CN210554718U - Submerged automobile transfer robot - Google Patents
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- CN210554718U CN210554718U CN201921522931.2U CN201921522931U CN210554718U CN 210554718 U CN210554718 U CN 210554718U CN 201921522931 U CN201921522931 U CN 201921522931U CN 210554718 U CN210554718 U CN 210554718U
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Abstract
The utility model discloses a submersible automobile transfer robot, which comprises a main frame, wherein clamping arms are symmetrically arranged on two sides of the main frame; each clamping arm comprises two mechanical arm bodies, the two mechanical arm bodies are connected through a linkage mechanism, the two mechanical arm bodies can rotate relative to the main rack, the power unit is connected with one mechanical arm body to drive the mechanical arm body to rotate, and the linkage mechanism drives the other mechanical arm body to synchronously rotate; the two mechanical arm bodies of each group of clamping arms complete the clamping and lifting of one tire. The utility model has the advantages of low height, load ability reinforce, whole size is little, have good adaptability, the robot can directly get into the vehicle bottom and carry out the vehicle transport to reach the highest space utilization.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a dive formula car transfer robot.
Background
The problem that the parking in large and medium cities is difficult is more and more prominent due to the development of economy at any time. In order to solve the serious problem, various novel technologies should be carried out, and the novel technologies play a role in relieving to a certain extent, but different new problems are brought due to the limitation of the technical direction. Along with the development of artificial intelligence technique, intelligence parking also develops thereupon, and the problem that mainly solves is that parking is efficient, and the space is not enough, artifical experience is poor and so on pain point problem.
The current intelligent robot is roughly divided into two types, a non-track robot and a track robot.
The trackless robot mainly comprises a vehicle carrying plate and a comb-tooth type, the vehicle carrying plate type robot always props against the vehicle carrying plate, and the space utilization rate and the transportation efficiency are the lowest. The comb-tooth type robot needs to build a special parking platform, lift up a vehicle, lift and consign the vehicle, and still needs to build the special platform on a parking space for parking, so that the space utilization rate is not economical. And the site construction cost greatly reduces the commercial value of the product.
The track robot is mainly a mechanical arm clamping type robot, and has the advantages that the robot can directly enter from the bottom of an automobile, tire clamping and lifting are carried out, a special platform does not need to be built, but a driving system of the robot is driven in a directional mode, and only a track can be used for guiding. On one hand, the construction cost of the rail is increased, on the other hand, the line planning is fixed, and the space utilization rate and the economical efficiency are not ideal. Because press from both sides the arm design and integrate not highly, the space that occupies on whole robot is too much, causes and can't arrange large capacity battery and control system, also can't break away from the fixed track and promote intelligent bottleneck problem.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art not enough, provide a dive formula car transfer robot, the special parking platform is built to the cancellation, and the robot can directly get into the vehicle bottom and carry out the vehicle transport. The two robots cooperate to complete the carrying task, the space utilization rate is high, and the limitations of space shape, channel width and the like are small.
The purpose of the utility model is realized through the following technical scheme: a submerged automobile transfer robot comprises a main frame, wherein clamping arms are symmetrically arranged on two sides of the main frame; each clamping arm comprises two mechanical arm bodies, the two mechanical arm bodies are directly arranged on the main rack, or the two mechanical arm bodies are jointly arranged on a mechanical arm module frame to form a module, and then the mechanical arm module frame is arranged on the main rack; the two mechanical arm bodies of each group are connected through a linkage mechanism, and both the two mechanical arm bodies can rotate relative to the main rack; the power unit is connected with one mechanical arm body to drive the mechanical arm body to rotate, and the other mechanical arm body is driven to synchronously rotate through the linkage mechanism; the two mechanical arm bodies of each group of clamping arms complete the clamping and lifting of one tire.
Furthermore, laser radar sensors are respectively arranged in the middle positions of two ends of the automobile transfer robot; contact and non-contact obstacle detection sensors are respectively arranged at two ends of the automobile transfer robot.
Further, the mechanical arm body comprises a heavy-load universal wheel, a heavy-load universal wheel mounting block, a mechanical arm middle shaft, a tire supporting roller, a mechanical arm structure supporting block and a mechanical arm end connecting block; after the tire supporting rollers and the mechanical arm structure supporting block are connected in series through the mechanical arm middle shaft, one end of the mechanical arm middle shaft is fixed to the mechanical arm end connecting block, and the other end of the mechanical arm middle shaft is fixed to the heavy-load universal wheel mounting block; the heavy-load universal wheel is installed on the heavy-load universal wheel installation block.
Furthermore, the clamping arm also comprises two mechanical arm rotating shaft mechanisms, a mechanical arm linkage mechanism, a mechanical arm link mechanism and a mechanical arm push-pull block mechanism; the two mechanical arm rotating shaft mechanisms are respectively provided with a mechanical arm body; the mechanical arm push-pull block mechanism is connected with the power unit and drives the power unit to move; one end of the mechanical arm connecting rod mechanism is connected with the mechanical arm push-pull block mechanism, and the other end of the mechanical arm connecting rod mechanism is connected with a mechanical arm rotating shaft mechanism; the mechanical arm rotating shaft mechanism is provided with a mechanical arm rotating pull rod mechanism; the mechanical arm linkage mechanism is provided with two mechanical arm linkage rod mechanisms, the two mechanical arm linkage rod mechanisms are respectively connected with the two mechanical arm rotary pull rod mechanisms, and the two mechanical arm linkage rod mechanisms are connected through two mechanical arm connecting rod transmission gears meshed with each other.
Further, the mechanical arm rotating shaft mechanism comprises a mechanical arm rotating shaft mechanism top mounting plate, a mechanical arm rotating pull rod mechanism, a mechanical arm rotating pin, a mechanical arm rotating mechanism fixing seat mechanism, a mechanical arm connecting pin, a mechanical arm fixing connecting block mechanism and a mechanical arm rotating shaft mechanism bottom mounting plate; the mechanical arm rotating pin is pressed into the mechanical arm rotating mechanism fixing seat mechanism; the mechanical arm rotating shaft mechanism top mounting plate, the mechanical arm rotating pull rod mechanism, the mechanical arm fixed connecting block mechanism and the mechanical arm rotating shaft mechanism bottom mounting plate are fixed into a whole through bolts; the mechanical arm rotating shaft mechanism is connected with the mechanical arm body through a mechanical arm connecting pin; the mechanical arm linkage mechanism comprises a mechanical arm linkage connecting rod fixing cover plate, two mechanical arm linkage rod mechanisms, two mechanical arm connecting rod transmission gears and a mechanical arm linkage mechanism gear box; the mechanical arm linkage rod mechanism comprises a mechanical arm linkage rod, a mechanical arm linkage handle, a mechanical arm linkage rod shaft and a flat key for the mechanical arm linkage rod shaft; the mechanical arm linkage rod shaft is pressed into the mechanical arm linkage rod shaft through a flat key; the mechanical arm linkage rod shaft penetrates through the mechanical arm linkage handle and the mechanical arm linkage handle are fixedly connected; the mechanical arm linkage rod is inserted into a connecting hole corresponding to the mechanical arm linkage handle; the two mechanical arm connecting rod transmission gears are arranged in a mechanical arm linkage mechanism gear box and are meshed with each other; the two mechanical arm connecting rod shafts are respectively inserted into gear shaft holes in the two mechanical arm connecting rod transmission gears; the mechanical arm linkage connecting rod fixing cover plate is provided with two bearing holes, the bearing holes penetrate through the mechanical arm linkage rod shaft, and the mechanical arm linkage connecting rod fixing cover plate is fixedly connected with the mechanical arm linkage mechanism gear box.
Furthermore, the automobile transfer robot adopts an ultrathin universal driving wheel driving system as a power system, and the ultrathin universal driving wheel driving system adopts four ultrathin universal driving wheel driving units; the ultrathin universal driving wheel driving unit comprises a shell assembly, a driving system assembly, a steering driving system assembly, a driving rotating disc system, a steering driving rotating disc system and a gear train assembly; the shell assembly is fixed on the main frame; the running driving system assembly comprises a running driving motor, a running driving speed reducer and a running driving gear transmission mechanism and provides running driving force for the ultrathin universal driving wheel; the steering driving system assembly comprises a steering driving motor, a steering driving speed reducer and a steering driving gear transmission mechanism and provides steering driving force for the ultrathin universal driving wheel; the driving rotating disc system is arranged in the shell assembly and comprises a driving steering gear disc assembly and a driving output gear assembly fixedly connected below the driving steering gear disc assembly, and a gear disc of the driving steering gear disc assembly is meshed with the driving gear transmission mechanism and receives driving force provided by the driving system assembly; the steering driving rotating disc system comprises a steering driving steering gear disc assembly arranged below the driving steering gear disc assembly, and a gear disc in the steering driving steering gear disc assembly is meshed with a steering driving gear transmission mechanism and receives steering driving force provided by the steering driving system assembly; the gear train assembly comprises a gear train driving shaft support assembly, a driving gear, a gear train driving shaft and a driving wheel, and the steering driving steering gear wheel assembly is fixed on the upper part of the gear train driving shaft support assembly and transmits steering driving force to the gear train assembly; the driving output gear assembly is meshed with the driving gear and transmits driving force to the gear train assembly; the driving gear and the driving wheel are fixed on a gear train driving shaft, and the gear train driving shaft is installed on a gear train driving shaft supporting assembly.
Furthermore, a running driving motor and a running driving speed reducer in the running driving system assembly are horizontally mounted; the driving speed reducer is fixed on the shell assembly, and an output shaft of the driving speed reducer is inserted into the shell assembly; a steering driving motor and a steering driving speed reducer in the steering driving system assembly adopt a horizontal installation mode; the steering driving speed reducer is fixed on the shell assembly, and an output shaft of the steering driving speed reducer is inserted into the shell assembly.
Furthermore, the driving gear transmission mechanism comprises a driving system output cylindrical gear assembly, a first driving system idler cylindrical gear assembly, a driving system input bevel gear assembly and a second driving system idler cylindrical gear assembly which are fixed inside the shell assembly and connected in sequence; a cylindrical gear in the cylindrical gear assembly output by the driving system is provided with a key groove which is matched with an output shaft of a driving speed reducer, receives driving force and transmits the driving force to a driving rotating disc system through a gear train; the steering driving gear transmission mechanism comprises a first steering driving system output cylindrical gear assembly, a second steering driving system output cylindrical gear assembly, a steering driving system input bevel gear assembly and a steering driving system transmission idler gear assembly which are fixed in the shell assembly and connected in sequence; a cylindrical gear in the first steering driving system output cylindrical gear assembly is provided with a key groove which is matched with an output shaft of a steering driving speed reducer, receives steering driving force and transmits the steering driving force to a steering driving rotating disc system through a gear train.
Furthermore, the driving rotary disc system also comprises a plane thrust needle roller bearing assembly, a deep groove ball bearing assembly and a driving drive steering gear disc fixing bracket assembly; a driving disc in the driving steering gear disc assembly is provided with a sunken groove characteristic, the deep groove ball bearing assembly is arranged in the sunken groove, and the lower part of the deep groove ball bearing assembly is supported and fixed through a driving steering gear disc fixing bracket assembly; a sliding groove is formed in the lower portion of a gear disc in the driving and steering gear disc assembly, and the planar thrust needle roller bearing assembly is installed in the sliding groove and plays a horizontal supporting role in the driving and steering gear disc assembly.
Furthermore, the center of the automobile transfer robot is provided with a core control unit, a battery power unit and a navigation module.
The utility model has the advantages that:
1. the utility model discloses automobile transfer robot has the ultra-thin heavy load universal drive system of independent design and the modularized clamp of heavy load gets the arm unit for the complete machine height can be controlled about 100mm, need not with the help of external equipment alright sneak into the car bottom and carry out tire clamp and get and lift, realize the vehicle transport, very big improvement the commercial value of this product, reduced the civil engineering cost of parking area operator.
2. Due to the application of the ultrathin universal driving system, the robot can move straightly, transversely, rotationally, move in multiple directions such as arcs and the like, and the utilization rate of the parking lot space is improved in the multiple directions, so that the robot can flexibly park vehicles at multiple angles without being limited by the arrangement of the traditional transversely, horizontally and vertically.
3. Due to the application of the heavy-load modular clamping arm, under the condition that the overall size of the robot is exquisite, enough space is still available for carrying power units such as lithium battery packs with enough capacity and core control units; the robot can work in a highly intelligent and long-time manner; smoothly finish the vehicle access task in the peak period.
4. The application of intelligent robot has promoted the experience sense of access car customer, and the customer need not the waste time and seeks vacant parking stall in the parking area, or seeks the vehicle of oneself in large-scale parking area.
5. Based on the application of the technology, the use of the intelligent no-track parking robot enhances the utilization rate of the space of the parking lot and greatly improves the objective problem of insufficient parking space; the design of external equipment is not needed, the operation cost of an operator is reduced, and the income is increased.
Drawings
FIG. 1 is a schematic top view of the overall structure of the automobile transfer robot (ultra-thin universal driving wheel drive and mechanical arm closed);
FIG. 2 is a schematic bottom view of the overall structure of the automobile transfer robot of the present invention (the ultra-thin universal driving wheel drives the mechanical arm to close);
FIG. 3 is a schematic view of the axis measurement of the overall structure of the automobile transfer robot (the ultra-thin universal driving wheel drives and the mechanical arm is closed);
FIG. 4 is a schematic view of the axis measurement of the overall structure of the automobile transfer robot (the ultra-thin universal driving wheel drives and the mechanical arm is opened) of the invention;
FIG. 5 is a top view of the grasping arm of the present invention (robotic arm closed);
FIG. 6 is a top view of the grasping arm of the present invention (with the robotic arm open);
FIG. 7 is an assembly view of the robot arm body;
FIG. 8 is an assembly view of the robot arm rotation axis mechanism;
FIG. 9 is an assembly view of the robotic arm linkage mechanism;
FIG. 10 is a partial view A (robotic arm closed);
FIG. 11 is partial view B (arm closed);
FIG. 12 is an overall isometric view of an ultra-thin universal drive wheel (without a cover plate);
FIG. 13 is an overall functional block diagram;
FIG. 14 is a schematic drive diagram;
FIG. 15 is an overall view of the travel drive system;
FIG. 16 is an exploded view of the travel drive assembly;
FIG. 17 is an overall view of the steering drive system;
FIG. 18 is an overall exploded view of the steering drive system;
FIG. 19 is an exploded view of the steering drive turn disc system;
FIG. 20 is an exploded view of the travel drive turn disc system;
FIG. 21 is an exploded view of the wheel train assembly;
FIG. 22 is an exploded view of an ultra thin universal drive wheel;
FIG. 23 is a schematic bottom view of the overall configuration of the vehicle handling robot of the present invention (Mecanum wheel drive with closed robot arms);
fig. 24 is a bottom view of the overall structure of the vehicle transfer robot of the present invention (differential wheel drive with robot arm closed).
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model provides a submersible automobile transfer robot, which comprises a main frame 1, wherein clamping arms are symmetrically arranged on two sides of the main frame 1; each clamping arm comprises two mechanical arm bodies, the two mechanical arm bodies are directly arranged on the main rack 1, or the two mechanical arm bodies are jointly arranged on a mechanical arm module frame to form a module, and then the mechanical arm module frame is arranged on the main rack 1, so that the modular installation of the whole clamping arm is realized; the two mechanical arm bodies are connected through a linkage mechanism, and one of the mechanical arm bodies is driven to rotate through the power unit, so that the other mechanical arm body is driven to synchronously rotate, and the two mechanical arm bodies can be simultaneously rotated and opened or closed relative to the main frame 1; the two mechanical arm bodies of each group of clamping arms complete the clamping and lifting of one tire; when the clamping arm adopts an independent modular design, the clamping arm can be directly assembled on the robot body, the disassembly and the assembly are convenient, the integration level is high, the occupied space is small, and a relatively abundant space is provided for a power battery pack and the like.
As shown in fig. 1 to 4, the automobile transfer robot has four robot arm bodies in total: the first arm body 211, the second arm body 221, the third arm body 231, and the fourth arm body 241 preferably have the rotation centers of two arm bodies of each set near the center of the side.
Furthermore, a first laser radar sensor 31 and a second laser radar sensor 32 are respectively arranged at the middle positions of the front end and the rear end of the automobile carrying robot, so that surrounding conditions such as environment, people and automobiles are sensed, data are provided for a control system, and multiple tasks such as obstacle avoidance, navigation planning and automobile tire position identification are assisted to be completed.
Furthermore, the front end and the rear end of the automobile transfer robot are respectively provided with a first contact type and non-contact type obstacle detection sensor 41 and a second contact type and non-contact type obstacle detection sensor 42, so that the robot can rapidly and emergently stop or avoid obstacles when encountering obstacles suddenly under special conditions, and in addition, the front end and the rear end of the main frame 1 can be provided with buffering energy absorption structures, so that the protection effect on the robot and contacted objects is achieved to a certain extent.
Furthermore, the automobile transfer robot can be selectively matched with an ultrathin universal driving wheel driving system as a power system; as shown in fig. 2-4, the ultra-thin universal drive wheel drive system employs four ultra-thin universal drive wheel drive units: the first ultrathin universal driving wheel driving unit 61, the second ultrathin universal driving wheel driving unit 62, the third ultrathin universal driving wheel driving unit 63 and the fourth ultrathin universal driving wheel driving unit 64 are preferably identical in structure, wherein two ultrathin universal driving wheel driving units are installed at the front part of the main frame 1, and the other two ultrathin universal driving wheel driving units are installed at the rear part of the main frame 1.
Further, the automobile transfer robot can also be selectively provided with an ultrathin differential drive system as a power system, as shown in fig. 24, the arrangement position of the automobile transfer robot is the same as that of the ultrathin universal drive system, and two groups or four groups of ultrathin differential wheels can be selectively provided as power units according to different load requirements. In addition, the car transfer robot may also employ a mecanum wheel drive system, as shown in fig. 23.
Further, as shown in fig. 3 and 4, the central control unit 7 is arranged in the automobile transfer robot, and the central control unit completes the interaction with the parking lot control system and the matching movement with other robots; through this core control unit, can accomplish each item intelligent control of robot body, also can accomplish according to the scheduling instruction, pair with other robots, accomplish the car transport task in coordination.
Further, as shown in fig. 3 and 4, the battery power unit 8 is installed in the middle of the automobile transfer robot, and due to the application of the modular clamping arm and the ultrathin driving system, sufficient space is saved in the middle of the automobile transfer robot for arranging the battery power unit, the battery power unit can enable the robot to work uninterruptedly for a long time, the utilization rate of the robot is improved, and the running cost is reduced.
Further, as shown in fig. 3 and 4, the navigation module 9 is installed in the middle of the automobile transfer robot, and the module enables the robot to flexibly operate in a field under the coordination of dispatching without a fixed route, so that the utilization rate of the field is improved.
The automobile carrying robot further comprises a sensing unit, a computing system and an electric appliance control system, wherein the sensing unit is distributed around the whole automobile and comprises an ultrasonic module, a visual module, a laser module, a TOF (time of flight), an IMU (inertial measurement Unit), a UWB (ultra Wide band), a GPS (global positioning System) and the like, the computing system is used for processing data acquired by the sensing unit, obtaining surrounding environment information and position information of the computing system, identifying sensed object content, planning and navigating a path and sending a control instruction to the electric appliance control system; the electric appliance control system comprises a motor control system and a power supply management system; and the motor control system drives the clamping arm and the whole machine to move according to the control instruction sent by the computing system.
The utility model discloses a working method of dive car transfer robot is as follows, but is not limited to this: two automobile carrying robots work cooperatively, the robots recognize the center line of an automobile through a laser radar sensor arranged at the head, and the two robots are aligned to the center position and enter the bottom of the automobile; the distance and the front and back postures of the two automobile carrying robots are changed, so that the automobiles with different wheelbases can be clamped, the clamping arms are bilaterally symmetrical and are stopped stably by taking the tire as the center, and the mechanical arms are opened simultaneously to clamp and lift the automobile tires.
The following provides an embodiment in which the gripping arm of the automobile transfer robot is implemented in a modular manner, but is not limited thereto, and for example, components mounted on the robot arm module frame may be directly mounted on the main frame 1 of the robot, and corresponding functions may also be implemented.
As shown in fig. 5 and 6, the present embodiment provides a gripper arm installed on one side of a robot in a modular manner, and the gripper arm includes a robot module frame 200, a first robot body 211, a second robot body 221, a first robot rotating shaft mechanism 212, a second robot rotating shaft mechanism 222, a robot linkage mechanism 213, a robot link mechanism 214, a robot push-pull block mechanism 215, and a power unit 216; the modular gripping arm can be quickly assembled to the robot body.
The first mechanical arm body 211 and the second mechanical arm body 221 are designed in a completely symmetrical mode, so that the processing and assembly of parts are facilitated, and the cost is reduced.
A specific form of the robot body is given below, but not limited thereto:
taking the first arm body 211 as an example, as shown in fig. 7, the first arm body 211 is composed of an arm end heavy-load universal wheel 2111, an arm center shaft fixing nut 2112, an arm end heavy-load universal wheel mounting block 2113, an arm center shaft 2114, a tire support roller 2115, an arm structure support block 2116, an arm structure support upper plate 2117, an arm structure support lower plate 2118, an arm end connection block 2119, and the like.
A plurality of tire supporting rollers 2115 are connected in series with the mechanical arm structure supporting block 2116 through the mechanical arm middle shaft 2114, one end of the mechanical arm end connecting block 2119 with the tire supporting rollers 2115 is fixed, the other end of the mechanical arm end connecting block 2113 is fixed with the arm end heavy-load universal wheel mounting block 2113, and one end of the mechanical arm middle shaft 2114 is locked through a mechanical arm middle shaft fixing nut 2112; the arm end heavy-load universal wheel 2111 is fixed on the arm end heavy-load universal wheel mounting block 2113, and the assembly of the arm body 211 is completed.
The heavy-duty universal wheels 2111 at the arm ends are mounted at one ends of the first mechanical arm body 211 and the second mechanical arm body 221, the heavy-duty universal wheels are designed at one ends to share part of the weight of the automobile, the mechanical arm is flexibly connected with the main frame 1, only a certain load is transmitted to the driving wheels of the robot, sufficient pressure is guaranteed to the driving wheels to provide driving force, and overload is avoided to prolong the service life of the driving wheels; such formula of bearing design has reduced the robot body counter weight by a wide margin for the robot body can realize the lightweight, thereby has reduced the energy resource consumption of robot, when the load needs sufficient pressure to guarantee to drive power, borrows the pressure that the car shifted and satisfies the demand.
The first mechanical arm body 211 is provided with a plurality of mechanical arm structure supporting blocks 2116, the supporting blocks can serially connect a plurality of small-sized tire supporting rollers 2115 through a mechanical arm middle shaft 2114, and load is shared from the tire supporting rollers 2115 to the mechanical arm body, so that the mechanical arm structure supporting lower plate 2118 and the mechanical arm structure supporting upper plate 2117 are simple in appearance, the plate punching type design improves the overall strength through the middle support of the plurality of mechanical arm structure supporting blocks 2116, the processing cost is low, and the structural strength is high.
The whole height of the clamping arm can be controlled to be below 100mm through the combination of all parts of the mechanical arm body, and the requirement of heavy load under low height is met.
The following provides a specific form of the arm rotation axis mechanism, but is not limited thereto:
taking the first robot arm rotation axis mechanism 212 as an example, as shown in fig. 8 and 10, the first robot arm rotation axis mechanism 212 is composed of a robot arm rotation axis mechanism top mounting bolt 2121, a robot arm rotation axis mechanism top mounting plate 2122, a robot arm rotation pull rod mechanism 2123, a robot arm rotation pin 2124, a robot arm rotation mechanism fixing seat mechanism 2125, a robot arm connecting pin 2126, a robot arm fixing connecting block mechanism 2127, a robot arm rotation axis mechanism bottom mounting plate 2128, a robot arm rotation axis mechanism bottom mounting bolt 2129, and the like.
The mechanical arm rotating pull rod mechanism 2123 comprises a mechanical arm rotating pull rod 21231, a mechanical arm rotating pull rod hole bearing I21232 and a mechanical arm rotating pull rod hole bearing II 21233; the mechanical arm rotating mechanism fixing seat mechanism 2125 comprises a bearing I21251 for a mechanical arm rotating mechanism fixing seat, a mechanical arm rotating mechanism fixing seat 21252, a bearing II 21253 for a mechanical arm rotating mechanism fixing seat, a bearing III 21254 for a mechanical arm rotating mechanism fixing seat, a mechanical arm rotating mechanism fixing seat bottom sealing ring I21255 and a mechanical arm rotating mechanism fixing seat bottom sealing ring II 21256; the mechanical arm fixed connection block mechanism 2127 includes a mechanical arm fixed connection block 21271, a tire support roller support shaft 21272, and a mechanical arm rotation shaft mechanism tire support roller 21273.
A mechanical arm rotary pull rod mechanism 2123 is formed by pressing a mechanical arm rotary pull rod hole bearing I21232 and a mechanical arm rotary pull rod hole bearing II 21233 into a mechanical arm rotary pull rod 21231; a mechanical arm rotating mechanism fixing seat mechanism 2125 is formed by pressing a mechanical arm rotating mechanism fixing seat bearing I21251 into the upper part of the mechanical arm rotating mechanism fixing seat 21252, pressing a mechanical arm rotating mechanism fixing seat bearing II 21253 and a mechanical arm rotating mechanism fixing seat bearing III 21254 into the lower part of the mechanical arm rotating mechanism fixing seat, and combining a bottom fixing mechanical arm rotating mechanism fixing seat bottom sealing ring I21255 and a mechanical arm rotating mechanism fixing seat bottom sealing ring II 21256; the mechanical arm rotating shaft mechanism tire supporting roller 21273 is fixed on the mechanical arm fixed connecting block 21271 through the tire supporting roller supporting shaft 21272 to form a mechanical arm fixed connecting block mechanism 2127; pressing a mechanical arm rotating pin 2124 into a mechanical arm rotating mechanism fixing seat mechanism 2125; fixing a mechanical arm rotating shaft mechanism top mounting plate 2122, a mechanical arm rotating pull rod mechanism 2123, a mechanical arm fixed connecting block mechanism 2127 and a mechanical arm rotating shaft mechanism bottom mounting plate 2128 through a mechanical arm rotating shaft mechanism top mounting bolt 2121 and a mechanical arm rotating shaft mechanism bottom mounting bolt 2129 to form a first mechanical arm rotating shaft mechanism 212; the first arm turning shaft mechanism 212 is connected to the first arm body 211 via an arm connecting pin 2126.
The first mechanical arm rotating shaft mechanism 212 and the second mechanical arm rotating shaft mechanism 222 adopt a symmetrical design, so that the processing and assembly of parts are facilitated, and the cost is reduced; the arm rotation link mechanism 2223 of the second arm rotation axis mechanism 222 and the arm rotation link mechanism 2123 of the first arm rotation axis mechanism 212 are designed to be partially symmetrical, and since the arm rotation link mechanism 2223 does not need to be connected to the arm link mechanism 214, some features are removed.
The following is a concrete form of the mechanical arm linkage mechanism, but is not limited to the following:
as shown in fig. 9 and 11, the robot linkage 213 includes a robot linkage link fixing cover mechanism 2131, a first robot linkage mechanism 2132, a second robot linkage mechanism 2133, a robot linkage mechanism gear box cover bolt 2134, a robot linkage mechanism gear box cover 2135, a first robot linkage transmission gear 2136, a second robot linkage transmission gear 2137 and a robot linkage mechanism gear box 2138.
The mechanical arm linkage connecting rod fixing cover plate mechanism 2131 comprises a mechanical arm linkage connecting rod fixing cover plate 21311, a mechanical arm linkage rod fixing bearing I21312 and a mechanical arm linkage rod fixing bearing II 21313.
Taking the first arm linkage mechanism 2132 as an example, the first arm linkage mechanism 2132 comprises a arm linkage 21321, a arm linkage fixing bolt 21322, a arm linkage handle 21324, an arm linkage mechanism sealing ring 21325, an arm linkage shaft 21326, an arm linkage shaft flat key i 21327 and an arm linkage shaft flat key ii 21328; the first mechanical arm linkage 2132 and the second mechanical arm linkage 2133 may have symmetrical structures.
Pressing a mechanical arm linkage rod fixing bearing I21312 and a mechanical arm linkage rod fixing bearing II 21313 into a mechanical arm linkage rod fixing cover plate 21311 to form a mechanical arm linkage rod fixing cover plate mechanism 2131; pressing a flat key I21327 for the mechanical arm linkage rod shaft and a flat key II 21328 for the mechanical arm linkage rod shaft into a mechanical arm linkage rod shaft 21326; the mechanical arm linkage rod shaft 21326 penetrates through a mechanical arm linkage rod mechanism sealing ring 21325 and a mechanical arm linkage handle 21324 in sequence and is locked through a mechanical arm linkage handle fixing bolt 21322, then the mechanical arm linkage rod 21321 is inserted into a connecting hole corresponding to the mechanical arm linkage handle 21324 to form a first mechanical arm linkage rod mechanism 2132, and a second mechanical arm linkage rod mechanism 2133 is assembled in the same way; a first mechanical arm connecting rod transmission gear 2136 and a second mechanical arm connecting rod transmission gear 2137 are arranged in a mechanical arm linkage mechanism gear box 2138, a mechanical arm linkage mechanism gear box cover plate 2135 is covered, and the mechanical arm linkage mechanism gear box cover plate bolt 2134 is used for locking; inserting a first mechanical arm linkage mechanism 2132 into a gear shaft hole in a first mechanical arm connecting rod transmission gear 2136; inserting a second robot arm linkage mechanism 2133 into a gear shaft hole in a second robot arm link transmission gear 2137; a bearing hole corresponding to the mechanical arm linkage connecting rod fixing cover plate mechanism 2131 penetrates through linkage rod shafts of the first mechanical arm linkage rod mechanism 2132 and the second mechanical arm linkage rod mechanism 2133, and is locked with the mechanical arm linkage mechanism gear box 2138 to form the mechanical arm linkage mechanism 213.
The first arm rotating shaft mechanism 212, the arm linkage mechanism 213 and the second arm rotating shaft mechanism 222 are assembled on the arm module frame 200, the arm link mechanism 214 is assembled with the shaft holes corresponding to the first arm rotating shaft mechanism 212 and the arm push-pull block mechanism 215, and finally the first arm body 211 and the second arm body 221 are connected with the corresponding arm rotating shaft mechanisms to complete the assembly of the gripping arm.
Wherein, there are connecting holes between the first arm rotation axis mechanism 212, the arm linkage 213 and the second arm rotation axis mechanism 222, which are connected by bolts, and then integrally installed on the arm module frame 200, and the strength of the functional mechanism is used for structural reinforcement of the frame structure.
The power unit 206 may be a motor reducer power unit, which is mounted on the robot arm module frame 200 and provides power for the robot arm push-pull block mechanism 215 to move along the robot arm module frame 200. After the first mechanical arm body 211 and the second mechanical arm body 221 are unfolded to a set angle, a driving motor in a power unit of a motor speed reducer is braked and locked, and the mechanical arm bodies are locked.
The mechanical arm rotating pull rod mechanism 2123 of the first mechanical arm rotating shaft mechanism 212 and the mechanical arm rotating pull rod mechanism 2223 of the second mechanical arm rotating shaft mechanism 222 are meshed with each other through the first mechanical arm connecting rod transmission gear 2136 and the second mechanical arm connecting rod transmission gear 2137, so that the rotating power of the first mechanical arm body 211 is synchronously transmitted to the second mechanical arm body 221, and the motor reducer power unit 216 controls two mechanical arms simultaneously through one power unit, so that the hardware cost of the power unit is reduced, and the space size of the whole module is greatly reduced.
In the using process of the clamping arm, the state of the clamping arm is from closing to opening, and the specific working process is as follows:
the robot control system sends a clamping instruction and transmits the clamping instruction to the clamping arm, wherein the motor reducer power unit starts to input power and drags the mechanical arm link mechanism 214 to move through the mechanical arm push-pull block mechanism 215; the mechanical arm link mechanism 214 drives the mechanical arm rotating pull rod mechanism 2123 in the first mechanical arm rotating shaft mechanism 212 to rotate, and drives the first mechanical arm body 211 to open while pulling the mechanical arm link 21321 to move; the movement of the mechanical arm linkage 21321 drives the mechanical arm linkage 2132 to rotate around a mechanical arm linkage rod shaft 21326, the mechanical arm linkage rod shaft 21326 is connected with a first mechanical arm linkage rod transmission gear 2136 through a key, the first mechanical arm linkage rod transmission gear 2136 is meshed with a second mechanical arm linkage rod transmission gear 2137, and the second mechanical arm linkage rod 2133 is further driven to rotate; in the same manner as the movement of the first robot body 211, the second robot linkage 2133 drives the second robot body 221 to rotate and open through the second robot rotation axis 222.
When the robot provided with the clamping arm of the embodiment carries an automobile, the opening angle of the mechanical arm body can be controlled according to the size of the automobile tire, so that the automobile tire is guaranteed to have enough ground clearance.
An example in which the automobile transfer robot employs an ultra-thin universal drive wheel drive system as a power system is given below.
The ultrathin universal driving wheel driving system adopts four ultrathin universal driving wheel driving units;
as shown in fig. 12-14, each ultra-thin universal drive wheel drive unit comprises a housing assembly 601, a travel drive system assembly 602, a steering drive system assembly 603, a travel drive turn disc system 604, a steering drive turn disc system 605, and a wheel train assembly 606; the shell assembly 601 is used for fixing all system parts of the ultrathin universal driving wheel driving unit and plays a role in integral protection; the driving system assembly 602 mainly includes a driving motor, a driving reducer and a driving gear transmission mechanism, and provides driving force for the ultra-thin universal driving wheel driving unit; the steering driving system assembly 603 mainly comprises a steering driving motor, a steering driving speed reducer and a steering driving gear transmission mechanism, and provides steering driving force for the ultrathin universal driving wheel driving unit; wherein the housing assembly 601 is mounted on the main frame 1.
As shown in fig. 12, 13 and 20, the ultra-thin universal driving wheel driving unit is particularly provided with a driving rotating disk system 604, the driving rotating disk system 604 is installed inside the housing assembly 601, can be effectively isolated from the outside, and has good sealing performance, and the driving rotating disk system 604 can effectively transmit the driving force provided by the driving system assembly 602 to a gear train assembly 606;
as shown in fig. 13 and fig. 19, the ultra-thin universal driving wheel driving unit is particularly provided with a steering driving rotating disc system 605, the steering driving rotating disc system 605 is installed below the driving rotating disc system 604, the height size of the product is effectively reduced by the close arrangement and installation mode, and the system can smoothly receive the steering driving force provided by the steering driving system assembly 603 and change the direction of the gear train assembly 606.
As shown in fig. 12, 19 and 21, a gear train assembly 606 is provided at the bottom of the ultra-thin universal driving wheel driving unit, and the gear train assembly 606 receives the driving force of the driving turn disc system 604 through the driving gear 625 and receives the steering driving force transmitted from the steering drive turn disc system 605 through the gear train driving shaft support assembly 610, thereby performing universal driving movement.
As shown in fig. 12, 15 and 16, the driving motor 2110 and the driving reducer 2210 in the driving system assembly 602 are horizontally mounted, so as to provide sufficient driving force and reduce the overall height of the ultra-thin universal driving wheel driving unit; the travel drive reducer 2210 is fixed to the housing assembly 601 by bolts, and the output shaft of the travel drive reducer 2210 is inserted into the housing assembly 601.
As shown in fig. 15 and 16, a travel driving gear transmission mechanism is designed in the travel driving system assembly 602, so that the travel driving force can be effectively transmitted to the travel driving rotary disk system 604; the driving gear transmission mechanism comprises a driving system output cylindrical gear assembly 230, a first driving system idler cylindrical gear assembly 240, a driving system input cylindrical gear assembly 250, a driving system input bevel gear assembly 260 and a second driving system idler cylindrical gear assembly 270 which are fixed inside a shell assembly 601, and the shell assembly 601 plays a good role in fixing and sealing protection; the cylindrical gear in the travel drive system output cylindrical gear assembly 230 is designed with a keyway that mates with the travel drive reducer output shaft, receives the travel drive force and transmits it through a gear train to the travel drive turret system 604.
Further, as shown in fig. 16, the driving system output cylindrical gear assembly 230 includes a driving system output cylindrical gear 2310 and a driving system reducer shaft fixing bearing 2320, the driving system output cylindrical gear 2310 is sleeved on the output shaft of the driving system reducer 2210, and the driving system reducer shaft fixing bearing 2320 is installed on the outer side for fixing;
the first travel driving system idler cylindrical gear assembly 240 comprises a first travel driving system idler cylindrical gear 2410, a clamp spring 242, a first travel driving system idler cylindrical gear shaft 243, a first travel driving system idler cylindrical gear shaft fixing bearing I244, a bearing retainer ring 245 and a first travel driving system idler cylindrical gear shaft fixing bearing II 246; one end of the first travel driving system idler cylindrical gear shaft 243 is sequentially provided with a first travel driving system idler cylindrical gear shaft fixing bearing I244, a bearing retainer ring 245 and a first travel driving system idler cylindrical gear shaft fixing bearing II 246, and the other end of the first travel driving system idler cylindrical gear shaft fixing bearing II is fixedly connected with a first travel driving system idler cylindrical gear 2410 through a clamp spring 242; the first travel drive system idler cylindrical gear 2410 is meshed with the travel drive system output cylindrical gear 2310;
the driving system input cylindrical gear assembly 250 comprises a driving input cylindrical gear 251, a driving system input cylindrical gear shaft fixing bearing I252, a clamp spring 253, a driving system input cylindrical gear shaft fixing bearing II 254, a driving system output bevel gear 255 and a driving system input cylindrical gear shaft 256; a driving system output bevel gear 255, a driving system input cylindrical gear shaft fixing bearing pi 254, a snap spring 253 and a driving input cylindrical gear 251 are sequentially arranged on the driving system input cylindrical gear shaft 256, and a driving system input cylindrical gear shaft fixing bearing I252 is arranged on the outermost side for fixing; the travel input cylindrical gear 251 is meshed with a first travel drive system idler cylindrical gear 2410;
the driving drive system input bevel gear assembly 260 comprises a driving drive system input bevel gear 261, a driving drive system output cylindrical gear 262, a driving drive system input bevel gear shaft fixed bearing I263, a driving drive system input bevel gear shaft fixed bearing II 264, a driving drive system input bevel gear shaft fixed shaft 265, a driving drive system input bevel gear shaft fixed bearing III 266 and a clamp spring 267; one end of the driving system input bevel gear shaft fixing shaft 265 is provided with a driving system input bevel gear shaft fixing bearing III 266 and is fixed through a snap spring 267, and the other end is sequentially provided with a driving system input bevel gear shaft fixing bearing II 264, a driving system input bevel gear shaft fixing bearing I263, a driving system output cylindrical gear 262 and a driving system input bevel gear 261; the travel drive system input bevel gear 261 meshes with the travel drive system output bevel gear 255;
the second travel drive system idler cylindrical gear assembly 270 includes a second travel drive system idler cylindrical gear 271, a snap spring 272, a second travel drive system idler cylindrical gear shaft fixed bearing 273, a second travel drive system idler cylindrical gear shaft 274; a second traveling driving system idler cylindrical gear shaft fixing bearing 273, a clamp spring 272 and a second traveling driving system idler cylindrical gear 271 are sequentially arranged on the second traveling driving system idler cylindrical gear shaft 274; the second travel drive system idler spur gear 271 meshes with the travel drive system output spur gear 262.
As shown in fig. 12 and 13, the steering driving motor 311 and the steering driving reducer 321 in the steering driving system assembly 603 are horizontally mounted, so that not only can sufficient steering driving force be provided, but also the overall height of the ultra-thin universal driving wheel driving unit can be reduced better; the steering drive reducer 321 is fixed to the housing assembly 601 by bolts, and the output shaft of the steering drive reducer is inserted into the housing assembly 601.
As shown in fig. 13, 17 and 18, a steering driving gear transmission mechanism is designed in the steering driving system assembly 603, so as to effectively transmit the steering driving force to the steering driving rotary disk system 605; the steering driving gear transmission mechanism comprises a first steering driving system output cylindrical gear assembly 330, a second steering driving system output cylindrical gear assembly 340, a steering driving system input bevel gear assembly 350 and a steering driving system transmission idle gear assembly 360 which are fixed inside the shell assembly 601, and the shell assembly 601 plays a good role in fixing and sealing protection; the cylindrical gear in the first steering drive system output cylindrical gear assembly 330 is designed with a keyway to mate with the steering drive reducer output shaft, receive the steering drive force and transmit it to the steering drive turn disc system 605 through a gear train.
Further, as shown in fig. 18, the first steer drive system output cylindrical gear assembly 330 includes a first steer drive system output cylindrical gear 331 and a steer drive reducer shaft fixed bearing 332; the output cylindrical gear 331 of the first steering driving system is sleeved on the output shaft of the steering driving speed reducer 321, and a shaft fixing bearing 332 of the steering driving speed reducer is arranged on the outer side of the output cylindrical gear;
the second steering driving system output cylindrical gear assembly 340 comprises a second steering driving system output cylindrical gear 341, a clamp spring 342, a steering driving system input cylindrical gear shaft fixing bearing I343, a clamp spring 344, a steering driving system input cylindrical gear shaft fixing bearing I345, a steering driving system output bevel gear 346 and a steering driving system input cylindrical gear shaft 347; the steering driving system input cylindrical gear shaft 347 is sequentially provided with a steering driving system output bevel gear 346, a steering driving system input cylindrical gear shaft fixed bearing I345, a clamp spring 344, a second steering driving system output cylindrical gear 341, a steering driving system input cylindrical gear shaft fixed bearing I343 and a clamp spring 342; the second steering drive system output cylindrical gear 341 is meshed with the first steering drive system output cylindrical gear 331;
the steering driving system input bevel gear assembly 350 comprises a steering driving system input bevel gear 351, a steering driving system output cylindrical gear 352, a clamp spring 353, a steering driving system input bevel gear shaft fixing bearing I354, a steering driving system input bevel gear shaft fixing bearing II 355, a steering driving system input bevel gear shaft fixing shaft III 356 and a steering driving system input bevel gear shaft 357; a steering driving system input bevel gear shaft fixing shaft III 356, a steering driving system input bevel gear shaft fixing bearing II 355, a steering driving system input bevel gear 351, a steering driving system output cylindrical gear 352, a steering driving system input bevel gear shaft fixing bearing I354 and a clamp spring 353 are sequentially arranged on the steering driving system input bevel gear shaft 357; the steering drive system input bevel gear 351 is meshed with the steering drive system output bevel gear 346;
the steering driving system transmission idle gear assembly 360 comprises a steering driving system transmission idle gear 361, a clamp spring 362, a steering driving system transmission idle gear shaft support bearing I363, a steering driving system transmission idle gear shaft support bearing II 364 and a steering driving system transmission idle gear shaft 365; a steering driving system driving idle gear shaft support bearing II 364, a steering driving system driving idle gear 361, a steering driving system driving idle gear shaft support bearing I363 and a clamp spring 362 are sequentially arranged on the steering driving system driving idle gear shaft 365; the steering drive system transmission idler gear 361 meshes with the steering drive system output cylindrical gear 352.
As shown in fig. 13, 14, 20, 22, the travel drive rotary disk system 604 is designed with a travel drive steering gear disk assembly 410, a travel drive steering gear disk fixing bolt assembly 420, a flat thrust needle bearing assembly 430, a deep groove ball bearing assembly 440, a travel drive output gear assembly 450, and a travel drive steering gear disk fixing bracket assembly 460; wherein the toothed disc of the travel drive steering gear disc assembly 410 is engaged with the second travel drive system idler cylindrical gear assembly 270 in the travel drive system assembly 602, receiving the travel drive force provided by the travel drive system assembly 602; the driving steering gear plate assembly 410 and the driving output gear assembly 450 are fixedly connected through the driving steering gear plate fixing bolt assembly 420, so as to transmit driving force; the inner side of a driving disc in the driving steering gear disc assembly 410 is designed with a sink groove characteristic, a deep groove ball bearing assembly 440 is arranged in the sink groove, and the lower part of the deep groove ball bearing assembly is supported and fixed through a driving steering gear disc fixing bracket assembly 460; the lower part of a fluted disc in the driving and steering gear disc assembly 410 is designed with a circular sliding groove, and the planar thrust needle bearing assembly 430 is arranged in the sliding groove and plays a horizontal supporting role for the driving and steering gear disc assembly 410.
As shown in fig. 13, 15, 19, 21 and 22, the steering driving rotary plate system 605 is designed with a steering driving steering gear plate assembly 510, a steering driving steering gear plate fixing bolt assembly 520, a bottom guard plate assembly 530 and a bottom guard plate fixing bolt assembly 540; wherein the gear plate of the steering drive steering gear plate assembly 510 is engaged with the steering drive system transmission idler gear assembly 360 of the steering drive system assembly 603, thereby receiving steering drive force from the steering drive system assembly 603; wherein the steering driving steering gear wheel assembly 510 is fixed on the upper part of a wheel train driving shaft supporting assembly 610 in the wheel train assembly 606 through a steering driving steering gear wheel fixing bolt assembly 520, so that the steering driving force is transmitted to the wheel train assembly 606; the bottom guard plate assembly 530 is fixed at the bottom of the wheel train driving shaft supporting assembly 610 in the wheel train assembly 606 through the bottom guard plate fixing bolt assembly 540, so as to achieve bottom sealing protection.
As shown in fig. 13, 20, 21 and 22, the gear train assembly 606 is mainly designed with a gear train driving shaft support assembly 610, a gear train driving shaft support bearing i 621, a gear train driving shaft 622, a driving gear limit shaft sleeve 623, a driving gear limit snap spring 624, a driving gear 625, a gear train driving shaft support bearing ii 626, a driving wheel 631, a driving wheel limit snap spring 632, a driving wheel support seat 641, a gear train driving shaft support bearing iii 642, a gear train driving shaft support bearing iv 643 and a sealing strip 650; the gear train driving shaft 622 is provided with a plurality of key grooves, the driving gear 625 and the driving wheel 631 are fixed at the key grooves of the gear train driving shaft 622 through keys, the driving gear 625 is meshed with the driving output gear assembly 450 in the driving rotating disc system 604, receives the driving force transmitted by the driving rotating disc system 604 and transmits the driving force to the driving wheel 631 through the gear train driving shaft 622; bearing fixing holes are formed in two sides of the gear train driving shaft support assembly 610, and the gear train driving shaft support bearing I621 and the gear train driving shaft support bearing II 626 fix the gear train driving shaft 622 and the gear train driving shaft support assembly 610 through the bearing fixing holes, so that the steering driving force received by the gear train driving shaft support assembly 610 is transmitted to the driving wheel 631 to complete steering; wherein drive wheel supporting seat 641 upper portion design has the annular end face, and sealing strip 650 clamps in annular end face department, and sealing strip 650 upper portion is compressed tightly by the fixed bracket assembly 460 of the steering gear dish of driving, thereby guarantees the leakproofness on upper portion.
As shown in fig. 22, the housing assembly 601 includes a universal driving wheel mounting base 110, a universal driving wheel upper cover plate 120, a universal driving wheel upper cover plate mounting bolt 130, a universal driving wheel bottom retainer 140, a universal driving wheel bottom retainer mounting bolt 150, a driving drive system transmission gear cover 160, a driving drive system transmission gear cover mounting bolt 170, a steering drive system transmission gear cover 180, a steering drive system transmission gear cover mounting bolt 190; the travel drive system transmission gear shield cover 160 is mounted on the universal drive wheel mounting base 110 by a travel drive system transmission gear shield cover mounting bolt 170; the steering driving system transmission gear baffle cover 180 is mounted on the universal driving wheel mounting base 110 through a steering driving system transmission gear baffle cover mounting bolt 190; the universal driving wheel upper cover plate 120 is mounted on the top of the universal driving wheel mounting base 110 through a universal driving wheel upper cover plate mounting bolt 130, and the universal driving wheel bottom retainer 140 is mounted on the bottom of the universal driving wheel mounting base 110 through a universal driving wheel bottom retainer mounting bolt 150. The shell assembly 601 is used for fixing all system parts of the ultrathin universal driving wheel driving unit and plays a role in integral protection; the ultra-thin universal driving wheel driving unit has good sealing performance and water splashing prevention performance, and the service life of the driving device is prolonged.
As shown in fig. 14, 15, and 16, the principle of travel drive of the ultra-thin universal drive wheel drive unit is briefly described: the driving motor 2110 provides power required for driving, the driving speed reducer 2210 is torsionally lifted, the driving speed reducer 2210 is matched with an inner circular hole key groove of the driving system output cylindrical gear 2310 through keys, and the power is sequentially transmitted to gear trains such as a first driving system idler cylindrical gear 2410, a driving input cylindrical gear 251, a driving system input cylindrical gear shaft 256, a driving system output bevel gear 255, a driving system input bevel gear 261, a driving system input bevel gear shaft fixing shaft 265, a driving system output cylindrical gear 262, a second driving system idler cylindrical gear 271, a driving steering gear disc assembly 410, a driving output gear assembly 450 and the like through the gear train driving shaft 622, and the driving power is finally transmitted to the driving wheel 631 through the gear train driving shaft 622.
As shown in fig. 14, 17, 19, and 21, the steering driving principle of the ultra-thin universal drive wheel driving unit is briefly described: the steering driving motor 311 provides power required by steering, torque is increased through the steering driving reducer 321, the steering driving reducer 321 is matched with an inner ring hole key groove of a first steering driving system output cylindrical gear 331 through a key, the power passes through a first steering driving system output cylindrical gear 331, a second steering driving system output cylindrical gear 341, a steering driving system input cylindrical gear shaft 347, a steering driving system output bevel gear 346, a steering driving system input bevel gear 351, a steering driving system input bevel gear shaft 357, a steering driving system output cylindrical gear 352, a steering driving system transmission idler gear 361, a steering driving steering gear wheel assembly 510 and other gear trains, the steering driving steering gear wheel assembly 510 is fixed with a gear train driving shaft supporting assembly 610 through a steering driving steering gear wheel fixing bolt assembly 520, wherein bearing fixing holes are designed on two sides of the gear train driving shaft supporting assembly 610, the train wheel drive shaft support bearing i 621 and the train wheel drive shaft support bearing ii 626 fix the train wheel drive shaft 622 and the train wheel drive shaft support assembly 610 via the fixing holes, thereby transmitting the steering drive force received by the train wheel drive shaft support assembly 610 to the drive wheels 631 to complete the steering.
The present invention is not limited to the above embodiments, and those skilled in the art can implement the present invention in various embodiments according to the present invention. Therefore, all adopt the utility model discloses a design structure and thinking do the design of some simple changes or changes, all fall into the utility model discloses protection scope.
Claims (10)
1. A submerged automobile transfer robot is characterized by comprising a main frame, wherein clamping arms are symmetrically arranged on two sides of the main frame; each clamping arm comprises two mechanical arm bodies, the two mechanical arm bodies are directly arranged on the main rack, or the two mechanical arm bodies are jointly arranged on a mechanical arm module frame to form a module, and then the mechanical arm module frame is arranged on the main rack; the two mechanical arm bodies of each group are connected through a linkage mechanism, and both the two mechanical arm bodies can rotate relative to the main rack; the power unit is connected with one mechanical arm body to drive the mechanical arm body to rotate, and the other mechanical arm body is driven to synchronously rotate through the linkage mechanism; the two mechanical arm bodies of each group of clamping arms complete the clamping and lifting of one tire.
2. The submersible vehicle transfer robot of claim 1, wherein laser radar sensors are disposed at intermediate positions of both ends of the vehicle transfer robot, respectively; contact and non-contact obstacle detection sensors are respectively arranged at two ends of the automobile transfer robot.
3. The submersible vehicle transfer robot of claim 1, wherein the robot arm body comprises a heavy-duty universal wheel, a heavy-duty universal wheel mounting block, a robot arm center shaft, a tire support roller, a robot arm structure support block, and a robot arm end connection block; after the tire supporting rollers and the mechanical arm structure supporting block are connected in series through the mechanical arm middle shaft, one end of the mechanical arm middle shaft is fixed to the mechanical arm end connecting block, and the other end of the mechanical arm middle shaft is fixed to the heavy-load universal wheel mounting block; the heavy-load universal wheel is installed on the heavy-load universal wheel installation block.
4. The submersible vehicle transfer robot of claim 1, wherein the gripper arm further comprises two robot arm rotation axis mechanisms, a robot arm linkage mechanism, and a robot arm push-pull block mechanism; the two mechanical arm rotating shaft mechanisms are respectively provided with a mechanical arm body; the mechanical arm push-pull block mechanism is connected with the power unit and drives the power unit to move; one end of the mechanical arm connecting rod mechanism is connected with the mechanical arm push-pull block mechanism, and the other end of the mechanical arm connecting rod mechanism is connected with a mechanical arm rotating shaft mechanism; the mechanical arm rotating shaft mechanism is provided with a mechanical arm rotating pull rod mechanism; the mechanical arm linkage mechanism is provided with two mechanical arm linkage rod mechanisms, the two mechanical arm linkage rod mechanisms are respectively connected with the two mechanical arm rotary pull rod mechanisms, and the two mechanical arm linkage rod mechanisms are connected through two mechanical arm connecting rod transmission gears meshed with each other.
5. The submersible automotive handling robot of claim 4, wherein the robot arm rotation axis mechanism comprises a robot arm rotation axis mechanism top mounting plate, a robot arm rotation tie rod mechanism, a robot arm rotation pin, a robot arm rotation mechanism stationary base mechanism, a robot arm connecting pin, a robot arm stationary connecting block mechanism, a robot arm rotation axis mechanism bottom mounting plate; the mechanical arm rotating pin is pressed into the mechanical arm rotating mechanism fixing seat mechanism; the mechanical arm rotating shaft mechanism top mounting plate, the mechanical arm rotating pull rod mechanism, the mechanical arm fixed connecting block mechanism and the mechanical arm rotating shaft mechanism bottom mounting plate are fixed into a whole through bolts; the mechanical arm rotating shaft mechanism is connected with the mechanical arm body through a mechanical arm connecting pin;
the mechanical arm linkage mechanism comprises a mechanical arm linkage connecting rod fixing cover plate, two mechanical arm linkage rod mechanisms, two mechanical arm connecting rod transmission gears and a mechanical arm linkage mechanism gear box; the mechanical arm linkage rod mechanism comprises a mechanical arm linkage rod, a mechanical arm linkage handle, a mechanical arm linkage rod shaft and a flat key for the mechanical arm linkage rod shaft; the mechanical arm linkage rod shaft is pressed into the mechanical arm linkage rod shaft through a flat key; the mechanical arm linkage rod shaft penetrates through the mechanical arm linkage handle and the mechanical arm linkage handle are fixedly connected; the mechanical arm linkage rod is inserted into a connecting hole corresponding to the mechanical arm linkage handle; the two mechanical arm connecting rod transmission gears are arranged in a mechanical arm linkage mechanism gear box and are meshed with each other; the two mechanical arm connecting rod shafts are respectively inserted into gear shaft holes in the two mechanical arm connecting rod transmission gears; the mechanical arm linkage connecting rod fixing cover plate is provided with two bearing holes, the bearing holes penetrate through the mechanical arm linkage rod shaft, and the mechanical arm linkage connecting rod fixing cover plate is fixedly connected with the mechanical arm linkage mechanism gear box.
6. A submersible vehicle transfer robot as recited in claim 1, wherein the vehicle transfer robot employs an ultra-thin universal drive wheel drive system as a power system, said ultra-thin universal drive wheel drive system employing four ultra-thin universal drive wheel drive units; the ultrathin universal driving wheel driving unit comprises a shell assembly, a driving system assembly, a steering driving system assembly, a driving rotating disc system, a steering driving rotating disc system and a gear train assembly; the shell assembly is fixed on the main frame; the running driving system assembly comprises a running driving motor, a running driving speed reducer and a running driving gear transmission mechanism and provides running driving force for the ultrathin universal driving wheel; the steering driving system assembly comprises a steering driving motor, a steering driving speed reducer and a steering driving gear transmission mechanism and provides steering driving force for the ultrathin universal driving wheel; the driving rotating disc system is arranged in the shell assembly and comprises a driving steering gear disc assembly and a driving output gear assembly fixedly connected below the driving steering gear disc assembly, and a gear disc of the driving steering gear disc assembly is meshed with the driving gear transmission mechanism and receives driving force provided by the driving system assembly; the steering driving rotating disc system comprises a steering driving steering gear disc assembly arranged below the driving steering gear disc assembly, and a gear disc in the steering driving steering gear disc assembly is meshed with a steering driving gear transmission mechanism and receives steering driving force provided by the steering driving system assembly; the gear train assembly comprises a gear train driving shaft support assembly, a driving gear, a gear train driving shaft and a driving wheel, and the steering driving steering gear wheel assembly is fixed on the upper part of the gear train driving shaft support assembly and transmits steering driving force to the gear train assembly; the driving output gear assembly is meshed with the driving gear and transmits driving force to the gear train assembly; the driving gear and the driving wheel are fixed on a gear train driving shaft, and the gear train driving shaft is installed on a gear train driving shaft supporting assembly.
7. The submersible vehicle transfer robot of claim 6, wherein the travel drive motor and the travel drive reducer of the travel drive system assembly are mounted horizontally; the driving speed reducer is fixed on the shell assembly, and an output shaft of the driving speed reducer is inserted into the shell assembly; a steering driving motor and a steering driving speed reducer in the steering driving system assembly adopt a horizontal installation mode; the steering driving speed reducer is fixed on the shell assembly, and an output shaft of the steering driving speed reducer is inserted into the shell assembly.
8. The submersible vehicle transfer robot of claim 6, wherein the travel drive gear transmission comprises a travel drive system output cylindrical gear assembly, a first travel drive system idler cylindrical gear assembly, a travel drive system input bevel gear assembly, a second travel drive system idler cylindrical gear assembly secured within the housing assembly and connected in series; a cylindrical gear in the cylindrical gear assembly output by the driving system is provided with a key groove which is matched with an output shaft of a driving speed reducer, receives driving force and transmits the driving force to a driving rotating disc system through a gear train; the steering driving gear transmission mechanism comprises a first steering driving system output cylindrical gear assembly, a second steering driving system output cylindrical gear assembly, a steering driving system input bevel gear assembly and a steering driving system transmission idler gear assembly which are fixed in the shell assembly and connected in sequence; a cylindrical gear in the first steering driving system output cylindrical gear assembly is provided with a key groove which is matched with an output shaft of a steering driving speed reducer, receives steering driving force and transmits the steering driving force to a steering driving rotating disc system through a gear train.
9. The submersible vehicle transfer robot of claim 6, wherein the travel drive rotor disc system further comprises a flat thrust needle bearing assembly, a deep groove ball bearing assembly, and a travel drive steering gear disc mounting bracket assembly; a driving disc in the driving steering gear disc assembly is provided with a sunken groove characteristic, the deep groove ball bearing assembly is arranged in the sunken groove, and the lower part of the deep groove ball bearing assembly is supported and fixed through a driving steering gear disc fixing bracket assembly; a sliding groove is formed in the lower portion of a gear disc in the driving and steering gear disc assembly, and the planar thrust needle roller bearing assembly is installed in the sliding groove and plays a horizontal supporting role in the driving and steering gear disc assembly.
10. The submersible vehicle transfer robot of claim 1, wherein the vehicle transfer robot houses a core control unit, a battery power unit and a navigation module.
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| CN201921522931.2U CN210554718U (en) | 2019-09-12 | 2019-09-12 | Submerged automobile transfer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497892A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Submersible automobile carrying robot and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497892A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Submersible automobile carrying robot and control method thereof |
| CN110497892B (en) * | 2019-09-12 | 2024-02-02 | 杭州极木科技有限公司 | Submersible automobile carrying robot and control method thereof |
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