CN101187267A - Automatic parking robot for stack type stereo garage - Google Patents
Automatic parking robot for stack type stereo garage Download PDFInfo
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- CN101187267A CN101187267A CNA2007100474703A CN200710047470A CN101187267A CN 101187267 A CN101187267 A CN 101187267A CN A2007100474703 A CNA2007100474703 A CN A2007100474703A CN 200710047470 A CN200710047470 A CN 200710047470A CN 101187267 A CN101187267 A CN 101187267A
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Abstract
The invention relates to an automatic parking electric robot in a stacking-type vertical garage, which utilizes a generator to be a power source to get into a car bottom of an automobile which needs to be carried in a direction which is vertical with a vehicle body. The electric robot finishes the clamping and lifting work of automobiles which needs to be carried by the engaging of an erector arm projecting mechanism and an erector arm gripper mechanism, and the heavy arm projecting mechanism and the erector arm gripper mechanism are welded together through an angle steel. A directive wheel in a straight-line guidance wheel mechanism is embedded in a push-off guide rail of the erector arm projecting mechanism. The straight-line guidance wheel mechanism is connected and fixed on an electric robot framework through a bolt. A central position of an automobile which needs to be carried is calculated through an automatic control system, and the electric robot is controlled to get to the central position of an automobile through the automatic control system.
Description
Technical field
The present invention relates to automatic parking robot in the stack type stereo garage, belong to the mechanotronics field.
Background technology
Along with development of Urban Traffic, motor vehicle quantity rapidly increases with the contradiction between the slow growth of parking facility more and more serious.Show that by investigation the rate that satisfies on the parking space of China urban motor vehicle has only about 20% at present to part city parking situation.It is big that while urban land resource and urban life rhythm have seriously limited floor space, and the inefficient garage parking development of access vehicle is so solve the multi-storied garage that this type of key to the issue is the efficient high land utilization ratio of exploitation.Stack type stereo garage is a class with high content of technology in the multi-storied garage.The core of stack type stereo garage is exactly an automatic parking robot.Use this robot transport system, can realize not having the steelframe parking stall, and satisfy in the domestic fire protection rule about the requirement of fire separation and two indexs of fire resistance period, simple for structure, it is less to take the parking stall height.
Present automatic parking robot such as the automatic parking robot of German PAILS company, is to adopt vertically bilateral mode of lifting the wheel walking.The mode that the carrier vehicle tire is treated in this robot location removes to lift automobile for detecting the position of two trailing wheels of automobile by the position of automatic adjusting boom.The vehicle that this mode is treated carrying vehicle limits more.Because this robot enters mode at the bottom of the car for being parallel to the vehicle body direction, make that the length of robot is elongated in addition, increased the size of hoist in the stack type garage, thereby reduced whole stack type garage space availability ratio.
Domestic research for automatic parking robot also is by clamping doughnut mode truck crane, wherein the work of boom is finished by hydraulic system, and in very little space, hydraulic system needs customized, need higher cost, not too be fit to large-scale production.
Summary of the invention
The objective of the invention is to defective at the prior art existence, provide a kind of motor that utilizes as power source, to enter the mode treated at the bottom of the carrier vehicle car for to carry out automatic parking robot in the automatic parking stack type stereo garage perpendicular to the vehicle body direction, this robot can navigate to the body of a motor car center.
In order to reach the foregoing invention purpose, automatic parking robot comprises that boom stretches out mechanism in a kind of stack type stereo garage of the present invention, the boom clamping device, the straight-line guidance wheel mechanism, with the robot skeleton, and control system, it is characterized in that boom stretches out mechanism and the boom clamping device welds together by angle steel.Directive wheel in the straight-line guidance wheel mechanism is embedded in the release guide rail that boom stretches out mechanism.The straight-line guidance wheel mechanism is connected on the robot skeleton by bolt.
Boom stretches out mechanism, is to stretch out mechanism's motor to connect by shaft joint and leading screw, and the end that leading screw and shaft joint connect is equipped with deep groove ball bearing, and an other end is the coefficient bearing group of deep groove ball bearing and thrust bearing.Leading screw and bearing thereof are installed among bearing support A and the bearing support B.Bearing support A and bearing support connect by bolt and robot skeleton.The leading screw slide block is by being threaded on the leading screw, and when leading screw rotated, by screw thread pair, the leading screw slide block was along lead screw straight-line.At the leading screw slide block by bearing pin and rod hinge connection.The other end of connecting rod is hinged with the release slide block by bearing pin.Release guide rail one end and be welded on the release slide block, the other end is welded on to be released on the clamping limb.
Above-mentioned straight-line guidance wheel is embedded in to be released in the guide rail.Release in the guide rail and be welded with guided way, the direction of motion of guided way constraint straight-line guidance wheel.The straight-line guidance wheel connects by bearing and back shaft, and is fixed on the back shaft by wheel end cap and shaft end ring.Back shaft passes a supporting seat, and is welded on the supporting seat.The axle supporting seat is welded on the base for supporting, and base for supporting connects by bolt and robot skeleton.
Above-mentioned boom clamping device is that the clamping device motor is connected with worm screw by shaft joint.Worm screw is installed in the worm screw supporting seat, and the worm screw supporting seat connects by bolt and angle steel.Angle steel is welded on to be released on the slide block.The worm and wheel engagement.Worm gear is coaxial with gear A.Gear A and gear B engagement, gear B is coaxial with the rim clamp gripping arm.
Above-mentioned control system is: the optoelectronic switch sensor is installed in robot and sails the end top into.Incremental optical-electricity encoder is installed on the wheel of robot, rotates synchronously with wheel.Pressure sensor is installed in the rim clamp gripping arm and releases clamping limb and is used on the surface of lifting tire.The optoelectronic switch sensor is connected on the universal input/output interface of single-chip microcomputer, and the switching value signal is provided.Photoelectric encoder is connected the external interrupt interface of single-chip microcomputer, offers pulse signal.Pressure sensor output termination A/D conversion chip is connected with single-chip microcomputer by the A/D conversion chip.The LCD LCDs is connected on the universal input/output interface of single-chip microcomputer.
The present invention compared with prior art, it has following conspicuous outstanding substantive distinguishing features and remarkable advantage: the present invention be a kind of motor that utilizes as power source, enter the mode for the treatment of at the bottom of the carrier vehicle car and be automatic parking robot perpendicular to the vehicle body direction.Robot stretches out mechanism by boom and the cooperation of boom clamping device is finished clamping and lifted the work for the treatment of the carrier vehicle tire; Boom stretches out mechanism and the boom clamping device welds together by angle steel.Directive wheel in the straight-line guidance wheel mechanism is embedded in the release guide rail that boom stretches out mechanism.The straight-line guidance wheel mechanism is fixed on the robot skeleton by Bolt Connection.By automatic control system, calculate and treat the center of carrier vehicle and control the center that robot arrives automobile.
Robot of the present invention has nine motors, and four single motor-driven booms stretch out the flexible of mechanism, the rotation of four motor-driven boom clamping devices, and another motor is as the power source of walking mechanism.Walking mechanism is the shaft shoulder by shaft end ring and multidiameter, running wheel is fixed on the two ends of walking axletree; Motor output shaft drives the running of walking axletree by gear reduction box, thereby drives advancing of running wheel.The overall work mode of robot is: robot is under control system is controlled automatically, and direction along ng a path navigates to automatically treats the carrier vehicle bottom centre position.It is protruding and withstand a side of doughnut to release clamping limb then; Next the rim clamp gripping arm is rotated, and withstands the opposite side of doughnut, the doughnut clamping is lifted, thereby automobile is lifted.Be suitable in the stack type stereo garage full-automatic carrier vehicle work.
Description of drawings
Fig. 1 is that frame for movement of the present invention is always schemed.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is that boom stretches out mechanism components figure.
Fig. 4 is a straight-line guidance wheel mechanism component diagram.
Fig. 5 is a boom clamping device component diagram.
Fig. 6 is along tracks positioned autocentre algorithm schematic diagram.
Fig. 7 is a control system structured flowchart of the present invention.
The specific embodiment
Details are as follows in conjunction with the accompanying drawings for a preferred embodiment example of the present invention: referring to Fig. 1 Fig. 2, automatic parking robot stretches out mechanism 1 and boom clamping device 2 by boom and cooperates and finish clamping and lift the work for the treatment of the carrier vehicle tire in this stack type stereo garage; By automatic control system, calculate and treat the center of carrier vehicle and control the center that robot arrives automobile.
Referring to Fig. 3 and Fig. 4,11 rotations of ejecting mechanism motor drive leading screw 15 rotations by shaft joint 12.Leading screw 15 and leading screw slide block 14 are formed the spiral force transmission mechanism, because the rotation of leading screw 15, leading screw slide block 14 is along the central motion of straight line to leading screw, and by connecting rod 16, it is extrapolated to release slide block 10 simultaneously.Releasing slide block 10 drive release guide rails 9 and release clamping limb 7 outwards moves.In order to guarantee to release slide block 10, release guide rail 9 and release clamping limb 7 move along a straight line, and they three is welded together, and release guide rail 9 are installed on the straight-line guidance wheel mechanism 3.Straight-line guidance wheel module 3 is both to have born the pressure of truck crane, plays guide effect again.The effect of releasing clamping limb 7 is the clamping doughnut, and it is welded on releases on the guide rail 9, moves together along with releasing guide rail 9.
Referring to Fig. 5, boom clamping device drive motors 29 is connected the axle head of worm screw 28 by shaft joint 30, drives the rotation of worm screw 28.Worm screw 28 and worm gear 25 engagements, worm gear 25 drives the gear A coaxial with it 32 and rotates, gear A 32 and gear B 24 engagements, gear B 24 drives the rim clamp gripping arm coaxial with it 31 and rotates.Rim clamp gripping arm 31 is rotated and together doughnut 34 is lifted in the mode of clamping with release clamping limb 7.Whole boom clamping device 2 is welded on the release slide block 10 that boom stretches out mechanism 1 by angle steel 27, with releasing slide block 10 motions.
Referring to Fig. 6 and Fig. 7, automatic parking robot sails the automobile bottom into along Y direction.Be installed in the sensor that is used for detent mechanism in the robot optoelectronic switch 33 and incremental optical-electricity encoder 40 are arranged.Optoelectronic switch sensor 33 is installed in robot and sails the end top into, and incremental optical-electricity encoder 40 is installed on the wheel 4 of robot.Optoelectronic switch 33 sends a signal to single-chip microcomputer 38 when detecting the edge of tire 34.Incremental optical-electricity encoder 40 is the spacings that are used for obtaining between the sampled point, and photoelectric encoder 40 revolutions are 500 lines, and the resolution ratio of having the records of distance by the log reaches 1mm.
By sensor, can measure Y among Fig. 4
1Length, i.e. the spacing of two wheels.When optoelectronic switch 33 sensors detected the A point, the robot Y distance that need move on just can be finished the location at robot direction along ng a path center.
By (1), (2) can draw
Referring to Fig. 7, pressure sensor 36 collects the pressure from doughnut 34, and by the A/D conversion, the data signal that will become is given single-chip microcomputer 38.The signal that single-chip microcomputer 38 analyzing and processing collect goes to control the action of motor 11,29 by motor-driven interface 39.And current state passed to PC 42 by serial ports 41, the signal value that will handle shows on LCD display 35 simultaneously.
The automatic parking robot the key technical indexes of present embodiment: lifting weight≤3.6 ton; Translational speed≤1m/s; Mode of operation: automatically; Robot formal parameter: 2300 * 1700 * 230 (mm).
Claims (5)
1. automatic parking robot in the stack type stereo garage, comprise that four groups of booms stretch out mechanism (1), four groups of boom clamping devices (2), eight straight-line guidance wheel mechanisms (3), robot skeleton (5) and control system thereof, it is characterized in that boom stretches out mechanism (1) and welds together by angle steel (27) with boom clamping device (2); Directive wheel (18) in the straight-line guidance wheel mechanism (3) is embedded in the release guide rail (9) that boom stretches out mechanism (1); Straight-line guidance wheel mechanism (3) is connected on the robot skeleton (5) by bolt.
2. automatic parking robot in the stack type stereo garage according to claim 1, it is characterized in that described weighing arm stretches out mechanism and connects by shaft joint (12) and leading screw (15) by stretching out mechanism's motor (11), leading screw (15) is equipped with deep groove ball bearing with the end that shaft joint (12) connects, and an other end is the coefficient bearing group of deep groove ball bearing and thrust bearing; Leading screw (15) and bearing thereof are installed among bearing support A (13) and the bearing support B (8); Bearing support A (13) and bearing support (B) connect by bolt and robot skeleton (5); Leading screw slide block (14) is by being threaded on the leading screw (15), and when leading screw (15) rotated, by screw thread pair, leading screw slide block (14) was along leading screw (15) rectilinear motion; Hinged at leading screw slide block (14) by bearing pin and connecting rod (16).The other end of connecting rod (16) is hinged with release slide block (10) by bearing pin.Release guide rail (9) one ends and be welded on the release slide block (10), the other end is welded on to be released on the clamping limb (7).
3. automatic parking robot in the stack type stereo garage according to claim 1, it is characterized in that described straight-line guidance wheel mechanism (3) is to be welded with guided way (17), the direction of motion of guided way (17) constraint straight-line guidance wheel (18) in the described release guide rail (9); Straight-line guidance wheel (18) connects by bearing and back shaft (19), and is fixed on the back shaft (19) by wheel end cap (21) and shaft end ring (22); Back shaft (19) passes a supporting seat (20), and is welded on the supporting seat (20); Axle supporting seat (20) is welded on the base for supporting (23), and base for supporting (23) connects by bolt and robot skeleton (5).
4. automatic parking robot in the stack type stereo garage according to claim 1 is characterized in that described boom clamping device (2) is that a motor (29) is connected with worm screw (28) by shaft joint (30); Worm screw (28) is installed in the worm screw supporting seat (26), and worm screw supporting seat (26) connects by bolt and angle steel (27); Angle steel (27) is welded on to be released on the slide block (10); Worm screw (28) and worm gear (25) engagement; Worm gear (25) is coaxial with gear A (32); Gear A (32) and gear B (24) engagement, gear B (24) is coaxial with rim clamp gripping arm (31).
5. automatic parking robot in the stack type stereo garage according to claim 1 is characterized in that described control system structure is: an optoelectronic switch sensor (33) is installed in robot and sails the end top into; An incremental optical-electricity encoder (40) is installed on the wheel (4) of robot, with wheel (4) rotation synchronously; A pressure sensor (36) is installed in rim clamp gripping arm (31) and releases clamping limb (7) and is used on the surface of lifting tire; An optoelectronic switch sensor (33) is connected on the universal input/output interface of a single-chip microcomputer (38), and the switching value signal is provided; A photoelectric encoder (40) is connected the external interrupt interface of single-chip microcomputer (38), offers pulse signal; Described pressure sensor (a 36) output A/D conversion chip of termination (37) is connected with single-chip microcomputer (38) by A/D conversion chip (37).A LCD LCDs (35) is connected on the universal input/output interface of single-chip microcomputer (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100474703A CN100554633C (en) | 2007-10-26 | 2007-10-26 | Be used for the stack type stereo garage automatic parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100474703A CN100554633C (en) | 2007-10-26 | 2007-10-26 | Be used for the stack type stereo garage automatic parking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101187267A true CN101187267A (en) | 2008-05-28 |
| CN100554633C CN100554633C (en) | 2009-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100474703A Expired - Fee Related CN100554633C (en) | 2007-10-26 | 2007-10-26 | Be used for the stack type stereo garage automatic parking robot |
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| Country | Link |
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| CN (1) | CN100554633C (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102758548A (en) * | 2012-07-04 | 2012-10-31 | 苏州大方特种车股份有限公司 | Travelling mechanism for tyre type mobile intelligent parking robot |
| CN103132760A (en) * | 2013-03-20 | 2013-06-05 | 东莞市伟创东洋自动化设备有限公司 | Mechanical arm intelligent garage transportation small car and car storing-taking process |
| CN104453306A (en) * | 2014-12-10 | 2015-03-25 | 江苏金冠立体停车***工程有限公司 | Lifting and lateral moving type three-dimensional parking equipment traction lifting transmission mechanism |
| CN104895369A (en) * | 2015-06-10 | 2015-09-09 | 深圳怡丰机器人科技有限公司 | Intelligent robot capable of moving automobiles in side directions |
| CN105937320A (en) * | 2016-06-22 | 2016-09-14 | 武汉智象机器人有限公司 | Intelligent parking garage |
| CN106013886A (en) * | 2016-04-04 | 2016-10-12 | 上海大学 | Comb telescopic longitudinal autonomous carrier of stereo garage |
| CN106812361A (en) * | 2016-06-03 | 2017-06-09 | 江苏中泰停车产业有限公司 | A kind of Intelligent garage transfer robot of combined bidirectional motion |
| CN108612366A (en) * | 2018-05-15 | 2018-10-02 | 宁波华运智能科技有限公司 | Stereo garage system |
-
2007
- 2007-10-26 CN CNB2007100474703A patent/CN100554633C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102758548A (en) * | 2012-07-04 | 2012-10-31 | 苏州大方特种车股份有限公司 | Travelling mechanism for tyre type mobile intelligent parking robot |
| CN102758548B (en) * | 2012-07-04 | 2014-11-19 | 苏州大方特种车股份有限公司 | Travelling mechanism for tyre type mobile intelligent parking robot |
| CN103132760A (en) * | 2013-03-20 | 2013-06-05 | 东莞市伟创东洋自动化设备有限公司 | Mechanical arm intelligent garage transportation small car and car storing-taking process |
| CN104453306A (en) * | 2014-12-10 | 2015-03-25 | 江苏金冠立体停车***工程有限公司 | Lifting and lateral moving type three-dimensional parking equipment traction lifting transmission mechanism |
| CN104895369A (en) * | 2015-06-10 | 2015-09-09 | 深圳怡丰机器人科技有限公司 | Intelligent robot capable of moving automobiles in side directions |
| CN106013886A (en) * | 2016-04-04 | 2016-10-12 | 上海大学 | Comb telescopic longitudinal autonomous carrier of stereo garage |
| CN106812361A (en) * | 2016-06-03 | 2017-06-09 | 江苏中泰停车产业有限公司 | A kind of Intelligent garage transfer robot of combined bidirectional motion |
| CN106812361B (en) * | 2016-06-03 | 2018-08-07 | 江苏中泰停车产业有限公司 | A kind of Intelligent garage transfer robot of combined bidirectional movement |
| CN105937320A (en) * | 2016-06-22 | 2016-09-14 | 武汉智象机器人有限公司 | Intelligent parking garage |
| CN105937320B (en) * | 2016-06-22 | 2018-12-25 | 武汉智象机器人有限公司 | A kind of intelligent parking garage |
| CN108612366A (en) * | 2018-05-15 | 2018-10-02 | 宁波华运智能科技有限公司 | Stereo garage system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100554633C (en) | 2009-10-28 |
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Granted publication date: 20091028 Termination date: 20121026 |