WO2023128500A1

WO2023128500A1 - Holder of low-floor parking robot

Info

Publication number: WO2023128500A1
Application number: PCT/KR2022/021264
Authority: WO
Inventors: 조민서
Original assignee: 조민서
Priority date: 2021-12-29
Filing date: 2022-12-26
Publication date: 2023-07-06
Also published as: KR20230100958A

Abstract

The present invention relates to a low-floor parking robot in a vehicle moving apparatus that goes beneath the floor of a vehicle and then lifts the vehicle and changes the position of the vehicle, wherein a first apparatus and a second device move independently in the vehicle moving apparatus, move a single vehicle to a parking position while moving in coordination, and are mechanically separated and disposed independently. The first apparatus includes a first microcomputer for controlling the first apparatus and a first communication unit for communicating with the outside, and the second apparatus includes a second microcomputer for controlling the second apparatus and a second communication unit for communicating with the outside. A central control unit which manages the movements of the first apparatus and the second apparatus while communicating with the first communication unit and the second communication unit is provided, thus making it possible for automatic parking to be performed more efficiently.

Description

Holder of low-floor parking robot

The present invention relates to a low-floor parking robot, and more particularly, to a low-floor parking robot having a module structure that allows vehicles to be transported to a parking space and is easy to produce, and a holder related thereto.

Due to the recent rise in land prices, it takes a lot of money to construct outdoor parking lots, and parking problems occur due to the increase in vehicles. there is

As an example of such a parking facility, Korean Application No. 10-2020-0089185 discloses an embodiment of a lifting method capable of parking a vehicle at an appropriate place in a parking space by lifting it.

However, in the case of the patent filed in advance, a separate motor must be provided for the steering means for turning the lifted vehicle, and as a result, a large-diameter ring gear must be processed, which is difficult to process and requires excessive processing costs. Occurs.

Furthermore, since the structure of the holder for holding the wheel of a car is complicated, a structure capable of simplifying it and increasing reliability of operation is required.

The present invention reduces production cost by improving the structure of the steering means used in the conventional parking facility described above, and manufactures components to have a modular structure to simplify the manufacturing process, and produces low-floor parking with excellent production efficiency by assembling and producing them. It aims to provide robots.

In addition, an object of the present invention is to propose a structure that can increase the reliability of operation while simplifying the structure of a holder for holding a vehicle wheel.

In order to achieve the above object, the present invention is a vehicle moving device that moves the vehicle position by lifting the vehicle after entering the floor of the vehicle, the vehicle moving device includes a first device 500 and a second device 600 The two vehicles move independently, but the first device 500 and the second device 600 move in cooperation with each other to move one vehicle to a parking position, and the first device 500 enters the front wheel of the vehicle After lifting the front wheel, the second device 600 enters the rear wheel of the vehicle and lifts the rear wheel, and then the first device and the second device are cooperatively driven to move the one vehicle to the parking position, The first device includes a central frame (100, 1110) located in the center; and a moving unit (110, 1000) disposed inside the central frame to move the first device; and disposed on the left and right sides of the central frame. and a lifting means (300, 300') for lifting the wheel of the vehicle; the lifting means is provided with the first lifter (300) located on the left side and the right side with the center frame (100, 1110) in the center. The first lifter 300 and the second lifter 300' are symmetrical to each other on the left and right sides with respect to the

central frame

100, 1110 and have the same structure. , and the first lifter and the second lift are extended to the left and right sides with the center frame at the center to hold a wheel of a vehicle and then raise it.

Here, the

moving units

110 and 1000 disposed inside the

central frames

100 and 1110 and the lifting means 300 and 300' disposed on the left and right sides of the central frame to lift the wheels of the vehicle are respectively module-by-module. By manufacturing and assembling, the efficiency of manufacturing and assembly can be increased.

In addition, in the present invention, the first and second lifters include an extension part extending outward from the central frame and a holding rising part assembled to the extension part to hold and lift a wheel, and the first lifter 300 The deployed extension is formed of an 11th extension 210 extending outward from the upper left corner of the central frame and a 12th extension 220 extending leftward from the lower left corner of the central frame, and the second lifter 300' ) is formed of a 21st extension 210′ extending outward from the upper right corner of the central frame and a 22nd extension 220′ extending to the right from the lower right corner of the central frame, The holding lift part includes a first lift frame 301 constituting the first lifter 300 and a second lift frame 301' constituting the second lifter 300', and one wheel is provided inside the first lift frame. A first jaw set holding a and a first lifting means for lifting the first lifting frame are provided, and a second jaw set holding another wheel and the second lifting frame are provided inside the second lifting frame. A second lifting means for lifting is provided, and the height of the upper surface of the central frame is 80 to 120 mm from the ground, and the height of the upper surface of the extension part is 70 to 120 mm from the ground.

In addition, in the present invention, a first extension means for extending the 11th extension and the 12th extension to the left is provided between the 11th extension 210 and the 12th extension 220 and the central frame, It is characterized in that a second extension means for extending the 21st and 22nd extensions to the right is provided between the 21st and 22nd extensions 210' and the 22nd extensions 220' and the central frame. .

In addition, in the present invention, the first extension means is composed of a rack and a pinion, the 11th rack 410 is mounted on the 11th extension part, the 12th rack 420 is mounted on the 12th extension part, and the second extension part The means is also composed of a rack and a pinion, and the 21st rack 410' is mounted on the 21st extension part and the 22nd rack 420' is mounted on the 12th extension part, and the 11th rack is engaged with the 11th rack. A pinion 401 and a twelfth pinion 402 meshed with the twelfth rack are provided. A 21st pinion 401' meshed with the 21st rack and a 22nd pinion 402' meshed with the 22nd rack, the 11th pinion 401 and the 12th pinion 402 is coupled to the first rotating rod 400, the 21st pinion 401' and the 22nd pinion 402' are coupled to the second rotating rod 400', and the first rotating rod 400 is 1 is rotated by a motor 430, and the second rotating rod 400' is arranged to be rotated by a second motor 430', and the eleventh pinion 401 is rotated by the first motor 430 ) and the twelfth pinion 402 rotate, so that the 11th rack 410 and the 12th rack 420 move left and right, so that the first lifter 300 extends leftward from the center frame or moves to its original position, The rotation of the second motor 430' rotates the 21st pinion 401' and the 22nd pinion 402' so that the 21st rack 410' and the 22nd rack 420' move left and right. It is characterized in that the second lifter (300') extends to the right from the center frame or moves to the original position.

In addition, in the present invention, the first set of jaws stored in the first lifting frame 301 is composed of an 11 jaw 310 and a 12 jaw 320 disposed below the 11 jaw, and the second lift The second set of jaws stored in the frame 301' consists of a 21st jaw 310' and a 22nd jaw 320' disposed below the 21st jaw, and the 11th jaw 310 and the 22nd jaw set. After entering the lower part of the vehicle in a state where the 12 jaw 320 is housed inside the first lifting frame 301 and the first lifter 300 of the first device is in its original position without being extended, the 11 jaw and The twelfth jaw is extended toward one wheel, the 21st footer 300 is extended to the left so that the unfolded 11th jaw and 12th jaw can hold the one wheel, and the 21st jaw 310 ') and the 22nd jaw 320' are accommodated inside the second lifting frame 301' and the second lifter 300' of the first device is in its original position without being extended to the lower part of the vehicle. After entering, the 21st and 22nd jaws spread toward the other wheel, and the second lifter 300' moves to the right as much as the unfolded 21st and 22nd jaws can hold the other wheel. , and in a state where the unfolded 11th jaw 310 is fixed, the 12th jaw 320 moves toward the 11th jaw 310 to hold one wheel, and the unfolded 21st jaw 310' ) is fixed, after the 22nd jaw 320' moves toward the 21st jaw 310' and holds the other wheel, the first lifting frame is raised through the first lifting means, , It is characterized in that the second lifting frame is raised through the second lifting means.

In addition, in the present invention, the first lifting means is formed of a first lifting jack 330 and a first lifting motor 340 that operates the first lifting jack, and the first lifting jack is formed of a first jack top plate 431 and The first jack lower plate 432 and the first upper and lower part 433 positioned between the first jack upper plate and the first lower jack plate to rise and lower, and the first driving rod for driving the first upper and lower part 433 434 and the first lifting motor 340 that rotates the first driving rod 433, and the second lifting means operates the second lifting jack 330' and the second lifting jack. It is formed of two lifting motors 340', and the second lifting jack is located between the second jack upper plate 431' and the second jack lower plate 432' and between the second jack upper plate and the second jack lower plate to rise. A second vertical lowering part 433' that moves and lowers, a second driving rod 434' that drives the second upper lowering part 433', and a second lifting motor that rotates the second driving rod 434' (340') to raise or lower the first lifting frame by driving the first lifting motor, and to raise or lower the second lifting frame by driving the second lifting motor. Or, it is characterized in that the second rising frame is raised or lowered by lowering.

In addition, according to the present invention, an 11th latch unit is disposed between the first rising frame 301 and the 11th extension part 210, and a third latch unit is disposed between the first rising frame 301 and the 12th extension part 220. Twelve latches are disposed to stop the first lifting frame raised by the first lifting means at the raised position, and a 21st latch unit is provided between the second lifting frame 301' and the 21st extension part 210'. A 22nd latch unit is disposed between the second lifting frame 301' and the 22nd extension part 220' to stop the second lifting frame raised by the second lifting means at the raised position. to be characterized

In addition, in the present invention, the 11th latch part includes an 11th bracket 440 attached to one side of the first rising frame and an 11th sawtooth part 441 formed on the side of the bracket, and also the 11th extension part An 11th pin part 442 engaged with the 11th tooth part and an 11th hinge 443 for hinge movement of the 11th pin part 442 are disposed, and the 12th latch part is the other side of the first rising frame. It includes a twelfth bracket 450 attached to the bracket and a twelfth tooth portion 451 formed on the side of the bracket, and the twelfth extension portion includes a twelfth pin portion 452 engaged with the twelfth tooth portion and the twelfth pin portion 452 engaged with the twelfth tooth portion. A twelfth hinge 453 for hinge movement of the twelfth pin part 452 is disposed.

Here, the 21st latch part includes a 21st bracket 440' attached to one side of the second rising frame and a 21st sawtooth part 441' formed on the side of the bracket, and the 21st extension part A 21st pin part 442' engaged with the 21st sawtooth part and a 21st hinge 443' for hinge movement of the 21st pin part 442' are disposed, and the 22nd latch part of the second rising frame It includes a 22nd bracket 450′ attached to the other side and a 22nd sawtooth portion 451′ formed on the side of the bracket, and a 22nd pin portion engaged with the 22nd sawtooth portion ( 452') and the 22nd hinge 453' for hinge movement of the 22nd pin part 452' are disposed, the first rising frame is moved to the 11th latch part and the 12th latch part to the rising position and the lower position It is characterized in that it can be fixed at, and the second rising frame can be fixed at the rising position and the lower position by the 21st latch part and the 22nd latch part.

In addition, in the present invention, the first rising frame includes a first partition plate 311 dividing the inside in the longitudinal direction and a first roof plate 331 formed on the upper part of the first partition plate, and the first The 11th and 12th jaws are stored in the outer space located on the opposite side of the central frame based on the partition plate, and the first lifting jack and the first lifting motor are stored in the inner space, and the first lifting jack of the first lifting jack is stored. The jack top plate 431 is coupled to the inside of the first roof plate 331, and the first jack bottom plate 432 is disposed so as to be exposed to the air. It is located a certain distance from, and the first upper and lower parts are expanded to raise the one wheel after the 11th jaw and the 12th jaw hold one wheel, and at this time, the lower surface of the first jack lower plate is on the ground If it continues to expand after contact, the first jack top plate raises the first roof plate and raises the first lifting frame to raise the one wheel.

Here, when the first phase frame reaches the highest lifting position, the first phase frame is fixed by the 11th latch part and the 12th latch part, and when the one wheel is lowered after moving the vehicle to a desired position The first upper and lower parts are inflated so that the lower surface of the first jack lower plate touches the ground.

Thereafter, after the 11th latch part and the 12th latch part are released, the first upper and lower part is contracted to lower the first rising frame until the one wheel touches the ground, and the second rising frame is It includes a second partitioning plate 311' partitioning in the longitudinal direction and a second roof plate 331' formed on the upper part of the second partitioning plate.

The 21st and 22nd jaws are accommodated in the outer space located on the opposite side of the central frame based on the second partition plate, and the second lifting jack and the second lifting motor are accommodated in the inner space, and the second lifting jack The second jack top plate 431' of is coupled to the inside of the second roof plate 331', and the second jack bottom plate 432' is disposed to be exposed to the air.

In addition, when the second upper and lower parts are contracted, the second jack lower plate is located at a certain distance from the ground, and the 21st jaw and the 22nd jaw hold one wheel and then raise the other wheel, The second upper and lower parts are inflated.

At this time, when the bottom of the second jack bottom plate touches the ground and continues to expand, the second jack top plate lifts the second roof plate upward to raise the second lifting frame to raise the other wheel, and the first upper plate When the frame reaches the highest lifting position, the second upper frame is fixed by the 21st latch unit and the 22nd latch unit.

In addition, when the other wheel is lowered after moving the vehicle to a desired position, the second upper and lower parts are inflated so that the lower surface of the second jack lower plate touches the ground, and then the 21st latch part and the 22nd latch part After loosening, the second lifting frame is lowered until the other wheel touches the ground by contracting the second lifting part.

In addition, in the present invention, the lower ends of the 11th extension part 210 and the 12th extension part 220 are disposed so as not to touch the ground, but in order to extend from the center frame to the left side, the bottom surface of the 11th extension part 210 An 11th support wheel 211 is provided, a 12th support wheel 221 is provided on the bottom of the 12th extension part 220, and the 21st extension part 210' and the 22nd extension part ( 220') is arranged so as not to touch the ground, but in order to extend from the center frame to the left, a 21st support wheel 211' is provided on the underside of the 21st extension part 210', and the 22nd extension part It is characterized in that a 22nd support wheel 221' is provided on the bottom of the 220'.

In addition, in the present invention, a first rising frame 301 is disposed between the 11th extension part 210 and the 12th extension part 220, and the first rising frame 301 and the 11th extension part 210 An 11th latch unit is disposed between ), and a 12th latch unit is disposed between the first rising frame 301 and the twelfth extension unit 220 to raise the first rising frame raised by the first lifting means. and a second rising frame 301' is disposed between the 21st extension part 210' and the 22nd extension part 220', and the second rising frame 301' and the 2nd extension part 220' A 21st latch part is disposed between the 21st extension part 210', and a 22nd latch part is disposed between the second rising frame 301' and the 22nd extension part 220', It is characterized in that the second rising frame raised by is stopped at the raised position.

In addition, in the present invention, the second device 600 is formed in the same structure as the first device 500, and after the first device and the second device are moved under one vehicle, the first device Lifting the front two wheels of the vehicle and the second device lifting the rear two wheels of the vehicle, characterized in that the first device and the second device are cooperatively driven to move the one vehicle to a parking position do.

In addition, in the present invention, when moving the one vehicle to the parking position, the first moving wheel 111 attached to the first device and the second moving wheel attached to the second device (on the first device) are included in the moving unit 110. It is characterized in that it is moved by driving the same structure as the mounted first moving wheel).

The present invention is a vehicle moving device that moves a vehicle position by lifting the vehicle after entering the floor of the vehicle, wherein the vehicle moving device has two units, a first device and a second device, independently moving, but the first device and the second device As the devices move in collaboration with each other, one vehicle is moved to a parking position.

In addition, the first device enters toward the front wheel of the vehicle and lifts the front wheel, and the second device enters toward the rear wheel of the vehicle and lifts the rear wheel, and then is cooperatively driven to move the one vehicle to a parking position.

In addition, the first device and the second device are mechanically separated and disposed independently, and the first device includes a first microcomputer for controlling the first device and a first communication unit for communicating with the outside. The second device includes a second microcomputer for controlling the second device and a second communication unit for communicating with the outside. A central control unit for managing movement is provided so that the first device and the second device move the one vehicle to a parking position according to a command of the central control unit.

In addition, a plurality of first proximity sensors and a plurality of first cameras are attached to the first device, and the plurality of first proximity sensors and the plurality of first cameras monitor the surroundings of the first device while communicating with the first microcomputer and collide with the first device. is controlled to move while preventing the second device, and a plurality of second proximity sensors and a plurality of second cameras are attached to the second device, and the plurality of second proximity sensors and the plurality of second cameras communicate with the second microcomputer while controlling the second proximity sensor. It is controlled to move while preventing collision by monitoring the surroundings of the device.

In addition, the moving unit is formed to include steering means for steering the traveling direction of the moving unit and driving means for controlling the traveling speed of the moving unit, so that the steering unit controls the traveling direction and traveling speed of the moving unit to drive the first device. , the second device moves the one vehicle to a parking position.

In addition, the first device and the second device are provided with a central frame for holding the moving unit in the center, and the central frame includes

storage spaces

120 and 1020 for accommodating batteries and a holding space 121 for inserting the moving unit. 1130) is provided so that a battery is stored in the storage space and a moving unit is mounted in the holding

spaces

121 and 1130.

In addition, the moving wheel 111 includes

first wheels

111a and 1230 and

second wheels

111b and 1330, and a first motor that transmits rotational force to the

first wheels

111a and 1230 and the first It includes a first reducer that reduces the rotation of the motor and transmits it to the first wheel (111a, 1230), and a second motor that transmits rotational force to the second wheel (111b, 1330) and reduces the rotation of the second motor The rotation of the first wheel (111a, 1230) and the second wheel (111b, 1330), including a second reducer transmitted to the second wheel (111b, 1330) 2 Run the device.

In addition, the first rotational axis disposed at right angles to the traveling direction of the

first wheels

111a and 1230 and the second rotational axis disposed perpendicularly to the traveling direction of the

second wheels

111b and 1330 are parallel to each other or coincide with each other. arranged to do When the first device and the second device enter under one vehicle and move the one vehicle to a parking position, the direction connecting the front and rear of the vehicle is called the longitudinal direction, and while connecting the side of the vehicle, When the direction perpendicular to the longitudinal direction is referred to as the width direction, the steering means of the moving unit includes the driving means, and the first rotation axis of the

first wheels

111a and 1230 and the second wheels 111b and 1330 A direction shifting unit for rotating the direction of the rotation shaft in the longitudinal direction or the width direction is further provided. According to the structure described above, the direction change unit determines the moving direction of the vehicle by converting the direction of the first axis of rotation of the first wheel (111a, 1230) and the direction of the second axis of rotation of the second wheel (111b, 1330) do.

In addition, the direction change unit includes the first wheel (111a, 1230), the first motor, the first reducer, the second wheel (111b, 1330), the second motor and the bottom plate for mounting the second reducer, , A cover plate covering the bottom plate, and a thrust bearing disposed between the bottom plate and the cover plate.

In addition, the spruce bearing includes a lower wheel disposed in close contact with the bottom plate, an upper wheel disposed in close contact with the cover plate, and a rolling ball disposed between the upper wheel and the lower wheel. The outer circumferential surface of the upper wheel is coupled to the rims of the central

frame mounting spaces

121 and 1130, the upper wheel is fixed to the central frame, and the

first wheels

111a and 1230, the first motor, and the first reducer And the second wheel (111b, 1330), the second motor and the second reducer are fixed to the lower wheel. The first rotation shaft of the

first wheel

111a or 1230 and the second rotation shaft of the

second wheel

111b or 1330 are formed by the intersection of the

first wheel

111a or 1230 and the

second wheel

111b or 1330. It is characterized in that the direction of is changed to the longitudinal direction or width direction or any direction.

In addition, the upper ring is welded to the inside of the mounting space (121, 1130) of the center frame, but the welding portion of the upper ring is formed with a protruding jaw for a flat surface so that the welding joint is solid.

According to the first embodiment of the present invention, a second rolling ball disposed between the lower wheel and the cover plate, wherein the cover plate is coupled to the bottom plate, and the cover plate is the first wheel ( 111a, 1230) and the second wheel (111b, 1330) are formed through exposure holes; are provided.

In addition, the first device is disposed on the front wheel side of the vehicle after entering the lower part of the vehicle, and the second device is disposed on the rear wheel side of the vehicle after entering the lower part of the same vehicle as the first device entered. After lifting the vehicle, the first and second devices rotate the

first wheels

111a and 1230 and the

second wheels

111b and 1330 included in the moving parts of the first and second devices to move the vehicle to a parking position. move

In addition, when the vehicle is driven to move to the parking position, the

first wheels

111a, 1230 and the

second wheels

111b, 1330 are rotated in the same direction, and the direction is changed to move the vehicle to the parking position. When changing, the first wheel and the second wheel (111b, 1330) are rotated in opposite directions so that the directions of the first axis of rotation of the first wheel and the direction of the second axis of rotation of the second wheel (111b, 1330) are the same as above. It is changed in the longitudinal direction or width direction or in any direction.

In addition, when the central control unit moves the vehicle forward again after changing the direction to move the vehicle to the parking position, the directions of the first axis of rotation of the first wheel and the direction of the second axis of rotation of the second wheel are aligned in the same direction. After confirming this, move the vehicle forward.

In addition, in the present invention, the holding rising part includes a first rising frame 301 constituting the first lifter 300 and a second rising frame 301' constituting the second lifter 300'. A first jaw set holding one wheel and a first lifting means for raising the first lifting frame are provided inside, and a second jaw set holding the other wheel and the second jaw set holding the other wheel are provided inside the second lifting frame. It is characterized in that a second lifting means for raising the second rising frame is provided.

In addition, in the present invention, the first lifting frame is raised through the first lifting means, and the second rising frame is raised through the second lifting means, and the first lifting frame 301 has the first lifting means. and a first partitioning plate 510 for partitioning and arranging the first jaw set, and a first partitioning plate 510 for partitioning and arranging the second lifting means and the second jaw set on the second lifting frame 301'. It is characterized in that the partition plate 510 'is disposed.

At this time, the position of the 11th jaw and the 12th jaw is divided into a storage position stored in the first rising frame and an unfolding position extending toward the wheel, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position , One side end of the 11th jaw has an 11th rotation part coupled to the first partition plate, and one side end of the 12th jaw has a 12th rotation part coupled to the first partition plate.

In addition, the position of the 21st jaw and the 22nd jaw is divided into a storage position stored in the second rising frame and an unfolding position extending toward the wheel, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position One side end of the 21st jaw has a 21st rotation part coupled to the second partition plate, and one side end of the 22nd jaw has a 22nd rotation part coupled to the second partition plate.

Furthermore, the 11th rotation unit and the 12th rotation unit have the same structure except that the installed position is different, and the 21st rotation unit and the 22nd rotation unit have the same structure except the installation position is different, and the 11th rotation unit has the same structure. An 11th support plate 550 mounted on the partition plate, an 11th bracket part 560 coupled to the 11th support plate, and an 11th rotating plate 542 disposed between the top plate 561 of the 11th bracket part and the 11th support plate. ) and the 11th geared motor 541 disposed above the upper plate 561 of the 11th bracket part to rotate the 11th rotary plate and the 11th pin part for rotating the 11th jaw according to the rotation of the 11th rotary plate ( 312).

At this time, an 11th tail block 311 rotating about the central axis of the 11th rotating plate is disposed at one end of the 11th jaw, and an 11th tail block 311 supporting the 11th tail block is disposed at the lower end of the 11th tail block. A support plate 313 is provided so that the 11th rotating plate rotates by driving the 11th geared motor, the 11th pin part moves by the rotation of the 11th rotary plate, and the 11th pin part moves by the movement of the 11th pin part. It is characterized in that the tape block rotates to rotate the 11th jaw.

In addition, in the present invention, an arc-shaped long hole 543 into which the 11th pin part 312 is inserted is formed in the 11th rotary plate, and the lower end of the 11th pin part is coupled to the 11th table block, and the 11th rotary plate It rotates between 0 degrees and 180 degrees, but the 11th pin moves along the first part 543a and the second part 543b of the long hole to move the 11th jaw to the storage position and the unfolded position. When moving from the collapsed position to the unfolded position, the 11th rotary plate is at the 0 degree position and the 11th pin part is in contact with the second part of the long hole, and when the 11th rotary plate rotates 90 degrees, the 11th pin part of the long hole The 11th pin part rotates along the first part of the elongated hole to reach the expanded position while the 11th rotating plate rotates from 90 degrees to 180 degrees, and the 11th jaw moves from the expanded position to the storage position. When the 11th rotary plate is at the 180 degree position and the 11th pin part contacts the first part of the long hole, when the 11th rotary plate rotates 90 degrees, the 11th pin part comes into contact with the second part of the long hole. It is characterized in that the 11th pin part rotates along the second part of the long hole to reach the storage position while the 11th rotation plate rotates from 90 degrees to 0 degrees.

In addition, a circumferential through-hole 552 is formed in the 11th support plate to provide a space for the 11th pin to move, and an 11th stopper is disposed to stop the 11th jaw in the unfolded position when the 11th jaw is in the unfolded position. , The 11th support plate is provided with a square through hole 551 for installing the 11th stopper 555 so that the 11th stopper can be inserted, but the 11th stopper is hinged to the 11th hinge pin 556 and when the 11th rotation plate is positioned at 180 degrees, the 11th stopper is vertically disposed as the 11th rotation plate is disposed so as not to overlap with the square through hole, so that one side of the 11th stutter is positioned at the 11th table The side of the block is constrained so that the 11th jaw is locked in the unfolded position, and when the 11th rotary plate rotates out of 180 and rotates toward 90 degrees, and between 0 degrees and 90 degrees, the 11th rotary plate By placing the 11th stopper horizontally by pressing the other side of the 11th stopper so that it overlaps with the through hole, the restraint of the side of the 11th table lock is released and the locking is released so that the 11th jaw can move to the stowed position It is characterized by doing.

In addition, the 12th rotation part is coupled to the 12th support plate 533 mounted on the first partition plate 510 and the side surface of the 12th support plate, but a part of the 12 bracket part 524 having a protrusion plate and the protrusion plate A twelfth geared motor 523 disposed on one side to move the twelfth support plate left and right, a first pinion 522 connected to the twelfth geared motor to move the twelfth support plate left and right, and the first partition plate A first rack gear 521 is provided, the first pinion is provided on the other side of the protruding plate and meshes with the first rack gear, and a twelfth tail is provided at one end of the twelfth jaw. A block 321 is disposed, and a twelfth support plate 323 supporting the twelfth tail block is provided at the lower end of the twelfth tail block, and the upper side of the twelfth support plate 323 is provided to rotate the twelfth jaw. is provided with a second pinion 532 axially connected to the center of the twelfth tail block 321 and a second rack gear 531 engaged with the second pinion and coupled to the first partition plate.

Accordingly, as the twelfth geared motor rotates, the first pinion moves left and right, the twelfth support plate assembled with the first pinion moves left and right, and as the twelfth support plate moves left and right, the twelfth support plate It is characterized in that the second pinion located on the upper side rotates left and right, and according to the left and right rotation of the second pinion, the twelfth tail block connected to the second pinion and the shaft rotates left and right, so that the twelfth jaw rotates.

In addition, in the present invention, a guide means for moving the twelfth support plate 533 left and right is provided in the first partition plate.

In addition, the guide means minimizes the space in which the twelfth support plate is disposed while reducing the number of components by disposing a part of the twelfth support plate inside the first partition plate without adding a separate component. to be

In addition, the guide means is provided with a square groove 511 in which a part of the twelfth support plate is inserted and can move left and right, and the twelfth support plate is disposed as the twelfth support plate is fitted into the square groove 511 It is characterized by minimizing space.

Looking at the above description, there are a number of components that give a plurality of drawing numbers to one component, which reveals that a plurality of drawing numbers are used for one component for convenience in the process of expressing a drawing.

In addition, there is a figure marked with an upper quotation mark in the figure, which is additionally marked with an upper quotation mark while using the same figure number when the same components are symmetrically arranged or repeatedly installed.

In addition, since the drawings prepared in this specification are prepared for the purpose of explaining the concept of the patent, detailed configurations are omitted, so there may be differences from actual production drawings.

Features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

According to the present invention, the vehicle can be moved to the parking space by lifting the vehicle while turning and moving up and down, and it is economical because these series of operations are automatically controlled, and a number of vehicles can be moved by utilizing the maximum occupied area. It has the effect of being able to park in a parking space.

And, by improving the structure of the steering means used in the conventional parking facility, it is possible to reduce production costs and simplify the manufacturing process to provide a low-floor parking robot with excellent production efficiency.

Furthermore, the structure of the holder for holding the wheel of the vehicle is simplified and the reliability of the operation is provided, thereby providing an effect of accurately holding the wheel of the vehicle.

1 is a conceptual diagram schematically showing the structure of the present invention.

2 is a block diagram schematically showing the structure of the present invention.

Figure 3 shows the operating state of the driving means of the present invention.

Figure 4 shows the structure of the moving unit of the present invention.

Figure 5 is a plan view showing the operating process of the robot parking of the present invention.

Figure 6 shows the operating process of the rising jack of the present invention.

7 shows the arrangement of the first device and the second device of the present invention.

Figure 8 shows the operating process of the robot parking of the present invention from the side.

9 shows a first partition plate installed on the first rising frame 301 .

10 shows a twelfth rotating part coupled to the first partition plate while being formed at one end of the twelfth jaw.

11 shows an 11th rotating part coupled to the first partition plate while being formed at one end of the 11th jaw.

12 illustrates the behavior of the 11th pin part according to the rotation of the 11th rotary plate.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

In addition, the following examples do not limit the scope of the present invention, but are merely illustrative of the components presented in the claims of the present invention, are included in the technical spirit throughout the specification of the present invention, and constitute the claims. Embodiments including elements that can be replaced as equivalents in elements may be included in the scope of the present invention.

1 is a conceptual diagram schematically illustrating the structure of the present invention.

Referring to FIG. 1, in a vehicle moving device that moves a vehicle position by lifting the vehicle after entering the floor of the vehicle, the vehicle moving device includes a first device 500 and a second device 600 independently. While moving, the first device 500 and the second device 600 move in cooperation with each other to move one vehicle to a parking position. The first device enters the front wheel of the vehicle and lifts the front wheel, and the second device enters the rear wheel of the vehicle and lifts the rear wheel.

In addition, the first device and the second device are provided with a moving unit (110, 1000) for moving the first device and the second device, and a holding lift unit for lifting the vehicle.

In addition, the moving unit (110, 1000) is formed to include a steering means for steering the traveling direction of the moving unit and a driving unit for controlling the traveling speed of the moving unit, so that the steering unit controls the traveling direction and traveling speed of the moving unit. Thus, the first device and the second device move the one vehicle to a parking position.

In addition, the first device and the second device are provided with central frames (100, 100', 1110) for holding the moving unit in the center, and storage spaces for storing batteries in the central frames (100, 100', 1110). (120, 120', 1020) and mounting spaces (121, 121', 1130) for inserting the moving unit are provided, and batteries are accommodated in the storage spaces (120, 1020), and the moving unit is mounted in the holding space.

Here, since the control unit and the moving unit for controlling the structure of the present invention are described in detail in the specification previously filed by the present applicant (application number 10-2021-0124910), a detailed description is omitted in the present invention.

Attached Figure 2 is a block diagram schematically showing the structure of the present invention.

Referring to FIG. 2, the first device and the second device are mechanically separated and disposed independently, and the first device includes a first microcomputer 512 that controls the first device and a first device that communicates with the outside. 1 communication unit 511 is provided, and the second device 600 includes a second microcomputer 612 that controls the second device and a second communication unit 611 that communicates with the outside, the first communication unit, A central control unit 300 that manages the movement of the first device and the second device while communicating with the second communication unit is provided, so that the first device and the second device are connected to each other according to a command of the central control unit. Move the vehicle to the parking position.

In addition, a plurality of first proximity sensors 513 and a plurality of first cameras 514 are attached to the first device, and the plurality of first proximity sensors 513 and the plurality of first cameras 514 are While communicating with the microcomputer 512, it is controlled to move while preventing collision by monitoring the surroundings of the first device. A plurality of second proximity sensors 613 and a plurality of second cameras 614 are attached to the second device, and the plurality of second proximity sensors 613 and the plurality of second cameras 614 are second microcomputers ( 612) while monitoring the surroundings of the second device to prevent collision while moving.

Attached Figure 3 shows the operating state of the driving means of the present invention.

Referring to FIG. 3, the driving unit of the moving unit includes

first wheels

111a and 1230 and

second wheels

111b and 1330, and a first motor that transmits rotational force to the

first wheels

111a and 1230. 1210 and a first reducer 1220 that reduces the rotation of the first motor and transmits it to the

first wheels

111a and 1230, and transmits rotational force to the

second wheels

111b and 1330. 2 motors 1310 and a second reducer 1320 that decelerates the rotation of the second motor and transfers it to the second wheel 1330, so that the rotation of the first wheel and the second wheel The first device and the second device are driven.

In addition, the first rotational shaft 1231 disposed perpendicular to the traveling direction of the

first wheels

111a and 1230 and the second rotational shaft 1331 disposed perpendicularly to the traveling direction of the

second wheels

111b and 1330 They are arranged so that they are parallel to each other or coincident with each other.

When the first device and the second device enter under one vehicle and move the one vehicle to a parking position, the direction connecting the front and rear of the vehicle is called the longitudinal direction (X direction), and the side of the vehicle When the direction perpendicular to the longitudinal direction is referred to as the width direction (Y direction) while connecting, the steering means of the moving unit includes the driving means, but the first rotational shaft 1231 of the

first wheels

111a and 1230 and the A direction changing unit for rotating the direction of the second rotating shaft 1331 of the

second wheel

111b or 1330 in the longitudinal direction or the width direction is further provided. According to the structure described above, the moving direction of the vehicle is determined by converting the direction of the first rotating shaft 1231 of the first wheel and the second rotating shaft 1331 of the second wheel by the direction changing unit.

As described above, the first device is disposed on the front wheel side of the vehicle after entering the lower part of the vehicle, and the second device is disposed on the rear wheel side of the vehicle after entering the lower part of the same vehicle as the first device entered. After that, the first and second devices lift the vehicle by the holding lift and rotate the first and second wheels included in the moving

parts

110 and 1000 of the first and second devices. The vehicle is moved to a parking position.

In addition, when the vehicle is driven to move to the parking position, the first wheel and the second wheel are rotated in the same direction, and when changing direction to move the vehicle to the parking position, the first wheel and the second wheel are rotated in the same direction. By rotating the two wheels in opposite directions, the directions of the first rotation axis 1231 of the first wheel and the second rotation axis 1331 of the second wheel are the longitudinal direction (X direction) or width direction (Y direction) or change in any direction.

The present invention will be described in more detail with reference to FIG. 5 .

The present invention is a vehicle moving device that moves the vehicle position by lifting the vehicle after entering the floor of the vehicle, wherein the vehicle moving device has two units of a first device 500 and a second device 600 that move independently. The first device 500 and the second device 600 move in cooperation with each other to move one vehicle to a parking position, and the first device 500 enters toward the front wheel of the vehicle and lifts the front wheel. After the second device 600 enters the rear wheel of the vehicle and lifts the rear wheel, the first device and the second device are cooperatively driven to move the one vehicle to the parking position, but the first device is located in the center. A central frame 100; and a moving unit 110 disposed inside the central frame to move the first device; and lifting means 300 disposed on the left and right sides of the central frame to lift the wheels of the vehicle. , 300'); and the lifting means is divided into a first lifter 300 located on the left side with the center frame 100 in the center and a second lifter 300' located on the right side, The first lifter 300 and the second lifter 300' are installed in the same structure while being symmetrical to each other on the left and right sides of the center frame 100, and the first lifter and the second lift are It is characterized in that it extends to the left and right with the central frame at the center to hold the wheel of one vehicle and then raise it.

5 shows a plan view of the first device entering the lower part of the moving vehicle, and FIG. 5 (a) shows one wheel A and the other wheel B among the front wheels of the vehicle. , It is shown as an 11th extension part 210 extending outward from the upper left corner of the central frame and a 12th extension part 220 extending leftward from the lower left corner of the central frame, and FIG. The state before expansion of the 11th expansion unit 210 and the 12th expansion unit 220 is shown.

At this time, a first extension means for extending the 11th extension and the 12th extension to the left is provided between the 11th extension 210 and the 12th extension 220 and the central frame, and the 21st extension 210 is provided. A second extension means for extending the 21st extension and the 22nd extension to the right is shown between the portion 210', the 22nd extension 220' and the central frame.

5(b) shows the 11th jaw 310 stored in the first rising frame 301 and the 12th jaw 320 disposed below the 11th jaw opened toward one wheel A. , the 21st jaw 310' stored in the second rising frame 301 and the 22nd jaw 320' disposed below the 21st jaw open toward the other wheel A'. show gin

In addition, FIG. 5(c) shows that the 11th, 12th, 21st, and 22nd jaws move toward the wheel after the first lifter 300 and the second lifter 300′ are connected to the one wheel after FIG. 5(b). It shows an extended appearance to the position where the wheel of another Hannah can be held.

In addition, FIG. 5(d) is a view of the 12th jaw 320 moving toward the 11th jaw 310 and holding the one wheel A after FIG. 5(c), and the 22nd jaw (320') moves toward the 21st jaw (310') and shows the holding of the other wheel (A').

6 shows a state in which the first device 500 and the second device 600 enter the lower part of a vehicle. As shown in FIG. 6, the first device enters to hold the front wheel (or rear wheel) of the vehicle, and the second device enters to hold the rear wheel (or front wheel) of the vehicle.

7 shows the 11th support wheel 211 and the 12th support wheel 221 located below the 11th extension part 210 and the 12th extension part 220, and the 21st extension part 210' And the lower portion of the 22nd extension part 220' is provided with a 21st support wheel 211' and a 12th support wheel 221'.

As shown in FIG. 7 , the 11th extension part 210 and the 12th extension part 220 are supported on the ground G by the 11th support wheel 211 and the 12th support wheel 221 .

7 (a), the lower ends of the 11th support wheel 211 and the 12th support wheel 221 are supported by touching the ground (G), but the 11th lower plate 432 is disposed above the ground.

The first rising frame includes a first partition plate 311 that partitions the inside in the longitudinal direction and a first roof plate 331 formed on the upper part of the first partition plate, and the first partition plate is used as a reference. In the outer space located on the opposite side of the central frame, the 11th jaw and the 12th jaw are accommodated, and the first lifting jack and the first lifting motor are accommodated in the inner space.

Referring to Figure 7, the first jack top plate 431 of the first rising jack 330 is coupled to the inside of the first roof plate 331, and the first jack bottom plate 432 is disposed above the ground. can see

That is, as shown in FIG. 7 (a), when the first upper and lower parts are contracted, the first jack lower plate is located at a certain distance from the ground, and after the 11th jaw and the 12th jaw hold one wheel, the In order to raise one wheel, the first upper and lower parts are inflated as shown in FIG. The first lifting frame is lifted upward to raise the one wheel, and when the first upper frame reaches the highest lifting position, the first lifting frame is at the highest position by the 11th latch part and the 12th latch part. is fixed in

Next, in order for the first device to move, the first lifting jack 330 must be contracted again to separate the first lower plate 432 from the ground and move upward.

At this time, since the first rising frame is fixed at the highest position by the 11th latch part and the 12th latch part, when the first rising jack 330 is contracted, the first jack top plate is attached to the first roof. Since it is coupled to the plate, the first jack lower plate 432 is separated from the ground and moved upward, and as shown in FIG. 7 (c), in a state where the first rising frame is fixed at the highest position, the first jack lower plate It leaves the ground and moves to the top.

Thereafter, the first device moves to a desired location using the first and second wheels of the moving unit, and after moving the vehicle to a desired location, the first up and down portion expands so that the lower surface of the first jack lower plate is on the ground After releasing the 11th latch part and the 12th latch part, the first lifting frame is lowered until the one wheel touches the ground by contracting the first upper and lowering part.

Similarly, the second upper and lower parts are inflated so that the lower surface of the second jack lower plate touches the ground, and then the 21st and 22nd latches are released, and then the second upper and lower parts are contracted so that the other wheel moves. The second rising frame is lowered until it touches the ground.

At this time, it is preferable that the first upper and lower parts and the second upper and lower parts expand or contract at the same time.

When the wheels of the vehicle come into contact with the ground in this way, the 11th, 12th, 21st, and 22nd extensions contract, and after removing the 11th, 12th, 21st, and 22nd jaws from the wheels, the 11th, 12th, 21st, and 22nd jaws are recalled. It is housed in the first and second lifting frames, and the first jack 330 on the left side of the first device and the second jack on the right side are contracted to place the first jack lower plate and the second jack lower plate on the ground Separate it from the original position.

In the present invention, the first device is mainly described, but in reality, the first device and the second device cooperate to move one car to a desired location.

8 shows a view in which the first device 500 and the second device 600 enter the lower part of a vehicle. As shown in the figure, the first device and the second device lift four wheels (A, A', B, B') of one vehicle and then move to a desired location.

9 shows a first partition plate installed on the first rising frame 301 .

A first partitioning plate 510 for partitioning and arranging the first lifting means and the first jaw set is disposed on the first lifting frame 301, and the second lifting frame 301' has the second lifting frame 301'. A first partitioning plate 510' (not shown) is disposed to divide and dispose the means and the second jaw set.

The 12th rotation part is coupled to the 12th support plate 533 mounted on the first partition plate 510 and the side surface of the 12th support plate, but a part of the 12th bracket part 524 having a protrusion plate and one part of the protrusion plate. A twelfth geared motor 523 disposed on a side surface to move the twelfth support plate left and right, a first pinion 522 connected to the twelfth geared motor to move the twelfth support plate left and right, and the first partition plate A coupled first rack gear 521 is provided, and the first pinion is provided on the other side of the protrusion plate and meshes with the first rack gear, and a twelfth tail block is provided at one end of the twelfth jaw. 321 is disposed, and a twelfth support plate 323 for supporting the twelfth tail block is provided at the lower end of the twelfth tail block, and on the upper side of the twelfth support plate to rotate the twelfth jaw. A second pinion 532 axially connected to the center of the twelfth tail block 321 and a second rack gear 531 engaged with the second pinion and coupled to the first partition plate are provided.

Accordingly, as the twelfth geared motor rotates, the first pinion moves left and right, the twelfth support plate assembled with the first pinion moves left and right, and as the twelfth support plate moves left and right, the twelfth support plate It is preferable that the second pinion located on the upper side rotates left and right, and according to the left and right rotation of the second pinion, the twelfth tail block axially connected to the second pinion rotates left and right, so that the twelfth jaw rotates.

The first partition plate is provided with a guide means for moving the twelfth support plate 533 left and right, and the guide means is provided with a square groove 511 through which a part of the twelfth support plate is inserted to move left and right. As the twelfth support plate is fitted into the square groove 511, it is preferable to minimize the space in which the twelfth support plate is disposed.

An 11th tail block 311 rotating about the central axis of the 11th rotating plate is disposed at one end of the 11th jaw, and an 11th support supporting the 11th tail block is placed at the lower end of the 11th tail block. A plate 313 is provided so that the 11th rotating plate rotates by driving the 11th geared motor, the 11th pin part moves by the rotation of the 11th rotary plate, and the 11th tape is moved by the movement of the 11th pin part. It is characterized in that the block rotates to rotate the 11th jaw.

In addition, a circumferential through-hole 552 is formed in the 11th support plate to provide a space for the 11th pin to move, and an 11th stopper is disposed to stop the 11th jaw in the unfolded position when the 11th jaw is in the unfolded position. , The 11th support plate is provided with a square through hole 551 for installing the 11th stopper 555.

In addition, while the 11th stopper is inserted, the 11th stopper is fixed by the 11th hinge pin 556 so as to be hinged, and when the 11th rotation plate is positioned at 180 degrees as shown in FIG. 11(c), the 11th As the rotating plate is arranged so as not to overlap with the square through hole, the 11th stopper is vertically arranged so that one side of the 11th stutter restrains the side surface of the 11th table lock so that the 11th jaw is locked in the unfolded position do.

In addition, as shown in FIG. 11 (a) (b), when the 11th rotary plate rotates out of 180 and rotates toward 90 degrees, and between 0 degrees and 90 degrees, the 11th rotary plate is disposed to overlap the square through-hole, so that the 11th rotary plate overlaps with the square through-hole. By pressing the other side of the stopper and disposing the 11th stopper horizontally, the restraint of the side of the 11th table lock is released to release the locking so that the 11th jaw can move to the storage position.

An arc-shaped long hole 543 into which the 11th pin part 312 is inserted is formed in the 11th rotating plate, and the lower end of the 11th pin part is coupled to the 11th table block. While rotating between degrees, the 11th pin moves along the first part 543a and the second part 543b of the long hole to move the 11th jaw to a storage position and an unfolded position.

Referring to FIG. 12, (a1) to (a5) show the process of rotating the 11th jaw from the storage position to the unfolded position according to the rotation of the 11th rotating plate.

In (a1), the 11th pin part is in contact with the second part 543b of the long hole in a state where the 11th rotary plate is located at 0 degree, and in this state, the 11th jaw is in the stowed position as shown in FIG. 11(a) .

(a2) shows a state in which the 11th rotary plate is rotated from 0 degrees to 45 degrees, and even at this time, the 11th jaw maintains the storage position.

(a3) shows a state in which the 11th rotary plate is rotated from 45 degrees to 90 degrees, and even at this time, the 11th jaw maintains the stowed position, but the 11th pin part comes into contact with the first part 543a of the long hole. .

(a4) shows a state in which the 11th rotary plate is rotated from 90 degrees to 135 degrees. At this time, since the 11th pin part rotates along the first part 543a of the long hole, the 11th jaw is in the stowed position. It rotates toward the unfolded position.

(a5) shows a state in which the 11th rotary plate is rotated from 135 degrees to 180 degrees, and at this time, the 11th pin part rotates along the first part 543a of the long hole, and the 11th jaw is unfolded. reach the position

Referring to FIG. 12, (b1) to (b5) show the process of rotating the 11th jaw from the unfolded position to the retracted position according to the rotation of the 11th rotating plate.

In (b1), the 11th pin part is in contact with the first part 543a of the long hole in a state where the 11th rotating plate is positioned at 180 degrees, and in this state, the 11th jaw is in an unfolded position as shown in FIG. 11(c) .

(b2) shows a state in which the 11th rotary plate is rotated from 180 degrees to 135 degrees, and even at this time, the 11th jaw maintains its unfolded position.

(b3) shows a state in which the 11th rotary plate is rotated from 135 degrees to 90 degrees, and even at this time, the 11th jaw maintains the unfolded position, but the 11th pin part comes into contact with the second part 543b of the long hole. .

(b4) shows a state in which the 11th rotary plate is rotated from 90 degrees to 45 degrees. At this time, since the 11th pin part rotates along the second part 543b of the long hole, the 11th jaw is in the unfolded position. It rotates toward the stowed position.

(b5) shows a state in which the 11th rotary plate is rotated from 45 degrees to 0 degrees, and at this time, the 11th pin part is rotated along the second part 543b of the long hole, and the 11th jaw is also rotated. As shown in 11 (a), it reaches the storage position.

The first device and the second device of the present invention have the same structure, and the first device has the same structure with left and right symmetrical with respect to the center.

Accordingly, in the present invention, when describing the first device as a picture, the same drawing number is used for the same component, but the same drawing number is used for the component on the right side as the drawing number on the left side. It has been explained that the elements have the same configuration as each other.

In addition, in the case of the moving part, the

numbers

110 and 1000 were used together, but as the actual same component, the number 110 was given when displayed together in the first device. did

In addition, in some cases, there are numbers that are not shown in the drawings but are indicated in the description, which are indicated by putting an upper quotation mark on the figure. Therefore, it is revealed that the number was used like this.

Although the present invention has been described in detail through specific examples, this is for explaining the present invention in detail, the present invention is not limited thereto, and within the technical spirit of the present invention, by those skilled in the art It is clear that modifications and improvements are possible.

All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific protection scope of the present invention will be clarified by the appended claims.

[Description of code]

500. Unit 1

600. 2nd device

100,1110 center frame

110, 1000 moving parts

210, 220 11th, 12th extension

210 ', 220: 21st and 22nd extensions

300, 300: 1st, 2nd lifter

310, 320: Articles 11 and 12

310', 320': Articles 21 and 22

511 first communication department

512 1st microcomputer

513 1st Proximity Sensor

514 1st camera

600 2nd device

611 Second Communication Department

612 2nd Mycom

613 2nd Proximity Sensor

614 2nd camera

1100 bottom plate

120, 1020 storage space

1120 storage space

121, 1130 storage space

111a, 1230 1st wheel

1231 1st rotation axis

1210 1st motor

1220 1st reducer

111b, 1330 2nd wheel

1331 2nd rotation axis

1310 2nd motor

1320 2nd reducer

1400 lower wheel

1500 upper wheel

1600 cover plate

Claims

In the vehicle moving device that moves the vehicle position by lifting the vehicle after entering the floor of the vehicle

In the vehicle moving device, the first device 500 and the second device 600 move independently, but the first device 500 and the second device 600 move in cooperation with each other to move one vehicle to a parking position. moving to

The first device 500 enters the front wheel of the vehicle and lifts the front wheel, and the second device 600 enters the rear wheel of the vehicle and lifts the rear wheel, and then the first device 600 and the second device collaborate. It is driven to move the one vehicle to a parking position

The first device includes a central frame 100 located at the center; and a moving unit 110 or 1000 disposed inside the central frame to move the first device; and

Lifting means (300, 300') disposed on the left and right sides of the center frame to lift the wheels of the vehicle; are provided

The lifting means is divided into a first lifter 300 located on the left side and a second lifter 300' located on the right side with the center frame 100, 1110 at the center, the first lifter 300 And the second lifter 300 'is installed in the same structure while being symmetrical to each other on the left and right sides with respect to the central frame 100

The first lifter and the second lift extend to the left and right sides with the center frame at the center to hold the wheels of one vehicle and then raise them.

The first and second lifters include an extension part extending outward from the central frame and a holding lift part assembled to the extension part to hold and lift a wheel,

The expansion part disposed in the first lifter 300 is formed of an 11th extension part 210 extending outward from the upper left corner of the center frame and a 12th extension part 220 extending leftward from the lower left corner of the center frame. become

The extensions disposed in the second lifter 300' include a 21st extension 210' extending outward from the upper right corner of the central frame and a 22nd extension 220' extending to the right from the lower right corner of the central frame. ) is formed

The holding rising part includes a first rising frame 301 constituting the first lifter 300 and a second rising frame 301' constituting the second lifter 300'. A first jaw set for holding the wheels and a first lifting means for lifting the first lifting frame are provided,

The holder of the low-floor parking robot, characterized in that the inside of the second lifting frame is provided with a second jaw set for holding the other wheel and a second lifting means for lifting the second lifting frame.
According to claim 1

The first jaw set stored in the first rising frame 301 is composed of an 11 jaw 310 and a 12 jaw 320 disposed below the 11 jaw,

The second jaw set stored in the second rising frame 301' is composed of a 21st jaw 310' and a 22nd jaw 320' disposed below the 21st jaw,

In the state where the 11th jaw 310 and the 12th jaw 320 are accommodated inside the first lifting frame 301 and the first lifter 300 of the first device is in its original position, not extended, the vehicle's After entering the lower part, the 11th and 12th jaws spread toward one wheel,

The 21st footer 300 is extended to the left so that the unfolded 11th and 12th jaws can hold the one wheel,

The state in which the 21st jaw 310' and the 22nd jaw 320' are accommodated inside the second lifting frame 301' and the second lifter 300' of the first device is not extended to its original position After entering the lower part of the vehicle in the state, the 21st and 22nd jaws spread toward the other wheel,

The second lifter 300' is extended to the right so that the unfolded 21st and 22nd jaws can hold the other wheel,

In a state where the unfolded 11th jaw 310 is fixed, the 12th jaw 320 moves toward the 11th jaw 310 and holds one wheel,

After the unfolded 21st jaw 310' is fixed, the 22nd jaw 320' moves toward the 21st jaw 310' and holds the other wheel.

The first lifting frame is raised through the first lifting means, and the second lifting frame is raised through the second lifting means.

A first partition plate 510 for partitioning and arranging the first lifting means and the first jaw set is disposed on the first lifting frame 301, and

The holder of the low-floor parking robot, characterized in that a first partitioning plate 510' for partitioning and arranging the second lifting means and the second jaw set is disposed on the second lifting frame 301'.
According to claim 2

The position of the 11th jaw and the 12th jaw is divided into a storage position stored in the first rising frame and an unfolding position extending toward the wheel, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position

One end of the 11th jaw has an 11th rotation part coupled to the first partition plate,

One end of the twelfth jaw has a twelfth rotating part coupled to the first partition plate,

The position of the 21st jaw and the 22nd jaw is divided into a storage position stored in the second rising frame and an unfolding position extending toward the wheels, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position

One end of the 21st jaw has a 21st rotating part coupled to the second partition plate,

The holder of the low-floor parking robot, characterized in that one side end of the 22nd jaw has a 22nd rotating part coupled to the second partition plate.
According to claim 3

The 11th rotation part and the 12th rotation part have the same structure except that the installed position is different, and the 21st rotation part and the 22nd rotation part have the same structure except the installation position is different,

The 11th rotation part is formed between an 11th support plate 550 mounted on the 1st partition plate, an 11th bracket part 560 coupled to the 11th support plate, and an upper plate 561 of the 11th bracket part and the 11th support plate. The 11th gear motor 541 disposed above the disposed 11th rotary plate 542 and the upper plate 561 of the 11th bracket part to rotate the 11th rotary plate, and the 11th gear according to the rotation of the 11th rotary plate It is made including an 11th pin part 312 for rotating

An 11th tail block 311 rotating about the central axis of the 11th rotating plate is disposed at one end of the 11th jaw, and an 11th support supporting the 11th tail block is placed at the lower end of the 11th tail block. A plate 313 is provided

The 11th rotation plate rotates by the driving of the 11th geared motor, the 11th pin part moves by the rotation of the 11th rotary plate, and the 11th tape block rotates by the movement of the 11th pin part, A holder for a low-floor parking robot characterized in that the jaw rotates.
An arc-shaped long hole 543 into which the 11th pin part 312 is inserted is formed in the 11th rotating plate, and the lower end of the 11th pin part is coupled to the 11th table block.

The 11th rotary plate rotates between 0 degrees and 180 degrees, and the 11th pin moves along the first part 543a and the second part 543b of the long hole to move the 11th jaw to the storage position and the unfolding position.

When the 11th jaw moves from the retracted position to the unfolded position, the 11th rotary plate is at the 0 degree position and the 11th rotary plate rotates 90 degrees in a state where the 11th pin contacts the second part of the long hole, the 11th pin The part comes into contact with the first part of the long hole, and while the 11th rotating plate rotates from 90 degrees to 180 degrees, the 11th pin part rotates along the first part of the long hole to reach an unfolded position,

When the 11th jaw moves from the unfolded position to the retracted position, the 11th rotary plate is at a position of 180 degrees and the 11th pin rotates 90 degrees while the 11th pin contacts the first part of the long hole. The low-floor parking robot, characterized in that the part comes into contact with the second part of the long hole and the 11th rotation plate rotates from 90 degrees to 0 degrees, and the 11th pin part rotates along the second part of the long hole to reach the stowed position. holder of
According to claim 5

A circumferential through hole 552 is formed in the eleventh support plate to provide a space in which the eleventh pin part moves,

When the 11th jaw is in the unfolded position, an 11th stopper for stopping in the unfolded position is disposed, and the 11th support plate is provided with a square through hole 551 for installing the 11th stopper 555, The 11th stopper is inserted, but the 11th stopper is fixed by the 11th hinge pin 556 so as to make a hinge movement, and when the 11th rotation plate is positioned at 180 degrees, the 11th rotation plate is disposed so as not to overlap the square through hole Accordingly, the 11th stopper is vertically arranged so that one side of the 11th stutter restrains the side surface of the 11th table lock so that the 11th jaw is locked in the unfolded position,

When the 11th rotating plate rotates out of 180 degrees toward 90 degrees and between 0 degrees and 90 degrees, the 11th rotating plate is placed overlapping the square through-hole, and the other side of the 11th stopper is pressed to move the 11th stopper horizontally. The holder of the low-floor parking robot, characterized in that by disposing to release the restraint of the side of the 11th table lock to release the locking so that the 11th jaw can move to the stowed position.
According to claim 4

The 12th rotating part is coupled to a twelfth support plate 533 mounted on the first partition plate 510 and a side surface of the twelfth support plate, but a part of the twelfth bracket part 524 having a protrusion plate and one part of the protrusion plate. A twelfth geared motor 523 disposed on the side and moving the twelfth support plate left and right;

In order to move the twelfth support plate left and right, a first pinion 522 connected to the twelfth geared motor and a first rack gear 521 coupled to the first partition plate are provided, and the first pinion is provided with the protruding plate. While being provided on the other side of the first rack gear and engaged

A twelfth tail block 321 is disposed at one end of the twelfth jaw, and a twelfth support plate 323 supporting the twelfth tail block is provided at the lower end of the twelfth tail block.

In order to rotate the twelfth jaw, a second pinion 532 axially connected to the center of the twelfth tail block 321 is coupled to the first partition plate while being engaged with the second pinion on the upper side of the twelfth supporting plate to rotate the twelfth jaw. A second rack gear 531 is provided

As the twelfth geared motor rotates, the first pinion moves left and right, the twelfth support plate assembled with the first pinion moves left and right, and as the twelfth support plate moves left and right, the twelfth support plate Low-floor parking, characterized in that the second pinion located on the upper side rotates left and right, and the twelfth tail block connected to the second pinion rotates left and right according to the left and right rotation of the second pinion, so that the twelfth jaw rotates. holder of the robot.
According to claim 7

The holder of the low-floor parking robot, characterized in that the first partition plate is provided with a guide means for moving the twelfth support plate 533 left and right.
According to claim 8

The guide means minimizes the space in which the twelfth support plate is disposed while reducing the components by disposing a part of the twelfth support plate inside the first partition plate without adding a separate component. holder of a low-floor parking robot.
According to claim 8

The guide means is provided with a square groove 511 in which a part of the twelfth support plate is inserted and can move left and right, and as the twelfth support plate is fitted into the square groove 511, the space in which the twelfth support plate is disposed Holder of a low-floor parking robot, characterized in that minimized.