CN113356660A

CN113356660A - Rail type automobile carrying robot and parking system

Info

Publication number: CN113356660A
Application number: CN202110727089.1A
Authority: CN
Inventors: 夏宗群; 赵阳; 白永亮
Original assignee: Shenyang Kewei Robot Technology Co ltd
Current assignee: Shenyang Kewei Robot Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-09-07

Abstract

The invention provides a rail type automobile carrying robot and a parking system, wherein the rail type automobile carrying robot comprises an automobile body; the driving assembly is arranged on the vehicle body; the displacement assembly is connected with the driving assembly and is driven by the driving assembly to displace; a support arm assembly connected to at least the displacement assembly, wherein the support arm assembly comprises at least a sliding plate; and the guide assemblies are arranged on two sides of the vehicle body and are in sliding connection with the support arm assembly, and the guide assemblies at least comprise guide rollers. And the guide assembly at least comprises a guide roller, when the support arm assembly performs linear displacement action, the sliding plate is in sliding contact with the guide roller, so that the problem that the service life of the guide structure is shortened due to the fact that the guide structure is independently subjected to acting force in the prior art can be avoided, the stress area is increased, stress of the guide structure is better shared, the damage rate of the guide assembly is further reduced, and the service life of the whole structure is prolonged.

Description

Rail type automobile carrying robot and parking system

Technical Field

The invention relates to the technical field of automobile carrying, in particular to a rail type automobile carrying robot and a parking system.

Background

Most of the existing automobile carrying robots in the market are comb-tooth type automobile carrying robots, and the few of the existing automobile carrying robots are wheel-embracing type automobile carrying robots, but the two types of automobile carrying robots have the defect which is difficult to overcome at present. The comb-tooth type automobile carrying robot has the advantages that the requirement for a garage parking clean space is increased due to the limitation of the structural form, and the structural strength of the comb-tooth type automobile carrying robot is hidden due to the cantilever form of the comb-tooth frame; because the supporting arm and the automobile tire have an angle when the automobile tire is held, the automobile carrying robot holding the wheel can have outward extrusion force on the automobile tire when holding the automobile tire, and the wheel hub is easy to damage.

Except the above-mentioned problem that exists, among the current car transfer robot product, holding clamp action guide mode for the connecting seat under the installation for two guide roller along the guide way motion in the slide, when receiving reaction force, receive these two guide roller of positive pressure always, guide roller pressure load is big, and the pressure-bearing time is long, has very big influence to guide roller's life-span.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

To this end, the invention provides in a first aspect a rail car transfer robot.

A second aspect of the invention provides a parking system.

The invention provides a rail type automobile carrying robot, which comprises an automobile body; the driving assembly is arranged on the vehicle body; the displacement assembly is connected with the driving assembly and is driven by the driving assembly to displace; a support arm assembly connected with at least the displacement assembly, wherein the support arm assembly comprises at least a sliding plate; the guide assemblies are arranged on two sides of the vehicle body and are in sliding connection with the supporting arm assembly, and each guide assembly at least comprises a guide roller; the support arm assembly is driven by the displacement assembly to swing and linearly displace in the guide assembly, and when the support arm assembly linearly displaces, the sliding plate is in sliding contact with the guide roller.

The invention provides a rail type automobile transfer robot, which comprises an automobile body, a driving assembly, a displacement assembly, a support arm assembly and a guide assembly. Wherein, the automobile body can provide the installation station for other structures. Specifically, the vehicle body is composed of at least a vehicle plate and a traveling assembly. The walking assembly is arranged in the vehicle board and staggered with other structures in the vehicle body. The walking assembly comprises a servo motor and a walking wheel. The walking process of the vehicle body is realized by driving the walking wheels to rotate through the servo motor. At least two walking wheels are arranged on each side of the walking wheels, and the two walking wheels are connected through a chain, so that the synchronism between the walking wheels is ensured. The arrangement is used for ensuring that at least one walking wheel is arranged on the walking track when the parking robot passes through the joint, so that the walking stability of the vehicle body is ensured. The driving assembly is used for driving the displacement assembly to displace, so that linkage between the displacement assembly and the support arm assembly is ensured. Specifically, the driving assembly can drive a screw rod to rotate for a servo motor, a nut is screwed on the screw rod, the displacement assembly is connected with the nut, and the nut displaces when the screw rod rotates, so that the displacement assembly is driven to do synchronous position movement. In addition, the driving assembly can also directly adopt a structure pushed by a hydraulic cylinder or an air cylinder, so that the displacement assembly is driven to perform linear motion. The driving assembly is not particularly limited, and any structure capable of driving the displacement assembly to displace falls within the protection scope of the present application. The displacement assembly carries out the displacement action on the one hand, and on the other hand can drive the support arm assembly through the displacement of self and move to guarantee with the linkage of support arm assembly. The support arm component can be linked and matched with the displacement component, so that the displacement component is driven to perform linkage action. Wherein the support arm assembly comprises at least a sliding plate. The guide assembly is used for limiting the displacement track of the guide assembly and driving the support arm assembly through the displacement assembly to realize the swinging and linear displacement actions of the support arm assembly and further realize the holding and clamping actions of the automobile tire. Therefore, the supporting arm assembly can firstly swing and then linearly displace, so that the parking robot can be prevented from simultaneously swinging and linearly moving to extrude the automobile tire by external force in the prior art, and the automobile tire can be better protected. And the guide assembly at least comprises a guide roller, when the support arm assembly performs linear displacement action, the sliding plate is in sliding contact with the guide roller, so that the problem that the service life of the guide structure is shortened due to the fact that the guide structure is independently subjected to acting force in the prior art can be avoided, the stress area is increased, stress of the guide structure is better shared, the damage rate of the guide assembly is further reduced, and the service life of the whole structure is prolonged.

The rail-mounted automobile transfer robot according to the technical scheme of the invention can also have the following additional technical characteristics:

in the above technical solution, the guide assembly further includes: the mounting plates are arranged on two sides of the vehicle body; the slideway is arranged on the mounting plate; the guide way, set up in the slide bottom, and at least include arc line section and straightway, just guide roller is located the straightway of guide way.

In this technical scheme, guide structure still includes mounting panel, slide and guide way. The mounting plate is used for providing mounting stations for the slide way and the guide groove, so that the guide assembly is ensured to have sufficient running space. The slide is used for providing the setting space for the guide way. The guide groove is used for guiding and limiting. Specifically, the guide groove includes at least an arc segment and a straight segment. The arc segment is used for enabling the supporting arm assembly to perform arc displacement in the supporting arm assembly, and therefore the supporting arm assembly can perform swinging motion by matching with the driving of the displacement assembly to the supporting arm assembly. The straight line segment is used for enabling the support arm assembly to linearly displace in the straight line segment, and therefore the support arm assembly can be enabled to linearly displace by matching with the driving of the displacement assembly to the support arm assembly. Through the arrangement, the clamping action of the support arm assembly can be decomposed, the swing action is firstly carried out, then the linear action is carried out, the damage of the clamping action to the automobile tire is further reduced, and therefore the automobile tire is better protected.

In the above technical solution, the support arm assembly further includes: the guide block is connected with the guide groove in a sliding manner, is connected with the sliding plate, and can slide on the arc line segment and the straight line segment of the guide groove; the supporting seat is arranged on the sliding plate; the connecting seat is rotatably connected to the supporting seat; the supporting arm is connected with the supporting seat; the wheel supporting roller is connected to the supporting arm in a sliding manner; the support arm movement roller is arranged on the support arm; and the wheel detection sensors are arranged on two sides of the vehicle body and positioned between the supporting arms.

In this technical scheme, support arm assembly still includes guide block, supporting seat, connecting seat, support arm, wheel support gyro wheel, support arm motion gyro wheel and wheel detection sensor. Wherein, guide block sliding connection is in the guide way, consequently can carry out pitch arc motion and linear motion at the arc line section and the straightway in the guide way to the drive sliding plate carries out pitch arc motion and linear motion, further drives the supporting seat and carries out pitch arc motion and linear motion, ensures that the support arm swings and linear displacement action under the drive of displacement assembly and the drive of supporting seat, realizes overall structure's linkage. The supporting seat is used for driving the supporting arm to move. The connecting seat is used for connecting the supporting seat and the displacement assembly, and the connecting seat is rotatably connected with the supporting seat. Specifically, the structure of a bearing shaft rod can be adopted, the shaft rod is rotatably sleeved in the bearing, and the upper end of the shaft rod is connected with the displacement assembly. Other rotational structures may also be employed, and are not specifically limited herein. The supporting arm is used for realizing the clamping action of the automobile tire, so that the rail type automobile carrying robot realizes the carrying function. The wheel supporting roller is used for being in sliding contact with the wheel when the clamping action is carried out, so that the damage to an automobile tire is reduced, and better protection is further carried out. Support arm motion gyro wheel is embracing when pressing from both sides the action and going on, can set up with ground contact, guarantees on the one hand that the support arm is more stable embraces and presss from both sides the action, and on the other hand reduces the damage to automobile wheel hub. In addition, the mounting height of the support arm assembly is relatively low, so that when the automobile is clamped, only the automobile tire needs to be lifted off the ground, the height space occupied by the rail type automobile carrying robot is reduced, and the construction cost of the stereo garage is saved. The wheel detection sensor is used for detecting the position of the wheel and ensuring that the vehicle body stops at an accurate position. Specifically, the wheel detection sensor adopts an ultrasonic sensor with the model number of RU40U-M18M-UP8X2-H1151, and the manufacturer is Turke company.

In the above technical solution, the displacement assembly includes: the clamping push plate is connected with the driving assembly and is driven by the driving assembly to move, and two ends of the clamping push plate are connected with the supporting seat; and the push plate guide rail is arranged on the vehicle body, and the clamping push plate is slidably connected in the push plate guide rail.

In the technical scheme, the displacement assembly comprises a clamping push plate and a push plate guide rail. The clamping push plate is driven by the driving assembly to perform linear displacement action so as to further drive the support arm assembly to move. The push plate guide rail is used for limiting the displacement of the clamping push plate and avoiding the displacement track deviation of the clamping push plate, so that the displacement action is stably and accurately carried out. Specifically, the push plate guide rails are at least two and are respectively positioned on two sides of the vehicle body, and the clamping push plate is slidably connected in the push plate guide rails.

In the above technical scheme, the vehicle body further comprises a clamp in-place detection sensor arranged in the vehicle body.

In the technical scheme, the clamp in-place detection device further comprises a clamp in-place detection sensor. The clamp in-place detection sensor is used for detecting whether the supporting arm is used and completing clamp actions. Specifically, the clamp-in-place detection sensor is a proximity sensor manufactured by Ohlong corporation and having a model number of E2B-M18KS08_ M1_ B1.

In the above technical scheme, the vehicle body support device further comprises support arm reset detection sensors arranged on two sides of the vehicle body.

In the technical scheme, the device further comprises a support arm reset detection sensor. The support arm repositioning detection sensor is used to ensure retraction of the support arm. Specifically, the support arm return detection sensor employs a proximity switch manufactured by SICK corporation, model IME18-12BPOZW 2S.

In the technical scheme, the device further comprises reset lifting plates arranged on two sides of the vehicle body.

In the technical scheme, the device further comprises a reset lifting plate. The horizontal installation height of the reset lifting plate is the same as the height of the lower end face of the support arm, after the support arm retracts, the reset lifting plate applies supporting force to the support arm, on one hand, the support arm is guaranteed not to be in contact with the ground, and on the other hand, the support arm can be prevented from deforming downwards after long-time work.

In the above technical solution, the vehicle in-place detection device further comprises a vehicle in-place detection sensor arranged in the vehicle body.

In the technical scheme, the system further comprises a driving in-place detection sensor. The driving in-place detection sensor is used for detecting that the automobile transfer robot can walk in place. Specifically, a proximity sensor manufactured by Ohlong corporation, model No. E2B-M30KS 15-WZ-B12M, was used.

In the above technical scheme, the vehicle body further comprises a laser range finder arranged at one end of the vehicle body.

In the technical scheme, the device further comprises a laser range finder. Specifically, a laser ranging sensor manufactured by SICK corporation and having a model number DT35-B15551 is used.

In the above technical solution, the vehicle further comprises an automatic lubrication pump disposed in the vehicle body and located on one side of the support arm assembly.

In the technical scheme, the automatic lubrication device further comprises an automatic lubrication pump. The lubricating device is used for automatically lubricating moving parts in a vehicle body, and the moving parts are periodically lubricated, so that the process of manual lubrication is omitted, and the hidden danger caused by lack of lubrication of the moving parts is further reduced. Specifically, a gear pump manufactured by Nanyang Dinghao electronic technology Limited and having a model number of 54012 VDC 15W is adopted.

In the above technical solution, the vehicle further includes a brake resistor disposed in the vehicle body and electrically connected to the driving assembly.

In the technical scheme, the brake device further comprises a brake resistor. The brake resistor is electrically connected with a servo motor of the walking component. The device is used for converting the regenerative electric energy generated by the servo motor due to rapid parking into heat energy, and ensures the stable operation of the whole machine. Specifically, an aluminum-case resistor manufactured by Shanghai corporation of LCR-500W/30. omega. -KJ was used.

In the technical scheme, the automobile chassis scratch-resistant device further comprises a scratch-resistant chassis detection device which is arranged at the front end and the rear end of the automobile body.

In the technical scheme, the device further comprises a scratch-resistant chassis detection device. The automobile garage is used for preventing an automobile with a too low chassis from entering the garage and causing damage to the automobile or garage equipment. In particular, the scratch-proof chassis detection device can adopt the structures of a turning plate and a travel switch. The turning plate is connected to the front end of the master vehicle and the rear end of the slave vehicle in a rotating mode, the end head of the travel switch is in contact with the turning plate, when the chassis exerts acting force on the turning plate, the turning plate can press the travel switch, and the travel switch can be connected to an alarm device so as to perform an alarm process. The travel switch model can be ohm dragon D4 MC-5040.

In the above technical scheme, the vehicle further comprises an anti-stacking detection device arranged at the front end and the rear end of the vehicle body.

In the technical scheme, the device further comprises an anti-stacking detection device. The device can prevent the automobile from being stored in the parking space or garage equipment of the existing automobile, and when the automobile is detected in the target parking space, the anti-stacking detection device can give an alarm and prompt a garage manager to process the automobile. Specifically, the anti-stacking detection device employs an ultrasonic sensor manufactured by banner corporation and having a model number T30 UXDC.

In the technical scheme, the vehicle body at least comprises a main vehicle and a secondary vehicle, the main vehicle and the secondary vehicle are connected through a folding arm structure, and walking components are arranged in the main vehicle and the secondary vehicle and used for driving the main vehicle and the secondary vehicle to walk.

In the technical scheme, the vehicle body at least comprises a main vehicle and a secondary vehicle. Specifically, the master vehicle and the slave vehicle are connected by a knuckle arm structure. Specifically, the knuckle arm structure is connected at one end to the rear end of the master vehicle and at the other end to the front end of the slave vehicle, thereby ensuring flexible connection between the master vehicle and the slave vehicle and further adjusting the spacing between the master vehicle and the slave vehicle. And the laser range finder is arranged between the master vehicle and the slave vehicle and used for detecting the distance between the master vehicle and the slave vehicle.

The invention also provides a parking system, which comprises a parking lot and the rail type automobile carrying robot in any technical scheme, wherein the rail type automobile carrying robot is placed in the parking lot.

The parking system comprises a parking lot and the rail type automobile carrying robot in any one technical scheme. The parking lot is used for providing a parking station for the vehicle. The rail car transfer robot has all the above-mentioned advantages, and will not be described in detail herein.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of a railcar transfer robot in accordance with one embodiment of the present invention;

FIG. 2 is a top plan view of the railcar transfer robot of FIG. 1;

FIG. 3 is a perspective view (in use) of a railcar transfer robot in accordance with one embodiment of the present invention;

FIG. 4 is a top plan view of the railcar transfer robot of FIG. 3;

FIG. 5 is a block diagram of a railcar transfer robot (hidden slave) in accordance with one embodiment of the present invention;

FIG. 6 is a top plan view of the railcar transfer robot of FIG. 5;

FIG. 7 is a diagram of the state of motion of a support arm assembly (hidden from the slave vehicle) in a rail car transfer robot in accordance with one embodiment of the present invention;

FIG. 8 is one of the structural coupling diagrams of the drive assembly, the support arm assembly and the guide assembly of the railcar transfer robot in accordance with one embodiment of the present invention;

figure 9 is a second view of the structural connections of the drive assembly, support arm assembly and guide assembly of the railcar transfer robot in accordance with one embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 9 is:

102, 104, a driving component, 106, 1062 clamping push plate, 1064 push plate guide rail, 108 support arm component, 1082 sliding plate, 1084 guide block, 1086 support seat, 1088 connecting seat, 1090 support arm, 1092 wheel support roller, 1094 support arm movement roller, 1096 wheel detection sensor, 110 guide component, 1102 guide roller, 1104 mounting plate, 1106 slideway, 1108 guide groove, 112 clamping in-place detection sensor, 114 support arm reset detection sensor, 116 reset lifting plate, 118 driving in-place detection sensor, 120 laser range finder, 122 automatic lubrication pump, 124 brake resistor, 126 scratch-proof chassis detection device, 128 stacking-proof detection device and 130 walking component.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

A rail guided vehicle transfer robot and parking system provided in accordance with some embodiments of the present invention will now be described with reference to fig. 1-9.

As shown in fig. 1 to 5, a first embodiment of the present invention provides a rail car transfer robot, including a car body 102; a drive unit 104 provided to the vehicle body 102; a displacement assembly 106 connected with the driving assembly 104 and driven by the driving assembly 104 to displace; a support arm assembly 108 coupled to at least the displacement assembly 106, wherein the support arm assembly 108 includes at least a sliding plate 1082; the guide assemblies 110 are arranged on two sides of the vehicle body 102 and are connected with the support arm assembly 108 in a sliding mode, wherein the guide assemblies 110 at least comprise guide rollers 1102; the support arm assembly 108 is driven by the displacement assembly 106 to swing and linearly displace in the guide assembly 110, and when the support arm assembly 108 linearly displaces, the sliding plate 1082 is in sliding contact with the guide roller 1102.

The railcar-based mobile robot of the present invention includes a car body 102, a drive assembly 104, a displacement assembly 106, a support arm assembly 108, and a guide assembly 110. Wherein the body 102 can provide mounting stations for other structures. Specifically, body 102 is made up of at least a deck and a running assembly 130. The running assembly 130 is mounted within the deck and offset from other structures within the body 102. The travel assembly 130 includes a servo motor and travel wheels. The walking process of the vehicle body 102 is realized by driving the walking wheels to rotate through the servo motor. At least two walking wheels are arranged on each side of the walking wheels, and the two walking wheels are connected through a chain, so that the synchronism between the walking wheels is ensured. The above arrangement is used to ensure that at least one road wheel is on the running rail when the parking robot passes through the joint, thereby ensuring the stability of the vehicle body 102. The driving assembly 104 is used for driving the displacement assembly 106 to displace, thereby ensuring linkage between the displacement assembly 106 and the support arm assembly 108. Specifically, the driving assembly 104 may be a servo motor driving a screw to rotate, a nut is screwed on the screw, and the displacement assembly 106 is connected to the nut, the nut displaces when the screw rotates, so as to drive the displacement assembly 106 to perform a synchronous displacement action. In addition, the driving assembly 104 may also be directly driven by a hydraulic cylinder or an air cylinder, so as to drive the displacement assembly 106 to perform a linear motion. The driving assembly 104 is not particularly limited, and any structure capable of driving the displacement assembly 106 to displace may be adopted within the scope of the present application. The displacement assembly 106 performs displacement action on one hand, and on the other hand, can drive the support arm assembly 108 to move through self displacement, so that linkage with the support arm assembly 108 is ensured. The support arm assembly 108 is capable of interlocking and cooperating with the displacement assembly 106 such that actuation of the displacement assembly 106 results in an interlocking action. Wherein the support arm assembly 108 includes at least a slide plate 1082. The guide assembly 110 is used for realizing swinging and linear displacement actions of the support arm assembly 108 by limiting the displacement track of the guide assembly and driving the support arm assembly 108 through the displacement assembly 106, and further realizing a clamping action on the automobile tire. Therefore, it can be seen that the support arm assembly 108 performs a swinging motion first and then performs a linear displacement motion, which can prevent the parking robot from performing external force extrusion on the automobile tire simultaneously with the swinging and linear motions in the prior art, thereby better protecting the automobile tire. And the guide assembly 110 at least comprises the guide roller 1102, when the support arm assembly 108 performs linear displacement action, the sliding plate 1082 is in sliding contact with the guide roller 1102, so that the shortening of the service life caused by the fact that the guide structure is independently subjected to acting force in the prior art can be avoided, the stress area is increased, the stress of the guide structure is better shared, the damage rate of the guide assembly 110 is further reduced, and the service life of the whole structure is prolonged.

As shown in fig. 1, 2, 5, 6 and 7, a second embodiment of the present invention provides a rail car transfer robot, including a car body 102; a drive unit 104 provided to the vehicle body 102; a displacement assembly 106 connected with the driving assembly 104 and driven by the driving assembly 104 to displace; a support arm assembly 108 coupled to at least the displacement assembly 106, wherein the support arm assembly 108 includes at least a sliding plate 1082; the guide assemblies 110 are arranged on two sides of the vehicle body 102 and are connected with the support arm assembly 108 in a sliding mode, wherein the guide assemblies 110 at least comprise guide rollers 1102; the support arm assembly 108 is driven by the displacement assembly 106 to swing and linearly displace in the guide assembly 110, and when the support arm assembly 108 linearly displaces, the sliding plate 1082 is in sliding contact with the guide roller 1102.

Specifically, the guide assembly 110 further includes: mounting plates 1104 provided on both sides of vehicle body 102; a chute 1106 provided in the mounting plate 1104; the guide groove 1108 is disposed at the bottom of the slide 1106 and at least includes an arc segment and a straight segment, and the guide roller 1102 is located on the straight segment of the guide groove 1108.

In this embodiment, the guide structure further includes a mounting plate 1104, a chute 1106, and a guide slot 1108. The mounting plate 1104 is used to provide mounting stations for the runners 1106 and the guide slots 1108, thereby ensuring that the guide assembly 110 has sufficient operating space. The slide 1106 is used to provide a space for the guide slot 1108. The guiding slot 1108 is used for guiding and limiting. Specifically, the guide slot 1108 includes at least an arc segment and a straight segment. The arc segment is used to cause the support arm assembly 108 to undergo an arcuate displacement therein, thus in conjunction with the actuation of the support arm assembly 108 by the displacement assembly 106, enabling the support arm assembly 108 to undergo a swinging motion. The straight line segment is used to linearly displace the support arm assembly 108 therein, thus in conjunction with the actuation of the support arm assembly 108 by the displacement assembly 106, enables the support arm assembly 108 to perform a linear displacement motion. Through the arrangement, the supporting arm assembly 108 can be guaranteed to decompose the holding and clamping action, firstly swing and then linearly move, the damage of the holding and clamping action to the automobile tire is further reduced, and therefore the automobile tire is better protected.

Specifically, the support arm assembly 108 further includes: a guide block 1084 slidably coupled to the guide groove 1108, coupled to the slide plate 1082, and slidable on an arc line segment and a straight line segment of the guide groove 1108; a support seat 1086 provided on the slide plate 1082; a connecting seat 1088 rotatably connected to the supporting seat 1086; a support arm 1090 connected to the support seat 1086; a wheel support roller 1092 slidably coupled to the support arm 1090; a support arm moving roller 1094 provided on the support arm 1090; wheel detection sensors 1096 are provided on both sides of the vehicle body 102 and between the support arms 1090.

In this embodiment, the support arm assembly 108 further includes a guide block 1084, a support seat 1086, a connection seat 1088, a support arm 1090, a wheel support roller 1092, a support arm movement roller 1094, and a wheel detection sensor 1096. Wherein, guide block 1084 sliding connection is in guide way 1108, consequently can carry out arcuate motion and rectilinear motion at the arc line section and the straightway in guide way 1108 to drive sliding plate 1082 and carry out arcuate motion and rectilinear motion, further drive supporting seat 1086 carries out arcuate motion and rectilinear motion, ensures that support arm 1090 swings and the linear displacement action under the drive of displacement subassembly 106 and the drive of supporting seat 1086, realizes overall structure's linkage. The support seat 1086 is used to drive the support arm 1090 to move. The connecting seat 1088 is used for connecting the supporting seat 1086 and the displacement assembly 106, and is rotatably connected with the supporting seat 1086. Specifically, a structure of a bearing shaft rod may be adopted, the shaft rod is rotatably sleeved in the bearing, and the upper end of the shaft rod is connected with the displacement assembly 106. Other rotational structures may also be employed, and are not specifically limited herein. The supporting arm 1090 is used for clamping the automobile tires, so that the rail type automobile carrying robot can carry the automobile tires. The wheel supporting rollers 1092 are used for sliding contact with the wheels when the clasping action is performed, so that damage to automobile tires is reduced, and better protection is further performed. Support arm motion gyro wheel 1094 can set up with ground contact when embracing the clamp action and going on, guarantees on the one hand that support arm 1090 is more stable embraces the clamp action, and on the other hand reduces the damage to automobile wheel hub. In addition, the mounting height of the support arm assembly 108 is relatively low, so that when the automobile is clamped, only the automobile tire needs to be lifted off the ground, the height space occupied by the rail type automobile carrying robot is reduced, and the construction cost of the stereo garage is saved. The wheel detection sensor 1096 detects the wheel position to ensure that the vehicle body 102 stops at an accurate position. Specifically, the wheel detection sensor 1096 is an ultrasonic sensor of the type RU40U-M18M-UP8X2-H1151, manufactured by the company tolk.

Specifically, the displacement assembly 106 includes: the holding push plate 1062 is connected with the driving assembly 104 and is driven by the driving assembly 104 to move, wherein two ends of the holding push plate 1062 are connected with the supporting seat 1086; the push plate guide 1064 is disposed on the vehicle body 102, and the clasping push plate 1062 is slidably connected in the push plate guide 1064.

In this embodiment, the displacement assembly 106 includes a clasping push plate 1062 and a push plate guide 1064. Wherein the clasping push plate 1062 is adapted to be driven by the drive assembly 104 to perform a linear displacement motion that further moves the support arm assembly 108. The push plate guide rail 1064 is used for limiting the displacement of the clasping push plate 1062 and avoiding the deviation of the displacement track, so that the displacement action is stably and accurately performed. Specifically, at least two push plate guide rails 1064 are provided and located on two sides of the vehicle body 102, respectively, and the clasping push plate 1062 is slidably connected in the push plate guide rails 1064.

As shown in fig. 1, 5, 6, 7, 8 and 9, a third embodiment of the present invention provides a rail car transfer robot, including a car body 102; a drive unit 104 provided to the vehicle body 102; a displacement assembly 106 connected with the driving assembly 104 and driven by the driving assembly 104 to displace; a support arm assembly 108 coupled to at least the displacement assembly 106, wherein the support arm assembly 108 includes at least a sliding plate 1082; the guide assemblies 110 are arranged on two sides of the vehicle body 102 and are connected with the support arm assembly 108 in a sliding mode, wherein the guide assemblies 110 at least comprise guide rollers 1102; the support arm assembly 108 is driven by the displacement assembly 106 to swing and linearly displace in the guide assembly 110, and when the support arm assembly 108 linearly displaces, the sliding plate 1082 is in sliding contact with the guide roller 1102.

Specifically, the device further comprises a clamp in-place detection sensor 112 arranged in the vehicle body 102.

In this embodiment, a clasping in-place detection sensor 112 is further included. The clamp in-place detection sensor 112 is used for detecting whether the support arm 1090 performs clamp actions or not and completing the clamp actions. Specifically, the clasping position detection sensor 112 is a proximity sensor manufactured by Ohlong corporation, model No. E2B-M18KS08_ M1_ B1.

The working principle of clamping and lifting actions is as follows: the driving motor of the driving assembly 104 drives the screw rod to operate, and the nut on the screw rod drives the clasping push plate 1062 to move linearly along the push plate guide rail 1064. The clasping push plate 1062 drives the connecting seat 1088 to linearly move, and the guide block 1084 below the connecting seat 1088 moves along the guide groove 1108 in the slide channel 1106, so as to drive the connecting seat 1088 and the support arm 1090 to perform linear and swinging compound movement. When the supporting arm 1090 swings to 90 degrees, the clamp push plate 1062 can drive the supporting arm 1090 to move linearly together, and when the clamp in-place detection sensor 112 detects that the clamp is effective, the movement is stopped. At which time the tire is lifted off the ground. Thereby realize that car transfer robot's support arm 1090 swings earlier then sharp armful presss from both sides the order, reduce the harm to automobile tire to greatly increased the position clearance of support arm 1090 and wheel, solved the error incident of embracing the clamp tire.

After the action of holding the clamp car, support arm 1090 can reset to initial condition along the orbit, and support arm 1090 resets and detects the sensor and has the signal, ensures that support arm 1090 withdraws, thereby prevents that support arm 1090 does not retract and target in place the influence to the transport of car. The reset lifting plate 116 is arranged at the retracted position of the supporting arm 1090, so that the supporting arm 1090 is prevented from contacting the ground after being retracted to influence the normal walking of the automobile transfer robot.

Specifically, a support arm return detection sensor 114 is further included, and is disposed on both sides of the vehicle body 102.

In this embodiment, a support arm return detection sensor 114 is also included. Support arm repositioning detection sensor 114 is used to ensure retraction of support arm 1090. Specifically, the support arm return detection sensor 114 employs a proximity switch manufactured by SICK corporation, model IME18-12BPOZW 2S.

Specifically, the device further comprises a reset lifting plate 116 which is arranged on two sides of the vehicle body 102.

In this embodiment, a reset lift plate 116 is also included. The horizontal installation height of the reset lifting plate 116 is the same as the height of the lower end face of the support arm 1090, after the support arm 1090 retracts, the reset lifting plate 116 applies supporting force to the support arm 1090, on one hand, the support arm 1090 is guaranteed not to be in contact with the ground, and on the other hand, the situation that the support arm 1090 deforms downwards due to long-time work can be avoided.

Specifically, the vehicle running position detection sensor 118 is further included and is disposed in the vehicle body 102.

In this embodiment, a driving position detection sensor 118 is further included. The driving position detection sensor 118 is used to detect that the vehicle transfer robot is moving in position. Specifically, a proximity sensor manufactured by Ohlong corporation, model No. E2B-M30KS 15-WZ-B12M, was used.

Specifically, the laser range finder 120 is further included and is disposed at one end of the vehicle body 102.

In this embodiment, a laser rangefinder 120 is also included. Specifically, a laser ranging sensor manufactured by SICK corporation and having a model number DT35-B15551 is used.

Specifically, an automatic lubrication pump 122 is also included and is disposed within the vehicle body 102 and on one side of the support arm assembly 108.

In this embodiment, an automatic lubrication pump 122 is also included. The lubricating device is used for automatically lubricating moving parts in the vehicle body 102, and the moving parts are periodically lubricated, so that a manual lubricating process is omitted, and the hidden trouble caused by lack of lubrication of the moving parts is further reduced. Specifically, a gear pump manufactured by Nanyang Dinghao electronic technology Limited and having a model number of 54012 VDC 15W is adopted.

Specifically, the brake device further includes a brake resistor 124 disposed in the vehicle body 102 and electrically connected to the driving assembly 104.

In this embodiment, a brake resistor 124 is also included. The brake resistor 124 is electrically connected to the servo motor of the traveling assembly 130. The device is used for converting the regenerative electric energy generated by the servo motor due to rapid parking into heat energy, and ensures the stable operation of the whole machine. Specifically, an aluminum-case resistor manufactured by Shanghai corporation of LCR-500W/30. omega. -KJ was used.

Specifically, the scratch-proof chassis detection device 126 is further included and is arranged at the front end and the rear end of the vehicle body 102.

In this embodiment, a scratch-resistant chassis detection device 126 is also included. The automobile garage is used for preventing an automobile with a too low chassis from entering the garage and causing damage to the automobile or garage equipment. In particular, the scratch-resistant chassis detection device 126 may employ a structure of a flap and a travel switch. The turning plate is connected to the front end of the master vehicle and the rear end of the slave vehicle in a rotating mode, the end head of the travel switch is in contact with the turning plate, when the chassis exerts acting force on the turning plate, the turning plate can press the travel switch, and the travel switch can be connected to an alarm device so as to perform an alarm process. The travel switch model can be ohm dragon D4 MC-5040.

Specifically, the vehicle further comprises anti-stacking detection devices 128 arranged at the front end and the rear end of the vehicle body 102.

In this embodiment, a stack prevention detection device 128 is also included. The anti-stacking detection device 128 may alert and prompt the garage manager to proceed with the process when a detected target parking space has an existing car. Specifically, the anti-stacking detection device 128 employs an ultrasonic sensor of model T30UXDC manufactured by banner corporation.

Specifically, the vehicle body 102 includes at least a master vehicle and a slave vehicle, which are connected by a knuckle arm structure, and a traveling assembly 130 is provided in the master vehicle and the slave vehicle for driving the master vehicle and the slave vehicle to travel.

In the present embodiment, the vehicle body 102 includes at least a master vehicle and a slave vehicle. Specifically, the master vehicle and the slave vehicle are connected by a knuckle arm structure. Specifically, the knuckle arm structure is connected at one end to the rear end of the master vehicle and at the other end to the front end of the slave vehicle, thereby ensuring flexible connection between the master vehicle and the slave vehicle and further adjusting the spacing between the master vehicle and the slave vehicle. And a laser rangefinder 120 is provided between the master and slave cars for detecting the distance between the master and slave cars.

As shown in fig. 1 to 9, a fourth embodiment of the present invention provides a rail car transfer robot, including a car body 102; a drive unit 104 provided to the vehicle body 102; a displacement assembly 106 connected with the driving assembly 104 and driven by the driving assembly 104 to displace; a support arm assembly 108 coupled to at least the displacement assembly 106, wherein the support arm assembly 108 includes at least a sliding plate 1082; the guide assemblies 110 are arranged on two sides of the vehicle body 102 and are connected with the support arm assembly 108 in a sliding mode, wherein the guide assemblies 110 at least comprise guide rollers 1102; the support arm assembly 108 is driven by the displacement assembly 106 to swing and linearly displace in the guide assembly 110, and when the support arm assembly 108 linearly displaces, the sliding plate 1082 is in sliding contact with the guide roller 1102.

A fifth embodiment of the present invention provides a parking system (not shown in the drawings) comprising: a parking lot and a railcar-type vehicle handling robot as in any one of the above embodiments are placed within the parking lot.

The present invention provides a parking system comprising a parking lot and a railcar handling robot as in any one of the embodiments described above. The parking lot is used for providing a parking station for the vehicle. The rail car transfer robot has all the above-mentioned advantages, and will not be described in detail herein.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail car transfer robot, comprising:

a vehicle body (102);

a drive unit (104) provided to the vehicle body (102);

the displacement assembly (106) is connected with the driving assembly (104) and is driven by the driving assembly (104) to displace;

a support arm assembly (108) connected with at least the displacement assembly (106), wherein the support arm assembly (108) comprises at least a sliding plate (1082);

the guide assemblies (110) are arranged on two sides of the vehicle body (102) and are in sliding connection with the support arm assembly (108), wherein the guide assemblies (110) at least comprise guide rollers (1102);

the support arm assembly (108) is driven by the displacement assembly (106) to swing and linearly displace in the guide assembly (110), and when the support arm assembly (108) linearly displaces, the sliding plate (1082) is in sliding contact with the guide roller (1102).

2. The railcar handler robot of claim 1, wherein said guide assembly (110) further comprises:

mounting plates (1104) provided on both sides of the vehicle body (102);

a chute (1106) provided in the mounting plate (1104);

the guide groove (1108) is arranged at the bottom of the slide way (1106) and at least comprises an arc line section and a straight line section, and the guide roller (1102) is positioned on the straight line section of the guide groove (1108).

3. The railcar handler robot of claim 2, wherein the support arm assembly (108) further comprises:

a guide block (1084) slidably connected to the guide groove (1108), connected to the slide plate (1082), and slidable on an arc line section and a straight line section of the guide groove (1108);

a support seat (1086) provided on the slide plate (1082);

the connecting seat (1088) is rotatably connected to the supporting seat (1086);

a support arm (1090) connected to the support base (1086);

a wheel support roller (1092) slidably coupled to the support arm (1090);

a support arm movement roller (1094) provided to the support arm (1090);

and wheel detection sensors (1096) disposed on both sides of the vehicle body (102) and between the support arms (1090).

4. The railcar handler robot of claim 3, wherein the displacement assembly (106) comprises:

the holding and clamping push plate (1062) is connected with the driving assembly (104) and is driven by the driving assembly (104) to move, wherein two ends of the holding and clamping push plate (1062) are connected with the supporting seat (1086);

and the push plate guide rail (1064) is arranged on the vehicle body (102), and the clamping push plate (1062) is slidably connected into the push plate guide rail (1064).

5. A railcar handling robot according to any one of claims 1 to 4, further comprising:

a clamp in-place detection sensor (112) arranged in the vehicle body (102); and/or

Support arm reset detection sensors (114) arranged on both sides of the vehicle body (102); and/or

And the reset lifting plates (116) are arranged on two sides of the vehicle body (102).

6. A railcar handling robot according to any one of claims 1 to 4, further comprising:

a vehicle running-in-place detection sensor (118) arranged in the vehicle body (102); and/or

And the laser range finder (120) is arranged at one end of the vehicle body (102).

7. A railcar handling robot according to any one of claims 1 to 4, further comprising:

an automatic lubrication pump (122) disposed within the vehicle body (102) and located on one side of the support arm assembly (108); and/or

And a brake resistor (124) which is arranged in the vehicle body (102) and is electrically connected with the driving component (104).

8. A railcar handling robot according to any one of claims 1 to 4, further comprising:

the scratch-proof chassis detection devices (126) are arranged at the front end and the rear end of the vehicle body (102); and/or

And anti-stacking detection devices (128) arranged at the front end and the rear end of the vehicle body (102).

9. A railcar handling robot according to any one of claims 1 to 4, characterized in that said car body (102) comprises at least a primary car and a secondary car, said primary car and said secondary car being connected by a knuckle arm structure, and a walking assembly (130) is provided in said primary car and said secondary car for driving said primary car and said secondary car to walk.

10. A parking system, comprising:

a parking lot;

the railcar handler robot of any one of claims 1 to 9, positioned within the parking lot.