CN206530117U - Intelligent omnidirectional's shifting carrying platform parking robot - Google Patents
Intelligent omnidirectional's shifting carrying platform parking robot Download PDFInfo
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- CN206530117U CN206530117U CN201720193135.3U CN201720193135U CN206530117U CN 206530117 U CN206530117 U CN 206530117U CN 201720193135 U CN201720193135 U CN 201720193135U CN 206530117 U CN206530117 U CN 206530117U
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Abstract
The utility model discloses a kind of intelligent omnidirectional's shifting carrying platform parking robot, including parking robot body, the both sides of parking robot body are provided with least two groups Mecanum wheels, each Mecanum wheel is driven by a set of servomotor to be rotated, electric supply installation is provided with parking robot body, the top of parking robot body sets up the parking frame having for parking, the two ends of parking robot body are provided with one group of elevating mechanism, parking frame is set up on elevating mechanism, vehicle control syetem is additionally provided with parking robot body, due to applying Mecanum wheel, it can be turned with original place no-radius, can be directly traversing to both sides, it can translate and rotate to both sides any angle, it moves more accurate flexible, effectively reduce the auxiliary convolution space of tradition parking, the auxiliary space accountings such as passageway of stopping are small, improve the parking density and space availability ratio in garage.
Description
Technical field
The utility model is related to intelligent parking garage, and in particular to a kind of intelligent omnidirectional's shifting carrying platform parking robot.
Background technology
Adopt and then popularization and application with the development of society, intelligent parking garage is progressively approved by people, then Intelligent stop
Car robot arises at the historic moment, but is combined more than parking robot at present using common wheel with universal wheel, general revolution half
Footpath is than larger, and positioning motion is single and precision is not high, is unfavorable for saving garage parking space.
The elevating mechanism used in existing parking robot is usually using electric pushrod, or hydraulic lift.It is electronic to push away
Linkage defect, which is to compare in the height direction, to take up space, and the elevating mechanism of hydraulic-driven then needs extra hydraulic oil
Case, with hydraulic power unit, is not suitable for the application scenario of narrow space；
To sum up, required space is larger when existing parking robot is due to action, it is impossible to suitable for narrow and small application scenario,
In addition in robot control aspect, existing parking robot is generally controlled by the way of manually controlling, efficiency
Lowly, function is single, using underaction, additionally due to various constructed parking garage structures are different, such as some are stopped using broach frame, are had
It is a little to be stopped using parking pallet, and current parking robot can not be adapted to different parking occasions.
Utility model content
The purpose of this utility model is to overcome the shortcomings of above-mentioned technology, so as to provide a kind of intelligent omnidirectional's shifting carrying platform pool
Car robot, zero radius of gyration, positioning kinematic accuracy is high, and the auxiliary space accounting such as parking passageway is small, and parking density is high, and saving stops
Garage space.
The technical scheme that utility model is used is such：Intelligent omnidirectional's shifting carrying platform parking robot, including park
Robot body, the both sides of the parking robot body are provided with least two groups Mecanum wheels, and at least four groups without
Power omni-directional wheel (can also be or universal wheel) is as aiding support wheel, and the Mecanum wheel is each by a set of AC/DC servo
Motor and the driving of servo planetary reduction gear are rotated, but with a set of inverter need to be configured during AC servo motor simultaneously, it is described to park
The storage battery power supply device being powered to the servomotor is provided with robot body, the parking robot body
Top sets up the parking frame having for parking, and the two ends of the parking robot body are at least provided with one group of control pool
The elevating mechanism of vehicle frame lifting, the parking frame is set up on the elevating mechanism, also set up on the parking robot body
Have a vehicle control syetem (PLC) with programmable logic controller (PLC), the vehicle control syetem respectively with the servomotor,
The electric supply installation and the elevating mechanism are connected.
It is further improved to be：The parking robot body rear and front end is additionally provided with two groups of 150 degree of wide-angle ultrasounds
Avoidance sensor.
It is further improved to be：The elevating mechanism includes for supporting the lifter plate of the parking frame, parking with described
Base that robot body is mutually fixedly connected, two bearing blocks being fixedly installed on the base, rotate and be arranged at two institutes
State leading screw, mobile swivel nut, the mobile swivel nut on the leading screw, one end and one of them described bearing block between bearing block
Rotate the first scissor support arm of connection, one end rotates the second scissor support arm being connected with the mobile swivel nut, described
The other end of second scissor support arm rotates with the lifter plate to be connected, and horizontal direction extension is offered on the lifter plate
Guide groove, the second scissor support arm intersects with the first scissor support arm and rotated in infall and is connected, and described the
The other end of one scissor support arm is fixedly installed guide finger, and the guide finger is rotated and is slidably disposed in the guide groove, institute
State leading screw and rotation is driven by lifting motor, the lifting motor is controlled by the vehicle control syetem.
It is further improved to be：The photoelectric sensor of two safe spacings is additionally provided with the base, it is ensured that lift
Structure is lifted in safe range.
It is further improved to be：It can be a kind of pool that parking broach frame with parking stall is engaged that the parking frame, which is,
The vehicle-mounted broach frame of car robot, the vehicle-mounted broach frame of parking robot, not only with the broach on parking stall at garage exit/entry
Frame is engaged, and is engaged with the broach frame on parking stall in garage.
(1) the broach frame in the garage on parking stall, including support frame positioned at both sides, it is fixedly installed on the support
Some equidistant uniform broach square tubes on the inside of frame, the broach square tube is vertically arranged with respect to support frame as described above, the broach side
The cantilevered length and spacing of pipe, take into account the wheelspan and wheelbase of large, medium and small and compact passenger car, and matched；The comb
The queueing discipline of tooth square tube is 8 intermediate blanks after preceding 4；The top of both sides support frame as described above is respectively connected with safety barrier；
(2) the broach frame at the garage exit/entry on parking stall, including crossbeam positioned at both sides, it is fixedly connected on both sides
Some broach square tubes uniformly arranged between the crossbeam, and be laid in the square tube of stage casing for ensuring vehicle smooth-ride
Checkered steel plate；The length of the cantilevered length and spacing of the broach square tube and the broach square tube of the broach frame on parking stall and
Spacing matches；
(3) the vehicle-mounted broach frame of the parking robot, including crossbeam positioned at both sides, it is fixedly connected on crossbeam described in both sides
Between some broach pipes, the broach pipe runs through both sides crossbeam, and stretches out laterally, its extension elongation and arrangement spacing
Match with the length and spacing of the broach square tube of the broach frame on parking stall, the queueing discipline of the broach pipe is also preceding 4
8 intermediate blank afterwards.
It is further improved to be：The parking frame can also be bearing tray, and the bearing tray includes loading plate, vertical
The supporting plate of the loading plate both sides is arranged at, is fixedly installed in the front-wheel block and wheel of the loading plate upper surface and keeps off
Block.
It is further improved to be：The car being connected with the vehicle control syetem is provided with the parking robot body
Carry touch-screen.
It is further improved to be：It is also configured with the hand-held remote controller for passing through wireless connection with the vehicle control syetem.
It is further improved to be：Be provided with the parking robot body be connected with the vehicle control syetem swash
The vehicle dispatching system of light-seeking instrument, indoor GPS navigation and garage.
It is further improved to be：Two be connected with the vehicle control syetem are provided with the parking robot body
Code-phase machine is tieed up, the Quick Response Code camera is used to scanning and reading the Quick Response Code that ground is pasted in advance.
A kind of control method of intelligent omnidirectional's shifting carrying platform parking robot of the purpose of this utility model, is specifically included by four
Plant control model：
(1) touch-screen is controlled, and is sent control instruction and path planning to vehicle control syetem by touch-screen, vehicle-mounted
Control system controls Mecanum wheel steering and movement according to control instruction and route planning information, controls the lift
Structure driving parking frame is lifted；
(2) Remote is controlled, and manual operation hand-held remote controller sends control instruction to vehicle control syetem, car in real time
Borne control system controls Mecanum wheel steering in real time and movement according to control instruction, controls the elevating mechanism driving to park
Frame is lifted；
(3) contexture by self is controlled, and empty parking space is independently selected according to the vehicle dispatch system in garage, utilizes laser and RFID electricity
The indoor-GPSs such as subtab and navigation system are navigated, and vehicle control syetem is according to rooms such as laser and RFIDs
The control signal of interior GPS location and navigation system feedback, controls Mecanum wheel steering and movement, controls the elevating mechanism
Driving parking frame is lifted；
(4) barcode scanning is controlled, and is read the Quick Response Code pasted in advance on ground and stickup using Quick Response Code camera scanning or is brushed on ground
On colored colour band, generation control instruction and path planning be sent to the vehicle control system, vehicle control syetem according to
Garage scheduling controlling instruction and route planning information, control Mecanum wheel steering and movement, control the elevating mechanism
Driving parking frame is lifted.
By using preceding solution, the beneficial effects of the utility model are：Due to applying Mecanum wheel, effectively
The radius of gyration is reduced, occupancy of the garage passageway to garage space is reduced, parking density and the space utilization in garage is improved
Rate, equipment moving is more accurate, flexibly, and can switch the device of two kinds of carrying passenger cars of broach frame and pallet, to adapt to not
Same application scenario.
Brief description of the drawings
Fig. 1 is that parking robot carries passenger car schematic diagram using broach frame；
Fig. 2 is that parking robot carries vehicle-mounted broach frame schematic diagram；
Fig. 3 is that parking robot carries passenger car schematic diagram using bearing tray；
Fig. 4 is the bearing tray schematic diagram that parking robot matches；
Fig. 5 is the multi-storied garage schematic diagram using broach frame；
Fig. 6 is the multi-storied garage schematic diagram using bearing tray；
Fig. 7 is elevating mechanism schematic diagram；
Fig. 8 is elevating mechanism sectional view；
Fig. 9 is the broach frame schematic diagram on parking stall in garage parking；
Figure 10 is the broach frame schematic diagram on parking stall at garage parking gateway；
Figure 11 is the vehicle-mounted broach frame schematic diagram of parking robot；
Figure 12 is parking robot body schematic diagram (elevating mechanism is in down position)；
Figure 13 is parking robot body schematic diagram (elevating mechanism is in raised position)；
Figure 14 is that parking robot broach frame interacts top view with parking broach frame；
Figure 15 is parking robot broach frame and parking broach frame reciprocal stereo figure；
Figure 16 is hand-held remote controller schematic diagram；
Figure 17 is Quick Response Code camera schematic diagram one；
Figure 18 is Quick Response Code camera schematic diagram two；
Figure 19 is vehicular touch screen schematic diagram；
Figure 20 is parking robot body schematic diagram one (hiding the outer metal plate of car)；
Figure 21 is parking robot body schematic diagram two (hiding the outer metal plate of car)；
Figure 22 is enlarged drawing at Figure 21 A.
In figure, 1, parking robot body；2nd, Mecanum wheel；3rd, lifter plate；4th, base；5th, bearing block；6th, leading screw；7、
Wheel internal stop；8th, mobile swivel nut；9th, the first scissor support arm；10th, the second scissor support arm；11st, guide groove；12nd, guide finger；
13rd, photoelectric sensor；14th, vehicle-mounted broach frame；15th, bearing tray；16th, front-wheel block；17th, fixed pin；18th, broach square tube；
19th, guard rail；20th, crossbeam；21st, broach pipe；22nd, hand-held remote controller；23rd, Quick Response Code camera；24th, connection jaws；25th, image
Mouthful；26th, mounting hole site；27th, touch-screen.
Embodiment
The utility model is further illustrated below in conjunction with the drawings and specific embodiments.
As shown in Fig. 1-Fig. 8, Figure 12, Figure 13, Figure 20, Figure 21, the utility model discloses a kind of intelligent omnidirectional's shifting carrying platform
Parking robot, including parking robot body 1, the both sides of the parking robot body 1, which are rotated, is provided with least two groups
Mecanum wheel 2, the Mecanum wheel 2 is driven by servomotor and rotated, and aiding support wheel, the parking robot sheet
The electric supply installation being powered to the servomotor is provided with body 1, the top of the parking robot body 1 sets up useful
In the parking frame parked, the two ends of the parking robot body 1 are at least provided with one group of control parking frame lifting
Elevating mechanism, the parking frame is set up on the elevating mechanism, is additionally provided with the parking robot body 1 and is carried and can compile
The vehicle control syetem of journey logic controller, the vehicle control syetem respectively with the servomotor, the electric supply installation with
And the elevating mechanism is connected.
In addition in order to reduce mains power consumption, while employing the omni-directional wheel of 8 diameters 203 as auxiliary support wheel.
It is preferred embodiment in the present embodiment：The elevating mechanism includes the lifter plate for being used to support the parking frame
3rd, the base 4 that is mutually fixedly connected with the parking robot body 1, two bearing blocks 5 being fixedly installed on the base 4,
Rotation be arranged at the leading screw 6 between two bearing blocks 5, the mobile swivel nut 8 being sheathed on the leading screw 6, one end with wherein
Rotate the first scissor support arm 9 of connection, one end of one bearing block 5 rotates be connected with the mobile swivel nut 8
Two scissor support arms 10, the other end of the second scissor support arm 10 rotates with the lifter plate 3 to be connected, the lifter plate
The guide groove 11 of horizontal direction extension is offered on 3, the second scissor support arm 10 intersects with the first scissor support arm 9
Pitch and rotated in infall and connected, the other end of the first scissor support arm 9 is fixedly installed guide finger 12, the guide finger
12 are rotated and are slidably disposed in the guide groove 11, and the leading screw 6 is driven by lifting motor and rotated, and the lifting motor is by described
Vehicle control syetem is controlled, and such a scissor-type lifting mechanism can be used for space less than normal, loads occasion bigger than normal, present apparatus driving letter
It is single, driven by the moment of torsion being applied on screw rod, the rotation of screw rod forces non-rotatable swivel nut to move forward and backward, so as to drive scissor
The motion of arm, and then drive platform to move up and down.
Connected mode between leading screw 6 and the output shaft of lifting motor is that the input of leading screw 6 carries keyway, can be with phase
Associated shaft device or the connection of hole output shaft.
Two photoelectric sensors 13 are additionally provided with the shift position of mobile swivel nut 8, the base 4 in order to limit, as
The safe spacing of two extreme positions up and down.
Parking robot body rear and front end is additionally provided with two groups of 150 degree of wide-angle ultrasound avoidance sensors 99.
As shown in Fig. 9-Figure 11, Figure 14-Figure 15, a kind of form of parking frame is in the present embodiment, the parking frame be with
The parking robot broach frame that parking broach frame on parking stall is engaged, the vehicle-mounted broach frame of parking robot stops with garage
Parking stall broach frame on parking stall is engaged.
Broach frame at broach frame and the garage parking gateway in the garage parking on parking stall on parking stall is equal
Including the support frame 14 positioned at both sides, it is fixedly installed on some L-types fixation pin 17 of the bottom of support frame as described above 14, is fixedly installed on
Some equidistant uniform broach square tubes 18 of the inner side of support frame as described above 14, the broach square tube 18 is vertical with respect to support frame as described above 14
Set, the top of both sides support frame as described above 14 is respectively connected with guard rail 19；The vehicle-mounted broach frame of parking robot includes being located at
The crossbeam 20 of both sides, some broach pipes 21 being fixedly connected between crossbeam 20 described in both sides, the broach pipe 21, it is stretched
The length and spacing for going out length and arrangement spacing and the broach square tube of the broach frame on parking stall match.
Another form of parking frame is in the present embodiment, and the parking frame is bearing tray 15, the bearing tray 15
Including loading plate, the front-wheel that is vertically installed in the supporting plate of the loading plate both sides, is fixedly installed on the loading plate upper surface
Block 16 and wheel internal stop 7.
To switch the device of two kinds of carrying passenger cars of broach frame and pallet, to adapt to different application scenarios.
As shown in figure 19, it is preferred embodiment in order to realize in touch control control, the present embodiment, the pool
The touch-screen 27 being connected with the vehicle control syetem is provided with car robot body 1, what touch-screen 27 can be as needed
The different interface of function setting, including shirtsleeve operation button, fault alarm reset, the Quick Response Code numbering read, can be set
Show the rotating speed of motor, current situation etc..
As shown in figure 16, in order to realizing in Remote control, the present embodiment to be preferred embodiment to also configure
There is the hand-held remote controller 22 by wireless connection with the vehicle control syetem.
It is preferred embodiment in order to realize in contexture by self control, the present embodiment, the parking robot sheet
The vehicle dispatching of the laser orientation instru-ment being connected with the vehicle control syetem, indoor GPS navigation and garage is provided with body 1
System.
As shown in Figure 17, Figure 18, Figure 22, it is preferred embodiment in order to realize in barcode scanning control, the present embodiment,
The Quick Response Code camera 23 being connected with the vehicle control syetem, the Quick Response Code are provided with the parking robot body 1
Camera 23 is used to read the Quick Response Code that ground is pasted in advance, and Quick Response Code camera 23 uses PEPPERL FUCHS brand, with forgiving x, y-coordinate and
There is connection jaws 24, shooting mouth 25 and mounting hole site 26 on the function of the attitude orientations such as azimuth, Quick Response Code camera 23.
Parking robot provides dc source using the ferric phosphate lithium cell carried in car body, directly drives four diameters
Direct current (also first can be changed into alternating current using inverter, then drive four by the DC servo motor on 200 Mecanum wheel 2
AC servo motor on individual Mecanum wheel 2), using the navigation mode of laser plus Quick Response Code, vehicle, which can be turned round in situ, to be changed
Change direction, by the elevating mechanism on parking robot, both can directly carry bearing tray, can also carry broach frame, can
Passenger car interacting in porch and parking spot and parking robot is realized, occupant gets off in advance in garage entrance,
The parking robot operated again by self-navigation, by bearing tray or broach frame, passenger car of carrying a load on the back reaches predetermined parking space
Put, fall behind under lowering or hoisting gear, passenger car and bearing tray that parking robot can be carried a load on the back fall in parking spot or preset
Broach frame on, last parking robot sails out of parking spot again.
A kind of control method of intelligent omnidirectional's shifting carrying platform parking robot, is specifically included by four kinds of control models：
(1) touch-screen is controlled, and is sent control instruction and path planning to vehicle control syetem by touch-screen, vehicle-mounted
Control system controls Mecanum wheel steering and movement according to control instruction and route planning information, controls the lift
Structure driving parking frame is lifted；
(2) Remote is controlled, and manual operation hand-held remote controller sends control instruction to vehicle control syetem, car in real time
Borne control system controls Mecanum wheel steering in real time and movement according to control instruction, controls the elevating mechanism driving to park
Frame is lifted；
(3) contexture by self is controlled, and empty parking space is independently selected according to the vehicle dispatch system in garage, utilizes laser and RFID electricity
The indoor-GPSs such as subtab and navigation system are navigated, and vehicle control syetem is according to rooms such as laser and RFIDs
The control signal of interior GPS location and navigation system feedback, controls Mecanum wheel steering and movement, controls the elevating mechanism
Driving parking frame is lifted；
(4) barcode scanning is controlled, and is read the Quick Response Code pasted in advance on ground and stickup using Quick Response Code camera scanning or is brushed on ground
On colored colour band, generation control instruction and path planning be sent to the vehicle control system, vehicle control syetem according to
Garage scheduling controlling instruction and route planning information, control Mecanum wheel steering and movement, control the elevating mechanism
Driving parking frame is lifted.
Broach frame carries passenger car storage step：Garage entrance is concordant with porch broach unwheeling road, and passenger car presses car
The picture and text prompting and guiding of the reflective mirror and LED display of storehouse porch, drive to after broach frame correspondence position, porch parking
Sensor on position can be triggered, and LED display also accordingly points out corresponding prompting, and occupant gets off since then, subsequently by Apparatus for parking vehicles
Device people presses scheduler program, adds Quick Response Code to guide by colour band nearby, and the lower section of entrance broach frame is driven into automatically, and by Quick Response Code certainly
It is dynamic to be pin-pointed to after correspondence position so that the broach of two broach framves just staggers, and elevating mechanism then starts rising, hold up
Vehicle-mounted broach frame on parking robot makes the broach of vehicle-mounted broach frame be substantially higher than the broach of porch to one section of safe altitude
The broach of frame, at the same time, passenger car also between both broach alternating, are automatically shifted to vehicle-mounted from entrance broach frame
On broach frame, then, parking robot automatic start lifts passenger car like this, by instruction by laser or two-dimension code navigation,
Sail for specifying parking spot, reach after parking spot, add Quick Response Code to guide by colour band nearby, parking stall broach frame is driven into automatically
Lower section, is guided by Quick Response Code, is pin-pointed to automatically after correspondence position so that the broach of two broach framves just staggers, and is risen
Descending mechanism then starts decline, the broach of vehicle-mounted broach frame is substantially lower than broach on the broach frame on parking stall, at the same time,
Passenger car also between both broach alternating, is automatically shifted on the broach frame on parking stall, finally from vehicle-mounted broach frame
Parking robot is sailed out of automatically by program again.
Pallet carries passenger car storage step：Garage entrance is close to concordantly with passenger car tray upper surface, and passenger car is pressed
After the picture and text prompting and guiding of the reflective mirror and LED display of garage entrance, traveling to specified location on pallet, porch is stopped
Sensor on parking stall can be triggered, and LED display is also accordingly pointed out, and occupant gets off since then, is subsequently pressed by parking robot
Scheduler program, adds Quick Response Code to guide by colour band nearby, below automatic running to pallet, and is pin-pointed to automatically by Quick Response Code
After correspondence position so that the lifting tray on the elevating mechanism of parking robot, just at the backing plate of lifting below pallet
In optimum range, elevating mechanism then starts rising, holds up the passenger car carried on pallet and pallet, and pallet is liftoff to reach specified
Safe altitude, then, parking robot automatic start lifts passenger car like this, by instruction led by laser or Quick Response Code
Boat, sails for specifying parking spot, reaches after parking spot, add Quick Response Code to guide by colour band nearby, parking stall is driven into automatically, pass through
Quick Response Code is guided, and is pin-pointed to automatically after the preferable stand of specified pallet, elevating mechanism then starts decline so that pallet
Land and separated with parking robot, subsequent parking robot sails out of parking spot automatically by program again.
General principle of the present utility model and principal character and its advantage, the technology people of the industry has been shown and described above
Member is it should be appreciated that the utility model is not restricted to the described embodiments, and described in above-described embodiment and explanation is to illustrate this
The principle of utility model, on the premise of the utility model spirit and scope are not departed from, the utility model also has various change
And improvement, these changes and improvements are both fallen within the range of claimed the utility model, and scope is claimed in the utility model
By appended claims and its equivalent thereof.
Claims (10)
1. intelligent omnidirectional shifting carrying platform parking robot, it is characterised in that：Including parking robot body, the parking robot
The both sides of body are respectively provided with least two groups Mecanum wheels, and at least four groups unpowered omni-directional wheels as aiding support wheel,
The Mecanum wheel is each to be rotated by a set of AC/DC servomotor and the driving of servo planetary reduction gear, but electric with AC servo
It need to simultaneously be configured during machine and be provided with the storage being powered to the servomotor on a set of inverter, the parking robot body
Battery powdered device, the top of the parking robot body sets up the parking frame having for parking, the parking robot sheet
The two ends of body are provided with the elevating mechanism of one group of control parking frame lifting, and the parking frame is set up in the elevating mechanism
On, the vehicle control syetem with programmable logic controller (PLC), the vehicle-mounted control are additionally provided with the parking robot body
System processed is connected with the servomotor, the electric supply installation and the elevating mechanism respectively.
2. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：The elevating mechanism bag
Include for support the lifter plate of the parking frame, be fixedly connected with described this body phase of parking robot base, be fixedly installed on
Two bearing blocks, the leading screw being arranged between two bearing blocks, mobile swivel nut on the base；On the leading screw
Mobile swivel nut, one end rotates the first scissor support arm being connected, one end and the movement with bearing block one of them described
Swivel nut rotates the second scissor support arm of connection, and the other end and the lifter plate of the second scissor support arm rotate company
Connect, the guide groove of horizontal direction extension, the second scissor support arm and the first scissor branch are offered on the lifter plate
Brace intersects and rotated in infall and connected, and the other end of the first scissor support arm is fixedly installed guide finger, described
Guide finger is rotated and is slidably disposed in the guide groove, and the leading screw is by lift servo motor-driven rotation, the lift servo
Motor is controlled by the vehicle control syetem.
3. intelligent omnidirectional's shifting carrying platform parking robot according to claim 2, it is characterised in that：The parking robot
Body rear and front end is additionally provided with two groups of 150 degree of wide-angle ultrasound avoidance sensors.
4. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：The parking frame is pool
The vehicle-mounted broach frame of car robot, the vehicle-mounted broach frame is not only engaged with the parking broach frame on parking stall in garage, is gone back and car
Broach frame at the gateway of storehouse on parking stall is engaged.
5. intelligent omnidirectional's shifting carrying platform parking robot according to claim 4, it is characterised in that：
Broach frame in the garage on parking stall, including support frame positioned at both sides, be fixedly installed on the inside of support frame as described above
Some equidistant uniform broach square tubes, the broach square tube is vertically arranged with respect to support frame as described above, and the broach square tube is hanged
Elongation and spacing, take into account the wheelspan and wheelbase of large, medium and small and compact passenger car, and matched；The broach square tube
Queueing discipline be preceding 4 after 8 intermediate blanks；The top of both sides support frame as described above is respectively connected with safety barrier；Or
Broach frame at the garage exit/entry on parking stall, including crossbeam positioned at both sides, be fixedly connected on it is horizontal described in both sides
Some broach square tubes uniformly arranged between beam, and be laid in the square tube of stage casing for ensuring the decorative pattern of vehicle smooth-ride
Steel plate；The cantilevered length and spacing of the broach square tube and the length and spacing phase of the broach square tube of the broach frame on parking stall
Match somebody with somebody；Or
The vehicle-mounted broach frame of parking robot, including crossbeam positioned at both sides, be fixedly connected between crossbeam described in both sides
Some broach pipes, the broach pipe runs through both sides crossbeam, and stretches out laterally, its extension elongation and arrangement spacing and parking
The length and spacing of the broach square tube of broach frame on position match, the queueing discipline of the broach pipe be also 8 after preceding 4 in the middle of
Blank.
6. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：The parking frame is to hold
Carry pallet, the bearing tray include loading plate, be vertically installed in the supporting plate of the loading plate both sides, be fixedly installed on it is described
The front-wheel block and wheel internal stop of loading plate upper surface.
7. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：The parking robot
The vehicular touch screen being connected with the vehicle control syetem is provided with body.
8. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：Be also configured with it is described
The hand-held remote controller that vehicle control syetem passes through wireless connection.
9. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：The parking robot
The Quick Response Code alignment system being connected with the vehicle control syetem, or laser orientation instru-ment and RFID electronics marks are provided with body
Sign indoor-GPS and navigation system, and garage vehicle dispatch system.
10. intelligent omnidirectional's shifting carrying platform parking robot according to claim 1, it is characterised in that：The machine of parking
The Quick Response Code camera being connected with the vehicle control syetem is provided with human body, the Quick Response Code camera is used to read ground
The Quick Response Code pasted in advance.
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| CN201720193135.3U CN206530117U (en) | 2017-03-01 | 2017-03-01 | Intelligent omnidirectional's shifting carrying platform parking robot |
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| CN201720193135.3U CN206530117U (en) | 2017-03-01 | 2017-03-01 | Intelligent omnidirectional's shifting carrying platform parking robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108316718A (en) * | 2018-04-19 | 2018-07-24 | 南京工程学院 | Lifting/lowering type automatic stopping device |
| CN108360882A (en) * | 2018-02-11 | 2018-08-03 | 浙江龙驿智能泊车科技有限公司 | Cabin and rotary parking device |
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| CN108360882A (en) * | 2018-02-11 | 2018-08-03 | 浙江龙驿智能泊车科技有限公司 | Cabin and rotary parking device |
| CN108316718A (en) * | 2018-04-19 | 2018-07-24 | 南京工程学院 | Lifting/lowering type automatic stopping device |
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| CN108640014A (en) * | 2018-04-28 | 2018-10-12 | 佛山市甄睿智能科技有限公司 | A kind of clamping lifting gear for parking robot platform |
| CN108824895A (en) * | 2018-07-31 | 2018-11-16 | 上海理工大学 | For running the transfer robot of tunnel stacking stereo garage parallel |
| CN108824899B (en) * | 2018-09-07 | 2024-04-05 | 吉林大学 | Intelligent flat plate type parking robot |
| CN108824899A (en) * | 2018-09-07 | 2018-11-16 | 吉林大学 | A kind of Intelligent flat formula parking robot |
| CN109208976A (en) * | 2018-10-29 | 2019-01-15 | 黄河科技学院 | A kind of automatic stopping device |
| CN109372297A (en) * | 2018-11-14 | 2019-02-22 | 深圳市简道三捷智能停车科技有限公司 | A kind of three-dimensional parking device support frame |
| CN110491161A (en) * | 2019-07-04 | 2019-11-22 | 安徽鸿杰威尔停车设备有限公司 | A kind of AGV intelligent three-dimensional parking positioning system |
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| CN111734182A (en) * | 2020-06-16 | 2020-10-02 | 浙江天尚元科技有限公司 | Telescopic parking robot and control method thereof |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
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