CN206016371U - A kind of intelligent parking robot - Google Patents
A kind of intelligent parking robot Download PDFInfo
- Publication number
- CN206016371U CN206016371U CN201620623881.7U CN201620623881U CN206016371U CN 206016371 U CN206016371 U CN 206016371U CN 201620623881 U CN201620623881 U CN 201620623881U CN 206016371 U CN206016371 U CN 206016371U
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- rotating shaft
- pick
- robot
- frame
- moving frame
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Abstract
The utility model discloses a kind of intelligent parking robot, including the horizontal rail and the horizontal moving frame being arranged in horizontal rail of the lateral length direction arrangement along multi-storied garage, the horizontal moving frame to be provided with and vertically move frame along what which slided up and down, and described vertically moving be connected with frame pick-up mechanical hand.This utility model has the advantage that：1st, stop picking up the car without the need for car owner's specification, save the Transport Vehicle time of car owner；2nd, robot is arranged on space orbit, it is to avoid robot takes the parking space in garage, and robot is not moved on the ground, and the vehicle for stopping taking is not interfered with, and required arrangement space is little；3rd, robot can capture the automobile being optionally located in parking stall, broad covered area；4th, parking robot can apply to various planes or parking systems；5th, robot Transport Vehicle accurate positioning, it is to avoid colliding with artificial docking process.
Description
Technical field
This utility model is related to intelligent parking technical field, in particular to a kind of intelligent parking robot.
Background technology
There are a variety of parking robots on the market at present, they can utilize limited soil face to a certain extent
Product, obtains the parking stall being multiplied.But the Transport Vehicle method that these garage parkings are adopted substantially belongs to passive type, such as pallet
Formula robot needs driver that car is parked on vehicle-containing, then holds up automobile from vehicle-containing bottom by transfer robot, then
Transfer robot is moved to corresponding parking stall on the ground, automobile is put on parking stall or is moved to by vehicle-containing itself and is stopped
Parking stall, but vehicle-containing narrow space, it is desirable to which driver has good parking skill, must be by automobile parking in narrow and small during parking
In special parking pallet or region.
Utility model content
The purpose of this utility model seeks to the deficiency for solving above-mentioned background technology, there is provided a kind of intelligent parking robot,
The robot realizes the traversing of robot using the horizontal rail being arranged on multi-storied garage framework, is not take up exceptional space, right
Site requirements is low, and robot can grip the vehicle of each position in cog region, the parking skill of driver is required low.
In order to achieve this, the intelligent parking robot designed by this utility model, including including space orbit and in sky
Between move on track, automobile grabbed space bit that overhead positions are then placed into certain setting from ground from stereo directional
The pick-up mechanical hand that puts.
Specifically, the space orbit includes horizontal rail, is provided with horizontal moving frame in the horizontal rail, the water
Translation moving frame to be provided with and vertically move frame along what which slided up and down, and the pick-up mechanical hand is fixedly connected on and vertically moves on frame.
Specifically, the pick-up mechanical hand includes being perpendicularly fixed at the rotary shaft rack vertically moved on frame, the rotating shaft
The front end of frame is provided with the first rotating shaft of vertical arrangement；The first rotating shaft is fixedly connected with rotating shaft connecting rod, the rotating shaft connecting rod
Front end is provided with the second rotating shaft of vertical arrangement, and second rotating shaft is fixedly connected with pick-up support, fixed on the pick-up support
Have for gripping the pick-up cover of vehicle.
Specifically, the cover of picking up the car includes four tires of pick-up over body case, the bottom of the pick-up over body case and vehicle
A tire gripping body for gripping tire is respectively equipped with corresponding position.
Specifically, the tire gripping body includes the clamping bar bearing being fixed on the inside of pick-up over body case, the clamping bar
Before and after seat, both sides have been respectively articulated with a tire clamping bar, are provided with the folder of tire on the drive wheels clamping bar rotation in the middle part of the clamping bar bearing
Bar driver.
Specifically, the back side of the horizontal moving frame be provided with horizontal rail coordinate move horizontally roller, the level
Be provided with the top of movable stand drive move horizontally roller rotation move horizontally roller motor.
Further, the two ends of the horizontal rail are provided with and move horizontally the guide rail limited block of roller cooperation.
Specifically, the both sides of the horizontal moving frame are vertically provided with respectively and vertically move guide rail, the vertical shifting
The back side both sides of moving frame be provided with and vertically move guide rail cooperation vertically move roller, the back side for vertically moving frame is provided with drive
The dynamic rotation for vertically moving roller vertically moves roller motor.
Further, the top and bottom of the horizontal moving frame is respectively fixed with one piece with to vertically move roller corresponding
Limiting plate.
Specifically, the first rotating shaft motor for driving first rotating shaft rotation, institute are connected with the top of the first rotating shaft
State and at the top of the second rotating shaft, be connected with the second rotating shaft motor for driving the second rotating shaft rotation.
The beneficial effects of the utility model are：1st, stop picking up the car without the need for car owner's specification, save the Transport Vehicle time of car owner；2、
Robot is arranged on space orbit, it is to avoid robot takes the parking space in garage, and robot is not moved on the ground,
The vehicle for stopping taking is not interfered with, required arrangement space is little；3rd, robot can capture the automobile being optionally located in parking stall,
Broad covered area；4th, parking robot can apply to various planes or parking systems；5th, robot Transport Vehicle accurate positioning, it is to avoid
Colliding with artificial docking process.
Description of the drawings
Fig. 1 is that parking robot is installed on the front view on multi-storied garage in this utility model；
Fig. 2 is that parking robot is installed on the left view on multi-storied garage in this utility model；
Fig. 3 is the partial enlarged drawing in Fig. 2 at A；
Fig. 4 is that parking robot is installed on the top view on multi-storied garage in this utility model；
Fig. 5 is the partial enlarged drawing in Fig. 4 at B；
Fig. 6 is the structure schematic diagram of horizontal moving frame in this utility model；
Wherein, 1 multi-storied garage, 2 horizontal rails, 3 horizontal moving frames, 4 vertically move frame, 5 pick-up machineries
Handss (501 rotary shaft racks, 502 first rotating shafts, 503 rotating shaft connecting rods, 504 second rotating shafts, 505 pick-up supports,
506 pick up the car covers), 6 pick-up over body cases, 7 tire gripping bodies (701 clamping bar bearings, 702 tire on the drive wheels clamping bars,
703 clamping bar drivers), 8 move horizontally roller, and 9 move horizontally roller motor, and 10 vertically move guide rail, and 11 hang down
Straight shifting roller, 12 vertically move roller motor, 13 limiting plates, 14 first rotating shaft motors, 15 second rotating shafts
Motor, 16 guide rail limited blocks.
Specific embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Intelligent parking robot as shown in Figure 1 includes the horizontal rail 2 that arranges along the lateral length direction of multi-storied garage 1
With the horizontal moving frame 3 being arranged in horizontal rail 2, horizontal moving frame 3 to be provided with and vertically move frame 4 along what which slided up and down,
Vertically move and on frame 4, be connected with pick-up mechanical hand 5.Horizontal moving frame 3 covers multi-storied garage 1 along 2 transverse shifting of horizontal rail
Lateral length, vertically moves frame 4 and moves up and down along horizontal moving frame 3, covers the longitudinal direction height of multi-storied garage 1, while mechanical hand 5
The all vehicles in identification range can be gripped, and delivers to vacant parking stall, using the frame structure placement machine people in garage, not accounted for
With garage runway and ground space, extensively, practicality is good for the suitability.Pick-up mechanical hand 5 includes being perpendicularly fixed at and vertically moves frame 4
On rotary shaft rack 501, the front end of rotary shaft rack 501 is provided with the first rotating shaft 502 of vertical arrangement；First rotating shaft 502 is fixed and is connected
Rotating shaft connecting rod 503 is connected to, the front end of rotating shaft connecting rod 503 is provided with the second rotating shaft 504 of vertical arrangement, and the second rotating shaft 504 is fixed and connected
Pick-up support 505 is connected to, is fixed with pick-up support 505 for gripping the pick-up cover 506 of vehicle.
As shown in Fig. 25, cover 506 of picking up the car includes that pick-up over body case 6, the bottom of pick-up over body case 6 are taken turns with the four of vehicle
A tire gripping body 7 for gripping tire is respectively equipped with the corresponding position of tire；Tire gripping body 7 includes being fixed on
Clamping bar bearing 701 on the inside of pick-up over body case 6, before and after clamping bar bearing 701, both sides have been respectively articulated with a tire clamping bar 702,
The middle part of clamping bar bearing 701 is provided with the clamping bar driver 703 of the rotation of tire on the drive wheels clamping bar 702.
As shown in Fig. 2 the back side of horizontal moving frame 3 is provided with moves horizontally roller 8 with horizontal rail 2 coordinates, level is moved
The top of moving frame 3 be provided with drive move horizontally roller 8 rotation move horizontally roller motor 9.
As shown in figure 1, the two ends of horizontal rail 2 are provided with and move horizontally the guide rail limited block 16 of the cooperation of roller 8.
As shown in fig. 6, the both sides of horizontal moving frame 3 are vertically provided with respectively vertically moves guide rail 10, vertically move
The back side both sides of frame 4 be provided with and vertically move guide rail 10 cooperation vertically move roller 11, the back side for vertically moving frame 4 is provided with drive
The dynamic rotation for vertically moving roller 11 vertically moves roller motor 12.The top and bottom of horizontal moving frame 3 is respectively fixed with
One piece with vertically move 11 corresponding limiting plate 13 of roller.
The first rotating shaft of the rotation of first rotating shaft 502 is driven to drive electricity as shown in figure 1, the top of first rotating shaft 502 is connected with
Machine 14, the top of the second rotating shaft 504 are connected with the second rotating shaft motor 15 for driving the rotation of the second rotating shaft 504.
The course of work of the present utility model is：Driver preengages parking demand by AAP softwares or card-punching system, by automobile with
Meaning docks at pick-up region, obtains multi-angle vehicle body real time imaging and license board information (through backstage by image acquisition positioner
Computer integrated is analyzed and calculates the actual geometry of vehicle), and confirm automobile position coordinate.Driver assigns after stopping and stops
Car is instructed, and confirms that perimeter security situation, system drive move horizontally 9 action of roller motor, move horizontally by infrared scanning device
Frame 3 moves to du vehicule to be stopped, and vertically moves 4 downward actuation of frame, while by first rotating shaft 502 and the second rotating shaft 504
Coordinate, make pick-up cover 506 just treat that parking is covered, now 703 action of clamping bar driver, 702 action of tire on the drive wheels clamping bar,
From before and after wheel, wheel is picked up by both sides, finally automobile is positioned on vacant parking stall using horizontal rail 2, completes to stop
Process.When driver picks up the car, confirm that, after perimeter security situation, parking robot is according to the vapour stored in system by infrared scanning system
Car data adjusts the structure of pick-up mechanical hand 5 and position again, and automobile is picked up, and is smoothly positioned over pick-up region, last machine
Device people returns original position, completes pick-up process.
Robot is arranged on space orbit, it is to avoid robot takes the parking space in garage, and robot does not exist
Movement over ground, does not interfere with to the vehicle for stopping taking, and required arrangement space is little, is applicable to all kinds of garage parkings, the scope of application
Extensively.
The above, is only preferred embodiment of the present utility model, not structure of the present utility model is done any
Pro forma restriction.Every any simple modification that above example is made according to technical spirit of the present utility model, equivalent
Change and modification, still fall within the range of the technical solution of the utility model.
Claims (7)
1. a kind of intelligent parking robot, it is characterised in that：It include space orbit and move on space orbit, from solid side
Automobile is grabbed the pick-up mechanical hand (5) that overhead positions are then placed on the locus of certain setting from ground upwards；
The space orbit includes horizontal rail (2), is provided with horizontal moving frame (3) on horizontal rail (2), described moves horizontally
Frame (3) to be provided with and vertically move frame (4) along what which slided up and down, and pick-up mechanical hand (5) are fixedly connected on and vertically move frame
(4) on；Described pick-up mechanical hand (5) include being perpendicularly fixed at the rotary shaft rack (501) vertically moved on frame (4), the rotating shaft
The front end of support (501) is provided with the first rotating shaft (502) of vertical arrangement；First rotating shaft (502) are fixedly connected with rotating shaft company
Bar (503), the front end of rotating shaft connecting rod (503) are provided with second rotating shaft (504) of vertical arrangement, the second rotating shaft (504)
Pick-up support (505) is fixedly connected with, is fixed with pick-up support (505) for gripping the pick-up cover (506) of vehicle.
2. intelligent parking robot as claimed in claim 1, it is characterised in that：The cover (506) of picking up the car includes pick-up case
Body (6), is respectively equipped with one for gripping at the position corresponding with the four of vehicle tires of the bottom of pick-up over body case (6)
The tire gripping body (7) of tire；Described tire gripping body (7) include the clamping bar being fixed on the inside of pick-up over body case (6)
Seat (701), before and after clamping bar bearing (701), both sides have been respectively articulated with a tire clamping bar (702), the clamping bar bearing
(701) the clamping bar driver (703) that tire on the drive wheels clamping bar (702) is rotated is provided with the middle part of.
3. intelligent parking robot as claimed in claim 1, it is characterised in that：The back side of horizontal moving frame (3) is provided with
Roller (8) is moved horizontally with horizontal rail (2) coordinates, driving is provided with the top of horizontal moving frame (3) and is moved horizontally rolling
What wheel (8) rotated moves horizontally roller motor (9).
4. intelligent parking robot as claimed in claim 3, it is characterised in that：The two ends of horizontal rail (2) be provided with
Move horizontally the guide rail limited block (16) that roller (8) coordinates.
5. intelligent parking robot as claimed in claim 1, it is characterised in that：The both sides difference of horizontal moving frame (3)
Vertically it is provided with and vertically moves guide rail (10), the back side both sides for vertically moving frame (4) is provided with and vertically moves guide rail
(10) coordinated vertically moves roller (11), and the back side for vertically moving frame (4) is provided with driving and vertically moves roller (11)
Rotated vertically moves roller motor (12).
6. intelligent parking robot as claimed in claim 5, it is characterised in that：The top and bottom of horizontal moving frame (3)
Portion is respectively fixed with one piece of limiting plate (13) corresponding with roller (11) is vertically moved.
7. intelligent parking robot as claimed in claim 1, it is characterised in that：The top connection of first rotating shaft (502)
The first rotating shaft motor (14) for having driving first rotating shaft (502) to rotate, is connected with drive at the top of the second rotating shaft (504)
The second rotating shaft motor (15) that dynamic second rotating shaft (504) rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620623881.7U CN206016371U (en) | 2016-06-22 | 2016-06-22 | A kind of intelligent parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620623881.7U CN206016371U (en) | 2016-06-22 | 2016-06-22 | A kind of intelligent parking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206016371U true CN206016371U (en) | 2017-03-15 |
Family
ID=58243091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620623881.7U Withdrawn - After Issue CN206016371U (en) | 2016-06-22 | 2016-06-22 | A kind of intelligent parking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206016371U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105937323A (en) * | 2016-06-22 | 2016-09-14 | 武汉智象机器人有限公司 | Intelligent parking robot and working method thereof |
| CN107762216A (en) * | 2017-10-30 | 2018-03-06 | 杭州极木科技有限公司 | A kind of method of stop robot and moving automobile |
| WO2019015495A1 (en) * | 2017-07-18 | 2019-01-24 | 武汉智象机器人有限公司 | Smart underground parking lot, and parking method for same |
| CN109884661A (en) * | 2019-03-14 | 2019-06-14 | 珠海丽亭智能科技有限公司 | Vehicle appearance measurement method and device and equipment based on laser radar apparatus |
-
2016
- 2016-06-22 CN CN201620623881.7U patent/CN206016371U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105937323A (en) * | 2016-06-22 | 2016-09-14 | 武汉智象机器人有限公司 | Intelligent parking robot and working method thereof |
| CN105937323B (en) * | 2016-06-22 | 2019-07-09 | 武汉智象机器人有限公司 | A kind of intelligent parking robot and its working method |
| WO2019015495A1 (en) * | 2017-07-18 | 2019-01-24 | 武汉智象机器人有限公司 | Smart underground parking lot, and parking method for same |
| CN107762216A (en) * | 2017-10-30 | 2018-03-06 | 杭州极木科技有限公司 | A kind of method of stop robot and moving automobile |
| CN109884661A (en) * | 2019-03-14 | 2019-06-14 | 珠海丽亭智能科技有限公司 | Vehicle appearance measurement method and device and equipment based on laser radar apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170315 Effective date of abandoning: 20190709 |
|
| AV01 | Patent right actively abandoned |