CN208534141U - A kind of six trains heavy duty can automatic charging intelligent parking robot - Google Patents
A kind of six trains heavy duty can automatic charging intelligent parking robot Download PDFInfo
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- CN208534141U CN208534141U CN201820824633.8U CN201820824633U CN208534141U CN 208534141 U CN208534141 U CN 208534141U CN 201820824633 U CN201820824633 U CN 201820824633U CN 208534141 U CN208534141 U CN 208534141U
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- parking robot
- automatic
- intelligent parking
- heavy duty
- charging
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Abstract
The utility model discloses a kind of six train heavy duties can automatic charging intelligent parking robot; including body framing, car body protective cover, shearing type lifting device, driving device, safety device, automatic charge device and draft hitch; shearing type lifting device is hinged by two groups of scissor arms and is connected to the motor the lead screw connect and forms; driving device includes two diagonally arranged steering wheels, universal wheel and spring shock absorption wheel, and safety device includes laser sensor, infrared sensor etc..Forward-reverse, transverse moving left and right and pivot stud may be implemented using Twin Rudders wheel drive to move.Shearing type lifting may be implemented the lifting of heavy duty and have self-locking function.Safety device can effectively avoid scraping, collision in operational process, can really realize intelligent automatic parking process.The adaptability of parking robot road pavement can be improved in draft hitch, when even at uneven work road surface, also can more stable normal movement, the case where being not in steering wheel idle running.
Description
Technical field
The utility model relates to a kind of automatic parking technology, more particularly to a kind of six train heavy duties can automatic charging intelligence
Parking robot.
Background technique
With the development of society, automobile is more and more, the problem of bringing therewith is exactly parking difficulty, in order to solve parking difficulty
Problem, stereo garage are gradually approved that existing stereo garage is mechanical stereo garage, intelligent stereo vehicle mostly by people
The popularization in library more has been favored by people, thus the parking robot for being applied to intelligent stereo garage has claimed people's primary study
Object, current parking robot mostly uses rail type robot, path is single, and operational efficiency is lower, therefore rail-free
Intelligent parking robot becomes the hot spot that we study.
And the parking robot used now more or less all comes with some shortcomings, such as application number 201520877053.1
Chinese patent literature discloses a kind of multi-functional adjustable parking robot, and although size that the program realizes parking robot can
Adjust, but its overall structure be cantilever design, for the biggish automobile of weight, lift operational process will appear it is unstable existing
As.
Utility model content
The purpose of the utility model is to provide a kind of six train heavy duties can automatic charging intelligent parking robot.
The purpose of this utility model is achieved through the following technical solutions:
The six train heavy duties of the utility model can automatic charging intelligent parking robot, including body framing, car body protect
Shield, shearing type lifting device, driving device and safety device, automatic charge device and draft hitch；
The shearing type lifting device includes upper support plate and two groups of scissor arms, and one end of a scissor arms in scissor arms is set to
In sliding rail, one end of another scissor arms is connected with lead screw transmission and motor；
The driving device includes two diagonally arranged steering wheels, two diagonally arranged universal wheels and is arranged in the vehicle
Spring shock absorption wheel in the middle part of body skeleton；
The safety device is equipped with laser sensor, infrared sensor and ultrasonic sensor；
The automatic charge device includes automatic telescopic charging head and charging touch panel, the automatic telescopic charging head connection
There are guide rod and electric cylinders, and is equipped with limit switch；
The draft hitch includes damper, link mechanism and connecting plate, one end of link mechanism and the car body bone
Frame is connected and fixed, and the other end is connect with connecting plate, and the steering wheel and universal wheel are connected with connecting plate.
The six trains weight provided by the embodiment of the utility model it can be seen from above-mentioned technical solution provided by the utility model
Carry can automatic charging intelligent parking robot, lifting process is steady, uniform force, cost-effective, easy to maintenance, practical application
Value is high, solves the problems such as parking difficulty and existing parking robot motion path are single, operational efficiency is low.
Detailed description of the invention
Fig. 1 be six trains heavy duty provided by the embodiment of the utility model can the intelligent parking robot of automatic charging look up
Structural schematic diagram；
Fig. 2 be six trains heavy duty provided by the embodiment of the utility model can automatic charging intelligent parking robot vertical view
Structural schematic diagram；
Fig. 3 is the body framing schematic diagram of the utility model embodiment；
Fig. 4 is the shearing type lifting schematic device of the utility model embodiment；
Fig. 5 is the shearing type lifting schematic device of the utility model embodiment；
Fig. 6 is the schematic diagram of driving device of the utility model embodiment；
Fig. 7 is the safety device schematic diagram of the utility model embodiment；
Fig. 8 is the automatic charge device schematic diagram of the utility model embodiment；
Fig. 9, Figure 10, Figure 11 and Figure 12 are respectively the structure or peace of the draft hitch different angle of the utility model embodiment
Fill schematic diagram；
Figure 13 be six trains heavy duty provided by the embodiment of the utility model can automatic charging intelligent parking robot it is vertical
Body structural schematic diagram.
In figure:
1, body framing, 2, car body protective cover, 3, shearing type lifting device, 4, driving device, 5, safety device, 6, from
Dynamic charging unit, 7, draft hitch；
1-1 body framing；
3-6,3-1, upper support plate, 3-2, scissor arms, 3-3, output motor, 3-4, fixed mounting plate, 3-5, lead screw transmission are led
Rail；
4-1, steering wheel, 4-2, spring shock absorption wheel, 4-3, universal wheel；
5-1, infrared sensor, 5-2, ultrasonic sensor, 5-3, laser sensor；
6-1, charging touch panel, 6-2, automatic telescopic charging head, 6-3, guide rod, 6-4, electric cylinders, 6-5, limit switch；
7-1, damper, 7-2, link mechanism, 7-3, connecting plate, 7-4, connecting rod.
Specific embodiment
The utility model embodiment will be described in further detail below.Do not make in the utility model embodiment in detail
The content of description belongs to the prior art well known to professional and technical personnel in the field.
The six train heavy duties of the utility model can automatic charging intelligent parking robot, preferable specific embodiment
It is:
Including body framing, car body protective cover, shearing type lifting device, driving device and safety device, automatic charging
Device and draft hitch；
The shearing type lifting device includes upper support plate and two groups of scissor arms, and one end of a scissor arms in scissor arms is set to
In sliding rail, one end of another scissor arms is connected with lead screw transmission and motor；
The driving device includes two diagonally arranged steering wheels, two diagonally arranged universal wheels and is arranged in the vehicle
Spring shock absorption wheel in the middle part of body skeleton；
The safety device is equipped with laser sensor, infrared sensor and ultrasonic sensor；
The automatic charge device includes automatic telescopic charging head and charging touch panel, the automatic telescopic charging head connection
There are guide rod and electric cylinders, and is equipped with limit switch；
The draft hitch includes damper, link mechanism and connecting plate, one end of link mechanism and the car body bone
Frame is connected and fixed, and the other end is connect with connecting plate, and the steering wheel and universal wheel are connected with connecting plate.
The body framing is mainly welded to form car body supporting part by the rectangular tube of 100*50*5.
The car body protective cover is equipped with stainless steel knob.
The laser sensor real time scan range is 270 °.
The automatic telescopic charging head is located in workplace, and the charging touch panel is arranged in intelligent parking robot
On.
The draft hitch uses parallelogram sturcutre.
The utility model uses the mode of four lifting mechanism synchronous liftings, and lifting process is steady, uniform force, cost
It is suitable for, is easy to maintenance, practical application value is high, solves that parking difficulty and existing parking robot motion path are single, run
The problems such as low efficiency.
Car body protective cover can be easy to disassemble, and protective cover is equipped with stainless steel knob, facilitates installation and debugging.
Two groups of scissor arms in shearing type lifting device are hinged and jackshaft is with the lead screw cooperation connect is connected to the motor, should
Shearing type lifting device effectively prevents the problems such as inclination occurred in lifting process rollover.
Driving device uses six trains, can effectively improve the service ability of parking robot, including former and later two are symmetrically
The steering wheel of arrangement, former and later two symmetrical universal wheels and can two height-adjustable spring shock absorption universal wheels, realize and park
Robot forward-reverse, transverse moving left and right and pivot stud movement.
Laser sensor in safety device can be with 270 ° of ranges of real time scan, the operation of real-time monitoring parking robot
Whether there is barrier in the process and alarms.
Automatic charging telescopic device is built up in workplace, rather than is directly installed on robot body, saves one
Determine space, external flexible charging head is driven by electric cylinders, moved along a straight line by guide rod, and realization is bonded with charging touch panel and is filled
The autonomous operation of electric process, which is mounted on parking robot side, and both sides installation limit switches were, it can be achieved that charged
The autonomous positioning of journey.
Draft hitch uses parallelogram sturcutre, so that the steering wheel and universal wheel that are connected with connecting plate are maintained at plummet
The movement in direction, the device can be in the case where Apparatus for parking vehicles device manually make Uneven road, so that vehicle frame is rushed with what vehicle body was subject to
It hits power to be buffered, thus bring shakes for decaying.It also avoids causing the idle running of steering wheel due to the recess of road surface appearance simultaneously,
The case where can not moving.
Compared with the prior art, the advantages of the utility model are:
The intelligent parking robot has carried out innovative design on the basis of existing parking robot, this parking robot is adopted
It is driven with six trains, ensure that traveling comfort, after parking robot advance may be implemented using the mode of Twin Rudders wheel drive
It moves back, the movement of transverse moving left and right and pivot stud, solves the problems, such as that existing parking apparatus motion path is single, improve operation effect
Rate realizes the even running of lifting process using shearing type lifting mechanism structure, and it is unstable and incline to effectively prevent motion process
The problems such as turning over, design provide sufficient power automatically at electric system for the movement of parking robot.And the intelligent parking machine
People uses draft hitch, can in the case where Apparatus for parking vehicles device manually makees Uneven road so that vehicle frame and vehicle body by
Impact force buffered, decaying thus bring shake, while also avoid due to road surface occur recess cause steering wheel
Idle running, the case where can not moving.
Specific embodiment:
As shown in Figure 1, Figure 2, shown in Fig. 3, Figure 13, including body framing, car body protective cover, shearing type lifting device, driving device,
Safety device and automatic charge device, the shearing type lifting device by two groups of scissor arms are hinged and jackshaft with electricity
For the lead screw that machine is connected with being combined into, the driving device includes two steering wheels being arranged symmetrically and four steering wheel groups into institute
Stating safety device includes laser sensor, infrared sensor, ultrasonic sensor, and the automatic charge device includes electric power storage
Pond, charging touch panel and automatic telescopic charging head.
The body framing is mainly welded to form car body supporting part by the rectangular tube of 100*50*5, devises in skeleton
The installs case of shearing type lifting device pedestal and driving device mounting plate and battery and control system.Wherein shearing type lifting device
Pedestal, driving device mounting plate and battery, the installs case of control system and body framing weld, and ensure that whole rigidity,
With reliable load-carrying properties.
Two groups of scissor arms in Fig. 4 and Fig. 5 in shearing type lifting device are hinged and jackshaft is connected to the motor together the silk connect
The problems such as thick stick cooperation, which effectively prevents the inclination occurred in lifting process rollover.
Driving device uses six trains, the steering wheel being arranged symmetrically including former and later two, former and later two symmetrical universal wheels in Fig. 6
And can two height-adjustable spring shock absorption universal wheels, realize parking robot forward-reverse, transverse moving left and right and original
Ground divertical motion can effectively improve the service ability of parking robot.Wherein steering wheel using 1500W driving motor and
The steering motor of 150W, may be implemented all-around mobile, solve existing parking robot motion path Single-issue.
Safety device includes laser sensor in Fig. 7, and can be parked machine with 270 ° of ranges of real time scan, real-time monitoring
Whether there is barrier in people's operational process and alarms；Parking robot surrounding arranges infrared sensor, detects a certain range
Barrier, compensated for the blind area of laser sensor；The ultrasonic sensor is installed at headstock, can be to Apparatus for parking vehicles
The front upper place of device people operation carries out barrier scanning.
Charging touch panel is installed on parking robot side in automatic charge device shown in Fig. 8, parking robot when charging
Close to automatic telescopic charging head, automatic telescopic charging head is driven by electric cylinders drives charging head to move, and is bonded with charging touch panel real
Existing automatic charging function, both sides one group of limit switch is installed respectively, it can be achieved that automatic charging process autonomous positioning.
Draft hitch shown in Fig. 9, Figure 10, Figure 11 and Figure 12 uses parallelogram sturcutre, so that being connected with connecting plate
Steering wheel and universal wheel be maintained at the movement in plummet direction, which can be the case where Apparatus for parking vehicles device manually makees Uneven road
Under, so that the impact force that vehicle frame is subject to vehicle body is buffered, thus bring shakes for decaying.It also avoids simultaneously due to road surface
The case where recess of appearance causes the idle running of steering wheel, can not move.
Working principle:
Before the parking robot, it need to simply be understood, parking robot is parked in stereo garage first
Designated position, when there is automobile parking, parking robot holds up vehicle-carrying plate and enters the vehicle Room, and automobile parking is parked after vehicle-carrying plate
Robot starts shearing type lifting device lifting vehicle-carrying plate and automobile, and after giving rise to specified altitude assignment, lifting process stops, with motor
The lead screw being connected can realize self-locking function, and vehicle-carrying plate and vehicle steadily are maintained at certain altitude, parking robot driving dress
Steering wheel driving motor in setting brings into operation, and on the way if you need to carry out traversing process, controllable steering wheel steering motor realization is moved through
The steering of journey, thus automatic running is to specified parking stall, and shearing type lifting device is fallen into place later, by vehicle-carrying plate and automobile parking
In specified parking stall, process of once parking is completed.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
Subject to the scope of protection of the claims.
Claims (6)
1. a kind of six train heavy duties can automatic charging intelligent parking robot, which is characterized in that including body framing (1), vehicle
Body protective cover (2), shearing type lifting device (3), driving device (4) and safety device (5), automatic charge device (6) and outstanding
Rack device (7)；
The shearing type lifting device includes upper support plate and two groups of scissor arms, and one end of a scissor arms in scissor arms is set to sliding rail
In, one end of another scissor arms is connected with lead screw transmission and motor；
The driving device includes two diagonally arranged steering wheels, two diagonally arranged universal wheels and is arranged in the car body bone
Spring shock absorption wheel in the middle part of frame；
The safety device is equipped with laser sensor, infrared sensor and ultrasonic sensor；
The automatic charge device includes automatic telescopic charging head and charging touch panel, and the automatic telescopic charging head, which is connected with, leads
To bar and electric cylinders, and it is equipped with limit switch；
The draft hitch includes damper, link mechanism and connecting plate, and one end of link mechanism and the body framing connect
Fixation is connect, the other end is connect with connecting plate, and the steering wheel and universal wheel are connected with connecting plate.
2. six trains heavy duty according to claim 1 can automatic charging intelligent parking robot, which is characterized in that it is described
Body framing car body supporting part is mainly welded to form by the rectangular tube of 100*50*5.
3. six trains heavy duty according to claim 2 can automatic charging intelligent parking robot, which is characterized in that it is described
Car body protective cover is equipped with stainless steel knob.
4. six trains heavy duty according to claim 3 can automatic charging intelligent parking robot, which is characterized in that it is described
Laser sensor real time scan range is 270 °.
5. six trains heavy duty according to claim 4 can automatic charging intelligent parking robot, which is characterized in that it is described
Automatic telescopic charging head is located in workplace, and the charging touch panel is arranged in intelligent parking robot.
6. six trains heavy duty according to claim 5 can automatic charging intelligent parking robot, which is characterized in that it is described
Draft hitch uses parallelogram sturcutre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820824633.8U CN208534141U (en) | 2018-05-30 | 2018-05-30 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820824633.8U CN208534141U (en) | 2018-05-30 | 2018-05-30 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
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| Publication Number | Publication Date |
|---|---|
| CN208534141U true CN208534141U (en) | 2019-02-22 |
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| CN201820824633.8U Active CN208534141U (en) | 2018-05-30 | 2018-05-30 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN110775026A (en) * | 2019-10-22 | 2020-02-11 | 金肯职业技术学院 | Full-automatic parking robot and parking method thereof |
-
2018
- 2018-05-30 CN CN201820824633.8U patent/CN208534141U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN110775026A (en) * | 2019-10-22 | 2020-02-11 | 金肯职业技术学院 | Full-automatic parking robot and parking method thereof |
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