CN110735552A - A three-dimensional garage car-carrying board code sorting mechanism - Google Patents

Abstract

The invention discloses a three-dimensional garage car-carrying board code sorting and picking mechanism, which comprises a main frame, a linear telescopic mechanism, a bearing, a pull rod, a long shaft, a coupling, a short shaft and a car-carrying board; the linear telescopic mechanism can be provided with four to eight It can adopt two driving forms of single power source and multiple power sources; the linear telescopic mechanism includes a driving motor, a connecting rod arm, a connecting rod and a rotating plate. The shaft is connected; the rotating shaft of the driving motor is connected with the connecting rod arm; the connecting rod arm is connected with the connecting rod through the pin shaft, and the linear expansion and contraction of the connecting rod is realized by the cyclic swing of the connecting rod arm; the connecting rod is connected with the turning plate through the pin shaft Connecting, the vertical tilting or horizontal swinging of the turning plate can be realized through the expansion and contraction of the connecting rod; the turning plate has two rotation modes: vertical tilting and horizontal swinging; the long shaft and the short shaft connected by the coupling are fixed to the main on the frame. The invention can save the handling times and the movement range of the automatic handling trolley, and has obvious energy saving effect.

Description

A three-dimensional garage car-carrying board code sorting mechanism

technical field

The invention relates to the technical field of automatic storage and retrieval of automobiles in mechanical parking garages, in particular to a code dividing mechanism capable of realizing automatic storage and storage of vehicle pallets, belonging to the technical field of mechanical automatic parking equipment.

Background technique

In the stacking intelligent parking garage, the car carrier is mainly used as the carrier, and the transportation of the car is realized in combination with the intelligent handling trolley. Under normal circumstances, when carrying out the car handling work, the intelligent handling trolley needs to transport the vehicle carrier to the entrance and exit position. After the car is driven on the vehicle carrier, the intelligent handling trolley continues to run to transport the car and the vehicle carrier to the designated position of the system. , so as to complete a parking process, and the transportation of the vehicle group can be realized by circulating the above actions. However, this kind of parking method of "one intelligent transport trolley to one vehicle board" has low efficiency, complicated actions, low safety and high cost.

In order to solve the above shortcomings of the existing mechanical parking, a three-dimensional garage car-carrying board code sorting and picking mechanism is proposed, that is, in the process of car handling, the car-carrying board is coded by a three-dimensional garage car-carrying board code sorting and picking mechanism. The stacking and splitting machine realizes the unstacking, stacking and storage of the car-carrying plate, greatly reducing the number of times the intelligent handling trolley transports the car-carrying plate, greatly improving the access efficiency of the three-dimensional garage, and realizing the car group in the parking garage. Quick access. To achieve the purpose of efficient storage and retrieval of vehicles in the form of "one intelligent handling trolley to multiple vehicle carriers".

SUMMARY OF THE INVENTION

The invention overcomes the deficiencies of the prior art and discloses a support mechanism capable of realizing the function of stacking, sorting, picking and placing the car-carrying board, which can conveniently and efficiently cooperate with a three-dimensional garage to complete the automatic stacking and dismantling of the car-carrying board.

The purpose of the present invention is achieved through the following technical solutions: The present invention discloses a three-dimensional garage car-carrying board code separation and pick-and-place mechanism, including a main frame, a linear telescopic mechanism, a bearing, a tie rod, a long shaft, a coupling, a short shaft and a load Vehicle plate; the linear telescopic mechanism can be set to four to eight and can adopt two driving forms of single power source and multiple power sources; the linear telescopic mechanism includes a drive motor, a connecting rod arm, a connecting rod and a rotating plate, The lower part is connected with the long shaft or the short shaft through a fixed connection key; the rotating shaft of the driving motor is connected with the connecting rod rotating arm; Telescopic; the connecting rod is connected with the rotating plate through the pin shaft, and the vertical tilting or horizontal swinging of the rotating plate can be realized through the telescoping of the connecting rod; the rotating plate has two rotation modes: vertical tilting and horizontal swinging; The long shaft and the short shaft are fixed on the main frame through bearings. The turning plate can rotate with the long axis or the short axis; the other end of the turning plate is connected with the connecting rod, and the turning plate can be pushed through the linear reciprocating motion of the connecting rod to realize the vertical or horizontal extension and retraction of the turning plate; the long axis and The short shafts are connected by couplings; the left and right side walls of the car carrier are provided with support holes that are adapted to the position and number of the turning plates. Support or storage, so as to achieve the purpose of depalletizing.

Further, when driven by a single power source, one end of the rotating plate as the main drive is placed on the short shaft through the connecting key, one end of each driven rotating plate is placed on the long shaft through the connecting key, and the other end of the main driving rotating plate is placed on the long shaft. In addition to the connection with the connecting rod, it is also connected with other driven rotating plates through the pull rod. Through the power input of the driving motor, the vertical tilting or horizontal swinging of the active rotating plate is realized, and the power is transmitted to the long axis through the short axis and Drive each driven rotating plate, so that all rotating plates can tilt vertically or horizontally into or move out of the support hole of the carriage plate, and the pull rod is used to assist the rotation of each driven rotating plate and provide stability for the mechanism.

Further, when using multiple power sources to drive each turntable independently, there is no need to use a tie rod, a long shaft and a coupling, and each turntable is equipped with a drive motor, a connecting rod turning arm, and a connecting rod. The inner linear telescopic mechanism, one end of each rotating plate is connected with the short shaft through the fixed connection key, the short shaft is fixed on the main frame through the bearing, and the other end of the rotating plate is only connected with the respective connecting rod, through the independent connection of each driving motor. Drive to realize the vertical tilt or horizontal swing of each turning plate.

Further, the active linear telescopic mechanism further includes the detection head, which is placed on the end face of the connecting rod arm and the connecting rod, and is mainly used for when the rotating plate tilts vertically or horizontally swings into the load cell. When it is in the support hole of the car plate, it is detected whether the turning plate rotates to the designated position. If it has been rotated in place, the linear telescopic mechanism stops moving; if it is not rotated in place, the linear telescopic mechanism continues to move until the turning plate tilts vertically or swings horizontally to the designated position in the support hole of the car carrier.

Further, when grabbing the car-carrying board, when the three-dimensional garage car-carrying board yardage pick-and-place mechanism moves to make the turn plate and the car carrying board to be grabbed on the same level, through the single power source or the multi-power source. The drive motor drives each turn plate to make it tilt vertically or horizontally into the support hole of the side wall of the vehicle carrier to be grasped. The supporting holes of the taken carrier plate are used for support, so as to realize the code-point grabbing of the vehicle carrier plate that needs to be grasped.

Further, when storing the car-carrying plate, the car-carrying plate that needs to be stored is transported to the designated position through the descending of the pick-and-place mechanism of the three-dimensional garage car-carrying plate, and then the driving motor of the single power source or the multi-power source is used to pair it. Each turning plate is driven to tilt vertically or horizontally to move out of the supporting hole of the side wall of the vehicle carrier plate to be stored, so as to realize the storage of the vehicle carrier plate to be stored.

The working principle of the present invention is as follows: a three-dimensional garage car-carrying board code sorting pick-and-place mechanism includes a main frame, a linear telescopic mechanism, a bearing, a long shaft, a coupling, a short shaft and a car carrying board. The linear telescopic mechanism adopts the motion principle of the plane four-bar mechanism, including the drive motor, the connecting rod arm, the detection head, the connecting rod and the turning plate. The drive motor is fixed on the main frame by bolts, the drive shaft of the drive motor is connected with the connecting rod through the connecting rod arm, and the linear reciprocating motion of the connecting rod can be realized by the drive of the drive shaft of the driving motor; one end of the turning plate is fixed by the connecting key On the long axis or short axis, the other end is connected with the connecting rod through the pin shaft, and the vertical tilting or horizontal swinging of the turntable can be realized through the linear reciprocating motion of the connecting rod; the long axis and the short axis are connected by a coupling ; The detection head is used to detect whether the support hole of the turning plate entering the side wall of the vehicle carrier plate moves to the designated position when it tilts vertically or horizontally. When the car-carrying plate is grasped or stored by code points, the connecting rod arm is swung by the drive of the driving motor, so as to realize the linear expansion and contraction of the connecting rod, and one end of the rotating plate is pushed out or Pull in to realize the extension and retraction of the turning plate, and then the carrier plate can be grasped and stored by code points. Among them, the linear telescopic mechanism can be set to four to eight, and can be driven by a single power source or independently driven by multiple power sources. When a single drive is used, there is a main drive rotating plate, and the active rotating plate is driven by the drive motor to achieve its Vertical tilting or horizontal swinging, the power is transmitted to the long axis through the rotating short axis, and the vertical tilting or horizontal swinging of other driven rotating plates is realized under the auxiliary action of the pull rod; when the multi-power source counter rotating plate is used When driving independently, each rotating plate is connected with the short shaft through the connecting key, without the use of tie rod, long shaft and coupling. That is to realize the vertical tilt or horizontal swing of all turntables.

The beneficial effects of the present invention are that the device can cache and distribute the vehicle carrier plate, save the handling times and the range of activities of the automatic handling trolley, the energy saving effect is obvious, the degree of automation is high, and the efficiency of vehicles entering and leaving the mechanical parking garage can be greatly improved. Improve the turnover speed of vehicles entering and leaving the mechanical parking garage, and provide an effective logistics guarantee for the automatic entry and exit of the mechanical parking garage.

Description of drawings

Fig. 1 is the structural schematic diagram when the three-dimensional garage car-mounted board code separation pick-and-place mechanism of the present invention is driven by a single power source;

Fig. 2 is a schematic structural diagram of the three-dimensional garage car-mounted board code separation pick-and-place mechanism of the present invention when multiple power sources are independently driven;

3 is a schematic diagram of the axonometric structure when the three-dimensional garage car-mounted board code separation and pick-and-place mechanism of the present invention is driven by a single power source;

4 is a schematic diagram of the axonometric structure when the three-dimensional garage car-mounted board code-sorting and placing mechanism of the present invention is independently driven by multiple power sources;

Fig. 5 is the partial enlarged schematic diagram in Fig. 1;

Fig. 6 is the partial enlarged schematic diagram in Fig. 2;

Fig. 7 is the partial enlarged schematic diagram in Fig. 3;

Fig. 8 is the partial enlarged schematic diagram in Fig. 4;

FIG. 9 is a schematic diagram of the horizontal swing structure of the rotating plate of the three-dimensional garage car board code sorting and picking mechanism of the present invention.

Among them: 1—main frame, 2—linear telescopic mechanism, 2a—drive motor, 2b—connector arm, 2c—detection head, 2d—connector, 2e—turning plate, 3—bearing, 4—tie rod, 5— Long shaft, 6-coupling, 7-short shaft, 8-car carrier.

Detailed ways

Example Example 1

When driven by a single driving source, the components are connected according to the above-mentioned components, each turning plate 2e is fixed by the pull rod 4, and the other driven turning plates 2e are rotated synchronously through the movement of the active turning plate 2e, so as to realize its vertical tilting. or swing horizontally. Its structure is set as: one end of the active rotating plate 2e and the driven rotating plate 2e are respectively fixed on the short axis 7 and the long axis 5 through the connecting key, so that each rotating plate 2e can rotate synchronously with the short axis 7 and the long axis 5. , the driven rotating plate 2e is connected with the active rotating plate 2e through the pull rod 4, the stability of the rotating plate 2e is improved and the rotation of the driven rotating plate 2e is assisted; The shaft is connected with the connecting rod 2d of the linear telescopic mechanism 2, the other end of the connecting rod 2d is connected with the connecting rod rotating arm 2b through the pin shaft, and the connecting rod rotating arm 2b is directly connected with the power transmission shaft of the driving motor 2a. When the car carrier plate 8 is picked and placed, the connecting rod arm 2b is swung by the power of the driving motor 2a, thereby pushing the straight line extension or shortening of the connecting rod 2d to realize the vertical inclination of the turning plate 2e. The other driven rotating plates 2e can be tilted vertically or horizontally at the same time through the synchronous movement of the short axis 7, the long axis 5 and the pull rod 4, and the vertical tilt of the rotating plate 2e is detected by the detection head 2c. Or the horizontal swing position is detected to ensure that the turning plate 2e stops driving after moving to the corresponding position. When grabbing the car carrier plate by code points, the whole mechanism moves to the car carrier plate 8 that needs to be grabbed, so that the turning plate 2e and the support hole of the side wall of the car carrier plate 8 are in the same plane, through the active linear telescopic mechanism 2, the drive of the driving motor 2a realizes the vertical tilt or horizontal swing of the active rotating plate 2e, and the power transmission of the short axis 7 and the long axis 5 is used to realize the synchronous movement of the other driven rotating plates 2e, so that each rotating plate 2e It extends into the support hole of the side wall of the carrier plate 8, and the carrier plate 8 is supported by the turning plate 2e. By lifting the whole mechanism, the code points of the carrier plate 8 can be grasped. When the vehicle carrier plate 8 is stored, the vehicle carrier plate 8 in the state supported by the turning plate 2e is transported to the designated storage position through the movement of the code dividing mechanism, and the active turning plate 2e is driven by the reverse drive of the driving motor 2a. To retract, through the synchronous rotation of the short axis 7 and the long axis 5, under the auxiliary action of the pull rod 4, the other driven rotating plates 2e are synchronously retracted from the supporting holes of the vehicle carrier plate 8, and the rotation of the vehicle carrier plate 8 is completed. store.

Example Example 2

When multiple power sources are used for independent driving, the connection is made according to the aforementioned components, and each rotating plate 2e is provided with an independent power source. They are respectively fixed on the stub shaft 7 by connecting keys, and each turning plate 2e is vertically tilted or horizontally swung by the driving of each driving motor 2a. Its structure is set as follows: a total of four to eight linear telescopic mechanisms 2 are arranged, and each linear telescopic mechanism 2 includes a drive motor 2a, a connecting rod rotating arm 2b, a detection head 2c, a connecting rod 2d and a rotating plate 2e, and each rotating plate 2e. One end is respectively fixed on the short shaft 7 through the connecting key, and the short shaft 7 is fixed on the main frame 1 through the bearing 3, so that the turning plate 2e can rotate freely with the short shaft 7, and the other end is connected with the respective linear telescopic mechanism 2 through the pin shaft. The connecting rod 2d in the middle is connected, and the other end of the connecting rod 2d is connected with the connecting rod rotating arm 2b through the pin shaft. At the same time, the connecting rod rotating arm 2b is fixed on the transmission shaft of the driving motor 2a, and the detection head 2c is placed on the connecting rod rotating arm 2b. On the end face where it connects with connecting rod 2d. When the car carrier plate 8 is picked and placed by code, each link arm 2b is swung by the independent drive of each drive motor 2a, thereby pushing each link 2d to linearly extend or shorten, thereby realizing the realization of each turning plate The vertical tilt or horizontal swing of 2e is detected by each detection head 2c for the vertical tilt or horizontal swing position of each turntable 2e. After ensuring that each turntable 2e moves to the designated position, each drive motor 2a stops driving. . When the car carrier plate is grabbed by code points, the whole mechanism moves to the car carrier plate 8 to be grasped, so that each turning plate 2e and the supporting hole of the side wall of the car carrier plate 8 are in the same plane, and through each linear expansion and contraction In the mechanism 2, the drive motor 2a independently drives each turning plate 2e to realize the vertical tilting or horizontal swinging of all the turning plates 2e, so that each turning plate 2e extends into the supporting hole of the side wall of the vehicle carrier plate 8, and passes each detection The head 2c detects the in-position condition of each turning plate 2e. After each turning plate 2e moves in place, the turning plate 2e is used to support the car carrier plate 8. Through the lifting of the mechanism, the code points of the car carrying plate 8 can be grasped. . When the vehicle carrier plate 8 is stored, the vehicle carrier plate 8 in the state supported by the rotating plate 2e is transported to the designated storage position through the movement of the code dividing mechanism, and is independently driven by the reverse rotation of each driving motor 2a, so that all the rotating plates 2e are driven independently. The plate 2e is retracted from the support hole in the side wall of the vehicle carrier plate 8 to complete the storage of the vehicle carrier plate 8 .

Claims (5)

1. The three-dimensional garage vehicle carrying board code taking and placing mechanism is characterized by comprising a main frame (1), four to eight linear telescopic mechanisms (2), bearings (3), a pull rod (4), a long shaft (5), a coupler (6), a short shaft (7) and a vehicle carrying board (8), wherein the four to eight linear telescopic mechanisms (2) can be arranged, the four to eight linear telescopic mechanisms (2) can adopt two driving modes of a single power source and a plurality of power sources, the linear telescopic mechanisms (2) comprise a driving motor (2a), a connecting rod rotating arm (2b), a connecting rod (2d) and a rotating board (2e), the lower portion of the rotating board (2e) is connected with the long shaft (5) or the short shaft (7) through a fixed connecting key, a rotating shaft of the driving motor (2a) is connected with the connecting rod rotating arm (2b), the connecting rod rotating arm (2b) is connected with the connecting rod (2d) through a pin shaft, the connecting rod (2d) is connected with the rotating board (2b) through a pin shaft, the connecting rod rotating shaft is connected with the rotating plate (2d), the rotating plate (2) through a pin shaft, the connecting rod (2d) is connected with the rotating shaft, the connecting rod rotating plate (2) through the rotating shaft, the connecting rod rotating shaft is connected with the rotating plate (2) through the tilting telescopic.
2. 2. The stereo garage vehicle loading board code picking and placing mechanism of claim 1, wherein:

   when the single driving source is adopted for driving, the driving linear telescopic mechanism (2) comprises a driving motor (2a), a connecting rod rotating arm (2b), a connecting rod (2d), a rotating plate (2e), a connecting bolt pair and a pin shaft which are matched, wherein the driven linear telescopic mechanism (2) comprises a rotating plate (2e) and a bearing (3), the rotating plates (2e) in the driving linear telescopic mechanism and the driven linear telescopic mechanism (2) are connected with a pull rod (4) through connecting plates, the rotating plates (2e) in the driven linear telescopic mechanism (2) vertically tilt or horizontally swing through the driving linear telescopic mechanism (2), the rotating plates (2e) in the driven linear telescopic mechanism (2) vertically tilt or horizontally swing through the linkage rotation of a long shaft (5) and a short shaft (7), and the pull rod (4) is used for assisting the vertical tilt or horizontal swing of the rotating plates (2e) and enhancing the axial stability in the swing process.
3. 3. The stereo garage vehicle loading board code picking and placing mechanism of claim 1, wherein:

   when adopting the drive of a plurality of power supplies, every sharp telescopic machanism (2) all includes driving motor (2a), connecting rod rocking arm (2b), connecting rod (2d), changes board (2e) and the vice and the round pin axle of connecting bolt of looks adaptation, on each commentaries on classics board (2e) are fixed in each minor axis (7) on main frame (1) through bearing (3) through the connecting key, the perpendicular tilting or the horizontal pendulum of each commentaries on classics board (2e) are by each sharp telescopic machanism (2) independent drive.
4. 4. The stereo garage vehicle loading board code picking and placing mechanism of claim 2 or 3, characterized in that: the driving linear telescopic mechanism (2) further comprises a detection head (2c) arranged on the end face of the joint of the connecting rod rotating arm (2b) and the connecting rod (2 d).
5. 5. The stereo garage vehicle loading board code picking and placing mechanism of claim 4, wherein:

   supporting holes matched with the positions of the rotating plates (2e) in the linear telescopic mechanism are formed in the left side wall and the right side wall of the vehicle carrying plate (8), and the rotating plates (2e) rotate to enter or leave the supporting holes through vertical tilting or horizontal swinging of the rotating plates (2e), so that code taking and placing of the vehicle carrying plate are realized; the detection head (2c) can detect the position of the rotating plate (2e) and determine whether the rotating plate (2e) vertically tilts or horizontally swings to a corresponding position.

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