CN213015652U

CN213015652U - Split type parking robot

Info

Publication number: CN213015652U
Application number: CN202021240876.0U
Authority: CN
Inventors: 赵双望; 胡富天; 陈晓
Original assignee: Shanghai Hictrl Automation Technology Co ltd
Current assignee: Shanghai Hictrl Automation Technology Co ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-04-20
Anticipated expiration: 2030-06-30

Abstract

The utility model discloses a split type parking robot, including fixture, running gear and two sets of automobile body mechanisms, running gear is used for driving automobile body mechanism to remove, and fixture is used for the centre gripping wheel, and is two sets of automobile body mechanism's tip is connected through connecting the tow cable, automobile body mechanism's side all is provided with fixture, the equal fixed mounting in middle part of automobile body mechanism has a driving motor, fixed cover is equipped with first sprocket on a driving motor's the output shaft. The utility model discloses two sets of automobile body mechanisms are connected through connecting the tow-cable, and output shaft through the first driving motor of a driving motor drive is with power take off to first sprocket to drive first transmission shaft and rotate, and through first transmission shaft with power transmission to drive plate, can drive two sets of lead screw slider mechanism motions simultaneously, drive fixture and press from both sides the armful to the wheel, running gear and fixture can be simplified to this device, reduce assembly height when practicing thrift the cost.

Description

Split type parking robot

Technical Field

The utility model relates to a car haulage equipment field, concretely relates to split type parking robot.

Background

With the rapid development of national economy, the holding quantity of automobiles at home and abroad is rapidly increased, the problem of difficult parking is increasingly obvious, and the automobile carrying robot used in a mechanical parking garage at present mainly has three forms: a vehicle-carrying plate type carrying robot, a comb-tooth type carrying robot and a clamping tire type carrying robot. The vehicle carrying plate type transfer robot has low vehicle storing and taking efficiency and higher cost, and is rarely used at present; the parking space of the comb-tooth type carrying robot is required to be provided with the comb-tooth type parking frame, the required floor height is high, the precision requirement is high when equipment is in butt joint, the parking efficiency is reduced, and the safety is poor; the clamping tire type automobile carrying robot has the advantages of no automobile plate and special parking space, higher efficiency, simple structure and convenience in installation.

The common tire holding and clamping form of the conventional automobile carrier mainly adopts a scheme of combining an inclined block guide rail, a gear and a rod piece. This results in an unstable, easily jarred clamp for cars, with serious consequences; this type of platform is complicated in structure, so that the parking robot is large in size.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a can effectively reduce the automobile body height, transport nimble parking robot.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

a split type parking robot comprises a clamping mechanism, a traveling mechanism and two sets of vehicle body mechanisms, wherein the traveling mechanism is used for driving the vehicle body mechanisms to move, the clamping mechanism is used for clamping wheels, the two sets of vehicle body mechanisms are connected with one another through connecting towing cables, the side faces of the vehicle body mechanisms are respectively provided with the clamping mechanism, the middle portions of the vehicle body mechanisms are respectively and fixedly provided with a first driving motor, the first driving motor is used for driving the clamping mechanism, a first chain wheel is fixedly sleeved on an output shaft of the first driving motor, the first chain wheel is connected with a second chain wheel through transmission chain transmission, the second chain wheel is fixedly sleeved on a first transmission shaft, the first transmission shaft is rotatably installed on the vehicle body mechanisms, a third chain wheel and a fourth chain wheel are fixedly sleeved on the first transmission shaft, a lead screw is rotatably installed on the vehicle body mechanisms, and a fifth chain wheel and a sixth chain wheel are coaxially and fixedly installed, the third chain wheel and the fourth chain wheel are respectively in transmission connection with the fifth chain wheel and the sixth chain wheel through transmission chains, the screw rod is in transmission connection with the driving plate, and the driving plate is fixedly connected with the driving sliding block of the clamping mechanism.

Preferably, the traveling mechanism is driven by a second driving motor, the second driving motor is fixedly mounted on a traveling rack, the traveling rack is fixedly mounted at the end of the vehicle body, a seventh chain wheel is fixedly mounted on an output shaft of the second driving motor in a fixed sleeve mode, the seventh chain wheel is in transmission connection with an eighth chain wheel on a second transmission shaft, and a first driving wheel is fixedly mounted at the end of the second transmission shaft.

Preferably, a second driving wheel is rotatably mounted on the traveling frame, the second driving wheel is coaxially and fixedly connected with a ninth chain wheel, and the ninth chain wheel is in transmission connection with a tenth chain wheel on a second transmission shaft through a transmission chain.

Preferably, fixture includes centre gripping arm and guide bar, centre gripping arm tip rotates to be connected on automobile body mechanism, the one end of guide bar is rotated and is installed on the centre gripping arm, the other end of guide bar rotates and installs on the drive slider, drive slider slidable mounting is on first guide rail, first guide rail fixed mounting is on automobile body mechanism.

Preferably, the end part of the drive plate is fixedly installed on a guide block, the guide block is in threaded connection with the surface of the screw rod, a second guide rail is fixedly installed on the vehicle body mechanism, the guide block is slidably installed on the second guide rail, and a limit block is arranged at the end part of the guide rail.

The utility model provides a split type parking robot possesses following beneficial effect: two sets of automobile body mechanisms are connected through connecting the tow cable, thereby the fixture that automobile body mechanism both sides set up carries out the centre gripping to the wheel and accomplishes the car transport, output shaft through the first driving motor of first driving motor drive is with power take off to first sprocket, thereby drive first transmission shaft and rotate, and through first transmission shaft with power transmission to drive plate, can drive two sets of lead screw slider mechanisms motion simultaneously, drive fixture and press from both sides the armful to the wheel, running gear and fixture can be simplified to this device, reduce assembly height when practicing thrift the cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a part of the structure of the present invention;

fig. 3 is a schematic structural view of the traveling mechanism of the present invention;

fig. 4 is a schematic structural view of the clamping mechanism of the present invention;

FIG. 5 is an enlarged schematic view at A in FIG. 4;

fig. 6 is a schematic structural view of the first guide rail of the present invention;

in the figure: 1. a clamping mechanism; 101. a first drive motor; 102. a first sprocket; 103. a second sprocket; 104. a first drive shaft; 105. a third sprocket; 106. a fourth sprocket; 107. a fifth sprocket; 108. a sixth sprocket; 109. a screw rod; 110. a drive plate; 111. driving the slide block; 112. a clamp arm; 113. a guide bar; 114. a first guide rail; 115. a guide block; 116. a second guide rail; 117. a limiting block; 2. a traveling mechanism; 201. a second driving motor, 202 and a walking frame; 203. a seventh sprocket; 204. a second drive shaft; 205. a first drive wheel; 206. an eighth sprocket; 207. a second drive wheel; 208. a ninth sprocket; 209. a tenth sprocket; 3. a vehicle body mechanism; 4. a streamer is connected.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention will be combined to clearly and completely describe the technical solutions in the embodiments of the present invention.

In a first embodiment, as shown in fig. 1 to 6, a split parking robot includes a clamping mechanism 1, a traveling mechanism 2 and two sets of vehicle body mechanisms 209, where the traveling mechanism 2 is used to drive the vehicle body mechanisms 209 to move, the clamping mechanism 1 is used to clamp a wheel, the ends of the two sets of vehicle body mechanisms 209 are connected by a connecting towing cable 4, the side surfaces of the vehicle body mechanisms 209 are respectively provided with the clamping mechanism 1, the middle parts of the vehicle body mechanisms 209 are respectively and fixedly provided with a first driving motor 101, the first driving motor 101 is used to drive the clamping mechanism 1, an output shaft of the first driving motor 101 is fixedly sleeved with a first sprocket 102, the first sprocket 102 is connected with a second sprocket 103 by a transmission chain, the second sprocket 103 is fixedly sleeved on a first transmission shaft 104, the first transmission shaft 104 is rotatably installed on the vehicle body mechanisms 209, the first transmission shaft 104 is also fixedly sleeved with a third sprocket 105 and a fourth sprocket, the vehicle body mechanism 209 is rotatably provided with a screw rod 109, the end part of the screw rod 109 is coaxially and fixedly provided with a fifth chain wheel 107 and a sixth chain wheel 108, the third chain wheel 105 and the fourth chain wheel 106 are respectively connected with the fifth chain wheel 107 and the sixth chain wheel 108 through transmission chain, the screw rod 109 is in transmission connection with a drive plate 110, the drive plate 110 is fixedly connected with a drive slider 111 of the clamping mechanism 1, the third chain wheel 105 and the fourth chain wheel 106 on the first transmission shaft 104 are connected with the fifth chain wheel 107 and the sixth chain wheel 108 at the end part of the screw rod 109 through transmission chain, so that the first transmission shaft 104 rotates to drive the screw rod 109 to rotate, and then drives the drive slider 111 to move, thereby completing the clamping.

The working principle is as follows: when the automobile parking device works, the external controller sends a signal to the traveling mechanism 2, the traveling mechanism 2 moves to the bottom of an automobile to be parked, the traveling mechanism 2 stops, the external controller sends a signal to the first driving motor 101 of the clamping mechanism 1 to start, the first driving motor 101 drives the first chain wheel 102 to rotate, the first chain wheel 102 transmits power to the second chain wheel 103 through the transmission chain and drives the first transmission shaft 104 to rotate, the screw rod 109 is driven to rotate, meanwhile, the driving plate 110 on the screw rod 109 is driven to move on the screw rod 109, the driving plate 110 moves, the sliding block 111 is driven to move to drive the clamping mechanism 1 to perform clamping action, wheels are clamped and the automobile can be transported and parked, and the traveling mechanism 2 operates to transport the automobile to a parking space.

Unlike the combined scheme of the inclined block guide rail, the gear and the rod in the prior art, the platform in the form of the inclined block guide rail is complex in structure, so that the parking robot is large in size. This device adopts a driving motor drive two sets of lead screw 109 slider mechanisms, therefore fixture 1 is compacter than prior art, and the structure is more ingenious, has reduced size and thickness, moves more stably. Meanwhile, the two groups of vehicle body mechanisms 209 are connected through the connecting towing cables 4, power or transmission signals can be provided for the two groups of vehicle body mechanisms 209, and the motion speed and the angle of the vehicle body mechanisms 209 can be flexibly adjusted.

In the second embodiment, as a preferable technical solution of the first embodiment, the traveling mechanism 2 is driven by a second driving motor 201, the second driving motor 201 is fixedly installed on a traveling frame 202, the traveling frame 202 is fixedly installed at an end portion of the vehicle body, a seventh sprocket 203 is fixedly sleeved on an output shaft of the second driving motor 201, the seventh sprocket 203 is in transmission connection with an eighth sprocket 206 on a second transmission shaft 204, and a first driving wheel 205 is fixedly installed at an end portion of the second transmission shaft 204. Under the driving of the second driving motor 201, the seventh chain wheel 203 transmits power to the eighth chain wheel 206 on the second transmission shaft 204 through the transmission chain, so as to drive the first driving wheel 205 on the second transmission shaft 204 to rotate, thereby realizing the movement of the whole device. The walking frame 202 is rotatably provided with a second driving wheel 207, the second driving wheel 207 is coaxially and fixedly connected with a ninth chain wheel 208, and the ninth chain wheel 208 is in chain transmission connection with a tenth chain wheel 209 on the second transmission shaft 204. The ninth chain wheel 208 and the tenth chain wheel 209 are connected through a transmission chain, the second driving wheel 207 and the ninth chain wheel 208 are coaxially and fixedly connected, and the second driving wheel 207 and the first driving wheel 205 jointly support the weight of the whole device.

The traveling mechanism 2 generally adopts a modular driving device, and mainly has differential driving and idler wheel driving, so that the parking robot has a complex driving mode and a large size. The traveling mechanism 2 of the device adopts the driving motor to drive the chain wheel to rotate, and drives power to the driving wheel through the transmission chain, thereby enhancing the stability of the traveling crane and the adaptability to the ground for rechecking. The driving motor and the driving wheel are directly arranged on the walking frame 202, so that the space is reasonably utilized.

Compared with the prior art, the parking robot mainly solves the problems of complex structure of the walking mechanism 2 and the clamping mechanism 1, reduces the size and thickness of the parking robot, realizes that the thickness of the parking robot is below 90mm, and can reduce 150 mm-300 mm per layer compared with other types of parking robot products. The storage efficiency is greatly improved. And the weight of the vehicle body is lighter, and the operation and construction cost is reduced.

Third embodiment, this embodiment is a preferable technical solution of the first embodiment, the clamping mechanism 1 includes a clamping arm 112 and a guide rod 113, an end of the clamping arm 112 is rotatably connected to the vehicle body mechanism 209, one end of the guide rod 113 is rotatably mounted on the clamping arm 112, the other end of the guide rod 113 is rotatably mounted on the driving slider 111, the driving slider 111 is slidably mounted on the first guide rail 114, and the first guide rail 114 is fixedly mounted on the vehicle body mechanism 209. An electric signal is given to the first driving motor 101 to drive the driving slider 111 to slide on the first guide rail 114, and the driving slider 111 drives the guide rod 113 to move and drive the clamping arm 112 to rotate, so that the clamping arm 112 opens and clamps four tires of the automobile to clamp the automobile off the ground.

The end part of the driving plate 110 is fixedly arranged on a guide block 115, the guide block 115 is in threaded connection with the surface of the screw rod 109, a second guide rail 116 is fixedly arranged on the vehicle body mechanism 209, the guide block 115 is slidably arranged on the second guide rail 116, and a limit block 117 is arranged at the end part of the guide rail. The guide block 115 is in threaded connection with the surface of the screw rod 109, so that installation is facilitated, meanwhile, the driving plate 110 is convenient to disassemble and assemble, the guide block 115 slides on the second guide rail 116 under the driving of the screw rod 109, the limiting block 117 on the second guide rail 116 can limit the position of the guide block 115, when the guide block 115 is displaced to the limiting block 117, the screw rod 109 stops rotating, and meanwhile, the clamping arm 112 is opened to a clamping angle to clamp the wheel.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; the pattern filling in the drawings of the utility model does not represent the material of the structure, and only distinguishes the structure; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The utility model provides a split type parking robot, includes fixture (1), running gear (2) and two sets of automobile body mechanism (3), and running gear (2) are used for driving automobile body mechanism (3) and remove, and fixture (1) is used for centre gripping wheel, its characterized in that: the end parts of the vehicle body mechanisms (3) are connected through connecting towropes (4), the side surfaces of the vehicle body mechanisms (3) are provided with clamping mechanisms (1), the middle parts of the vehicle body mechanisms (3) are fixedly provided with first driving motors (101), the first driving motors (101) are used for driving the clamping mechanisms (1), output shafts of the first driving motors (101) are fixedly sleeved with first chain wheels (102), the first chain wheels (102) are connected with second chain wheels (103) through transmission chain transmission, the second chain wheels (103) are fixedly sleeved on first transmission shafts (104), the first transmission shafts (104) are rotatably installed on the vehicle body mechanisms (3), the first transmission shafts (104) are also fixedly sleeved with third chain wheels (105) and fourth chain wheels (106), and the vehicle body mechanisms (3) are rotatably installed with screw rods (109), the end part of the screw rod (109) is coaxially and fixedly provided with a fifth chain wheel (107) and a sixth chain wheel (108), the third chain wheel (105) and the fourth chain wheel (106) are respectively in transmission chain transmission connection with the fifth chain wheel (107) and the sixth chain wheel (108), the screw rod (109) is in transmission connection with a driving plate (110), and the driving plate (110) is fixedly connected with a driving slide block (111) of the clamping mechanism (1).

2. The split parking robot according to claim 1, wherein: running gear (2) are driven by second driving motor (201), second driving motor (201) fixed mounting is on walking frame (202), walking frame (202) fixed mounting is at the tip of automobile body, fixed cover is equipped with seventh sprocket (203) on the output shaft of second driving motor (201), eighth sprocket (206) transmission on seventh sprocket (203) and second transmission shaft (204) is connected, the tip fixed mounting of second transmission shaft (204) has first drive wheel (205).

3. The split parking robot according to claim 2, wherein: a second driving wheel (207) is rotatably mounted on the traveling frame (202), the second driving wheel (207) is coaxially and fixedly connected with a ninth chain wheel (208), and the ninth chain wheel (208) is in transmission connection with a tenth chain wheel (209) on the second transmission shaft (204) through a transmission chain.

4. The split parking robot according to claim 1, wherein: fixture (1) includes centre gripping arm (112) and guide bar (113), centre gripping arm (112) tip rotates to be connected on automobile body mechanism (3), the one end of guide bar (113) is rotated and is installed on centre gripping arm (112), the other end of guide bar (113) is rotated and is installed on drive slider (111), drive slider (111) slidable mounting is on first guide rail (114), first guide rail (114) fixed mounting is on automobile body mechanism (3).

5. The split parking robot according to claim 1, wherein: the end part of the driving plate (110) is fixedly installed on a guide block (115), the guide block (115) is in threaded connection with the surface of the screw rod (109), a second guide rail (116) is fixedly installed on the vehicle body mechanism (3), the guide block (115) is slidably installed on the second guide rail (116), and a limiting block (117) is arranged at the end part of the guide rail.