CN111749523A - Vehicle transport system - Google Patents

Abstract

The application discloses a vehicle carrying system, which comprises a frame body, wherein the frame body is provided with a walking mechanism and a plurality of clamping arm mechanisms, the frame body comprises a plurality of relative motion mechanisms, the clamping arm mechanisms on all the frame bodies are mutually matched to support a vehicle, and the two frame bodies in the relative motion are connected through a telescopic mechanism for guiding the trend of the relative motion; in each support body, the contact position of running gear and ground constitutes the support domain, and the centre of stress when this support body bearing vehicle is directional along the direction of gravity support domain, this scheme for prior art, the centre of stress when support body bearing vehicle is directional along the direction of gravity support domain, and telescopic machanism only plays the connection effect this moment, does not bear the moment of torsion.

Description

Vehicle transport system

Technical Field

The application relates to the field of stereo garages, in particular to a vehicle carrying system.

Background

With the rapid development of society, automobiles are more and more popular, and garage types are various in order to solve the problem of parking of the automobiles. The intelligent garage is developed by adopting a manipulator AGV as a vehicle carrier to complete vehicle storage and taking.

Present, vehicle handling system includes the main frame, embraces arm module and walking unit, and a plurality of arm modules of embracing are slidable mounting respectively on the main frame, and the walking unit is fixed in the main frame and drives vehicle handling system operation, and each is held the arm module and is adjusted the position on the main frame according to the position of wheel, then mutually supports and embraces the wheel with the bearing vehicle, and the effort of vehicle can direct action on the main frame this moment, causes the increase of torque of main frame.

Disclosure of Invention

The application provides a vehicle handling system for the effort of vehicle can direct action on the main frame among the solution prior art, causes the technical problem of main frame moment of torsion increase.

The application provides a vehicle carrying system, which comprises a frame body, wherein the frame body is provided with a plurality of traveling mechanisms and a plurality of clamping arm mechanisms, the frame bodies move relatively, the clamping arm mechanisms on all the frame bodies are matched with each other to support a vehicle, and the two frame bodies which move relatively are connected through a telescopic mechanism for guiding the trend of the relative movement;

in each frame body, the contact part of the walking mechanism and the ground forms a supporting domain, and the stress center of the frame body when supporting the vehicle points to the supporting domain along the gravity direction.

Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.

Optionally, in each frame body, a contact portion of the traveling mechanism and the ground encloses the support domain, and a projection of the force center along the gravity direction is located in the support domain.

Optionally, in each frame body, the contact positions of the traveling mechanism and the ground are collinear, a line segment formed by connecting two contact positions at the farthest distance in each frame body is used as the support domain, and the projection of the stress center along the gravity direction is located on the support domain.

Optionally, running gear includes walking wheel and corresponding actuating mechanism, arm lock mechanism is including setting up the digging arm with the centre gripping wheel in pairs, and with side by side and interval arrangement under the operating condition of bearing vehicle to the digging arm, along the direction of gravity, the walking wheel axis of each support body is located the centre of the same pair of digging arm of centre gripping same wheel.

Optionally, the vehicle handling system has a system length and a system width direction which are opposite to each other, and the vehicle handling system has a rack empty area running through along the system length direction, and the racks are sequentially arranged along the system length direction.

Optionally, each frame body comprises bases arranged in pairs, the bases are arranged on two sides of the overhead area along the width direction of the system and are fixedly connected with each other through connecting beams passing through the upper part of the overhead area, and each base is provided with a walking mechanism and a clamping arm mechanism.

Optionally, the center of gravity of each shelf itself points in the direction of gravity towards the support field.

Optionally, the connecting beam is installed in a swinging or sliding manner relative to the frame body, wherein a swinging axis is parallel to the width direction of the system, and a sliding direction is parallel to the length direction of the width direction of the system.

Optionally, the connecting beam is adjustable in height relative to the frame body.

Optionally, the clamping arm mechanism includes:

each movable arm rotates on the lifting seat;

the first driving mechanism is arranged on the base and drives the lifting seat to move;

and the second driving mechanism is arranged on the lifting seat and drives each movable arm.

The utility model provides a vehicle handling system, the atress center when support body bearing vehicle is along the directional support domain of gravity direction, and telescopic machanism only plays the connection effect this moment, does not bear the moment of torsion.

Drawings

FIG. 1 is a schematic block diagram of a vehicle handling system according to one embodiment of the present disclosure;

FIG. 2 is a schematic block diagram of the vehicle handling system of FIG. 1;

FIG. 3 is a schematic block diagram of the vehicle handling system of FIG. 1;

FIG. 4 is a schematic illustration of the vehicle handling system of FIG. 1;

FIG. 5 is a schematic illustration of the vehicle handling system of FIG. 1;

FIG. 6 is a schematic structural diagram of the first base in FIG. 1;

FIG. 7 is a schematic structural view of the second base shown in FIG. 1;

FIG. 8 is a schematic structural view of the traveling mechanism and the clamping arm mechanism in FIG. 1;

FIG. 9 is a schematic structural view of the clamping arm mechanism in FIG. 8;

FIG. 10 is a schematic view of the clamping arm mechanism in FIG. 8

FIG. 11 is a schematic structural view of the travel mechanism of FIG. 8;

fig. 12 is a flowchart of a vehicle handling method according to an embodiment of the present disclosure.

The reference numerals in the figures are illustrated as follows:

100. a vehicle handling system; 101. erecting a vacant area;

10. a frame body; 11. a base; 111. a first base; 112. a second base;

20. a connecting beam; 21. a raising member; 22. a spanning member;

30. a traveling mechanism; 31. a traveling wheel; 32. a drive mechanism; 33. a wheel carrier; 34. a third drive mechanism; 35. a fourth drive mechanism; 36. a driving wheel; 37. a driven wheel;

40. a clamp arm mechanism; 41. a movable arm; 42. a lifting seat; 43. a first drive mechanism; 44. a second drive mechanism; 45. a guide mechanism; 451. a guide bar; 452. a guide sleeve; 46. a lead screw nut mechanism; 461. a screw rod; 4611. a first lead screw; 4612. a second lead screw; 462. a synchronizing member; 463. a nut member; 464. a first synchronizing wheel; 465. a second synchronizing wheel; 466. a transmission member; 467. a driving wheel; 47. a worm and gear mechanism; 471. a worm; 472. a worm gear;

50. a telescoping mechanism; 51. a guide member; 52. a guide wheel; 53. a first limit mechanism; 54. and a second limiting mechanism.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, as shown in fig. 1 to 11, a vehicle handling system 100 includes a frame 10, the frame 10 is configured with a traveling mechanism 30 and a clamping arm mechanism 40, the frame 10 includes a plurality (e.g., two) moving relatively, and the clamping arm mechanisms 40 on all the frames 10 cooperate with each other to support a vehicle.

The vehicle transportation system 100 moves to a parking position of the vehicle through the traveling mechanism 30, each clamping arm mechanism 40 is matched with a corresponding wheel position, and each clamping arm mechanism 40 clamps a corresponding wheel and supports the vehicle in a matched manner, so that the vehicle transportation system 100 can transport the vehicle. The carrying process of parking and taking out vehicles is realized.

In order to ensure the balance and stability of the vehicle handling system 100, the two frames 10 moving relatively are connected by a telescopic mechanism 50 for guiding the trend of the relative movement.

The two frame bodies 10 can move towards or away from each other within the stroke range of the telescopic mechanism 50. The provision of the telescopic mechanism 50 enables the entire vehicle handling system 100 to be balanced and stable. The telescoping mechanism 50 enables the relative distance between the two frame bodies 10 to be adjustable, and ensures that the vehicle handling system 100 is integrated and integrally and uniformly operated.

Before the vehicle carrying system 100 carries the vehicle, the two frame bodies 10 move in opposite directions or in reverse directions under the driving of the traveling mechanism 30 respectively, and then the relative distance between the clamping arm mechanisms 40 arranged on the two frame bodies 10 is adjusted, so that when the vehicle carrying system 100 carries the vehicles with different wheelbases, the clamping arm mechanisms 40 are not needed to carry out independent distance adjustment, the overall dimension of the vehicle carrying system 100 can be effectively reduced, and meanwhile, the requirement of the vehicle carrying system 100 on the dimension of the channel can be effectively reduced.

Wherein, telescopic machanism 50 can be single part, and telescopic machanism 50 can also be fixed with a support body 10 with two support body 10 clearance fit that are connected simultaneously (can take place relative displacement), and with another support body 10 clearance fit, telescopic machanism 50 and at least one support body 10 can take place relative motion to the change of two support body 10 intervals of adaptation.

When the telescopic mechanism 50 is a single component, the telescopic mechanism 50 and the two frame bodies 10 can be fixedly connected, and at the moment, the telescopic mechanism 50 can deform and adapt to the change of the distance between the two frame bodies 10 through the deformation.

The shape of the telescopic mechanism 50 is not limited strictly, for example, when it is a rod, at least one end of the rod can slide along the corresponding frame 10, or the middle part (middle position or position near the middle) of the rod itself can be bent or deformed to change the length of the two ends of the rod. Of course, if the telescoping mechanism 50 is an assembly, it can be connected to the two frames 10 in the above-mentioned ways, and when the distance between the two frames 10 is changed, the relative movement between different components in the assembly can be used.

For example, the telescoping mechanism 50 is a multi-link mechanism in which at least two rods are capable of moving relative to each other to change the overall span of the multi-link mechanism, i.e., to change the length of the telescoping mechanism 50.

Since the two frame bodies 10 are provided with the traveling mechanism 30, the telescoping mechanism 50 adopts a passive mode, i.e., the two frame bodies 10 actively move, and the telescoping mechanism 50 passively adapts to the change of the distance between the two frame bodies 10. The telescoping mechanism 50 can also be provided with power to actively drive the two frame bodies 10 to move relatively.

In each frame body 10, there may be a plurality of sets of running gear 30, and generally at least two sets of running gear 30 are distributed on both sides of the overhead area, so that the contact parts of the running gear 30 and the ground are arranged at intervals, and the contact parts of the plurality of positions enclose a so-called support domain.

Everywhere, there may be an area with a certain area, or a line segment (e.g. the road wheel is a rigid wheel), or even a point (e.g. the road wheel is a rigid sphere);

the plurality of contact portions as a whole may be an area or a line segment.

For example, two sets of running gears 30 of the same frame 10 are distributed on both sides of the vehicle when the vehicle handling system 100 handles the vehicle.

Each set of the traveling mechanism 30 adopts a single-wheel structure or a parallel double-wheel structure, at this time, if the deformation of the tire is neglected, the contact positions of the traveling mechanism 30 and the ground are collinear in the same frame body 10, a line segment formed by connecting two contact positions which are farthest away in each frame body 10 is used as a support domain, and the projection of the stress center along the gravity direction is positioned on the support domain.

Referring to fig. 8, the force center points in the direction Q to the support field, which corresponds to the point M.

Since the traveling wheels 31 may be deformed according to the weight of the frame body 10 and the vehicle body, the area of the contact portion is changed without affecting the determination of the support region.

For another example, more than two sets of traveling mechanisms 30 are provided on the same frame 10, or all the traveling wheels 31 in the same traveling mechanism 30 are not arranged coaxially, at this time, the contact portion between the traveling mechanism 30 and the ground is a support region surrounded by three or more points and having a certain area, and the projection of the force center along the gravity direction is located in the support region. In the preferred embodiment, two sets of traveling mechanisms 30 are provided on the same frame 10, when the vehicle handling system 100 handles a vehicle, the two sets of traveling mechanisms 30 on the same frame 10 are distributed on two sides of the vehicle, each set of traveling mechanism 30 adopts a single-wheel or side-by-side double-wheel structure, and when the vehicle handling system 100 moves forward or backward, all the traveling wheels 31 on the same frame 10 are coaxially arranged.

In another embodiment, the traveling mechanism 30 further comprises a driving mechanism 32 for driving the traveling wheels 31, and the clamping arm mechanism 40 comprises a pair of movable arms 41 arranged to clamp the wheels, the pair of movable arms 41 being arranged side by side and spaced apart from each other in the working state of the supporting vehicle, and the traveling wheel axis of each frame body 10 is located between the pair of movable arms 41 clamping the same wheel in the gravity direction.

Because the same pair of movable arms 41 are generally symmetrically clamped at two sides of the lower half part of the same wheel, the middle position of the same pair of movable arms 41 basically corresponds to the stress center of the frame body in the gravity direction, and the projection of the stress center of the frame body in the structure can correspond to the walking wheel axis.

When the vehicle handling system 100 faces vehicles with different wheelbases in the using process, the projection of the stress center of the vehicle handling system 100 falls into the position of the support domain; meanwhile, the structural arrangement of the vehicle handling system 100 is more compact, and the overall dimension of the vehicle handling system 100 is effectively controlled.

In another embodiment, as shown in fig. 3 to 5, the vehicle handling system 100 has opposite system length and system width directions, and the vehicle handling system 100 has an overhead region 101 penetrating in the system length direction, and the racks 10 are sequentially arranged in the system length direction.

Wherein the system length (i.e., X-direction in fig. 3) and the system width (i.e., Y-direction in fig. 3) are perpendicular to each other.

The vehicle handling system 100 moves to the parked position of the vehicle until the vehicle is within the overhead area 101. At this point, the vehicle handling system 100 does not have to enter from under the vehicle chassis, avoiding the height of the vehicle handling system 100 being limited by the height of the vehicle chassis from the vehicle support surface.

In another embodiment, in order to ensure the balance and stability of the vehicle handling system 100, each rack 10 includes a pair of bases 11, the same pair of bases 11 are disposed on two sides of the overhead area 101 along the width direction of the system and are connected and fixed to each other by a connecting beam 20 passing over the overhead area 101, each base 11 is configured with a traveling mechanism 30 and a clamping arm mechanism 40, and the clamping arm mechanisms 40 on each base 11 cooperate with each other to support a vehicle located in the overhead area 101.

In another embodiment, the bases 11 on the same side of the hollow space 101 in the width direction of the system are connected by the telescopic mechanism 50, and the distance between the two shelves 10 along the length direction of the system can be adjusted and changed by the guidance of the telescopic mechanism 50.

In another embodiment, in order to lower the center of gravity of the frame 10 from affecting the center of force of the frame 10 when supporting a vehicle, the center of gravity of each frame 10 itself is directed in the direction of gravity toward the support area.

In another embodiment, the coupling beam 20 is installed to swing or slide with respect to the frame 10, wherein the swing axis is parallel to the width direction of the system, and the sliding direction is parallel to the length direction of the width direction of the system.

By adjusting the coupling beam 20, changing the relative position between the coupling beam 20 and the frame 10 may serve to adjust the center of gravity position of the base 11, or adapt the vehicle handling system 100 to vehicles of different heights.

The gravity center position of the base 11 is adjusted, so that whether the vehicle is unloaded or carried, the gravity center position of each frame body 10 is directly above the support domain, the overturning tendency of the frame body is reduced, the torque applied to the telescopic mechanism 50 is avoided, the telescopic mechanism 50 can be simplified as much as possible, and the strength requirement of the telescopic mechanism 50 is reduced.

The change in the position of the center of gravity of the base 11 can be detected by a sensing device (for example, a gyroscope or the like can be used); when the posture of the frame body 10 is changed (overturned), the sensing device detects a change signal of the gravity center position and sends the change signal to the control unit, and the control unit receives and processes the change signal of the gravity center position and drives the connecting beam 20 to change the position of the frame body 10 according to the processed signal, so that the posture of the connecting beam on the frame body is changed, the posture change trend of the frame body is compensated, and the gravity center position of each frame body 10 is ensured to be positioned right above the support domain.

In another embodiment, the connecting beam 20 is height adjustable relative to the frame 10 in order to further accommodate the vehicle handling system 100 with vehicles of different heights.

In another embodiment, as shown in fig. 6 and 7, the first base 111 and the second base 112 are respectively connected to the telescopic mechanism 50, the telescopic mechanism 50 at least includes a guide 51, one end of the guide 51 is slidably engaged with the first base 111, and the other end is slidably or fixedly engaged with the second base 112.

The first base 111 and/or the second base 112 are provided with sliding grooves which are matched with the guide members 51 to limit the movement tendency of each other, for example, the guide members 51 can be inserted into the sliding grooves and can move along the sliding grooves. Similarly, the guiding element 51 may be provided with a sliding slot, and each base is provided with a guiding element matching with the sliding slot.

In the present embodiment, both ends of the guide 51 are slidably engaged with the first base 111 and the second base 112, respectively, and the maximum distance between the two frame bodies 10 can be increased as much as possible when the space occupied by the first base 111 and the second base 112 is constant.

In another embodiment, the first base 111 and the second base 112 are respectively mounted with guide wheels 52 in a row along the length direction of the system, and the guide members 51 are respectively engaged with the guide wheels 52 on the corresponding side bases 11.

Each guide wheel 52 is rotatably connected to the corresponding side base 11, and the rotation axes of each guide wheel 52 on the same base 11 are arranged in parallel.

The guiding wheel 52 can be a driven wheel, and at least one guiding wheel 52 can be provided with power according to requirements, for example, a gear-rack engagement or the like is adopted to drive the guiding element 51 to move so as to change the distance between the two frame bodies 10.

In order to limit the trend of the relative movement between the guide member 51 and the guide wheels 52 in the row and the smoothness of the relative movement, a support groove (for example, the guide member 51 has a C-shaped cross section) extending along the length of the system may be formed on the guide member 51, the support groove has an upper side wall and a lower side wall opposite to each other along the height direction of the system, the guide wheels 52 in the same row may be both attached to a certain side wall (for example, the upper side wall), or the guide wheels 52 in the same row may be divided into two parts, wherein the top of one part of the guide wheels 52 is attached to the upper side wall, and the bottom and the lower side wall are arranged with a gap; the bottom of the other part of the guide wheel 52 is attached to the lower side wall, and the top is arranged with a gap from the upper side wall.

In the present embodiment, the number of the guide wheels 52 on the same base 11 is 2 to 10, for example, 3, 4 or 5, but of course, in other embodiments, the number of the guide wheels 52 on the same base 11 may be larger, and the number of the guide wheels 52 may be adjusted according to the length of the chute.

In another embodiment, the vehicle handling system 100 further comprises at least one of the following stop mechanisms:

the first limiting mechanism 53 acts between the two frame bodies 10 to limit the minimum distance between the two frame bodies 10 in a close state;

the second limiting mechanism 54 acts between the two frame bodies 10 to limit the maximum distance between the two frame bodies 10 in the extending state.

The first limiting mechanisms 53 are arranged at two ends of the guide piece 51, and limiting steps matched with the first limiting mechanisms 53 are arranged in the sliding grooves to prevent the guide piece 51 from being separated from the sliding grooves.

The second limiting mechanism 54 is disposed in the sliding groove. In the present embodiment, the second stopper mechanism 54 is a stopper attached to the base 11 and capable of abutting against the guide 51. Of course, in other embodiments, the second limiting mechanism 54 may be the bottom wall of the chute.

In another embodiment, in order to escape the connection beam 20 from the vehicle in the overhead space 101, the connection beam 20 includes an elevated piece 21 and a cross piece 22; the raising member 21 extends upward from the base 11; the cross member 22 is connected between the elevations 21 of the same pair of bases 11.

In the same support body 10, the number of the raising members 21 is two, the two raising members 21 are respectively located on the two bases 11, and both ends of the crossing member 22 are respectively connected with the two raising members 21.

In another embodiment, the raising members 21 extend obliquely upward from the base 11, and the top ends of the raising members 21 on the two frame bodies 10 are close to each other, which can reduce the space occupied by the vehicle handling system 100 during the shutdown.

In another embodiment, the two bodies 10 have a close state adjacent to each other and an extended state away from each other, and only one of the two bodies 10 walks or both walks at the same time when the state is changed.

When the vehicle carrying system 100 is in a standby state, the two racks 10 are close to each other; when the vehicle handling system 100 needs to handle a vehicle, the extended state is adjusted according to the wheelbase length of the vehicle, so that the distance between the two frame bodies 10 is adapted to the wheelbase length.

The close state is a state in which the two frame bodies 10 abut against each other, or a state in which the minimum distance between the two frame bodies 10 is located under the restriction of the telescoping mechanism 50.

The extended state is relative to the closed state. It can be understood that the two frame bodies 10 are relatively moved from the close state to increase the distance, i.e. in the extending state. For example, the limit position of the extended state is that the telescoping mechanism 50 limits the maximum distance between the two lower frame bodies 10.

As shown in fig. 8 to 10, the clamping arm mechanism 40 further includes:

a lifting base 42 slidably mounted with respect to the base 11, each movable arm 41 being rotated on the lifting base 42;

a first driving mechanism 43 mounted on the base 11 for driving the lifting base 42 to move;

the second drive mechanism 44 is independently disposed on each movable arm 41, and the second drive mechanism 44 is attached to the lifter base 42 and drives the corresponding movable arm 41 to rotate by the worm gear mechanism 47.

The two movable arms 41 are substantially rod-shaped and have corresponding strength, in an initial state, the two movable arms 41 are opposite in extending direction relative to the rotating axial direction of the two movable arms 41, namely the two movable arms are arranged substantially in a collinear manner, and in operation, the second driving mechanism 44 drives the two movable arms 41 to rotate around the axis of the two movable arms 41 until the two movable arms 41 clamp the vehicle wheel, and at the moment, the two movable arms 41 support the bottom of the vehicle wheel substantially side by side.

After the two movable arms 41 are clamped, the first driving mechanism 43 drives the lifting seat 42 and the movable arms 41 to lift, so that the height of the two movable arms 41 from the ground can be increased by 40mm or more, the vehicle is completely separated from the ground, and a larger space is kept; when the vehicle conveying system 100 meets the condition of uneven ground or potholes during the process of conveying the vehicle, the movable arm 41 and the vehicle wheels can not touch the ground, and the safety of equipment and the safety of the vehicle are effectively protected.

The worm and gear mechanism 47 can not only transmit the power of the second driving mechanism 44 to the two movable arms 41, but also can realize the self-locking of each movable arm 41 when each movable arm 41 moves to a preset position, and does not need to additionally arrange a locking mechanism for each movable arm 41 or avoid the locking by braking the second driving mechanism 44.

The first driving mechanism 43 mainly drives the lifting seat 42 to make a linear reciprocating motion along the height direction of the system, and in order to realize the basic function, a motor, an air cylinder, a hydraulic cylinder or even a manual driving component can be selected in the prior art, and when the motion mode directly output by the first driving mechanism 43 is inconsistent with the motion mode of the lifting seat 42, the motion mode can be steered and transmitted by using a proper transmission component.

The second driving mechanism 44 is mainly used to drive the movable arm 41 to rotate, and in order to implement its basic function, a motor, an air cylinder, a hydraulic cylinder or even a manual driving component may be selected in the prior art, and when the motion mode directly output by the second driving mechanism 44 is inconsistent with the motion mode of the movable arm 41, a proper transmission component may be used to steer and transmit the motion mode.

In another embodiment, the movable arm 41 is rotatably mounted at the bottom of the lifting seat 42, and the rotation axis of the movable arm 41 extends along the height direction of the system, so as to reduce the height of the movable arm 41 when the movable arm is not lifted (or is considered as an initial state) as much as possible, so as to adapt to wheels with different sizes.

In another embodiment, in the worm gear mechanism 47, the worm 471 is directly linked with the second driving mechanism 44, the worm wheel 472 is fixed to the rotating shaft of the movable arm 41, the worm wheel 472 is engaged with the worm 471, and the worm wheel 472 is coaxially arranged with the rotating shaft of the movable arm 41.

In another embodiment, as shown in fig. 8 and 11, the driving mechanism 32 includes:

a wheel frame 33 rotatably mounted on the base 11, wherein the rotation axis of the wheel frame extends along the height direction of the system, and the walking wheel 31 is rotatably mounted at the bottom of the wheel frame 33;

a third driving mechanism 34 mounted on the base 11 for driving the wheel frame 33 to rotate;

a fourth driving mechanism 35 mounted to the wheel frame 33 to drive the traveling wheels 31.

The traveling wheels 31 are driven by the fourth driving mechanism 35 to rotate so as to drive the vehicle carrying system 100 to travel; the third driving mechanism 34 controls the traveling wheels 31 to rotate 360 degrees.

Through the mutual cooperation of the running mechanisms 30, the vehicle handling system 100 can not only longitudinally run in the front-back direction and transversely run in the left-right direction, but also rotate and turn in the original place by 360 degrees; the operation efficiency of the vehicle handling system 100 in the handling process is improved, the width requirement of the vehicle handling system 100 on a walking channel is reduced, and the area ratio of parking spaces of a parking lot/garage is improved.

The third driving mechanism 34 is a steering motor, and the fourth driving mechanism 35 is a traveling motor.

Further, the output end of the third driving mechanism 34 is provided with a driving wheel 36, the carrier 33 is provided with a driven wheel 37 engaged with the driving wheel 36, and the driven wheel 37 can rotate around the carrier rotation axis.

In another embodiment, each base 11 is provided with two lifting seats 42, and the two lifting seats 42 are respectively arranged on two sides of the rotation axis of the wheel carrier along the length direction of the system.

In another embodiment, in order to lift the lifting seat 42 in a fixed direction, a guiding mechanism 45 is disposed between the base 11 and the lifting seat 42, wherein the guiding mechanism 45 comprises:

a guide bar 451 arranged in the height direction of the system, the guide bar 451 being fixed to one of the base 11 and the lifting base 42;

a guide sleeve 452 is slidably fitted to the guide bar 451, and the guide sleeve 452 is fixed to the other one of the base 11 and the elevating base 42.

In the present embodiment, the guide bar 451 is fixed to the base 11, the guide sleeve 452 is fixed to the lifter base 42, and the guide sleeve 452 is coupled to the outer side wall of the guide bar 451.

In order to stabilize the movement of the elevating base 42, the number of the guide bars 451 is two, and the two guide bars 451 are arranged side by side on the base 11; accordingly, the number of the guide sleeves 452 is two, and the two guide sleeves 452 are respectively fixed on the lifting base 42 and respectively sleeved on the outer side wall of the corresponding guide rod 451.

In another embodiment, the first driving mechanism 43 is linked with the lifting base 42 through a lead screw nut mechanism 46, and the lead screw nut mechanism 46 includes:

a pair of lead screws 461 attached to the base 11;

a synchronizing member 462 interlocked between the pair of lead screws 461 and the third driving mechanism 34;

a nut 463 fixed to each of the elevating seats 42 and engaged with a corresponding one of the lead screws 461.

The rotation of the screw 461 can be converted into a power in the lifting direction of the lifting seat 42, and drives the clamping arm mechanism 40 to lift.

The two lead screws 461 are respectively a first lead screw 4611 and a second lead screw 4612, the first driving mechanism 43 drives the first lead screw 4611 to rotate, and the first lead screw 4611 drives the second lead screw 4612 to rotate through the synchronizing part 462, so that the two lifting seats 42 can be lifted synchronously.

Further, a first synchronizing wheel 464 is installed on the first screw rod 4611, and the first synchronizing wheel 464 and the first screw rod 4611 are coaxially arranged; the second screw 461 is provided with a second synchronizing wheel 465, and the second synchronizing wheel 465 and the second screw 461 are coaxially arranged. In the height direction of the system, the height of the first synchronizing wheel 464 is substantially the same as that of the second synchronizing wheel 465, and the synchronizing member 462 bypasses each synchronizing wheel, so that the first lead screw 4611 rotates and simultaneously drives the second lead screw 461 to rotate.

In the present embodiment, the synchronizing member 462 is a transmission chain, and the first synchronizing wheel 464 and the second synchronizing wheel 465 are both chain wheels. Of course, in other embodiments, the timing member 462 may be a timing belt or the like.

Further, a driving wheel 467 is installed on the first lead screw 4611, the driving wheel 467 is coaxially disposed with the first lead screw 461, and the driving wheel 467 is driven by the first driving mechanism 43 through the transmission part 466 to rotate.

In another embodiment, the vehicle handling system 100 is configured with a detection unit for detecting the wheel position of the vehicle and a control unit; the control unit is electrically connected with the detection unit and is used for receiving the signal from the detection unit and driving the travelling mechanism 30 to enable the clamping arm mechanism 40 to be matched with the corresponding wheel position.

The wheel position of the vehicle is detected by the detection unit, the detected wheel position signal is sent to the control unit, and the control unit receives and processes the wheel position signal and drives the two frame bodies 10 to move relatively according to the processed signal, so that each clamping arm mechanism 40 is matched with the corresponding wheel position. The detection unit may be a laser, a photosensitive device, a photoelectric switch, or the like.

Further, each frame 10 supplies power to the traveling mechanism 30, the clamping arm mechanism 40, the control unit and the detection unit through an external power supply or a power supply carried by the frame.

The traveling mechanism 30 and the clamping arm mechanism 40 on each frame body are respectively in communication connection with the detection unit and the control unit.

The detecting unit may be installed on each frame 10, i.e. may move with the vehicle handling system 100, may be externally installed relative to the vehicle handling system 100, and may be installed on a vehicle moving path generally, and detect the wheel position of the vehicle when the vehicle passes through, and the detecting unit may be configured with a corresponding processing function, and convert the relative positions of the front and rear wheels into wheel base information and then transmit the wheel base information to the control unit, or may directly transmit the relative positions of the front and rear wheels to the control unit, and the control unit performs processing conversion.

In one embodiment, the detecting unit is installed on one side of each frame 10 facing the empty space 101, and when a vehicle enters the empty space 101, the detecting unit can obtain a wheel position signal.

The detection unit and the control unit can adopt wired or wireless communication.

During wireless communication, the detection unit is provided with a wireless transmitting module, the control unit is provided with a wireless receiving module, the wireless transmitting module transmits the detected signal, and the wireless receiving module can receive the signal.

In another embodiment, the detection unit is external to the vehicle handling system 100 and wireless communication is used between the detection unit and the control unit.

For example, the detection unit is installed at the entrance of a garage, and when a vehicle enters the entrance of the garage, the detection unit can acquire wheel position signals.

In one embodiment, as shown in fig. 12, there is further provided a vehicle handling method, where the vehicle handling system of each of the above embodiments is adopted, the vehicle handling method includes:

acquiring wheel base information of a vehicle;

adjusting the spacing of each frame body in the vehicle carrying system according to the wheel base information to enable the relative position of each clamping arm mechanism to be matched with the wheel base information;

aiming at the vehicles in the overhead area, driving each clamping arm mechanism to respectively clamp and support the corresponding vehicle wheel in a state that each clamping arm mechanism is matched with the wheel;

the vehicle handling system moves a handling vehicle as a whole.

When the wheel base information of the vehicle is obtained, the wheel base information can be obtained by using a detection unit which is preset at the moving path of the vehicle; in the process that the vehicle enters the empty space, the detection units arranged on the frame bodies of the vehicle conveying system can be utilized.

Before the vehicle is carried, each clamping arm mechanism is matched with the position of a wheel, the control unit needs to correspondingly adjust the distance between the two frame bodies according to the wheel base information, and the wheel base information can be obtained before the vehicle enters the overhead area, so that the distance between the frame bodies can be adjusted in advance, and can also be adjusted after the vehicle enters the empty area.

The adjustment mode of each support body interval can be single support body motion or two support body linkages, for example the running gear of control unit to support body sends drive signal, and when running gear worked, control unit also compares support body interval and wheel base information according to its amount of exercise in real time and whether matches, also can additionally set up the ranging unit certainly, gathers support body interval in real time and sends to control unit.

The distance between the frame bodies can be adjusted according to the wheel base information, but during actual transportation, each clamping arm mechanism should be matched with the actual position of the wheel, so that the relative position of the whole vehicle transportation system and the vehicle needs to be adjusted, that is, the relative position of the vehicle in the overhead area is further confirmed, this point can utilize the prior art, for example, a sensing element which is arranged in or out of the frame body is used for knowing the relative position of the vehicle, and after the relative position of the vehicle is confirmed, each clamping arm mechanism is in a state of being matched with the position of the wheel. If the distance between the frame bodies is adjusted when the vehicle enters the frame empty area, the actual positions of the clamping arm mechanisms and the wheels can be matched when the distance is adjusted.

Then, the control unit drives the movable arms in each clamping arm mechanism to rotate, the movable arms of the same pair are in a parallel spaced state and are just positioned at two sides of the bottom of the corresponding wheel, then the control unit drives each pair of movable arms to synchronously ascend to lift the vehicle to be separated from the ground, and the clearance height between the bottom of the wheel and the ground can be increased to 20mm or more according to requirements.

According to the preset carrying destination, the control unit drives the traveling mechanism to drive the vehicle carrying system to integrally move, and the carrying of the vehicle is realized.

The vehicle handling system 100 of the present application is structurally modified to avoid having to enter from under the vehicle chassis, thereby avoiding the height of the vehicle handling system 100 being limited by the height of the vehicle chassis from the ground.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features. When technical features in different embodiments are represented in the same drawing, it can be seen that the drawing also discloses a combination of the embodiments concerned.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims (10)

1. The vehicle carrying system comprises a frame body, wherein the frame body is provided with a traveling mechanism and a plurality of clamping arm mechanisms, and is characterized in that the frame body comprises a plurality of clamping arm mechanisms which move relatively, the clamping arm mechanisms on all the frame bodies are matched with each other to support a vehicle, and the two frame bodies which move relatively are connected through a telescopic mechanism for guiding the trend of the relative movement;

in each frame body, the contact part of the walking mechanism and the ground forms a supporting domain, and the stress center of the frame body when supporting the vehicle points to the supporting domain along the gravity direction.

2. The vehicle handling system of claim 1, wherein the ground contacting portion of the chassis of the vehicle handling system encloses the support area, and a projection of the force center in the direction of gravity is located in the support area.

3. The vehicle handling system of claim 1, wherein the contact point of the chassis and the ground is collinear in each frame, a line segment connecting two contact points farthest from each other in each frame is used as the support region, and a projection of the force center along the gravity direction is located on the support region.

4. The vehicle handling system of claim 1, wherein the travel mechanism comprises travel wheels and corresponding drive mechanisms, and the clamp arm mechanism comprises pairs of movable arms configured to clamp the wheels, the pairs of movable arms are spaced apart and side-by-side in the working condition of the support vehicle, and the travel wheel axis of each frame is located between the pairs of movable arms configured to clamp the same wheels in the direction of gravity.

5. The vehicle handling system of claim 1, wherein the vehicle handling system has opposing system length and system width directions, and the vehicle handling system has a rack out area running through along the system length direction, the racks being arranged in series along the system length direction.

6. The vehicle handling system of claim 5, wherein each rack comprises a pair of pedestals, the pedestals of the same pair are arranged on both sides of the overhead area along the width direction of the system and are connected and fixed to each other by a connecting beam passing over the overhead area, and each pedestal is provided with a traveling mechanism and a clamp arm mechanism.

7. The vehicle handling system of claim 1, wherein the center of gravity of each rack itself is directed in the direction of gravity toward the support field.

8. The vehicle handling system of claim 6, wherein the coupling beam is pivotally or slidably mounted with respect to the frame, wherein the pivot axis is parallel to the width direction of the system and the slide direction is parallel to the length direction of the width direction of the system.

9. The vehicle handling system of claim 8, wherein the connecting beam is height adjustable relative to the rack on which it is located.

10. The vehicle handling system of claim 1, wherein the clamp arm mechanism further comprises:

each movable arm rotates on the lifting seat;

the first driving mechanism is arranged on the base and drives the lifting seat to move;

and the second driving mechanism is arranged on the lifting seat and drives each movable arm.

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