CN113137100B - Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation - Google Patents
Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation Download PDFInfo
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- CN113137100B CN113137100B CN202110448996.2A CN202110448996A CN113137100B CN 113137100 B CN113137100 B CN 113137100B CN 202110448996 A CN202110448996 A CN 202110448996A CN 113137100 B CN113137100 B CN 113137100B
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001915 proofreading effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- 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
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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
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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
- E04H6/422—Automatically operated car-parks
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses a wheel track self-adaptive rotary clamping intelligent coordinated trolley carrier, which is used for wheels of an automobile and comprises an edge vehicle body unit and a middle vehicle body unit; the middle vehicle body unit is rotationally connected with the two edge vehicle body units arranged on the two sides of the middle vehicle body unit through a wheel track adjusting mechanism; the edge vehicle body unit and the middle vehicle body unit are combined and molded by an upper cover plate and a lower bottom plate. The carrier adopts a single vehicle body structure, can self-adapt to wheel bases and wheel bases of different vehicle types through the matching rotation of the ball screw and the nut, and directly clamps wheels; and the carrier has the characteristics of compact structure, low cost, quick action and short longitudinal length.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a rotary clamping intelligent cooperative trolley carrier with self-adaptive wheel track.
Background
With the increasing living standard of people, the automobile keeping quantity of various domestic big cities is rapidly increased, the contradiction of difficult parking is increasingly excited, and the phenomenon of nonstandard parking is increasingly serious. The planar parking mode has become increasingly unable to adapt to the rapidly developing society, and the appearance of the stereo garage timely solves the problem. At present, a stereo garage mainly has several rigid types such as plane movement, vertical lifting, roadway stacking and the like, and the transport of automobiles has several methods such as an automobile carrying plate, lifting comb teeth, a wheel clamping type and the like, wherein the wheel clamping type is more and more widely applied by the advantages of compact structure, high automobile storing and taking speed, low civil engineering cost and the like.
In the prior art, the invention discloses a Chinese patent with the name of 'a wheel clamping type automobile carrier', and the publication number is CN201510711137.2, and the trolley comprises a trolley body, a running wheel, a running motor, a guide wheel, a clamping arm, a transmission mechanism and a clamping motor. The trolley can only lift the automobile within a specific wheel track range, can only run in a straight line, and cannot turn according to actual requirements. The name is "a centre gripping tire formula car carrier", and the chinese utility model patent of bulletin number CN201020586126.9, the clamping device of carrier mainly comprises worm, turbine, bevel gear and centre gripping motor, and the centre gripping motor drives the bevel gear train and rotates, reachs the worm through each bevel gear's transmission, then drives the turbine rotation by the worm. Although the carrier has a small number of motors, the bevel gear train has a complex and large structure and occupies installation space, and meanwhile, the method for lifting the wheels increases tire wear and is easy to reduce the service life of the tires.
Therefore, it is highly desirable to design a wheel track adaptive rotary clamping intelligent cooperative trolley carrier capable of automatically adjusting the wheel track and the wheel base.
Disclosure of Invention
The invention aims to provide a wheel track self-adaptive rotary clamping intelligent cooperative trolley carrier, which solves the technical problems that the carrier in the prior art cannot carry automobiles with different wheel tracks and wheel bases and cannot freely run, can freely carry various types of cars to required positions, and enlarges the application range of a carrying robot.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a wheel track self-adaptive rotary clamping intelligent coordinated trolley carrier, which is used for wheels of an automobile and comprises an edge vehicle body unit and a middle vehicle body unit; the middle vehicle body unit is rotationally connected with the two edge vehicle body units arranged on the two sides of the middle vehicle body unit through a wheel track adjusting mechanism; the edge vehicle body unit and the middle vehicle body unit are combined and molded by an upper cover plate and a lower bottom plate;
a power supply, a driver, a driving wheel set, a clamping mechanism and an automatic centering device are arranged on a lower bottom plate of the edge vehicle body unit; the clamping mechanism and the automatic centering device are electrically connected with the power supply through a driver;
the intermediate vehicle body unit is also provided with an industrial personal computer and a driven wheel set;
the industrial personal computer is used for controlling the driving wheel set and the automatic centering device.
The clamping mechanism comprises a transmission assembly, a clamping motor, a belt wheel and a clamping arm; the clamping arms are arranged in pairs and are arranged towards the direction far away from the middle vehicle body unit; the clamping motor is in transmission connection with the transmission assembly through the belt wheel, and the transmission assembly is in rotation connection with the two clamping arms; the clamping motor is electrically connected with the power supply.
The transmission assembly comprises a worm arranged between the two clamping arms, and two sides of one end of the worm are respectively provided with a turbine meshed with the worm; the two turbines are rotationally connected with the two clamping arms; the other end of the worm is fixed through a bearing seat; the clamping motor is in transmission connection with the worm through the belt wheel.
A plurality of rollers are arranged on the peripheral wall of the clamping arm at equal intervals; the roller is rotatably arranged on the circumferential wall of the clamping arm through a needle bearing.
The automatic centering device comprises a visual camera, a photoelectric sensor and an infrared laser sensor; the vision cameras are arranged on two side walls of the lower bottom plate and are respectively arranged on two sides of the two clamping arms; the photoelectric sensor and the infrared laser sensor are limited between the two clamping arms; and the vision camera, the photoelectric sensor and the infrared laser sensor are in information interaction with the industrial personal computer.
The wheel track adjusting mechanisms are at least provided with two groups and comprise double-output-shaft speed reducers, distance adjusting speed reducing motors, couplers and ball screws; the distance-adjusting speed-reducing motor is in transmission connection with the double-output-shaft speed reducer, and two output ends of the double-output-shaft speed reducer are in transmission connection with two ball screws through a coupler; the two ball screws are respectively connected with the two edge processing units in a rotating way.
The edge processing unit also comprises a nut and a nut seat; the screw is limited at the edge of the lower bottom plate through the screw seat; the nut corresponds to the ball screw in position and is connected with the ball screw in a rotating mode.
The driving wheel set and the driven wheel set are both arranged in the middle of the bottom surface of the lower bottom plate and are symmetrically provided with a plurality of wheels.
The invention discloses the following technical effects: the carrier can directly enter the lower part of the vehicle from the front, the rear or the side of the vehicle without auxiliary measures such as a vehicle plate, comb teeth, a bracket and the like. The carrier adopts the bicycle body structure, and through ball and screw cooperation rotation can the wheel base of different motorcycle types of self-adaptation, wheel is got to direct clamp. The use scene range of carrying is greatly expanded. The trolley carrier adopts an omnidirectional wheel technology combining different traveling wheels, and can realize straight traveling, retreating, side shifting, inclined traveling and autorotation movement in a plane. And the device has the characteristics of compact structure, low cost, quick action and short longitudinal length.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a perspective view of the invention in a stretched condition;
FIG. 2 is a perspective view of the invention in a contracted state;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of the travel mechanism of the present invention;
FIG. 5 is a schematic view of the left body unit of the present invention;
FIG. 6 is a perspective view of the intermediate body unit of the present invention;
FIG. 7 is a perspective view of the drive wheel set mechanism of the present invention;
FIG. 8 is a side view of a transfer car according to the present invention;
wherein, 1-left automobile body unit, 2-middle automobile body unit, 3-right automobile body unit, 4-clamping arm, 5-photoelectric sensor, 6-infrared laser sensor, 7-turbine, 8-roller, 9-vision camera, 10-screw, 11-clamping motor, 12-belt wheel, 13-worm, 14-bearing seat, 15-driver, 16-screw seat, 17-lithium battery, 18-coupler, 19-distance adjusting speed reducing motor, 20-industrial personal computer, 21-dual output shaft reducer, 22-wheel, 23-automobile, 24-ball screw, 25-lower plate, 26-upper cover plate, 27-driving wheel group, 28-driven wheel group, 29-gear ring, 30-motor gear, 31-steering motor, 32-walking motor, 33-driving wheel, 34-front wheel carrier, 35-rear wheel carrier.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a wheel track self-adaptive rotary clamping intelligent coordinated trolley carrier, which is used for wheels 22 of an automobile 23 and comprises an edge automobile body unit and a middle automobile body unit 2; the middle vehicle body unit 2 is rotationally connected with two edge vehicle body units arranged on two sides of the middle vehicle body unit through a wheel track adjusting mechanism; the edge bodywork unit and the middle bodywork unit 2 are both formed by combining an upper cover plate 26 and a lower bottom plate 25;
a power supply is arranged on a lower bottom plate 25 of the edge vehicle body unit, and a driver 15 drives a wheel set 27, a clamping mechanism and an automatic centering device; the clamping mechanism and the automatic centering device are both electrically connected with a power supply through a driver 15;
the intermediate vehicle body unit 2 is also provided with an industrial personal computer 20 and a driven wheel set 28;
the industrial personal computer is used for controlling the driving wheel set 27 and the automatic centering device.
Preferably, each carrier is correspondingly arranged at the bottom of the wheel 22, so that the carrier is applicable to various vehicle types and is widely applied.
In one embodiment of the present invention, a household vehicle is taken as an example, the front wheel lower carrier is taken as a front wheel carrier 34, and the rear wheel lower carrier is taken as a rear wheel carrier 35; the two-edge body unit is respectively arranged as a left body unit 1 and a right body unit 3 according to the position in the figure 1; the track adjustment mechanism enables the left body unit 1 and the right body unit 3 of the carrier to be moved laterally relative to each other in order to adapt to the wheel base of different types of vehicles. The driving wheel set 27 and the driven wheel set 28 can realize the straight movement, the retreating movement, the lateral movement, the oblique movement and the self-rotation movement of the carrier in a plane. The automatic centering device can enable the carrier to automatically, quickly and accurately complete centering with the tire to be carried.
The clamping mechanism comprises a transmission assembly, a clamping motor 11, a belt wheel 12 and a clamping arm 4; the gripping arms 4 are provided in pairs and are disposed toward a direction away from the intermediate vehicle body unit 2; the clamping motor 11 is in transmission connection with a transmission assembly through a belt wheel 12, and the transmission assembly is in rotation connection with the two clamping arms 4; the clamping motor 11 is electrically connected with a power supply.
The transmission assembly comprises a worm 13 arranged between the two clamping arms 4, and two sides of one end of the worm 13 are respectively provided with a turbine 7 meshed with the worm 13; the two turbines 7 are rotationally connected with the two clamping arms 4; the other end of the worm 13 is fixed through a bearing seat 14; the clamping motor 11 is in transmission connection with the worm 13 through a belt wheel 12.
A plurality of rollers 8 are arranged on the peripheral wall of the clamping arm 4 at equal intervals; the roller 8 is rotatably mounted on the circumferential wall of the gripper arm 4 by means of a needle bearing.
In one embodiment of the invention, as shown in fig. 3 and 5, a transverse worm 13 is arranged in the middle of each pair of clamping arms 4, the worm 13 is driven by a clamping motor 11, when in use, the clamping motor 11 drives the worm 13, the worm 13 is meshed with the left worm wheel 7 and the right worm wheel 7 simultaneously, and the rotation of the worm wheels 7 drives the corresponding clamping arms 4 to rotate, so that tires of driving wheels of the automobile are clamped or loosened. This transmission enables a combination of the transmission mechanism and the clamping mechanism, thereby simplifying the device.
The clamping arm 4 is provided with a roller 8, and a needle bearing is arranged inside the roller 8. This not only allows the gripper arm 4 to perform a planar rotation, but also allows it to rotate. The wheel 22 of the automobile 23 is protected by converting the sliding frictional contact of the clamp arm 4 and the wheel 22 of the automobile 23 into the rolling frictional contact.
The automatic centering device comprises a vision camera 9, a photoelectric sensor 5 and an infrared laser sensor 6; the vision cameras 9 are arranged on two side walls of the lower bottom plate 25 and are respectively arranged on two sides of the two clamping arms 4; the photoelectric sensor 5 and the infrared laser sensor 6 are limited between the two clamping arms 4; the vision camera 9, the photoelectric sensor 5 and the infrared laser sensor 6 are in information interaction with the industrial personal computer 20.
In one embodiment of the invention, as shown in fig. 2 and 5, the front side of the frame of the carrier is provided with a vision camera 9, and the vision camera 9 is used for acquiring position and attitude information of the movement of the front wheel carrier 34 and the rear wheel carrier 35. The vision camera 9 measures data and transmits the data to the industrial personal computer 20 of the rear carrier, and then the speed and the motion direction of the driving wheel set 27 of the rear wheel carrier 35 can be adjusted in real time, so that the distance between the two carriers always keeps the safe distance and the motion direction always consistent.
As shown in fig. 2 and 5, the carrier has an automatic centering device including one infrared laser sensor 6 and two photoelectric sensors 5 mounted on the frames of the left body unit 1 and the right body unit 3. The infrared laser sensor 6 is used for detecting whether the clamping mechanism is close to the side face of the tire to be clamped or not, the two photoelectric sensors 5 are used for accurately calculating the chord length of the tire, and therefore the automatic alignment of the longitudinal axis of the carrier body unit and the longitudinal axis of the automobile 23 and the automatic alignment of the center line of the carrier clamping mechanism and the axis of the wheel 22 of the automobile 23 are achieved. The devices are all connected with an industrial personal computer 20.
The visual camera 9 can reconstruct the outer contour of the wheel of the automobile 23 in real time, the two photoelectric sensors 5 can accurately calculate the chord length of the tire, and the accuracy of alignment of the clamping mechanism of the carrier and the wheel axis of the automobile 23 is greatly improved through mutual proofreading of the visual camera 9 and the photoelectric sensors 5.
The wheel track adjusting mechanisms are provided with at least two groups, and each group comprises a double-output-shaft speed reducer 21, a distance adjusting speed reducing motor 19, a coupling 18 and a ball screw 24; the distance-adjusting speed-reducing motor 19 is in transmission connection with a double-output-shaft speed reducer 21, and two output ends of the double-output-shaft speed reducer 21 are in transmission connection with two ball screws 24 through a coupler 18; the two ball screws 24 are respectively connected with the two edge processing units in a rotating way.
In one embodiment of the present invention, as shown in fig. 6, the track adjusting mechanism includes a dual output shaft speed reducer 21, a pitch reduction motor 19, a coupling 18, and a ball screw 24 mounted on the intermediate body unit 2, and also includes a nut 10 and a nut seat 16 mounted on the underframe of the left body unit 1 and the right body unit 3. The output end of the distance-adjusting speed-reducing motor 19 is connected with a ball screw 24 through a coupling 18. The distance-adjusting speed-reducing motor 19 is driven, the ball screw 24 rotates along with the distance-adjusting speed-reducing motor, and the left vehicle body unit 1 and the right vehicle body unit 3 can generate transverse relative movement so as to adapt to wheel tracks of different vehicle types.
The edge processing unit further comprises a nut 10 and a nut seat 16; the screw 10 is limited at the edge of the lower bottom plate 25 through the screw seat 16; the nut 10 corresponds in position to the ball screw 24 and is rotationally connected thereto.
The driving wheel set 27 and the driven wheel set 28 are both arranged in the middle of the bottom surface of the lower bottom plate 25, and a plurality of driving wheel sets and driven wheel sets are symmetrically arranged.
In one embodiment of the present invention, the driving wheel set 27 is an independent driving wheel; the driven wheel group is a universal wheel; the driving wheel set 27 comprises a gear ring 29, a motor gear 30, a steering motor 31, a walking motor 32 and a running wheel 33; the gear ring 29 is fixedly arranged on the bottom surface of the lower bottom plate 25, and the steering motor 31 is meshed with the gear ring 29 through a motor gear 30; the walking motor 32 is meshed with the gear ring 29 through the motor gear 30, and the walking motor 32 is in transmission connection with the running wheel 33.
Further, the driving wheel set 27 may be a steering wheel.
Furthermore, the running wheels 33 are made of rubber, so that the running is stable and the noise is low.
Preferably, the power source is a lithium battery 17; the preferred vision camera 9 is a binocular vision motor.
The implementation process of the invention is as follows: when the automobile is stored, the driving wheel set 27 drives the front wheel carrier 34 and the rear wheel carrier 35 to sequentially enter the bottom of the automobile 23, when the center lines of the clamping mechanisms of the front wheel carrier 34 and the rear wheel carrier 35 are respectively aligned with the perpendicular bisectors of the front wheel and the rear wheel of the automobile 23, the wheel track adjusting mechanism starts to act, and the distance between the left automobile body unit 1 and the right automobile body unit 3 is adjusted according to the actual size of the wheel track of the automobile to be transported. After the above steps are completed, the holding motor 11 drives the worm 13 to drive the worm wheel 7 and the holding arm 4 to move, and the holding arms 4 of the front wheel carrier 34 and the rear wheel carrier 35 respectively hold and lift the front wheel and the rear wheel of the automobile 23. Next, the driving wheel set 27 is operated, the carrier drags the car to enter the designated position of the car platform, and then the driving wheel set 27 stops, at this time, the clamping mechanisms of the front wheel carrier 34 and the rear wheel carrier 35 move reversely at the same time to place the car on the parking plane of the bottom conveying device (or elevator), when the rotary clamping rod rotates to the original position, the clamping motor 11 stops operating, and the driving wheel set 27 moves reversely to withdraw. The car taking process is opposite to the car taking process. The embodiment of the invention has simple structure, stable performance and easy realization.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (5)
1. A rotating clamp intelligent collaborative cart carrier with track adaptation for wheels (22) of an automobile (23), comprising: a marginal body unit and an intermediate body unit (2); the middle vehicle body unit (2) is rotationally connected with the two edge vehicle body units arranged on the two sides of the middle vehicle body unit through a wheel track adjusting mechanism; the edge vehicle body unit and the middle vehicle body unit (2) are formed by combining an upper cover plate (26) and a lower bottom plate (25);
a power supply, a driver (15), a driving wheel set (27), a clamping mechanism and an automatic centering device are arranged on a lower bottom plate (25) of the edge vehicle body unit; the clamping mechanism and the automatic centering device are electrically connected with the power supply through a driver (15);
the intermediate vehicle body unit (2) is also provided with an industrial personal computer (20) and a driven wheel set (28);
the industrial personal computer is used for controlling the driving wheel set (27) and the automatic centering device;
the clamping mechanism comprises a transmission assembly, a clamping motor (11), a belt wheel (12) and a clamping arm (4); the clamping arms (4) are arranged in pairs and are arranged towards the direction far away from the middle vehicle body unit (2); the clamping motor (11) is in transmission connection with the transmission assembly through the belt wheel (12), and the transmission assembly is in rotation connection with the two clamping arms (4); the clamping motor (11) is electrically connected with the power supply;
the automatic centering device comprises a visual camera (9), a photoelectric sensor (5) and an infrared laser sensor (6); the vision cameras (9) are arranged on two side walls of the lower bottom plate (25) and are respectively arranged on two sides of the two clamping arms (4); the photoelectric sensor (5) and the infrared laser sensor (6) are limited between the two clamping arms (4); the vision camera (9), the photoelectric sensor (5) and the infrared laser sensor (6) are in information interaction with the industrial personal computer (20);
the wheel track adjusting mechanisms are provided with at least two groups, and each group comprises a double-output-shaft speed reducer (21), a distance adjusting and speed reducing motor (19), a coupling (18) and a ball screw (24); the distance-adjusting speed-reducing motor (19) is in transmission connection with the double-output-shaft speed reducer (21), and two output ends of the double-output-shaft speed reducer (21) are in transmission connection with two ball screws (24) through a coupler (18); the two ball screws (24) are respectively connected with the two edge processing units in a rotating way.
2. The intelligent collaborative trolley carrier with wheel track adaptive rotary clamping is characterized in that: the transmission assembly comprises a worm (13) arranged between the two clamping arms (4), and two sides of one end of the worm (13) are respectively provided with a turbine (7) meshed with the worm; the two turbines (7) are rotationally connected with the two clamping arms (4); the other end of the worm (13) is fixed through a bearing seat (14); the clamping motor (11) is in transmission connection with the worm (13) through the belt wheel (12).
3. The intelligent collaborative trolley carrier with wheel track adaptive rotary clamping is characterized in that: a plurality of rollers (8) are arranged on the peripheral wall of the clamping arm (4) at equal intervals; the roller (8) is rotatably arranged on the circumferential wall of the clamping arm (4) through a needle bearing.
4. The intelligent collaborative trolley carrier with wheel track adaptive rotary clamping is characterized in that: the edge processing unit further comprises a nut (10) and a nut seat (16); the screw (10) is limited at the edge of the lower bottom plate (25) through the screw seat (16); the nut (10) corresponds to the ball screw (24) in position and is connected with the ball screw in a rotating mode.
5. The intelligent collaborative trolley carrier with wheel track adaptive rotary clamping is characterized in that: the driving wheel set (27) and the driven wheel set (28) are arranged in the middle of the bottom surface of the lower bottom plate (25) and are symmetrically provided with a plurality of wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110448996.2A CN113137100B (en) | 2021-04-25 | 2021-04-25 | Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110448996.2A CN113137100B (en) | 2021-04-25 | 2021-04-25 | Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113137100A CN113137100A (en) | 2021-07-20 |
| CN113137100B true CN113137100B (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110448996.2A Expired - Fee Related CN113137100B (en) | 2021-04-25 | 2021-04-25 | Rotatory armful of clamp intelligence is dolly carrier in coordination with wheel base self-adaptation |
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| CN (1) | CN113137100B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09144363A (en) * | 1995-11-28 | 1997-06-03 | Ryokichi Murotani | Shelf type parking lot |
| CN101915003B (en) * | 2010-04-21 | 2012-07-11 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN104563566B (en) * | 2015-01-19 | 2017-01-04 | 浙江巨人控股有限公司 | A kind of hydraulic-driven embraces folder intelligent carriage |
| CN108331409A (en) * | 2018-04-09 | 2018-07-27 | 北京航天汇信科技有限公司 | Quadrant drive clamping carrier |
| CN109750883B (en) * | 2019-01-25 | 2023-09-19 | 西南交通大学 | Omnidirectional vehicle carrying mechanism |
| CN211524252U (en) * | 2019-11-20 | 2020-09-18 | 王震 | Automobile carrier |
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2021
- 2021-04-25 CN CN202110448996.2A patent/CN113137100B/en not_active Expired - Fee Related
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| CN113137100A (en) | 2021-07-20 |
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