CN110512929A - A kind of car carrier that achievable cooperation is carried - Google Patents
A kind of car carrier that achievable cooperation is carried Download PDFInfo
- Publication number
- CN110512929A CN110512929A CN201910794904.9A CN201910794904A CN110512929A CN 110512929 A CN110512929 A CN 110512929A CN 201910794904 A CN201910794904 A CN 201910794904A CN 110512929 A CN110512929 A CN 110512929A
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- Prior art keywords
- bearing
- clamp arm
- fixedly connected
- gear
- driven
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Gear Transmission (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses the car carriers that a kind of achievable cooperation in robotic technology field is carried, including middle frame, the two sides of middle frame are respectively equipped with executive module, executive module includes the clamp arm one and clamp arm two that can be rotated towards each other, clamp arm one and clamp arm two clamp wheel when rotating towards each other, the drive wheel assemblies and two driven wheel assemblys walked with drive wheel assemblies there are two driving automobile traveling and steering are connected on middle frame between two executive modules, two drive wheel assemblies are spaced setting in the longitudinal direction, two driven wheel assemblys are spaced setting in the longitudinal direction, in the lateral direction, two drive wheel assemblies are set at 180 ° with respect to the center of middle frame, two driven wheel assemblys are set at 180 ° with respect to the center of middle frame；Car can be freely carried to the position of needs by the present invention.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of car carrier that achievable cooperation is carried.
Background technique
With the development of logistic industry, the weight and size that can be carried for carrier have increasingly higher demands, and
The thorny problems such as consumption manpower, time-consuming when in real life there is also for carrying small and medium-sized car.
In the prior art, it discloses entitled " a kind of car carrying trolley ", notification number is 206053460 U of CN, bulletin
Day is the Chinese utility model patent of 2017.03.29, which includes clamping device and driving mechanism, and clamping device is provided with
Two groups and cabinet two sides are symmetricly set on, driving mechanism includes travel driving motor, and travel driving motor is connected by transmission mechanism I
It connects drive shaft, drive shaft and driven between centers to be sequentially connected by sprocket wheel chain, travel driving motor drives drive shaft and drives thereon
Wheel rotation, this utility model can not can only be turned to according to actual needs along rail running, need to be arranged on the ground
Several running rails when needing to make carriage walking to different location, need to be laid with corresponding track, cost is high, and trolley can not
It is traveled freely to the position of needs.
Summary of the invention
It is an object of the present invention to overcome shortcoming in the prior art, a kind of achievable the small of carrying that cooperate is provided
Automobile carrier, solves the technical problem that can not be traveled freely in the prior art, and the present invention can freely carry car
To the position of needs.
The object of the present invention is achieved like this: a kind of car carrier that achievable cooperation is carried, including middle frame,
The two sides of the middle frame are respectively equipped with executive module, and the executive module includes the clamp arm one and clamp arm two that can be rotated towards each other,
Clamp arm one and clamp arm two clamp wheel when rotating towards each other, and there are two in front and back for connection on the middle frame between two executive modules
Spaced driving mechanism on direction, the driving mechanism include drive automobile traveling and steering drive wheel assemblies and with
Drive wheel assemblies walking driven wheel assembly, in the lateral direction, two drive wheel assemblies relative to middle frame center at 180 °
Setting, two driven wheel assemblys are set at 180 ° with respect to the center of middle frame.
When carrying car using the present invention, it is placed with a carrier respectively in the front and rear sides of car, front
Carrier clamps two front-wheels, and the carrier at rear clamps two rear-wheels, is specifically, two executive modules move simultaneously
To make, clamp arm one and clamp arm two rotate towards each other, and clamp arm one and clamp arm two clamp each wheel, so that car is carried,
Two driving mechanism simultaneously operations, i.e. two drive wheel assemblies simultaneously operations, drive wheel assemblies are walked or are turned to forward, realize
Car, is carried to specified place by walking or steering of the invention；It can be applied in the work for carrying car, it is especially suitable
For carrying car.
In order to further realize walking and steering of the invention, two receiving active wheels are had on the middle frame
The holding tank one and two of part accommodates the holding tank two of driven wheel assembly, and the drive wheel assemblies include being fixed on middle frame
Gear ring, gear ring side directed downwardly are fixedly connected with fixing bearing, and the inner ring of fixing bearing is combined with mounting plate, the mounting plate court
Under side be connected with driving motor and steering motor frame, the output end of the driving motor is connected with driving wheel, in middle frame
Equipped with steering motor, steering motor is fixedly connected on steering motor frame, and gear shaft is sequentially connected in steering motor, is stretched upwards
Tooth sector is connected on the gear shaft outside mounting plate out, tooth sector is connected on the output shaft of the steering motor, it is described
Tooth sector is engaged with the inner ring of gear ring, and driving wheel extends downwardly outside middle frame through holding tank one, and driving wheel turns round circumference most
Lower position is lower than the extreme lower position of clamp arm one；In this design, when walking, driving motor directly drives the rotation of driving wheel, needs
When steering, steering motor movement, rotation of the steering motor with movable gear shaft, the rotation of the rotation drive tooth sector of gear shaft,
Tooth sector can be rotated along gear ring omnidirectional, driving wheel can 360 ° of rotations, two drive wheel assemblies diagonally arranged and two from
Drive wheel assemblies it is diagonally arranged, carrier can be moved towards all directions, automobile can be straight under the action of carrier enter
Parking bit space is saved in library.
In order to realize the holding action of clamp arm one and clamp arm two, the middle frame side directed downwardly is fixedly connected with bottom cover,
It is fixedly connected with car bonnet on the upside of the middle frame, executive module is connected between car bonnet and bottom cover；The executive module includes
The actuating motor being fixedly connected on middle frame is sequentially connected with rotatable worm driver gear, the vehicle on the actuating motor
It covers side directed downwardly and is fixedly connected with connection component one and connection component two, the lower part of the connection component one and connection component two
It is fixedly connected on bottom cover, drive sprocket has been rotatably coupled on connection component one, drive sprocket side directed downwardly is fixed to be connected
Be connected to can horizontal rotation in surface rotation seat one, the clamp arm one is connected to the side of rotation seat one outwardly, the drive sprocket
Driven sprocket is connected with through chain drive, and the transmission ratio of drive sprocket and driven sprocket is 1:1, is fixedly connected on the chassis
Gear connection component has been rotatably coupled driving gear on the gear connection component, and driven sprocket is rotatably connected to
On gear connection component, driven sprocket is fixedly connected with driving gear, has been rotatably coupled on the connection component two driven
Gear, the driven gear are engaged with driving gear, and the transmission ratio of driven gear and driving gear is 1:1, are consolidated on driven gear
Surely it is connected with rotation seat two, the clamp arm two is connected to the side of rotation seat two outwardly.
In order to further increase the stability of drive sprocket rotation, the connection component one includes being connected on the downside of car bonnet
Connector one and the mandrel one being fixedly connected on the upside of bottom cover, the outside of the mandrel one is connected with bearing one, the connector
One contradicts in the upside of bearing one, and the downside of bearing one is contradicted in the lower part of mandrel one, and drive sprocket is rotatably connected to axis
One outside is held, drive sprocket contradicts on the upper limit rank one of bearing one, and the downside of rotation seat one is fixedly connected with adapter sleeve
One, the side of the adapter sleeve one upward contradicts on the lower limit rank one of bearing one, and connector one is connect with mandrel one；This sets
In meter, rotate drive sprocket smoothly by the setting of connection component one, drive sprocket will not axial float, connection component one
All parts between it is detachably connected, it is convenient for disassembly and assembly.
In order to further increase the stability of driven gear rotation, the connection component two includes being connected on the downside of car bonnet
Connector two and the mandrel two being fixedly connected on the upside of bottom cover, the outside of the mandrel two is connected with bearing two, the connector
Two contradict in the upside of bearing two, and the downside of bearing two is contradicted in the lower part of mandrel two, and driven gear is rotatably connected to axis
Two outside is held, the lower part of rotation seat two contradicts on the upper limit rank two of bearing two, is fixedly connected on the downside of driven gear
Adapter sleeve two, the side of the adapter sleeve two upward contradict on the lower limit rank two of bearing two, and connector two and mandrel two connect
It connects.
In order to further increase the stability of driven sprocket and driving gear rotation, the gear connection component includes fixing
The gear shaft being connected on the upside of bottom cover, gear shaft outside are connected with bearing three, and the driving gear is rotatably connected to bearing
Three outside, driven sprocket contradict on the upper limit rank three of bearing three, and adapter sleeve three is fixedly connected on the downside of driving gear,
Adapter sleeve three contradicts on the lower limit rank three of bearing three, and the upside of bearing three is equipped with Spindle nose cover, uses fastening bolt and gear
Axle thread connects, and is set with compress gasket in fastening bolt, compress gasket is in the upside of Spindle nose cover, using fastening bolt through compressing
Bearing cap is pressed on the upside of bearing three by gasket.
In order to further realize the rotation of worm driver gear, open that there are two accommodate two actuating motors respectively on the middle frame
Holding tank three, be fixedly connected with actuating motor frame, bearing block one and bearing block two on the corresponding middle frame of holding tank three, it is described
Right-angle reduction device one is fixedly connected on actuating motor frame, actuating motor is fixedly connected with right-angle reduction device one, actuating motor
Power input, one end of the output end connection shaft coupling of right-angle reduction device, the other end of shaft coupling are provided for right-angle reduction device one
It is connected with worm screw, the worm screw close to shaft coupling is rotatably connected in bearing block one, and the worm screw far from shaft coupling is rotationally
It is connected in bearing block two, the worm screw between bearing block one and bearing block two and worm driver gear cooperate；In this design, driving is led
The structure setting of dynamic worm gear occupies little space, structure is more compact in the holding tank three of middle frame.
The dry grinding of clamp arm one and tire in order to prevent, in the longitudinal direction, the side of the rotation seat one outwardly is fixed to be connected
It is connected to clamp arm bracket one, fixing axle one is fixedly connected on rotation seat one, one end of fixing axle one is connected to clamp arm bracket one
One end, clamp arm one include clamping inner roller one and clamping outer roller one, and it is another that the other end of fixing axle one stretches out clamp arm bracket one
End extends outwardly, and clamping inner roller one is rotatably connected in the fixing axle one of one place section of clamp arm bracket, clamps outer roller
One is rotatably connected in the outwardly extending fixing axle one of clamp arm bracket one；In this design, automobile tire and clamp arm can be reduced
Friction between one avoids damage tire convenient for picking up and putting down.
The dry grinding of clamp arm two and tire in order to prevent, the side of the rotation seat two outwardly are fixedly connected with clamp arm bracket
Two, fixing axle two is fixedly connected on rotation seat two, the side of fixing axle two is connected to the side of clamp arm bracket two, and clamp arm two is wrapped
Clamping inner roller two and clamping outer roller two are included, the other side of fixing axle two stretches out two other side of clamp arm bracket and extends outwardly, presss from both sides
It holds inner roller two to be rotatably connected in the fixing axle two of two place section of clamp arm bracket, clamping outer roller two is rotatably coupled
In the outwardly extending fixing axle two of clamp arm bracket two.
In order to further realize the rotation of driven wheel, the driven wheel assembly include be fixedly connected on it is driven on the upside of bottom cover
Wheel support, described driven wheel support one end directed downwardly are provided with mounting groove, and mounting base is equipped in mounting groove, and the mounting base is fixed to be connected
It connects on driven wheel support, has been rotatably coupled driven wheel in mounting base, the revolution circumference of the driven wheel and driving wheel
Minimum point flushes.
Detailed description of the invention
Fig. 1 is top view of the invention.
Fig. 2 is bottom view of the invention.
Fig. 3 is the top view for hiding in the present invention after car bonnet.
Fig. 4 is the A-A direction view in the present invention.
Fig. 5 is the partial enlarged view in Fig. 4 at C.
Fig. 6 is the partial enlarged view in Fig. 4 at D.
Fig. 7 is the B-B direction view in the present invention.
Fig. 8 is the partial enlarged view in Fig. 7 at E.
Fig. 9 is the partial enlarged view in Fig. 2 at F.
Figure 10 is that the three-dimensional structure diagram after breaking off the base lid is hidden in the present invention.
Figure 11 is the partial enlarged view in Figure 10 at G.
Figure 12 is the top view of drive wheel assemblies in the present invention.
Figure 13 is the H-H direction view in the present invention.
Figure 14 is the three-dimensional structure diagram of drive wheel assemblies in the present invention.
Figure 15 is the three-dimensional structure diagram of executive module in the present invention.
Figure 16 is the I-I direction view in the present invention.
Figure 17 is the partial enlarged view in Fig. 2 at J.
Figure 18 is main view of the invention.
Figure 19 is the partial enlarged view in Fig. 2 at K.
Wherein, 1 car bonnet, 2 executive modules, 201 clamp arm two, 201a clamping outer roller two, 201b clamping inner roller two, 202
Clamp arm one, 202a clamp outer roller one, and 202b clamps inner roller one, 203 connectors one, 204 connectors two, 205 clamp arm brackets
One, 206 clamp arm brackets two, 207 mandrels one, 208 bearings one, 208a lower limit rank one, 208b upper limit rank one, 209 rotation seats
One, 210 fixing bolts one, 211 drive sprockets, 212 worm driver gears, 213 mandrels two, 214 driven gears, the vertical portion 214a, 215
Bearing two, 215a lower limit rank two, 215b upper limit rank two, 216 fixing bolts two, 217 rotation seats two, 218 fastening bolts,
219 compress gaskets, 220 Spindle nose covers, 221 driven sprockets, 222 gear shafts, 223 driving gears, 224 bearings three, 224a upper limit
Rank three, 224b lower limit rank three, 225 adapter sleeves one, 226 adapter sleeves two, 227 adapter sleeves three, 228 actuating motors, 229 right angles subtract
Fast device one, 230 chains, 231 shaft couplings, 232 bearing blocks one, 233 worm screws, 234 bearing blocks two, 235 shaft end baffles one, 236 is fixed
Position bolt one, 237 fixing axles one, 238 tight fixed bolts one, 239 tight fixed bolts two, 240 fixing axles two, 241 shaft end baffles two,
242 positioning bolts two, 243 multi-directional balls, 3 bottom covers, 4 drive wheel assemblies, 401 right-angle reduction devices two, 402 driving wheels, 403 turn to electricity
Machine, 404 driving motors, 405 active wheel supports, 406 installing ports, 407 driven wheel of differential, 408 drive bevel gears, 409 turn to electricity
Rack, 410 mounting plates, 411 gear rings, 412 tooth sectors, 413 fixed plates, 414 shafts, 415 fixing sleeves, 416 spring bearings,
417 fixing bearings, 5 driven wheel assemblys, 501 driven wheel supports, 502 driven wheels, 503 mounting grooves, 504 mounting bases, 6 tensioning groups
Part, 601 adjustable plates, 601a tensioning block 601a, 602 adjusting blocks, 603 adjusting screw rods, 604 sliding grooves, 605 connection bolts, 606 connect
Fishplate bar, 607 link slots, 7 control systems, 8 middle frames, 801 holding tanks one, 802 holding tanks three, 803 holding tanks two, 804 accommodate
Slot four.
Specific embodiment
Invention is further explained with reference to the accompanying drawing.
A kind of car carrier that achievable cooperation is carried as shown in Fig. 1~Figure 19, including middle frame 8, middle frame 8
Two sides be respectively equipped with executive module 2, executive module 2 includes the clamp arm 1 and clamp arm 2 201 that can be rotated towards each other, clamp arm one
202 and clamp arm 2 201 wheel is clamped when rotating towards each other, there are two drivings for connection on the middle frame 8 between two executive modules 2
Automobile traveling and the drive wheel assemblies of steering 4 and two driven wheel assemblys 5 walked with drive wheel assemblies 4, two driving wheels
Component 4 is spaced setting in the longitudinal direction, and two driven wheel assemblys 5 are spaced setting, in the lateral direction, two in the longitudinal direction
The center of the opposite middle frame 8 of a drive wheel assemblies 4 is set at 180 °, two driven wheel assemblys 5 relative to middle frame 8 center at
180 ° of settings.
In order to further realize walking and steering of the invention, two receiving drive wheel assemblies 4 are had on middle frame 8
Holding tank 1 and two receiving driven wheel assembly 5 holding tank 2 803, drive wheel assemblies 4 include be arranged in holding tank one
Gear ring 411 in 801 is fixedly connected with active wheel support 405 on the upside of bottom cover 3, installation directed downwardly is provided on active wheel support 405
Mouth 406, gear ring 411 are fixedly connected on 405 upside of active wheel support, and the side directed downwardly of gear ring 411 is fixedly connected with fixing bearing
417, the inner ring of fixing bearing 417 is combined with mounting plate 410, and mounting plate 410 is fixedly connected with the inner ring of fixing bearing 417, Gu
It is preferably crossed roller bearing that dead axle, which holds 417, and the side directed downwardly of mounting plate 410 is fixedly connected with the fixed plate 413 extended downwardly
With steering motor frame 409, driving motor 404 is fixedly connected in fixed plate 413, the output end of driving motor 404 is connected with master
Driving wheel 402, middle frame 8 is interior to be equipped with steering motor 403, is fixedly connected on steering motor frame 409 straight for what is slowed down and commutate
Angle retarder 2 401, steering motor 403 are that right-angle reduction device 2 401 provides power input, the output of right-angle reduction device 2 401
End is connected with drive bevel gear 408, and the side directed downwardly of mounting plate 410 is fixedly connected with fixing sleeve 415, passes through on the inside of fixing sleeve 415
Spring bearing 416 has been rotatably coupled shaft 414, and the lower part of shaft 414 is connected with driven wheel of differential 407, drive bevel gear
408 and driven wheel of differential 407 engage, the downside of driven wheel of differential 407 is equipped with limit baffle, first limits baffle using caging bolt
It is fixed together with shaft 414, limit baffle is pressed on the downside of driven wheel of differential 407 by caging bolt, is stretched out upwards
Tooth sector 412 is connected in shaft 414 outside fixing sleeve 415, tooth sector 412 is engaged with the inner ring of gear ring 411, driving wheel
402 extend downwardly outside middle frame 8 through holding tank 1, and driving wheel 402 turns round the extreme lower position of circumference lower than clamp arm 1
Extreme lower position；Driven wheel assembly 5 includes the driven wheel support 501 for being fixedly connected on 3 upside of bottom cover, and driven wheel support 501 is downward
One end be provided with mounting groove 503, mounting base 504 is equipped in mounting groove 503, mounting base 504 is fixedly connected on driven wheel support 501
On, driven wheel 502, the minimum point for turning round circumference of driven wheel 502 and driving wheel 402 have been rotatably coupled in mounting base 504
It flushes.
In order to realize the holding action of clamp arm 1 and clamp arm 2 201, the side directed downwardly of middle frame 8 is fixedly connected with bottom
Lid 3, the upside of middle frame 8 are fixedly connected with car bonnet 1, executive module 2 are connected between car bonnet 1 and bottom cover 3；Executive module 2 wraps
The actuating motor 228 being fixedly connected on middle frame 8 is included, is sequentially connected with rotatable worm driver gear on actuating motor 228
212, the structure that worm driver gear 212 rotates is realized specifically, accommodating two actuating motors 228 there are two opening on middle frame 8 respectively
Holding tank 3 802, be fixedly connected with 228 frame of actuating motor, one 232 and of bearing block on the corresponding middle frame 8 of holding tank 3 802
Bearing block 2 234 is fixedly connected with right-angle reduction device 1, actuating motor 228 and right-angle reduction device on 228 frame of actuating motor
One 229 are fixedly connected, and actuating motor 228 is that right-angle reduction device 1 provides power input, and the output end of right-angle reduction device connects
One end of shaft coupling 231 is connect, the other end of shaft coupling 231 is connected with worm screw 233, and the worm screw 233 close to shaft coupling 231 can be rotated
Ground is connected in bearing block 1, and the worm screw 233 far from shaft coupling 231 is rotatably connected in bearing block 2 234, bearing
Worm screw 233 and worm driver gear 212 between seat 1 and bearing block 2 234 cooperate；The side directed downwardly of car bonnet 1 is fixedly connected with
The lower part of connection component one and connection component two, connection component one and connection component two is fixedly connected on bottom cover 3, connection component
Drive sprocket 211 it has been rotatably coupled on one, the side directed downwardly of drive sprocket 211 is fixedly connected with can horizontal rotation in surface
Rotation seat 1, clamp arm 1 are connected to the side of rotation seat 1 outwardly, and drive sprocket 211 is sequentially connected through chain 230
There are 230, chain in driven sprocket 221(attached drawing to draw one section, actually whole chain 230, the structure of chain 230 are existing
Have technology), the transmission ratio of drive sprocket 211 and driven sprocket 221 is 1:1, is fixedly connected with gear connection component, tooth on chassis
It is rotatably coupled driving gear 223 on wheel connection component, driven sprocket 221 is rotatably connected to gear connection component
On, driven sprocket 221 is fixedly connected with driving gear 223, driven gear 214 has been rotatably coupled on connection component two, from
Moving gear 214 is engaged with driving gear 223, and the transmission ratio of driven gear 214 and driving gear 223 is 1:1, driven gear 214
It is equipped with the vertical portion 214a for facilitating connection, is fixedly connected with rotation seat 2 217 on the 214a of vertical portion, clamp arm 2 201 is connected to
The side of rotation seat 2 217 outwardly.
In order to prevent clamp arm 1 and clamp arm 2 201 and tire are dry grinded, and in the longitudinal direction, rotation seat 1 is outwardly
Side is fixedly connected with clamp arm bracket 1, and fixing axle 1 is fixedly connected on rotation seat 1, fixing axle 1
One end is connected to one end of clamp arm bracket 1, and clamp arm 1 includes clamping one 202b of inner roller and clamping outer roller one
202a, the other end of fixing axle 1 stretch out one 205 other end of clamp arm bracket and extend outwardly, and clamping one 202b of inner roller can turn
It is connected in the fixing axle 1 of one 205 place section of clamp arm bracket dynamicly, clamping one 202a of outer roller is rotatably connected to folder
In the outwardly extending fixing axle 1 of arm support 1, using tight fixed bolt 1 by rotation seat 1, clamp arm bracket one
205 and fixing axle 1 be fixed together, the outside of clamping one 202a of outer roller is equipped with shaft end baffle 1, using fixed
Shaft end baffle 1 is pressed on the outside of clamping one 202a of outer roller, positioning bolt 1 and fixing axle by position bolt 1
One 237 are threadedly coupled；The side of rotation seat 2 217 outwardly is fixedly connected with clamp arm bracket 2 206, fixes on rotation seat 2 217
It is connected with fixing axle 2 240, is consolidated rotation seat 2 217, clamp arm bracket 2 206 and fixing axle 2 240 using tight fixed bolt 2 239
Surely it links together, the side of fixing axle 2 240 is connected to the side of clamp arm bracket 2 206, and clamp arm 2 201 includes rolling in clamping
Another epitaxial lateral overgrowth of clamp arm bracket 2 206 is stretched out in two 201b of cylinder and clamping two 201a of outer roller, the other side of fixing axle 2 240
It stretches, clamping two 201b of inner roller is rotatably connected in the fixing axle 2 240 of 2 206 place section of clamp arm bracket, clamps outer rolling
Two 201a of cylinder are rotatably connected in the outwardly extending fixing axle 2 240 of clamp arm bracket 2 206, clamping two 201a's of outer roller
Outside is equipped with shaft end baffle 2 241, and shaft end baffle 2 241 is pressed on clamping two 201a of outer roller using positioning bolt 2 242
Outside, positioning bolt 2 242 is threadedly coupled with fixing axle 2 240；In addition, in order to prevent clamp arm 1 and clamp arm 2 201 with
Ground sends dry grinding, and clamp arm bracket 1 and the one end directed downwardly of clamp arm bracket 2 206 are connected separately with multi-directional ball 243, multi-directional ball
Lowest edge of the minimum point of 243 revolution circumference lower than clamping one 202a of outer roller or clamping two 201a of outer roller, meanwhile, it is universal
The minimum point that ball 243 turns round circumference is higher than the minimum point that driving wheel 402 turns round circumference.
In order to further increase the stability of the rotation of drive sprocket 211, connection component one includes being connected to 1 downside of car bonnet
Connector 1 and the mandrel 1 for being fixedly connected on 3 upside of bottom cover, the outside of mandrel 1 are connected with bearing 1, even
Fitting 1 is contradicted in the upside of bearing 1, and the downside of bearing 1 is contradicted in the lower part of mandrel 1, drive sprocket
211 are rotatably connected to the outside of bearing 1, and drive sprocket 211 contradicts one 208b of upper limit rank in bearing 1
On, the downside of rotation seat 1 is fixedly connected with adapter sleeve 1, and the side of adapter sleeve 1 upward is contradicted in bearing one
On 208 one 208a of lower limit rank, connector 1 and mandrel 1 are linked together using fixing bolt 1.
In order to further increase the stability of the rotation of driven gear 214, connection component two includes being connected to 1 downside of car bonnet
Connector 2 204 and the mandrel 2 213 for being fixedly connected on 3 upside of bottom cover, the outside of mandrel 2 213 are connected with bearing 2 215, even
Fitting 2 204 is contradicted in the upside of bearing 2 215, and the downside of bearing 2 215 is contradicted in the lower part of mandrel 2 213, driven gear
214 are rotatably connected to the outside of bearing 2 215, and the lower part of rotation seat 2 217 contradicts the upper limit rank two in bearing 2 215
On 215b, the downside of driven gear 214 is fixedly connected with adapter sleeve 2 226, and the side of adapter sleeve 2 226 upward is contradicted in bearing
On 2 215 two 215a of lower limit rank, connector 2 204 and mandrel 2 213 are linked together using fixing bolt 2 216.
In order to further increase the stability that driven sprocket 221 and driving gear 223 rotate, gear connection component includes solid
Surely it is connected to the gear shaft 222 of 3 upside of bottom cover, is connected with bearing 3 224 on the outside of gear shaft 222, driving gear 223 is rotationally
It is connected to the outside of bearing 3 224, driven sprocket 221 contradicts the driving gear on three 224a of upper limit rank of bearing 3 224
223 downside is fixedly connected with adapter sleeve 3 227, and adapter sleeve 3 227 contradicts on three 224b of lower limit rank of bearing 3 224,
The upside of bearing 3 224 is equipped with Spindle nose cover 220, is threadedly coupled using fastening bolt 218 with gear shaft 222, in fastening bolt 218
It is set with compress gasket 219, compress gasket 219, will through compress gasket 219 using fastening bolt 218 in the upside of Spindle nose cover 220
Bearing cap is pressed on the upside of bearing 3 224.
Wherein, it is provided with holding tank 4 804 on the middle frame 8 between two driving mechanisms, is equipped with control in holding tank 4 804
System 7, control system 7 control and drive the movement of actuating motor 228, driving motor 404 and steering motor 403；In addition, intermediate
Frame 8 is also connected with the tension assembly 6 for tension chain 230, and tension assembly 6 is provided with two groups, respectively with two executive modules 2
It is corresponding, opened on middle frame 8 there are two run through bottom cover 3 regulating tank；Tension assembly 6 includes being fixedly connected on 3 downside of bottom cover
Connecting plate 606, the downside of connecting plate 606 are fixedly connected with adjusting block 602, are threaded with adjusting screw rod on adjusting block 602
603, link slot 607 is provided on connecting plate 606, and link slot 607 is connected to regulating tank, and the downside of connecting plate 606 slideably connects
It is connected to adjustable plate 601, is opened on adjustable plate 601 there are two sliding groove 604, is each passed through two cunnings using two connection bolts 605
Dynamic slot 604 is connect with connecting plate 606, and adjustable plate 601 is equipped with the tensioning block 601a being oppositely arranged with adjusting block 602, adjusts spiral shell
One end that bar 603 stretches out adjusting block 602 contradicts on tensioning block 601a, is fixedly connected on adjustable plate 601 and extends upwardly into centre
Connecting rod in frame 8, the top of connecting rod have been rotatably coupled tensioning wheel, and tensioning wheel and chain 230 cooperate, and chain 230 is opened
Before tight, connection bolt 605 is unclamped, adjustable plate 601 is through mobile, 603 precession of adjusting screw rod relative to connection bolt 605 of sliding groove 604
Adjusting block 602, adjusting screw rod 603 pushes tensioning block 601a sliding, is tensioned tensioning wheel by chain 230, after chain 230 is tensioned,
Adjustable plate 601 and connecting plate 606 are fixed together using connection bolt 605.
When carrying car using the present invention, it is placed with a carrier respectively in the front and rear sides of car, front
Carrier clamps two front-wheels, and the carrier at rear clamps two rear-wheels, and two executive modules 2 move at the same time, clamp arm one
202 and clamp arm 2 201 rotate towards each other, clamp arm 1 and clamp arm 2 201 clamp each wheel, so that car be carried
Come, specifically, actuating motor 228 acts, actuating motor 228 slows down through right-angle reduction device 1 to be turned to for the movement of holding-wheel
After output power to worm screw 233, the rotation of worm screw 233 drives the rotation of worm driver gear 212, the rotation band of worm driver gear 212
The rotation of dynamic drive sprocket 211, the rotation of drive sprocket 211 drive the rotation of driven sprocket 221, the rotation of driven sprocket 221
The rotation of driving gear 223, the rotation of driving gear 223 drive the rotation of driven gear 214, the rotation band of drive sprocket 211
The rotation of dynamic rotation seat 1, the rotation of rotation seat 1 drives the rotation of clamp arm bracket 1 and clamp arm 1, driven
The rotation of gear 214 drives the rotation of rotation seat 2 217, and the rotation of rotation seat 2 217 drives clamp arm bracket 2 206 and clamp arm two
201 rotation controls the direction of action of actuating motor 228, makes clamp arm 1 and clamp arm 2 201 simultaneously away from middle frame 8
Direction rotation, clamp arm 1 and clamp arm 2 201 rotate towards each other and clamp wheel, and clamp arm 1 or clamp arm 2 201 can turn
Dynamic, when clamp arm 1 and clamp arm 2 201 are touched with tire, clamp arm 1 and clamp arm 2 201 will not occur to do between tire
Mill, clamp arm 1 and clamp arm 2 201 can more successfully clamp tire；Two driving mechanism simultaneously operations, i.e. two actives
Wheel assembly 4 moves at the same time, and when walking, driving motor 404 is acted, and driving wheel 402 rotates, and driven wheel 502 is with 402 turns of driving wheel
It is dynamic, realize the movement of entire carrier, when needing to turn to, steering motor 403 is acted, and steering motor 403 is right-angle reduction device two
401 provide power, and right-angle reduction device 2 401, which is realized, to slow down and commutate, and right-angle reduction device 2 401 drives drive bevel gear 408
Rotation, the rotation of drive bevel gear 408 drive the rotation of driven wheel of differential 407, and the rotation of driven wheel of differential 407 drives shaft
414 rotation, the rotation of shaft 414 drive the rotation of tooth sector 412, omnidirectional under the action of gear ring 411 of tooth sector 412
Rotation, driving wheel 402 turns to, after being diverted to specified angle, 403 stopping of steering motor movement；Structure of the invention is ingenious and compact,
Car has been removed and has clamped car by executive module 2, realizes walking by the setting of driving mechanism and turns to, can be free
Car is carried to the position of needs；It can be applied in the work for carrying car, be particularly suitable for carrying car.
The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field
For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor
A little replacements and deformation, these replacements and deformation are within the scope of the invention.
Claims (10)
1. a kind of car carrier that achievable cooperation is carried, it is characterised in that: including middle frame, the two sides of the middle frame
It is respectively equipped with executive module, the executive module includes the clamp arm one and clamp arm two that can be rotated towards each other, clamp arm one and clamp arm two-phase
Wheel is clamped to when rotation, there are two the masters of driving automobile traveling and steering for connection on the middle frame between two executive modules
Drive wheel assemblies and two driven wheel assemblys walked with drive wheel assemblies, two drive wheel assemblies are spaced in the longitudinal direction to be set
It sets, two driven wheel assemblys are spaced setting in the longitudinal direction, and in the lateral direction, two drive wheel assemblies are with respect to middle frame
Center is set at 180 °, and two driven wheel assemblys are set at 180 ° with respect to the center of middle frame.
2. the car carrier that a kind of achievable cooperation according to claim 1 is carried, it is characterised in that: the centre
The holding tank one and two that two receiving drive wheel assemblies are had on frame accommodates the holding tank two of driven wheel assembly, the master
Drive wheel assemblies include the gear ring being fixed on middle frame, and gear ring side directed downwardly is fixedly connected with fixing bearing, fixing bearing
Inner ring is combined with mounting plate, and the mounting plate side directed downwardly is connected with driving motor and steering motor frame, the driving motor
Output end be connected with driving wheel, steering motor is equipped in middle frame, steering motor is fixedly connected on steering motor frame, is turned to
It is sequentially connected with gear shaft on motor, is connected with tooth sector, the steering motor on the gear shaft stretched out outside mounting plate upwards
Output shaft on be connected with tooth sector, the tooth sector is engaged with the inner ring of gear ring, and driving wheel is stretched downwards through holding tank one
Out outside middle frame, the extreme lower position that driving wheel turns round circumference is lower than the extreme lower position of clamp arm one.
3. the car carrier that a kind of achievable cooperation according to claim 1 is carried, it is characterised in that: the centre
Frame side directed downwardly is fixedly connected with bottom cover, and car bonnet is fixedly connected on the upside of the middle frame, is connected between car bonnet and bottom cover
There is executive module；The executive module includes the actuating motor being fixedly connected on middle frame, the company of transmission on the actuating motor
It is connected to rotatable worm driver gear, the car bonnet side directed downwardly is fixedly connected with connection component one and connection component two, described
The lower part of connection component one and connection component two is fixedly connected on bottom cover, has been rotatably coupled drive chain on connection component one
Wheel, drive sprocket side directed downwardly be fixedly connected with can horizontal rotation in surface rotation seat one, the clamp arm one is connected to rotation
The side of seat one outwardly, the drive sprocket are connected with driven sprocket, the transmission of drive sprocket and driven sprocket through chain drive
Than being fixedly connected with gear connection component on the chassis for 1:1, it has been rotatably coupled on the gear connection component actively
Gear, driven sprocket are rotatably connected on gear connection component, and driven sprocket is fixedly connected with driving gear, the connection
Driven gear is rotatably coupled on component two, the driven gear is engaged with driving gear, driven gear and driving gear
Transmission ratio be 1:1, be fixedly connected with rotation seat two on driven gear, the clamp arm two is connected to one of rotation seat two outwardly
Side.
4. the car carrier that a kind of achievable cooperation according to claim 3 is carried, it is characterised in that: the connection
Component one includes the mandrel one for being connected to connector one on the downside of car bonnet and being fixedly connected on the upside of bottom cover, the mandrel one it is outer
Side is connected with bearing one, and the connector one is contradicted in the upside of bearing one, and the downside of bearing one is contradicted in the lower part of mandrel one,
Drive sprocket is rotatably connected to the outside of bearing one, and drive sprocket contradicts the rotation seat on the upper limit rank one of bearing one
One downside is fixedly connected with adapter sleeve one, and the side of the adapter sleeve one upward contradicts on the lower limit rank one of bearing one,
Connector one is connect with mandrel one.
5. the car carrier that a kind of achievable cooperation according to claim 3 is carried, it is characterised in that: the connection
Component two includes the mandrel two for being connected to connector two on the downside of car bonnet and being fixedly connected on the upside of bottom cover, the mandrel two it is outer
Side is connected with bearing two, and the connector two is contradicted in the upside of bearing two, and the downside of bearing two is contradicted in the lower part of mandrel two,
Driven gear is rotatably connected to the outside of bearing two, and the lower part of rotation seat two contradicts on the upper limit rank two of bearing two,
Adapter sleeve two is fixedly connected on the downside of driven gear, the side of the adapter sleeve two upward contradicts the lower limit rank in bearing two
On two, connector two is connect with mandrel two.
6. the car carrier that a kind of achievable cooperation according to claim 3 is carried, it is characterised in that: the gear
Connection component includes the gear shaft being fixedly connected on the upside of bottom cover, is connected with bearing three on the outside of gear shaft, the driving gear can
It is rotationally connected to the outside of bearing three, driven sprocket contradicts on the upper limit rank three of bearing three, and the downside of driving gear is solid
Surely it is connected with adapter sleeve three, adapter sleeve three contradicts on the lower limit rank three of bearing three, and the upside of bearing three is equipped with Spindle nose cover, makes
It is threadedly coupled with fastening bolt with gear shaft, compress gasket is set in fastening bolt, compress gasket makes in the upside of Spindle nose cover
Bearing cap is pressed on to fastening bolt through compress gasket the upside of bearing three.
7. the car carrier that a kind of achievable cooperation according to claim 3 is carried, it is characterised in that: the centre
The holding tank three of two actuating motors is accommodated there are two opening on frame respectively, is fixedly connected with and holds on the corresponding middle frame of holding tank three
Row motor rack, bearing block one and bearing block two, are fixedly connected with right-angle reduction device one on the actuating motor frame, actuating motor with
Right-angle reduction device one is fixedly connected, and actuating motor is that right-angle reduction device one provides power input, the output end of right-angle reduction device
One end of shaft coupling is connected, the other end of shaft coupling is connected with worm screw, and the worm screw close to shaft coupling is rotatably connected to bearing
In seat one, the worm screw far from shaft coupling is rotatably connected in bearing block two, the worm screw between bearing block one and bearing block two
Cooperate with worm driver gear.
8. the car carrier that a kind of achievable cooperation according to claim 3 is carried, it is characterised in that: in front and back
Upwards, the side of the rotation seat one outwardly is fixedly connected with clamp arm bracket one, and fixing axle one is fixedly connected on rotation seat one,
One end of fixing axle one is connected to one end of clamp arm bracket one, and clamp arm one includes clamping inner roller one and clamps outer roller one, Gu
The other end of dead axle one stretches out one other end of clamp arm bracket and extends outwardly, and clamping inner roller one is rotatably connected to clamp arm bracket
In the fixing axle one of one place section, clamping outer roller one is rotatably connected to the outwardly extending fixing axle one of clamp arm bracket one
On.
9. the car carrier that a kind of achievable cooperation according to claim 3 is carried, it is characterised in that: in front and back
Upwards, the side of the rotation seat two outwardly is fixedly connected with clamp arm bracket two, and fixing axle two is fixedly connected on rotation seat two,
The side of fixing axle two is connected to the side of clamp arm bracket two, and clamp arm two includes clamping inner roller two and clamps outer roller two, Gu
The other side of dead axle two stretches out two other side of clamp arm bracket and extends outwardly, and clamping inner roller two is rotatably connected to clamp arm bracket
In the fixing axle two of two place sections, clamping outer roller two is rotatably connected to the outwardly extending fixing axle two of clamp arm bracket two
On.
10. according to a kind of described in any item car carriers that achievable cooperation is carried of claim 2~9, feature exists
In: the driven wheel assembly includes the driven wheel support being fixedly connected on the upside of bottom cover, described driven wheel support one end directed downwardly
It is provided with mounting groove, is equipped with mounting base in mounting groove, the mounting base is fixedly connected on driven wheel support, can be rotated in mounting base
Ground is connected with driven wheel, and the minimum point of the revolution circumference of the driven wheel and driving wheel flushes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794904.9A CN110512929B (en) | 2019-08-27 | 2019-08-27 | Car carrier capable of realizing cooperative carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794904.9A CN110512929B (en) | 2019-08-27 | 2019-08-27 | Car carrier capable of realizing cooperative carrying |
Publications (2)
| Publication Number | Publication Date |
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| CN110512929A true CN110512929A (en) | 2019-11-29 |
| CN110512929B CN110512929B (en) | 2020-09-04 |
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ID=68626250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910794904.9A Active CN110512929B (en) | 2019-08-27 | 2019-08-27 | Car carrier capable of realizing cooperative carrying |
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| Country | Link |
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| CN (1) | CN110512929B (en) |
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| CN111550105A (en) * | 2020-04-27 | 2020-08-18 | 同济大学 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
| CN111591263A (en) * | 2020-04-27 | 2020-08-28 | 同济大学 | All-wheel steerable automobile parking transfer robot |
| CN113928444A (en) * | 2021-09-06 | 2022-01-14 | 浙江理工大学 | A moving platform that is used for greenhouse seedbed to patrol and examine operation |
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| Publication number | Publication date |
|---|---|
| CN110512929B (en) | 2020-09-04 |
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