CN206091480U - X type arm lock formula intelligence garage parking moves car robot - Google Patents
X type arm lock formula intelligence garage parking moves car robot Download PDFInfo
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- CN206091480U CN206091480U CN201621140727.0U CN201621140727U CN206091480U CN 206091480 U CN206091480 U CN 206091480U CN 201621140727 U CN201621140727 U CN 201621140727U CN 206091480 U CN206091480 U CN 206091480U
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- yoke
- parking garage
- intelligent parking
- type clamping
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Abstract
The utility model provides a X type arm lock formula intelligence garage parking moves car robot, is the radial curved yoke that stretches out to the four corners through four, thereby rotates six arris steel columns and drive four curved yokes and be X type crossing state and supported the vehicle by following the axial, to various mini bus's wheel base homoenergetic centre gripping freely, need not in the like product the excessive bed hedgehopping of parking wheel position and parks rack and power -assisted jacking and unload and put the mechanism and reach various complex structure such as being moved the searching of vehicle wheel order to the quilt. Only need the littleer power that draws because of going upward at the track to sail, then launch the battery electricity as driving power when not having external power supply.
Description
Technical field
This utility model is related to parking equipment technical field, and in particular to a kind of X-type clamping-arm intelligent parking garage moves car machine
Device people.
Background technology
In recent years, with Domestic Automotive Industry and the fast development of urbanization, Urban vehicles poputation is continuously increased,
Large, medium and small city occurs in that the problem of parking difficulty in succession.Mechanical solid parking lot storehouse is accompanied by parking difficulty problem and progressively sends out
The new industry that exhibition is got up, is known as and solves the problems, such as population, building dense area, the preferred means of common service area parking difficulty.
At present, all kinds of research and development main bodys oneself develop polytype mechanical stereo parking garage, according to the difference in space telescopic direction, can be with
It is divided into following several：Lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., wherein rising
Drop cross sliding type parking systems be current technology it is the most ripe, using most forms.And existing plain edition garage parking must be by
Tedious steps when the artificial difficulty for being accurately parked in the hanging scaffold and shift position for being lifted and many waitings.Even if organic at present
Device people shutdown system also need to install the complicated structure such as power lifting body and padded parking platform position on independent warehouse compartment again additional, and need
Have and manually drive precisely to be parked on fixed parking platform position to be moved away from.
Utility model content
It is in order to solve the deficiencies in the prior art, of the present utility model to move car there is provided a kind of X-type clamping-arm intelligent parking garage
Robot.
This utility model adopt technical solution be：A kind of X-type clamping-arm intelligent parking garage Yi Che robots, bag
Vehicle frame is included, described vehicle frame is made up of channel-section steel, one end of described vehicle frame is provided with control end, extends one in described control end
Root can axially rotate steel column, and described six-edged steel post is provided with XXing Cha pawls mechanism, and described XXing Cha pawls mechanism quantity is
Two, respectively positioned at the two ends of six-edged steel post, described XXing Cha pawls mechanism includes the two-way Luo bars being set on six-edged steel post
Cylinder, the two ends of described two-way Luo bars cylinder are provided with screw thread in opposite direction, and described XXing Cha pawls mechanism also includes fork pawl main body,
Described fork pawl main body is provided with four radial curved yokes stretched out to corner, and one end of described curved yoke is hinged
In fork pawl main body, nut is arranged with the screw thread of described two-way Luo bars cylinder, is also set between described nut and curved yoke
The two ends for having movable rod, described movable rod are hinged on nut and curved yoke, and four described curved yokes include
The first position that is parallel to each other and movable rod is driven to make four curved yokes in X-type cross state second by nut
Position, the centre of described curved yoke are additionally provided with horizontal stand, described horizontal stand by lock pin be fixed on four it is curved
On yoke, described horizontal stand bottom is provided with universal wheel, and jacking spring is additionally provided between described universal wheel and horizontal stand.
The hexagonal endoporus that steel column matches is provided with described two-way Luo bars cylinder, described six-edged steel post is plugged on two-way Luo
In bar cylinder.
The two ends of described fork pawl main body are additionally provided with mounting groove, and described curved yoke 32 is hinged in mounting groove.
Described universal wheel includes bearing, and described rest base is provided with pulley, and described horizontal stand two ends are provided with peace
Dress hole, described bearing are arranged in installing hole and horizontal stand clearance fit.
The front end of described vehicle frame is additionally provided with slipper.
Rolling bushing is arranged with described curved yoke, the end of described curved yoke is provided with holding with self-aligning ball bearing
Weight pulley.
Described movable rod is provided with and plays yoke clamping and release the limit switch of stroke control function and to vehicle
Tire seeks the sensor of position.
Range sensor and vision sensor are additionally provided with described robot.
Locked groove is additionally provided with the inside of the channel-section steel of described vehicle frame both sides, described horizontal stand is provided with locating detent, institute
The locating detent stated is entered in the locked groove of vehicle frame both sides channel-section steel with 32 pinching action of curved yoke, tows the mobile time limit in vehicle frame
The slip of the vehicle of curved yoke 32 to two directions before and after robot is made.
The beneficial effects of the utility model are：This utility model provides a kind of X-type clamping-arm intelligent parking garage and moves car machine
Device people, by four radial curved yokes stretched out to corner, by axially rotating, six-edged steel post drive four is curved
Yoke in X-type cross state so as to support vehicle, clamping that can be freely to the wheelbase of various station wagons, without the need for similar
The excessive padded of wheel position that stop in product parks stand and power-assisted jacking is unloaded laying mechanism and found etc. to moving vehicle wheel position
Various complicated structures.Because traveling only needs less traction power in orbit, electric power storage is then enabled in no external supply of electric power
Pond electricity is used as driving power.
Description of the drawings
Fig. 1 is this utility model structural representation.
Fig. 2 is this utility model polycrystalline substance schematic diagram.
Fig. 3 is the curved yoke first position structural representation of this utility model.
1- control ends in figure, 2- steel columns, 3-X Xing Cha pawls mechanism, the two-way Luo bars cylinders of 4-, 5- vehicle frames, 6- horizontal stands, 7-
Limit switch, 8- universal wheels, 31- fork pawl main bodys, the curved yokes of 32-, 33- nuts, 34- movable rods, 36- rolling bushings, 37- hold
Weight pulley, 51- locked grooves, 61- locating detents, 81- bearings.
Specific embodiment
This utility model is further described in conjunction with Fig. 1, Fig. 2, Fig. 3, a kind of X-type clamping-arm intelligent parking garage
Yi Che robots, including vehicle frame 5, described vehicle frame 5 are made up of channel-section steel, and extending one in described control end 1 can be vertically
Six-edged steel post 2 is rotated, described six-edged steel post 2 is provided with XXing Cha pawls mechanism 3, and described 3 quantity of XXing Cha pawls mechanism is two
Individual, respectively positioned at the two ends of six-edged steel post 2, described XXing Cha pawls mechanism 3 includes the two-way Luo bars being set on six-edged steel post 2
Cylinder 4, is provided with the hexagonal endoporus that six-edged steel post 2 matches in described two-way Luo bars cylinder 4, described six-edged steel post 2 is plugged on double
Into Luo bars cylinder 4.The two ends of described two-way Luo bars cylinder 4 are provided with screw thread in opposite direction, and described XXing Cha pawls mechanism 3 also wraps
Fork pawl main body 31 is included, described fork pawl main body 31 is provided with four radial curved yokes 32 stretched out to corner, described
One end of curved yoke 32 is hinged in fork pawl main body 31, and the two ends of described fork pawl main body 31 are additionally provided with mounting groove, described
Curved yoke 32 is hinged in mounting groove.Nut 33, described 33 He of nut are arranged with the screw thread of described two-way Luo bars cylinder 4
Movable rod 34 is additionally provided between curved yoke 32, the two ends of described movable rod 34 are hinged on nut 33 and curved yoke 32
On, four described curved yokes 32 include the first position being parallel to each other and drive movable rod 34 to make four by nut 33
The second position of the curved yoke 32 of root in X-type cross state.The centre of described curved yoke 32 is additionally provided with horizontal stand 6, institute
The horizontal stand 6 stated is fixed on four curved yokes 32 by lock pin, and described 6 bottom of horizontal stand is provided with universal wheel 8, institute
The universal wheel 8 stated includes bearing 81, and described 81 bottom of bearing is provided with pulley, and described 6 two ends of horizontal stand are provided with installing hole,
Described bearing 81 is arranged in installing hole and 6 clearance fit of horizontal stand.Between described universal wheel 8 and horizontal stand 6 also
It is provided with jacking spring.In the case where gravity is not subject to, the jacking spring of universal wheel 8 slightly makes the 32 block jacking of curved yoke leave ground
Face, it is to avoid 32 block of curved yoke makes load-bearing pulley sagittal plane not up to parallel to walking track phase when tire is not clamped
Scrape with ground with trend.After clamping vehicle tyre, universal wheel 8 is radial parallel to be moved track in row and plays load-bearing and be used,
Jacking spring is also pressurized therewith, and universal wheel can also be played shares vehicle sections gravity.
Rolling bushing 36 is arranged with described curved yoke 32, the end of described curved yoke 32 is provided with band spherical ball axle
The load-bearing pulley 37 for holding.
The front end of described vehicle frame 5 is additionally provided with slipper.
Described movable rod 34 is provided with and plays yoke clamping and release the limit switch 7 of stroke control function and to car
Tire seeks the sensor of position.
Range sensor and vision sensor are additionally provided with described robot.Survey for the distance to being clamped vehicle
Measure, move the identification of the target and characters on license plate of vehicle.
Locked groove 51 is additionally provided with the inside of the channel-section steel of described 5 both sides of vehicle frame, described horizontal stand 6 is provided with locating detent
61, described locating detent 61 is entered in the locked groove 51 of 5 both sides channel-section steel of vehicle frame, in vehicle frame 5 with 32 pinching action of curved yoke
The slip of the vehicle of curved yoke 32 to two directions before and after robot is limited when towing mobile.
When robot is into the vehicle bottom for being pressed from both sides, by the close sensing of one ZuXXing Cha pawls mechanism of rear portion, 3 shaft end
Device is made to be close to response output switching signal to clamped vehicle tyre, makes robot suspend row and moves, i.e., by Motor drive six-edged steel
Rotation makees pinching action to each jig arm.Pressed from both sides when piece curved yoke of one ZuXXing Cha pawls mechanism of front end, 3 any of which 32 is close
During vehicle tyre one side, the curved yoke 32 of whole group two-way Luo bars pinching action effect under curved yoke 32 be gradually becoming tight in
Required stress side is moved, until the whole wheel of clamping lifting, has reached the purpose of mobile vehicle.
The Yi Che robots structure is simple, and height of chassis above ground is low, it is adaptable to carries the various station wagons of fortune, is particularly made with steel wire rope
For the clamp system of jig arm, the height of complete vehicle structure is more reduction of, clamping that can be freely to the wheelbase of various station wagons
Applicable vehicle wheelbase can be between 1-4 rice, and without the need for stopping in like product, wheel the excessive padded of position parks stand and power-assisted top
Rise and unload laying mechanism and to being moved the various complicated structures such as vehicle wheel position searching.Because traveling only needs less traction to move in orbit
Power.Have in the case where the whippletree at the anterior or rear portion of vehicle frame is set a roof beam in place for overlap joint for the current collector for trolley conductor of electrical source of power and charging or
It is contacted with the driving power supply that row is moved on guide rail side.When shifting car robot ride is in the trolley grooved rail position with power supply source
When, driving power is used as by external power by current collector and while charging, then enables accumulator in no external supply of electric power
Electricity is used as driving power.
The above is only preferred implementation of the present utility model, and protection domain of the present utility model is not limited merely to
Above-described embodiment, all technical schemes belonged under this utility model thinking belong to protection domain of the present utility model.Should refer to
Go out, for those skilled in the art, some improvement under the premise of without departing from this utility model principle and
Retouching, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of X-type clamping-arm intelligent parking garage Yi Che robots, including vehicle frame（5）, described vehicle frame（5）It is made up of channel-section steel,
Described vehicle frame（5）One end be provided with control end（1）, described control end（1）On extend one and can axially rotate six ribs
Steel column（2）, it is characterised in that described six-edged steel post（2）It is provided with XXing Cha pawls mechanism（3）, described XXing Cha pawls mechanism
（3）Quantity is two, respectively positioned at six-edged steel post（2）Two ends, described XXing Cha pawls mechanism（3）Two ends six-edged steel post
（2）On be equipped with and prevent XXing Cha pawls mechanism（3）The Fixing shrink ring of axial slip, described XXing Cha pawls mechanism（3）Also include
Fork pawl main body（31）, described fork pawl main body（31）It is provided with four radial curved yokes stretched out to corner（32）, institute
The curved yoke stated（32）One end be hinged on fork pawl main body（31）On, four described curved yokes（32）Including being parallel to each other
First position and pass through nut（33）Drive movable rod（34）Make four curved yokes（32）In X-type cross state
The second position, described curved yoke（32）Centre be additionally provided with horizontal stand（6）, described horizontal stand（6）By lock pin
It is fixed on four curved yokes（32）On, described horizontal stand（6）Bottom is provided with universal wheel（8）, described universal wheel（8）With
Horizontal stand（6）Between be additionally provided with jacking spring.
2. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
XXing Cha pawls mechanism（3）Including being set in steel column（2）On two-way Luo bars cylinder（4）, described two-way Luo bars cylinder（4）Two ends set
There are screw thread in opposite direction, described two-way Luo bars cylinder（4）Screw thread on be arranged with nut（33）, described nut（33）And song
Shape yoke（32）Between be additionally provided with movable rod（34）, described movable rod（34）Two ends be hinged on nut（33）With it is curved
Yoke（32）On.
3. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Steel column（2）It is plugged on two-way Luo bars cylinder（4）It is interior.
4. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Fork pawl main body（31）Two ends be additionally provided with mounting groove, described curved yoke（32）It is hinged in mounting groove.
5. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Universal wheel（8）Including bearing（81）, described bearing（81）Bottom is provided with pulley, described horizontal stand（6）Two ends are provided with peace
Dress hole, described bearing（81）In installing hole and horizontal stand（6）Clearance fit.
6. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Vehicle frame（5）Front end be additionally provided with slipper.
7. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Curved yoke（32）On be arranged with rolling bushing（36）, described curved yoke（32）End be provided with the load-bearing with self-aligning ball bearing
Pulley（37）.
8. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Movable rod（34）It is provided with the limit switch for playing that yoke clamps and release stroke control function（7）Position is sought with to vehicle tyre
Sensor.
9. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Range sensor and vision sensor are additionally provided with robot.
10. a kind of X-type clamping-arm intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Vehicle frame（5）Locked groove is additionally provided with the inside of the channel-section steel of both sides（51）, described horizontal stand（6）It is provided with locating detent（61）,
Described locating detent（61）With curved yoke（32）Pinching action enters into vehicle frame（5）The locked groove of both sides channel-section steel（51）It is interior,
Vehicle frame（5）Curved yoke is limited when towing mobile（32）Slip from vehicle to two directions before and after robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140727.0U CN206091480U (en) | 2016-10-20 | 2016-10-20 | X type arm lock formula intelligence garage parking moves car robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140727.0U CN206091480U (en) | 2016-10-20 | 2016-10-20 | X type arm lock formula intelligence garage parking moves car robot |
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| Publication Number | Publication Date |
|---|---|
| CN206091480U true CN206091480U (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621140727.0U Active CN206091480U (en) | 2016-10-20 | 2016-10-20 | X type arm lock formula intelligence garage parking moves car robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106320774A (en) * | 2016-10-20 | 2017-01-11 | 温州燧人智能科技有限公司 | X-type clamping arm type intelligent vehicle moving robot for parking garage |
| CN107499290A (en) * | 2017-06-21 | 2017-12-22 | 柳州职业技术学院 | A kind of car automatic lifting moves car device |
| CN108412281A (en) * | 2018-04-13 | 2018-08-17 | 西南交通大学 | A kind of automobile carrying device |
| CN111663824A (en) * | 2020-02-28 | 2020-09-15 | 深圳力侍技术有限公司 | Automobile carrying machine |
-
2016
- 2016-10-20 CN CN201621140727.0U patent/CN206091480U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106320774A (en) * | 2016-10-20 | 2017-01-11 | 温州燧人智能科技有限公司 | X-type clamping arm type intelligent vehicle moving robot for parking garage |
| CN106320774B (en) * | 2016-10-20 | 2019-06-28 | 温州燧人智能科技有限公司 | A kind of X-type clamping-arm intelligent parking garage Yi Che robot |
| CN107499290A (en) * | 2017-06-21 | 2017-12-22 | 柳州职业技术学院 | A kind of car automatic lifting moves car device |
| CN108412281A (en) * | 2018-04-13 | 2018-08-17 | 西南交通大学 | A kind of automobile carrying device |
| CN108412281B (en) * | 2018-04-13 | 2023-09-29 | 西南交通大学 | Automobile carrying device |
| CN111663824A (en) * | 2020-02-28 | 2020-09-15 | 深圳力侍技术有限公司 | Automobile carrying machine |
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