CN207861236U - A kind of novel separated cooperating type vehicle transfer equipment - Google Patents
A kind of novel separated cooperating type vehicle transfer equipment Download PDFInfo
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- CN207861236U CN207861236U CN201721303960.0U CN201721303960U CN207861236U CN 207861236 U CN207861236 U CN 207861236U CN 201721303960 U CN201721303960 U CN 201721303960U CN 207861236 U CN207861236 U CN 207861236U
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- transfer equipment
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Abstract
The utility model is related to a kind of seperated cooperating type vehicle transfer equipment, technical characteristics are：Including master controller and four monomer cooperative devices, monomer cooperative device includes support panel and driving pedestal, support panel is tire channel opening structure, mounted on the top of driving pedestal, driving pedestal is hollow structure, including base support, jacking module, universal drive module, controller, power supply module and sensing device further.The seperated cooperating type vehicle transfer equipment of the utility model can realize searching target vehicle, be moved automatically into from vehicle bottom to active position, each wheel of collaboration jack-up vehicle, carry out all-around mobile, flexibly easily realize transfer vehicle to designated position.
Description
Technical field
The utility model belongs to handbarrow field, and in particular to a kind of fission cooperating type vehicle transfer equipment.
Background technology
With the development of urbanization, the expansion of city size, automobile obtains rapid proliferation and uses.In some special scenes
Under (such as：Parking lot is parked, parking systems is parked, moves vehicle, production and transport etc. clearly) need a kind of efficiently and conveniently transfer cart
Tool.
When parking lot or parking systems are parked, since garage opening is small, parking is very inconvenient, needs to use and stop automatically
Vehicle device, however existing automatic stopping device usually requires car owner first by vehicle drive to specific structure device top position
Place, increases car owner's operation difficulty.
The mobile vehicles such as towed vehicle are needed when clear shifting vehicle, however towed vehicle volume is big, is easy by surrounding environment influence,
Such as it is difficult to play a role in narrow space or get congestion in the case of.
Patent document CN106988572A discloses a kind of transfer robot, garage parking and shutdown system, including car body and
Load carrier on the car body is set, and load carrier includes the loading plate being horizontally set on the car body.Pass through loading plate
It is mobile so that the vehicle access for two parking stalls that transfer robot is at least arranged before and after the processing at identical position.However
It needs car owner first by vehicle drive at transfer robot top position when use, increases car owner's operation difficulty, and system accounts for
It is still larger with space.
Patent document CN102535915B discloses a kind of automatic parking system based on mobile robot trolley, including stops
Parking lot, mobile robot trolley and parking lot intelligent control system are provided with multirow parking stall on the ground of parking lot, multiple row is stopped
Parking stall and mobile robot trolley revolution space are laid with the vehicle guiding device of non-rail mounted on parking lot ground, stop
In be equipped with vehicle access room and central control room, be equipped in central control room parking lot intelligent control system and with movement
Robot car is connected with vehicle access room, and mobile robot trolley is held up under the control of parking lot intelligent control system
Vehicle to be accessed carries out vehicle access.However the system needs that vehicle access room is arranged, and increases parking lot occupied space, simultaneously
Car owner needs vehicle reaching specified vehicle access room (being similar to parking storage), when increasing car owner's operation difficulty and operation
Between.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide it is a kind of it is simple in structure, easy to operate can
The seperated cooperating type vehicle transfer for being flexibly applied to a variety of different scenes demands such as vehicle parking, cleaning vehicle shifting, vehicle transport is set
It is standby.It realizes the transport realized under several scenes to entire vehicle, farthest reduces and limited by surrounding enviroment and to week
The influence of surrounding environment.
To achieve the goals above, the utility model uses following technical solution：
A kind of fission cooperating type vehicle transfer equipment includes the monomer cooperative device of multiple monomers setting, the monomer association
Held in the palm respectively with equipment load, haulage vehicle each wheel, the multiple monomer cooperative device synergistic effect carries vehicle support, fortune
It is defeated to arrive specified region；The monomer cooperative device includes pedestal, support load module, jacking module, universal drive module, the jacking
The lower part that module is carried in support is arranged in module upper end, and the jacking module lower end is arranged in the top of pedestal, the lower part of the pedestal
It is provided with universal drive module；The fission cooperating type vehicle transfer equipment also has master controller, for controlling monomer collaboration
The synergistic effect of equipment.
Further, it includes support panel and tire channel opening structure that the support, which carries module, and support panel is movably arranged on
The top of pedestal, tire channel opening structure setting is in the side of support panel.
Further, the tire channel opening structure includes notch and frid, and the frid is located at notch front and rear sides, institute
It states frid and tilts down extension along support panel.
Further, there are two the jacking modules, the front and rear sides of tire channel opening structure are separately positioned on.
Further, the universal drive module includes carrying roller, load-bearing wheel support, load-bearing bearing, plane bearing, steering
Power motor, steering power gear set, driving power motor, driving power gear group；Load-bearing wheel support can by plane bearing
It is rotatably mounted at the lower section of holder, steering power motor is equipped with below load-bearing wheel support, top is equipped with steering power gear set,
The output shaft of steering power motor is connect with steering power gear set, and steering power gear set is connect with load-bearing wheel support；Load-bearing
Driving power motor is additionally provided with below wheel support, the lateral surface of load-bearing wheel support is equipped with driving power gear group, drives power electric
The output shaft of machine is connect with driving power gear group, drives the wheel axis connection of power gear group and carrying roller.
Further, the monomer cooperative device further includes context detection module and detection and localization module, the environment inspection
It surveys module and is positioned for detecting ambient enviroment, the detection and localization module for detecting.
Further, the monomer cooperative device further includes monomer cooperative device controller, the monomer cooperative device control
Device processed is wirelessly communicated for controlling single monomer cooperative device, monomer cooperative device controller with master control.
Further, the monomer cooperative device further includes power supply module.
Description of the drawings
Fig. 1 be the utility model proposes seperated cooperating type vehicle transfer equipment overall schematic；
Fig. 2 be the utility model proposes monomer cooperative device overall structure diagram；
Fig. 3 be the utility model proposes monomer cooperative device universal drive module structural schematic diagram；
Fig. 4 be the utility model proposes seperated cooperating type vehicle transfer equipment workflow schematic diagram.
Reference sign：
1. monomer cooperative device；2. master controller；3. pedestal；4. support carries module, 401. support panels, 402. tire slots are opened
Mouth structure, 4021. notches, 4022. frids；5. jacking module；6. universal drive module, 601. carrying rollers, 602. carrying roller branch
Frame, 6021. load-bearing bearings, 603. plane bearings, 604. steering power motors, 605. steering power gear sets, 606. drivings are dynamic
Force motor, 607. driving power gear groups；7. context detection module；8. detection and localization module；9. monomer cooperative device controls
Device；10. power supply module.
Specific implementation mode
Embodiment further illustrates the utility model below in conjunction with the accompanying drawings.
Embodiment one：A kind of fission cooperating type vehicle transfer equipment, is used to shift vehicle, can be applied to vehicle parking,
A variety of different scenes such as cleaning vehicle shifting, vehicle transport.It specifically includes：Four independent monomer cooperative devices 1 and a master control
Device 2 processed, four monomer cooperative devices 1 can move alone, not influenced by surrounding enviroment；Vehicle load device volume is small simultaneously
It is easy to remove, ambient enviroment will not be impacted and (such as occupy road), four monomer cooperative devices 1 can neatly enter
Lower vehicle space；Master controller 2 is for controlling four independent monomer cooperative device synergistic effects；Find the position of vehicle parking
It sets；Further include charging unit, charges for realizing monomer cooperative device.
Each individual monomer cooperative device 1 is used equally for realizing and carries, transports to the support of a wheel of vehicle, multiple
It under the synergistic effect of monomer cooperative device, may be implemented that the support of entire vehicle is carried and transported, it is specified to which vehicle to be transferred to
Position, such as：Vehicle is transported from the areas Dai Bo in parking lot to parking stall, vehicle is removed clearly from road.
Illustrate the structure of the monomer cooperative device 1 of the utility model with reference to Fig. 2-3.Each monomer cooperative device 1 is wrapped
It includes：Pedestal 3, support carry module 4, jacking module 5, universal drive module 6, context detection module 7, detection and localization module 8, monomer association
It is formed with device controller 9, power supply module 10.
Support carries the wheel that module 4 is used to hold in the palm carrier vehicle, including：Support panel 401 and tire channel opening structure 402, support
Panel 401 is movably arranged on the top of pedestal, and tire channel opening structure 402 is arranged in the side of support panel 401, and tire slot is opened
Mouth structure 402 includes a notch 4021 and notch front and rear sides frid 4022, and frid 4022 is tilted down from support panel 401
Extend to notch 4021；The notch 4021 of tire channel opening structure 402 allows monomer cooperative device 1 to enter to park cars
Wheel lower part, both sides frid 4022 are used for the wheel of the vehicle in lifting.
For jacking module 5 for jacking support panel 401, the wheel to lift vehicle is detached from ground.Jack the upper of module 5
End is arranged in the lower surface of support panel 401, and lower end is arranged in the upper surface of pedestal 3；It jacks there are two modules 5, is respectively set
In the front and rear sides of tire channel opening structure 402.
Universal drive module is used to drive monomer cooperative device to comprehensive arbitrary motion, including：Carrying roller 601, load-bearing
Wheel support 602, load-bearing bearing 6021, plane bearing 603, steering power motor 604, steering power gear set 605 drive power
Motor 606, driving power gear group 607.
Load-bearing wheel support 602 is installed in rotation on the lower section of holder 3 by plane bearing 603, under load-bearing wheel support 602
Side is equipped with steering power motor 604, and top is equipped with steering power gear set 605, the output shaft of steering power motor 604 and steering
Power gear group 605 connects, and steering power gear set 605 is connect with load-bearing wheel support 602；What steering power motor 604 exported
Steering force is transferred to load-bearing wheel support 602 by steering power gear set, and driving load-bearing wheel support 602 is rotated around holder 3, to
Carrying roller 601 is driven to turn to.
602 lower section of load-bearing wheel support is additionally provided with driving power motor 606, and the lateral surface of load-bearing wheel support is equipped with driving power
Gear set 607 drives the output shaft of power motor 606 connect with driving power gear group 607, drive power gear group 607 and
The wheel axis connection of carrying roller 601；The driving force that driving power motor 606 exports is transferred to through power gear group 607 of overdriving holds
Roller 601, driving carrying roller 601 move.
Steering power motor 604, driving power motor 606 can be with positive and negative rotations, so as to realize that carrying roller 601 is complete
It moves in orientation.
Context detection module 7 is used to detect ambient enviroment, including the environment measuring being arranged on the outside of monomer cooperative device passes
Sensor 7, for comprehensive, multi-angle detection ambient enviroment, environmental detection sensor 7 could be provided as multiple, be distributed in list
The front and rear sides of body cooperative device.
Detection and localization module 8 is used for alignment target wheel position, including alignment sensor 8, alignment sensor 8 can be set
Be set to it is multiple, alignment sensor be arranged support section plate on close notch position at, convenient for approaching detection wheel position.
Monomer cooperative device controller 9 is wirelessly communicated with master controller 2, the instruction sent out for receiving master controller, and
Corresponding instruction is returned to master controller, monomer cooperative device controller 9 controls universal driving according to the instruction of master controller 2
Module work is to realize the all-around mobile of monomer cooperative device 1, control jacking module 5 lifting and decline, to realize to vehicle
Lift and unload, receive the signal that context detection module 7 and detection and localization module 8 detect.
The course of work of the seperated cooperating type vehicle transfer equipment of the utility model is as follows：
(such as parking lot is parked, parking systems is parked, encounters vehicle road occupying, production line transport), hair under a certain scene
Send the request of shifting vehicle (vehicle request can be moved by transmissions such as car owner's cell phone applications, or send shifting vehicle automatically by scene monitoring equipment and ask
Ask), after master controller 2 receives shifting vehicle request, to the monomer cooperative device controller 9 of four independent monomer cooperative devices 1
Instruction is sent out, four independent monomer cooperative devices 1 of control are automatically moved at vehicle to be transferred；The control of master controller 2 four
At four wheel positions that a monomer cooperative device is respectively moved to wait parking according to setting；Wherein each module of parking is equal
It can move alone, total control module controls the synergistic effect between module of parking.
Context detection module 7 detects ambient enviroment in 2 moving process of monomer cooperative device, and avoiding obstacles are found and closed
Suit the needs diameter, while context detection module is additionally operable to sensing target vehicle feature.
After monomer cooperative device 1 is moved at the wheel position of vehicle, by respective monomer cooperative device controller 9 to
Master controller 2 sends out arrival instruction；After master controller 2 receives the arrival instruction of all monomer cooperative devices 1, to each monomer
The monomer cooperative device controller 9 of cooperative device 1 sends out positioning operation instruction；Monomer cooperative device 1 is in monomer cooperative device control
The position that monomer cooperative device 1 is adjusted under the control of device 9 processed, makes monomer cooperative device 1 be directed at corresponding wheel, and drive monomer
Cooperative device 1 moves, until notch is caught in below wheel, after completing positioning operation, monomer cooperative device 1 enters lifting and waits for shape
State sends out a positioning to master controller 2 and completes instruction, waits for the instruction of jacking；Detection and localization module is in positioning operation process
It is middle to detect corresponding positions of wheels of vehicle.
After total control module receives the instruction that all monomer cooperative devices complete positioning, while being cooperateed with to all monomers
Device controller sends out lifting instruction, and control jacking module lifts support panel；Under the lifting effect of support panel, frid lift
It plays wheel of vehicle and wheel is finally made to be detached from ground；Total control module controls four monomer cooperative devices and is cooperateed with during jacking
Effect, to ensure that target vehicle will not roll during jacking.
It jacks module 5 to hold up wheel to ground is detached from, completes jacking operation, monomer cooperative device is sent out to total control module
Go out jacking and completes instruction；Master controller sends out move after instruction is completed in the jacking for receiving four monomer cooperative devices,
Four monomer cooperative device cooperative motions are controlled, vehicle is transferred to specified location.
After completing aforesaid operations, monomer cooperative device sends out a transfer to total control module and completes instruction.Master control molding
After block receives instruction, unloading command is sent out to monomer cooperative device, monomer cooperative device controller control jacking module 5 is unloaded
It carrying, support panel moves downwardly to wheel and contacted with ground, and continues movement until up to support panel is completely disengaged with wheel,
Complete vehicle unloading.Alignment sensor detects support panel and wheel distance, after support plate of entertaining is completely disengaged with wheel, monomer
Cooperative device sends out a unloading to total control module and completes instruction.
The unloading that total control module receives four monomer cooperative devices is completed after instructing, and is sent out and is returned to monomer cooperative device
It refers to enable.Monomer cooperative device returns, and waiting moves vehicle next time.
Embodiment two：A kind of fission cooperating type vehicle transfer equipment, the key of embodiment is can be by master control
Module is arranged on arbitrary one be arranged in four monomer cooperative devices, and individual total control module need not be arranged again, whole
A fission cooperating type vehicle transfer equipment only needs to be made of four monomer cooperative devices, and structure is more succinct；And due to not needing
It is communicated between monomer cooperative device and total control module, the range that equipment can move covering is wider, it is not easy to be interfered.Its
The structure and function of embodiment other parts is identical as embodiment one, and details are not described herein.
The seperated cooperating type vehicle transfer equipment of the utility model neatly can under circumstances be realized to entire vehicle
Transport, farthest reduce the limitation of external environment, while device structure is simple, small, does not interfere with week
The environment on side.Its achievable function is such as：Vehicle is transported from the areas Dai Bo in parking lot to parking stall, vehicle is moved clearly from road
It walks.
The foregoing is merely the better embodiment of the utility model, the utility model is not limited to above-mentioned embodiment party
Formula, there may be the structural modifications that part is small in implementation process, if various changes or modifications to the utility model are not
The spirit and scope of the utility model are detached from, and are belonged within the scope of the claims and equivalents of the utility model, then originally
Utility model is also intended to include these modification and variations.
Claims (8)
1. a kind of novel separated cooperating type vehicle transfer equipment, including multiple monomer cooperative devices, it is characterised in that：The monomer
Cooperative device hold in the palm respectively load, haulage vehicle each wheel, the multiple monomer cooperative device synergistic effect, vehicle support is carried,
It is transferred to designated position；The monomer cooperative device includes pedestal, support load module, jacking module, universal drive module, the top
The lower part that module is carried in support is arranged in rising mould block upper end, and the jacking module lower end is arranged under the top of pedestal, the pedestal
Portion is provided with universal drive module；The fission cooperating type vehicle transfer equipment also has master controller, for controlling monomer association
With the synergistic effect of equipment.
2. novel separated cooperating type vehicle transfer equipment according to claim 1, it is characterised in that：The support carries module packet
Support panel and tire channel opening structure are included, support panel is movably arranged on the top of pedestal, and tire channel opening structure setting exists
The side of support panel.
3. novel separated cooperating type vehicle transfer equipment according to claim 2, it is characterised in that：The tire channel opening
Structure includes notch and frid, and the frid is located at notch front and rear sides, and the frid tilts down extension along support panel.
4. novel separated cooperating type vehicle transfer equipment according to claim 2 or 3, it is characterised in that：The jacking mould
There are two blocks, is separately positioned on the front and rear sides of tire channel opening structure.
5. novel separated cooperating type vehicle transfer equipment according to any one of claim 1-3, it is characterised in that：It is described
Universal drive module includes carrying roller, load-bearing wheel support, load-bearing bearing, plane bearing, steering power motor, steering power gear
Group, driving power motor, driving power gear group；Load-bearing wheel support is installed in rotation on by plane bearing under holder
Side, load-bearing wheel support lower section are equipped with steering power motor, and top is equipped with steering power gear set, the output shaft of steering power motor
It is connect with steering power gear set, steering power gear set is connect with load-bearing wheel support；It is additionally provided with driving below load-bearing wheel support
The lateral surface of power motor, load-bearing wheel support is equipped with driving power gear group, drives the output shaft and driving power of power motor
Gear set connects, and drives the wheel axis connection of power gear group and carrying roller.
6. novel separated cooperating type vehicle transfer equipment according to any one of claim 1-3, it is characterised in that：It is described
Monomer cooperative device further includes context detection module and detection and localization module, and the context detection module is for detecting surrounding ring
Border, the detection and localization module are positioned for detecting.
7. novel separated cooperating type vehicle transfer equipment according to any one of claim 1-3, it is characterised in that：It is described
Monomer cooperative device further includes monomer cooperative device controller, and the monomer cooperative device controller is for controlling single monomer
Cooperative device, monomer cooperative device controller are wirelessly communicated with master control.
8. novel separated cooperating type vehicle transfer equipment according to any one of claim 1-3, it is characterised in that：It is described
Monomer cooperative device further includes power supply module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721303960.0U CN207861236U (en) | 2017-09-30 | 2017-09-30 | A kind of novel separated cooperating type vehicle transfer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721303960.0U CN207861236U (en) | 2017-09-30 | 2017-09-30 | A kind of novel separated cooperating type vehicle transfer equipment |
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| Publication Number | Publication Date |
|---|---|
| CN207861236U true CN207861236U (en) | 2018-09-14 |
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ID=63475311
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721303960.0U Expired - Fee Related CN207861236U (en) | 2017-09-30 | 2017-09-30 | A kind of novel separated cooperating type vehicle transfer equipment |
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| CN (1) | CN207861236U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154866A (en) * | 2019-05-21 | 2019-08-23 | 重庆房地产职业学院 | A kind of intelligent obstacle removing robot of ant foot |
-
2017
- 2017-09-30 CN CN201721303960.0U patent/CN207861236U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154866A (en) * | 2019-05-21 | 2019-08-23 | 重庆房地产职业学院 | A kind of intelligent obstacle removing robot of ant foot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20200930 |