CN101403258A - Vehicle conveying device - Google Patents

Vehicle conveying device Download PDF

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Publication number
CN101403258A
CN101403258A CNA2008100092845A CN200810009284A CN101403258A CN 101403258 A CN101403258 A CN 101403258A CN A2008100092845 A CNA2008100092845 A CN A2008100092845A CN 200810009284 A CN200810009284 A CN 200810009284A CN 101403258 A CN101403258 A CN 101403258A
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China
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clamping
gear
handling device
transmission gear
vehicle handling
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CN101403258B (en
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程学海
沈鸿生
谭汉东
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China International Marine Containers Group Co Ltd
Shenzhen CIMC Tianda Airport Support Ltd
CIMC IoT Technology Co Ltd
Shenzhen CIMC Smart Parking Co Ltd
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China International Marine Containers Group Co Ltd
Shenzhen CIMC Tianda Airport Support Ltd
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Abstract

The invention provides a vehicle conveying device which comprises two trolleys connected at front and rear. The central distance of the two trolleys can be adjusted by a telescopic adjusting device arranged between the frames of the two trolleys, the two trolleys respectively comprises a frame, a running mechanism arranged on the frame, a clamping and lifting mechanism arranged on the frame and directive wheels arranged at the left side and the right side of the frame symmetrically. The vehicle conveying device occupies less space, is particularly suitable to the vehicle conveying device of mechanical parking systems, and can realize the car taking of rearrange garages.

Description

一种车辆搬运装置 A vehicle handling device

技术领域 technical field

本发明涉及一种车辆搬运装置,尤其涉及立体车库中用于搬运车辆的车辆搬运装置。The invention relates to a vehicle handling device, in particular to a vehicle handling device used for transporting vehicles in a three-dimensional garage.

背景技术 Background technique

建造立体停车库已成为解决大中城市停车难的有效方式,而仓储式机械车库车辆的搬运方式比较好的方式是夹持轮胎式,这种方式结构简单、安装方便,CN1629436A(中国专利申请号200310121827.X,公开日2005年6月22日)公开了一种夹持车辆的装置及方法,该专利所公开的方案结构简单,可灵活地自动定位,夹持不同轴距的车辆。上述方式由于液压油缸驱动机构以及结构形式的限制,使得整个搬运机构作业时需要长度空间大,因此对于空间有限的车库,使用上述夹持车辆的装置会受到限制。Building a three-dimensional parking garage has become an effective way to solve the difficulty of parking in large and medium-sized cities, and the better mode of the storage-type mechanical garage vehicle is the clamping tire type, which is simple in structure and easy to install. CN1629436A (Chinese Patent Application No. 200310121827.X, published on June 22, 2005) discloses a device and method for clamping vehicles. The scheme disclosed in this patent has a simple structure, can be flexibly and automatically positioned, and can clamp vehicles with different wheelbases. Due to the limitations of the hydraulic cylinder drive mechanism and structural form, the above method requires a large length and space when the entire transport mechanism is working. Therefore, for garages with limited space, the use of the above-mentioned device for clamping vehicles will be limited.

另外,由于结构及传动形式的限制,对于重列式车库,也不能实现车辆的存取作业。In addition, due to the limitation of the structure and transmission form, the access operation of the vehicle cannot be realized for the stacked garage.

发明内容 Contents of the invention

本发明要解决的技术问题是提供一种车辆搬运装置,尤其涉及立体车库中用于搬运车辆的车辆搬运装置,以解决在空间受限的车库中存、取车辆的问题,并且可以实现在重列式车库中存、取车辆。The technical problem to be solved by the present invention is to provide a vehicle handling device, especially relates to a vehicle handling device used to transport vehicles in a three-dimensional garage, so as to solve the problem of storing and taking vehicles in a garage with limited space, and can realize Store and retrieve vehicles in column garages.

为了解决上述问题,本发明提供的车辆搬运装置,其包括前后连接的两个小车,所述两个小车的中心距可通过设置在两小车的车架之间的伸缩调节装置进行调节,所述两个小车分别包括:车架、设置于该车架上的行走机构、设置于该车架上的夹持抬升机构、和对称设置于该车架左右两侧的导向轮,其中,In order to solve the above problems, the vehicle handling device provided by the present invention includes two dollies connected front and rear, the center distance of the two dollies can be adjusted by a telescopic adjustment device arranged between the frames of the two dollies, the The two trolleys respectively include: a frame, a running mechanism arranged on the frame, a clamping and lifting mechanism arranged on the frame, and guide wheels symmetrically arranged on the left and right sides of the frame, wherein,

a)所述的行走机构包括:i)通过行走驱动电机驱动的、并可旋转地支撑在该车架上的第一车轴,ii)对称设置于该第一车轴左右两端的两个行走主动轮,iii)与所述第一车轴组成小车的、并可旋转地支撑在该车架上的第二车轴,和iv)对称设置于该第二车轴两端的两个行走从动轮;a) The traveling mechanism includes: i) a first axle driven by a traveling drive motor and rotatably supported on the frame; ii) two driving wheels symmetrically arranged at the left and right ends of the first axle , iii) a second axle that forms a trolley with the first axle and is rotatably supported on the vehicle frame, and iv) two walking driven wheels that are symmetrically arranged at both ends of the second axle;

b)所述的夹持抬升机构包括在所述小车车架的中部车架地板下左右对称设置的两套夹持集成部,其各自包括:i)夹持电机,ii)由所述夹持电机传动的传动齿轮,iii)由所述传动齿轮传动的第一夹持齿轮,iv)第二夹持齿轮,其与所述第一夹持齿轮相同并由第一夹持齿轮传动,且在前后方向与所述第一夹持齿轮对称安装,和v)在前后方向分别对称地设置于所述第一夹持齿轮和第二夹持齿轮上的第一夹持爪和第二夹持爪;b) The clamping and lifting mechanism includes two sets of clamping integrated parts symmetrically arranged left and right under the middle frame floor of the trolley frame, each of which includes: i) a clamping motor, ii) a drive gear driven by the motor, iii) a first clamping gear driven by said drive gear, iv) a second clamping gear identical to said first clamping gear and driven by the first clamping gear, and at The front-rear direction is symmetrically installed with the first clamping gear, and v) the first clamping claw and the second clamping claw are respectively symmetrically arranged on the first clamping gear and the second clamping gear in the front-rear direction ;

c)所述第一夹持爪和第二夹持爪分别由所述第一夹持齿轮和第二夹持齿轮带动作向小车外侧旋转伸出或缩回的转动;c) The first clamping claw and the second clamping claw are respectively driven by the first clamping gear and the second clamping gear to rotate and extend or retract to the outside of the trolley;

d)所述左右两侧的导向轮的轴心与地面垂直,并且该左右两侧的导向轮的外沿分别与设置在该导向轮左右两侧的侧导轨的内沿抵靠。d) The axis centers of the guide wheels on the left and right sides are perpendicular to the ground, and the outer edges of the guide wheels on the left and right sides respectively abut against the inner edges of the side guide rails arranged on the left and right sides of the guide wheels.

根据本发明进一步提供的车辆搬运装置,其中所述的所述第一夹持爪和第二夹持爪的伸展方向与前后两小车形成的轴线之间呈缩回时的约0度到伸出至小车外侧时的约90度的角度。即第一夹持爪和第二夹持爪在完全伸展状态下向外平行伸展,完全缩回时收缩到小车的下方,有利于小车在工作状态与非工作状态的切换。According to the vehicle handling device further provided by the present invention, the extension direction of the first clamping claw and the second clamping claw and the axis formed by the two front and rear trolleys are from about 0 degrees to extended when retracted. Angle of about 90 degrees when to the outside of the trolley. That is to say, the first clamping claw and the second clamping claw stretch outward in parallel in a fully extended state, and shrink to the bottom of the trolley when fully retracted, which is conducive to switching the trolley between the working state and the non-working state.

根据本发明进一步提供的车辆搬运装置,其中所述的夹持爪呈上顶面倾斜的板状结构,并且所述第一夹持爪和第二夹持爪在完全向外伸出时两夹持爪顶面构成倒八字形。According to the vehicle handling device further provided by the present invention, wherein the clamping claws have a plate-like structure with an inclined upper surface, and when the first clamping claws and the second clamping claws are fully stretched out, they clamp The top surface of the holding claw forms an inverted figure-eight.

根据本发明进一步提供的车辆搬运装置,其中所述的夹持爪上设置有若干可转动的滚筒,并且各滚筒的上沿形成所述夹持爪的上顶面。According to the vehicle handling device further provided by the present invention, the clamping claw is provided with several rotatable rollers, and the upper edge of each roller forms the upper top surface of the clamping claw.

根据本发明进一步提供的车辆搬运装置,其中所述的传动齿轮包括第一传动齿轮、第二传动齿轮和第三传动齿轮,所述夹持电机传动第一传动齿轮,所述第一传动齿轮传动第二传动齿轮,所述第二传动齿轮传动第三传动齿轮,所述第三传动齿轮传动第一夹持齿轮。According to the vehicle handling device further provided by the present invention, wherein the transmission gear includes a first transmission gear, a second transmission gear and a third transmission gear, the clamping motor drives the first transmission gear, and the first transmission gear The second transmission gear, the second transmission gear transmits the third transmission gear, and the third transmission gear transmits the first clamping gear.

根据本发明进一步提供的车辆搬运装置,其中所述第二传动齿轮包括同轴安装并同步转动的大齿轮和小齿轮,其中大齿轮和小齿轮分别与第一传动齿轮和第三传动齿轮啮合;并且在同一小车左右对称安装的两套夹持集成部中,左右两第二传动齿轮的大齿轮相互啮合。According to the vehicle handling device further provided by the present invention, wherein the second transmission gear includes a bull gear and a pinion coaxially installed and rotated synchronously, wherein the bull gear and the pinion mesh with the first transmission gear and the third transmission gear respectively; And in the two sets of clamping integrated parts that are symmetrically installed on the left and right sides of the same trolley, the large gears of the left and right two second transmission gears mesh with each other.

根据本发明进一步提供的车辆搬运装置,其中还包括设置于夹持抬升机构下侧的夹持爪摆动控位机构,该夹持爪摆动控位机构包括:i)与第一夹持齿轮同轴设置并与第一夹持爪同步转动的摆杆,和ii)环绕设置于摆杆旋转区域的摆杆转角读识器;所述伸缩调节装置通过电信号与摆杆转角读识器连接并控制摆杆的旋转角度。According to the vehicle handling device further provided by the present invention, it also includes a clamping claw swing position control mechanism arranged on the lower side of the clamping and lifting mechanism, and the clamping claw swing position control mechanism includes: i) coaxial with the first clamping gear A swing rod arranged and rotated synchronously with the first clamping claw, and ii) a swing rod rotation angle reader arranged around the rotation area of the swing rod; the telescopic adjustment device is connected and controlled by an electric signal The rotation angle of the pendulum.

根据本发明进一步提供的车辆搬运装置,其中所述两个小车是以靠近第二车轴一端相互连接。According to the vehicle handling device further provided by the present invention, the two trolleys are connected to each other at an end close to the second axle.

根据本发明进一步提供的车辆搬运装置,其中所述的伸缩调节装置可以选自电气控制装置、机械控制装置或机电控制装置。所述伸缩调节装置优选机电控制装置。According to the vehicle handling device further provided by the present invention, wherein the telescopic adjustment device can be selected from an electrical control device, a mechanical control device or an electromechanical control device. The telescopic adjustment device is preferably an electromechanical control device.

根据本发明进一步提供的车辆搬运装置,其中每一小车包括两对导向轮,分别设置于所述行走机构的前部和后部。According to the vehicle handling device further provided by the present invention, each trolley includes two pairs of guide wheels, which are respectively arranged at the front and rear of the traveling mechanism.

根据本发明进一步提供的车辆搬运装置,其中每一小车的前后分别设置有可限制两小车最近距离的防护罩板。According to the vehicle handling device further provided by the present invention, the front and rear of each trolley are respectively provided with protective cover plates which can limit the shortest distance between the two trolleys.

本发明提供的车辆搬运装置占用空间少,特别适用于立体车库的车辆搬运装置,小车动力为机电方式而不是液压方式,运动机构的在运行范围内占用空间减少,并减少了对作业空间的长度需求,从而缩短了本发明车辆搬运装置的整体长度,有效的节省了转运机运行巷道的宽度空间,整个搬运小车为一个整体,这样制造安装方便。同时不受现有液压油管长度的限制,可以实现重列式车库的取车。The vehicle handling device provided by the present invention occupies less space, and is especially suitable for the vehicle handling device of the three-dimensional garage. The power of the trolley is electromechanical instead of hydraulic, and the movement mechanism occupies less space within the operating range, and reduces the length of the working space. demand, thereby shortening the overall length of the vehicle handling device of the present invention, effectively saving the width space of the transfer machine running roadway, and the whole handling trolley is a whole, which is convenient for manufacture and installation. At the same time, it is not limited by the length of the existing hydraulic oil pipe, and it can realize the pick-up of the car in the heavy row garage.

附图说明 Description of drawings

图1显示了本发明车辆搬运装置的主视示意图;Fig. 1 has shown the schematic front view of vehicle handling device of the present invention;

图2显示了本发明车辆搬运装置的俯视示意图,其中两小车的夹持爪呈收缩状态;Fig. 2 has shown the schematic top view of the vehicle handling device of the present invention, wherein the clamping claws of the two trolleys are contracted;

图3显示了本发明车辆搬运装置的俯视示意图,其中两小车的夹持爪呈伸展状态;Fig. 3 has shown the schematic top view of the vehicle handling device of the present invention, wherein the clamping claws of the two trolleys are in an extended state;

图4显示了本发明车辆搬运装置从图3所示左侧视向的侧视示意图,其中示出了夹持的待搬运车辆的轮胎;FIG. 4 shows a schematic side view of the vehicle handling device of the present invention viewed from the left side shown in FIG. 3 , wherein the clamped tires of the vehicle to be transported are shown;

图5显示了单个小车夹持抬升机构中各部件的传动原理图;Figure 5 shows the schematic diagram of the transmission of each component in the clamping and lifting mechanism of a single trolley;

图6显示了图1中A部放大示意图,即夹持爪摆动控位机构的放大示意图。FIG. 6 shows an enlarged schematic diagram of part A in FIG. 1 , that is, an enlarged schematic diagram of the clamping claw swing position control mechanism.

其中,主要附图符号说明如下:Among them, the main drawings and symbols are explained as follows:

1、小车               124、第二夹持齿轮1. Trolley 124. The second clamping gear

11、行走机构          125、第一夹持爪11. Traveling mechanism 125. The first clamping claw

111、行走驱动电机     126、第二夹持爪111. Travel drive motor 126. Second clamping claw

112、第一车轴         127、滚筒112. The first axle 127. Roller

113、行走主动轮       13、导向轮113. Travel driving wheel 13. Guide wheel

114、第二车轴         14、侧导轨114. Second axle 14. Side guide rail

115、行走从动轮       2、伸缩调节装置115. Walking driven wheel 2. Telescopic adjustment device

12、夹持抬升机构      3、待搬运车辆的轮胎12. Clamping and lifting mechanism 3. Tires of vehicles to be transported

121、夹持电机         4、夹持爪摆动控位机构121. Clamping motor 4. Clamping claw swing position control mechanism

122、传动齿轮         41、摆杆122. Transmission gear 41. Swing rod

1221、第一传动齿轮    42、摆杆转角读识器1221. The first transmission gear 42. The pendulum angle reader

1222、第二传动齿轮    5、防护罩板1222. Second transmission gear 5. Protective cover plate

1223、第三传动齿轮    6、车架1223. Third transmission gear 6. Frame

123、第一夹持齿轮     7、车架地板123. The first clamping gear 7. The frame floor

具体实施方式 Detailed ways

以下参考附图通过具体实施方式进一步说明本发明,目的是为了便于理解本发明而作说明之用,并非用于限制本发明。The present invention will be further described below through specific embodiments with reference to the accompanying drawings, the purpose of which is to facilitate the understanding of the present invention for illustration purposes and not to limit the present invention.

本发明的构思是,通过电气控制元件来控制两个小车的运行,从而提供一种车辆搬运装置,特别是适合立体车库中用于搬运车辆的车辆搬运装置。The idea of the present invention is to control the operation of the two trolleys through the electric control element, thereby providing a vehicle handling device, especially a vehicle handling device suitable for moving vehicles in a three-dimensional garage.

在本发明提供的车辆搬运装置的第一个具体实施例中,所述车辆搬运装置,包括前后连接的两个小车1,所述两个小车1的中心距可通过设置在两小车的车架6之间的伸缩调节装置2进行调节,所述两个小车1分别包括:车架6、设置于该车架6上的行走机构11、设置于该车架6上的夹持抬升机构12、和对称设置于该车架6左右两侧的导向轮13,其中,In the first specific embodiment of the vehicle handling device provided by the present invention, the vehicle handling device includes two trolleys 1 connected front and rear, and the center distance between the two trolleys 1 can be set on the frame of the two trolleys. The telescopic adjustment device 2 between 6 is adjusted, and the two trolleys 1 respectively include: a vehicle frame 6, a running mechanism 11 arranged on the vehicle frame 6, a clamping and lifting mechanism 12 arranged on the vehicle frame 6, And the guide wheels 13 that are symmetrically arranged on the left and right sides of the vehicle frame 6, wherein,

a)所述的行走机构11包括:i)通过行走驱动电机111驱动的、并可旋转地支撑在该车架6上的第一车轴112,ii)对称设置于该第一车轴112左右两端的两个行走主动轮113,iii)与所述第一车轴112组成小车的、并可旋转地支撑在该车架6上的第二车轴114,和iv)对称设置于该第二车轴114两端的两个行走从动轮115;a) The traveling mechanism 11 includes: i) a first axle 112 driven by a traveling drive motor 111 and rotatably supported on the frame 6; ii) symmetrically arranged at the left and right ends of the first axle 112 Two walking driving wheels 113, iii) a second axle 114 that forms a trolley with the first axle 112 and is rotatably supported on the frame 6, and iv) symmetrically arranged at both ends of the second axle 114 Two walking driven wheels 115;

b)所述的夹持抬升机构12包括在所述小车1车架6的中部车架地板7下左右对称设置的两套夹持集成部,其各自包括:i)夹持电机121,ii)由所述夹持电机121传动的传动齿轮122,iii)由所述传动齿轮122传动的第一夹持齿轮123,iv)第二夹持齿轮124,其与所述第一夹持齿轮123相同并由第一夹持齿轮123传动,且在前后方向与所述第一夹持齿轮123对称安装,和v)在前后方向分别对称地设置于所述第一夹持齿轮123和第二夹持齿轮124上的第一夹持爪125和第二夹持爪126;b) The clamping and lifting mechanism 12 includes two sets of clamping integrated parts symmetrically arranged under the middle frame floor 7 of the trolley 1 frame 6, each of which includes: i) a clamping motor 121, ii) The transmission gear 122 driven by the clamping motor 121, iii) the first clamping gear 123 transmitted by the transmission gear 122, iv) the second clamping gear 124, which is identical to the first clamping gear 123 and is driven by the first clamping gear 123, and installed symmetrically with the first clamping gear 123 in the front-rear direction, and v) symmetrically arranged on the first clamping gear 123 and the second clamping gear 123 respectively in the front-rear direction The first clamping claw 125 and the second clamping claw 126 on the gear 124;

c)所述第一夹持爪125和第二夹持爪126分别由所述第一夹持齿轮123和第二夹持齿轮124带动作向小车外侧旋转伸出或缩回的转动;c) The first clamping claw 125 and the second clamping claw 126 are respectively driven by the first clamping gear 123 and the second clamping gear 124 to rotate and extend or retract to the outside of the trolley;

d)所述左右两侧的导向轮13的轴心与地面垂直,并且该左右两侧的导向轮13的外沿分别与设置在该导向轮13左右两侧的侧导轨14的内沿抵靠。d) The axes of the guide wheels 13 on the left and right sides are perpendicular to the ground, and the outer edges of the guide wheels 13 on the left and right sides respectively abut against the inner edges of the side guide rails 14 arranged on the left and right sides of the guide wheels 13 .

在上述车辆搬运装置的进一步实施中,所述的第一夹持爪125和第二夹持爪126的伸展方向与前后两小车形成的轴线之间呈缩回时的约0度到伸出至小车外侧时的约90度的角度。即第一夹持爪125和第二夹持爪126在完全伸展状态下向外平行伸展,完全缩回时收缩到小车的下方,有利于小车在工作状态与非工作状态的切换。In a further implementation of the above-mentioned vehicle handling device, the extension direction of the first clamping claw 125 and the second clamping claw 126 and the axis formed by the front and rear two trolleys are from about 0 degrees when retracted to extending to An angle of about 90 degrees when the car is outside. That is to say, the first clamping claw 125 and the second clamping claw 126 stretch outwards in parallel in the fully extended state, and shrink to the bottom of the trolley when fully retracted, which is beneficial for switching the trolley between the working state and the non-working state.

在上述车辆搬运装置的进一步实施中,所述的夹持爪呈上顶面倾斜的板状结构,并且所述第一夹持爪125和第二夹持爪126在完全向外伸出时两夹持爪顶面构成倒八字形。相邻的两个第一夹持爪125和第二夹持爪126在完全向外伸出时两夹持爪顶面构成倒八字形,此一设计有利于将待搬运车辆的轮胎3托起并稳定汽车。In a further implementation of the above-mentioned vehicle handling device, the clamping claws have a plate-shaped structure with an inclined upper surface, and the first clamping claws 125 and the second clamping claws 126 are two sides when they are fully extended outwards. The top surface of the clamping claw forms an inverted figure-eight shape. When the two adjacent first clamping claws 125 and second clamping claws 126 are fully stretched out, the top surfaces of the two clamping claws form an inverted figure-eight shape. This design is beneficial to hold up the tire 3 of the vehicle to be transported. and stabilize the car.

在上述车辆搬运装置的进一步实施中,所述的夹持爪上设置有若干可转动的滚筒127,并且各滚筒127的上沿形成所述夹持爪的上顶面。设置滚筒对于相邻两夹持爪在向外伸出并夹持搬运车辆的轮胎时有利于减小与轮胎之间的摩擦并将待搬运车辆托起。In a further implementation of the above vehicle handling device, the clamping claw is provided with several rotatable rollers 127, and the upper edge of each roller 127 forms the upper top surface of the clamping claw. The arrangement of the roller is beneficial to reduce the friction between the roller and the tire when the adjacent two clamping claws protrude outward and clamp the tire of the transport vehicle and lift the vehicle to be transported.

在上述车辆搬运装置的进一步实施中,所述的传动齿轮122包括第一传动齿轮1221、第二传动齿轮1222和第三传动齿轮1223,所述夹持电机121传动第一传动齿轮1221,所述第一传动齿轮1221传动第二传动齿轮1222,所述第二传动齿轮1222传动第三传动齿轮1223,所述第三传动齿轮1223传动第一夹持齿轮123。In a further implementation of the above-mentioned vehicle handling device, the transmission gear 122 includes a first transmission gear 1221, a second transmission gear 1222 and a third transmission gear 1223, the clamping motor 121 transmits the first transmission gear 1221, and the The first transmission gear 1221 transmits the second transmission gear 1222 , the second transmission gear 1222 transmits the third transmission gear 1223 , and the third transmission gear 1223 transmits the first clamping gear 123 .

在上述车辆搬运装置的进一步实施中,所述的第二传动齿轮1222包括同轴安装并同步转动的大齿轮和小齿轮,其中大齿轮和小齿轮分别与第一传动齿轮1221和第三传动齿轮1223啮合;并且在同一小车1左右对称安装的两套夹持集成部中,左右两第二传动齿轮1222的大齿轮相互啮合。左右两第二传动齿轮1222的大齿轮相互啮合的好处是可以使同一小车左右两对夹持爪同步运动。In a further implementation of the above-mentioned vehicle handling device, the second transmission gear 1222 includes a bull gear and a pinion coaxially installed and rotated synchronously, wherein the bull gear and the pinion are respectively connected to the first transmission gear 1221 and the third transmission gear 1223 meshing; and in the two sets of clamping integrated parts that are symmetrically installed on the left and right sides of the same dolly 1, the large gears of the left and right two second transmission gears 1222 are meshed with each other. The benefit of the meshing of the large gears of the left and right second transmission gears 1222 is that the left and right pairs of clamping claws of the same trolley can move synchronously.

在上述车辆搬运装置的进一步实施中,还包括设置于夹持抬升机构12下侧的夹持爪摆动控位机构4,该夹持爪摆动控位机构4包括:i)与第一夹持齿轮123同轴设置并与第一夹持爪125同步转动的摆杆41,和ii)环绕设置于摆杆41旋转区域的摆杆转角读识器42;所述伸缩调节装置2通过电信号与摆杆转角读识器42连接并控制摆杆41的旋转角度。控制了摆杆41的旋转角度同样就控制了夹持爪的旋转角度,使夹持爪在夹持不同型号与轴距的待搬运车辆的情况下,可以根据具体情况与待搬运车辆的轮胎3良好配合。In the further implementation of the above-mentioned vehicle handling device, it also includes a clamping claw swing positioning mechanism 4 arranged on the lower side of the clamping lifting mechanism 12, and the clamping claw swing positioning mechanism 4 includes: i) and the first clamping gear 123 is coaxially arranged with the swing rod 41 that rotates synchronously with the first clamping claw 125, and ii) surrounds the swing rod angle reader 42 that is arranged in the rotation area of the swing rod 41; The rod rotation angle reader 42 is connected to and controls the rotation angle of the swing rod 41 . Controlling the angle of rotation of the fork 41 also controls the angle of rotation of the clamping claws, so that the clamping claws can match the tires of the vehicle to be transported according to the specific conditions when clamping different models and wheelbases of the vehicle to be transported. Good fit.

在上述车辆搬运装置的进一步实施中,所述的两个小车1是以靠近第二车轴114一端相互连接。在本发明进一步优选的实施方案中,两个小车1是相互对称地连接的,即前后对称安装的两个小车1的所述两第一车轴112分别位于两小车构成的本发明车辆搬运装置的前部和后部,所述第二车轴114分别位于两小车构成的本发明车辆搬运装置的中部。将两第一车轴112设置于两小车构成的本发明车辆搬运装置的前部或后部可以更有益地安装行走驱动电机111等设备,而第二车轴114安装于两小车之间,此第二车轴114带动的是不需要动力且结构相对简单的行走从动轮115,由此两小车之间可以留出足够的空间来安排其它部件例如伸缩调节装置2。此外,本发明的车辆搬运装置可以作向前或向后的运动,而行走主动轮113设置于本发明车辆搬运装置的前部和后部,即两小车的前部和后部,可以为本发明车辆搬运装置提供更强劲的动力。并且两小车可以为同型号的小车,只是在两小车安装时前后对称地安装即可,即本发明基本上只要生产一种小车即可组装出本发明的车辆搬运装置,降低了生产成本。In a further implementation of the above-mentioned vehicle handling device, the two trolleys 1 are connected to each other at an end close to the second axle 114 . In a further preferred embodiment of the present invention, the two trolleys 1 are connected symmetrically to each other, that is, the two first axles 112 of the two trolleys 1 installed symmetrically front and back are located at the vehicle handling device of the present invention formed by the two trolleys respectively. The front part and the rear part, the second axle shaft 114 is respectively located in the middle part of the vehicle handling device of the present invention constituted by two trolleys. Two first axle shafts 112 are arranged on the front portion or the rear portion of the vehicle handling device of the present invention that two dollies constitute and equipment such as walking drive motor 111 can be installed more beneficially, and second axle shaft 114 is installed between two dollies, this second What the axle shaft 114 drives is the walking driven wheel 115 that does not need power and has a relatively simple structure, so that enough space can be reserved between the two trolleys to arrange other components such as the telescopic adjustment device 2 . In addition, the vehicle handling device of the present invention can move forward or backward, and the driving wheel 113 is arranged on the front and rear parts of the vehicle handling device of the present invention, that is, the front and rear parts of the two trolleys, which can be Invention of vehicle handling devices to provide greater power. And the two trolleys can be the trolleys of the same model, but they can be installed symmetrically before and after the two trolleys are installed, that is, the present invention basically only needs to produce a kind of trolley to assemble the vehicle handling device of the present invention, which reduces the production cost.

在上述车辆搬运装置的进一步实施中,所述的伸缩调节装置2是电气控制装置。在上述车辆搬运装置的进一步实施中,所述的伸缩调节装置2是机械控制装置。本领域技术人员清楚,此处所涉及的电气控制装置或机械控制装置可以采用本领域技术人员熟知的各种形式,只要其能满足调节并控制两小车中心距的目的即可。例如可利用两个车体之间装设电动调节丝杆达到前后距离调节,也可利用齿轮齿条机构达到调距目的。In a further implementation of the above-mentioned vehicle handling device, the telescopic adjusting device 2 is an electrical control device. In a further implementation of the above-mentioned vehicle handling device, the telescopic adjustment device 2 is a mechanical control device. It is clear to those skilled in the art that the electrical control device or mechanical control device involved here can adopt various forms known to those skilled in the art, as long as it can meet the purpose of adjusting and controlling the center distance between the two trolleys. For example, electric adjustment screw rods can be installed between the two car bodies to achieve front and rear distance adjustment, and rack and pinion mechanisms can also be used to achieve distance adjustment purposes.

在上述车辆搬运装置的进一步实施中,所述的每一小车包括两对导向轮13,分别设置于所述行走机构11的前部和后部。In a further implementation of the above-mentioned vehicle handling device, each trolley includes two pairs of guide wheels 13, which are respectively arranged at the front and rear of the traveling mechanism 11.

在上述车辆搬运装置的进一步实施中,所述的每一小车的前后分别设置有可限制两小车最近距离的防护罩板5。本领域技术人员清楚,此防护罩板还可以有保护小车及装饰作用,并可限制两小车最近距离。In a further implementation of the above-mentioned vehicle handling device, the front and back of each trolley are respectively provided with protective cover plates 5 that can limit the shortest distance between the two trolleys. It is clear to those skilled in the art that this protective cover plate can also protect the dolly and decorate, and can limit the shortest distance between the two dollies.

具体参照附图说明本发明的最佳实施方式。图1显示了本发明车辆搬运装置的主视示意图;为了说明的方便,以图1中的左侧为本发明车辆搬运装置的前部(反之亦可)。图1中包括前后对称安装的两辆小车1,图1中显示了每一小车的夹持抬升机构以及其中A部所示的夹持爪摆动控位机构4。在左侧小车的前部设置有行走主动轮113,在行走主动轮113的左侧还设置导向轮13;在左侧小车的后部设置有行走从动轮115,同时示出了安装该行走从动轮115的第二车轴114以及在行走从动轮115右侧设置的导向轮13。右侧小车与左侧小车对称安装。由于两小车的行走主动轮113设置于本发明车辆搬运装置的前部和后部,有利于该车辆搬运装置的前后方向自由行驶。The best mode of carrying out the present invention will be described in detail with reference to the accompanying drawings. Fig. 1 shows the schematic front view of the vehicle handling device of the present invention; for the convenience of illustration, the left side in Fig. 1 is the front part of the vehicle handling device of the present invention (and vice versa). Figure 1 includes two trolleys 1 symmetrically installed front and rear, and Fig. 1 shows the clamping and lifting mechanism of each trolley and the clamping claw swing position control mechanism 4 shown in part A. The front portion of the left side car is provided with a walking driving wheel 113, and the left side of the walking driving wheel 113 is also provided with a guide wheel 13; The second axle shaft 114 of the driving wheel 115 and the guide wheel 13 arranged on the right side of the traveling driven wheel 115 . The right dolly is installed symmetrically with the left dolly. Because the driving wheels 113 of the two trolleys are arranged on the front and the rear of the vehicle handling device of the present invention, it is beneficial for the front and rear directions of the vehicle handling device to travel freely.

图2显示了本发明图1所示车辆搬运装置的俯视示意图,其中两小车的夹持爪呈收缩状态。图2显示了左侧小车包含的部分机构部件,其中包括行走驱动电机111、第一车轴112、行走主动轮113、收缩状态的第一夹持爪125和第二夹持爪126、第二车轴114、行走从动轮115以及导向轮子13;同时还示出了设置于两小车之间的伸缩调节装置2(电气控制装置)以及设置于小车前后的防护罩板5;图中还显示了所述的导向轮13的轴心与地面垂直,并且该左右两侧的导向轮13的外沿分别与设置在该导向轮13左右两侧的侧导轨14的内沿抵靠,即该侧导轨14可以设置在地面上,或者本发明车辆搬运装置需要途径的其它地方(例如堆垛机)。另外,伸缩调节装置2(电气控制装置)可控制调节两辆小车的相对距离,同时两辆小车的防护罩板5也可限制两小车的最近距离。Fig. 2 shows a schematic top view of the vehicle handling device shown in Fig. 1 of the present invention, wherein the clamping claws of the two trolleys are contracted. Fig. 2 has shown the part mechanism parts that the trolley on the left side comprises, comprises traveling drive motor 111, first axle shaft 112, traveling driving wheel 113, the first clamping jaw 125 and the second clamping jaw 126 of retracted state, the second axle 114, walking driven wheel 115 and guide wheel 13; Also shown is arranged on telescoping adjusting device 2 (electrical control device) between two trolleys and the shield plate 5 that is arranged on front and back of trolley simultaneously; The figure also shows described The axis center of the guide wheel 13 is perpendicular to the ground, and the outer edges of the guide wheels 13 on the left and right sides respectively abut against the inner edges of the side guide rails 14 arranged on the left and right sides of the guide wheel 13, that is, the side guide rails 14 can It is arranged on the ground, or other places where the vehicle handling device of the present invention needs to pass (such as a stacker). In addition, the telescopic adjusting device 2 (electrical control device) can control and adjust the relative distance between the two dollies, and the protective cover plates 5 of the two dollies can also limit the shortest distance between the two dollies.

与图2类似地,图3显示了本发明车辆搬运装置的俯视示意图,其中两小车的夹持爪呈伸展状态。从图3可见,同一小车同侧的两个夹持爪(即第一夹持爪125和第二夹持爪126)在前后方向对称安装;同一小侧左右两侧的两对夹持爪(即图3中每一小车上部所示的第一夹持爪125和第二夹持爪126以及下部所示的第一夹持爪125和第二夹持爪126)在左右方向对称安装;并且前后两小车中各自的两对夹持爪在本发明车辆搬运装置的前后方向对称安装。Similar to Fig. 2, Fig. 3 shows a schematic top view of the vehicle handling device of the present invention, wherein the clamping claws of the two trolleys are in an extended state. As can be seen from Fig. 3, the two clamping claws (i.e. the first clamping claw 125 and the second clamping claw 126) on the same side of the same trolley are installed symmetrically in the front and rear directions; two pairs of clamping claws on the left and right sides of the same small side ( That is, the first clamping claw 125 and the second clamping claw 126 shown in the top of each dolly in Fig. 3 and the first clamping claw 125 and the second clamping claw 126 shown in the bottom) are installed symmetrically in the left-right direction; and Respective two pairs of clamping claws are installed symmetrically in the front and rear direction of the vehicle handling device of the present invention in the front and rear two dollies.

图4显示了本发明车辆搬运装置从图3所示左侧视向的侧视示意图,其中示出了夹持的待搬运车辆的轮胎3(其中左右两个轮胎呈剖切状态)。图中还示出了行走机构11和设置于该行走机构11上部的夹持抬升机构12。同时图4中还示出了所述的导向轮13的轴心与地面垂直,并且该左右两侧的导向轮13的外沿分别与设置在该导向轮13左右两侧的侧导轨14的内沿抵靠。Fig. 4 shows a schematic side view of the vehicle handling device of the present invention viewed from the left side shown in Fig. 3, wherein the clamped tire 3 of the vehicle to be transported is shown (wherein the left and right tires are cut). Also shown in the figure is the traveling mechanism 11 and the clamping and lifting mechanism 12 arranged on the upper part of the traveling mechanism 11 . Simultaneously Fig. 4 also shows that the axle center of described guide wheel 13 is perpendicular to the ground, and the outer edges of the guide wheels 13 on the left and right sides are respectively connected with the inner sides of the side guide rails 14 arranged on the left and right sides of the guide wheel 13. Along the abutment.

图5显示了单个小车夹持抬升机构中各部件的传动原理图。每个小车包括左右两套对称的传动系统,以图5中下方的一套传动系统说明,包括夹持电机121,其依次传动第一传动齿轮1221、第二传动齿轮1222、第三传动齿轮1223、第一夹持齿轮123、第二夹持齿轮124,其中第一夹持齿轮123和第二夹持齿轮124为相同规格的两齿轮。在第一夹持齿轮123和第二夹持齿轮124上分别对称安装第一夹持爪125和第二夹持爪126。第二传动齿轮1222包括同轴安装并同步转动的大齿轮和小齿轮,其中大齿轮和小齿轮分别与第一传动齿轮1221和第三传动齿轮1223啮合。图中还示出了在同一小车1左右对称安装的两套夹持集成部中,左右两第二传动齿轮1222的大齿轮相互啮合的安装状态。左右两第二传动齿轮1222的大齿轮相互啮合的好处是可以使同一小车左右两对夹持爪同步运动。图5中上方的一套传动系统与下方的一套传动系统对称安装。Figure 5 shows the schematic diagram of the transmission of each component in the clamping and lifting mechanism of a single trolley. Each trolley includes two sets of symmetrical transmission systems on the left and right, illustrated by a set of transmission systems at the bottom of Figure 5, including a clamping motor 121, which sequentially drives the first transmission gear 1221, the second transmission gear 1222, and the third transmission gear 1223 , the first clamping gear 123 and the second clamping gear 124, wherein the first clamping gear 123 and the second clamping gear 124 are two gears of the same specification. A first clamping claw 125 and a second clamping claw 126 are respectively symmetrically installed on the first clamping gear 123 and the second clamping gear 124 . The second transmission gear 1222 includes a bull gear and a pinion coaxially installed and rotating synchronously, wherein the bull gear and the pinion mesh with the first transmission gear 1221 and the third transmission gear 1223 respectively. The figure also shows the installation state of the large gears of the left and right second transmission gears 1222 meshing with each other in the two sets of clamping integrated parts symmetrically installed on the left and right of the same trolley 1 . The benefit of the meshing of the large gears of the left and right second transmission gears 1222 is that the left and right pairs of clamping claws of the same trolley can move synchronously. In Fig. 5, the upper set of transmission system and the lower set of transmission system are installed symmetrically.

图6显示了图1中A部放大示意图,即设置于夹持抬升机构12下侧的夹持爪摆动控位机构4的放大示意图。其中包括摆杆41和摆杆转角读识器42。摆杆41与第一夹持齿轮123同轴设置并与第一夹持爪125同步转动,摆杆转角读识器42环绕设置于摆杆41旋转区域。伸缩调节装置2(电气控制装置)可通过电信号与摆杆转角读识器42连接并控制摆杆41的旋转角度。图中还示出了夹持爪中的设置的滚筒127。该滚筒127的上沿构成夹持爪的上顶面。并且图6显示了夹持爪呈倾斜的状态设置。FIG. 6 shows an enlarged schematic diagram of part A in FIG. 1 , that is, an enlarged schematic diagram of the clamping claw swing position control mechanism 4 disposed on the lower side of the clamping and lifting mechanism 12 . Including fork 41 and fork angle reader 42 wherein. The swing rod 41 is arranged coaxially with the first clamping gear 123 and rotates synchronously with the first clamping claw 125 . The swing rod rotation angle reader 42 is arranged around the rotation area of the swing rod 41 . The telescoping adjusting device 2 (electrical control device) can be connected with the pendulum angle reader 42 through an electric signal and control the rotation angle of the pendulum 41 . Also shown is the arrangement of rollers 127 in the clamping jaws. The upper edge of the roller 127 constitutes the upper top surface of the clamping claw. And Fig. 6 has shown that the clamping claw is set in an inclined state.

本发明是通过一些实施例进行描述的,本领域技术人员知悉的,在不脱离本发明的精神和范围的情况下,可以对这些特征和实施例进行各种改变或等效替换。另外,在本发明的教导下,可以对这些特征和实施例进行修改以适应具体的情况及材料而不会脱离本发明的精神和范围。因此,本发明不受此处所公开的具体实施例的限制,所有落入本申请的权利要求范围内的实施例都属于本发明的保护范围。The present invention is described through some embodiments, those skilled in the art know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, the features and examples may be modified to adapt a particular situation and material to the teachings of the invention without departing from the spirit and scope of the invention. Therefore, the present invention is not limited by the specific embodiments disclosed here, and all embodiments falling within the scope of the claims of the present application belong to the protection scope of the present invention.

Claims (10)

1、一种车辆搬运装置,其特征在于,包括前后连接的两个小车,所述两个小车的中心距可通过设置在两小车的车架之间的伸缩调节装置进行调节,所述两个小车分别包括:车架、设置于该车架上的行走机构、设置于该车架上的夹持抬升机构、和对称设置于该车架左右两侧的导向轮,其中,1. A vehicle handling device, characterized in that it comprises two dollies connected front and back, the center distance of the two dollies can be adjusted by a telescopic adjustment device arranged between the frames of the two dollies, the two dollies The trolley respectively includes: a frame, a running mechanism arranged on the frame, a clamping and lifting mechanism arranged on the frame, and guide wheels symmetrically arranged on the left and right sides of the frame, wherein, a)所述的行走机构包括:i)通过行走驱动电机驱动的、并可旋转地支撑在该车架上的第一车轴,ii)对称设置于该第一车轴左右两端的两个行走主动轮,iii)与所述第一车轴组成小车的、并可旋转地支撑在该车架上的第二车轴,和iv)对称设置于该第二车轴两端的两个行走从动轮;a) The traveling mechanism includes: i) a first axle driven by a traveling drive motor and rotatably supported on the frame; ii) two driving wheels symmetrically arranged at the left and right ends of the first axle , iii) a second axle that forms a trolley with the first axle and is rotatably supported on the vehicle frame, and iv) two walking driven wheels that are symmetrically arranged at both ends of the second axle; b)所述的夹持抬升机构包括在所述小车车架的中部车架地板下左右对称设置的两套夹持集成部,其各自包括:i)夹持电机,ii)由所述夹持电机传动的传动齿轮,iii)由所述传动齿轮传动的第一夹持齿轮,iv)第二夹持齿轮,其与所述第一夹持齿轮相同并由第一夹持齿轮传动,且在前后方向与所述第一夹持齿轮对称安装,和v)在前后方向分别对称地设置于所述第一夹持齿轮和第二夹持齿轮上的第一夹持爪和第二夹持爪;b) The clamping and lifting mechanism includes two sets of clamping integrated parts symmetrically arranged left and right under the middle frame floor of the trolley frame, each of which includes: i) a clamping motor, ii) a drive gear driven by the motor, iii) a first clamping gear driven by said drive gear, iv) a second clamping gear identical to said first clamping gear and driven by the first clamping gear, and at The front-rear direction is symmetrically installed with the first clamping gear, and v) the first clamping claw and the second clamping claw are respectively symmetrically arranged on the first clamping gear and the second clamping gear in the front-rear direction ; c)所述第一夹持爪和第二夹持爪分别由所述第一夹持齿轮和第二夹持齿轮带动作向小车外侧旋转伸出或缩回的转动;c) The first clamping claw and the second clamping claw are respectively driven by the first clamping gear and the second clamping gear to rotate and extend or retract to the outside of the trolley; d)所述左右两侧的导向轮的轴心与地面垂直,并且该左右两侧的导向轮的外沿分别与设置在该导向轮左右两侧的侧导轨的内沿抵靠。d) The axis centers of the guide wheels on the left and right sides are perpendicular to the ground, and the outer edges of the guide wheels on the left and right sides respectively abut against the inner edges of the side guide rails arranged on the left and right sides of the guide wheels. 2、根据权利要求1的车辆搬运装置,其特征在于,其中所述的所述第一夹持爪和第二夹持爪的伸展方向与前后两小车形成的轴线之间呈缩回时的约0度到伸出至小车外侧时的约90度的角度。2. The vehicle handling device according to claim 1, wherein the extension direction of the first clamping claw and the second clamping claw and the axis formed by the two front and rear trolleys are about 100° apart when retracted. 0 degrees to an angle of about 90 degrees when extended to the outside of the trolley. 3、根据权利要求1的车辆搬运装置,其特征在于,其中所述的夹持爪呈上顶面倾斜的板状结构,并且所述第一夹持爪和第二夹持爪在完全向外伸出时两夹持爪顶面构成倒八字形。3. The vehicle handling device according to claim 1, wherein said clamping claws are in the shape of a plate with an inclined upper surface, and said first clamping claws and second clamping claws are completely outward. When stretching out, the top surfaces of the two clamping claws form an inverted figure-eight shape. 4、根据权利要求3的车辆搬运装置,其特征在于,其中所述的夹持爪上设置有若干可转动的滚桶,并且各滚桶的上沿形成所述夹持爪的上顶面。4. The vehicle handling device according to claim 3, wherein said clamping claw is provided with several rotatable rollers, and the upper edge of each roller forms the upper top surface of said clamping claw. 5、根据权利要求1的车辆搬运装置,其特征在于,其中所述的传动齿轮包括第一传动齿轮、第二传动齿轮和第三传动齿轮,所述夹持电机传动第一传动齿轮,所述第一传动齿轮传动第二传动齿轮,所述第二传动齿轮传动第三传动齿轮,所述第三传动齿轮传动第一夹持齿轮。5. The vehicle handling device according to claim 1, wherein said transmission gear comprises a first transmission gear, a second transmission gear and a third transmission gear, said clamping motor drives the first transmission gear, said The first transmission gear drives the second transmission gear, the second transmission gear transmits the third transmission gear, and the third transmission gear transmits the first clamping gear. 6、根据权利要求5的车辆搬运装置,其特征在于,其中所述第二传动齿轮包括同轴安装并同步转动的大齿轮和小齿轮,其中大齿轮和小齿轮分别与第一传动齿轮和第三传动齿轮啮合;并且在同一小车左右对称安装的两套夹持集成部中,左右两第二传动齿轮的大齿轮相互啮合。6. The vehicle handling device according to claim 5, wherein said second transmission gear comprises a bull gear and a pinion coaxially mounted and rotated synchronously, wherein the bull gear and the pinion are respectively connected to the first transmission gear and the second transmission gear. The three transmission gears mesh; and in the two sets of clamping integrated parts symmetrically installed on the left and right sides of the same trolley, the large gears of the left and right second transmission gears mesh with each other. 7、根据权利要求1的车辆搬运装置,其特征在于,其中还包括设置于夹持抬升机构下侧的夹持爪摆动控位机构,该夹持爪摆动控位机构包括:i)与第一夹持齿轮同轴设置并与第一夹持爪同步转动的摆杆,和ii)环绕设置于摆杆旋转区域的摆杆转角读识器;所述伸缩调节装置通过电信号与摆杆转角读识器连接并控制摆杆的旋转角度。7. The vehicle handling device according to claim 1, characterized in that it further comprises a clamping claw swing positioning mechanism arranged on the lower side of the clamping lifting mechanism, and the clamping claw swing positioning mechanism includes: i) and the first The clamping gear is arranged coaxially with the swing rod which rotates synchronously with the first clamping claw, and ii) the swing rod rotation angle reader which is arranged around the rotation area of the swing rod; The sensor is connected and controls the rotation angle of the pendulum. 8、根据权利要求1的车辆搬运装置,其特征在于:i)所述两个小车是以靠近第二车轴一端相互连接;和/或ii)所述的伸缩调节装置选自电气控制装置、机械控制装置或机电控制装置。8. The vehicle handling device according to claim 1, characterized in that: i) said two trolleys are connected to each other at an end close to the second axle; and/or ii) said telescopic adjustment device is selected from electrical control devices, mechanical Control device or electromechanical control device. 9、根据权利要求1的车辆搬运装置,其特征在于,其中每一小车包括两对导向轮,分别设置于所述行走机构的前部和后部。9. The vehicle transporting device according to claim 1, wherein each trolley comprises two pairs of guide wheels, which are respectively arranged at the front and the rear of the traveling mechanism. 10、根据权利要求1的车辆搬运装置,其特征在于,其中每一小车的前后分别设置有可限制两小车最近距离的防护罩板。10. The vehicle handling device according to claim 1, wherein each trolley is provided with a protective cover plate at the front and rear respectively, which can limit the shortest distance between the two trolleys.
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