CN111663824A - Automobile carrying machine - Google Patents

Automobile carrying machine Download PDF

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Publication number
CN111663824A
CN111663824A CN202010541160.2A CN202010541160A CN111663824A CN 111663824 A CN111663824 A CN 111663824A CN 202010541160 A CN202010541160 A CN 202010541160A CN 111663824 A CN111663824 A CN 111663824A
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CN
China
Prior art keywords
clamping device
support frame
wheel
supporting frame
middle support
Prior art date
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Pending
Application number
CN202010541160.2A
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Chinese (zh)
Inventor
许水洪
黎江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Lishi Technology Co ltd
Original Assignee
Shenzhen Lishi Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Lishi Technology Co ltd filed Critical Shenzhen Lishi Technology Co ltd
Priority to CN202010541160.2A priority Critical patent/CN111663824A/en
Publication of CN111663824A publication Critical patent/CN111663824A/en
Pending legal-status Critical Current

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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
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • 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
    • 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
    • E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • 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
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • 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
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E04H6/424—Positioning devices
    • 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
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/426—Parking guides

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Body Structure For Vehicles (AREA)

Abstract

The embodiment of the invention relates to the technical field of automobile carrying equipment, in particular to an automobile carrying machine, which comprises a traction part, a middle supporting frame and a rear supporting frame, wherein the traction part is arranged at the front end of the traction part; the traction part is provided with a traction steering wheel which is used for drawing the automobile carrying machine to rotate and move; one end of the middle support frame is movably connected with the traction part, the middle support frame is provided with a middle support wheel set and a steering driving device, and the steering driving device is used for driving the middle support wheel set to cooperate with the traction rudder wheel to steer; the rear support frame is provided with a rear support wheel set, a first telescopic mechanism is arranged between the rear support frame and the middle support frame, the rear support frame is connected with the other end of the middle support frame through the first telescopic mechanism, and the first telescopic mechanism is an intersection type telescopic mechanism and used for adjusting the distance between the rear support frame and the middle support frame.

Description

Automobile carrying machine
Technical Field
The invention relates to the technical field of automobile carrying equipment, in particular to an automobile carrying machine.
Background
Along with the rapid popularization of household automobiles, the demand of urban parking spaces is larger and larger, and the area of parking lots is also larger and larger. On the one hand, the parking space is not enough, on the one hand, the parking lot is bigger and bigger, and more time is spent on finding the parking space in the parking lot. The parking difficulty not only reflects the lack of parking spaces, but also reflects the difficulty in finding the parking spaces.
The existing fully automated parking machine, as disclosed in chinese patent CN110254560A, published 2019, 9, month and 20, discloses "an automated guided vehicle for vehicle transportation", which includes: the system comprises a headstock frame, a chassis frame, a navigation and positioning system, a hydraulic system, a detection and measurement system and an electric control system; the automatic guided vehicle is characterized by further comprising a front wheel steering system, a lifting system and a tire supporting system; the lifting system comprises a gooseneck lifting system and a wheel set lifting system; the gooseneck lifting system is arranged at the joint of the chassis frame and the headstock frame, so that the chassis frame is lifted and lowered independently, and two working states of low position and high position for carrying the AGV are realized through the wheel set lifting system arranged on the chassis frame; the front wheel steering system is matched with the wheel set lifting system to realize the capability of turning at a certain radius and turning at a right angle of 90 degrees; the tire supporting systems are arranged at two ends of the chassis frame, so that wheels of the transport vehicle are clamped and fixed.
The automatic guided vehicle has the following disadvantages:
1. because the automatic guide transport vehicle only has the traction wheels and the row of non-drive supporting wheels, and the mounting points of the non-drive supporting wheels have longer distance from the front wheels or the rear wheels of the carried vehicle, the guide vehicle has higher requirement on the rigidity of the chassis frame for supporting the tires in the vertical and horizontal direction, the manufacturing difficulty of the equipment is higher, the driving resistance is large during turning, and the steering is inconvenient.
2. Since the automated guided vehicle requires the entire pallet system and vehicle to be lifted to a high position, the manufacturing of the equipment is difficult in the case of limited chassis height.
3. Since the automated guided vehicle carries the vehicle, it takes a long time from the start of loading to the ready-to-load process because it is necessary to perform wheel alignment, tire gripping, and vehicle lifting operations of the vehicle to be carried.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide an automobile transfer machine that can transfer automobiles with different wheelbases and reduce the movement resistance during steering.
According to an aspect of an embodiment of the present invention, there is provided an automobile transfer machine for transferring automobiles, including a towing part, a middle support frame, and a rear support frame; the traction part is provided with a traction steering wheel which is used for drawing the automobile carrying machine to rotate and move; one end of the middle support frame is movably connected with the traction part, the middle support frame is provided with a middle support wheel set and a steering driving device, and the steering driving device is used for driving the middle support wheel set to cooperate with the traction steering wheel to steer; the rear supporting frame is provided with a rear supporting wheel set, a first telescopic mechanism is arranged between the rear supporting frame and the middle supporting frame, the rear supporting frame is connected with the other end of the middle supporting frame through the first telescopic mechanism, and the first telescopic mechanism is an intersection shear type telescopic mechanism and used for adjusting the distance between the rear supporting frame and the middle supporting frame.
In an optional mode, the middle supporting wheel set comprises a wheel set support and a steering shaft, one end of the steering shaft is rotatably connected with the middle supporting frame, the steering shaft is perpendicular to the horizontal plane of the middle supporting frame, the other end of the steering shaft is fixedly connected with the wheel set support, and two opposite sides of the wheel set support are respectively provided with a roller; the steering driving device drives the steering shaft to drive the wheel set support and the idler wheel to rotate around the steering shaft relative to the middle supporting frame.
In an optional mode, the automobile handling machine further comprises a first driving device, and the first driving device drives the first telescopic mechanism to drive the middle supporting frame and the rear supporting frame to move close to or away from each other.
In an optional mode, a second telescopic mechanism is arranged between the traction part and the middle support frame, the traction part and the middle support frame are connected through the second telescopic mechanism, and the second telescopic mechanism is used for adjusting the distance between the traction part and the middle support frame.
In an optional mode, the automobile handling machine further comprises a second driving device, and the second driving device is used for driving the second telescopic mechanism to drive the traction part and the middle support frame to move close to or away from each other.
In an optional mode, a nested telescopic slide rod is further arranged between the traction part and the middle support frame, one end of the nested telescopic slide rod is connected with the traction part, the other end of the nested telescopic slide rod is connected with the middle support frame, the telescopic stroke of the nested telescopic rod is larger than that of the second telescopic mechanism, and the nested telescopic slide rod and the second telescopic mechanism are arranged at intervals.
In an optional mode, two opposite sides of the middle support frame are respectively provided with a first front clamping device and a first rear clamping device, the first front clamping device and the first rear clamping device which are positioned on the same side are arranged at intervals, and the first rear clamping device is positioned on one side of the first front clamping device, which is far away from the traction part; one end of the first front clamping device is hinged with the side wall of the middle support frame, the other end of the first front clamping device is a free end, the first front clamping device can rotate relative to the middle support frame around the hinged position, a rotating shaft of the first front clamping device, which rotates relative to the middle support frame, is vertical to the horizontal plane of the middle support frame, and a first preset included angle is formed between the first front clamping device and the middle support frame; one end of the first rear clamping device is hinged to the side wall of the middle support frame, the other end of the first rear clamping device is located at the free end, the first rear clamping device can rotate relative to the middle support frame around the hinged position, the rotating shaft is perpendicular to the horizontal plane of the middle support frame, and the first rear clamping device is in an unfolding state and a closing state.
In an optional mode, the middle support frame is further provided with a first connecting rod mechanism and a third driving device, the first connecting rod mechanism is hinged to the first rear clamping device, and the third driving device drives the first connecting rod mechanism to drive the first rear clamping device to switch between the unfolding state and the closing state.
In an optional mode, two opposite sides of the rear support frame are respectively provided with a second front clamping device and a second rear clamping device, the second front clamping device and the second rear clamping device which are positioned on the same side are arranged at intervals, and the second front clamping device is positioned on one side of the second rear clamping device close to the middle support frame; one end of the second front clamping device is hinged with the side wall of the rear supporting frame, the other end of the second front clamping device is a free end, a hinged point where the second front clamping device can be hinged is a rotating shaft and rotates relative to the rear supporting frame, the rotating shaft is perpendicular to the horizontal plane of the rear supporting frame, and the second front clamping device has two states of unfolding and closing; one end of the second rear clamping device is hinged to the side wall of the rear supporting frame, the other end of the second rear clamping device is a free end, a hinge point where the second rear clamping device can be hinged serves as a rotating shaft, the second rear clamping device is opposite to the rear supporting frame and rotates, the rotating shaft is perpendicular to the horizontal plane of the rear supporting frame, and the second rear clamping device is in an unfolding state and a closing state.
In an optional embodiment, the rear support frame is further provided with a second link mechanism and a fourth driving device, the second link mechanism is hinged to the second front clamping device and the second rear clamping device respectively, and the fourth driving device drives the second link mechanism to drive the second front clamping device and the second rear clamping device to switch between unfolding and closing.
In the embodiment of the invention, by arranging a traction part, a middle support frame and a rear support frame, wherein the traction part is provided with a traction steering wheel, the middle support frame is provided with a middle support wheel set and a steering driving device, a first telescopic mechanism is arranged between the middle support frame and the rear support frame, one end of the middle support frame is movably connected with the traction part, the other end of the middle support frame is connected with the rear support frame through the first telescopic mechanism, the traction steering wheel is used for traction the automobile carrying machine to steer and move, the middle support wheel set is used for supporting the load of an automobile on the middle support frame, the steering driving device is used for driving the middle support wheel set to cooperate with the traction steering wheel to steer and move so as to drive the middle support frame to move along with the traction part, the rear support wheel set is used for supporting the load of the automobile on, the middle support wheel set is driven by the steering driving device to cooperate with the traction rudder wheel to steer, so that the movement resistance of the traction part in the process of traction of the middle support frame and the rear support frame to turn can be reduced; first telescopic machanism is used for adjusting the distance between middle part support frame and the rear portion support frame to make car hauler can be according to the wheel base of different cars the distance between middle part support frame and the rear portion support frame of adjustment, the wheel base of the different cars of adaptation, thereby realize that this car hauler can be through the distance between adjustment traction part and the middle part support frame, the different cars of distance adaptation between middle part support frame and the rear portion support frame. Thereby realizing the purpose of providing the automobile carrying machine which can carry automobiles with different wheelbases and reduce the motion resistance during steering
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a perspective view of an automotive handling machine according to an embodiment of the present invention in a collapsed and closed position;
FIG. 2 is a perspective view of an automotive handling machine according to an embodiment of the present invention in an extended and deployed configuration;
FIG. 3 is a schematic diagram of a wheel train configuration of an automotive handling machine according to an embodiment of the present invention during steering;
FIG. 4 is a schematic view of the connection between the steering drive and the center support wheel set of the automotive transfer machine in accordance with the present invention;
FIG. 5 is a schematic view of a mid-section support frame of an exemplary embodiment of the present invention;
FIG. 6 is a schematic illustration of a connection between a center support frame and a rear support frame of an automotive transfer machine according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a rear support frame of an automotive transfer machine according to an embodiment of the present invention;
FIG. 8 is a schematic illustration of the first and second front clamping devices of the vehicle transfer machine of the present invention deployed into contact with the wheels;
FIG. 9 is a schematic view of a vehicle handling machine holding a vehicle off the ground in accordance with an embodiment of the present invention.
The reference numbers in the detailed description are as follows:
a traction part 100; a middle support frame 200; a rear supporter 300; a traction steering wheel 101; a middle support wheel group 210; a steering drive device 220; a rear support wheel set 310; a first telescoping mechanism 230; a wheel set bracket 211; a steering shaft 212; a steering motor 221; a drive bevel gear 222; a roller 213; a driven bevel gear 214; a slewing bearing 215; an outer ring 2151; an inner ring 2152; a first driving device 240; a first motor 241; a first lead screw 242; a first fixing base 243; the first link 244; a first drive wheel 245; a first driven wheel 246; a second telescoping mechanism 110; a second driving device 120; nesting the telescopic slide bar 130; a laser navigation device 102; a first front clamping device 250; a first rear clamping device 260; a first link mechanism 270; a third driving device 280; a second front clamp 320; a second rear clamping device 330; a second link mechanism 340; a fourth drive device 350; a first support 201; a second support 202; a first proximity sensor 203; a first resilient pad 204; a third support 301; a fourth support 302; a second proximity sensor 303; and the second elastic cushion block.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
Referring to fig. 1 to 3, fig. 1 is a perspective view illustrating a vehicle handling machine in a retracted and closed state according to an embodiment of the present invention, fig. 2 is a perspective view illustrating an extended and unfolded state according to an embodiment of the present invention, and fig. 3 is a schematic view illustrating a gear train structure of the vehicle handling machine in a steering state according to an embodiment of the present invention. The side to the left of the drawing sheet is the front side of the automobile transfer machine, and the side to the right of the drawing sheet is the rear side of the automobile transfer machine. The present invention provides an automotive transfer machine, which can be used to transfer automobiles, the automotive transfer machine comprising: the front and rear support frames 200 and 300 are respectively used for supporting the front and rear parts of a carried automobile, for example, the middle support frame 200 is used for supporting the front wheel part, the rear support frame 300 is used for supporting the rear wheel part of the automobile, or the middle support frame 200 is used for supporting the rear wheel part, and the rear support frame 300 is used for supporting the front wheel part of the automobile.
The middle position of the bottom of the traction part 100 is provided with a traction steering wheel 101, the traction steering wheel 101 pulls the automobile carrying machine to steer and move, namely the traction part 100 is a moving device driven by the traction steering wheel 101, and the whole automobile carrying machine moves linearly or in a turn under the driving of the traction steering wheel 101. Specifically, in some embodiments, one traction rudder wheel 101 may be installed, or a plurality of traction rudder wheels 101 may be installed.
The height of the middle supporting frame 200 is smaller than the minimum ground clearance of the carried automobile, so that the middle supporting frame 200 can extend into the lower part of the chassis of the carried automobile, the middle supporting frame 200 cannot scratch the chassis of the automobile, and scratch damage to the chassis of the automobile is avoided when the automobile is carried. One end of the middle support frame 200 is movably connected with the traction part 100, the middle support frame 200 is provided with a middle support wheel set 210 and a steering driving device 220, the middle support wheel set 210 is used for supporting the load of the automobile acting on the middle support frame 200, and the steering driving device 220 is used for driving the middle support wheel set 210 to cooperate with the traction rudder wheel 101 to steer and move. When the traction part 100 turns and moves through the traction rudder wheel 101, because the middle supporting wheel set 210 needs to drive the middle supporting frame 200 to move, if the middle supporting wheel set 210 does not actively cooperate with the traction rudder wheel 101 through the steering driving device 220 to turn, the traction part 100 can force the middle supporting wheel set 210 to slide and turn through the middle supporting frame 200, and the motion resistance of the traction part 100 during turning is increased, therefore, the middle supporting wheel set 210 can be driven to cooperate with the traction part 100 to turn through the steering driving device 220, on one hand, the motion resistance of the middle supporting wheel set 210 during turning of the automobile carrying machine is adjusted through the steering driving device 220, on the other hand, a larger turning angle can be realized under the cooperation of the traction rudder wheel 101 and the middle supporting wheel set 210 turning simultaneously. When the central axes of the rolling wheels of the traction control wheel 101, the middle support wheel set 210 and the rear support wheel set 310 are coincided at the same point, at the moment, the three wheel sets are close to a pure rolling state when the automobile carrying machine turns and moves forward, the walking resistance is small, and the loss of the wheel surface is small.
It should be noted that, in the installation position of the middle supporting wheel set 210, it should be considered that the middle supporting wheel set 210 bears more than 80% of the pressure perpendicular to the horizontal plane transmitted by the vehicle through the tire, and the rest of the pressure perpendicular to the horizontal plane transmitted by the tire is shared by the traction steering wheel 101 of the traction part 100, so as to ensure that there is sufficient sliding friction between the traction steering wheel 101 and the ground, so that the traction steering wheel 101 does not slip due to insufficient pressure.
The height of the rear support frame 300 is less than the minimum ground clearance of the carried automobile, so that the rear support frame 300 can extend into the lower part of the automobile chassis and cannot scratch the automobile disc, and the scratch to the automobile is avoided when the automobile is carried. The rear support frame 300 is provided with a rear support wheel set 310, a first telescopic mechanism 230 is arranged between the rear support frame 300 and the middle support frame 200, the rear support frame 300 and the middle support frame 200 are connected through the first telescopic mechanism 230, that is, one end of the first telescopic mechanism 230 is connected with the other end of the traction part 100 far away from the middle support frame 200, the other end of the first telescopic mechanism 230 is connected with the rear support frame 300, and the first telescopic mechanism 230 is used for adjusting the distance between the middle support frame 200 and the rear support frame 300. Because the wheelbases between the front wheels and the rear wheels of different automobiles are different in size, the middle support frame 200 and the rear support frame 300 are close to or far away from each other through the extension and retraction of the first extension and retraction mechanism 230, so that the wheelbases of different automobiles are adapted; in addition, the distance between the front and the back of the automobile carrying machine can be adjusted to be as short as possible in the carrying state, so that the limitation of the physical space of an application place on the operation of the automobile carrying machine is reduced.
The rear support frame 300 is provided with at least one rear support wheel set 310, the rear support wheel set 310 can only roll and can not steer, and the rear support wheel set 310 is arranged at the bottom of the rear support frame 300 and corresponds to the automobile tire, so that the rear support wheel set 310 can bear the pressure which is transmitted by the carried automobile through the tire and is vertical to the horizontal direction.
The rear support wheel set 310 is mounted in a position that is considered to support all of the vertical and horizontal pressures transmitted through the tires to ensure that no vertical and horizontal pressures need to be transmitted between the center support frame 200 and the rear support frame 300.
Referring to fig. 4 and 5 in conjunction with fig. 3, fig. 4 is a schematic view of a connection structure between a steering driving device and a middle supporting wheel set of an automobile transfer machine according to an embodiment of the present invention, and fig. 5 is a schematic view of a structure of a middle supporting frame of an automobile transfer machine according to an embodiment of the present invention. In some embodiments, the middle supporting wheel set 210 includes a wheel set bracket 211 and a steering shaft 212, the steering shaft 212 is located at the middle position of the middle supporting frame 200, one end of the steering shaft 212 is rotatably connected to the middle supporting frame 200, and the steering shaft 212 is perpendicular to the horizontal plane of the middle supporting frame 200, that is, the central axis of the steering shaft 212 is perpendicular to the horizontal plane of the middle supporting frame 200, the other end of the steering shaft 212 is fixedly connected to the middle of the wheel set bracket 211, rollers 213 are disposed on two opposite sides of the wheel set bracket 211, and the steering driving device 220 drives the steering shaft 212 to drive the wheel set bracket 211 and the rollers 213 to rotate around the steering shaft 212 relative to the middle supporting frame 200, so that the wheel set bracket 211 drives the rollers 213 to rotate around the central axis of the steering shaft 212 relative to the middle supporting frame 200, thereby realizing that the.
Specifically, the steering driving device 220 includes a steering motor 221, a housing of the steering motor 221 is fixed on the middle supporting frame 200, an output end of a rotating shaft of the steering motor 221 is fixedly connected with a driving bevel gear 222, the middle supporting wheel set 210 further includes a driven bevel gear 214, and the driven bevel gear 214 is fixedly sleeved outside the steering shaft 212. The driving bevel gear 222 is in meshing transmission with the driven bevel gear 214 to convert the rotation of the rotating shaft of the steering motor 221 parallel to the horizontal plane of the middle support frame 200 into the rotation of the steering shaft 212 perpendicular to the horizontal plane of the middle support frame 200, and the driving steering shaft 212 drives the wheel set bracket 211 and the roller 213 to rotate, and in addition, compared with a mode that the output shaft of the steering motor 221 directly drives the wheel set bracket 211 to be fixedly connected and drives the middle support wheel set 210 to steer, the transmission mode can reduce the height of the whole middle support frame 200 in the vertical direction. Wherein the steering motor can be a speed reducing motor.
It will be appreciated that in some embodiments, the drive bevel gear 222 and the driven bevel gear 214 may be replaced by worm and gear drives, respectively.
Referring to fig. 2 to 5, in some embodiments, the middle supporting wheel set 210 further includes a rotary bearing 215, the rotary bearing 215 includes an outer ring 2151 and an inner ring 2152, the outer ring 2151 and the inner ring 2152 are rotatably connected, the outer ring 2151 of the rotary bearing 215 is fixedly connected to the wheel set bracket 211, the inner ring 2152 of the rotary bearing 215 is sleeved outside the steering shaft 212, the steering shaft 212 is rotatably connected to the inner ring 2152, and the inner ring 2152 of the rotary bearing 215 is fixedly connected to the middle supporting frame 200, so that the middle supporting wheel set 210 is rotatably connected to the middle supporting frame 200 through the rotary bearing 215. The slewing bearing 215 may be a cross roller slewing bearing or a ball slewing bearing, or may be another type of bearing capable of bearing axial thrust and overturning moment, or a combination thereof.
Referring to fig. 6 in conjunction with fig. 2, fig. 6 is a schematic view illustrating a connection structure between a middle support frame and a rear support frame of a vehicle transfer machine according to an embodiment of the present invention. Further, the automobile handling machine further comprises a first driving device 240, wherein the first driving device 240 is used for driving the first telescoping mechanism 230 to drive the middle supporting frame 200 and the rear supporting frame 300 to move towards or away from each other. Specifically, the first driving device 240 includes: the first motor 241, the first lead screw 242, the first fixed seat 243 and the first connecting rod 244, the casing of the first motor 241 is fixed on the middle support frame 200, the output end of the output shaft of the first motor 241 is fixedly connected with the first driving wheel 245, both ends of the first lead screw 242 are respectively connected to the middle support frame 200 through the first fixed seat 243, the first lead screw 242 can rotate relative to the first fixed seat 243, the first lead screw 242 and the first motor 241 are arranged in parallel at intervals, one end of the first lead screw 242 is fixedly connected with the first driven wheel 246, the first motor 241 drives the first driven wheel 246 to rotate through the first driving wheel 245, thereby driving the first lead screw 242 to rotate relative to the first fixed seat 243, the first connecting rod 244 is provided with the first nut matched with the first lead screw 242, when the first motor 241 drives the first lead screw 242 to rotate through the transmission of the first driving wheel 245 and the first driven wheel 246, the first nut slides linearly on the first lead screw 242 at the part between the two first fixed seats 243; the first driving wheel 245 and the first driven wheel 246 may be belt driving wheels or chain driving wheels. The first telescoping mechanism 230 may be a scissor type telescoping mechanism, that is, the first telescoping mechanism 230 is a scissor type telescoping mechanism having a plurality of diamonds formed by crossing a plurality of connecting rods and hinging the connecting rods by a pin, a first hinge point at one end of the first telescoping mechanism 230 is fixedly connected with the middle support frame 200 by a pin (for convenience of description, the hinge point is referred to as a head-end hinge point), a first hinge point at the other end of the first telescoping mechanism 230 is connected with one end of the rear support frame 300 by a pin (for convenience of description, the hinge point is referred to as a tail-end hinge point), and the first connecting rod 244 is connected with another hinge point of the first telescoping mechanism 230, which is located on the same diamond diagonal line as the head-. When the first connecting rod 244 drives the hinge point connected with the first connecting rod to be close to the hinge point at the head end, the first telescopic mechanism 230 is shortened, so that the middle supporting frame 200 and the rear supporting frame 300 are close to each other, and when the first connecting rod 244 drives the hinge point connected with the first connecting rod to be far away from the hinge point at the head end, the first telescopic mechanism 230 is extended, so that the middle supporting frame 200 and the rear supporting frame 300 are far away from each other. Because the scissors type telescopic mechanism has a large telescopic ratio, the vehicle type with different wheelbases can be adapted by the large telescopic distance between the middle supporting frame 200 and the rear supporting frame 300.
It should be noted that the first driving device 240 may be mounted on the middle supporting frame 200 or the rear supporting frame 300.
In some embodiments, the first telescoping mechanism 230 may also be another mechanism or device that performs a telescoping function, such as a hydraulic telescoping rod, and the first driving device 240 may be selected according to the specific structure of the first telescoping device, such as when the first telescoping mechanism 230 is a hydraulic telescoping rod, the first driving device 240 may be a hydraulic pump.
In some embodiments, the number of the first telescoping mechanisms 230 is two, two first telescoping mechanisms 230, a first nut is disposed at the middle position of the first connecting rod 244, and two ends of the first connecting rod 244 are respectively hinged to the first telescoping mechanisms 230, and the two first telescoping mechanisms 230 are driven to extend or shorten.
Referring to fig. 2 again, in some embodiments, a second telescoping mechanism 110 is disposed between the traction part 100 and the middle support frame 200, the middle support frame 200 and the traction part 100 are connected through the second telescoping mechanism 110, that is, one end of the second telescoping mechanism 110 is connected to the traction part 100, and the other end of the second telescoping mechanism 110 is connected to the other end of the middle support frame 200 away from the rear support frame 300, and the second telescoping mechanism 110 can be used to adjust the distance between the traction part 100 and the middle support frame 200, and the distance between the traction part 100 and the middle support frame 200 is adjusted through the second telescoping mechanism 110 because the same or different automobiles have different front suspension distances and rear suspension distances. When the front wheel part of the automobile is positioned on the front supporting frame and the rear wheel part of the automobile is positioned on the rear supporting frame 300, the distance between the traction part 100 and the middle support frame bracket can be adjusted in an adaptive mode according to different front suspension distances of the automobile, when the rear wheel part of the automobile is positioned on the front supporting frame and the front wheel part of the automobile is positioned on the rear supporting frame 300, the distance between the traction part 100 and the middle support frame bracket can be adjusted in an adaptive mode according to different rear suspension distances of the automobile, the whole length of the automobile carrying machine for carrying the automobile is ensured to be within an appropriate length range through adjustment, the distance between the traction part 100 and the middle support frame 200 can be reduced under the condition that the requirement of the front suspension distance or the rear suspension distance of the automobile is met, therefore, the occupied space of the automobile carrying machine during use is reduced, and the limitation of the movement of the.
Referring to fig. 2, the vehicle transfer machine further includes a second driving device 120, wherein the second driving device 120 is used for driving the second telescoping mechanism 110 to drive the traction portion 100 and the middle supporting frame 200 to move closer to or away from each other, so as to adjust the distance between the traction portion 100 and the middle supporting frame 200. The second driving device 120 may be installed on the traction portion 100 or the middle support frame 200, and preferably, the second driving device 120 is installed on the traction portion 100 to reduce the space occupied by the second driving device 120 on the middle support frame 200, which is beneficial to reducing the structural size of the middle support frame 200.
It should be noted that the second driving device 120 includes a second motor, a second lead screw, a second fixing seat and a second connecting rod, because the structure of the second driving device 120 is the same as that of the first driving device 240, the structure of the first telescoping mechanism 230 is the same as that of the first telescoping mechanism 230, and both the structure of the first telescoping mechanism 230 and that of the second driving device 120 are cross-shear type telescoping mechanisms, and the implementation manners of connection and transmission among the second driving device 120, the second telescoping mechanism 110, the traction portion 100 and the middle support member can be referred to, and the implementation manners of connection and transmission of the first driving device 240, the first telescoping mechanism 230, the middle support frame 200 and the rear support frame 300 can be referred to, which is not described herein any more.
It is understood that the second telescoping mechanism 110 may also be other mechanisms or devices that perform a telescoping function than the first telescoping mechanism 230.
Referring to fig. 2 again, in some embodiments, a nested telescopic slide bar 130 is further disposed between the traction portion 100 and the middle support frame 200, one end of the nested telescopic slide bar 130 is connected to the middle support frame 200, the other end of the nested telescopic slide bar 130 is connected to the middle support frame 200, a telescopic stroke of the nested telescopic slide bar 130 is greater than a telescopic stroke of the second telescopic mechanism 110, and the nested telescopic slide bar 130 passively extends and retracts, that is, when the first driving device 240 drives the second telescopic mechanism 110 to drive the middle support frame 200 to approach and move away from each other, a relative motion between the traction portion 100 and the middle support frame 200 drives the nested telescopic slide bar 130 to telescopically slide. The nested telescopic slide bar 130 is composed of two metal loop bars which are mutually sleeved, and the telescopic stroke of the nested telescopic slide bar 130 is greater than that of the second telescopic mechanism 110, so that the inner metal loop bar and the outer metal loop bar are always kept to be overlapped with each other by a certain length, and the middle support frame 200 shares part of gravity of an automobile acting on the middle support frame 200 through the nested telescopic slide bar 130, so that a certain pressure of the automobile, which is transmitted by a tire through the tire and is perpendicular to the horizontal plane, can be borne between the traction steering wheel 101 and the middle support wheel set 210, and in addition, the movement resistance of the second telescopic mechanism 110 during telescopic movement can be reduced. Specifically, the number of the nested telescopic slide bars 130 is two, and the two nested telescopic slide bars 130 are respectively located at two opposite sides of the second telescopic mechanism 110 and are arranged at an interval with the second telescopic mechanism 110, that is, the second telescopic mechanism 110 is located in an area enclosed by the traction portion 100, the rear support frame 300 and the two nested telescopic slide bars 130 on a horizontal plane.
Referring to fig. 2, a laser navigation device 102 is further disposed on the top of the towing part 100, and the laser navigation device 102 is used for positioning navigation so as to tow and move the automobile handling machine to a positioned position according to the position information located by the laser navigation device 102.
Furthermore, the traction unit 100 is further provided with a power battery, and the power battery is electrically connected to and supplies power to electric devices such as motors in the traction steering wheel 101, the laser navigation device 102, and the steering drive device 220, so that the power battery supplies power to the electric devices of the automobile transportation machine. In addition, the power battery is rechargeable, so that the automobile carrying machine can provide a power source through the power battery during working without an external power supply.
Referring to fig. 2, the overall height of the traction unit 100 is higher than the minimum ground clearance of the vehicle, and an electric cabinet is further provided, in which electric components such as a control unit and the like are provided, the control unit is used for coordinating and controlling the operations of electric devices such as the traction steering wheel 101, the laser navigation device 102, the first driving device 240, the steering driving device 220, the second driving device 120 and the like, and the control unit is used as a logic control part for autonomous operation of the vehicle handling machine. Because the volume of the components such as the traction steering wheel 101, the power battery, the laser navigation device 102 and the electric cabinet is larger, the components such as the traction steering wheel 101, the power battery, the laser navigation device 102 and the electric cabinet are arranged on the traction part 100, the height size of the space occupied by the middle support frame 200 and the rear support frame 300 can be reduced, and the middle support frame 200 and the rear support frame 300 can be made smaller. The power battery is arranged on the left side of the traction steering wheel 101, the electric cabinet is arranged on the right side of the traction steering wheel 101, the whole structure is compact, the mass distribution is symmetrically distributed according to the left side and the right side of the traction steering wheel 101, the gravity center distribution is reasonable, and the balance of the traction part 100 is stable. The distance space between the front and rear ends of the traction part 100 is short, so that the traction rudder wheel 101 and the power battery component can be installed, and the compression of the distance space between the front and rear ends enables the overall size of the traction part 100 to be small, so that the space required by the automobile carrying machine during movement is small.
Specifically, the outside of the traction part 100 is covered by a sheet metal part, that is, the shell is made of a sheet metal part, and the traction rudder wheel 101, the power battery, the electric cabinet and other equipment are protected by the shell formed by the sheet metal part, a metal rod is installed at the top of the shell, the laser navigation device 102 is installed at the top end of the metal rod, and the laser navigation device 102 is at a certain height above the ground so as to ensure that the laser has a sufficient scanning range and improve the reliability of the laser navigation device 102.
In some embodiments, the traction portion 100 further includes a skeleton, and the skeleton serves as a connection foundation for the traction steering wheel 101, the power battery, the laser positioning device, the electric cabinet, the sheet metal part, and the like, and connects the traction steering wheel 101, the power battery, the laser positioning device, the electric cabinet, and the sheet metal part into the whole traction portion 100. The second driving device 120 may be installed on the frame or the sheet metal part, and the second telescopic mechanism 110 may be connected to the traction portion 100 by being connected to the frame or the sheet metal part.
Referring to fig. 1, 2 and 5 again, further, two opposite sides of the middle supporting frame 200 are respectively provided with a first front clamping device 250 and a first rear clamping device 260, the first front clamping device 250 and the first rear clamping device 260 located on the same side of the middle supporting frame 200 are arranged at an interval, the first rear clamping device 260 is located on a side far away from the first front clamping device 250, one end of the first front clamping device 250 is rotatably connected with the middle supporting frame 200, the other end of the first front clamping device 250 is a free end, the first front clamping device 250 can rotate relative to the middle supporting frame 200 around a hinge, a rotating shaft of the first front clamping device 250 relative to the middle supporting frame 200 is perpendicular to a horizontal plane of the middle supporting frame 200, and a first preset included angle is formed between the first front clamping device 250 and the middle supporting frame 200; one end of the first rear clamping device 260 is hinged to the middle support frame 200, the other end of the first rear clamping device 260 is a free end, a rotating shaft of the first rear clamping device 260, which rotates relative to the middle support frame 200, is perpendicular to the horizontal plane of the middle support frame 200, and the first rear clamping device 260 rotates relative to the middle support frame 200 and has two states of unfolding and closing.
In operation, the first rear clamping device 260 is in an unfolded state, and the first front clamping device 250 and the first rear clamping device 260 are respectively located at the front side and the rear side of the bottom of the front wheel (or the rear wheel) of the automobile and can clamp the front wheel (or the rear wheel) of the automobile off the ground, that is, when the first rear clamping device 260 is in the unfolded state, the first rear clamping device 260 is close to the first front clamping device 250, the first front clamping device 250 and the first rear clamping device 260 are respectively located at the front side and the rear side of the lowest portion of the front wheel (or the rear wheel) of the automobile, and when the first front clamping device 250 and the first rear clamping device 260 are unfolded such that the rotating shafts of the front wheel (or the rear wheel) are parallel, the first front clamping device 250 and the first rear clamping device 260 press the front wheel (or the rear wheel) of the automobile off the ground. When the first rear clamping device 260 is in the closed state, the first front clamping device 250 and the first rear clamping device 260 are parallel and attached to the side wall of the middle supporting frame 200.
Referring to fig. 1, 2, 5 and 6, in some embodiments, the first predetermined angle of the first front clamping device 250 is 85 °, that is, in the initial state, the included angle between the first front clamping device 250 and the sidewall of the middle supporting frame 200 is 85 °, and the angle range of the first front clamping device 250 rotatable relative to the middle supporting frame 200 is 0-5 °, that is, the first front clamping device 250 rotates from the first predetermined included angle to the included angle with the middle supporting frame 200 is 90 °. The first rear clamping device 260 rotates relative to the middle support bracket 200 by an angle in the range of 0-90. All be equipped with first support 201 and second support 202 on the two relative lateral walls of middle part support frame 200, the interval sets up between first support 201 and the second support 202 that are located the same lateral wall of middle part support frame 200, first support 201 is located one side that second support 202 is close to traction part 100, the one end of clamping device 250 is articulated with first support 201 before first, make clamping device 250 articulated with the middle part support frame through first support 201 before first, the one end of clamping device 260 is articulated with second support 202 after first, make clamping device 260 articulated with the middle part support frame through second support 202 after first. The first support 201 is provided with a first proximity sensor 203, the first front clamping device 250 is provided with a first elastic cushion block 204, the first proximity sensor 203 and the first elastic cushion block 204 are correspondingly arranged, and the first proximity sensor 203 is electrically connected with the control unit. When the automobile middle supporting frame is in work, the traction steering wheel 101 of the traction part pulls the middle supporting frame 200 to approach an automobile to be carried, when the first front clamping device 250 touches a tire on one side of the automobile close to the traction part 100 and the first front clamping device 250 rotates to form an included angle of 90 degrees with the middle supporting frame 200, the first elastic cushion block 204 is in a compressed state, at the moment, the first front clamping device 250 enters a detection range of the first proximity sensor 203, the first proximity sensor 203 generates an electric signal, and the control unit controls the traction steering wheel 101 to stop working according to the electric signal so that the traction part 100 stops pulling the middle supporting frame 200 to continue to approach the automobile; when the automobile carrying machine is far away from the automobile tire and the first front clamping device 250 is separated from the automobile tire, the resilience force of the first elastic cushion block 204 pushes the first front clamping device 250 to return to the initial state, namely, the state that the included angle between the first front clamping device 250 and the middle supporting frame 200 is 85 degrees is recovered.
When the first front clamping device 250 rotates from the initial state to the maximum unfolding angle, that is, the included angle between the first front clamping device 250 and the side wall of the middle supporting frame 200 where the first front clamping device is located is 90 degrees, at this time, the first front clamping device 250 is parallel to the rotating shaft of the front wheel (or the rear wheel) of the automobile;
when the first rear clamping device 260 is in a closed state, an included angle between the first rear clamping device 260 and the side wall of the middle support frame 200 where the first rear clamping device 260 is located is 0 degree; when the first rear clamping device 260 is at the maximum spreading angle, the included angle between the first rear clamping device 260 and the side wall of the middle supporting frame 200 where the first rear clamping device 260 is located is 90 °, and at this time, the first rear clamping device 260 is parallel to the rotating shaft of the front wheel (or the rear wheel) of the automobile.
Therefore, because the first front clamping device 250 and the middle support frame 200 form a first preset included angle, when the first rear clamping device 260 is unfolded from the closed state to form an included angle of 90 degrees with the middle support frame 200, because the first front clamping device 250 and the first rear clamping device 260 are located at the front side and the rear side of the lowest point of the front wheel (or the rear wheel) of the automobile, the first front clamping device 250 and the first rear clamping device 260 gradually hold the minimum point of the front wheel (or the rear wheel) of the automobile away from the bottom surface in the process of unfolding to approach each other, and thus the front tire is lifted. The clamping method is simple, the device is reliable and easy to maintain, higher carrying efficiency can be achieved, meanwhile, the cost control of equipment is considered, and the large-scale deployment is facilitated.
The first front clamping device 250 and the first rear clamping device 260 are disposed adjacent to the middle support wheel set 210, so that the middle support wheel set 210 bears most of the force perpendicular to the horizontal plane, which is applied to the middle support frame 200 by the vehicle through the first front clamping device 250 and the first rear clamping device 260. When the first front clamping device 250 and the first rear clamping device 260 are both unfolded to form an included angle of 90 degrees with the middle support frame 200, the central axis of the roller of the middle support wheel set 210 coincides with the central distance line between the first front clamping device 250 and the first rear clamping device 260.
Further, the middle supporting frame 200 is further provided with a first link mechanism 270 and a third driving device 280, the first link mechanism 270 is hinged to the first rear clamping device 260, and the third driving device 280 drives the first link mechanism 270 to drive the first rear clamping device 260 to rotate around the hinged position of the first rear clamping device 260 and the middle supporting frame 200 relative to the middle supporting frame 200, so that the third driving device 280 drives the first link mechanism 270 to drive the first rear clamping device 260 to switch between the unfolding state and the closing state. It should be noted that the first rear clamping devices 260 on the two opposite sides of the middle supporting frame 200 are driven by the first link mechanism 270 to rotate relative to the middle supporting frame 200.
Specifically, in some embodiments, the third driving device 280 includes a third motor, a third screw rod, and a third fixing frame, a housing of the third motor is fixedly connected to the middle supporting frame 200, an output end of an output shaft of the third motor is fixedly connected to a third driving wheel, the third screw rod is respectively connected to the middle supporting frame 200 through two third fixing frames disposed at intervals, the third screw rod can rotate relative to the third fixing frame, one end of the third screw rod is fixedly connected to a third driven wheel, the third driving wheel and the third driven wheel can be driven by a belt or a chain, and the third motor drives the third screw rod to rotate relative to the third fixing frame through transmission between the third driving wheel and the third driven wheel. The first link mechanism 270 includes a first link rod, a third nut adapted to the third screw rod is disposed in the middle of the first link rod, and two ends of the third link rod are respectively hinged to the first rear clamping devices 260 disposed on two opposite sides of the different middle supporting frames 200 through connecting arms. When the third motor drives the third lead screw to rotate through the third driven wheel and the third driven wheel, the third lead screw converts the rotation motion into a first connecting rod linear motion through the matching with the third nut, and the first connecting rod drives the first rear clamping device 260 to rotate around the side wall hinge point of the first rear clamping device 260 and the middle supporting piece through the connecting arm, so that the first rear clamping device 260 is unfolded or closed.
Referring to fig. 7 in conjunction with fig. 1 and 2, fig. 7 is a schematic structural diagram of a rear support frame of an automobile transfer machine according to an embodiment of the invention. Further, for the rear supporting frame 300, two opposite sides of the rear supporting frame 300 are provided with a second front clamping device 320 and a second rear clamping device 330, the second front clamping device 320 and the second rear clamping device 330 which are located on the same side are arranged at intervals, the second rear clamping device 330 is located on one side of the second front clamping device 320 far away from the middle supporting frame 200, one end of the second front clamping device 320 is hinged to the rear supporting frame 300, the second front clamping device 320 can rotate around the hinged position relative to the rear supporting frame 300, a rotating shaft of the second front clamping device 320 rotating relative to the rear supporting frame 300 is perpendicular to the horizontal plane of the rear supporting frame 300, and the second front clamping device 320 has two states of unfolding and closing; the other end of the second front clamping device 320 is a free end, the second rear clamping device 330 can rotate around the hinged position relative to the rear support frame 300, the rotating shaft is perpendicular to the horizontal plane of the rear support frame 300, one end of the second rear clamping device 330 is hinged with the rear support frame 300, the other end of the second rear clamping device 330 is a free end, the rotating shaft of the second rear clamping device 330 relative to the middle support frame 200 is perpendicular to the horizontal plane of the rear support frame 300, and the second rear clamping device 330 has two states of unfolding and closing by rotating relative to the rear support frame 300. When the second front clamping device 320 and the second rear clamping device 330 are simultaneously in the unfolded state, the second front clamping device 320 and the second rear clamping device 330 are located at the bottom of the rear wheel (or the front wheel) of the vehicle and can clamp the rear wheel (or the front wheel) of the vehicle off the ground, that is, when the second front clamping device 320 and the second rear clamping device 330 are simultaneously in the unfolded state, the second front clamping device 320 and the second rear clamping device 330 are located at the front side and the rear side of the bottommost portion of the rear wheel (or the front wheel) of the vehicle, respectively, and when the second front clamping device 320 and the second rear clamping device 330 are unfolded to be parallel to the rotation axis of the rear wheel (or the front wheel), the second front clamping device 320 and the second rear clamping device 330 press the rear wheel (or the front wheel) of the vehicle off the ground. When the second front clamping device 320 and the second rear clamping device 330 are in the closed state, the second front clamping device 320 and the second rear clamping device 330 are parallel to and attached to the side wall of the middle supporting frame 200.
In some embodiments, the rear portion of the rear supporting frame 300 can be folded when the second rear clamping device 330 is in the closed state, and at this time, the second rear clamping device 330 can be not parallel to the side wall connected to the rear supporting frame 300.
Specifically, the angle range of the rotation of the second front clamping device 320 and the second rear clamping device 330 relative to the rear supporting frame 300 is 0-90 degrees. It will be appreciated that in some embodiments, the second front clamping device 320 may be rotated relative to the rear support 300 through an angular range of 0-90 °, and the second rear clamping device 330 may be rotated relative to the rear support 300 through an angular range greater than the angular range of rotation of the second front clamping device 320 relative to the rear support 300, such as the angular range of rotation of the second front clamping device 320 relative to the rear support 300.
The two opposite side walls of the rear support frame 300 are respectively provided with a third support 301 and a fourth support 302, the third support 301 and the fourth support 302 which are positioned on the same side wall of the rear support frame 300 are arranged at intervals, the third support 301 is positioned on one side of the fourth support 302 close to the middle support frame 200, one end of a second front clamping device 320 is hinged to the third support 301, so that the second front clamping device 320 is hinged to the rear support frame 300 through the third support 301, one end of a second rear clamping device 330 is hinged to the fourth support 302, and the second rear clamping device 330 is hinged to the rear support frame 300 through the fourth support 302. The third support 301 is provided with a second proximity sensor 303, the second front clamping device 320 is provided with a second elastic cushion block 304, the second proximity sensor 303 and the second elastic cushion block 304 are correspondingly arranged, and the second proximity sensor 303 is electrically connected with the control unit.
When the tractor works, the middle support frame and the rear support frame 300 are drawn by the traction part 100 to approach the automobile, when the rear support frame 300 enters the wheel on the side of the automobile close to the traction part 100, namely the rear support frame 300 is positioned between the front wheel and the rear wheel of the automobile, the second front clamping device 320 is firstly converted from a closed state to be unfolded until the included angle between the second front clamping device and the rear support frame is 85 degrees, after the first front clamping device 250 touches the tire on the side of the traction part 100 close to the automobile and is unfolded to the maximum angle, the traction rudder wheel of the traction part 100 stops working, the traction part 100 does not approach the automobile, at the moment, the first driving device 240 drives the first telescoping mechanism 230 to drive the rear support frame 300 to approach the wheel far away from the middle support frame 200 so that the rear support frame 300 approaches the wheel far away from the traction part 100, and when the second front clamping device 320 touches the tire on the, when the second front clamping device 320 rotates to form an included angle of 90 degrees with the rear support frame 300, the second elastic cushion block 304 is in a compressed state, the second front clamping device 320 enters a distance detection range of the second proximity sensor 303, at the moment, the second proximity sensor 303 generates an electric signal, the control unit controls the first driving device 240 to stop working according to the electric signal, so that the rear support frame 300 does not move any more, at the moment, the second rear clamping device 330 is unfolded to be at a maximum angle with the rear support frame 300, and the automobile wheel is clamped and separated from the ground; when the automobile carrying machine is far away from the automobile wheels and the second front clamping device 320 is separated from the automobile wheels, the resilience force of the second elastic cushion block 304 pushes the second front clamping device 320 to return to a state that the included angle between the second front clamping device 320 and the rear supporting frame 300 is 85 degrees.
When the second front clamping device 320 is in a closed state, an included angle between the second front clamping device 320 and the side wall of the rear support frame 300 where the second front clamping device is located is 0 degree; when the second front holding device 320 is at the maximum spreading angle, the included angle between the second front holding device 320 and the side wall of the rear supporting frame 300 where the second front holding device is located is 90 °, and at this time, the first front holding device 250 is parallel to the rotating shaft of the rear wheel (or the front wheel) of the automobile.
When the second rear clamping device 330 is in a closed state, an included angle between the second rear clamping device 330 and the side wall of the rear support frame 300 where the second rear clamping device is located is 0 degree; when the second rear clamping device 330 is at the maximum spreading angle, the included angle between the second rear clamping device 330 and the side wall of the rear supporting frame 300 where the second rear clamping device is located is 90 °, and at this time, the first rear clamping device 260 is parallel to the rotating shaft of the rear wheel (or the front wheel) of the automobile. Therefore, when the second front clamping device 320 is firstly unfolded to form an angle of 90 degrees with the rear support frame 300, and the second rear clamping device 330 is unfolded to form an angle of 90 degrees with the rear support frame 300 from the closed state, the second front clamping device 320 and the second rear clamping device 330 are located on the front side and the rear side of the lowest point of the front tire of the automobile, and the second front clamping device 320 and the second rear clamping device 330 clamp the minimum point of the rear tire (or the front wheel) of the automobile away from the bottom surface in the process of approaching each other, so that the rear tire of the automobile is lifted. The clamping method is simple, the device is reliable and easy to maintain, higher carrying efficiency can be achieved, meanwhile, the cost control of equipment is considered, and the large-scale deployment is facilitated.
The second front clamping device 320 and the second rear clamping device 330 are disposed adjacent to the rear supporting wheel set 310, so that the rear supporting wheel set 310 bears the force of the vehicle acting on the rear supporting frame 300 through the second front clamping device 320 and the second rear clamping device 330, which is perpendicular to the horizontal plane. When the second front clamping device 320 and the second rear clamping device 330 are unfolded to form an angle of 90 ° with the rear support frame, the equidistant center lines of the second front clamping device 320 and the second rear clamping device 330 coincide with each other in the central axis of the rear support wheel set 310.
Further, the rear support frame 300 is further provided with a second link mechanism 340 and a fourth driving device 350, the second link mechanism 340 is hinged to the second front clamping device 320 and the second rear clamping device 330, respectively, and the fourth driving device 350 drives the second link mechanism 340 to drive the second front clamping device 320 and the second rear clamping device 330 to rotate relative to the rear support frame 300, so that the fourth driving device 350 drives the second link mechanism 340 to drive the second front clamping device 320 and the second rear clamping device 330 to switch between the expanded state and the closed state. It should be noted that the second front clamping device 320 and the second rear clamping device 330 on the opposite sides of the rear supporting frame 300 are driven by the second link mechanism 340 to rotate relative to the rear supporting frame 300.
Specifically, the fourth driving device 350 includes a fourth motor, a fourth lead screw and a fourth fixing frame, a housing of the fourth motor is fixedly connected to the middle supporting member, an output end of an output shaft of the fourth motor is fixedly connected to a fourth driving wheel, two ends of the fourth lead screw are respectively connected to the middle supporting member through the two fourth fixing frames arranged at intervals, the fourth lead screw can rotate relative to the fourth fixing frame, one end of the fourth lead screw is fixedly connected to a fourth driven wheel, the fourth driving wheel and the fourth driven wheel are driven by a driving belt or a driving chain, so that the fourth rotating motor drives the fourth lead screw to rotate relative to the fourth fixing frame through the fourth driving wheel and the fourth driven wheel. The second linkage mechanism 340 includes a second connecting rod, a fourth nut matched with the fourth screw rod is arranged in the middle of the second connecting rod, and two ends of the fourth connecting rod are respectively hinged to the second front clamping device 320 through a second connecting arm and hinged to the second rear clamping device through a third swing arm. During operation, the fourth motor drives the fourth screw rod to rotate relative to the fourth fixing frame, the fourth screw rod is matched with the fourth nut to convert the rotary motion of the fourth screw rod into linear motion of the second connecting rod, the second connecting rod drives the second front clamping device 320 to rotate around the hinge point of the second front clamping device 320 and the rear support frame 300 through the second connecting arm, and drives the second rear clamping device 330 to rotate around the hinge point of the second rear clamping device 330 and the rear support frame 300 through the third connecting arm, so that the second front clamping device 320 and the second rear clamping device 330 are unfolded or closed.
In some embodiments, the rear support 300 is further provided with a sensor for obtaining environmental information, and the control unit is operable to control the moving direction and the moving speed of the automobile handling machine according to the environmental information obtained by the sensor to avoid collision with an obstacle. Wherein, the sensor can select the electron eye for use, observes the environment around the car hauler through the electron eye.
Referring to fig. 1 to 9, fig. 8 is a schematic structural view illustrating a first front clamping device and a second front clamping device of a vehicle handling machine according to an embodiment of the present invention when the first front clamping device and the second front clamping device are unfolded to contact with wheels, and fig. 9 is a schematic structural view illustrating a vehicle handling machine according to an embodiment of the present invention when the vehicle handling machine clamps the vehicle off the ground. For the convenience of the reader, the following further details the operation of the automobile handling machine to handle automobiles:
the control unit controls the whole traction rudder wheel 101 to move and steer according to the position information acquired by the laser navigation device 102 and the sensor, controls the steering shaft 212 of the steering motor to drive the middle supporting wheel set 210 to rotate around the steering shaft 212 relative to the middle supporting frame 200, since the rear supporting wheel set 310 can only roll passively and can not turn, when the traction part 100 and the middle supporting frame 200 move and turn, the rear supporting wheel set 310 can only roll along, under the control of the control unit of the automobile handling machine, according to the distance between the middle support frame 200 and the rear support frame 300, the traction steering wheel 101, the middle support wheel group 210 and the rear support wheel group 310 can be matched to realize the straight walking and turning movement of the automobile handling machine, thereby moving the automobile carrying machine to the position where the automobile needs to be carried or carrying the automobile to the appointed position;
the automobile carrying machine is adjusted to an initial state (as shown in fig. 1), the first front clamping device 250 of the closest row is in a first preset angle, the other three rows of clamping devices, such as the first rear clamping device 260, the second front clamping device 320 and the second rear clamping device 330, are in a closed state, the control unit controls the first driving device 240 to drive the first telescopic mechanism 230 to shorten, and controls the second driving device 120 to drive the second telescopic mechanism 110 to shorten, so as to adjust the distance between the middle supporting frame 200 and the rear supporting frame 300 of the carrying automobile and the distance between the traction part 100 and the middle supporting frame 200 to be in a shortest state;
when approaching the automobile, the control unit may first control to close and drive the second telescoping mechanism 110 to drive the distance between the traction portion 100 and the middle support frame 200, so that when the first front clamping device 250 and the first rear clamping device 260 lift the wheels of the automobile, the traction portion 100 and the side of the automobile placed on the middle support frame 200 facing the traction portion 100 will not collide with each other, for example: adjusting the distance between the traction part 100 and the first front clamping device 250 on the horizontal plane to be equal to the distance of the suspension distance of one surface of the traction part 100 of the automobile surface;
the towing steering wheel 101 brings the automobile handling machine close to the automobile from the front or the rear of the automobile, and for convenience of description, the automobile handling machine is brought close to the automobile from the front of the automobile;
when the first front clamping device 250 collides with a front tire of the automobile and the first front clamping device 250 is unfolded to form a maximum included angle of 90 degrees relative to the middle support frame 200, the first front clamping device 250 enters a distance detection range of the first proximity sensor 203, at this time, the first proximity sensor 203 generates an electric signal, and the control unit controls the traction steering wheel 101 to stop working according to the electric signal, so that the traction part 100 stops moving continuously to approach the automobile;
when the rear support frame 300 of the automobile carrying machine passes right below the chassis of the automobile, when the rear support frame 300 passes through the front wheels of the carried automobile, the second front clamping devices 320 on the two sides of the rear support frame 300 are firstly switched from a closed state to an open state, and an included angle between the second front clamping device 320 and the side wall of the rear support frame 300 where the second front clamping device is located is unfolded to 85 degrees, at this time, the first driving device 240 drives the first telescopic mechanism 230 to drive the rear support frame 300 to move towards the direction far away from the middle support frame 200;
when the second front clamping device 320 touches the rear tire of the automobile and is unfolded to the maximum unfolding angle of 90 degrees, the second front clamping device 320 enters the distance detection range of the second proximity sensor 303, at this time, the second proximity sensor 303 generates an electric signal, and the control unit controls the control unit to control the first driving device 240 to stop working according to the electric signal so as to enable the rear supporting frame 300 to continuously keep away from the middle supporting frame 200;
the third driving device 280 drives the first link mechanism 270 to drive the first rear clamping device 260 to rotate and expand relative to the middle support frame 200, the fourth driving device 350 drives the second link mechanism 340 to drive the second rear clamping device 330 to rotate and expand relative to the rear support frame 300, the first rear clamping device 260 gradually approaches the first front clamping device 250 in the process of expanding to the maximum included angle and clamps the front tires of the automobile away from the bottom surface, the second rear clamping device 330 gradually approaches the second front clamping device 320 in the process of expanding to the maximum included angle and clamps the rear tires of the automobile away from the bottom surface, so that the four tires of the automobile are respectively clamped, the automobile tires are squeezed away from the ground, and the control unit starts the traction steering wheel 101 to move and carry the automobile to a target parking space according to a calculation or a received command.
In another embodiment, the automotive handling machine may include a communication module, a work module, a navigation positioning device, a safety detection module, a wheel movement module, and a power management module, all of which are connected to the control unit, thereby implementing autonomous work, autonomous charging, autonomous walking, and autonomous warning of the automotive handling machine. The control unit respectively controls the traction steering wheel 101 to operate through the operation module, controls the steering motor to drive the middle supporting wheel set 210 to steer and move around the steering shaft 212 relative to the middle supporting frame 200, controls the first motor 241 to drive the first telescopic mechanism 230 to stretch, controls the second motor to drive the second cross-shearing telescopic mechanism to stretch, controls the third motor to drive the first link mechanism 270 to drive the first rear clamping device 260 to rotate relative to the middle supporting frame, controls the fourth motor to drive the second front clamping device 320 and the second rear clamping device 330 to rotate through the second link mechanism 340, and the like. The control unit can adopt a computer or a singlechip, and the communication module, the operation module, the navigation positioning equipment, the safety detection module, the wheel type moving module and the power supply management module can all adopt the prior art and are not described in detail.
In the embodiment of the invention, by arranging the traction part 100, the middle support frame 200 and the rear support frame 300, wherein the traction part 100 is provided with the traction steering wheel 101, the middle support frame 200 is provided with the middle support wheel set 210 and the steering driving device 220, a first telescopic mechanism 230 is arranged between the middle support frame 200 and the rear support frame 300, one end of the middle support frame 200 is movably connected with the traction part 100, the other end of the middle support frame 200 is connected with the rear support frame 300 through the first telescopic mechanism 230, the traction steering wheel 101 is used for dragging the automobile carrying machine to steer and move, the middle support wheel set 210 is used for supporting the load of an automobile on the middle support frame 200, the steering driving device 220 is used for driving the middle support wheel set 210 to cooperate with the traction steering wheel 101 to steer and move so as to drive the middle support frame 200 to move along with the traction part 100, and the rear support wheel, the rear support frame 300 is driven to move along with the traction part 100 and the middle support frame 200, and the middle support wheel set 210 is driven to cooperate with the traction steering wheel 101 to steer by arranging the steering driving device 220, so that the movement resistance of the traction part 100 when the middle support frame 200 and the rear support frame 300 are pulled to turn can be reduced; the first telescopic mechanism 230 is used for adjusting the distance between the middle support frame 200 and the rear support frame 300, so that the automobile carrying machine can adjust the distance between the middle support frame 200 and the rear support frame 300 according to the wheel bases of different automobiles, and adapt to the wheel bases of different automobiles, thereby realizing that the automobile carrying device can adapt to different automobiles by adjusting the distance between the traction part 100 and the middle support frame 200 and the distance between the middle support frame 200 and the rear support frame 300. Therefore, the embodiment of the invention can reduce the motion resistance of the automobile carrying machine during turning during working, and can carry automobiles with different wheelbases.
It is to be noted that technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which embodiments of the present invention belong, unless otherwise specified.
In the description of the present embodiment, the technical terms "center", "length", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate an orientation or positional relationship based on that shown in the drawings, only for the convenience of describing the embodiment of the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiment of the present invention.
Furthermore, the technical terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the novel embodiments of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In describing the novel embodiments of this embodiment, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (10)

1. A vehicle transfer machine for transferring vehicles, comprising: the traction part, the middle supporting frame and the rear supporting frame;
the traction part is provided with a traction steering wheel which is used for drawing the automobile carrying machine to rotate and move;
one end of the middle support frame is movably connected with the traction part, the middle support frame is provided with a middle support wheel set and a steering driving device, and the steering driving device is used for driving the middle support wheel set to cooperate with the traction steering wheel to steer;
the rear supporting frame is provided with a rear supporting wheel set, a first telescopic mechanism is arranged between the rear supporting frame and the middle supporting frame, the rear supporting frame is connected with the other end of the middle supporting frame through the first telescopic mechanism, and the first telescopic mechanism is an intersection shear type telescopic mechanism and used for adjusting the distance between the rear supporting frame and the middle supporting frame.
2. The automotive handling machine of claim 1, wherein the middle support wheel assembly includes a wheel assembly support and a steering shaft, one end of the steering shaft is rotatably connected to the middle support frame, the steering shaft is perpendicular to a horizontal plane of the middle support frame, the other end of the steering shaft is fixedly connected to the wheel assembly support, and rollers are disposed on opposite sides of the wheel assembly support;
the steering driving device drives the steering shaft to drive the wheel set support and the idler wheel to rotate around the steering shaft relative to the middle supporting frame.
3. The automotive carrier machine of claim 2, further comprising a first drive arrangement that drives the first telescoping mechanism to move the center support frame and the rear support frame toward and away from each other.
4. The automotive carrier of claim 1, wherein a second telescoping mechanism is provided between the draft section and the center support frame, the draft section and the center support frame being connected by the second telescoping mechanism, the second telescoping mechanism being used to adjust the distance between the draft section and the center support frame.
5. The automotive handling machine of claim 4, further comprising a second drive arrangement for driving the second telescoping mechanism to move the draft gear and the center support frame toward and away from each other.
6. The automobile transfer machine of claim 4, wherein a nested telescoping slide bar is further disposed between the draft section and the middle support frame, one end of the nested telescoping slide bar is connected to the draft section, the other end of the nested telescoping slide bar is connected to the middle support frame, a telescoping stroke of the nested telescoping bar is greater than a telescoping stroke of the second telescoping mechanism, and the nested telescoping slide bar and the second telescoping mechanism are spaced apart.
7. The automotive carrier machine of claim 1, wherein opposite sides of the center support frame are each provided with a first front clamp and a first rear clamp, the first front clamp and the first rear clamp on the same side being spaced apart, and the first rear clamp being located on a side of the first front clamp away from the draft;
one end of the first front clamping device is hinged with the side wall of the middle support frame, the other end of the first front clamping device is a free end, the first front clamping device can rotate relative to the middle support frame around the hinged position, a rotating shaft of the first front clamping device, which rotates relative to the middle support frame, is vertical to the horizontal plane of the middle support frame, and a first preset included angle is formed between the first front clamping device and the middle support frame;
one end of the first rear clamping device is hinged to the side wall of the middle support frame, the other end of the first rear clamping device is located at the free end, the first rear clamping device can rotate relative to the middle support frame around the hinged position, the rotating shaft is perpendicular to the horizontal plane of the middle support frame, and the first rear clamping device is in an unfolding state and a closing state.
8. The automotive carrier of claim 7, wherein the center support frame further includes a first linkage pivotally coupled to the first rear clamping device and a third drive mechanism for driving the first linkage to move the first rear clamping device between the open and closed positions.
9. The automobile carrier machine of any of claims 1-8, wherein opposite sides of the rear carrier are each provided with a second front clamp and a second rear clamp, the second front and rear clamps on the same side being spaced apart and the second front clamp being located on a side of the second rear clamp adjacent the middle carrier;
one end of the second front clamping device is hinged with the side wall of the rear supporting frame, the other end of the second front clamping device is a free end, a hinged point where the second front clamping device can be hinged is a rotating shaft and rotates relative to the rear supporting frame, the rotating shaft is perpendicular to the horizontal plane of the rear supporting frame, and the second front clamping device has two states of unfolding and closing;
one end of the second rear clamping device is hinged to the side wall of the rear supporting frame, the other end of the second rear clamping device is a free end, a hinge point where the second rear clamping device can be hinged serves as a rotating shaft, the second rear clamping device is opposite to the rear supporting frame and rotates, the rotating shaft is perpendicular to the horizontal plane of the rear supporting frame, and the second rear clamping device is in an unfolding state and a closing state.
10. The automotive carrier machine of claim 9, wherein the rear support frame is further provided with a second linkage and a fourth drive, the second linkage being respectively articulated with the second front and rear clamping devices, the fourth drive driving the second linkage to move the second front and rear clamping devices between open and closed positions.
CN202010541160.2A 2020-02-28 2020-02-28 Automobile carrying machine Pending CN111663824A (en)

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