CN111958571A - Anti-falling fork arm for vehicle transfer robot and vehicle transfer robot - Google Patents
Anti-falling fork arm for vehicle transfer robot and vehicle transfer robot Download PDFInfo
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- CN111958571A CN111958571A CN202010950351.4A CN202010950351A CN111958571A CN 111958571 A CN111958571 A CN 111958571A CN 202010950351 A CN202010950351 A CN 202010950351A CN 111958571 A CN111958571 A CN 111958571A
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- bracket
- tire
- transfer robot
- longitudinal
- vehicle transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
Abstract
The invention belongs to the technical field of intelligent parking, and discloses an anti-falling fork arm for a vehicle transfer robot and the vehicle transfer robot. The tire wheel is characterized in that a wheel hub limiting seat is arranged at the position, corresponding to a tire, of the fork arm, a tire bracket is installed in the wheel hub limiting seat, and a height difference larger than or equal to 10mm exists between the upper surface of the tire bracket and the upper surface of the fork arm. The tire carrier has a height adaptive feature. The invention utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the tire from sliding on the fork arm, thereby achieving the purpose of preventing the vehicle from falling.
Description
Technical Field
The invention belongs to the technical field of intelligent parking, relates to an intelligent parking robot, and particularly relates to an anti-falling fork arm for a vehicle transfer robot and the vehicle transfer robot.
Background
The three-dimensional parking equipment has been developed for over ten years since the introduction of China, and the parking is increasingly tense due to the fact that urban land is increasingly scarce. Along with the improvement of living standard of people, the demand on the stereo garage with small floor area and high automation level is gradually increased. The most important equipment in the full-automatic three-dimensional parking garage is a vehicle carrying robot. Vehicle transfer robots of various structures have appeared in the market at present, wherein the vehicle transfer robot which adopts a fork arm to clamp a vehicle tire to enable a vehicle to be separated from the ground has a wide application prospect because of small volume, flexible movement and no need of site reconstruction or large-scale equipment construction.
However, when the fork arm adopted on the existing vehicle carrying robot is used, the general fork arm is found that when the vehicle is carried, the fork tooth is not provided with a mechanical limiting device, so that the vehicle can slide when bumpy, and when the robot starts or brakes, the vehicle can slide relative to the fork tooth due to inertia, so that the vehicle can fall off when the vehicle is severe, and the serious result of vehicle damage is caused.
Disclosure of Invention
In view of the technical problems in the prior art, the invention aims to design a drop-proof fork arm for a vehicle transfer robot and the vehicle transfer robot, which utilize a height difference to generate a limiting function on tires, aiming at the problem that the fork arm for fixing the tires of the prior vehicle transfer robot does not have a tire limiting function, so that the fork arm can slide off in the vehicle transfer process and serious consequences can be caused.
The technical scheme adopted by the invention is as follows:
the invention provides a falling-proof fork arm 3 for a vehicle transfer robot, wherein a wheel hub limiting seat 10 is arranged at the position of the fork arm 3 corresponding to a tire, and a tire bracket 1 is arranged in the wheel hub limiting seat 10. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 1 and the upper surface of the fork arm 3.
The tire bracket 1 comprises a rolling assembly 2, a fixed block 4 and a spring 5.
The rolling assembly 2 comprises a rolling sleeve 6, a roller shaft 7 and a shaft bracket 8. The rolling shaft sleeves 6 are sleeved on the roller shafts 7, and the roller shafts 7 are arranged in two rows or more than two rows and are arranged on the shaft bracket 8.
The axle bracket 8 comprises one transversal support 81, two first longitudinal supports 82 and one or more second longitudinal supports 83. The lateral bracket 81 is located at the rear side of the rolling assembly 2. All of the first and second longitudinal supports 82, 83 are parallel to each other. The first longitudinal support 82 is two sheet structures which are rotatably connected, namely a first rear support 84 and a front support 85, and the second longitudinal support 83 is two sheet structures which are rotatably connected, namely a second rear support 86 and a front support 85. The first rear brackets 84 are located at the left and right sides of the rolling assembly 2, and the second rear brackets 86 are located at the middle of the rolling assembly 2 and are fixedly connected to the transverse bracket 81. The roller shaft 7 is mounted between two longitudinal brackets.
The first fixing block 41 is fixedly arranged on the outer side of the first rear side bracket 84 end of the first longitudinal bracket 82, the third fixing block 43 is fixedly arranged on the outer side of the front side bracket 85 end of the first longitudinal bracket, and the second fixing block 42 is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket 85 of the first longitudinal bracket. One end of the leaf spring 5 is fixed to the first fixing block 41 and passes through the second fixing block 42 and the third fixing block 43.
The tire bracket 1 is fixedly connected with the hub limiting seat 10 of the fork arm 3 through the first rear side bracket 84.
The diameters of all or two or more rows of the rolling bushes 6 distant from the lateral support 81 are gradually reduced as the distance from the lateral support 81 increases.
The outermost row of rolling shaft sleeves 6 are triangular cushion blocks 9.
In order to ensure the strength of the tire bracket 1, the transverse bracket 82 is a block structure, and one or more transverse fixing brackets 87 are arranged at the bottom of the first rear bracket 84 and the second rear bracket 86.
The invention also provides a vehicle transfer robot, which is provided with the anti-falling fork arm for the vehicle transfer robot.
The working process of the anti-falling fork arm or the vehicle transfer robot for the vehicle transfer robot is as follows: the vehicle handling robot extends the yoke into the bottom of the vehicle and moves the yoke to a portion of the tire near the ground; continuing to apply a squeezing force to the tire after the adaptive tire carrier on the yoke contacts the tire; under the action of the extrusion force, the part of the tire bracket close to the tire deflects to a certain degree towards the ground (because the front side bracket and the rear side bracket are rotationally connected, the front side bracket close to the tire can be pressed downwards, so that the front side bracket part rotates downwards by a certain angle); the tyre climbs onto the tyre bracket under the action of the extrusion force, and the deflection of the tyre bracket is partially recovered under the action of the spring, so that the tyre is separated from the ground to support the vehicle. Particularly, the outermost rolling shaft sleeve is a triangular cushion block, one fillet of the triangle can be plugged into an included angle between the tire and the ground, and compared with a circular rolling shaft sleeve, the drop between the edge of the triangle and the ground is obviously reduced. That is, the tire carrier using the triangular pad block can lift the tire off the ground more easily than the tire carrier using only the circular rolling bearing housing. Meanwhile, the diameters of the rolling shaft sleeves, which are all or far away from the transverse support, are gradually reduced along with the increase of the distance between the rolling shaft sleeves and the transverse support, so that the angle of a sharp corner extending out of the triangular cushion block is smaller, the gradient of the tire needing to climb up when the tire is lifted up is smoother, and the energy required for lifting the vehicle off the ground is further reduced.
In the working process, the tire bracket automatically deflects downwards, the height difference between the tire bracket and the ground is reduced through the deflection, the sliding friction between the tire and the tire bracket can be converted into the rolling friction through the rolling assembly, the extrusion force required by the vehicle to be separated from the ground is greatly reduced, and the risk of tire burst caused by clamping the tire is greatly reduced. When the vehicle is separated from the ground, the deflection of the tire bracket automatically restores a part under the action of the spring; when the vehicle is lowered, the deflection of the tire carrier will automatically be fully restored under the action of the spring. That is, the tire carrier of the present invention has an adaptive effect.
The invention has the following beneficial effects:
1. the anti-falling fork arm for the vehicle transfer robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the tire from sliding on the fork arm, so as to realize the purpose of preventing the vehicle from falling;
2. the tire bracket can deflect to the ground after contacting with the tire, so that the force required by the tire to climb onto the tire bracket is reduced, and a heavier vehicle or a vehicle with larger difference of front and rear counterweights can be easily lifted;
3. the tire bracket designed by the invention is a self-adaptive structure, and a driving device is not required to be additionally designed, so that the energy is saved, and the cost is reduced;
4. the triangular cushion block with the sharp angle is used for replacing the outermost edge rolling shaft sleeve, and the rolling shaft sleeve can be plugged into a gap between a tire and the ground, so that the tire can easily climb up a tire bracket under the assistance of a gentle slope formed by the sharp angle surface;
5. the diameters of all or a plurality of rows of the rolling shaft sleeves far away from the transverse support are gradually reduced along with the increase of the distance between the rolling shaft sleeves and the transverse support, so that the gradient on which the tire needs to climb when the tire is lifted is more gradual, and the energy required for lifting the vehicle off the ground is further reduced.
Drawings
FIG. 1 is a schematic structural diagram of a yoke according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a tire carrier in an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a gradual change in diameter of a rolling sleeve according to an embodiment of the present invention;
the tire support frame comprises a tire bracket 1, a rolling assembly 2, a fork arm 3, a fixing block 4, a first fixing block 41, a second fixing block 42, a third fixing block 43, a spring 5, a rolling shaft sleeve 6, a roller shaft 7, a shaft bracket 8, a transverse bracket 81, a first longitudinal bracket 82, a second longitudinal bracket 83, a first rear bracket 84, a front bracket 85, a second rear bracket 86, a fixing bracket 87, a cushion block 9 and a wheel hub limiting seat 10.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained according to these embodiments without any inventive work.
Example 1
As shown in fig. 1, the present embodiment relates to a drop-proof yoke for a vehicle transfer robot, wherein a hub stopper seat 10 is provided at a position of the yoke 3 corresponding to a tire, and a tire bracket 1 is installed in the hub stopper seat 10. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 1 and the upper surface of the fork arm 3.
As shown in fig. 2, the tire carrier 1 includes a rolling assembly 2, a fixing block 4, and a spring 5.
The rolling assembly 2 comprises a rolling sleeve 6, a roller shaft 7 and a shaft bracket 8. The rolling shaft sleeves 6 are sleeved on the roller shafts 7, and the roller shafts 7 are arranged in eight rows and are arranged on the shaft bracket 8. The outermost row of rolling shaft sleeves 6 are triangular cushion blocks 9.
The axle bracket 8 comprises one transversal support 81, two first longitudinal supports 82 and three second longitudinal supports 83. The transverse bracket 81 is located at the rear side of the rolling assembly 2 and is of a block structure, and the first longitudinal bracket 82 and the second longitudinal bracket 83 are parallel to each other. The first longitudinal support 82 is two sheet structures which are rotatably connected, namely a first rear support 84 and a front support 85, and the second longitudinal support 83 is two sheet structures which are rotatably connected, namely a second rear support 86 and a front support 85. The first rear brackets 84 are located at the left and right sides of the rolling assembly 2, and the second rear brackets 86 are located at the middle of the rolling assembly 2 and are fixedly connected to the transverse bracket 81. The roller shaft 7 is mounted between two longitudinal brackets. One or more transverse fixing brackets 87 are provided at the bottom of the first rear bracket 84 and the second rear bracket 86. As shown in fig. 3, the diameters of the six rows of the rolling bushes 6, which are away from the lateral bracket 81, gradually decrease with increasing distance from the lateral bracket 81.
The first fixing block 41 is fixedly arranged on the outer side of the first rear side bracket 84 end of the first longitudinal bracket 82, the third fixing block 43 is fixedly arranged on the outer side of the front side bracket 85 end of the first longitudinal bracket, and the second fixing block 42 is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket 85 of the first longitudinal bracket. One end of the leaf spring 5 is fixed to the first fixing block 41 and passes through the second fixing block 42 and the third fixing block 43.
The tire bracket 1 is fixedly connected with the hub limiting seat 10 of the fork arm 3 through the first rear side bracket 84.
The present embodiment also relates to a vehicle transfer robot to which the above-described drop-proof yoke 3 for a vehicle transfer robot is attached.
The operation of the drop-proof yoke for a vehicle transfer robot or the vehicle transfer robot according to the present embodiment is as follows: the vehicle handling robot extends the yoke into the bottom of the vehicle and moves the yoke to a portion of the tire near the ground; continuing to apply a squeezing force to the tire after the adaptive tire carrier on the yoke contacts the tire; under the action of the extrusion force, the part of the tire bracket close to the tire deflects to a certain degree towards the ground (because the front side bracket and the rear side bracket are rotationally connected, the front side bracket close to the tire can be pressed downwards, so that the front side bracket part rotates downwards by a certain angle); the tyre climbs onto the tyre bracket under the action of the extrusion force, and the deflection of the tyre bracket is partially recovered under the action of the spring, so that the tyre is separated from the ground to support the vehicle.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The anti-falling fork arm for the vehicle transfer robot is characterized in that a wheel hub limiting seat is arranged at the position, corresponding to a tire, of the fork arm, a tire bracket is installed in the wheel hub limiting seat, and a height difference larger than or equal to 10mm exists between the upper surface of the tire bracket and the upper surface of the fork arm;
the tire bracket comprises a rolling assembly, a fixed block and a spring;
the rolling assembly comprises a rolling shaft sleeve, roller shafts and a shaft bracket, the rolling shaft sleeve is sleeved on the roller shafts, and the roller shafts are arranged in two rows or more than two rows and are arranged on the shaft bracket;
the shaft bracket comprises a transverse bracket, two first longitudinal brackets and one or more second longitudinal brackets; the transverse bracket is positioned at the rear side of the rolling assembly; all the first longitudinal supports and the second longitudinal supports are parallel to each other; the first longitudinal support is two sheet structures which are in rotary connection and respectively comprises a first rear side support and a front side support, and the second longitudinal support is two sheet structures which are in rotary connection and respectively comprises a second rear side support and a second front side support; the first rear side brackets are positioned at the left side and the right side of the rolling assembly, and the second rear side brackets are positioned in the middle of the rolling assembly and are fixedly connected with the transverse bracket; the roller shaft is arranged between the two longitudinal brackets;
a first fixed block is fixedly arranged on the outer side of the first rear side bracket end of the first longitudinal bracket, a third fixed block is fixedly arranged on the outer side of the front side bracket end of the first longitudinal bracket, and a second fixed block is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket of the first longitudinal bracket; one end of the sheet-shaped spring is fixed on the first fixing block and penetrates through the second fixing block and the third fixing block.
2. The drop resistant yoke for a vehicle transfer robot of claim 1, wherein the tire carrier is fixedly attached to the hub holder of the yoke by a first rear bracket.
3. A drop resistant yoke for a vehicle transfer robot as recited in claim 1, wherein the diameters of all or two or more rows of said rolling sleeves remote from the lateral support decrease progressively with increasing distance from the lateral support.
4. The drop resistant yoke for a vehicle transfer robot of claim 1, wherein the outermost row of rolling bushings is a triangular shaped pad.
5. A drop down prevention yoke for a vehicle transfer robot as recited in claim 1, wherein said lateral support is a block structure and one or more lateral securing brackets are provided at the bottom of said first and second rear supports.
6. A parking robot characterized in that it is equipped with a drop-proof yoke for a vehicle transfer robot as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010950351.4A CN111958571A (en) | 2020-09-11 | 2020-09-11 | Anti-falling fork arm for vehicle transfer robot and vehicle transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010950351.4A CN111958571A (en) | 2020-09-11 | 2020-09-11 | Anti-falling fork arm for vehicle transfer robot and vehicle transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111958571A true CN111958571A (en) | 2020-11-20 |
Family
ID=73392914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010950351.4A Withdrawn CN111958571A (en) | 2020-09-11 | 2020-09-11 | Anti-falling fork arm for vehicle transfer robot and vehicle transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111958571A (en) |
-
2020
- 2020-09-11 CN CN202010950351.4A patent/CN111958571A/en not_active Withdrawn
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Application publication date: 20201120 |
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| WW01 | Invention patent application withdrawn after publication |