CN202450824U

CN202450824U - Carrying robot in intelligent garage

Info

Publication number: CN202450824U
Application number: CN201220082397XU
Authority: CN
Inventors: 胡梦铁; 胡皓
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-03-07
Filing date: 2012-03-07
Publication date: 2012-09-26
Anticipated expiration: 2022-03-07

Abstract

The utility model discloses a carrying robot in an intelligent garage and belongs to the technical field of intelligent garages. The carrying robot comprises an underframe mechanism with running wheels and front and rear running mechanisms, a wheel pushing mechanism and a lifting mechanism which are arranged on the underframe mechanism, wherein the front and rear running mechanisms are driven by hydraulic motors and synchronously and accurately positioned in the front and rear directions; double guide wheels can automatically correct directions when running in rails and do not deviate from the rails of parking places; the running gear set is protected by a gear box containing gear oil and can work stably, and the trouble of maintenance is eliminated; driving racks of the wheel pushing mechanism can synchronously ensure that a vehicle is pushed in place through a rear wheel translation adjustment mechanism, otherwise, a blockage phenomenon can occur on one side, and equipment is damaged; and a problem that the lifting mechanism is clamped and damaged because the vehicle of which the weight of the front part and the rear part is not equal cannot be lifted synchronously is solved.

Description

The intelligent garage transfer robot

Technical field

The utility model relates to a kind of garage transfer robot, and a kind of specifically operatorless full hydraulic drive garage car carrying robot of automation control belongs to intelligent garage technical field.

Background technology

This year; Because expanding economy; Traffic congestion and parking problem have become the problem of governments at all levels and masses' care, because motor vehicle has the time more than 90% to be in the state that berths, seem particularly important so solve the problem of parking difficulty; Governments at all levels formulate various preferential policies in succession, encourage and develop the construction in smart three-dimensional garage.

Intelligent stereo garage is little because of its parking space occupation of land, and automation control is leaned in the automobile inbound/outbound process entirely, and human pilot need not to get in the storehouse; There is not personal potential safety hazard, the making full use of of the special appropriate architecture thing underground space, but in the existing intelligent parking garage; Car carrying equipment is chain drive mostly, exists complex structure, and the equipment operation is asynchronous; Fault rate is high, inefficient problem.

The utility model content

The utility model technical problem to be solved is, overcomes the shortcoming of prior art, and a kind of intelligent garage transfer robot is provided; Can realize the stable carrying of vehicle; Minimizing is to the damage of movable part, and it is little to have a space of occupation of land, the characteristics that the equipment operating safety factor is high.

In order to solve above technical problem; The utility model provides a kind of intelligent garage transfer robot; Comprise that wheeled underframe mechanism and front and back walking mechanism, the wheel be located in the said underframe mechanism push away positive mechanism and elevating mechanism; Said front and back walking mechanism is located at two hydraulic motors at road wheel place, said underframe mechanism front and back through gear pump driven by motor; Said hydraulic motor drives driving gear through reductor, said driving gear through idler gear be located at before and after driven gear on the live axle link to each other, drive said front and back road wheel; Said wheel pushes away positive mechanism and comprises that the front-wheel translation that links to each other with said gear pump pushes away positive oil cylinder and the trailing wheel translation pushes away positive oil cylinder; Push away the gear that positive oil cylinder promotes front-wheel shiftable gear case by said front-wheel; Driving is just pushing away with the front-wheel translation guiding mechanism that said front-wheel shiftable gear case links to each other synchronously; Push away the synchronous tooth bar of trailing wheel translation that driving is connected by the synchronous tooth bar pull bar of trailing wheel translation under the positive oil cylinder promotion in said trailing wheel translation, the synchronous tooth bar of said trailing wheel translation drives trailing wheel translation guiding mechanism through trailing wheel shiftable gear case and is just pushing away synchronously; Said elevating mechanism comprise hoist cylinder, preceding horizontal draw tooth bar pull bar, back horizontal draw the tooth bar pull bar, preceding horizontal draw tooth bar, in horizontal tooth bar, horizontal tooth bar, preceding lifting tooth roller box, middle lifting tooth roller box and the back lifting tooth roller box of drawing in back of drawing; Said hoist cylinder is by the driving of said gear pump; Before said horizontal draw tooth bar, in horizontally draw horizontal the drawing between the tooth bar of tooth bar and back to be connected with the horizontal tooth bar pull bar that draws in back by the horizontal tooth bar pull bar that draws before said; Said hoist cylinder and said before horizontal draw tooth bar, in the horizontal horizontal tooth bar that draws of tooth bar and back that draws connect and compose one, said before lifting tooth roller box, middle lifting tooth roller box and back lifting tooth roller box through lifter rack with said before horizontal draw tooth bar, in horizontal draw tooth bar with after the horizontal rack drives of drawing be connected.

The technical scheme that the utility model further limits is: aforesaid intelligent garage transfer robot in order to adapt to the intellectualized operation in garage, is provided with solenoid electric valve between said gear pump and the said hydraulic motor, to realize the accurate operation of each step.

Aforesaid intelligent garage transfer robot, the road wheel place, front and back of said front and back walking mechanism is provided with four pairs of two directive wheels, makes and can revise direction automatically when transfer robot moves in track, does not squint with the orbital docking of parking stall.

Further; Aforesaid intelligent garage transfer robot; Be equipped with in lifting tooth roller box, middle lifting tooth roller box and the back lifting tooth roller box before said two lifter wheel bars with said before horizontal draw tooth bar, in the horizontal tooth bar that draws be connected with the back horizontal rack drives of drawing; In preceding, neutralization back lifting tooth roller box, have six secondary lifter racks altogether like this and come to lift synchronously elevating mechanism; So just avoided not causing the elevating mechanism up-down asynchronous, and the elevating mechanism that causes is blocked, the impaired problem of elevating mechanism because the front and back weight of vehicle does not wait.

In addition, in the intelligent garage conveying robot people of the utility model, overweight warning and overload protection arrangement are housed also,, guarantee the safety of equipment operation through the hydraulic workstation releasing pressure automatically; When the equipment automatic control system breaks down, can also realize manually automatically reseting the carrying out smoothly of easy access maintenance work through the hand release of assembling.

The beneficial effect of the utility model is:

1, the car carrying robot of the utility model is by the unified control of PLC in garage parking; And application laser guidance can accurately longly in the garage be shifted up and down, stop apart from carrier vehicle, automobile; And can be used with equipment such as rotating disk, hoist, pilers, can automobile be delivered to the parking stall of multilayer by the appointment of control system from the inlet parking stall, and can vehicle be delivered to the outlet parking stall under getting in the parking stall; The parking of human pilot and the work of picking up the car are just replaced no security incident hidden danger fully by robot.

2, the complete machine of this device only needs a motor-driven, cuts down the consumption of energy and noise; Walking mechanism is by fluid motor-driven, and the front and back synchronized positioning is accurate, and two directive wheels move in track can revise direction automatically, does not squint with the parking space track, and the walking gear group is by the gear-box protection that contains gear oil, and working stability has been exempted the worry of safeguarding.

3, front-wheel translation guiding mechanism oil cylinder piston bar driven gear synchronous working, the mechanism action zero deflection, trailing wheel translation guiding mechanism is big because of length; Guarantee synchronously under the promotion of trailing wheel translation oil cylinder piston rod, to drive the synchronous tooth bar of two translations that connects by pull bar by trailing wheel; The gear of the two shiftable gear casees of pulling trailing wheel, drive tooth bar synchronous pass through trailing wheel translation guiding mechanism, guarantee that automobile just pushes away to put in place; Otherwise can cause monolateral blocking, equipment is impaired.

4, before and after the elevating mechanism of the utility model is promoted by the hoist cylinder piston rod horizontal draw that the tooth bar pull bar connects before horizontal draw tooth bar, in the horizontal horizontal tooth bar that draws of tooth bar and back that draws constitute one; Spur the horizontal gear that draws in the preceding lifting tooth roller box of tooth bar driven in synchronism, middle lifting tooth roller box and the back lifting tooth roller box; And the two lifter wheel bars in the driven gear case; This six secondary tooth bar lifts elevating mechanism synchronously; Avoided not causing the elevating mechanism up-down asynchronous, and the elevating mechanism that causes is blocked, the impaired problem of elevating mechanism because the front and back weight of vehicle does not wait.

Description of drawings

Fig. 1 is the vertical view of the utility model.

Fig. 2 is the upward view of the utility model.

Fig. 3 is the side schematic view of the utility model.

Fig. 4 is the end view of the utility model.

Among the figure: (1) pre-walking mechanism; (2) the preceding horizontal tooth bar that draws; (3) front vehicle wheel carriage group; (4) the preceding horizontal tooth bar pull bar that draws; (5) underframe mechanism; (6) the horizontal tooth bar that draws in; (7) the horizontal tooth bar pull bar that draws in back; (8) rear wheel carriage group; (9) the horizontal tooth bar that draws in back; (10) rear walking mechanism; (11) running wheel group; (12) line slideway slide block; (13) line slideway; (14) lifter rack in; (15) back lifter rack; (16) the horizontal tooth bar that draws; (17) two lifter racks; (18) preceding lifter rack; (19) front jockey wheel; (20) front walking wheel; (21) preceding lifting tooth roller box; (22) hydraulic workstation; (23) solenoid electric valve; (24) lifting tooth roller box in; (25) trailing wheel translation translation oil cylinder; (26) hoist cylinder piston rod; (27) the synchronous tooth bar of trailing wheel translation; (28) preceding hydraulic motor reductor; (29) front-wheel shiftable gear case; (30) gear pump; (31) road wheel in; (32) trailing wheel shiftable gear case; (33) trailing wheel translation oil cylinder piston rod; (34) rear walking wheel; (35) rear lifting mechanism; (36) preceding hydraulic motor; (37) walking gear case; (38) preceding elevating mechanism; (39) preceding electromagnetic valve limit switch; (40) the front-wheel translation pushes away positive oil cylinder; (41) elevating mechanism in; (42) hoist cylinder; (43) rear electromagnetic valve limit switch; (44) back lifting tooth roller box; (45) front-wheel translation guiding mechanism; (46) front-wheel translation oil cylinder piston rod; (47) encoder steel wire shift fork; (48) hydraulic workstation motor; (49) trailing wheel translation guiding mechanism; (50) the synchronous tooth bar pull bar of trailing wheel translation; (51) rear hydraulic motor reductor; (52) rear hydraulic motor; (53) back directive wheel.

The specific embodiment

Embodiment 1

A kind of intelligent garage transfer robot that present embodiment provides; Structure such as Fig. 1 are to shown in Figure 4; Comprise that wheeled underframe mechanism and front and back walking mechanism, the wheel be located in the underframe mechanism push away positive mechanism and elevating mechanism; The front and back walking mechanism drives the preceding hydraulic motor 36 and rear hydraulic motor 52 of being located at road wheel place, underframe mechanism front and back by motor through gear pump 30, and hydraulic motor is provided with solenoid electric valve 23 through reductor drive driving gear between gear pump 30 and the hydraulic motor; Driving gear through idler gear be located at before and after driven gear on the live axle link to each other, drive the front and back road wheel; Wheel pushes away positive mechanism and comprises that the front-wheel translation that links to each other with gear pump pushes away positive oil cylinder 40 and pushes away positive oil cylinder 25 with the trailing wheel translation; Push away the gear that positive oil cylinder promotes front-wheel shiftable gear case by front-wheel; The front-wheel translation guiding mechanism 45 that driving links to each other with front-wheel shiftable gear case 29 is just pushing away synchronously; Push away the synchronous tooth bar of trailing wheel translation that driving is connected by the synchronous tooth bar pull bar 50 of trailing wheel translation under positive oil cylinder 25 promotions in the trailing wheel translation, the synchronous tooth bar 27 of trailing wheel translation drives trailing wheel translation guiding mechanisms through trailing wheel shiftable gear case 32 and is just pushing away synchronously; Elevating mechanism comprise hoist cylinder 42, preceding horizontal draw tooth bar pull bar 4, back horizontal draw tooth bar pull bar 7, preceding horizontal draw tooth bar 2, in horizontal tooth bar 6, horizontal tooth bar 9, preceding lifting tooth roller box 21, middle lifting tooth roller box 24 and the back lifting tooth roller box 44 of drawing in back of drawing; Hoist cylinder is by the driving of gear pump; Before horizontal draw tooth bar 2, in horizontally draw horizontal the drawing between the tooth bar 9 of tooth bar 6 and back to be connected with the horizontal tooth bar pull bar 7 that draws in back by the preceding horizontal tooth bar pull bar 4 that draws; Hoist cylinder 42 with before horizontal draw tooth bar 2, in the horizontal horizontal tooth bar 9 that draws of tooth bar 6 and back that draws connect and compose one, preceding lifting tooth roller box 21, middle lifting tooth roller box 24 and back lifting tooth roller box 44 through two lifter wheel bars 17 with before horizontal draw tooth bar 2, in horizontal draw tooth bar 6 with after horizontally draw tooth bar 9 drivings to be connected.

The operating principle of present embodiment: at first with automobile parking on the wheel carriage of rotating disk parking space, entrance or on the carriage of lift parking stall; The transfer robot of present embodiment is by 30 work of system command hydraulic workstation motor 48 driven gear pumps; Hydraulic oil in hydraulic workstation 22 casings is through solenoid electric valve 23; Hydraulic motor 36 and rear hydraulic motor 52 before oil line pipe gets into; Two hydraulic motors in front and back start synchronously; Drive driving gear by hydraulic motor through reductor and give road wheel gear train 20 through the middle transition gear with transmission of power, the road wheel of pre-walking mechanism 20 and rear walking mechanism 10 is led 19,53 guiding to track sails the bottom, railbus chassis, parking stall of parking automobile into from the berth with transfer robot by four pairs of two directive wheels.

After transfer robot comes to a complete stop; Front-wheel translation guiding mechanism 45 is under the promotion of the front-wheel translation oil cylinder piston rod 46 that hydraulic workstation hydraulic oil is sent to; Drive the gear drive tooth bar of front-wheel shiftable gear case 29 synchronous pass through front-wheel translation guiding mechanism 45, stretch to two front-wheel inboards along line slideway 13 vehicle front just pushed away; Trailing wheel translation guiding mechanism 49 is synchronous with front-wheel translation guiding mechanism; Under the promotion of trailing wheel translation oil cylinder piston rod 33, drive the synchronous tooth bar 27 of two trailing wheel translations that connects by the synchronous tooth bar pull bar 50 of trailing wheel translation; The gear of the two shiftable gear casees 44 of pulling trailing wheel; Drive tooth bar synchronous pass through trailing wheel translation guiding mechanism, stretch to two trailing wheel inboards along line slideway automobile back wheel just pushed away.

After automotive wheel is just pushed away; The elevating mechanism of transfer robot is started working; Hydraulic oil promotes hoist cylinder piston rod 26, piston rod promote by preceding horizontal draw tooth bar pull bar 4 and back horizontal draw tooth bar pull bar 7 to be connected and with preceding horizontal draw tooth 2, in the horizontal horizontal tooth bar 9 that draws of tooth 6 and back that draws constitute one, spur horizontal draw the preceding lifting tooth roller box 21 of tooth bar driven in synchronism, middle lifting tooth roller box 24 and after the interior gear of lifting tooth roller box 44; Two lifter racks 17 in the driven gear case; Before in after totally six secondary tooth bars lift elevating mechanism synchronously, elevating mechanism lifts automobile and leaves the parking space stand, is driven by walking mechanism and is sent to parking space in the storehouse transfer robot is turned around automobile by transferring equipment supporting in the storehouse 180 degree after; Finish that transfer robot after the work goes up and down and translation mechanism all resets, return former mooring basin according to system command and shut down and await orders.

Except that the foregoing description, the utility model can also have other embodiments, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of the utility model requirement.

Claims

1. intelligent garage transfer robot; Comprise that wheeled underframe mechanism and front and back walking mechanism, the wheel be located in the said underframe mechanism push away positive mechanism and elevating mechanism; It is characterized in that: said front and back walking mechanism is located at two hydraulic motors at road wheel place, said underframe mechanism front and back through gear pump driven by motor; Said hydraulic motor drives driving gear through reductor; Said driving gear through idler gear be located at before and after driven gear on the live axle link to each other, drive said front and back road wheel; Said wheel pushes away positive mechanism and comprises that the front-wheel translation that links to each other with said gear pump pushes away positive oil cylinder and the trailing wheel translation pushes away positive oil cylinder; Push away the gear that positive oil cylinder promotes front-wheel shiftable gear case by said front-wheel; Driving is just pushing away with the front-wheel translation guiding mechanism that said front-wheel shiftable gear case links to each other synchronously; Push away the synchronous tooth bar of trailing wheel translation that driving is connected by the synchronous tooth bar pull bar of trailing wheel translation under the positive oil cylinder promotion in said trailing wheel translation, the synchronous tooth bar of said trailing wheel translation drives trailing wheel translation guiding mechanism through trailing wheel shiftable gear case and is just pushing away synchronously; Said elevating mechanism comprise hoist cylinder, preceding horizontal draw tooth bar pull bar, back horizontal draw the tooth bar pull bar, preceding horizontal draw tooth bar, in horizontal tooth bar, horizontal tooth bar, preceding lifting tooth roller box, middle lifting tooth roller box and the back lifting tooth roller box of drawing in back of drawing; Said hoist cylinder is by the driving of said gear pump; Before said horizontal draw tooth bar, in horizontally draw horizontal the drawing between the tooth bar of tooth bar and back to be connected with the horizontal tooth bar pull bar that draws in back by the horizontal tooth bar pull bar that draws before said; Said hoist cylinder and said before horizontal draw tooth bar, in the horizontal horizontal tooth bar that draws of tooth bar and back that draws connect and compose one, said before lifting tooth roller box, middle lifting tooth roller box and back lifting tooth roller box through lifter rack with said before horizontal draw tooth bar, in horizontal draw tooth bar with after the horizontal rack drives of drawing be connected.

2. intelligent garage transfer robot according to claim 1 is characterized in that: be provided with solenoid electric valve between said gear pump and the said hydraulic motor.

3. intelligent garage transfer robot according to claim 2 is characterized in that: the road wheel place, front and back of said front and back walking mechanism is provided with four pairs of two directive wheels.

4. intelligent garage transfer robot according to claim 3 is characterized in that: be equipped with in lifting tooth roller box, middle lifting tooth roller box and the back lifting tooth roller box before said two lifter wheel bars with said before horizontal draw tooth bar, in the horizontal tooth bar that draws be connected with the back horizontal rack drives of drawing.