CN212507637U - Four-way shuttling clamping type parking robot - Google Patents
Four-way shuttling clamping type parking robot Download PDFInfo
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- CN212507637U CN212507637U CN202021059231.7U CN202021059231U CN212507637U CN 212507637 U CN212507637 U CN 212507637U CN 202021059231 U CN202021059231 U CN 202021059231U CN 212507637 U CN212507637 U CN 212507637U
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Abstract
The utility model discloses a four-way shuttle clamping parking robot, which comprises a vehicle clamping and lifting system, a traveling system and a traveling track, wherein the traveling system is provided with a longitudinal moving wheel group and a transverse moving wheel group; the longitudinal moving wheel group comprises a longitudinal moving shaft provided with a longitudinal moving wheel, and the longitudinal moving shaft is in transmission connection with a longitudinal moving motor; the transverse moving wheel set comprises a transverse moving wheel, the transverse moving wheel is in transmission connection with a transverse moving motor through a transverse moving driving gear and a chain, the transverse moving wheel and the transverse moving driving gear are installed on a transverse and longitudinal switching group, and the transverse and longitudinal switching group is in transmission connection with a switching motor through a synchronous bevel gear and a synchronous shaft. The transverse and longitudinal walking is integrated, the number of auxiliary equipment is reduced, the space is saved, and the cost is reduced. The device can run in four directions of longitudinal front and back and transverse front and back. Compact structure, and is suitable for large-scale plane movement, vertical lifting and other warehouse types.
Description
Technical Field
The utility model relates to a mechanical type stereo garage especially relates to a centre gripping formula parking robot that shuttles back and forth in four directions.
Background
The mechanical stereo garage has various types, wherein common intelligent garage types such as plane movement, vertical lifting, roadway stacking and the like all use carriers to realize the access action of automobiles. The traditional parking robot has a single walking direction, and needs auxiliary equipment to realize other walking directions. The AGV parking robot has the advantages of high cost, complex mechanical structure and control and low market share.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a clamping type parking robot shuttles back and forth in four directions.
The utility model aims at realizing through the following technical scheme:
the utility model discloses a four-way shuttle centre gripping formula parking robot, including vehicle centre gripping lifting system, traveling system, walking track, traveling system arranges on walking track, vehicle centre gripping lifting system arranges on traveling system;
the walking system comprises a walking underframe, the middle part of the walking underframe is provided with a middle wheel, and the front part and the rear part of the walking underframe are provided with a longitudinal moving wheel set and a transverse moving wheel set;
the longitudinal moving wheel group comprises a longitudinal moving shaft provided with a longitudinal moving wheel, and the longitudinal moving shaft is in transmission connection with a longitudinal moving motor;
the sideslip wheelset includes the sideslip wheel, the sideslip wheel is connected with sideslip motor drive through sideslip drive gear and chain, sideslip wheel and sideslip drive gear install and violently indulge to switch over the group on, violently indulge to switch over the group through a pair of synchronous bevel gear and synchronizing shaft and switching motor drive connection, the other end of synchronizing shaft is through another pair of synchronous bevel gear with install the sideslip from the horizontal switching of driving wheel and indulge to switch over the group and be connected.
By the foregoing the utility model provides a technical scheme can see out, the embodiment of the utility model provides a four-way centre gripping formula of shuttling parking robot has synthesized horizontal vertical walking, has reduced auxiliary assembly's quantity, has practiced thrift the space, the cost is reduced. The device can run in four directions of longitudinal front and back and transverse front and back. Compact structure, and is suitable for large-scale plane movement, vertical lifting and other warehouse types.
Drawings
Fig. 1 is a schematic view of an overall appearance structure of a four-way shuttle clamping type parking robot according to an embodiment of the present invention;
fig. 2 is a closed schematic view of a clamping arm of the robot according to the embodiment of the present invention;
fig. 3 is a schematic view of the robot clamping arm according to the embodiment of the present invention being opened;
fig. 4 is a schematic view of a walking system according to an embodiment of the present invention;
fig. 5 is a schematic view of a longitudinal movement wheel set of a robot according to an embodiment of the present invention;
fig. 6 is a schematic view of a traverse wheel set of a robot according to an embodiment of the present invention;
fig. 7a, 7b, and 7c are schematic diagrams illustrating lateral and longitudinal movement switching of a robot according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in further detail below. Details not described in the embodiments of the present invention belong to the prior art known to those skilled in the art.
The utility model discloses a four-way centre gripping formula parking robot that shuttles back and forth, the concrete implementation mode of its preferred is:
the device comprises a vehicle clamping and lifting system, a traveling system and a traveling rail, wherein the traveling system is arranged on the traveling rail;
the walking system comprises a walking underframe, the middle part of the walking underframe is provided with a middle wheel, and the front part and the rear part of the walking underframe are provided with a longitudinal moving wheel set and a transverse moving wheel set;
the longitudinal moving wheel group comprises a longitudinal moving shaft provided with a longitudinal moving wheel, and the longitudinal moving shaft is in transmission connection with a longitudinal moving motor;
the sideslip wheelset includes the sideslip wheel, the sideslip wheel is connected with sideslip motor drive through sideslip drive gear and chain, sideslip wheel and sideslip drive gear install and violently indulge to switch over the group on, violently indulge to switch over the group through a pair of synchronous bevel gear and synchronizing shaft and switching motor drive connection, the other end of synchronizing shaft is through another pair of synchronous bevel gear with install the sideslip from the horizontal switching of driving wheel and indulge to switch over the group and be connected.
When the transverse and longitudinal switching group is moved longitudinally, the transverse moving wheel is lifted, the transverse moving wheel leaves the traveling track, and the longitudinal moving wheel is contacted with the traveling track;
during transverse movement, the transverse and longitudinal switching group rotates downwards by 90 degrees, the transverse moving wheels are in contact with the traveling track, and the longitudinal moving wheels leave the traveling track.
The vehicle clamping and lifting system comprises a front portion and a rear portion, a wheel base adjusting device is arranged between the front portion and the rear portion and comprises a gear rack set, gears in the gear rack set are connected with a wheel base adjusting motor, and gears and racks in the gear rack set are respectively connected with the front portion and the rear portion.
The front part and the rear part of the vehicle clamping and lifting system comprise clamping arm sets, the clamping arm sets are meshed with ball screws, and the ball screws are connected with a clamping and lifting motor.
The utility model discloses a robot is parked to quadriversal centre gripping formula of shuttling on the basis of current centre gripping carrier, synthesizes the advantage that the robot was parked to tradition and AGV park the robot, can realize indulging four directions operation before, after and horizontal preceding, back.
The utility model discloses a centre gripping formula parking robot is shuttled back and forth mainly includes vehicle centre gripping lifting system, centre gripping driving motor, ball screw, arm lock, wheel base adjusting device, traveling system, indulges and moves the wheelset, indulges and moves the wheel, indulges and moves motor, sideslip wheelset, sideslip wheel, sideslip motor, violently indulge switching group, transmission shaft, synchronous bevel gear, sideslip chassis. The parking robot comprises two parts: the clamping system is arranged on the walking system. The clamping system is divided into two sections, each section of the carrier comprises four clamping arms, two clamping arms clamp a tire, the two clamping arms are driven by two ball screws of a motor, and gear rack groups adjust the wheel base. The traveling wheel assembly is divided into a longitudinal moving wheel set and a transverse moving wheel set, two groups of transverse moving motors, two groups of longitudinal moving motors and two groups of transverse and longitudinal switching motors.
The utility model discloses a theory of operation is:
the rotation of the servo motor is utilized, the ball screw is driven by the speed reducer to drive the clamping arm to move, and the built-in encoder of the servo motor realizes the clamping and releasing functions of the automobile. The walking is realized by driving the transverse moving wheel set, the longitudinal moving wheel set and the transverse and longitudinal switching set through the servo motor.
The utility model has the advantages that:
the structure is compact, and the device can be suitable for large-scale plane movement, vertical lifting and other warehouse types;
the transverse and longitudinal walking is integrated, the number of auxiliary equipment is reduced, the space is saved, and the cost is reduced.
The specific embodiment is as follows:
as shown in fig. 1 to 7c, the device mainly includes a vehicle clamping and lifting system 1, a clamping and lifting motor 11, a ball screw 12, a coupling 13, a clamping arm group 14, a wheel base adjusting motor 15, a gear rack group 16, a traveling system 2, a longitudinal moving wheel group 21, a longitudinal moving wheel 211, a longitudinal moving shaft 212, a longitudinal moving motor 213, a longitudinal moving driving sprocket 214, a transverse moving wheel group 22, a transverse moving wheel 221, a transverse moving driving gear 222, a chain 223, a transverse moving motor 224, a switching motor 225, a synchronous shaft 226, a synchronous bevel gear 227, a transverse and longitudinal switching group 228, an intermediate wheel 23 and a traveling rail 3 of a traveling underframe 24. The four-way shuttling parking robot is arranged on the walking track 3, the clamping and lifting system is arranged on the walking system 2, the clamping and lifting motor 11 drives the ball screw 12 to drive the clamping arm group 14 to move, and the wheel base adjusting motor 15 drives the gear rack group 16 to adapt to the wheel bases of different vehicles, so that the purpose of lifting the vehicles is realized; the vertical movement motor 213 drives the vertical movement shaft 212 to drive the vertical movement wheel 211 to move vertically, the switching motor 225 drives the synchronizing shaft 226 to enable the synchronizing bevel gear 227 to rotate the horizontal and vertical switching group 228 to rotate 90 degrees, the horizontal movement wheel 221 contacts with the traveling rail 3, the vertical movement wheel 211 leaves the traveling rail 3 to complete switching, and the horizontal movement motor 224 drives the chain 223 to drive the horizontal movement drive gear 222 to realize the traveling of the horizontal movement wheel 221. The vehicle is clamped by the clamping and lifting system 1, longitudinally moves through the longitudinal moving wheel set 21, is switched by the transverse and longitudinal switching set 228, and transversely moves through the transverse moving wheel set 22, so that the vehicle is conveyed.
The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are all covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A four-way shuttle clamping type parking robot is characterized by comprising a vehicle clamping and lifting system (1), a traveling system (2) and a traveling track (3), wherein the traveling system (2) is arranged on the traveling track (3), and the vehicle clamping and lifting system (1) is arranged on the traveling system (2);
the walking system (2) comprises a walking underframe (24), a middle wheel (23) is arranged in the middle of the walking underframe (24), and a longitudinal moving wheel group (21) and a transverse moving wheel group (22) are arranged at the front part and the rear part of the walking underframe (24);
the longitudinal moving wheel set (21) comprises a longitudinal moving shaft (212) provided with a longitudinal moving wheel (211), and the longitudinal moving shaft (212) is in transmission connection with a longitudinal moving motor (213);
the transverse moving wheel set (22) comprises a transverse moving wheel (221), the transverse moving wheel (221) is in transmission connection with a transverse moving motor (224) through a transverse moving driving gear (222) and a chain (223), the transverse moving wheel (221) and the transverse moving driving gear (222) are installed on a transverse and longitudinal switching set (228), the transverse and longitudinal switching set (228) is in transmission connection with a switching motor (225) through a pair of synchronous bevel gears (227) and a synchronous shaft (226), and the other end of the synchronous shaft (226) is connected with the transverse and longitudinal switching set (228) provided with a transverse moving driven wheel through another pair of synchronous bevel gears (227).
2. A four-way shuttle-grip parking robot as claimed in claim 1, wherein:
when the transverse and longitudinal switching group (228) is lifted during longitudinal movement, the transverse moving wheel (221) leaves the running track (3), and the longitudinal moving wheel (211) is contacted with the running track (3);
when the transverse moving is carried out, the transverse and longitudinal switching group (228) rotates downwards by 90 degrees, the transverse moving wheel (221) is contacted with the running track (3), and the longitudinal moving wheel (211) leaves the running track (3).
3. A four-way shuttle parking robot as claimed in claim 1 or 2, wherein the vehicle gripping and lifting system (1) comprises a front part and a rear part, a wheel base adjusting device is arranged between the front part and the rear part, the wheel base adjusting device comprises a gear rack group (16), gears in the gear rack group (16) are connected with a wheel base adjusting motor (15), and gears and racks in the gear rack group (16) are respectively connected with the front part and the rear part.
4. A four-way shuttle parking robot as claimed in claim 3, wherein the vehicle gripping and lifting system (1) comprises a set of gripping arms (14) at the front and at the rear, the set of gripping arms (14) engaging a ball screw (12), the ball screw (12) being connected to a gripping and lifting motor (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021059231.7U CN212507637U (en) | 2020-06-10 | 2020-06-10 | Four-way shuttling clamping type parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021059231.7U CN212507637U (en) | 2020-06-10 | 2020-06-10 | Four-way shuttling clamping type parking robot |
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| Publication Number | Publication Date |
|---|---|
| CN212507637U true CN212507637U (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021059231.7U Active CN212507637U (en) | 2020-06-10 | 2020-06-10 | Four-way shuttling clamping type parking robot |
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| CN (1) | CN212507637U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199116A (en) * | 2022-08-08 | 2022-10-18 | 浙江河图科技有限公司 | Intelligent transfer robot |
-
2020
- 2020-06-10 CN CN202021059231.7U patent/CN212507637U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199116A (en) * | 2022-08-08 | 2022-10-18 | 浙江河图科技有限公司 | Intelligent transfer robot |
| CN115199116B (en) * | 2022-08-08 | 2023-09-08 | 浙江河图科技有限公司 | Intelligent carrying robot |
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