CN206667867U - A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic garage - Google Patents
A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic garage Download PDFInfo
- Publication number
- CN206667867U CN206667867U CN201720425603.5U CN201720425603U CN206667867U CN 206667867 U CN206667867 U CN 206667867U CN 201720425603 U CN201720425603 U CN 201720425603U CN 206667867 U CN206667867 U CN 206667867U
- Authority
- CN
- China
- Prior art keywords
- broach frame
- vehicle
- car body
- broach
- garage
- 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.)
- Active
Links
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The utility model discloses a kind of automatic garage with intelligent omnidirectional's shifting carrying platform parking system, its main body is transfer car(buggy), vehicle-mounted broach frame including car body and positioned at car body both sides, the broach of vehicle-mounted broach frame and garage port broach frame or parking stall broach frame mutually stagger；The bottom of car body is provided with Mecanum wheel, connected between vehicle-mounted broach frame and car body by elevating mechanism, elevating mechanism includes the framework to car body outer incline, the framework is provided with a pair of oblique guide rails and the horizontally-guided plate moved up and down along the guide rail, and the both sides up and down of guide plate are connected with the bottom of vehicle-mounted broach frame and drive device respectively.The cunning jump formula that the utility model realizes vehicle-mounted broach frame by the setting of elevating mechanism rises, and significantly reduces the swap time of vehicle-mounted broach frame and garage port broach frame or parking stall broach frame, improves and stop pick-up efficiency.Transfer car(buggy) of the present utility model uses Mecanum wheel drive, improves the parking density and space availability ratio in garage.
Description
Technical field
It the utility model is related to a kind of parking robot system, and in particular to a kind of automatic garage is moved with intelligent omnidirectional
Carrying platform parking system.Belong to robotic technology field.
Background technology
Existing interdigitated electrode structure parking robot, is combined, the general radius of gyration compares using common wheel with universal wheel more
Greatly, the single and precision of positioning motion is not high, is unfavorable for saving the garage parking space that passageway takes.
Existing second generation parking stall broach frame, because its both sides carries the broach bearing tube of riding wheel, it is chronically at
Cantilever force state, in the course of time, broach bearing tube sagging deflections certainly will be caused, and then harm transfer car(buggy) and pass through and fail.Cause
This its normal service life is limited.
Existing third generation broach frame, by below broach bearing tube, directly increasing the vertical support feet for reinforcement
Method, effectively strengthen the bearing capacity of broach frame, the drawbacks of overcoming second generation broach frame, but also bring simultaneously new
Drawback, this is mainly manifested in following aspect：
1st, using second generation broach frame, transfer car(buggy) and its vehicle-mounted broach frame, directly can be led directly to from footpath immediately below broach frame
OK, after travelling in place, when vehicle-mounted broach frame exchanges passenger car with parking stall broach frame, vehicle-mounted broach exchange mechanism, only need simple
An elevating mechanism, only acted with a simple vertical lift, you can complete the lifting of passenger car, it is time saving and energy saving；
2nd, using third generation broach frame because the vertical spike below broach frame, hamper transfer car(buggy) broach frame just under
Side it is current, in order to avoid these barriers, transfer car(buggy) is had to vehicle-mounted broach frame is shunk back into body inner side in advance, it is careful from
Bend low and walk in neutral gear among the broach frame of parking stall, after travelling in place, vehicle-mounted broach frame obtains first to stop from body inner side, edge
The athwart void of parking stall broach frame, both sides protrude horizontally up to the left and right respectively, and after stretching in place, ability integral lifting, this is just
So that original only need a single vertical lift action, become present first protrude horizontally up and be vertically moved up or down this again one in front and one in back
Two actions, the swap time of broach exchange mechanism is wasted, mechanism is become complicated again.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of automatic garage intelligence
Omnidirectional's shifting carrying platform parking system.
The utility model additionally provides a kind of automatic parking garage corresponding to said system and parked with intelligent omnidirectional's shifting carrying platform
Method.
To achieve the above object, the utility model uses following technical proposals：
A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic parking garage, its main body are transfer car(buggy), including car body and
Vehicle-mounted broach frame positioned at car body both sides, the broach of vehicle-mounted broach frame and garage port broach frame or parking stall broach frame are mutually wrong
Open；The bottom of the car body is provided with Mecanum wheel, is connected between vehicle-mounted broach frame and car body by elevating mechanism, the lifting
Mechanism includes the framework to car body outer incline, and the framework is provided with a pair of oblique guide rails and the level moved up and down along the guide rail
Guide plate, the both sides up and down of guide plate are connected with the bottom of vehicle-mounted broach frame and drive device respectively.
As one of preferable technical scheme, ferric phosphate lithium cell is provided with the car body, is powered for total system.
As one of preferable technical scheme, the Mecanum wheel has four groups, by the first servomotor group (including 4
Servomotor) driving.
As one of preferable technical scheme, the drive device is the second servomotor group (including 2 servomotors)
The leading screw of driving, the leading screw are connected by push rod with guide plate.
As one of further preferred technical scheme, the leading screw is connected by Hooks coupling universal coupling and second group of servomotor
Connect.
As one of preferable technical scheme, the broach of the parking stall broach frame includes being used for the broach for carrying passenger car
Bearing tube, the lower section of broach bearing tube are provided with the vertical support feet for strengthening.
As one of preferable technical scheme, the vehicle-mounted broach frame is provided with roller.
As one of preferable technical scheme, the side of the car body is provided with touch-screen, the touch-screen as input with
Onboard program controller (PLC) connects, and the PLC is used for the work shape for controlling on/off, car body movement and elevating mechanism
State.
As one of preferable technical scheme, the system also includes hand-held remote controller, and it is provided with handwheel and rocking bar, as
Input is connected with PLC, for controlling the working condition of car body movement and elevating mechanism.
As one of preferable technical scheme, the PLC connection vehicle-mounted lasers Position Fixing Navigation System, Vehicle Dispatch Administration system
The website Position Fixing Navigation System of system and RFID, it is empty to realize that contexture by self path of the car body in garage is walked
Parking stall automatically selects, and the access of predetermined parking stall.
As one of preferable technical scheme, the car body is provided with Quick Response Code camera, is pasted for reading garage floor
Quick Response Code, so as to realizing that vehicle accurately exchanges on garage port broach frame or parking stall broach frame.
Whether, as one of preferable technical scheme, the garage port broach frame is provided with sensor, have for sensing
Passenger car is driven on garage port broach frame.
After sensor sensing drives into passenger car, by garage intelligent dispatching system, dispatch command is sent to transhipment
Car, control its start-up operation.A kind of automatic parking garage corresponding to said system is parked method with intelligent omnidirectional's shifting carrying platform, specifically
Step is：
(1) passenger car is driven on garage port broach frame, and occupant gets off；
(2) transfer car(buggy) drives into the lower section of garage port broach frame, and elevating mechanism controls vehicle-mounted broach frame to slide the rising of jump formula, directly
Passenger car is lifted to vehicle-mounted broach frame；
(3) transfer car(buggy) passenger car of carrying a load on the back sails for parking stall, reaches and specifies behind parking stall by being accurately positioned, then stops, rise
Descending mechanism controls vehicle-mounted broach frame to decline so that passenger car falls on the broach of parking stall, and transfer car(buggy) leaves.
The beneficial effects of the utility model：
The cunning jump formula that the utility model realizes vehicle-mounted broach frame by the setting of elevating mechanism rises, that is, oblique ascension,
It instead of that elder generation of the prior art is flattened to be lifted again, significantly reduce vehicle-mounted broach frame and combed with garage port broach frame or parking stall
The swap time of braces, improve and stop pick-up efficiency.Transfer car(buggy) of the present utility model uses Mecanum wheel drive, effectively reduces
The radius of gyration, it is possible to achieve the movement of any direction in high-precision Omni-mobile and high-precision plane, reduce from
Dynamicization garage parking improves the parking density and space availability ratio in garage to the demand of walkway clearance.
Brief description of the drawings
Fig. 1 is front schematic view when Tthe utility model system uses；
Fig. 2 is side schematic view when Tthe utility model system uses；
Fig. 3 is schematic perspective view when Tthe utility model system uses；
When Fig. 4 is that vehicle-mounted broach frame is dropped to below garage port broach frame or parking stall broach frame, I state in Fig. 1
Schematic diagram；
When Fig. 5 is that vehicle-mounted broach frame is lifted to above garage port broach frame or parking stall broach frame, I state in Fig. 1
Schematic diagram；
Fig. 6 is the schematic diagram of elevating mechanism；
Fig. 7 is the internal structure schematic diagram of transfer car(buggy)；
Fig. 8 is in Fig. 7 II enlarged drawing；
Fig. 9 is that garage port broach frame or parking stall broach set up the structural representation for having vertical support feet；
Figure 10 is vehicle-mounted broach frame and garage port broach frame or parking stall broach frame interaction mode stereogram；
Figure 11 is vehicle-mounted broach frame and garage port broach frame or parking stall broach frame interaction mode top view；
Figure 12 is hand-held remote controller schematic diagram；
Wherein, 1 is garage port broach frame or parking stall broach frame, and 2 be vehicle-mounted broach frame, and 3 be car body, and 4 receive for Mike
Nurse wheel, 5 be passenger car, and 6 be transfer car(buggy), and 7 be passenger car wheel, and 8 be support feet, and 9 be roller, and 10 be guide rail, and 11 be guide plate,
12 be push rod, and 13 be framework, and 14 be leading screw, and 15 be Hooks coupling universal coupling, and 16 be the second servomotor group, and 17 be touch-screen, and 18 are
Quick Response Code camera, 19 be battery.
Embodiment
The utility model is further elaborated with reference to the accompanying drawings and examples, it should explanation, under state
It is bright merely to explain the utility model, its content is not defined.
A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic parking garage as shown in FIG. 1 to 3, its main body are transhipment
Car 6, including car body 3 and the vehicle-mounted broach frame 2 positioned at the both sides of car body 3, vehicle-mounted broach frame 2 and garage port broach frame or parking
The broach of position broach frame 1 mutually staggers；The bottom of car body 3 is provided with Mecanum wheel 4, passes through between vehicle-mounted broach frame 2 and car body 3
Elevating mechanism connects, and elevating mechanism (Fig. 4~Fig. 6) includes the framework 13 to the outer incline of car body 3, and the framework 13 is oblique provided with a pair
Direction guiding rail 10 and the horizontally-guided plate 11 moved up and down along the guide rail 10, the both sides up and down of guide plate 11 respectively with vehicle-mounted broach
The bottom of frame 2 and drive device connection.
Ferric phosphate lithium cell 19 is provided with car body 3, is powered for total system.
Mecanum wheel 4 has four groups, is driven by first group of servomotor group.
Vehicle-mounted broach frame drive device is the leading screw 14 that second group of servomotor group 16 drives, leading screw 14 by push rod 12 with
Guide plate 11 connects.Leading screw 14 is connected by Hooks coupling universal coupling 15 with the second servomotor group 16.
The broach of parking stall broach frame includes being used for the broach bearing tube for carrying passenger car 5, and it connects with passenger car wheel 7
Touch, the lower section of broach bearing tube is provided with the vertical support feet 8 (Fig. 9) for strengthening.
Vehicle-mounted broach frame 2 is provided with roller 9.
As shown in Figure 7 and Figure 8, the side of car body 3 is provided with touch-screen 17, and the touch-screen 17 is connected as input with PLC,
The PLC is used to control on/off, car body 3 to move and the working condition of elevating mechanism.
System also includes hand-held remote controller (Figure 12), and it is provided with handwheel and rocking bar, is connected, is used for PLC as input
Control car body 3 moves and the working condition of elevating mechanism.
The website positioning of PLC connection laser positionings navigation system, vehicle scheduling management system and RFID is led
Boat system, to realize that contexture by self path of the car body 3 in garage is walked, empty parking space automatically selects, and the access of predetermined parking stall.
As shown in figure 8, car body 3 is provided with Quick Response Code camera 18, for reading the Quick Response Code of garage floor stickup, so that
Realize that vehicle accurately exchanges on garage port broach frame or parking stall broach frame 1.
Whether garage port broach frame is provided with sensor, have passenger car 5 to drive to garage port broach frame for sensing
On.
A kind of automatic parking garage corresponding to said system is parked method with intelligent omnidirectional's shifting carrying platform, is comprised the concrete steps that：
(1) passenger car 5 is driven on garage port broach frame, and occupant gets off；
(2) transfer car(buggy) 6 drives into the lower section of garage port broach frame, and elevating mechanism controls vehicle-mounted broach frame 2 to slide the rising of jump formula,
Until vehicle-mounted broach frame 2 lifts passenger car 5 (Figure 10 and Figure 11)；
(3) passenger car 5 of carrying a load on the back of transfer car(buggy) 6 sails for parking stall, is realized after arrival by the cast of Mecanum wheel 4 quick
Parking is accurately positioned, elevating mechanism controls vehicle-mounted broach frame 2 to decline so that passenger car 5 falls on the broach of parking stall, transfer car(buggy) 6
Leave.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, on the basis of the technical solution of the utility model, those skilled in the art need not pay creation
Property the various modifications that can make of work or deformation still within the scope of protection of the utility model.
Claims (9)
1. a kind of intelligent omnidirectional's shifting carrying platform parking system of automatic parking garage, its main body is transfer car(buggy), including car body and position
Vehicle-mounted broach frame in car body both sides, the broach of vehicle-mounted broach frame and garage port broach frame or parking stall broach frame are mutually wrong
Open；Characterized in that, the bottom of the car body is provided with Mecanum wheel, connected between vehicle-mounted broach frame and car body by elevating mechanism
Connect, the elevating mechanism includes the framework to car body outer incline, and the framework is provided with a pair of oblique guide rails and along the guide rail
The horizontally-guided plate of lower movement, the both sides up and down of guide plate are connected with the bottom of vehicle-mounted broach frame and drive device respectively.
2. system according to claim 1, it is characterised in that ferric phosphate lithium cell is provided with the car body, for entirety
System power supply.
3. system according to claim 1, it is characterised in that the Mecanum wheel has four groups, by the first servomotor
Group driving.
4. system according to claim 1, it is characterised in that the drive device is the silk of the second servomotor group driving
Thick stick, the leading screw are connected by push rod with guide plate.
5. system according to claim 1, it is characterised in that the broach of the parking stall broach frame includes multiplying for carrying
With the broach bearing tube of car, the lower section of broach bearing tube is provided with the vertical support feet for strengthening.
6. system according to claim 1, it is characterised in that the side of the car body is provided with touch-screen, and the touch-screen is made
It is connected for input with PLC, the PLC is used for the working condition for controlling on/off, car body movement and elevating mechanism.
7. system according to claim 1, it is characterised in that the system also includes hand-held remote controller, and it is provided with handwheel
And rocking bar, it is connected as input with PLC, for controlling the working condition of car body movement and elevating mechanism.
8. system according to claim 1, it is characterised in that the PLC connection vehicle-mounted lasers Position Fixing Navigation System, vehicle
The website Position Fixing Navigation System of dispatching management information system and RFID, to realize contexture by self road of the car body in garage
Footpath is walked, and empty parking space automatically selects, and the access of predetermined parking stall.
9. system according to claim 1, it is characterised in that the car body is provided with Quick Response Code camera, for reading car
The Quick Response Code that storehouse ground is pasted, so as to realize that vehicle accurately exchanges on garage port broach frame or parking stall broach frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720425603.5U CN206667867U (en) | 2017-04-21 | 2017-04-21 | A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720425603.5U CN206667867U (en) | 2017-04-21 | 2017-04-21 | A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic garage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206667867U true CN206667867U (en) | 2017-11-24 |
Family
ID=60375676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720425603.5U Active CN206667867U (en) | 2017-04-21 | 2017-04-21 | A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic garage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206667867U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106958373A (en) * | 2017-04-21 | 2017-07-18 | 上海汇聚自动化科技有限公司 | A kind of automatic garage intelligent omnidirectional's shifting carrying platform parking system and method |
| CN111350391A (en) * | 2020-04-08 | 2020-06-30 | 福建怡丰自动化工程有限公司 | Parking comb rack for stereo garage |
-
2017
- 2017-04-21 CN CN201720425603.5U patent/CN206667867U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106958373A (en) * | 2017-04-21 | 2017-07-18 | 上海汇聚自动化科技有限公司 | A kind of automatic garage intelligent omnidirectional's shifting carrying platform parking system and method |
| CN106958373B (en) * | 2017-04-21 | 2023-11-14 | 上海汇聚自动化科技有限公司 | Intelligent omnidirectional transfer platform parking system and method for automatic parking garage |
| CN111350391A (en) * | 2020-04-08 | 2020-06-30 | 福建怡丰自动化工程有限公司 | Parking comb rack for stereo garage |
| CN111350391B (en) * | 2020-04-08 | 2021-04-20 | 福建怡丰自动化工程有限公司 | Parking comb rack for stereo garage |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106958373A (en) | A kind of automatic garage intelligent omnidirectional's shifting carrying platform parking system and method | |
| CN105109466B (en) | A kind of control method based on portable electric passenger vehicle dynamic battery changing | |
| CN104912372A (en) | AGV comb type transfer robot | |
| CN204457019U (en) | A kind of intelligent three-dimensional shutdown system based on transfer robot and vehicle-containing | |
| CN106088738A (en) | A kind of shifting car device and multi-storied garage | |
| CN104895369A (en) | Intelligent robot capable of moving automobiles in side directions | |
| CN106245966A (en) | A kind of intelligent machine parking apparatus and restricted parking area | |
| CN206667867U (en) | A kind of intelligent omnidirectional's shifting carrying platform parking system of automatic garage | |
| CN207228728U (en) | The traversing garage of double-layer lifting | |
| CN109208979A (en) | A kind of warehouse style planar movement class mechanical type three-dimensional garage | |
| CN107842234A (en) | A kind of automatic three-dimensional parking garage system | |
| CN105220918A (en) | A kind of car carrying robot | |
| CN207647266U (en) | Intelligent vehicle support carries transport vehicle | |
| CN204715827U (en) | A kind of can the intelligent robot of side direction carrier vehicle | |
| CN211392808U (en) | Combined primary and secondary vehicle carrying system | |
| CN114771337A (en) | Movable top heavily blocks trades power station | |
| CN209277644U (en) | A kind of Intelligent parking system based on Omni-mobile AGV | |
| CN101597966B (en) | Three-dimensional garage with convenient parking | |
| CN109025435B (en) | Road upper-layer annular automatic parking and taking system and control method thereof | |
| CN204715826U (en) | A kind of AGV vehicle-containing exchanges car carrying robot | |
| CN206636282U (en) | One kind is without avoidance modular multilevel automatic parking equipment | |
| CN112727187A (en) | Stereo garage system based on multiple AGV (automatic guided vehicle) cooperation technology and parking method | |
| CN110821247A (en) | Nine-grid rail type stereo garage | |
| CN103015776B (en) | Energy-saving three-dimensional parking system | |
| CN208236052U (en) | A kind of Multi-layer synchronous lane stacker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |