CN206110763U - Two -way movable intelligent garage parking moves car robot - Google Patents
Two -way movable intelligent garage parking moves car robot Download PDFInfo
- Publication number
- CN206110763U CN206110763U CN201621140684.6U CN201621140684U CN206110763U CN 206110763 U CN206110763 U CN 206110763U CN 201621140684 U CN201621140684 U CN 201621140684U CN 206110763 U CN206110763 U CN 206110763U
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- yoke
- slip
- mobile intelligent
- tubing string
- vehicle frame
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Abstract
The utility model provides an excessive bed hedgehopping is parked rack and power -assisted jacking and is unloaded and put the mechanism and moved various complex structure such as vehicle wheel order searching to the quilt that two -way movable intelligent garage parking moves car robot, simple structure, chassiss height is low, is applicable to to carry the various mini bus of fortune, especially regards as the clamping mechanism of arm lock with wire rope, has reduced the height of whole car structure especially, to various mini bus's wheel base homoenergetic centre gripping freely, need not parking wheel position in the like product. Only need the littleer power that draws because of going upward at the track to sail. Have under the whippletree at the front portion of frame or rear portion is set a roof beam in place and be used for the overlap joint to supply the slide wire current collector of the power supply and the usefulness of charging or contact the drive power supply on course guide rail side. When robot during in the wiping wire casing rail position that has the power supply source, through the current collector by the external power as driving power and charge simultaneously, then launch the battery electricity as driving power when not having external power supply.
Description
Technical field
The utility model is related to parking equipment technical field, and in particular to a kind of Bidirectional mobile 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
The tedious steps being manually accurately parked in when hanging scaffold and shift position the difficulty and many waitings that are lifted.Even if organic at present
Device people shutdown system also need to again install the complicated structure such as power lifting body and padded parking platform position additional on independent warehouse compartment, and need
Have and manually drive precisely to be parked in fixed parking platform position to be moved away from.
Utility model content
It is of the present utility model to move car there is provided a kind of Bidirectional mobile intelligent parking garage in order to solve the deficiencies in the prior art
Robot.
The utility model adopt technical solution be：A kind of Bidirectional mobile intelligent parking garage Yi Che robots, bag
Vehicle frame is included, described vehicle frame is made up of channel-section steel, grooved rail is provided with the inside of described channel-section steel, described bottom of frame is provided with several
Actuating unit, described actuating unit quantity is 3, is separately mounted to the two ends of vehicle frame and each middle, described engine
Structure is equipped with corresponding action wheel shaft, and the rear and front end of described vehicle frame is additionally provided with vision sensor, distance measuring sensor and limit
Bit switch, is provided with some groups of yoke mechanisms in described vehicle frame, every group of described yoke mechanism is slided by two and clamp yoke group
Part is constituted, and described slip clamps grooved rail horizontal sliding of the yoke component along the inner side of channel-section steel, and described slip clamps yoke group
Part is provided with pulley, and described slip to be clamped and be provided with steel wire rope, every group of described yoke mechanism between the pulley on yoke component
Two slide clamp yoke components by steel wire rope drive along grooved rail translate in opposite directions realize clamping vehicle tyre function.Described
The clamping yoke component that slides includes the shaft end fixed plate and the expansion link for clamping vehicle tyre at two ends, and described shaft end is fixed
Plate is provided with slip short axle, and described slip short axle is fixed in grooved rail, and described slip short axle is matched somebody with somebody with shaft end fixed plate sliding
Close, described slip clamps yoke component also including the flexible tubing string in the middle of the shaft end fixed plate at two ends, described flexible tubing string
Including outer lumen, two sections of telescoping tubes are provided with described outer lumen, telescoping tube is hollow structure, in the telescoping tube of described one end
Tube shaped electric machine is provided with, the front end of described tube shaped electric machine is provided with nut, and the screw rod of tube shaped electric machine shaft end extends through nut to be fixed
In the telescoping tube of the other end.
Described flexible tubing string outside is additionally provided with outer tubing string, and the wall of described flexible tubing string is provided with pin, and described is outer
The wall of tubing string is provided with gathering sill, and described pin coordinates with gathering sill sliding.
The outer wall of one end equipped with tube shaped electric machine of described telescoping tube is provided with lead pin, described lead pin be oriented to
Groove sliding coordinates.
Gathering sill the week side of boss on the wall of described outer tubing string is also welded with reinforcing plate.
The described external part for extending the telescoping tube outside vehicle frame is provided with the slip cap bobbin that can make radial rotating.
The long wheel shaft of slip for clamping yoke component load-bearing locomotive function as sliding is additionally provided with described shaft end fixed plate,
The quantity of the described long wheel shaft of slip is two, respectively the both sides before and after flexible tubing string.
Two of described yoke mechanism slide to clamp and be additionally provided with restriction jacking block between yoke component.
Two of described yoke mechanism slide to clamp and be additionally provided with limit switch between yoke component.
Described bottom of frame is additionally provided with some action wheel shafts.
The beneficial effects of the utility model are：The utility model provides a kind of Bidirectional mobile intelligent parking garage and moves car machine
Device people, simple structure, height of chassis above ground is low, it is adaptable to the various station wagons of fortune are carried, particularly using steel wire rope as the clamping of jig arm
Mechanism, is more reduction of the height of complete vehicle structure, clamping that can be freely to the wheelbase of various station wagons, without the need for like product
The excessive padded of middle wheel position of stopping parks stand and laying mechanism and various to being found by shifting vehicle wheel position etc. is unloaded in power-assisted jacking
Complicated structure.Because in orbit traveling only needs less traction power.It is useful in the case where the whippletree at the anterior or rear portion of vehicle frame is set a roof beam in place
In overlap joint is for the current collector for trolley conductor of electrical source of power and charging or is contacted with the driving power supply that row is moved on guide rail side.Work as machine
People is used as driving power and is charged simultaneously by current-collector at the trolley grooved rail position with power supply source by external power,
Without then enable during external supply of electric power storage battery as drive power.
Description of the drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model polycrystalline substance schematic diagram.
Fig. 3 is enlarged drawing at the utility model A.
Fig. 4 is enlarged drawing at the utility model B.
1- vehicle frames in figure, 2- slides and clamps yoke component, and 3- steel wire ropes, 4- stretch tubing string, and 5- slides long wheel shaft, 6- restrictions
Jacking block, 7- limit switches, 8-action wheel shaft, 11- grooved rails, 21- pulleys, 22- shaft ends fixed plate, 23- expansion links, 41- stretches
Pipe, the outer tubing strings of 42-, 43- pins, 44- slip cap bobbins, 45- gathering sills, 46- lead pins, 47- tube shaped electric machines, 221- slides short
Axle.
Specific embodiment
The utility model is further described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of Bidirectional mobile Intelligent stop
Garage Yi Che robots, including vehicle frame 1, described vehicle frame 1 is made up of channel-section steel, and grooved rail 11, institute are provided with the inside of described channel-section steel
The vehicle frame stated（1）Bottom is provided with several actuating units, and described actuating unit quantity is 3, is separately mounted to vehicle frame（1）'s
Two ends and centre, each described actuating unit is equipped with corresponding action wheel shaft（8）, whole robot is enable from rear and front end
Any direction carries car into the required vehicle bottom that moves.Described vehicle frame（1）Rear and front end be additionally provided with vision sensor, range finding
Sensor and limit switch, vision sensor is used for the required car plate sign character for moving vehicle and the identification of appearance profile judges,
Upwardly-directed distance measuring sensor be flat car enter by shifting vehicle in place when close range switch signal sensing, typically with car
The sensor of rear end one as to by shifting vehicle, in place signal is controlled, when flat car makees rightabout row to be moved, end sensor in front and back
Function and usage role exchange before and after then making.Two direction sensors are then recognized to moved vehicle and periphery obstacle distance towards before and after
And many cars are parked in the control of the distance signal on ground to be sailed out of after vehicle outbound.
Some groups of yoke mechanisms are provided with described vehicle frame 1, every group of described yoke mechanism is slided by two and clamp yoke
Component 2 is constituted, and described slip clamps grooved rail 11 horizontal sliding of the yoke component 2 along the inner side of channel-section steel, and described slip is clamped
Yoke component 2 is provided with pulley 21, and described slip to be clamped and be provided with steel wire rope 3 between the pulley 21 on yoke component 2, described
Two slip clamping yoke components 2 of every group of yoke mechanism are driven to be translated in opposite directions along grooved rail 11 by steel wire rope 3 to be realized clamping vehicle
The function of tire, described slip clamps yoke component 2 includes the shaft end fixed plate 22 at two ends and for clamping vehicle tyre
Expansion link 23, described shaft end fixed plate 22 is provided with slip short axle 221, and described slip short axle 221 is fixed in grooved rail 11,
Described slip short axle 221 coordinates with the sliding of shaft end fixed plate 22, and described slip clamps yoke component 2 also including the axle at two ends
Flexible tubing string 4 in the middle of end fixed plate 22, described flexible tubing string 4 includes outer lumen, two sections is provided with described outer lumen and is stretched
The draw 41, telescoping tube 41 is hollow structure, and the telescoping tube 41 of described one end is interior to be provided with tube shaped electric machine 47, described tube shaped electric machine
47 front end is provided with nut, and the screw rod of the shaft end of tube shaped electric machine 47 is fixed in the telescoping tube 41 of the other end through nut extension.Institute
The outside of flexible tubing string 4 stated is additionally provided with outer tubing string 42, and the wall of described flexible tubing string 4 is provided with pin 43, described outer tubing string
42 wall is provided with gathering sill 45, and described pin 43 coordinates with the sliding of gathering sill 45.
The outer wall of one end equipped with tube shaped electric machine 47 of described telescoping tube 41 is provided with lead pin 46, described lead pin
46 coordinate with the sliding of gathering sill 45.Dual-purpose is that the flexible row of plug pipe moves guide finger in motor side.Wire hole is connected in lead pin, is drawn
Line pin is stretched out in outside the long barrel arm of outer tube, and the power line screens abrasion for not making motor is pulled apart.
The week side of boss of gathering sill 45 on the wall of described outer tubing string 42 is also welded with reinforcing plate, to reinforce outer tube anti-deformation and hold
Gravity.
The described external part for extending the telescoping tube 41 outside vehicle frame 1 is provided with the slip cap bobbin that can make radial rotating
44.Circumferential rolling is acted as during for clamping tire to be used, and mitigating jig arm outside and tire frictional resistance.
The long wheel of slip for clamping the load-bearing locomotive function of yoke component 2 as sliding is additionally provided with described shaft end fixed plate 22
Axle 5, the quantity of the described long wheel shaft 5 of slip is two, respectively the both sides before and after flexible tubing string 4.
Two of described yoke mechanism slide to clamp and restriction jacking block 6 are additionally provided between yoke component 2.
Two of described yoke mechanism slide to clamp and be additionally provided with limit switch 7 between yoke component 2.
The described bottom of vehicle frame 1 is additionally provided with some action wheel shafts 8.
Slide to clamp and multiple pulleys 21 around steel wire rope be housed on the side of yoke component 2, it is each slide clamp yoke component 2 and
The steel wire rope that the pulley of the flat car two ends leg of frame has logicality mutually detours, and pulling steel wire winch wheel can more around two to three circle steel
Cord, in case skidding when steel wire rope wrings.Each slip is set to clamp the expansion link 23 of yoke component 2 under capstan winch motor is rotated pulling
Prolong U-steel frame with two slip short axles 221 to vertically move, reach clamping wheel or release discharge action.Capstan winch motor is then big speed
The deceleration worm gear motor of ratio, and with brake function, can guarantee that in the case where tire condition is clamped unlikely revolution and releases.Do not clamping
During vehicle, then at farthest stroke end, i.e., two slide clamps yoke to each telescopic cylinder plunger yoke for clamping yoke component 2 that slides
In vehicle frame end to end and middle maximum end of travel, when carrying car and needing, capstan winch motor is rotated and pulls steel wire rope component 2, is made
Two groups of slip clamping yoke components 2 are close to wheel, when any one clamping yoke component 2 that slides is near tire side, other
The direction row that each group slip clamps yoke component 2 and also can pull active force with steel wire rope is moved.Will clamping trolley tire when one
Group is slided without spring resistance and clamps the continuation clamping of yoke component 2, until the restriction jacking block 6 of two groups of slip clamping yoke components 2 is not
The row that can reaccees is moved, and the continuation of the now another group of clamping yoke of the slip with spring resistance component 2 is clamped and holds up wheel, when spacing
After switching in place, that is, complete the axle holding action of vehicle two.
Three groups of six roots of sensation action wheel shafts are arranged at panel-type frame bottom, used as the driving means taken action with ground.With dynamic one end
Wheel shaft on have sprocket wheel chain to be connected on power motor, another two groups of wheel shafts then be driven pulley.Have one little on each group rail wheel diametric plane
In the step of overall diameter, for the contact surface travelled on Mini-railway.To make three groups of wheel shafts can effectively land, U-steel frame is then
It is divided into two sections and is hinged and forms yoke mechanism pulley spindle and act the weight for undertaking most of carrying.
There is motor above the one end of Yi Che robots vehicle frame rear portion, wring steel wire rope motor, air compressor, various
Pneumatic control valve, battery, electrical equipment control components and parts etc., the front end both sides of vehicle frame and middle part limit switch, for by shifting vehicle
Tire, chassis height and foreign body from blocking by force action is limited.It is then the trade mark word of identification automobile that vision passes device, range sensor
Accord with and judge putting forward shifting vehicle outline and distance.Limit switches and match somebody with somebody on rear frame front with dynamic one end
The spring stop of limit switch is closed, to limit the setting that Che Shiyu is moved the close stroke of vehicle is proposed.Rear frame side also has various
Sensor and limit switch, are equally used for anticollision and the detection of obstacle distance.
The Yi Che robots structure is simple, and height of chassis above ground is low, it is adaptable to carry the various station wagons of fortune, particularly with steel wire rope work
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 by various complicated structures such as shifting vehicle wheel position searchings.Because in orbit traveling only needs less traction to move
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 is charged simultaneously, then enable battery when without external supply of electric power
Electricity is used as driving power.
The above is only preferred embodiment 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 the 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 the 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 Bidirectional mobile intelligent parking garage Yi Che robots, including vehicle frame（1）, described vehicle frame（1）It is made up of channel-section steel,
Grooved rail is provided with the inside of described channel-section steel（11）, it is characterised in that described vehicle frame（1）Bottom is provided with several actuating units,
Described actuating unit quantity is 3, is separately mounted to vehicle frame（1）Two ends with it is middle, each described actuating unit is all provided with
There is corresponding action wheel shaft（8）, described vehicle frame（1）Rear and front end be additionally provided with vision sensor, distance measuring sensor and limit
Bit switch, described vehicle frame（1）Some groups of yoke mechanisms are inside provided with, every group of described yoke mechanism is slided by two and clamp yoke
Component（2）Composition, described slip clamps yoke component（2）Along the grooved rail of the inner side of channel-section steel（11）Horizontal sliding, described cunning
It is dynamic to clamp yoke component（2）It is provided with pulley（21）, described slip clamps yoke component（2）On pulley（21）Between be provided with
Steel wire rope（3）, two clamping yoke components that slide of every group of described yoke mechanism（2）By steel wire rope（3）Drive along grooved rail
（11）The function of clamping vehicle tyre is realized in opposite translation.
2. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Slide and clamp yoke component（2）Including the shaft end fixed plate at two ends（22）With for clamping the expansion link of vehicle tyre（23）, institute
The shaft end fixed plate stated（22）It is provided with slip short axle（221）, described slip short axle（221）It is fixed on grooved rail（11）It is interior, institute
The slip short axle stated（221）With shaft end fixed plate（22）Sliding coordinates, and described slip clamps yoke component（2）Also include two ends
Shaft end fixed plate（22）Middle flexible tubing string（4）, described flexible tubing string（4）Including outer lumen, in described outer lumen
It is provided with two sections of telescoping tubes（41）, telescoping tube（41）For hollow structure, the telescoping tube of described one end（41）Inside it is provided with tube shaped electric machine
（47）, described tube shaped electric machine（47）Front end be provided with nut, tube shaped electric machine（47）The screw rod of shaft end extends through nut to be fixed
In the telescoping tube of the other end（41）It is interior.
3. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Flexible tubing string（4）Outside is additionally provided with outer tubing string（42）, described flexible tubing string（4）Wall be provided with pin（43）, described is outer
Tubing string（42）Wall be provided with gathering sill（45）, described pin（43）With gathering sill（45）Sliding coordinates.
4. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 3, it is characterised in that described
Telescoping tube（41）Equipped with tube shaped electric machine（47）The outer wall of one end be provided with lead pin（46）, described lead pin（46）With lead
To groove（45）Sliding coordinates.
5. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 3, it is characterised in that described
Outer tubing string（42）Wall on gathering sill（45）The week side of boss is also welded with reinforcing plate.
6. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Extend vehicle frame（1）Outer telescoping tube（41）External part be provided with the slip cap bobbin that can make radial rotating（44）.
7. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Shaft end fixed plate（22）On be additionally provided with as slide clamp yoke component（2）The long wheel shaft of slip of load-bearing locomotive function（5）, it is described
The long wheel shaft of slip（5）Quantity be two, respectively positioned at flexible tubing string（4）Before and after both sides.
8. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Two of yoke mechanism slide and clamp yoke component（2）Between be additionally provided with restriction jacking block（6）.
9. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Two of yoke mechanism slide and clamp yoke component（2）Between be additionally provided with limit switch（7）.
10. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Vehicle frame（1）Bottom is additionally provided with some action wheel shafts（8）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140684.6U CN206110763U (en) | 2016-10-20 | 2016-10-20 | Two -way movable intelligent garage parking moves car robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140684.6U CN206110763U (en) | 2016-10-20 | 2016-10-20 | Two -way movable intelligent garage parking moves car robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206110763U true CN206110763U (en) | 2017-04-19 |
Family
ID=58527294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621140684.6U Withdrawn - After Issue CN206110763U (en) | 2016-10-20 | 2016-10-20 | Two -way movable intelligent garage parking moves car robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206110763U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106320773A (en) * | 2016-10-20 | 2017-01-11 | 温州燧人智能科技有限公司 | Bidirectional mobile intelligent parking garage car moving robot |
| CN111236715A (en) * | 2020-01-22 | 2020-06-05 | 同济大学 | Parking robot clamping arm device adaptive to tire diameter |
-
2016
- 2016-10-20 CN CN201621140684.6U patent/CN206110763U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106320773A (en) * | 2016-10-20 | 2017-01-11 | 温州燧人智能科技有限公司 | Bidirectional mobile intelligent parking garage car moving robot |
| CN111236715A (en) * | 2020-01-22 | 2020-06-05 | 同济大学 | Parking robot clamping arm device adaptive to tire diameter |
| CN111236715B (en) * | 2020-01-22 | 2021-05-11 | 同济大学 | Parking robot clamping arm device adaptive to tire diameter |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170419 Effective date of abandoning: 20180504 |
|
| AV01 | Patent right actively abandoned |