CN209568765U - An omnidirectional vehicle handling device - Google Patents

Abstract

The utility model provides an omnidirectional vehicle transporting device, which belongs to the technical field of vehicle transporters. Including walking mechanism, stretching mechanism and clamping mechanism, the two ends of the main longitudinal beam are fixed with the arc line inside the main beam, symmetrically arranged to form a four-sided frame structure; the synchronous pulleys at the four corners of the four-sided frame structure are respectively arranged on the gear beam through the synchronous belt. Connect with the synchronous belt pulley of gear three and gear four on the gear longitudinal beam. One end of the segmented wheelbase longitudinal beam is fixed to the main beam through connecting piece 4, and the other end is fixed to the gear longitudinal beam through connecting piece 5, which is arranged symmetrically; Wheelbase screw bracket. The two ends of the clamping arm beam are fixed to the horizontal plane of the front end of the wheelbase beam slider; the clamping motor is fixed to the front end of the horizontal plate structure through the clamping motor seat; the tail end of the clamping screw passes through the clamping arm fixing member The screw seat is fixed with the output shaft of the clamping motor through a shaft coupling.

Description

An omnidirectional vehicle handling device

technical field

The utility model belongs to the technical field of automobile carriers, in particular to a conveying mechanism that can adapt to the wheelbase and wheelbase of automobiles.

Background technique

With the continuous development of urbanization, the problem of difficult parking has become increasingly prominent, and intelligent parking equipment has developed rapidly. However, some cars still use the traditional parking method, and the disorderly parking of vehicles is serious, resulting in the waste of a large part of parking space.

In response to such problems, we hope to design a car carrier that can adapt to the wheelbase and wheel base of the vehicle to handle different models; it can realize in-situ steering, lateral and longitudinal movement, and can enter from any direction of the vehicle Under the vehicle for great flexibility. It can organize the vehicles that are parked randomly, so that more vehicles can be parked in the limited parking lot; it can also be applied to the emerging intelligent parking equipment for vehicle handling.

According to the search, there are currently existing devices for parking and fetching vehicles, such as a Chinese patent application with application number 201820653975.8, which discloses a collapsible general-purpose vehicle handling mechanism, which includes a telescopic folding mechanism and a McNair that can realize omnidirectional movement. Mu wheel. The stability of the mecanum wheel in motion is poor; the telescopic and folding mechanism of this patent uses a ball screw mechanism arranged in parallel with two parallel guide rails to achieve expansion and contraction in the direction of the wheelbase, which requires high parallelism and When the carrier carries the vehicle and realizes the in-situ steering movement, when the ball screw is slightly bent, it will greatly affect the transmission of the ball screw. Another example is that the Chinese patent application No. 201410593393.1 discloses a two-way vehicle push platform for mechanical garages. Its ring beams allow it to enter the bottom of the vehicle only from the length of the vehicle, which is not suitable for random parking and has limitations.

In view of the foregoing, it is necessary to develop a vehicle handling device that can be reduced in size and applicable to wheelbase and wheelbase. The vehicle mover can move the transported vehicle to any position through its own in-situ steering movement, lateral and longitudinal movement, so as to realize the regularization of the vehicle and improve the space utilization rate.

Utility model content

The purpose of this utility model is to provide an omnidirectional vehicle handling device, which can effectively solve the technical problem of mechanism adaptability caused by uneven wheelbase and direction of the transported vehicles.

The technical solution adopted by the utility model is: an omnidirectional vehicle handling device, including a traveling mechanism, a stretching mechanism and a clamping mechanism. , with the arc as the periphery, the center of which is provided with a through shaft hole, the two ends of the main longitudinal beam are fixed with the inner arc of the main beam, symmetrically arranged to form a four-sided frame structure; the middle of the main longitudinal beam is provided with a gear beam, The middle part of the main beam is provided with a gear longitudinal beam, and the two sides of the gear longitudinal beam are respectively provided with lower longitudinal beams; the middle part of the gear beam and the gear longitudinal beam is crossed, and a point vertical shaft hole, the steering motor is fixed below the center point through the steering motor seat, the output shaft of the steering motor passes through the shaft hole and is connected with the gear one through a flat key; The meshing gear three is arranged symmetrically; gear one is provided with transition gear two meshing with it along both sides of the gear longitudinal beam, and the transition gear two meshes with gear four; the upper surfaces of gear three and gear four are provided with the same The synchronous belt pulley of the shaft; the bearing seat on the top of the driving wheel assembly is fixed with the main beam through bolts, the vertical shaft is fixed with the bearing seat through the outer ring of the bearing, the vertical shaft is in clearance fit with the shaft hole, and a synchronous pulley is provided at the end of the vertical shaft; The synchronous pulleys at the four corners of the four-sided frame structure are respectively connected with the synchronous pulleys of gear three and gear four arranged on the gear beam and the gear longitudinal beam through the synchronous belt;

The stretching mechanism includes: the wheelbase beams are symmetrically arranged between the two main beams, and the bolts are fixed to the inner sides of the two ends of the lower longitudinal beams; Connecting piece 5 is fixed to the gear longitudinal beam and arranged symmetrically; the upper surface of the cross position of the wheelbase longitudinal beam and the middle part of the wheelbase beam is provided with a wheelbase screw bracket, and the wheelbase motor passes through the wheelbase motor seat and the outer side of the middle part of the wheelbase longitudinal beam Fixed, the tail end of the wheelbase screw passes through the wheelbase screw bracket and is fixed with the wheelbase motor shaft through a coupling, and its front end is fixed through the bearing and the middle part of the connecting piece; the upper end of the wheelbase nut slider assembly is in line with the wheelbase The nut matched with the lead screw, the lower end is a slide block matched with the wheelbase longitudinal beam, the middle part is hinged with the tail end of the intermediate connecting rod of the wheelbase folding rod assembly; The wheelbase longitudinal beams are respectively fixed to the two ends of the long sliding sleeves to form a quadrilateral frame structure; the wheelbase beams are fixed to the middle of the wheelbase beams through bolts; the wheelbase motors are fixed to the wheelbase beams through the wheelbase motor mounts; the wheelbase The two ends of the beam are provided with wheel base screw brackets, the top of the wheel base screw bracket is hinged with the two ends of the wheel base screw, and the tail end of the wheel base screw passes through the wheel base screw bracket and connects with the wheel base motor through a coupling. The output shaft is fixed; the upper ends of the wheelbase nut slider assembly 1 and the wheelbase nut slider assembly 2 are nuts that match the wheelbase screw, and the lower ends are sliders that match the wheelbase beam, and the middle part is folded with the wheelbase The tail end of the middle connecting rod of the rod assembly is hinged; the two ends of the wheelbase longitudinal beam are equipped with wheelbase beam sliders, the front end of the wheelbase beam slider is a rectangular sleeve structure matched with the wheelbase beam, and the tail end is a horizontal plate type structure and is provided with a vertical hinge support hinged with the front end of the wheel base folding rod assembly; the front fork of the wheel base connecting piece 1 is hinged with the front end of the middle link of the wheel base folding rod assembly, the rear end is fixed to one end of the bearing rod, and the bearing rod The other end of the wheelbase connector is provided with a fisheye bearing; the front end of the wheelbase connector 2 is hinged to the fisheye bearing, and the rear end is hinged to the inner side of the wheel base beam;

The clamping mechanism includes: the two ends of the clamping arm beam are fixed to the horizontal plane at the front end of the track beam slider; the clamping motor is fixed to the front end of the horizontal plate structure through the clamping motor seat; the clamping arm fixing member is connected to the clamping arm One end of the arm beam is fixed, and the clamping arm sliding member forms a sliding fit with the clamping arm beam. There are two fulcrums on the outside of the clamping arm fixing member and the clamping arm sliding member, and the inner fulcrum is hinged to the rear end of the clamping arm. , the outer fulcrum is coaxially hinged with the tail end of the upper link and the lower link, and the front ends of the upper link and the lower link are coaxially hinged with the middle part of the clamping arm; The tail end of the holding screw passes through the screw seat of the fixing member of the clamping arm and is fixed with the output shaft of the clamping motor through a coupling, and the inner side of the sliding component of the clamping arm is provided with a nut that cooperates with the front end of the clamping screw; The shaft of the universal wheel assembly is hinged to the front end of the clamping arm; the clamping roller is fixed to the clamping arm through the roller shaft.

The gear longitudinal beam is fixed to the main cross beam through a connecting piece one.

The two ends of the lower longitudinal beam are fixed to the main beam through the connecting piece 3, and are symmetrically arranged left and right.

There are four drive wheel assemblies, and the drive motors used are servo motors.

There are two wheelbase lead screws with the same direction of rotation, symmetrically arranged in the middle of the wheelbase beam, and the included angle between their axes and the axis of the wheelbase beam is 90°.

The wheelbase folding rod assembly consists of four long connecting rods and four short connecting rods to form a three-stage scissor linkage.

There are four wheelbase screw screws with the same direction of rotation, symmetrically arranged in the middle of the wheelbase longitudinal beam, and the included angle between its axis and the axis of the wheelbase longitudinal beam is 90°.

The track folding rod assembly is composed of eight long connecting rods and four short connecting rods to form a five-stage scissor linkage mechanism.

There are four clamping lead screws with the same direction of rotation, arranged parallel to the clamping arm beam.

There are eight universal wheel assemblies, which are arranged symmetrically at the front end of the clamping arm.

Work process and working principle of the present utility model.

The walking mechanism mainly realizes in-situ steering, lateral and longitudinal movement: including gear transmission mechanism and synchronous belt transmission mechanism. The rotation of the steering motor drives the gear to rotate, and then the four driving wheel assemblies turn simultaneously through the gear meshing transmission and the synchronous belt transmission belt. The driving motors of the four driving wheel assemblies realize the in-situ steering, lateral and longitudinal movement.

The stretching mechanism includes a mechanism for adapting to a wheel base and a mechanism for adapting to a wheel base. Adapting to the wheelbase mechanism mainly adjusts the length of the transport mechanism according to the length of the vehicle: including the ball screw mechanism and the connecting rod folding mechanism. The rotation of the wheelbase motor drives the rotation of the wheelbase screw, and through the transmission of the ball screw and the transmission of the connecting rod folding mechanism, it drives the adaptive wheelbase mechanisms on both sides to slide on the wheelbase beam, thereby adapting to the length of the vehicle.

The adaptable wheelbase mechanism mainly adjusts the width of the transport mechanism according to the vehicle width, so that the clamping arm can clamp to the vehicle tire: including the ball screw mechanism and the link folding mechanism. The wheel track motor rotates to drive the wheel track screw to rotate, and through the ball screw drive and the connecting rod folding mechanism, the clamping mechanisms on both sides are driven to slide on the wheel track longitudinal beam, so as to adapt to the width of the vehicle.

The clamping mechanism mainly realizes the vehicle tire clamping: including the ball screw mechanism. The clamping motor rotates to drive the clamping lead screw to rotate, so that the engaged clamping arm sliding member approaches the clamping arm fixing member, thereby shortening the distance from the central axis of the clamping arm roller shaft and realizing wheel clamping.

Compared with the prior art, the beneficial effects of the utility model are:

1. The handling mechanism can realize in-situ steering, lateral and longitudinal movement, and is applicable to a wider range of vehicle handling occasions;

2. The handling mechanism can adapt to vehicles of different lengths and widths, and is suitable for more types of vehicles;

3. The clamping arm of the transport mechanism does not need to rotate, and the clamping is more reliable and safe.

Description of drawings

Fig. 1 is the overall top view of the utility model.

Fig. 2 is the overall axonometric view of the utility model.

Fig. 3 is the axonometric view of the walking mechanism of the present utility model.

Fig. 4 is the axonometric view of the adaptable vehicle length mechanism of the utility model.

Fig. 5 is an axonometric view of the connection part of the fisheye bearing of the present invention.

Fig. 6 is an axonometric view of the vehicle width adapting mechanism and clamping mechanism of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment, the utility model is described in further detail.

An omnidirectional vehicle handling device, including a running mechanism, an extending mechanism and a clamping mechanism, is characterized in that: the running mechanism includes: the edges of the main beam 12 near both ends have arcs expanding to both sides, with the arc The line is the periphery, the center of which is provided with a through shaft hole, the two ends of the main longitudinal beam 11 are fixed with the arc line inside the main beam 12, and the symmetrical arrangement forms a four-sided frame structure; the middle part of the main longitudinal beam 11 is provided with a gear beam 6, and the main The middle part of the beam 12 is provided with a gear stringer 9, and the two sides of the gear stringer 9 are respectively provided with a lower stringer 15; A shaft hole perpendicular to the center point is provided, and the steering motor 7 is fixed below the center point by the steering motor seat 8, and the output shaft of the steering motor 7 passes through the shaft hole and is connected with the gear one 1 by a flat key; 1. Gear 3 3 meshing with it is provided along both sides of the gear beam 6, which is arranged symmetrically; Gear 1 is provided with transition gear 2 2 meshing with it along both sides of the gear beam 9. The transition gear 2 and gear 4 4 meshing; the upper surfaces of the gear three 3 and gear four 4 are provided with coaxial synchronous pulleys; the bearing seat 14 on the top of the driving wheel assembly 13 is fixed with the main beam 12 by bolts, and the vertical shaft passes through the outer ring of the bearing and the bearing The seat 14 is fixed, the vertical shaft is matched with the shaft hole, and the vertical shaft end is provided with a synchronous pulley; the synchronous pulleys at the four corners of the four-sided frame structure are connected with the gear beams 6 and the gear longitudinal beams 9 through the synchronous belt respectively. The synchronous pulley connection of gear three 3 and gear four 4;

The stretching mechanism includes: the wheelbase beams 20 are symmetrically arranged between the two main beams 12, and are fixed to the inner sides of the two ends of the lower longitudinal beams 15 by bolts; 12 is fixed, and the other end is fixed with the gear longitudinal beam 9 through the connecting piece 5 19, and arranged symmetrically; the upper surface of the cross position in the middle of the wheelbase longitudinal beam 18 and the wheelbase crossbeam 20 is provided with a wheelbase screw support 25 and a wheelbase motor 22 The wheelbase motor base 23 is fixed to the outside of the middle part of the wheelbase longitudinal beam 18, the tail end of the wheelbase screw 24 passes through the wheelbase screw support 25 and is fixed to the wheelbase motor 22 through a coupling, and its front end is connected to the wheelbase by a bearing. The middle part of connector five 19 is fixed; the upper end of the wheelbase nut slider assembly 26 is a nut that cooperates with the wheelbase screw 24, the lower end is a slider that cooperates with the wheelbase longitudinal beam 18, and the middle part is connected with the middle of the wheelbase folding rod assembly 21. The tail end of the rod is hinged; the two ends of the wheelbase crossbeam 20 are provided with strip-shaped sliding sleeves 31 respectively, and the two ends of the wheelbase longitudinal beams 32 are respectively fixed with the two ends of the strip-shaped sliding sleeves 31 to form a quadrilateral frame structure; the wheelbase crossbeam 33 are fixed by bolt and wheelbase longitudinal beam 32 middle parts; Wheelbase motor 38 is fixed with wheelbase crossbeam 33 by wheelbase motor seat 39; The top of the top is hinged with the two ends of the wheel base screw 35, and the tail end of the wheel base screw 35 passes through the wheel base screw support 36 and is fixed by the output shaft of the wheel base motor 38 through the coupling; 37. The upper end of the wheel base nut slider assembly 2 50 is a nut that cooperates with the wheel base screw, the lower end is a slider that cooperates with the wheel base beam 33, and the middle part is connected with the tail end of the middle link of the wheel base folding rod assembly 34 Hinged; both ends of the wheelbase longitudinal beam 32 are provided with a wheelbase beam slider 40, the front end of the wheelbase beam slider 40 is a rectangular sleeve structure matched with the wheelbase beam 32, and the tail end is a horizontal plate structure with a The vertical hinge support hinged with the front end of the wheel base folding rod assembly 34; the front end fork of the wheel base connector one 27 is hinged with the front end of the middle connecting rod of the wheel base folding rod assembly 21, and the rear end is fixed to one end of the bearing rod 30, and the bearing rod The other end of 30 is provided with fish-eye bearing 29; the front end fork of wheelbase connector 2 28 is hinged with fish-eye bearing 29, and the rear end is hinged with the inner side end of wheel base beam 33;

The clamping mechanism includes: the two ends of the clamping arm beam 41 are fixed to the horizontal plane of the front end of the wheel base beam slider 40; the clamping motor 45 is fixed to the front end of the horizontal plate structure through the clamping motor seat 51; the clamping arm is fixed The member 42 is fixed to one end of the clamping arm beam 41, and the clamping arm sliding member 43 forms a sliding fit with the clamping arm beam 41. Two fulcrums are arranged on the outside of the clamping arm fixing member 42 and the clamping arm sliding member 43, wherein The inner fulcrum is hinged with the clamping arm 46 rear end, the outer fulcrum is coaxially hinged with the upper link 47 and the lower link 48 tail end, and the front ends of the upper link 47 and the lower link 48 are coaxial with the middle part of the clamp arm 46 Hinged; the inner side of the clamping arm fixing member 42 is provided with a screw seat, and the tail end of the clamping screw 44 passes through the screw seat of the clamping arm fixing member 42 and is fixed to the output shaft of the clamping motor 45 by a coupling , the inside of the clamping arm sliding member 43 is provided with a nut that cooperates with the front end of the clamping screw 44; the shaft of the universal wheel assembly 53 is hinged with the front end of the clamping arm 46; the clamping roller 49 is connected to the clamping arm 46 through the roller shaft 52 fixed.

The gear longitudinal beam 9 is fixed to the main beam 12 through a connecting piece 1 5 .

The two ends of the lower longitudinal beam 15 are fixed to the main cross beam 12 through the connecting piece 3 16, and are symmetrically arranged left and right.

There are four drive wheel assemblies 13, and the drive motors used are servo motors.

There are two wheelbase lead screws 24 with the same direction of rotation, symmetrically arranged in the middle of the wheelbase beam 20 , and the included angle between their axes and the axis of the wheelbase beam 20 is 90°.

The wheelbase folding rod assembly 21 is composed of four long connecting rods and four short connecting rods to form a three-stage scissors linkage mechanism.

There are four wheel base screw screws 35 with the same direction of rotation, symmetrically arranged in the middle of the wheel base longitudinal beam 32, and the included angle between its axis and the axis of the wheel base longitudinal beam 32 is 90°.

The track folding rod assembly 34 is composed of eight long connecting rods and four short connecting rods to form a five-stage scissor linkage.

There are four clamping lead screws 44 with the same direction of rotation, arranged parallel to the clamping arm beam 41 .

There are eight universal wheel assemblies 53, which are arranged symmetrically at the front end of the clamping arm 46.

Work process and working principle of the present utility model.

The walking mechanism mainly realizes in-situ steering, lateral and longitudinal movement: including gear transmission mechanism and synchronous belt transmission mechanism. The rotation of the steering motor 7 drives the gear 1 to rotate, and then the four drive wheel assemblies 13 are turned simultaneously through the gear meshing transmission and the synchronous belt transmission belt. Steering, lateral and longitudinal movement.

The stretching mechanism includes a mechanism for adapting to a wheel base and a mechanism for adapting to a wheelbase. Adapting to the wheelbase mechanism mainly adjusts the length of the transport mechanism according to the length of the vehicle: including the ball screw mechanism and the connecting rod folding mechanism. The wheelbase motor 22 rotates to drive the wheelbase screw 24 to rotate, through the transmission of the ball screw and the transmission of the connecting rod folding mechanism, the adaptive wheelbase mechanisms on both sides are driven to slide on the wheelbase crossbeam 20, thereby adapting to the length of the vehicle.

The adaptable wheelbase mechanism mainly adjusts the width of the transport mechanism according to the vehicle width, so that the clamping arm can clamp to the vehicle tire: including the ball screw mechanism and the link folding mechanism. Wheelbase motor 38 rotates and drives wheelbase lead screw 35 to rotate, drives the clamping mechanisms on both sides to slide on wheelbase longitudinal beam 32 through ball screw transmission and connecting rod folding mechanism transmission, thereby adapting to vehicle width.

The clamping mechanism mainly realizes the vehicle tire clamping: including the ball screw mechanism. The clamping motor 45 rotates to drive the clamping screw 44 to rotate, so that the engaged clamping arm sliding member 43 approaches the clamping arm fixing member 42, thereby shortening the center axis distance of the clamping arm drum shaft, and realizing wheel clamping.

Claims (10)

1. a kind of omnidirectional's vehicle conveying device, including walking mechanism, extension means and clamping device, it is characterised in that: the row The camber line that mechanism includes: the oriented two sides expansion of marginal belt of main beam (12) by two close end is walked, using the camber line as periphery, wherein The heart is equipped with the axis hole of perforation, and both ends and the camber line on the inside of main beam (12) of main longitudinal grider (11) are fixed, and is arranged symmetrically and constitutes four sides Frame structure；The middle part of main longitudinal grider (11) is equipped with gear crossbeam (6), and the middle part of main beam (12) is equipped with gear stringer (9), described The two sides of gear stringer (9) are respectively equipped with lower stringer (15)；The middle part cross of the gear crossbeam (6) and gear stringer (9) is handed over Fork is equipped with the axis hole vertical with the central point in the center of right-angled intersection, and steering motor (7) passes through steering motor seat (8) It is fixed with below the central point, the output shaft of steering motor (7) passes through the axis hole and connect with gear one (1) by flat key； Gear one (1) is equipped with the gear three (3) engaged along the two sides of gear crossbeam (6), is symmetrical arranged；Gear one (1) is along gear The two sides of stringer (9) are equipped with the transition gear two (2) engaged, and the transition gear two (2) is engaged with gear four (4)；Institute State gear three (3), the upper surface of gear four (4) is equipped with coaxial synchronous pulley；Bearing block at the top of drive wheel assemblies (13) (14) fixed by bolt and main beam (12), vertical axis is fixed by bearing outer ring and bearing block (14), vertical axis with it is described Axis hole clearance fit, vertical shaft end are equipped with synchronous pulley；The synchronous pulley of quadrilateral frame structure quadrangle passes through synchronization respectively Band couples with the synchronous pulley of the gear three (3), gear four (4) that are arranged on gear crossbeam (6) and gear stringer (9)；

The extension means include: to be arranged symmetrically wheelbase crossbeam (20) between two main beams (12), pass through bolt and lower stringer (15) fixed on the inside of both ends；One end of segmented wheelbase stringer (18) is fixed by connector four (17) and main beam (12), separately One end is fixed by connector five (19) and gear stringer (9), is arranged symmetrically；In the middle part of wheelbase stringer (18) and wheelbase crossbeam (20) The upper surface of right-angled intersection position is equipped with wheelbase lead screw bracket (25), and wheelbase motor (22) passes through wheelbase motor cabinet (23) and wheelbase Outside is fixed in the middle part of stringer (18), and the tail end of wheelbase lead screw (24) passes through wheelbase lead screw bracket (25) and passes through shaft coupling and wheelbase Motor (22) axis is fixed, and front end passes through fixed in the middle part of bearing and connector five (19)；Wheelbase nut slider component (26) upper end For the nut cooperated with wheelbase lead screw (24), lower end is the sliding block cooperated with wheelbase stringer (18), middle part and wheelbase folding rod group The intermediate connecting rod tail end of part (21) is hinged；The both ends of wheelbase crossbeam (20) are respectively equipped with strip sliding sleeve (31), and two wheelspans are vertical Both ends of the beam (32) respectively with strip sliding sleeve (31) are fixed, and quadrilateral frame structure is constituted；Wheelspan crossbeam (33) passes through bolt It is fixed in the middle part of wheelspan stringer (32)；Wheelspan motor (38) is fixed by wheelspan motor cabinet (39) and wheelspan crossbeam (33)；Wheelspan Crossbeam (33) both ends are equipped with wheelspan lead screw bracket (36), and the top and wheelspan lead screw (35) both ends of wheelspan lead screw bracket (36) are cut with scissors It connects, the tail end of wheelspan lead screw (35) passes through wheelspan lead screw bracket (36) and consolidated by shaft coupling and the output shaft of wheelspan motor (38) It is fixed；Wheelspan nut slider component one (37), wheelspan nut slider component two (50) upper end be with wheelbase lead screw cooperation spiral shell Mother, lower end are the sliding block with wheelspan crossbeam (33) cooperation, and the intermediate connecting rod tail end that middle part and wheelspan fold bar assembly (34) is cut with scissors It connects；The both ends of wheelspan stringer (32) are equipped with wheelspan crossbeam sliding block (40), and wheelspan crossbeam sliding block (40) front end is and wheelspan stringer (32) the rectangular sleeve structure cooperated, tail end are horizontal plank frame and are equipped with hinged with wheelspan folding bar assembly (34) front end Vertical hinged-support；The front end fork of wheelbase connector one (27) and the intermediate connecting rod front end that wheelbase folds bar assembly (21) are hinged, One end of rear end and bearing rod (30) is fixed, and the other end of bearing rod (30) is equipped with flake bearing (29)；Wheelbase connector two (28) hingedly, rear end and wheelspan crossbeam (33) inner end are hinged at front end fork and flake bearing (29)；

The clamping device includes: that the horizontal plane at the both ends and wheelspan crossbeam sliding block (40) front end of clamping limb beam (41) is fixed；Folder It holds motor (45) and is fixed by clamping motor cabinet (51) with the board-like structure front end of level；Clamping limb fixing component (42) and folder One end of gripping arm beam (41) is fixed, and clamping limb sliding component (43) is constituted with clamping limb beam (41) and is slidably matched, and clamping limb is fixed It is set on the outside of component (42) and clamping limb sliding component (43) there are two fulcrum, wherein the fulcrum of inside and clamping limb (46) rear end Hingedly, the fulcrum in outside and upper connecting rod (47), lower link (48) tail end are coaxially hinged, before upper connecting rod (47), lower link (48) End and clamping limb (46) middle part are coaxial hinged；The inside of clamping limb fixing component (42) is equipped with lead screw base, clamping lead screw (44) Tail end passes through the lead screw base of clamping limb fixing component (42) and is fixed by shaft coupling and the output shaft of clamping motor (45), clamps The inside of arm sliding component (43) is equipped with the nut with the cooperation of clamping lead screw (44) front end；The axis of universal wheel component (53) and clamping Arm (46) front end is hinged；Gripper cylinder (49) is fixed by drum shaft (52) and clamping limb (46).

2. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the gear stringer (9) passes through company Fitting one (5) and main beam (12) are fixed.

3. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the both ends of the lower stringer (15) are logical It crosses connector three (16) and main beam (12) is fixed, and be symmetrically arranged.

4. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the drive wheel assemblies (13) are four A, the driving motor used is servo motor.

5. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the wheelbase lead screw (24) is two A, rotation direction is identical, is arranged symmetrically in the middle part of wheelbase crossbeam (20), and the angle of the axis of axis and wheelbase crossbeam (20) is 90 °.

6. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the wheelbase folds bar assembly (21) Three-level scissor-type link mechanism is formed by four root long connecting rods and four short connecting rods.

7. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the wheelspan lead screw (35) is four A, rotation direction is identical, is arranged symmetrically in the middle part of wheelspan stringer (32), and the angle of the axis of axis and wheelspan stringer (32) is 90 °.

8. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the wheelspan folds bar assembly (34) Pyatyi scissor-type link mechanism is formed by eight root long connecting rods and four short connecting rods.

9. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the clamping lead screw (44) is four A, rotation direction is identical, is arranged in parallel with clamping limb beam (41).

10. a kind of omnidirectional's vehicle conveying device according to claim 1, it is characterised in that: the universal wheel component (53) is Eight, it is arranged symmetrically in clamping limb (46) front end.