011U - Size adjustable robot that parks - Google Patents
Size adjustable robot that parks Download PDFInfo
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- CN205089011U CN205089011U CN201520882162.2U CN201520882162U CN205089011U CN 205089011 U CN205089011 U CN 205089011U CN 201520882162 U CN201520882162 U CN 201520882162U CN 205089011 U CN205089011 U CN 205089011U
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Abstract
The utility model relates to a size adjustable robot that parks, including robot base and the drive wheel of setting on the robot base, the robot base includes the robot main part, two parallel arrangement's first robot lateral body and second robot lateral body, first robot lateral body and second robot lateral body are connected with the robot main part and are formed the U -shaped chamber that holds the automobile body, in the U die cavity on the side of robot main part, be equipped with two car fork mobile devices, be equipped with two car forks that are parallel to each other on every car fork mobile device, second robot lateral body is I humanoid robot lateral body, second robot lateral body is connected through the slider who sets up with the robot main part, can adjust the size in U -shaped chamber, use the robot that parks, the relative distance between every car fork can be controlled respectively to two car fork mobile devices to the adaptation is to the vehicle of disalignment distance, the size in U -shaped chamber is adjusted through slider to the vehicle that adapts to different automobile body length has improved the efficiency of parking.
Description
[technical field]
The utility model relates to a kind of automatic robot, the parking robot that particularly a kind of size is adjustable.
[background technology]
The automobile pollution of existing big and medium-sized cities gets more and more, parking is a very large difficult problem, particularly parking lot, inner city is limited, park to driving personnel and cause very large difficulty, in order to effectively utilize limited parking lot, need to use the robot of automatic parking to realize automatic parking, because the full car length of different automobile types is different with wheelbase, park wheelbase and the car load container cavity of its parking robot need corresponding adjustment, and existing scheme adopts the car of different robots to the car of different entire length and disalignment distance to carry out pool to put.
[utility model content]
The parking robot that the utility model provides a kind of size adjustable, to adopt same parking robot to realize, the car of different entire length and the car of disalignment distance carry out pool to be put, to improve efficiency of parking.
In order to solve the problems of the technologies described above, the parking robot that the utility model provides a kind of size adjustable, comprise robot base and be arranged on the driving wheel bottom described robot base, described robot base comprises robot body, first robot lateral body and the second robot lateral body, described first robot lateral body and described second robot lateral body and described robot body are connected to form the U-shaped chamber holding car body, in described U-shaped chamber described robot body side on, be provided with two car fork mobile devices, described each car fork mobile device is provided with two the car forks be parallel to each other, described robot body and described first robot lateral body are structure as a whole, described second robot lateral body is I humanoid robot lateral body, one end of described I humanoid robot lateral body is connected with described robot body by carriage, described robot base is provided with the lifting gear promoting described car fork.
The beneficial effects of the utility model are: because robot body is provided with two car fork mobile devices, each car fork mobile device is provided with two car forks be parallel to each other, mobile device is pitched by car, can control respectively often to organize car fork along robot body's side-to-side movement, increase or reduce, change the distance between two groups of car forks, put with the pool adapting to different spacing vehicle; Second robot lateral body of I type is connected by the carriage arranged with robot body simultaneously, second robot lateral body can horizontally slip along robot body, by the second robot lateral body that slides, the size in U-shaped chamber can be regulated, put with the pool adapting to different length over ends of body vehicle.The relative distance that two cars in each car fork mobile device are pitched also can regulate, to adapt to the lifting transfer of different automobile types, robot base is provided with the driving wheel making robot base movement, the movement of the parking robot facilitating size adjustable, the structure of the parking robot that this size is adjustable is simple, diverse in function, simple to operation, very practical.
Further, described each car fork mobile device comprises car fork mobile device installing rack, the first guide rail and car fork driving mechanism, described car fork mobile device installing rack is arranged on the side of described robot body, and described first guide rail and described car fork driving mechanism are arranged on described car fork mobile device installing rack; Described car fork is connected with described first slide by the first slide block, and described car fork driving mechanism drives described car to pitch horizontal slip on described first guide rail.
The beneficial effect of above-mentioned further scheme is adopted to be: car fork driving mechanism drives the horizontal slip on the first guide rail of car fork, guarantees the car fork good guidance of movement and the stationarity of movement.
Further, described Che Cha travel mechanism is two, described each Che Cha travel mechanism is connected with a described car fork.
Adopt the beneficial effect of above-mentioned further scheme to be: the drive mode being driven a car fork by a Ge Checha travel mechanism, displacement and the translational speed of each car fork can be controlled preferably.
Further, described two cars fork mobile device is two independently car fork mobile devices, and the line of centres of described two cars fork mobile device is parallel with the bottom surface of described robot base.
Adopt the beneficial effect of above-mentioned further scheme to be: two independently car fork mobile device two groups of cars forks can be avoided mutually to disturb in the process of movement.
Further, described carriage comprises carriage installing rack, the second guide rail and sliding drive mechanism, described carriage installing rack is arranged on the side of described robot body, and described two guide rails and described sliding drive mechanism are arranged on described carriage installing rack; Described second robot lateral body is connected with described second slide by the second slide block, and described sliding drive mechanism drives the horizontal slip on described second guide rail of described second robot lateral body.
Adopt the beneficial effect of above-mentioned further scheme to be: to drive the horizontal slip on described two guide rails of the second robot lateral body by sliding drive mechanism, guarantee the good guidance of the second robot lateral body movement and the stationarity of movement.
Further, described Che Cha travel mechanism is screw mandrel drive mechanism, described screw mandrel drive mechanism comprises the servomotor of the described leading screw of screw rod bushing, screw mandrel and driving, described screw mandrel is arranged on described car fork mobile device installing rack, described car fork is connected with described screw rod bushing, and described screw rod bushing screws with described screw mandrel and is connected.
Adopt the beneficial effect of above-mentioned further scheme to be: screw mandrel drives structure, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Further, described car fork driving mechanism is hydraulic drive mechanism, and described hydraulic drive mechanism comprises cylinder body and piston rod, and described cylinder body and described car are pitched mobile device installing rack and be fixedly connected with, and described piston rod is pitched with described car and is fixedly connected with.
Adopt the beneficial effect of above-mentioned further scheme to be: to be pitched with a car respectively by the piston rod of hydraulic drive mechanism and be connected, conveniently can control each car fork, hydraulic-driven structure, drive precision high, bearing capacity is comparatively large, conveniently accurately controls.
Further, described sliding drive mechanism is screw mandrel drive mechanism, described screw mandrel drive mechanism comprises the servomotor of the described leading screw of screw rod bushing, screw mandrel and driving, described screw mandrel is arranged on described carriage installing rack, described second robot lateral body is connected with described screw rod bushing, and described screw rod bushing screws with described screw mandrel and is connected.
Adopt the beneficial effect of above-mentioned further scheme to be: screw mandrel drives structure, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Further, described sliding drive mechanism is hydraulic drive mechanism, and described hydraulic drive mechanism comprises cylinder body and piston rod, and described cylinder body is fixedly connected with described carriage installing rack, and described piston rod is fixedly connected with the second robot lateral body.
Adopt the beneficial effect of above-mentioned further scheme to be: hydraulic-driven structure, drive precision high, bearing capacity is comparatively large, conveniently accurately controls.
Further, described lifting gear setting pitches mobile device installing rack with described car and described robot body is connected, and described lifting gear drives described car to pitch mobile device installing rack and moves up and down.
Adopt the beneficial effect of above-mentioned further scheme to be: lifting gear Direct driver car fork mobile device installing rack moves up and down, be convenient to promote and parked, then move to appointment parking position.
[accompanying drawing explanation]
Fig. 1 is the three-dimensional structure diagram of the adjustable parking robot of size,
Fig. 2 is the adjustable parking robot front elevation drawing of size,
Fig. 3 is car fork driving mechanism is the three-dimensional structure diagram that screw mandrel drive mechanism is connected with car fork,
Fig. 4 is the front elevation drawing of Fig. 3,
Fig. 5 is the top view of Fig. 3,
Fig. 6 is car fork driving mechanism is the three-dimensional structure diagram that hydraulic drive mechanism is connected with car fork,
Fig. 7 is the front elevation drawing of Fig. 6,
The three-dimensional structure diagram of Fig. 8 to be sliding drive mechanism be screw mandrel drive mechanism,
Fig. 9 is the front elevation drawing of Fig. 8,
The three-dimensional structure diagram of Figure 10 to be sliding drive mechanism be hydraulic drive mechanism,
Figure 11 is the front elevation drawing of Figure 10.
In accompanying drawing, the list of parts representated by each label is as follows:
1, robot base, 11, robot body, the 12, first robot lateral body, the 13, second robot lateral body, 2, driving wheel, 3, car fork mobile device, 31, car fork mobile device installing rack, the 32, first guide rail, 33, car fork driving mechanism car fork driving mechanism, 34, fixed via, 4, car fork, 41, the first slide block, 42, silk screw rod bushing, 5, carriage, 51, carriage installing rack, the 52, second guide rail, 53, sliding drive mechanism, 6, screw mandrel, 71, piston rod, 72, cylinder body
[detailed description of the invention]
Below in conjunction with drawings and Examples, the utility model is further described.
The parking robot three-dimensional structure diagram that the utility model size is adjustable is see Fig. 1-Fig. 2, the driving wheel 2 comprising robot base 1 and be arranged on bottom robot base 1, robot base 1 comprises robot body 11, first robot lateral body 12 and the second robot lateral body 13, first robot lateral body 12 and the second robot lateral body 13 are connected to form with robot body 11 the U-shaped chamber holding car body, on the side of U-shaped chamber inner machine human agent 11, be provided with two car fork mobile devices 3, car fork mobile device 3 is provided with two the car forks 4 be parallel to each other, robot body 11 and the first robot lateral body 12 are structure as a whole, second robot lateral body 13 is I humanoid robot lateral body, one end of I humanoid robot lateral body is connected with robot body 11 by carriage 5, Che Cha travel mechanism 33 is two, and each Che Cha travel mechanism 33 being connected with car fork 4, two cars fork mobile devices 3 is that the line of centres of two independently car fork mobile device 3, two cars fork mobile devices 3 is parallel with the bottom surface of robot base 1, each car fork mobile device 3 comprises car fork mobile device installing rack 31, first guide rail 32 and car fork driving mechanism 33, car fork mobile device installing rack 31 is arranged on the side of robot body 11, and the first guide rail 32 and car fork driving mechanism 33 are arranged on car fork mobile device installing rack 31, car fork 4 is slidably connected by the first slide block 41 and the first guide rail 32, and car fork driving mechanism 33 drives car to pitch 4 horizontal slips on the first guide rail 32, robot base 1 is provided with the lifting gear of lifting car fork 4, and lifting gear setting pitches mobile device installing rack 31 with car and robot body 11 is connected, and lifting gear drives car fork mobile device installing rack 31 to move up and down.
When parking the vehicle, the parking robot that size is adjustable is positioned at the side of car body, by be connected to two cars car pitched on mobile device 3 and pitch 4 and stretch into respectively below wheel, guarantee that four wheels are all on car fork 4, because car fork mobile device 3 is provided with car fork driving mechanism car fork driving mechanism 33, the distance between each car fork 4 can be controlled by car fork driving mechanism car fork driving mechanism 33, to adapt to different spacing, fully contact until four wheels pitch 4 with car completely, then by the lifting gear on robot body 11, car is pitched mobile device 3 upwards to promote, and then two car forks 4 move up, car body is made to leave ground, then vehicle is transported to the parking position of specifying by the parking robot that size is adjustable by driving wheel 2, to reach the object of parking, second robot lateral body of I type is connected by the carriage arranged with robot body simultaneously, second robot lateral body can horizontally slip along robot body, by the second robot lateral body that slides, the size in U-shaped chamber can be regulated, put with the pool adapting to different length over ends of body vehicle.The relative distance that two cars in each car fork mobile device are pitched also can regulate, to adapt to the lifting transfer of different automobile types, robot base is provided with the driving wheel making robot base movement, the movement of the parking robot facilitating size adjustable, the structure of the parking robot that this size is adjustable is simple, diverse in function, simple to operation, very practical.
Screw mandrel drive mechanism is connected with the three-dimensional structure diagram of car fork see Fig. 3 to Fig. 5, screw mandrel drive mechanism comprises screw rod bushing 42, screw mandrel 6 and drives the servomotor of leading screw 6, screw mandrel 6 is arranged on car fork mobile device installing rack 31, car fork mobile device installing rack 31 is connected with robot body 11 by the fixed via on it, car fork 4 is connected with screw rod bushing 42, and screw rod bushing 42 screws with screw mandrel 6 and is connected.Screw mandrel drives structure, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Hydraulic drive mechanism is connected with the three-dimensional structure diagram of car fork see Fig. 6 to Fig. 7, hydraulic drive mechanism comprises cylinder body 72 and piston rod 71, cylinder body 72 and car are pitched mobile device installing rack 31 and are fixedly connected with, piston rod 71 and car are pitched 4 and are fixedly connected with, and car fork mobile device installing rack 31 is connected with robot body 11 by the fixed via on it.Pitched with a car respectively by the piston rod of hydraulic drive mechanism and be connected, conveniently can control each car fork, hydraulic-driven structure, drive precision high, bearing capacity is comparatively large, conveniently accurately controls.
Sliding drive mechanism is that the three-dimensional structure diagram of screw mandrel drive mechanism is see Fig. 8-Fig. 9, screw mandrel drive mechanism comprises screw rod bushing 42, screw mandrel 6 and drives the servomotor of leading screw 6, screw mandrel 6 is arranged on carriage installing rack 51, second robot lateral body 13 is connected with screw rod bushing 42, and screw rod bushing 42 screws with screw mandrel 6 and is connected.Screw mandrel drives structure, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Sliding drive mechanism is that the three-dimensional structure diagram of hydraulic drive mechanism is see Figure 10-Figure 11, sliding drive mechanism 53 is hydraulic drive mechanism, hydraulic drive mechanism comprises cylinder body 72 and piston rod 71, cylinder body 72 is fixedly connected with carriage installing rack 51, and piston rod 71 is fixedly connected with the second robot lateral body 13.Hydraulic-driven structure, drives precision high, and bearing capacity is comparatively large, conveniently accurately controls.
Parking robot adjustable to size provided by the utility model is above described in detail, apply specific case herein to set forth principle of the present utility model and embodiment, the explanation of above embodiment just understands core concept of the present utility model for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, to sum up, this description should not be construed as restriction of the present utility model.
Claims (10)
1. the parking robot that a size is adjustable, comprise robot base (1) and be arranged on the driving wheel (2) bottom described robot base (1), described robot base (1) comprises robot body (11), first robot lateral body (12) and the second robot lateral body (13), described first robot lateral body (12) and described second robot lateral body (13) are connected to form with described robot body (11) the U-shaped chamber holding car body, it is characterized in that: in described U-shaped chamber described robot body (11) side on, be provided with two cars fork mobile device (3), described each car fork mobile device (3) is provided with two cars fork (4) be parallel to each other, described robot body (11) and described first robot lateral body (12) are structure as a whole, described second robot lateral body (13) is I humanoid robot lateral body, one end of described I humanoid robot lateral body is connected with described robot body (11) by carriage (5), described robot base (1) is provided with the lifting gear promoting described car fork (4).
2. the parking robot that size according to claim 1 is adjustable, it is characterized in that: described each car fork mobile device (3) comprises car fork mobile device installing rack (31), the first guide rail (32) and car fork driving mechanism (33), described car fork mobile device installing rack (31) is arranged on the side of described robot body (11), and described first guide rail (32) and described car fork driving mechanism (33) are arranged on described car fork mobile device installing rack (31); Described car fork (4) is slidably connected by the first slide block (41) and described first guide rail (32), and described car fork driving mechanism (33) drives described car to pitch (4) in the upper horizontal slip of described first guide rail (32).
3. the parking robot that size according to claim 2 is adjustable, is characterized in that: described car fork driving mechanism (33) is two, described each car fork driving mechanism (33) is connected with described car fork (4).
4. the parking robot that size according to claim 3 is adjustable, it is characterized in that: described two cars fork mobile device (3) are two independently cars fork mobile device (3), and the line of centres of described two cars fork mobile device (3) is parallel with the bottom surface of described robot base (1).
5. the parking robot that the size according to the arbitrary claim of Claims 1-4 is adjustable, it is characterized in that: described carriage (5) comprises carriage installing rack (51), the second guide rail (52) and sliding drive mechanism (53), described carriage installing rack (51) is arranged on the side of described robot body (11), and described two guide rails (52) and described sliding drive mechanism (53) are arranged on described carriage installing rack (51); Described second robot lateral body (13) is slidably connected by the second slide block and described second guide rail (52), and described sliding drive mechanism (53) drives described second robot lateral body (13) in the upper horizontal slip of described second guide rail (52).
6. the parking robot that the size according to the arbitrary claim of claim 2 to 4 is adjustable, it is characterized in that: described car fork driving mechanism (33) is screw mandrel drive mechanism, described screw mandrel drive mechanism comprises screw rod bushing (42), screw mandrel (6) and drives the servomotor of described leading screw (6), described screw mandrel (6) is arranged on described car fork mobile device installing rack (31), described car fork (4) is connected with described screw rod bushing (42), and described screw rod bushing (42) screws with described screw mandrel (6) and is connected.
7. the parking robot that the size according to the arbitrary claim of claim 2 to 4 is adjustable, it is characterized in that: described car fork driving mechanism (33) is hydraulic drive mechanism, described hydraulic drive mechanism comprises cylinder body (72) and piston rod (71), described cylinder body (72) and described car are pitched mobile device installing rack (31) and are fixedly connected with, and described piston rod (71) is pitched (4) and is fixedly connected with described car.
8. the parking robot that size according to claim 5 is adjustable, it is characterized in that: described sliding drive mechanism (53) is screw mandrel drive mechanism, described screw mandrel drive mechanism comprises screw rod bushing (42), screw mandrel (6) and drives the servomotor of described leading screw (6), described screw mandrel (6) is arranged on described carriage installing rack (51), described second robot lateral body (13) is connected with described screw rod bushing (42), and described screw rod bushing (42) screws with described screw mandrel (6) and is connected.
9. the parking robot that size according to claim 5 is adjustable, it is characterized in that: described sliding drive mechanism (53) is hydraulic drive mechanism, described hydraulic drive mechanism comprises cylinder body (72) and piston rod (71), described cylinder body (72) is fixedly connected with described carriage installing rack (51), and described piston rod (71) is fixedly connected with the second robot lateral body (13).
10. the parking robot that the size according to the arbitrary claim of claim 2 to 4 is adjustable, it is characterized in that: described lifting gear setting pitches mobile device installing rack (31) with described car and described robot body (11) is connected, described lifting gear drives described car to pitch mobile device installing rack (31) and moves up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520882162.2U CN205089011U (en) | 2015-11-04 | 2015-11-04 | Size adjustable robot that parks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520882162.2U CN205089011U (en) | 2015-11-04 | 2015-11-04 | Size adjustable robot that parks |
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| Publication Number | Publication Date |
|---|---|
| CN205089011U true CN205089011U (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520882162.2U Active CN205089011U (en) | 2015-11-04 | 2015-11-04 | Size adjustable robot that parks |
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| CN (1) | CN205089011U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108824899A (en) * | 2018-09-07 | 2018-11-16 | 吉林大学 | A kind of Intelligent flat formula parking robot |
| CN109403683A (en) * | 2018-12-14 | 2019-03-01 | 云南昆船智能装备有限公司 | A kind of pincers act for intelligent parking robot holds/clamp device |
-
2015
- 2015-11-04 CN CN201520882162.2U patent/CN205089011U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108824899A (en) * | 2018-09-07 | 2018-11-16 | 吉林大学 | A kind of Intelligent flat formula parking robot |
| CN108824899B (en) * | 2018-09-07 | 2024-04-05 | 吉林大学 | Intelligent flat plate type parking robot |
| CN109403683A (en) * | 2018-12-14 | 2019-03-01 | 云南昆船智能装备有限公司 | A kind of pincers act for intelligent parking robot holds/clamp device |
| CN109403683B (en) * | 2018-12-14 | 2023-09-01 | 云南昆船智能装备有限公司 | Clamp holding/clamping device for intelligent parking robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 510800 Guangdong province Guangzhou Huadu Auto City Road on the north side of city Patentee after: Guangzhou Xinbang intelligent equipment Limited by Share Ltd Address before: 510800 Guangdong province Guangzhou Huadu Auto City Road on the north side of city Patentee before: Guangzhou Xinbang Automobile Equipment Manufacturing Co., Ltd. |