CN206091477U - Automatic obstacle avoiding formula intelligence garage parking moves car robot - Google Patents
Automatic obstacle avoiding formula intelligence garage parking moves car robot Download PDFInfo
- Publication number
- CN206091477U CN206091477U CN201621140339.2U CN201621140339U CN206091477U CN 206091477 U CN206091477 U CN 206091477U CN 201621140339 U CN201621140339 U CN 201621140339U CN 206091477 U CN206091477 U CN 206091477U
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- Prior art keywords
- universal wheel
- automatic obstacle
- obstacle avoiding
- yoke
- vehicle frame
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- 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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Abstract
The utility model provides an excessive bed hedgehopping is parked rack and power -assisted jacking and is unloaded and put the mechanism and moved various complex structure such as vehicle wheel order searching to the quilt that automatic obstacle avoiding formula intelligence garage parking moves car robot, simple structure, chassiss height is low, is applicable to to carry the various mini bus of fortune, especially regards as the clamping mechanism of arm lock with wire rope, has reduced the height of whole car structure especially, to various mini bus's wheel base homoenergetic centre gripping freely, need not parking wheel position in the like product. Only need the littleer power that draws because of going upward at the track to sail. Have to be used for the overlap joint to supply the slide wire current collector of the battery and the usefulness of charging or contact the drive power supply on course guide rail side under the whippletree at the front portion of frame or rear portion is set a roof beam in place, the universal wheel moves wire rope by motor capstan winch hank and varies turning to of universal wheel an angle of 90 degrees, can make the robot can also do horizontal walking except that two -way straight line walking is and reach and spin in the original place, reaches the turning radius minimizing.
Description
Technical field
This utility model is related to parking equipment technical field, and in particular to a kind of automatic obstacle avoiding formula intelligent parking garage moves car machine
Device people.
Background technology
In recent years, with Domestic Automotive Industry and the fast development of urbanization, Urban vehicles poputation is continuously increased,
Large, medium and small city occurs in that the problem of parking difficulty in succession.Mechanical solid parking lot storehouse is accompanied by parking difficulty problem and progressively sends out
The new industry that exhibition is got up, is known as and solves the problems, such as population, building dense area, the preferred means of common service area parking difficulty.
At present, all kinds of research and development main bodys oneself develop polytype mechanical stereo parking garage, according to the difference in space telescopic direction, can be with
It is divided into following several：Lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., wherein rising
Drop cross sliding type parking systems be current technology it is the most ripe, using most forms.And existing plain edition garage parking must be by
The tedious steps being manually accurately parked in when hanging scaffold and shift position the difficulty and many waitings that are lifted.Even if organic at present
Device people shutdown system also need to again install the complicated structure such as power lifting body and padded parking platform position additional on independent warehouse compartment, and need
Have and manually drive precisely to be parked on fixed parking platform position to be moved away from.
Utility model content
It is of the present utility model to move car there is provided a kind of automatic obstacle avoiding formula intelligent parking garage in order to solve the deficiencies in the prior art
Robot.
This utility model adopt technical solution be：A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, bag
Vehicle frame is included, described vehicle frame is made up of channel-section steel, grooved rail is provided with the inside of described channel-section steel, some groups of forks are provided with described vehicle frame
Arm mechanism, every group of described yoke mechanism is made up of two clamping yoke components that slide, and described slip clamps yoke component edge
The grooved rail horizontal sliding of the inner side of channel-section steel, described slip clamps yoke component and is provided with pulley, and described slip clamps yoke
Steel wire rope is provided between pulley on component, two clamping yoke components that slide of every group of described yoke mechanism are by rope belt
It is dynamic to translate the function of realizing clamping vehicle tyre in opposite directions along grooved rail.Described slip clamps yoke component includes that the shaft end at two ends is consolidated
Fixed board and the expansion link for clamping vehicle tyre, described shaft end fixed plate is provided with slip short axle, described slip short axle
It is fixed in grooved rail, described slip short axle coordinates with shaft end fixed plate sliding, and described slip clamps yoke component also to be included
Flexible tubing string in the middle of the shaft end fixed plate at two ends, described flexible tubing string includes outer lumen, and described outer tube intracavity is provided with two
Section telescoping tube, telescoping tube is hollow structure, tube shaped electric machine is provided with the telescoping tube of described one end, before described tube shaped electric machine
End is provided with nut, and the screw rod of tube shaped electric machine shaft end is fixed in the telescoping tube of the other end through nut extension, described vehicle frame two
Universal wheel is equipped with four angles at end, individual motor, described independent electrical are respectively connected with each described universal wheel
Machine drives universal wheel motion, described universal wheel to be rotatably assorted with vehicle frame, and pull wire pulley is additionally provided with described universal wheel, described
Universal wheel on pull wire pulley between be wound with by steel wire rope, described universal wheel is realized by rope belt movable pulley
90 ° of angular adjustments.
Described flexible tubing string outside is additionally provided with outer tubing string, and the wall of described flexible tubing string is provided with pin, and described is outer
The wall of tubing string is provided with gathering sill, and described pin coordinates with gathering sill sliding.
The outer wall of one end equipped with tube shaped electric machine of described telescoping tube is provided with lead pin, described lead pin be oriented to
Groove sliding coordinates.
Described universal wheel includes pedestal, and described individual motor is arranged on pedestal, and described pull wire pulley is arranged on
On pedestal.
The described external part for extending the telescoping tube outside vehicle frame is provided with the slip cap bobbin that can make radial rotating.
The magnetic force locking device for preventing universal wheel from rocking is additionally provided with the vehicle frame of described universal wheel both sides, it is described
Pedestal both sides are provided with magnetic plate, and described pedestal is coordinated by magnetic plate with magnetic force locking device magnetic.
Two of described yoke mechanism slide to clamp and be additionally provided with travel limit jacking block between yoke component.
Two of described yoke mechanism slide to clamp and be additionally provided with limit switch between yoke component.
Described bottom of frame is additionally provided with some universal road wheels, described universal road wheel be arranged on shaft end fixed plate and
It is rotatably assorted with shaft end fixed plate.
The beneficial effects of the utility model are：This utility model provides a kind of automatic obstacle avoiding formula intelligent parking garage and moves car machine
Device people, simple structure, height of chassis above ground is low, it is adaptable to the various station wagons of fortune are carried, particularly using steel wire rope as the clamping of jig arm
Mechanism, is more reduction of the height of complete vehicle structure, clamping that can be freely to the wheelbase of various station wagons, without the need for like product
The excessive padded of middle wheel position of stopping parks stand and laying mechanism and various to being found by shifting vehicle wheel position etc. is unloaded in power-assisted jacking
Complicated structure.Because in orbit traveling only needs less traction power.It is useful in the case where the whippletree at the anterior or rear portion of vehicle frame is set a roof beam in place
In overlap joint is for the current collector for trolley conductor of electrical source of power and charging or is contacted with the driving power supply that row is moved on guide rail side, universal wheel
The steering of universal wheel an angle of 90 degrees is converted by motor capstan winch twist steel wire rope, robot can be made to make in addition to two-way linear walking
Laterally walk and spin in situ, reach radius of turn minimum.
Description of the drawings
Fig. 1 is this utility model structural representation.
Fig. 2 is this utility model polycrystalline substance schematic diagram.
Fig. 3 is enlarged drawing at this utility model A.
Fig. 4 is enlarged drawing at this utility model B.
1- vehicle frames in figure, 2- slides and clamps yoke component, and 3- steel wire ropes, 4- stretch tubing string, 5- universal wheels, and 6- is limited and pushed up
Block, 7- limit switches, 8-universal road wheel, 11- grooved rails, 21- pulleys, 22- shaft ends fixed plate, 23- expansion links, 41- stretches
Pipe, the outer tubing strings of 42-, 43- pins, 44- slip cap bobbins, 45- gathering sills, 46- lead pins, 47- tube shaped electric machines, 51- pedestals,
52- magnetic force locking devices, 53- magnetic plates, 221- slip short axles.
Specific embodiment
This utility model is further described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of automatic obstacle avoiding formula Intelligent stop
Garage Yi Che robots, including vehicle frame 1, described vehicle frame 1 is made up of channel-section steel, and grooved rail 11, institute are provided with the inside of described channel-section steel
Some groups of yoke mechanisms are provided with the vehicle frame 1 stated, every group of described yoke mechanism is made up of two clamping yoke components 2 that slide,
Described slip clamps grooved rail 11 horizontal sliding of the yoke component 2 along the inner side of channel-section steel, and described slip is clamped on yoke component 2
Pulley 21 is provided with, described slip to be clamped and be provided with steel wire rope 3, every group of described yoke machine between the pulley 21 on yoke component 2
Two slips of structure clamp yoke component 2 and the function that vehicle tyre is clamped along the opposite translation realization of grooved rail 11 are driven by steel wire rope 3,
Described slip clamps yoke component 2 includes the shaft end fixed plate 22 and the expansion link 23 for clamping vehicle tyre at two ends, institute
The shaft end fixed plate 22 stated is provided with slip short axle 221, and described slip short axle 221 is fixed in grooved rail 11, described slip
Short axle 221 coordinates with the sliding of shaft end fixed plate 22, and described slip clamps yoke component 2 also including the shaft end fixed plate 22 at two ends
Middle flexible tubing string 4, described flexible tubing string 4 includes outer lumen, and described outer tube intracavity is provided with two sections of telescoping tubes 41, stretches
Pipe 41 is hollow structure, and the telescoping tube 41 of described one end is interior to be provided with tube shaped electric machine 47, and the front end of described tube shaped electric machine 47 sets
The screw rod for having nut, the shaft end of tube shaped electric machine 47 is fixed in the telescoping tube 41 of the other end through nut extension.Described telescoping tube
The outside of post 4 is additionally provided with outer tubing string 42, and the wall of described flexible tubing string 4 is provided with pin 43, sets on the wall of described outer tubing string 42
There is gathering sill 45, described pin 43 coordinates with the sliding of gathering sill 45.It is equipped with four angles at the described two ends of vehicle frame 1 universal
Wheel, is respectively connected with individual motor on each described universal wheel, described individual motor drives universal wheel motion, described
Universal wheel is rotatably assorted with vehicle frame 1, pull wire pulley is additionally provided with described universal wheel 5, between the pulley on described universal wheel 5
It is wound with by steel wire rope, described universal wheel 5 drives pull wire pulley to realize 90 ° of angular adjustments by steel wire 3.Described is universal
Wheel 5 includes pedestal 51, and described individual motor is arranged on pedestal 51, and described pulley is arranged on pedestal 51.Described ten thousand
The magnetic force locking device 52 for preventing universal wheel 5 from rocking, the described both sides of pedestal 51 are additionally provided with the vehicle frame 1 of 5 both sides of wheel
Magnetic plate 53 is provided with, described universal wheel 5 is coordinated by magnetic plate 53 with the magnetic of magnetic force locking device 52.It is close in bracing wire motor
There is neodymium iron boron strong magnetic during one frame as stablizing motor and driving in one direction, moving motor and universal wheel 5
During rock unstable phenomenon.When converting during universal wheel 5 is pulled and controlling in place, shifted to an earlier date in motor with travel switch
Side board near side framework Magnet 5mm or so when, limit switch makees cut-off signal, by PLC time delay again
Time several seconds continues as motor work, so that the driving wheel angle that conversion is turned to is completely in place.Magnetic force sucks or can be by forever
Magnetic and electrical cooperation are installed together, and beneficial to pulling when separation is close to not by strong influence, easily convert motor angle.
The outer wall of one end equipped with tube shaped electric machine 47 of described telescoping tube 41 is provided with lead pin 46, described lead pin
46 coordinate with the sliding of gathering sill 45.Dual-purpose is that the flexible row of plug pipe moves guide finger in motor side.Wire hole is connected in lead pin, is drawn
Line pin is stretched out in outside the long barrel arm of outer tube, and the power line screens abrasion for not making motor is pulled apart.
The week side of boss of gathering sill 45 on the wall of described outer tubing string 42 is also welded with reinforcing plate, to reinforce outer tube anti-deformation and hold
Gravity.
The described external part for extending the telescoping tube 41 outside vehicle frame 1 is provided with the slip cap bobbin that can make radial rotating
44.Circumferential rolling is acted as during for clamping tire to be used, and mitigating jig arm outside and tire frictional resistance.
Two of described yoke mechanism slide to clamp and restriction jacking block 6 are additionally provided between yoke component 2.
Two of described yoke mechanism slide to clamp and be additionally provided with limit switch 7 between yoke component 2.
The described bottom of vehicle frame 1 is additionally provided with some universal road wheels 8, and described universal road wheel 8 is fixed installed in shaft end
Plate 22 and it is rotatably assorted with shaft end fixed plate 22.
One end of described vehicle frame 1 is control end 12, is provided with motor, wrings steel wire rope 3 in described control end 12
Motor, air compressor, pneumatic control valve, accumulator and electrical equipment control components and parts.
Slide to clamp and multiple pulleys 21 around steel wire rope be housed on the side of yoke component 2, it is each slide clamp yoke component 2 and
The steel wire rope that the pulley of the flat car two ends leg of frame has logicality mutually detours, and pulling steel wire winch wheel can more around two to three circle steel
Cord, in case skidding when steel wire rope wrings.Each slip is set to clamp the expansion link 23 of yoke component 2 under capstan winch motor is rotated pulling
Prolong U-steel frame with two slip short axles 221 to vertically move, reach clamping wheel or release discharge action.Capstan winch motor is then big speed
The deceleration worm gear motor of ratio, and with brake function, can guarantee that in the case where tire condition is clamped unlikely revolution and releases.Do not clamping
During vehicle, then at farthest stroke end, i.e., two slide clamps yoke to each telescopic cylinder plunger yoke for clamping yoke component 2 that slides
In vehicle frame end to end and middle maximum end of travel, when carrying car and needing, capstan winch motor is rotated and pulls steel wire rope component 2, is made
Two groups of slip clamping yoke components 2 are close to wheel, when any one clamping yoke component 2 that slides is near tire side, other
The direction row that each group slip clamps yoke component 2 and also can pull active force with steel wire rope is moved.Will clamping trolley tire when one
Group is slided without spring resistance and clamps the continuation clamping of yoke component 2, until the restriction jacking block 6 of two groups of slip clamping yoke components 2 is not
The row that can reaccees is moved, and the continuation of the now another group of clamping yoke of the slip with spring resistance component 2 is clamped and holds up wheel, when spacing
After switching in place, that is, complete the axle holding action of vehicle two.
There is motor above the one end of Yi Che robots vehicle frame rear portion, wring steel wire rope motor, air compressor, various
Pneumatic control valve, accumulator, electrical equipment control components and parts etc., the front end both sides of vehicle frame and middle part limit switch, for by shifting vehicle
Tire, chassis height and foreign body from blocking by force action is limited.It is then the trade mark word of identification automobile that vision passes device, range sensor
Accord with and judge putting forward shifting vehicle outline and distance.Limit switches and match somebody with somebody on rear frame front with dynamic one end
The spring stop of limit switch is closed, to limit the setting that Che Shiyu is moved the close stroke of vehicle is proposed.Rear frame side also has various
Sensor and limit switch, are equally used for anticollision and the detection of obstacle distance.
The Yi Che robots structure is simple, and height of chassis above ground is low, it is adaptable to carry the various station wagons of fortune, particularly with steel wire rope work
For the clamp system of jig arm, the height of complete vehicle structure is more reduction of, clamping that can be freely to the wheelbase of various station wagons
Applicable vehicle wheelbase can be between 1-4 rice, and without the need for stopping in like product, wheel the excessive padded of position parks stand and power-assisted top
Rise and unload laying mechanism and to by various complicated structures such as shifting vehicle wheel position searchings.Because in orbit traveling only needs less traction to move
Power.Have in the case where the whippletree at the anterior or rear portion of vehicle frame is set a roof beam in place for overlap joint for the current collector for trolley conductor of electrical source of power and charging or
It is contacted with the driving power supply that row is moved on guide rail side.When shifting car robot ride is in the trolley grooved rail position with power supply source
When, driving power is used as by external power by current collector and is charged simultaneously, then enable accumulator when without external supply of electric power
Electricity is used as driving power.
The above is only preferred implementation of the present utility model, and protection domain of the present utility model is not limited merely to
Above-described embodiment, all technical schemes belonged under this utility model thinking belong to protection domain of the present utility model.Should refer to
Go out, for those skilled in the art, some improvement under the premise of without departing from this utility model principle and
Retouching, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots, including vehicle frame（1）, described vehicle frame（1）Inner side be provided with
Grooved rail（11）, it is characterised in that described vehicle frame（1）Some groups of yoke mechanisms are inside provided with, every group of described yoke mechanism is by two
Individual slip clamps yoke component（2）Composition, described slip clamps yoke component（2）Along the grooved rail of the inner side of channel-section steel（11）Level
Sliding, described slip clamps yoke component（2）It is provided with pulley（21）, described slip clamps yoke component（2）On cunning
Wheel（21）Between be provided with steel wire rope（3）, two clamping yoke components that slide of every group of described yoke mechanism（2）By steel wire rope
（3）Drive along grooved rail（11）The function of clamping vehicle tyre, described vehicle frame are realized in opposite translation（1）On four angles at two ends
Universal wheel is provided with, individual motor is connected with each described universal wheel, described individual motor drives universal wheel motion, described
Universal wheel and vehicle frame（1）It is rotatably assorted, described universal wheel（5）On be additionally provided with pull wire pulley, described universal wheel（5）On
It is wound between pull wire pulley by steel wire rope, described universal wheel（5）Angular adjustment is realized by rope belt movable pulley.
2. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Slide and clamp yoke component（2）Including the shaft end fixed plate at two ends（22）With for clamping the expansion link of vehicle tyre（23）, institute
The shaft end fixed plate stated（22）It is provided with slip short axle（221）, described slip short axle（221）It is fixed on grooved rail（11）It is interior, institute
The slip short axle stated（221）With shaft end fixed plate（22）Sliding coordinates, and described slip clamps yoke component（2）Also include two ends
Shaft end fixed plate（22）Middle flexible tubing string（4）, described flexible tubing string（4）Including outer lumen, described outer tube intracavity
It is provided with two sections of telescoping tubes（41）, telescoping tube（41）For hollow structure, the telescoping tube of described one end（41）Inside it is provided with tube shaped electric machine
（47）, described tube shaped electric machine（47）Front end be provided with nut, tube shaped electric machine（47）The screw rod of shaft end extends through nut to be fixed
In the telescoping tube of the other end（41）It is interior.
3. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Flexible tubing string（4）Outside is additionally provided with outer tubing string（42）, described flexible tubing string（4）Wall be provided with pin（43）, described is outer
Tubing string（42）Wall be provided with gathering sill（45）, described pin（43）With gathering sill（45）Sliding coordinates.
4. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 3, it is characterised in that described
Telescoping tube（41）Equipped with tube shaped electric machine（47）The outer wall of one end be provided with lead pin（46）, described lead pin（46）With lead
To groove（45）Sliding coordinates.
5. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 3, it is characterised in that described
Universal wheel（5）Including pedestal（51）, described individual motor is installed in pedestal（51）On, described pull wire pulley is arranged on pedestal
（51）On.
6. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Extend vehicle frame（1）Outer telescoping tube（41）External part be provided with the slip cap bobbin that can make radial rotating（44）.
7. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 5, it is characterised in that described
Universal wheel（5）The vehicle frame of both sides（1）On be additionally provided with for preventing universal wheel（5）The magnetic force locking device for rocking（52）, it is described
Pedestal（51）Both sides are provided with magnetic plate（53）, described pedestal（51）By magnetic plate（53）With magnetic force locking device（52）Magnetic
Coordinate.
8. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Two of yoke mechanism slide and clamp yoke component（2）Between be additionally provided with restriction stroke jacking block（6）.
9. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Two of yoke mechanism slide and clamp yoke component（2）Between be additionally provided with limit switch（7）.
10. a kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Vehicle frame（1）Bottom is additionally provided with some universal road wheels（8）, described universal road wheel（8）Installed in shaft end fixed plate（22）
And with shaft end fixed plate（22）It is rotatably assorted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140339.2U CN206091477U (en) | 2016-10-20 | 2016-10-20 | Automatic obstacle avoiding formula intelligence garage parking moves car robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140339.2U CN206091477U (en) | 2016-10-20 | 2016-10-20 | Automatic obstacle avoiding formula intelligence garage parking moves car robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206091477U true CN206091477U (en) | 2017-04-12 |
Family
ID=59976425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621140339.2U Withdrawn - After Issue CN206091477U (en) | 2016-10-20 | 2016-10-20 | Automatic obstacle avoiding formula intelligence garage parking moves car robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206091477U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106351490A (en) * | 2016-10-20 | 2017-01-25 | 温州燧人智能科技有限公司 | Automatic obstacle avoiding type intelligent vehicle moving robot for parking garage |
| CN108843099A (en) * | 2018-07-02 | 2018-11-20 | 合肥市春华起重机械有限公司 | A kind of the self-adapting type mesa structure and its system of intelligent parking garage Yi Che robot |
| CN111395838A (en) * | 2020-03-26 | 2020-07-10 | 五邑大学 | Vehicle carrying trolley, transverse moving device and stereo garage |
-
2016
- 2016-10-20 CN CN201621140339.2U patent/CN206091477U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106351490A (en) * | 2016-10-20 | 2017-01-25 | 温州燧人智能科技有限公司 | Automatic obstacle avoiding type intelligent vehicle moving robot for parking garage |
| CN106351490B (en) * | 2016-10-20 | 2018-08-10 | 温州燧人智能科技有限公司 | A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots |
| CN108843099A (en) * | 2018-07-02 | 2018-11-20 | 合肥市春华起重机械有限公司 | A kind of the self-adapting type mesa structure and its system of intelligent parking garage Yi Che robot |
| CN111395838A (en) * | 2020-03-26 | 2020-07-10 | 五邑大学 | Vehicle carrying trolley, transverse moving device and stereo garage |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170412 Effective date of abandoning: 20180810 |
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| AV01 | Patent right actively abandoned |