CN110424800A - A kind of parking robot - Google Patents
A kind of parking robot Download PDFInfo
- Publication number
- CN110424800A CN110424800A CN201910539838.0A CN201910539838A CN110424800A CN 110424800 A CN110424800 A CN 110424800A CN 201910539838 A CN201910539838 A CN 201910539838A CN 110424800 A CN110424800 A CN 110424800A
- Authority
- CN
- China
- Prior art keywords
- tire
- component
- parking robot
- robot according
- sides
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a kind of parking robots, belong to facilities for transport and communication field.Technical solution of the present invention main points are, by it is a pair of can lift the slide block connecting rod structure on component and telescopic supporting rod around the tire of intermediate hinge rotation and make apparatus of the present invention that tire can be lifted to component pack up or be unfolded, it is easy to remove to lifting below the automobile that will lift and to it, so that tire is lifted component in the structure that ball screw is arranged in support beam both ends and lifts the ball nut that component both ends are correspondingly arranged with the tire of lower section down or up can park convenient for carrying out movement to it by four tires for holding up automobile, the configuration of the present invention is simple small volume, work can be completed without other tools, versatility is higher.
Description
Technical field
The invention belongs to facilities for transport and communication fields, and in particular to a kind of parking robot.
Background technique
With the development of economy with the raising of living standards of the people, automobile starts largely to enter family, and social automobile is possessed
The trend that amount shows rapid growth still due to the lag of parking area planning and construction, is gathered around in some economically developed, automobiles
The amount of having occupies high city, and the contradiction of parking stall hardly possible also becomes increasingly conspicuous.Drive a car planless searching parking position, such sky
Sailing causes to waste fuel resource, while vehicle disorderly stops to leave about caused by looking for because of parking position difficulty, more reduces road energy
Power, it is disorder also to have caused garage, exacerbates urban traffic blocking, destroys urban landscape.
In the past few decades, explosive increase is passed through by real estate industry, leaves the insufficient inhabitation of a large amount of parking stall planning and does
Gongjian builds.The service life of common building between 50 to 70 years, is limited to land supply, and a large amount of newly-built traditional parking stalls are difficult
Greatly, the parking stall deficiency problem in city stock building area becomes increasingly conspicuous.
Traditional artificial parking mode inefficiency, be easy to cause congested with cars, various parking robots nowadays occurs, can
Automatic stopping is realized instead of driver, but most of parking robot requires to hold in the palm vehicle by a particular platform
Fortune, is more troublesome, and versatility is lower, as more advanced parking robot occurs, solves problems without the external world
Tool achieves that automatic stopping, but there is also a part of problems, as the excessive narrow zone action of robot volume is limited；If
Count the complex maintenance and maintenance for being unfavorable for the later period of structure.
Existing full-automation parking systems mainly has planar movement class lifting device, as Chinese patent discloses " one
Kind can lateral carrier vehicle intelligent robot ", which includes central body and supporting support, and supporting support is in
Heart main body is connected by horizontal linear driving mechanism, and supporting support is located at the two sides of central body and can be with respect to central body
Horizontal ground motion, is additionally provided with plate crotch in central body, and plate crotch is connect with central body by sliding rail and can be along center master
Body does vertical displacement movement；The plate fork for being able to carry out vertical displacement movement and transversely and horizontally moving is connected on plate crotch；Plate fork
On be connected with clamping plate, clamping plate can rotate 45 degree to 90 degree around its fulcrum.The shortcomings that intelligent robot, is: 1, due to robot
It adapts to carry the different vehicle of various length and widths, and plate crotch length is non-adjustable, then the width of transfer robot is at least
Be: the maximum width of vehicle adds the width of robot central body, and it is big to be bound to cause robot occupied space, reduces machine
The environmental suitability of people.Robot will also adjust the spacing of two support frames to the vehicle of different length, certainly will reduce carrying effect
Rate.2, since the fixed structure of plate crotch and clamping plate designs, plate crotch will cause inclination of vehicle when lifting vehicle stress, bring peace
Full hidden danger.3, since parking robot only increases parking quantity, this method by saving aisle space and reducing vehicle spacing
It is limited to increase parking stall space.
In summary reason, berth difficulty is as an outstanding problem in urban transportation, management of markets in urban districts.At the same time, by
In the asymmetry of parking resource supply and demand information, also a little stops pass through berth due to position, information transmitting etc.
Often cannot adequately it utilize.How to allow for the vacant berth information of stop in time, being conveniently and effectively transmitted to and needs its
Become a urgent problem to be solved in driver.
Summary of the invention
The technical problem to be solved by the present invention is to for current excessive, the complicated defect of parking machine human body product
A kind of parking robot is provided.
In order to solve the above technical problems, the present invention is using technical solution as described below: a kind of parking robot, including
Cylinder, support beam, universal travel wheel, automobile tire and ground；A kind of artificial symmetrical structure of parking machine, it is described
It is two cylinders being symmetrically installed among the device of the invention, described two cylinder other ends are respectively provided with a retractable support
Bar, described two telescopic supporting rod other ends, which are respectively perpendicular, fixes a support beam, below described two support beams respectively
It is horizontally installed with a tire and lifts component, and described two support beam both ends are respectively equipped with a ball screw and tire
The ball nut for lifting component both ends is corresponding.
Preferably, a sliding block is respectively equipped among described two telescopic supporting rods, the sliding block can be in telescopic supporting rod
On move left and right, and two sliding block two sides are respectively equipped with two bar linkage frames, four bar linkage frames respectively with four connecting rods
One end rotation connection, the bar linkage frame rotation that four connecting rod other ends lift component both ends with two tires in left and right respectively connect
It connects.
Preferably, described two tires, which are lifted, lifts arm A and lifts arm B and can rotate around intermediate hinge in component.
Preferably, the tire is lifted lifting arm A and lifting the position that arm B is contacted with automobile tire in component and is arranged to
Trapezium structure, and it is preferred with rubber pad is equipped on the bevel edge of automobile tire contact surface.
Preferably, the two sides of described two support beams are respectively equipped with a threephase asynchronous, described phase asynchronous
Motor is respectively that four ball screws provide power input.
Preferably, four universal travel wheels are separately mounted to two support beam two sides.
Preferably, the tire lifts when component is packed up width and is less than automobile two sides tire the smallest width in the inner part.
Preferably, width is greater than car two sides tire maximum width in the outer part when the tire lifts component expansion
Degree.
Preferably, four threephase asynchronouses can simultaneously forward or reverse.
Preferably, the fixed corner of the telescopic supporting rod and support beam both sides is respectively provided with a gusset.
The present invention is compared with other methods, and advantageous effects are: a kind of parking robot of the present invention passes through a pair can be around
The tire of intermediate hinge rotation, which lifts the slide block connecting rod structure on component and telescopic supporting rod, makes apparatus of the present invention can be by tire
Component is lifted to pack up or be unfolded, it is easy to remove to lifting below the automobile tire that will lift and to it, in support beam
Ball screw is arranged in both ends and the structure for lifting the ball nut that component both ends are correspondingly arranged with the tire of lower section lifts tire
Component down or up can be parked convenient for carrying out movement to it by four tires for holding up automobile.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for the robot that stops of the present invention；
Fig. 2 is the right view of Fig. 1；
Tire is lifted the schematic diagram that component closes up for Fig. 1 present invention by Fig. 3；
Fig. 4 is the structural schematic diagram that tire lifts component in the present invention；
Fig. 5 is that tire lifts the state diagram that tire before and after automobile is fixed in component in the present invention；
1, cylinder；2, telescopic supporting rod；3, support beam；4, ball screw；401, threephase asynchronous；5, ball nut；
6, tire lifts component；601, arm A is lifted；602, arm B is lifted；7, rubber pad；8, sliding block；801, bar linkage frame；9, connecting rod；
10, shaft；11, gusset；12, universal travel wheel；13, automobile tire；14, ground.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution in the embodiment of the present invention carry out it is clear, completely retouch
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those skilled in the art's all other reality obtained without making creative work
Example is applied, protection scope of the present invention is belonged to.Hereinafter such as there are "upper", "lower", "left", "right" printed words, only expression and attached drawing
The upper and lower, left and right direction of itself is consistent, does not play restriction effect to structure.
A kind of parking robot as shown in Fig. 1 ~ 5, including cylinder 1, support beam 3, universal travel wheel 12, automobile tire
13 and ground 14；A kind of artificial symmetrical structure of parking machine, the device of the invention centre are two symmetrical peaces
The cylinder 1 of dress, described two 1 other ends of cylinder are respectively provided with a telescopic supporting rod 2, can make length when the present invention is unloaded in this way
Shorten, be moved easily, and lift component 6 after extending convenient for tire and be unfolded, simultaneous retractable support rod 2 can be shunk again makes tire
Automobile tire 13 is fixed in the bevel edge for lifting 6 two sides of component.Described two 2 other ends of telescopic supporting rod are respectively perpendicular fixation
One support beam 3, described two 3 lower sections of support beam are horizontally installed with a tire respectively and lift component 6, and described two
It is corresponding with the ball nut 5 that tire lifts 6 both ends of component that a 3 both ends of support beam are respectively equipped with a ball screw 4, in this way
It can rotate forward to move up and down by the ball nut 5 that drive tire lifts 6 both ends of component simultaneously by four ball screws 4 and make tire
Component 6 is lifted to rise or fall.
A sliding block 8 is respectively equipped among described two telescopic supporting rods 2, the sliding block 8 can be left on telescopic supporting rod 2
Move right, and two 8 two sides of sliding block are respectively equipped with two bar linkage frames 801, four bar linkage frames 801 respectively with four companies
The rotation connection of 9 one end of bar, four connecting rods, 9 other end lift the bar linkage frame at 6 both ends of component with two tires in left and right respectively
801 rotation connections, and two tires lift lifting arm A601 and lifting arm B602 in component 6 can be around intermediate 10 turns of hinge
It is dynamic, it can be moved left and right by two sliding blocks 8 drive tire to lift component 6 to close up or be unfolded in this way.
As shown in figure 5, tire lifts lifting arm A601 and lift the position that arm B602 is contacted with automobile tire 13 in component 6
Install and be set to trapezium structure, and on the bevel edge of 13 contact surface of automobile tire be equipped with rubber pad 7, tire can be made to lift group in this way
Part 6 is fixed four automobile tires 13 and will not cause to damage to vehicle.
The two sides of described two support beams 3 are respectively equipped with a threephase asynchronous 401, the three-phase asynchronous electric
Machine 401 is respectively that four ball screws 4 provide power input, and four threephase asynchronouses 401 can simultaneously forward or reverse
And then drive ball screw forward or reverse, it drives the tire of lower section to lift component 6 indirectly and rises or falls.
Four universal travel wheels 12 are separately mounted to two 3 two sides of support beam, it can be achieved that multi-direction movement, is convenient for
Vehicle is sent into parking stall.
The tire lifts width when component 6 is packed up and is less than automobile two sides tire the smallest width in the inner part, this sample hair
Bright device zero load Shi Kecong automobile is moved forward and backward to below automobile.
The tire lifts width when component 6 is unfolded and is greater than car two sides tire maximum width in the outer part, just
Automobile is lifted in stabilization.
The telescopic supporting rod 2 is respectively provided with a gusset 11 with the fixed corner in 3 both sides of support beam, makes overall structure
It is more firm.
Carrying out practically process of the present invention are as follows: two telescopic supporting rods 2 are in contraction state, two sliding blocks when the present invention is unloaded
8 close up to centre is mobile to make the tire on both sides lift component 6, at this moment drive shifting of the present invention by four universal travel wheels 12
It moves wait a underface of stopping, two telescopic supporting rods 2 are stretched over maximum to both sides, then four threephase asynchronouses
401 rotate the rotation of ball screw 4 for driving 3 both ends of support beam simultaneously, and ball screw 4 is by lifting component 6 with lower section tire
The engagement of ball nut 5 at both ends makes tire lift the height that component 6 drops to close to ground 14, and two cylinders 1 drive at this time
Telescopic supporting rod 2 is shunk, and then it is mobile to centre so that the tire of two sides is lifted component 6, when tire lift 6 two sides bevel edge of component with
Automobile tire 13 contacts, and at this moment threephase asynchronous 401 inverts, and the reversion of ball screw 4 makes ball nut 5 move up drive
Two tires lift component 6 and rise to hold up on vehicle, are then moved in parking stall by universal travel wheel 12, tire support
It lifts component 6 to decline, telescopic supporting rod 2 stretches, and tire is lifted component 6 and closed up, and then telescopic supporting rod 2 is shunk, and tire lifts group
Part 6 is lifted off ground, completes parking.
The present invention is further described by specific embodiment above, it should be understood that, here specifically
Description, should not be construed as the restriction for the essence of the present invention with range, and one of ordinary skilled in the art is reading this explanation
The various modifications made after book to above-described embodiment belong to the range that the present invention is protected.
Claims (10)
1. a kind of parking robot, including cylinder (1), support beam (3), universal travel wheel (12), automobile tire (13) and ground
Face (14), it is characterised in that: a kind of artificial symmetrical structure of parking machine, the device of the invention centre is two
The cylinder (1) being symmetrically installed, described two cylinder (1) other ends are respectively provided with a telescopic supporting rod (2), described two flexible
Support rod (2) other end, which is respectively perpendicular, fixes a support beam (3), horizontal respectively below described two support beams (3) to pacify
Lifted component (6) equipped with a tire, and described two support beams (3) both ends be respectively equipped with a ball screw (4) with
The ball nut (5) that tire lifts component (6) both ends is corresponding.
2. a kind of parking robot according to claim 1, which is characterized in that described two telescopic supporting rods (2) are intermediate
It is respectively equipped with a sliding block (8), the sliding block (8) can move left and right on telescopic supporting rod (2), and two sliding block (8) two sides
Two bar linkage frames (801) are respectively equipped with, four bar linkage frames (801) are rotatablely connected with four connecting rod (9) one end respectively,
Bar linkage frame (801) rotation that four connecting rods (9) other end lifts component (6) both ends with two tires in left and right respectively connects
It connects.
3. a kind of parking robot according to claim 2, which is characterized in that described two tires are lifted in component (6)
Lift arm A(601) and lift arm B(602) can be rotated around intermediate hinge (10).
4. a kind of parking robot according to claim 2 or 3, which is characterized in that the tire is lifted in component (6)
Lift arm A(601) and lift arm B(602) position that contacts with automobile tire (13) is arranged to trapezium structure, and and automotive wheels
Rubber pad (7) are housed on the bevel edge of tire (13) contact surface.
5. a kind of parking robot according to claim 1, which is characterized in that the two sides of described two support beams (3)
It is respectively equipped with a threephase asynchronous (401), the threephase asynchronous (401) is respectively four ball screws (4)
Power input is provided.
6. a kind of parking robot according to claim 1, which is characterized in that four universal travel wheels (12) are respectively
It is mounted on two support beam (3) two sides.
7. a kind of parking robot according to claim 1 or 5, which is characterized in that the tire is lifted component (6) and packed up
Shi Kuandu is less than automobile two sides tire the smallest width in the inner part.
8. a kind of parking robot according to claim 1, which is characterized in that the tire lifts component (6) exhibition
Width is greater than car two sides tire maximum width in the outer part when opening.
9. a kind of parking robot according to claim 1, which is characterized in that four threephase asynchronouses
It (401) can simultaneously forward or reverse.
10. a kind of parking robot according to claim 1, which is characterized in that the telescopic supporting rod (2) and support are horizontal
The fixed corner in beam (3) both sides is respectively provided with a gusset (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539838.0A CN110424800A (en) | 2019-06-21 | 2019-06-21 | A kind of parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539838.0A CN110424800A (en) | 2019-06-21 | 2019-06-21 | A kind of parking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110424800A true CN110424800A (en) | 2019-11-08 |
Family
ID=68408487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910539838.0A Withdrawn CN110424800A (en) | 2019-06-21 | 2019-06-21 | A kind of parking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110424800A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111042599A (en) * | 2019-12-17 | 2020-04-21 | 张明睿 | Intelligent parking device for parking lot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2429442A (en) * | 2005-08-25 | 2007-02-28 | John Andrew Timmins | Apparatus for parking a vehicle |
| EP2937261A2 (en) * | 2014-04-08 | 2015-10-28 | Unitronics Automated Solutions Ltd | System and method for tracking guiding lines by an autonomous vehicle |
| CN107070382A (en) * | 2017-05-22 | 2017-08-18 | 深圳市奈士迪技术研发有限公司 | A kind of photovoltaic power generation equipment for being easy to store |
| CN206888625U (en) * | 2016-12-19 | 2018-01-16 | 天津市安佳信科技发展股份有限公司 | A kind of intelligent parking lot elevating mechanism |
| CN107921931A (en) * | 2015-05-20 | 2018-04-17 | 斯坦利机器人公司 | For moving the portable conveyer of four-wheel car |
| DE102017217826A1 (en) * | 2017-10-06 | 2019-04-11 | Zf Friedrichshafen Ag | Parking vehicle and method for transporting and parking a vehicle |
| CN208792847U (en) * | 2018-09-07 | 2019-04-26 | 吉林大学 | A kind of flat parking robot |
-
2019
- 2019-06-21 CN CN201910539838.0A patent/CN110424800A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2429442A (en) * | 2005-08-25 | 2007-02-28 | John Andrew Timmins | Apparatus for parking a vehicle |
| EP2937261A2 (en) * | 2014-04-08 | 2015-10-28 | Unitronics Automated Solutions Ltd | System and method for tracking guiding lines by an autonomous vehicle |
| CN107921931A (en) * | 2015-05-20 | 2018-04-17 | 斯坦利机器人公司 | For moving the portable conveyer of four-wheel car |
| CN206888625U (en) * | 2016-12-19 | 2018-01-16 | 天津市安佳信科技发展股份有限公司 | A kind of intelligent parking lot elevating mechanism |
| CN107070382A (en) * | 2017-05-22 | 2017-08-18 | 深圳市奈士迪技术研发有限公司 | A kind of photovoltaic power generation equipment for being easy to store |
| DE102017217826A1 (en) * | 2017-10-06 | 2019-04-11 | Zf Friedrichshafen Ag | Parking vehicle and method for transporting and parking a vehicle |
| CN208792847U (en) * | 2018-09-07 | 2019-04-26 | 吉林大学 | A kind of flat parking robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111042599A (en) * | 2019-12-17 | 2020-04-21 | 张明睿 | Intelligent parking device for parking lot |
| CN111042599B (en) * | 2019-12-17 | 2021-07-09 | 张明睿 | Intelligent parking device for parking lot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191108 |
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| WW01 | Invention patent application withdrawn after publication |