CN208180866U - Carrier worm gear type rotates clamping device - Google Patents
Carrier worm gear type rotates clamping device Download PDFInfo
- Publication number
- CN208180866U CN208180866U CN201820725542.9U CN201820725542U CN208180866U CN 208180866 U CN208180866 U CN 208180866U CN 201820725542 U CN201820725542 U CN 201820725542U CN 208180866 U CN208180866 U CN 208180866U
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- clamp arm
- worm
- rotation
- worm screw
- turbine
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Abstract
The purpose of the utility model is to provide a kind of carrier worm gear types for being adapted to different road conditions especially out-of-flatness ground to rotate clamping device, bottom plate including carrier ontology, and four groups of clamp arm that automobile front and back wheel is respectively corresponded on bottom plate are set, every group of clamp arm includes two clamp arm；Each clamp arm is driven by turbine and worm mechanism and is rotated, worm screw setting is driven by a motor rotation on bottom plate, worm screw is rotatablely connected casing by bearing, clamp arm rotation axis is set on casing, turbine rotation be connected in clamp arm rotation axis and with worm screw engagement rotation, clamp arm one end is fixedly connected as turbine is rotated together with turbine, and two clamp arm are opposite or rotate towards each other release or clamp tire；Clamp arm and casing make the clamp arm other end float up and down to adapt to ground along worm axis rotation；It will be loaded with setting jacking mechanism between the abutting end of two worm screws of two clamp arm of group and be converted to the internal force between two worm screws to the external force of each worm screw.
Description
Technical field
The utility model belongs to vehicle parking and carries field, and in particular to carrier worm gear type rotates clamping device.
Background technique
Existing carrier hoofing part mechanism is mostly that one group or two groups of driving wheel groups drive carrier mobile.Carrier
It can be in garage according to the movement of the track of setting.Intelligentized garage parking and handling device are the development sides in existing garage parking
To.The omnidirectional's Automatic Guided Vehicle for needing all directions mobile.
The tire for making automobile by stepping up clamp arm of existing clipping carrier is lifted, and two clamp arm can be with rotating clip
Clamping can also tightly be moved towards.One end of clamp arm is fixed on carrier.Carrier moves in garage, there is injustice in garage
Whole place, especially nature Outdoor Parking area, road conditions are different, can sometimes encounter the ground of soft injustice.Existing carrying
Vehicle, because the limitation of garage volume is more small and exquisite, driving wheel is smaller and load is bigger.The driving wheel of each position only has
1, in operation, in place of encountering injustice, if there is pit on ground, then driving wheel is once trapped into and is difficult to out vehicle.In addition,
The weight of vehicle is that the auxiliary support wheel being grounded by the driving wheel of driving mechanism and clamp arm end undertakes together, if in clamp arm
Auxiliary support wheel position it is uneven, if it is pit, auxiliary support wheel will be liftoff, and the weight of vehicle is made to be moved to driving
In mechanism, the pressure of driving mechanism is increased, driving wheel rubber is compressed, and radius changes, and the linear velocity of two rows of wheels is different
Sample, carrier, which generates, to be turned to and deforms clamp arm.If ground is raised, driving wheel is lifted under the action of auxiliary support wheel,
Carrier run-off the straight；Pressure on driving wheel moves to unilateral, and driving wheel rubber is compressed, and radius changes, two rows of wheels
Linear velocity it is different, carrier generate steering.Therefore market effect and bad.
For two clamp arm of carrier in the clamp state respectively by the reaction force of tire, reaction force is very big, is easy to make
It damages, breaks down at clamp arm and pedestal junction.The height of failure rate is also to measure carrier especially Automatic Guided Vehicle
Important indicator.
Summary of the invention
The purpose of the utility model is to provide a kind of carrier turbines for being adapted to different road conditions especially out-of-flatness ground
Worm type rotates clamping device.
The purpose of this utility model is achieved in that carrier worm gear type rotates clamping device, including
The bottom plate of carrier ontology, and four groups of clamp arm that automobile front and back wheel is respectively corresponded on bottom plate are set, every group of clamp arm includes two
A clamp arm；Each clamp arm is driven by turbine and worm mechanism and is rotated, and worm screw setting is driven by a motor rotation on bottom plate, and worm screw passes through
Bearing is rotatablely connected casing, clamp arm rotation axis is arranged on casing, turbine rotation is connected in clamp arm rotation axis and engages with worm screw
Rotation, clamp arm one end is fixedly connected as turbine is rotated together with turbine, two clamp arm it is opposite or rotate towards each other unclamp or
Clamp tire；Clamp arm and casing make the clamp arm other end float up and down to adapt to ground along worm axis rotation；With two folders of group
Jacking mechanism is arranged between the abutting end of two worm screws of arm to be converted to load between two worm screws to the external force of each worm screw
Internal force.
Worm screw both ends connect the bearing block being arranged on bottom plate by bearing, set between two bearing blocks of worm screw abutting end
Two stop bit nuts are set, are connected between two stop bit nuts by nipple.
Two servo motor parallel connections drive worm screw rotation by retarder.
The beneficial effects of the utility model are: when ground and clamp arm contact position are recessed perhaps raised clamp arm downwards or to
Upper rotation, casing rotate with it, and driving wheel and clamp arm will not be hanging with ground contact position, and carrier is caused to tilt.Drive wheel load
Power is constant, and driving wheel traffic direction can be kept correct.
Jacking mechanism is arranged point-blank and between worm screw abutting end in two worm screw settings, can be by load to every
The external force of a worm screw is converted to the internal force between two worm screws, reduces damage and the vehicle trouble of bearing block.
Detailed description of the invention
Fig. 1 is the utility model general structure schematic diagram.
Fig. 2 is a pair of of clamp arm and turntable steering mechanism embodiment 2.
Fig. 3 is turntable steering mechanism embodiment 1
Wherein 1 is bottom plate, and 2 be clamp arm, and 3 be turbine and worm mechanism, and 4 be worm screw, and 5 be turbine, and 6 be motor, and 7 be casing, 8
It is clamp arm rotation axis for pipe support, 9,10 be auxiliary support wheel, and 11 be idler wheel, and 12 be bearing block, and 13 be stop bit nut, and 14 be spiral shell
Line connector, 15 be turntable steering mechanism, and 16 be driving wheel, and 17 be driving mechanism, and 18 be mounting rack, and 19 be drive shaft, and 20 are
Gear, 21 be Athey wheel, and 22 be crawler belt, and 23 be driving outer ring, and 24 be driving inner ring, and 25 be preceding handling unit, 26 be after carry
Unit, 27 be telescoping mechanism.
Specific embodiment
As shown in Figure 1-3, a kind of clipping omnidirectional's Automatic Guided Vehicle, including carrier ontology, and be arranged in carrier
Four groups of clamp arm 2 of automobile front and back wheel are respectively corresponded on the bottom plate 1 of ontology, every group of clamp arm includes two clamp arm 2；It is arranged on bottom plate 1
Clamp arm driving clamping device clamps tire by clamping clamp arm 2；Hoofing part mechanism and controller are set on bottom plate 1.Two
Clamp arm 2 can rotate clamping, and can also be translatable clamping.
Carrier ontology includes two handling unit connected by telescoping mechanism 27, referred to as before moves unit 25 and removes with after
Transportation unit 26.Each handling unit includes bottom plate 1, and a pair of of clamp arm 2 is symmetrically arranged at left and right sides of each bottom plate 1.Two bottoms
Front cover and rear cover is respectively set on plate 1.
Carrier is positioned using overall Vision, vision laser integrated navigation.
Clamp arm driving clamping device embodiment 1:
Clamp arm driving clamping device is turbine and worm mechanism 3, and worm screw 4, which is arranged on bottom plate 1 to be driven by motor 6, to be rotated.Snail
Bar 4 is rotatablely connected casing 7, and clamp arm rotation axis 9 is arranged on pipe support 8 for 7 joint pipe frame 8 of casing, and turbine 5 passes through bearing rotation connection
It is fixed in clamp arm rotation axis 9 and with 4 engagement rotation of worm screw, 2 one end of clamp arm and turbine 5, as turbine 5 rotates together, clamp arm 2
It is rotatably connected in clamp arm rotation axis 9 also by bearing.Two clamp arm 2 are opposite or rotate towards each other release or clamp tire.
Clamp arm 2 and casing 7 make 2 other end of clamp arm float up and down to adapt to ground along the rotation of 4 axis of worm screw.
Under Land leveling state, pipe support 8 is concordant with bottom plate 1.Turbine 5 can not be full circle, be less than 180 degree greater than 90 degree
It can.4 both ends of worm screw respectively set a deep groove ball bearing, and deep groove ball bearing outer ring and 7 inner wall of casing cooperate.7 interposition of casing installs
Opening, worm screw 4 and turbine 5 are set in aperture position engaged transmission.4 both ends of worm screw are fixed on bottom plate 1 by bearing and bearing block 12
On.Two servo motor parallel connections drive worm screw 4 to rotate by retarder, provide sufficiently large power for worm screw 4.Motor 6 is by electricity
Pond power supply, two electrodes provide biggish electric current.Motor connects controller, is controlled and is rotated by controller.
One end setting auxiliary support wheel 10 and ground face contact of the clamp arm 2 far from bottom plate 1.The side that clamp arm 2 clamps tire is set
Set idler wheel 11.Rolling friction between auxiliary support wheel 10 and ground, when walking and hoofing part mechanism supports carrier together.Rolling
Wheel 11 can be deep groove ball bearing, be less likely to be damaged tire when with tire interface.
Clamp arm 2 is downward when ground and perhaps raised 10 contact position of auxiliary support wheel of clamp arm 2 recess or is rotated up,
Casing 7 rotates with it, and hoofing part mechanism will not be hanging with ground contact position with ground contact position and clamp arm 2, causes carrier
Inclination.16 pressure of driving wheel is constant, and 16 traffic direction of driving wheel can be kept correct.
Clamp arm driving clamping device embodiment 2
With embodiment 1 the difference is that:
It will be loaded to each worm screw 4 with setting jacking mechanism between the abutting end of two worm screws 4 of two clamp arm 2 of group
External force is converted to the internal force between two worm screws 4.When clamp arm 2 clamps automobile tire, automobile clamps tire to clamp arm 2 by tire
The very big power in one end, that is, clamping end, to make clamp arm 2 exert a force bottom plate 1, because strength is very big, it is easy to cause bolt and axis
Hold seat 12 damage, cause equipment fault, influence using, replace part of damage when it is more troublesome.Tire is to clamp arm 2 in the present embodiment
The downward power in clamping end and two clamp arm 2 planar the outside power of vertical clamp arm 2, turbine 5 are another clamp arm rotation axis 9
End, so the power that turbine 5 applies to worm screw 4 is contrary with 2 clamping end institute stress of clamp arm.With two worm screws 4 of group clamp arm 2
Suffered power is contrary and is directed toward other side mutually.It is arranged by two worm screws 4 point-blank and in 4 abutting end of worm screw
Between jacking mechanism is set, load can be converted into the internal force between two worm screws 4 to the external force of each worm screw 4.
4 both ends of worm screw connect the bearing block being arranged on bottom plate 1, two bearing blocks 12 of 4 abutting end of worm screw by bearing
Between two stop bit nuts 13 are set, connected by nipple 14 between two stop bit nuts 13.13 one end of stop bit nut top
On bearing block 12, one end is connected through a screw thread with nipple 14.This structure is easy for assemble or unload, it is only necessary to rotate screw thread
Connector 14, which can be completed, to be held out against or dismantles.Worm screw 4 gives the power of bearing block 12 towards the direction of adjoining worm gears 4, passes through stop bit spiral shell
Mother 13 and helicitic texture hold out against the bearing block 12 of two neighboring worm screw 4, and the power that bear bearing block 12 should become two
Internal force between endless screw system.
Hoofing part mechanism includes two turntable steering mechanism 15 being rotatablely connected with bottom plate 1.Setting driving is outer on bottom plate 1
Circle 23；Setting driving inner ring 24 in turntable steering mechanism 15 drives and plane bearing is arranged between inner ring 24 and driving outer ring 23.
Turntable steering mechanism embodiment 1:
15 two sides of turntable steering mechanism are symmetrical arranged driving wheel 16, and every side drive wheel 16 is by being operated alone mechanism 17 with turn
It is dynamic；Driving mechanism 17 is electrically connected controller.Every 16 at least two driving wheel 16 of side drive wheel, passes through between side drive wheel 16
The same driving mechanism 17, which drives, to be rotated synchronously.Two mounting racks 18 are set in turntable steering mechanism 15, and two rows of driving wheels 16 are logical
It overdrives wheel shaft 19 and bearing is rotatably arranged on mounting rack 18.Identical gear 20 is set on drive shaft 19, and gear 20 is nibbled
Crossed belt moves drive shaft 19 and rotates synchronously.Asessory shaft can be set according to position, identical gear help is set on asessory shaft and is driven.
Several driving wheels 16 can also be made to rotate synchronously with synchronous belt etc..Driving mechanism 17 is driving motor and retarder, is also disposed at
On mounting rack 18.Reducer output shaft drives a driving wheel 16 to rotate, and other driving wheels are mounted on by drive shaft 19
Shelve 18.
Carrier will drive under automobile bottom and carry, and height is low, and wheel diameter is smaller.When ground injustice is for example recessed,
Driving wheel 16, which is trapped into, can sometimes can't get out, even if there is auxiliary wheel, but auxiliary wheel itself is without driving force, once carrier
It does not move, auxiliary wheel itself, which not can rotate, makes carrier from being recessed up.Using multiple 16 structures of driving wheel, once wherein one
A to fall into, the rotation of driving wheel 16 in addition drives carrier mobile.The ipsilateral driving wheel using 3 synchronous rotations in the present embodiment
16.The drive system of carrier has 12 driving wheels 16 altogether.For this carrier since height is 110 millimeters low, weight weighs 4000 kilograms,
The rubber wheel of general 100 millimeters of diameter cannot withstand, and also separate load capacity using all-wheel drive.
The advance, retrogressing, left and right that carrier may be implemented in the present embodiment translate, using carrier as the rotation of 360 degree of center,
It can carry out arbitrary curve movement.When the driving motor revolving speed of same 15 inside two sides of turntable steering mechanism is identical, rotation side
To it is opposite when, the driving wheel 16 of the rotation of 15 original place of turntable steering mechanism, the inside of turntable steering mechanism 15 can go to arbitrary side
To.When the 16 direction same rotational speed of driving wheel of Liang Ge turntable steering mechanism 15 is identical, forward-reverse or any may be implemented
Direction translation；When 16 direction of driving wheel of Liang Ge turntable steering mechanism 15 is in the tangential direction and revolving speed phase of a circular trace
Meanwhile carrier can move in a circle；When the different rotating speeds difference of direction, arbitrary curve movement can be done.Specific motion profile
It is controlled by controller.
Turntable steering mechanism embodiment 2:
15 two sides of turntable steering mechanism are symmetrical arranged Caterpillar transmission mechanism, and each Caterpillar transmission mechanism is by being operated alone mechanism
17 drive.Driving mechanism 17 is electrically connected controller；Caterpillar transmission mechanism includes at least two be arranged in turntable steering mechanism 15
The Athey wheel 21 of a synchronous rotation and the crawler belt 22 of connecting band track wheel 21.Two mounting racks 18 are set in turntable steering mechanism 15,
Athey wheel 21 is arranged on drive shaft 19, and drive shaft 19 is rotatably arranged on mounting rack 18 by bearing.Drive shaft 19
Upper that identical gear 20 is arranged, the engagement of gear 20 drives drive shaft 19 to rotate synchronously.Track structure can be applicable in variously
Face more adapts to outdoor elements and concave-convex different ground than multiple driving wheels 16.
When it is implemented, carrier enters below vehicle, vehicle front rear wheel position is positioned, motor 6 drives turbine snail
The rotation of linkage 3 is to make the rotation of clamp arm 2 clamp lifting tire to specified altitude assignment.After determining good position route, carrier driving
Mechanism 17 starts, and drives carrier mobile.Carrier driving wheel 16 or crawler belt 22 are adjusted by adjusting turntable steering mechanism 15
Angle keep carrier mobile to any direction.Vision system is arranged on carrier to position, vision laser integrated navigation, control
Device control processed.After reaching designated position, turbine and worm mechanism 3, which drives the rotation release of clamp arm 2 to put down, makes automobile tire.2 turns of clamp arm
It moves and is adjacent to bottom plate 1, left from automobile lower section.
Claims (3)
1. carrier worm gear type rotates clamping device, the bottom plate including carrier ontology, and is arranged on bottom plate respectively
Four groups of clamp arm of corresponding automobile front and back wheel, every group of clamp arm include two clamp arm；Each clamp arm is driven by turbine and worm mechanism and is rotated,
It is characterized by: worm screw setting is driven by a motor rotation on bottom plate, worm screw is by bearing rotation connection casing, on casing
Be arranged clamp arm rotation axis, turbine rotation be connected in clamp arm rotation axis and with worm screw engagement rotation, clamp arm one end is fixed with turbine
Connection is rotated together with turbine, and two clamp arm are opposite or rotate towards each other release or clamp tire；Clamp arm and casing along
Worm axis rotation makes the clamp arm other end float up and down to adapt to ground；Between abutting end with two worm screws of two clamp arm of group
Jacking mechanism, which is arranged, will load the internal force be converted between two worm screws to the external force of each worm screw.
2. carrier worm gear type rotates clamping device according to claim 1, it is characterised in that: the worm screw both ends are logical
It crosses bearing and connects the bearing block being arranged on bottom plate, two stop bit nuts of setting between two bearing blocks of worm screw abutting end, two
It is connected between a stop bit nut by nipple.
3. carrier worm gear type rotates clamping device according to claim 1, it is characterised in that: two servo motors are simultaneously
Connection crosses retarder and drives worm screw rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820725542.9U CN208180866U (en) | 2018-05-16 | 2018-05-16 | Carrier worm gear type rotates clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820725542.9U CN208180866U (en) | 2018-05-16 | 2018-05-16 | Carrier worm gear type rotates clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208180866U true CN208180866U (en) | 2018-12-04 |
Family
ID=64430765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820725542.9U Active CN208180866U (en) | 2018-05-16 | 2018-05-16 | Carrier worm gear type rotates clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208180866U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040056A (en) * | 2019-05-15 | 2019-07-23 | 上海振华重工(集团)股份有限公司 | A kind of car carrying equipment |
| CN112213033A (en) * | 2020-09-15 | 2021-01-12 | 合肥雷光动力科技有限公司 | Clamp for dynamic balance of turbocharger core |
| CN113226846A (en) * | 2018-12-20 | 2021-08-06 | 斯坦利机器人公司 | Conveyor for moving four-wheeled vehicle |
| CN113603013A (en) * | 2021-06-11 | 2021-11-05 | 机械工业第九设计研究院有限公司 | Whole car transport AGV presss from both sides lifts and holds in palm child mechanism |
| CN113968555A (en) * | 2021-11-18 | 2022-01-25 | 福建江南春城市建设集团有限公司 | Large-scale tree clamping and transferring device suitable for garden construction |
| CN115635500A (en) * | 2022-11-11 | 2023-01-24 | 华晓精密工业(苏州)有限公司 | Embrace and press from both sides mechanism and move car robot |
-
2018
- 2018-05-16 CN CN201820725542.9U patent/CN208180866U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113226846A (en) * | 2018-12-20 | 2021-08-06 | 斯坦利机器人公司 | Conveyor for moving four-wheeled vehicle |
| CN113226846B (en) * | 2018-12-20 | 2024-03-19 | 斯坦利机器人公司 | Conveyor for mobile four-wheeled vehicle |
| CN110040056A (en) * | 2019-05-15 | 2019-07-23 | 上海振华重工(集团)股份有限公司 | A kind of car carrying equipment |
| CN112213033A (en) * | 2020-09-15 | 2021-01-12 | 合肥雷光动力科技有限公司 | Clamp for dynamic balance of turbocharger core |
| CN113603013A (en) * | 2021-06-11 | 2021-11-05 | 机械工业第九设计研究院有限公司 | Whole car transport AGV presss from both sides lifts and holds in palm child mechanism |
| CN113968555A (en) * | 2021-11-18 | 2022-01-25 | 福建江南春城市建设集团有限公司 | Large-scale tree clamping and transferring device suitable for garden construction |
| CN115635500A (en) * | 2022-11-11 | 2023-01-24 | 华晓精密工业(苏州)有限公司 | Embrace and press from both sides mechanism and move car robot |
| CN115635500B (en) * | 2022-11-11 | 2023-12-19 | 华晓精密工业(苏州)有限公司 | Holding and clamping mechanism and car moving robot |
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