CN209369442U - All-electric automatic parking robot inside and outside faced chamber - Google Patents
All-electric automatic parking robot inside and outside faced chamber Download PDFInfo
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- CN209369442U CN209369442U CN201821543505.2U CN201821543505U CN209369442U CN 209369442 U CN209369442 U CN 209369442U CN 201821543505 U CN201821543505 U CN 201821543505U CN 209369442 U CN209369442 U CN 209369442U
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Abstract
The utility model discloses the all-electric automatic parking robot inside and outside a kind of faced chamber, including head, side arm and middle control module, two side arms are respectively arranged at both sides of the head, and are connected with each other with head, and head and side arm are connected to middle control module；The width of the carbody for being sized to fit into target vehicle on head can be controlled by middle control module and be adjusted；The lifting mechanism that the wheel count of side arm setting and target vehicle matches, lifting mechanism is connected with middle control module, for lifting vehicle；Spacing between lifting mechanism adapts to the axletree of target vehicle away from can be controlled and be adjusted by middle control module.The robot of the utility model is applicable to the vehicle of various different wheelbases and width；All driving devices of the robot are electric device, have the characteristics that impulse stroke and speed controllable precise, understand it is simple, easy to maintain, high-efficient；The chassis height of the robot is higher, can also work normally, is applicable under outdoor working condition under road bump and climbing operating condition.
Description
Technical field
The utility model belongs to automatic parking technical field, more particularly to the all-electric automatic pool inside and outside a kind of faced chamber
Vehicle robot.
Background technique
With the universal and development of automobile, the car ownership of current big and medium-sized cities is more and more, and city parking position is then
Wretched insufficiency parks in this case and has become very big problem.In order to utilize limited parking lot, need using automatic
The robot to park realizes automatic parking.
Parking robot in the prior art is mostly flat, need to enter vehicle bottom, and whole height must be lower than automobile
Chassis height thus its own road clearance it is small, the flatness requirement of road pavement is higher, jolts when road surface exists or has certain slope
Du Shi robot just can not work, therefore, it is difficult to adapt to the complex situations of outdoor road surface, can only restricted parking area use without
It is able to satisfy outdoor demand；In addition, existing automatic parking robot generally uses hydraulic mechanism to be lifted car body, and hydraulic system
There are problems, such as connection is complicated, maintenance is inconvenient, low efficiency.
In summary factor, there is an urgent need to the all-electric automatic parking robots inside and outside a kind of faced chamber now to solve
Outdoor automatic parking problem simultaneously eradicates existing parking robot because using hydraulic system due to bring problems.
Utility model content
The purpose of this utility model is to provide the all-electric automatic parking robots inside and outside a kind of faced chamber, existing to solve
There is parking robot to cannot be used for the complexity of deceleration strip of the camber of outdoor road surface within 80mm, pitting since chassis is low
The automatic parking problem on situation road surface.
To solve the above problems, the solution of the utility model is:
A kind of all-electric automatic parking robot inside and outside faced chamber, including head, side arm and middle control module, two side arms
It is respectively arranged at both sides of the head, and is connected with each other with head, head and side arm are connected to middle control module；The size fit on head
In the width of the carbody of target vehicle, it can be controlled and be adjusted by middle control module；Side arm is arranged to match with the wheel count of target vehicle
Lifting mechanism, lifting mechanism is connected with middle control module, for lifting vehicle；Spacing between lifting mechanism adapts to target
The axletree of vehicle away from, can by middle control module control adjust.
Preferably, the all-electric automatic parking robot inside and outside the faced chamber further includes information collecting device, is connected to
Module is controlled, is sent to middle control module for obtaining the information of target vehicle, and by the information of target vehicle.
Preferably, head includes the first head sections and the second head sections, and the two is connected by the first telescopic unit, and the
One telescopic unit is connected to middle control module, and the flexible situation of the first telescopic unit is controlled by middle control module.
Preferably, the first telescopic unit includes middle casing, sliding rail, driving motor, lead screw and feed screw nut, middle casing
One end and the first head sections be connected, the other end of middle casing is slidably connected with the second head sections, and lead screw is fixed on middle case
On body, sliding rail is laid in the two sides of lead screw and is fixed on middle casing, and one end of feed screw nut is laid on sliding rail, lead screw spiral shell
Female other end and the second head sections is connected, and driving motor driving lead screw rotates and feed screw nut is moved in a straight line.
Preferably, side arm is connected including the first side arm section and the second side arm section, the two by the second telescopic unit, and the
Two telescopic units are connected to middle control module, and the flexible situation of the second telescopic unit is controlled by middle control module.Second telescopic unit
Structure is identical with the structure of the first telescopic unit.
Preferably, lifting mechanism includes lift master and lifting device, wherein lift master is provided with lifting yoke and lifting fork
Arm driving device, the two are connected with each other, and lifting yoke driving device is for driving lifting yoke to open with 90 degree；Lifting device packet
Electric cylinder is included, one end of electric cylinder is connected to the first side arm section or the second side arm section, the other end of electric cylinder are connected with lift master
It connects, to drive lift master to move up and down, while lifting yoke being driven to move up and down.
Preferably, the first side arm section and the second side arm section are provided with the square cavity for accommodating lifting mechanism；This is all-electric
Automatic parking robot also has the guiding supporting mechanism in square cavity, be oriented to the both ends of supporting mechanism respectively with it is rectangular
The upper wall and lower wall of cavity vertically connect, and lift master is connected with guiding supporting mechanism and edge vertically moves down thereon；Electric cylinder
One end is connected to the upper wall of square cavity, and the other end of electric cylinder is connected with lift master.
Preferably, guiding supporting mechanism is the guide rail for being located at square cavity two side walls, the both ends difference of lift master
Guide rail by being located at square cavity two side walls is connected with the first side arm section or the second side arm section, and makes lift master along guide rail
It vertically moves up and down.
Preferably, guiding supporting mechanism is the column-like guides for being vertically connected at square cavity upper wall and lower wall, column-like guides
It is flexibly connected through lift master and with it, vertically moves lift master up and down along the column-like guides.
Preferably, lifting device further includes deceleration mechanism, direct current generator, flange and push rod, and one end of electric cylinder passes through method
The upper wall that orchid is vertically connected at square cavity is connected with the first side arm section or the second side arm section, and the other end positioned at electric cylinder pushes away
Bar is vertically connected at the top of lift master, and middle control module control direct current generator rotation makes deceleration mechanism deceleration torque increase, torsion is passed
It is handed to electric cylinder, drives push rod to move up and down by the ball screw framework of the inside of electric cylinder.
Preferably, lifting yoke be can 90 degree open lifting yokes；Lifting yoke driving device includes worm and gear machine
Structure and driving motor, worm gear mechanism are connect with lifting yoke, and driving motor driving worm gear mechanism is to control lifting
The folding of yoke.
By adopting the above scheme, the utility model has the following beneficial effects:
The first, the all-electric automatic parking robot inside and outside the faced chamber of the utility model, can be from front when parking
Into car body two sides, automatic parking can also be realized at the relatively intensive place of parking, to improve space utilization rate；In addition, the full electricity
Dynamic automatic parking robot is not necessarily to enter vehicle bottom, therefore vehicle chassis height is relatively high, is adapted to jolt and centainly
The road surface of the gradient can also realize automatic parking in outdoor parking space.
The second, the all-electric automatic parking robot inside and outside the faced chamber of the utility model has telescopic head and side
Portion, can realize in conjunction with middle control module and information collecting device can be achieved automatically the vehicle of different vehicle width, wheelbase and wheelspan
It parks.
Third, the utility model faced chamber inside and outside all-electric automatic parking robot using electric cylinder replace it is traditional
Hydraulic mechanism realizes lifting, solves such as connection complexity brought by hydraulic mechanism, safeguards constant, low efficiency problems,
Lifting is realized in combination with guiding supporting mechanism auxiliary, and when solving lifting device lifting vehicle, electric cylinder is difficult to bear huge
The features such as the problem of turning torque, has impulse stroke and speed controllable precise, and connection is simple, easy to maintain, high-efficient.
Detailed description of the invention
Fig. 1 stands for first of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
Body structural schematic diagram.
Fig. 2 stands for second of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
Body structural schematic diagram.
Fig. 3 is the all-electric automatic parking robot and target vehicle inside and outside the faced chamber of the embodiments of the present invention
Initial position schematic diagram.
Fig. 4 is the all-electric automatic parking robot lifting automobile inside and outside the faced chamber of specific embodiment of the utility model
Schematic diagram.
Fig. 5 is the lifting fork of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
The opening schematic diagram of arm driving device.
Fig. 6 is the lifting fork of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
The closure schematic diagram of arm driving device.
Fig. 7 is the lifting dress of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
Set schematic diagram.
Fig. 8 is first of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
The schematic diagram of (or second) telescopic unit.
Fig. 9 is first of the all-electric automatic parking robot inside and outside the faced chamber of specific embodiment of the utility model
The top view of (or second) telescopic unit.
Appended drawing reference:
First head sections 1, the second head sections 2, the first telescopic unit 3, middle casing 31, sliding rail 32, driving motor 33, silk
It is thick stick 34, feed screw nut 35, driving wheel 4, the first side arm section 5, the second side arm section 6, the second telescopic unit 7, lifting device 8, electronic
Cylinder 81, direct current generator 83, flange 84, push rod 85, lift master 9, lifting yoke 91, worm gear 92, worm screw 93, drives at deceleration mechanism 82
Dynamic motor 94, worm gear support base 95, worm screw support base 96, fixing bolt 97, deflecting roller 10 and universal carrying roller 11.
Specific embodiment
The utility model is further described below in conjunction with the embodiment shown in that figure.
The utility model proposes the all-electric automatic parking robot inside and outside a kind of faced chamber, including head, side arm, in
Module and information collecting device are controlled, two side arms are respectively arranged at both sides of the head, and are connected with each other with head, and head and side arm are equal
It is connected to middle control module；The width of the carbody for being sized to fit into target vehicle on head can be controlled by middle control module and be adjusted；Side arm is set
The lifting mechanism to match with the wheel count of target vehicle is set, lifting mechanism is connected with middle control module, for lifting vehicle；
Spacing between lifting mechanism adapts to the axletree of target vehicle away from can be controlled and be adjusted by middle control module；Information collecting device
It is connected with middle control module, is sent to middle control module for obtaining the information of target vehicle, and by the information of target vehicle.
In a specific embodiment, as shown in Figure 1, head include the first head sections 1 and the second head sections 2, first
Head sections 1 are connected with the second head sections 2 by the first telescopic unit 3, and the first telescopic unit 3 is connected to middle control module, by
The bottom of the flexible situation of middle control module the first telescopic unit 3 of control, the first head sections 1 and the second head sections 2 is additionally provided with can
The driving wheel 4 of steering, for driving all-electric automatic parking robot and steering inside and outside the faced chamber.
In a specific embodiment, side arm includes the first side arm section 5 and the second side arm section 6, the first side arm section 5 and the
Two side arm sections 6 are connected by the second telescopic unit 7, and the second telescopic unit 7 is connected to middle control module, are controlled by middle control module
The flexible situation of second telescopic unit 7, the bottom of the first side arm section 5 are also equipped with universal carrying roller 11, entirely park for improving
The stress of robot；The bottom of second side arm section 6 is provided with universal carrying roller 11 and deflecting roller 10, deflecting roller 10 for turn to from
And improve the passability of the robot；And first side arm section 5 and the second side arm section 6 be provided with lifting mechanism and have to accommodate and lift
Rise the square cavity of mechanism.
In a specific embodiment, as shown in Figure 8 and Figure 9, the first telescopic unit 3 includes middle casing 31, sliding rail
32, driving motor 33, lead screw 34 and feed screw nut 35, one end of middle casing 31 and the first head sections 1 are connected, middle casing 31
The other end and the second head sections 2 between opposite can be slidably connected, lead screw 34 is fixed on middle casing 31, and sliding rail 32 is laid in
The two sides of lead screw 34 are simultaneously fixed on middle casing 31, and one end of feed screw nut 35 is laid on sliding rail 32, feed screw nut 35
The other end and the second head sections 2 are connected, when need to change apart from when, driving motor 33 drives the rotation of lead screw 34 so that feed screw nut
35 move in a straight line, so that it is flexible to drive the movement of the second head sections 2 to realize, also, arranges that sliding rail 32 provides around lead screw 34
Good guiding role, while also resisting most of moment of flexure and lead screw 34 itself is made almost to be not subject to radial force.
The structure of second telescopic unit 7 is consistent with the structure of the first telescopic unit 3, one end of middle casing 31 and the first side
Arm section 5 is connected, can opposite sliding, feed screw nut 35 and the second side arm between the other end of middle casing 31 and the second side arm section 6
Section 6 is connected, when need to change apart from when, driving motor 33 drives lead screw 34 to rotate so that feed screw nut 35 moves in a straight line, from
And it is flexible to drive the movement of the second side arm section 6 to realize, further realizes the increase and reduction of the distance between two sections of side arm sections.
Lifting mechanism includes lift master 9 and lifting device 8.
All-electric automatic parking robot inside and outside the faced chamber also has the guiding supporting mechanism in square cavity,
The both ends of guiding supporting mechanism are vertical with the upper wall of square cavity and lower wall respectively to be connect, lift master 9 and guiding supporting mechanism's phase
Even and edge vertically moves down thereon.
In a specific embodiment of the utility model, guiding supporting mechanism is to be located at square cavity two side walls
Guide rail, the both ends of lift master 9 pass through the guide rail and the first side arm section 5 or the second side arm for being located at square cavity two side walls respectively
Section 6 is connected, and moves up and down lift master 9 along guide rail to guarantee that it is strictly movable in a vertical direction, so that lifting device 8 is not
With undertaking radial force.
In another embodiment of the utility model, guiding supporting mechanism be vertically connected at square cavity upper wall and
The column-like guides of lower wall, column-like guides are flexibly connected through lift master 9 and with it, keep lift master 9 sagging along the column-like guides
Translation is dynamic.
The lower part of lift master 9 is provided with lifting yoke 91 and lifting yoke driving device, and the two is connected with each other, and lifts yoke
91 for can 90 degree opening lifting yokes, lifting yoke driving device for drive lifting yoke 91 with 90 degree openings.
As shown in Figures 5 and 6, lifting yoke driving device includes worm gear mechanism and driving motor 94, worm and gear
Mechanism includes worm gear 92, worm screw 93, worm gear support base 95, worm screw support base 96 and fixing bolt 97, and worm screw 93 passes through worm screw branch
Support seat 96 is fixed with 9 phase of lift master, and worm gear 92 is fixed with 9 phase of lift master by worm gear support base 95 and is meshed with worm screw 93,
Worm gear 92 is connected by fixing bolt 97 and lifting yoke 91, and when needing to open lifting yoke 91, driving motor 94 drives snail
Bar 93 rotates, and worm screw 93 rotates and worm gear 92 is driven to rotate, to drive lifting yoke 91 to move, by driving motor 94
The accurate control of revolving speed and rotation time makes to lift strictly 90 degree of the rotation of yoke 91, when lifting, due to worm gear mechanism certainly
Characteristic is locked, it is motionless that lifting yoke 91 can be fixed on 90 degree, until driving motor 94 drives worm screw 93 anti-when target vehicle is put down
To rotation, lifts yoke 91 and return to initial position, the state of the lifting yoke 91 of initial position is referring to Fig. 6.
As shown in fig. 7, lifting device 8 includes electric cylinder 81, deceleration mechanism 82, direct current generator 83, flange 84 and push rod 85.
Electric cylinder 81 uses direct acting electric cylinder in the present embodiment, and one end of direct acting electric cylinder is vertically connected at square cavity by flange 84
Upper wall be connected with the first side arm section 5 or the second side arm section 6, the push rod 85 positioned at the other end of direct acting electric cylinder is vertically connected at
The top of lift master 9, the middle control module control rotation of direct current generator 83 is so that 82 deceleration torque increase of deceleration mechanism, torsion is transferred to directly
Dynamic electric cylinder, direct acting electric cylinder inside have ball screw framework, drive push rod 85 to move up and down by the mechanism driving, thus
Realize the lifting to lift master 9, and 83 strap brake function of direct current generator is, it can be achieved that self-locking.
The course of work of all-electric automatic parking robot inside and outside the faced chamber of the embodiments of the present invention are as follows:
When parking, the all-electric automatic parking robot inside and outside faced chamber is located at car body front, at this point, this is all-electric automatic
The overall status figure of parking robot is as shown in Fig. 2, lifting yoke 91 closes at the inside of the all-electric automatic parking robot, act
The vehicle chassis flush of the bottom of stage 9 and the all-electric automatic parking robot, the all-electric automatic parking robot with
The relative position of target vehicle is referring to Fig. 3.
Middle control module is accurately positioned target vehicle by information collecting device, is collected according to information collecting device
Information judge the width of target vehicle, the first telescopic unit 3 of control make between the first head sections 1 and the second head sections 2 away from
From elongating or shortening, to make the demand of the width of the carbody of the size adaptation target vehicle on head.
After the distance between complete first head sections 1 and the second head sections 2 to be adjusted, the all-electric automatic pool inside and outside faced chamber
Vehicle robot enters the two sides of target vehicle car body from the front of target vehicle car body, acquires target vehicle by information collecting device
Front-wheel location information, before middle control module is accurately positioned to vehicle according to information collecting device and obtains target vehicle
The location information of wheel stops when the lifting mechanism face front vehicle wheel being located in the first side arm section 5, information collecting device detection
The position of the rear wheel of the vehicle, the second telescopic unit 7 drive the second side arm section 6 to move along the rear-wheel axis direction of target vehicle,
It stops when the rear-wheel for the lifting mechanism face vehicle being located in second sidewall section 6.
After completing the adjustment of the distance between the first side arm section 5 and second side arm section 6, it is located at the first side arm section 5 and the
Four tires of each face target vehicle of four lifting mechanisms in two side arm sections 6, lifting device 8 drive lift master 9 to decline
It stopping when to liftoff 50mm or so, 9 bottom of lift master is liftoff about 50mm, lifting yoke 91 is in 90 degree openings and clamps wheel,
The position of the all-electric automatic parking robot inside and outside the faced chamber and target vehicle is as shown in figure 4, then at this time, lifting device
8 driving lift masters 9 slowly rise and lift wheel, to lift vehicle, stop, are believing when wheel lift 100mm or so
After breath acquisition device collects current location information, and after judging that current location information is consistent with stop by middle control module,
It controls lifting mechanism and the vehicle of lifting is placed into stop.
All-electric automatic parking robot inside and outside the faced chamber of the embodiments of the present invention enters car body from front
Two sides can also realize automatic parking at the relatively intensive place of parking, to improve space utilization rate, can be used for outdoor parking space,
And due to adjustable size head and side arm, automatic parking can be achieved to the vehicles of different vehicle width and wheelbase；It should
All-electric automatic parking robot inside and outside faced chamber does not have to enter vehicle bottom, and vehicle chassis height is relatively high, Ke Yishi
The road surface that should be jolted with certain slope can also realize automatic parking in outdoor parking space.Further, inside and outside due to the faced chamber
All-electric automatic parking robot replace traditional hydraulic mechanism to realize lifting using electric cylinder, solve hydraulic mechanism institute band
The problems come, have the characteristics that impulse stroke and speed controllable precise, connect it is simple, easy to maintain and high-efficient.By liquid
The Major Difficulties that cylinder pressure is changed to electric cylinder are how to avoid when its lifting by moment of flexure, and the utility model uses slide rail
Form solve the problems, such as this.Further, the all-electric automatic parking robot inside and outside the faced chamber passes through worm and gear machine
Structure holding-wheel takes full advantage of the self-locking performance of worm and gear, and number of parts is few, and structure is simple.
This reality can be understood and applied the above description of the embodiments is intended to facilitate those skilled in the art
With novel.Person skilled in the art obviously easily can make various modifications to these embodiments, and saying herein
Bright General Principle is applied in other embodiments without having to go through creative labor.Therefore, the utility model is not limited to this
In embodiment, those skilled in the art's announcement according to the present utility model, do not depart from that the utility model scope made changes
Into and modification should all be within the protection scope of the utility model.
Claims (10)
1. the all-electric automatic parking robot inside and outside a kind of faced chamber, it is characterised in that: the all-electric automatic parking machine
People includes head, side arm and middle control module, and two side arms are respectively arranged at the both sides of the head, and mutual with the head
Connection, the head and the side arm are connected to the middle control module；
The width of the carbody for being sized to fit into target vehicle on the head, by the middle control module control adjustment；
The lifting mechanism that the wheel count of side arm setting and the target vehicle matches, the lifting mechanism and it is described in
Control module is connected, for lifting vehicle；
Spacing between the lifting mechanism adapts to the axletree of the target vehicle away from by the middle control module control tune
It is whole；
The head includes the first head sections and the second head sections, and the two is connected by the first telescopic unit, and described first
Telescopic unit is connected to the middle control module, and the flexible situation of first telescopic unit is controlled by the middle control module；
First telescopic unit includes middle casing, sliding rail, driving motor, lead screw and feed screw nut, the middle casing
One end and first head sections are connected, and the other end of the middle casing is slidably connected with second head sections, the silk
Thick stick is fixed on the middle casing, and the sliding rail is laid in the two sides of the lead screw and is fixed on the middle casing, institute
The one end for stating feed screw nut is laid on the sliding rail, and the other end of the feed screw nut and second head sections are connected, institute
Stating driving motor drives the lead screw to rotate and the feed screw nut is moved in a straight line.
2. all-electric automatic parking robot according to claim 1, it is characterised in that: the all-electric automatic parking machine
Device people further includes information collecting device, is connected to the middle control module, for obtaining the information of target vehicle, and by the target
The information of vehicle is sent to the middle control module.
3. all-electric automatic parking robot according to claim 1, it is characterised in that:
The side arm is connected including the first side arm section and the second side arm section, the two by the second telescopic unit, and described second
Telescopic unit is connected to the middle control module, and the flexible situation of second telescopic unit is controlled by the middle control module；
The structure of second telescopic unit is identical with the structure of first telescopic unit.
4. all-electric automatic parking robot according to claim 3, it is characterised in that: the lifting mechanism includes lifting
Platform and lifting device, wherein
The lift master is provided with lifting yoke and lifting yoke driving device, and the two is connected with each other, the lifting yoke driving
Device is for driving the lifting yoke to open with 90 degree；
The lifting device includes electric cylinder, and one end of the electric cylinder is connected to the first side arm section or second side arm
Section, the other end of the electric cylinder is connected with the lift master, to drive the lift master to move up and down, while described in drive
Lifting yoke moves up and down.
5. all-electric automatic parking robot according to claim 4, it is characterised in that: the first side arm section and described
Second side arm section is provided with the square cavity for accommodating the lifting mechanism；
The all-electric automatic parking robot also has the guiding supporting mechanism in the square cavity, the guiding branch
Hold mechanism both ends it is vertical with the upper wall of the square cavity and lower wall respectively connect, the lift master and the guiding support machine
Structure is connected and edge vertically moves down thereon；
One end of the electric cylinder is connected to the upper wall of the square cavity, the other end of the electric cylinder and the lift master phase
Even.
6. all-electric automatic parking robot according to claim 5, it is characterised in that: the guiding supporting mechanism is point
Not Wei Yu the square cavity two side walls guide rail, the both ends of the lift master respectively by be located at the square cavity two
The guide rail of side wall is connected with the first side arm section or the second side arm section, and makes the lift master above and below the guide rail
It vertically moves.
7. all-electric automatic parking robot according to claim 5, it is characterised in that: the guiding supporting mechanism is vertical
The column-like guides of the direct-connected upper wall for being connected to the square cavity and lower wall, the column-like guides are lived through the lift master and with it
Dynamic connection vertically moves the lift master up and down along the column-like guides.
8. all-electric automatic parking robot according to claim 5, it is characterised in that: the lifting device further includes subtracting
One end of fast mechanism, direct current generator, flange and push rod, the electric cylinder is vertically connected at the square cavity by the flange
Upper wall be connected with the first side arm section or the second side arm section, positioned at the electric cylinder the other end the push rod hang down
The direct-connected top for being connected to the lift master, middle control module, which controls the direct current generator rotation, makes the deceleration mechanism deceleration torque increase,
Torsion is transferred to the electric cylinder, is driven by the ball screw framework of the inside of the electric cylinder and is moved down on the push rod
It is dynamic.
9. all-electric automatic parking robot according to claim 4, it is characterised in that: the lifting yoke is 90 degree and beats
The lifting yoke opened.
10. all-electric automatic parking robot according to claim 4, it is characterised in that: the lifting yoke driving dress
It sets including worm gear mechanism and driving motor, the worm gear mechanism is connect with the lifting yoke, the driving motor
The worm gear mechanism is driven to control the folding of the lifting yoke.
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| CN201821543505.2U CN209369442U (en) | 2018-09-20 | 2018-09-20 | All-electric automatic parking robot inside and outside faced chamber |
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| CN201821543505.2U CN209369442U (en) | 2018-09-20 | 2018-09-20 | All-electric automatic parking robot inside and outside faced chamber |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN112591679A (en) * | 2020-12-04 | 2021-04-02 | 北京星航机电装备有限公司 | Lifting variable-shaft device, control system and method for automobile-carrying AGV |
| CN112938369A (en) * | 2021-02-25 | 2021-06-11 | 机械工业第九设计研究院有限公司 | Assembling and adjusting tool for automobile production line |
| CN113859831A (en) * | 2021-09-07 | 2021-12-31 | 宝开(上海)智能物流科技有限公司 | Material box carrying logistics robot |
| CN114084849A (en) * | 2021-11-18 | 2022-02-25 | 宝开(上海)智能物流科技有限公司 | Material box carrying robot |
| CN114476541A (en) * | 2022-01-05 | 2022-05-13 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN110497375B (en) * | 2019-09-12 | 2024-05-03 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN112591679A (en) * | 2020-12-04 | 2021-04-02 | 北京星航机电装备有限公司 | Lifting variable-shaft device, control system and method for automobile-carrying AGV |
| CN112591679B (en) * | 2020-12-04 | 2022-04-22 | 北京星航机电装备有限公司 | Lifting variable-shaft device, control system and method for automobile-carrying AGV |
| CN112938369A (en) * | 2021-02-25 | 2021-06-11 | 机械工业第九设计研究院有限公司 | Assembling and adjusting tool for automobile production line |
| CN113859831A (en) * | 2021-09-07 | 2021-12-31 | 宝开(上海)智能物流科技有限公司 | Material box carrying logistics robot |
| CN114084849A (en) * | 2021-11-18 | 2022-02-25 | 宝开(上海)智能物流科技有限公司 | Material box carrying robot |
| CN114476541A (en) * | 2022-01-05 | 2022-05-13 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
| CN114476541B (en) * | 2022-01-05 | 2024-04-02 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
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