阅读说明：本技术 一种四向穿梭夹持式泊车机器人 (Four-way shuttling clamping type parking robot ) 是由 芦琪 王耀 杜伟 闫丽 马立飞 于 2020-06-10 设计创作，主要内容包括：本发明公开了一种四向穿梭夹持式泊车机器人,包括车辆夹持举升系统、行走系统、行走轨道,行走系统设有纵移轮组和横移轮组；纵移轮组包括安装有纵移轮的纵移轴,纵移轴与纵移电机传动连接；横移轮组包括横移轮,横移轮通过横移驱动齿轮和链条与横移电机传动连接,横移轮和横移驱动齿轮安装在横纵切换组上,横纵切换组通过同步伞齿和同步轴与切换电机传动连接。综合了横向纵向行走,减少了辅助设备的数量,节约了空间,降低了成本。可实现纵向前、后和横向前、后四个方向运行。结构紧凑,可适用于大型平面移动、垂直升降等库型。(The invention discloses a four-way shuttle clamping type parking robot, which comprises a vehicle clamping and lifting system, a traveling system and a traveling track, wherein the traveling system is provided with a longitudinal moving wheel set and a transverse moving wheel set; the longitudinal moving wheel group comprises a longitudinal moving shaft provided with a longitudinal moving wheel, and the longitudinal moving shaft is in transmission connection with a longitudinal moving motor; the transverse moving wheel set comprises a transverse moving wheel, the transverse moving wheel is in transmission connection with a transverse moving motor through a transverse moving driving gear and a chain, the transverse moving wheel and the transverse moving driving gear are installed on a transverse and longitudinal switching group, and the transverse and longitudinal switching group is in transmission connection with a switching motor through a synchronous bevel gear and a synchronous shaft. The transverse and longitudinal walking is integrated, the number of auxiliary equipment is reduced, the space is saved, and the cost is reduced. The device can run in four directions of longitudinal front and back and transverse front and back. Compact structure, and is suitable for large-scale plane movement, vertical lifting and other warehouse types.)

1. A four-way shuttle clamping type parking robot is characterized by comprising a vehicle clamping and lifting system (1), a traveling system (2) and a traveling track (3), wherein the traveling system (2) is arranged on the traveling track (3), and the vehicle clamping and lifting system (1) is arranged on the traveling system (2);

the walking system (2) comprises a walking underframe (24), a middle wheel (23) is arranged in the middle of the walking underframe (24), and a longitudinal moving wheel group (21) and a transverse moving wheel group (22) are arranged at the front part and the rear part of the walking underframe (24);

the longitudinal moving wheel set (21) comprises a longitudinal moving shaft (212) provided with a longitudinal moving wheel (211), and the longitudinal moving shaft (212) is in transmission connection with a longitudinal moving motor (213);

the transverse moving wheel set (22) comprises a transverse moving wheel (221), the transverse moving wheel (221) is in transmission connection with a transverse moving motor (224) through a transverse moving driving gear (222) and a chain (223), the transverse moving wheel (221) and the transverse moving driving gear (222) are installed on a transverse and longitudinal switching set (228), the transverse and longitudinal switching set (228) is in transmission connection with a switching motor (225) through a pair of synchronous bevel gears (227) and a synchronous shaft (226), and the other end of the synchronous shaft (226) is connected with the transverse and longitudinal switching set (228) provided with a transverse moving driven wheel through another pair of synchronous bevel gears (227).

2. A four-way shuttle-grip parking robot as claimed in claim 1, wherein:

when the transverse and longitudinal switching group (228) is lifted during longitudinal movement, the transverse moving wheel (221) leaves the running track (3), and the longitudinal moving wheel (211) is contacted with the running track (3);

when the transverse moving is carried out, the transverse and longitudinal switching group (228) rotates downwards by 90 degrees, the transverse moving wheel (221) is contacted with the running track (3), and the longitudinal moving wheel (211) leaves the running track (3).

3. A four-way shuttle parking robot as claimed in claim 1 or 2, wherein the vehicle gripping and lifting system (1) comprises a front part and a rear part, a wheel base adjusting device is arranged between the front part and the rear part, the wheel base adjusting device comprises a gear rack group (16), gears in the gear rack group (16) are connected with a wheel base adjusting motor (15), and gears and racks in the gear rack group (16) are respectively connected with the front part and the rear part.

4. A four-way shuttle parking robot as claimed in claim 3, wherein the vehicle gripping and lifting system (1) comprises a set of gripping arms (14) at the front and at the rear, the set of gripping arms (14) engaging a ball screw (12), the ball screw (12) being connected to a gripping and lifting motor (11).

Technical Field

The invention relates to a mechanical stereo garage, in particular to a four-direction shuttling clamping type parking robot.

Background

The mechanical stereo garage has various types, wherein common intelligent garage types such as plane movement, vertical lifting, roadway stacking and the like all use carriers to realize the access action of automobiles. The traditional parking robot has a single walking direction, and needs auxiliary equipment to realize other walking directions. The AGV parking robot has the advantages of high cost, complex mechanical structure and control and low market share.

Disclosure of Invention

The invention aims to provide a four-direction shuttle clamping type parking robot.

The purpose of the invention is realized by the following technical scheme:

the invention relates to a four-direction shuttle clamping type parking robot, which comprises a vehicle clamping and lifting system, a traveling system and a traveling rail, wherein the traveling system is arranged on the traveling rail;

the walking system comprises a walking underframe, the middle part of the walking underframe is provided with a middle wheel, and the front part and the rear part of the walking underframe are provided with a longitudinal moving wheel set and a transverse moving wheel set;

the longitudinal moving wheel group comprises a longitudinal moving shaft provided with a longitudinal moving wheel, and the longitudinal moving shaft is in transmission connection with a longitudinal moving motor;

the sideslip wheelset includes the sideslip wheel, the sideslip wheel is connected with sideslip motor drive through sideslip drive gear and chain, sideslip wheel and sideslip drive gear install and violently indulge to switch over the group on, violently indulge to switch over the group through a pair of synchronous bevel gear and synchronizing shaft and switching motor drive connection, the other end of synchronizing shaft is through another pair of synchronous bevel gear with install the sideslip from the horizontal switching of driving wheel and indulge to switch over the group and be connected.

According to the technical scheme provided by the invention, the four-direction shuttling clamping type parking robot provided by the embodiment of the invention integrates transverse and longitudinal walking, reduces the number of auxiliary equipment, saves space and reduces cost. The device can run in four directions of longitudinal front and back and transverse front and back. Compact structure, and is suitable for large-scale plane movement, vertical lifting and other warehouse types.

Drawings

Fig. 1 is a schematic view of an overall appearance structure of a four-way shuttle-clamping parking robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a robot gripper arm closing according to an embodiment of the present invention;

FIG. 3 is a schematic view of an open gripper arm of a robot according to an embodiment of the present invention;

FIG. 4 is a schematic view of a walking system according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a robot longitudinal movement wheel set according to an embodiment of the present invention;

FIG. 6 is a schematic view of a traverse wheel set of a robot according to an embodiment of the present invention;

fig. 7a, 7b and 7c are schematic diagrams illustrating a lateral and longitudinal shift switching of a robot according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.

The invention discloses a four-direction shuttle clamping type parking robot, which has the following preferred specific implementation modes:

the device comprises a vehicle clamping and lifting system, a traveling system and a traveling rail, wherein the traveling system is arranged on the traveling rail;

the walking system comprises a walking underframe, the middle part of the walking underframe is provided with a middle wheel, and the front part and the rear part of the walking underframe are provided with a longitudinal moving wheel set and a transverse moving wheel set;

the longitudinal moving wheel group comprises a longitudinal moving shaft provided with a longitudinal moving wheel, and the longitudinal moving shaft is in transmission connection with a longitudinal moving motor;

the sideslip wheelset includes the sideslip wheel, the sideslip wheel is connected with sideslip motor drive through sideslip drive gear and chain, sideslip wheel and sideslip drive gear install and violently indulge to switch over the group on, violently indulge to switch over the group through a pair of synchronous bevel gear and synchronizing shaft and switching motor drive connection, the other end of synchronizing shaft is through another pair of synchronous bevel gear with install the sideslip from the horizontal switching of driving wheel and indulge to switch over the group and be connected.

When the transverse and longitudinal switching group is moved longitudinally, the transverse moving wheel is lifted, the transverse moving wheel leaves the traveling track, and the longitudinal moving wheel is contacted with the traveling track;

during transverse movement, the transverse and longitudinal switching group rotates downwards by 90 degrees, the transverse moving wheels are in contact with the traveling track, and the longitudinal moving wheels leave the traveling track.

The vehicle clamping and lifting system comprises a front portion and a rear portion, a wheel base adjusting device is arranged between the front portion and the rear portion and comprises a gear rack set, gears in the gear rack set are connected with a wheel base adjusting motor, and gears and racks in the gear rack set are respectively connected with the front portion and the rear portion.

The front part and the rear part of the vehicle clamping and lifting system comprise clamping arm sets, the clamping arm sets are meshed with ball screws, and the ball screws are connected with a clamping and lifting motor.

The four-direction shuttle clamping type parking robot integrates the advantages of the traditional parking robot and the AGV parking robot on the basis of the existing clamping carrier, and can run in four directions of longitudinal forward direction, transverse forward direction and transverse backward direction.

The invention discloses a four-direction shuttle clamping type parking robot which mainly comprises a vehicle clamping and lifting system, a clamping driving motor, a ball screw, a clamping arm, a wheel base adjusting device, a traveling system, a longitudinal moving wheel group, a longitudinal moving wheel, a longitudinal moving motor, a transverse moving wheel group, a transverse moving wheel, a transverse moving motor, a transverse and longitudinal switching group, a transmission shaft, synchronous bevel gears and a transverse moving underframe. The parking robot comprises two parts: the clamping system is arranged on the walking system. The clamping system is divided into two sections, each section of the carrier comprises four clamping arms, two clamping arms clamp a tire, the two clamping arms are driven by two ball screws of a motor, and gear rack groups adjust the wheel base. The traveling wheel assembly is divided into a longitudinal moving wheel set and a transverse moving wheel set, two groups of transverse moving motors, two groups of longitudinal moving motors and two groups of transverse and longitudinal switching motors.

The working principle of the invention is as follows:

the rotation of the servo motor is utilized, the ball screw is driven by the speed reducer to drive the clamping arm to move, and the built-in encoder of the servo motor realizes the clamping and releasing functions of the automobile. The walking is realized by driving the transverse moving wheel set, the longitudinal moving wheel set and the transverse and longitudinal switching set through the servo motor.

The invention has the beneficial effects that:

the structure is compact, and the device can be suitable for large-scale plane movement, vertical lifting and other warehouse types;

the transverse and longitudinal walking is integrated, the number of auxiliary equipment is reduced, the space is saved, and the cost is reduced.