CN211369707U

CN211369707U - Automobile carrying robot

Info

Publication number: CN211369707U
Application number: CN201921947575.9U
Authority: CN
Inventors: 吴昊
Original assignee: Yifeng Technology Co ltd
Current assignee: Yifeng Technology Co ltd
Priority date: 2019-11-12
Filing date: 2019-11-12
Publication date: 2020-08-28
Anticipated expiration: 2029-11-12

Abstract

The utility model discloses a car transfer robot, car transfer robot include the robot main part, remove wheel, first drive arrangement, a plurality of telescopic machanism, a plurality of elevating system, control circuit. The first driving device drives a moving wheel mounted to the robot main body to enable the robot main body to move. The plurality of telescopic mechanisms are arranged radially relative to the robot main body and are arranged in the robot main body in a telescopic mode and correspond to different bearing positions of the automobile respectively. Each lifting mechanism is arranged corresponding to one telescopic mechanism and used for lifting or lowering the automobile. The control circuit is connected with and controls the operation of the first driving device, the telescopic mechanism and the lifting mechanism. In this way, the utility model discloses can effectively reduce car transfer robot volume to effectively realize the transport to the car.

Description

Automobile carrying robot

Technical Field

The utility model relates to a vehicle transport technical field especially relates to an automobile transfer robot.

Background

With the development of society, urban parking space resources are more and more tense, automobiles are more and more widely used, and the problem of difficult parking in cities is increasingly highlighted.

At present, the parking industry is developed in industrialization, and the automobile carrying robot is also developed in the direction of intellectualization and multi-scene application, but at present, the automobile carrying robot is large in size, the requirement on a use field in the use process is high, and most of the existing automobile carrying robots are complex in structure and high in production and manufacturing cost.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves provides a car transfer robot, reduces transfer robot's area, carries the car effectively.

In order to solve the technical problem, the utility model discloses a technical scheme be: an automobile transfer robot comprises a robot main body, moving wheels, a first driving device, a plurality of telescopic mechanisms, a plurality of lifting mechanisms and a control circuit. The moving wheels are mounted to the robot main body so as to be movable. The first driving device drives the moving wheel. The plurality of telescopic mechanisms are arranged radially relative to the robot main body and are arranged in the robot main body in a telescopic mode and correspond to different bearing positions of the automobile respectively. The lifting mechanisms are arranged corresponding to the telescopic mechanisms and used for lifting or lowering the automobile. And the control circuit is connected with and controls the operation of the first driving device, the telescopic mechanism and the lifting mechanism.

The utility model has the advantages that: be different from prior art's condition, the utility model discloses a telescopic machanism with transfer robot is connected the design with elevating system, and elevating system outwards extends the robot main part along with telescopic machanism, and then can correspond to support the different bearing position of car and rise the car to drive through a actuating mechanism carries the car to appointed place, has realized the purpose of high-efficient transport car. The automobile carrying robot has the advantages that the size of the automobile carrying robot is reduced, and the automobile can be carried efficiently.

Drawings

FIG. 1 is a schematic top view of an embodiment of an automotive transfer robot of the present invention;

FIG. 2 is a schematic structural view of the automobile transfer robot of the present invention;

FIG. 3 is a schematic top view of an embodiment of the vehicle transfer robot of the present invention;

fig. 4 is a schematic structural diagram of the telescopic mechanism and the accommodating chamber of the automobile transfer robot of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The process the utility model discloses the inventor's research discovery, among the current transfer car robot, it is too big to have the transfer machine human volume, and the problem that the complicated production manufacturing cost of structure is high neither does not benefit to the application of multiple scene, such as the rugged ground, also does not benefit to saving cost etc.. How to provide a carrying robot with smaller volume, more flexible carrying operation and simple structure is a development trend of the whole industry and a process needing continuous perfection. In order to meet market demands, provide the volume more efficient car transfer robot that litters, the utility model provides an at least following embodiment.

Please refer to fig. 1 and fig. 2 in combination. The utility model discloses can provide a car transfer robot embodiment, this car transfer robot is used for carrying the car, can specifically include robot main part 10, remove wheel 11, first drive arrangement 12, a plurality of elevating system 13, a plurality of telescopic machanism 14, control circuit 16.

The robot main body 10 is a main body structure of an automobile transfer robot, and moving wheels 11 that can move the robot main body are attached to the bottom thereof. The moving wheels 11 are used to bear the weight of the robot main body 10 and drive the automobile transfer robot to move to transfer the automobile. The first driving device 12 drives the moving wheel 11. The plurality of telescopic mechanisms 14 are radially arranged relative to the robot body 10, and are telescopically arranged on the robot body 10 and respectively correspond to different bearing positions of the automobile. The lifting mechanisms 13 are arranged corresponding to the telescopic mechanisms 14, extend outwards to different bearing positions of the automobile along with the telescopic mechanisms 14, and then lift upwards to abut against the bearing positions of the automobile so as to lift the automobile. The lifting mechanism 13 may be a hydraulic device that can be lifted to provide a lifting force large enough to lift the vehicle. And a control circuit 16 connected to and controlling the operations of the first driving device 12, the telescopic mechanism 14 and the lifting mechanism 13 so that the vehicle transfer robot cooperates to transfer the vehicle and park the vehicle at a designated position.

The robot main body 10 may include a bottom portion, a top portion, and a peripheral side connecting the bottom portion and the top portion of the robot main body 10, and is configured to accommodate and connect other components required for the automobile transfer robot. Four moving wheels 11 may be connected to the bottom of the robot main body 10 to enable the robot main body 10 and various components connected thereto to move along with the movement of the four moving wheels 11 and to keep the robot main body 10 balanced. To enhance the balance of the vehicle transfer robot and to better withstand the weight of the vehicle to be transferred, more moving wheels 11 may be added. In other embodiments, a reasonable design mode may be adopted, and some moving wheels 11 with more sufficient bearing capacity and wider ground contact area are combined, and two or three moving wheels 11 are arranged and connected at the bottom of the robot main body 10, but the robot main body 10 needs to be kept balanced to prevent the occurrence of side turning. A moving manner such as a crawler-type moving wheel 11 may be adopted.

And a first driving device 12 disposed on the robot main body 10 for driving the movement of the moving wheel 11 of the robot main body 10 so as to drive the operation of the robot main body 10 through the moving wheel 11. In order to improve the efficiency of the automobile transfer robot during the transfer process, the first driving device 12 may be a driving motor with large driving power, so as to better achieve the purpose of transferring the automobile to a specified place.

Please refer to fig. 2 and fig. 3 in combination. The telescopic mechanisms 14 are provided in a radial shape with respect to the robot main body 10, and are telescopically provided in the robot main body 10 so as to correspond to different load bearing positions of the vehicle, respectively. For example, the telescopic mechanism 14 may be divided into four parts, each of which is disposed at the upper end of the robot main body 10 and is uniformly and radially disposed, so that the direction in which each part can extend outward is different, so that each part of the telescopic mechanism 14 can correspondingly extend to the load bearing position adjacent to four wheels of the automobile. The bearing positions adjacent to the four wheels of the automobile refer to the parts of the automobile chassis which are thicker and can bear pressure, for example, in a common car, the bearing positions capable of lifting the automobile off the ground by using a mechanism such as a jack and the like are usually designed at the positions near the wheels of the automobile, so that people can repair the automobile conveniently, and the parts can be used as the bearing positions.

In one embodiment, the telescoping mechanism 14 is a hydraulic column 14a, which may be a single hydraulic column, for example. The bottom of the telescopic mechanism 14 is fixedly connected with the robot main body 10, so that the extending direction of the hydraulic column 14a horizontally extends to the bottom of the automobile bearing part at two sides of the robot main body 10. Specifically, the robot main body 10 is configured as a rectangular block-shaped mechanism, so that four hydraulic cylinders 14a can be uniformly distributed on the top of the robot main body 10, and the four hydraulic cylinders 14a are uniformly distributed, so that each hydraulic cylinder 14a is placed on a straight line between the center position and four opposite corners of the robot main body 10 in a one-to-one correspondence manner. One end of the hydraulic cylinder 14a located at the center of the robot main body 10 is fixed to the robot main body 10, and the other end may be extended in a direction diagonal to the robot main body 10 under hydraulic driving. The four hydraulic cylinders 14a are each connected to the control circuit 16, so that the control circuit 16 can drive the outward extension at the same time by controlling the four hydraulic cylinders 14 a.

Further, the other end of each hydraulic cylinder 14a opposite to the bottom of the fixed end is fixedly connected with a lifting mechanism 13. Each lifting mechanism 13 is used for correspondingly abutting against different bearing positions at the bottom of the automobile so as to lift the whole automobile off the ground when the four lifting mechanisms 13 are lifted simultaneously, and the automobile can naturally descend along with the four lifting mechanisms 13 under the action of self gravity when the four lifting mechanisms 13 are lowered simultaneously. Specifically, under the control of the control circuit 16, the four hydraulic columns 14a can extend outward to the bottom of the automobile bearing part at both sides of the robot body 10, at this time, the lifting mechanisms 13 are also under the bottom of the automobile bearing part along with the extension of the telescopic mechanisms 14, and then, the control circuit 16 controls each lifting mechanism 13 to rise upward at the same time so as to prop against the bearing position of the automobile, and finally, the automobile is lifted to a certain height from the ground. After the vehicle is lifted off the ground, the control circuit 16 may control the first driving device 12 to drive the moving wheels 11 to start transporting the vehicle and then move to a predetermined position.

Please refer to fig. 4. In another embodiment, the robot main body 10 may be further provided with an accommodating chamber 100 for accommodating the telescopic mechanism 14. The telescoping mechanism 14 may be received in the receiving cavity 100 and connected to the second drive 15. The second driving device 15 is connected to the control circuit 16 for driving the telescoping mechanism 14 to extend or retract outwardly from the robot main body 10. Specifically, four accommodating cavities 100 are formed in the robot main body 10, which are uniformly symmetrical, for example, in a straight direction between a center position of the robot main body 10 and four opposite corners. Each of the accommodation chambers 100 is provided with a telescopic mechanism 14 which can be driven by a second driving device 15 to extend or retract outside the robot main body 10. The second driving device 15 drives the telescoping mechanism 14 to extend out of the robot body 10 under the control of the control system, so that the telescoping mechanism 14 can reach the bottom of the automobile load bearing part. Further, a lifting mechanism 13 is fixedly connected to an end of each of the telescopic mechanisms 14 located in the accommodating chamber 100 away from the center of the robot main body 10. Each lifting mechanism 13 is used for correspondingly abutting against different bearing positions at the bottom of the automobile so as to be capable of lifting the automobile when the four lifting mechanisms 13 are lifted simultaneously and naturally descending under the action of self gravity when the automobile is descended. Specifically, under the control of the control circuit 16, the telescopic mechanisms 14 located in the accommodating cavities 100 are driven by the second driving device 15 to extend outward to the bottom of the automobile load bearing portion located on both sides of the robot body 10, at this time, the lifting mechanisms 13 fixed to the end portions of the telescopic mechanisms 14 are also located below the bottom of the automobile load bearing portion along with the extension of the telescopic mechanisms 14, and then, each lifting mechanism 13 is controlled by the control circuit 16 to lift upward at the same time to abut against the load bearing position of the automobile, and finally, the automobile is lifted a certain height above the ground. After the vehicle is lifted off the ground, the control circuit 16 may control the first driving device 12 to drive the moving wheels 11 to start transporting the vehicle and then move to a predetermined position.

Since the second driving device 15 is used to drive the movement of the telescoping mechanism 14, such as the extending movement and the further retracting movement from the initial position, the second driving device 15 can select a moving device with a driving force sufficient to drive the telescoping mechanism 14, such as a common stepping motor, so as to save the cost of production and manufacturing.

In order to better enable the telescopic mechanism 14 to smoothly extend or retract in the accommodating cavity 100, a guide rail 17 is further arranged in the accommodating cavity 100, and a sliding groove 18 matched with the guide rail 17 is further formed at the bottom of the telescopic mechanism 14. The guide rail 17 is fixedly connected with the bottom of the accommodating cavity 100, and the sliding chute 18 is slidably connected on the guide rail 17. So that the telescopic mechanism 14 can be engaged with the guide rail 17 through the slide groove 18 and extend outwards along the guide rail 17 or be retracted into the accommodating chamber 100 under the driving of the second driving device 15.

Please refer to fig. 4. In order to further improve the stability of the automobile handling robot when lifting the automobile to be handled, the bottom of the telescopic mechanism 14 may be provided with a small bearing wheel 19, or the bottom of the lifting mechanism 13 may be provided with a small bearing wheel 19, or both the bottoms of the telescopic mechanism 14 and the lifting mechanism 13 may be provided with small bearing wheels 19.

Specifically, in the first case, one side of the lifting mechanism 13 is fixedly connected to the end of the telescopic mechanism 14 away from the center of the robot main body 10, and the bottom of the lifting mechanism 13 is connected to the small bearing wheel 19, so that the small bearing wheel 19 and the moving wheel 11 can simultaneously bear the weight of the automobile borne by the lifting mechanism 13.

In the second case, one side of the lifting mechanism 13 is fixedly connected with the end of the telescopic mechanism 14 far away from the center of the robot main body 10, and the bottom of the telescopic mechanism 14 is connected with the small bearing wheel 19, so that the small bearing wheel 19 and the movable wheel 11 can simultaneously bear the weight of the automobile borne by the lifting mechanism 13.

In the third situation, one side of the lifting mechanism 13 is fixedly connected with the end of the telescopic mechanism 14 far away from the center of the robot main body 10, and the bottom of the lifting mechanism 13 and the bottom of the telescopic mechanism 14 are both connected with the bearing small wheels 19, so that the two supporting small wheels connected with the bottom of the lifting mechanism 13 and the bottom of the telescopic mechanism 14 can simultaneously bear the weight of the automobile borne by the lifting mechanism 13 with the moving wheels 11.

The three conditions of the bearing small wheels 19 can effectively improve the balance of the automobile carrying robot in a carrying state, prevent side turning, effectively support the lifting mechanism 13 or the telescopic mechanism 14, enhance the use stability of the lifting mechanism 13 and the telescopic mechanism 14 and prolong the service life.

To further improve the bearing position where the lifting mechanism 13 can more effectively abut against and support the automobile when lifted, each lifting mechanism 13 may be provided as a mechanism including a lifting portion 130 and a supporting portion 131. Specifically, the lifting unit 130 may be a hydraulic lifting column, and a support 131 is fixedly disposed at a lifting end of the lifting unit 130. However, it should be noted that, after the lifting mechanism 13 is installed and connected to the telescopic mechanism 14, the overall height of the automobile transfer robot is lower than the height of the chassis of the automobile to be transferred, which is naturally parked on the flat ground, so that the automobile transfer robot can move to the bottom of the chassis of the automobile to be transferred and perform the transfer operation. When the lifting part 130 is lifted, the supporting part 131 can be driven to lift, and then the supporting part 131 can be abutted against the corresponding bearing position at the bottom of the automobile and lift the automobile off the ground.

Further, the support 131 may be a cross beam perpendicular to the axis of the automobile. The length of the cross beam is greater than the width difference of different target automobiles, so that the supporting part 131 can be abutted to the bearing position of the corresponding automobile. For example, when the car handling robot is carrying a car, the transverse distance between the wheels of the car is small, and the length of the cross beam is sufficient to support the load bearing position of the car, but when carrying a slightly larger car such as an SUV, the transverse distance between the wheels of the car may be larger than that of the car, so that the length of the cross beam is long enough to support the load bearing position of the car.

On the whole, the control circuit 16 of the automobile transfer robot is connected with and can control the first driving device 12, the second driving device 15, the lifting mechanism 13 and the telescopic mechanism 14, so that different parts can be operated at different time nodes through the overall control of the control circuit 16, and the purposes of lifting the automobile off the ground, bearing the automobile on the automobile transfer robot, transferring the automobile to a specified position and finally parking the automobile at the specified position are achieved.

Specifically, after the automobile carrying robot reaches the corresponding position of the bottom of the automobile to be carried, the control circuit 16 can control the telescopic mechanism 14 to start and extend to the bottom of the bearing position of the automobile chassis, and further, the control circuit 16 can control the lifting mechanism 13 to enable the lifting mechanism 13 to lift upwards so that the lifting mechanism 13 can be abutted against the bearing positions of different sides of the automobile and finally lift the whole automobile off the ground. After the vehicle has been lifted off the ground by a predetermined height, the control circuit 16 can transport the vehicle to a designated parking position by controlling the first drive means 12. When the automobile carrying robot is stable and is ready to park the automobile at the designated place, the lifting mechanism 13 is controlled by the control circuit 16 to descend so that the automobile automatically contacts the ground by wheels under the action of self gravity to be stable, then the telescopic mechanism 14 is controlled by the control circuit 16 to be recovered to the robot main body 10, and finally the automobile carrying robot is driven by the first driving device 12 to leave the automobile chassis, and finally the parking work of the automobile is completed.

In order to realize the full-automatic automobile carrying and parking of the automobile carrying robot, a positioning system and an image recognition system are added in the automobile carrying robot. The positioning system is arranged on the connection control circuit 16 and used for positioning the automobile and sending the positioning result to the control circuit 16, so that the control circuit 16 can control the robot main body 10 to move to the middle of the automobile chassis. Further, the image recognition system is connected to the control circuit 16 for performing image recognition and sending the recognition result to the control circuit 16, so that the control circuit 16 controls the robot body 10 to adjust the relative positional relationship with each load bearing position of the automobile. For example, after the control circuit 16 controls the robot main body 10 to move to the middle of the chassis of the automobile, the robot main body 10 is further adjusted by the image recognition system to adjust the relative position with respect to the wheels, so that the robot main body 10 is located at the center of the four wheels of the automobile. Further, the control circuit 16 controls the extension mechanism 14 to extend to a bearing position adjacent to each wheel of the vehicle, and controls the lifting mechanism 13 to lift the vehicle off the ground. Of course, a positioning system is not required, and positioning and position adjustment can be realized by using the image recognition system alone for image recognition.

To sum up, the utility model discloses a set up automobile transfer robot's elevating system 13 in telescopic machanism 14 one side, simultaneously along with telescopic machanism 14 extension or retrieve and synchronous motion, under control circuit 16's control, can be earlier through stretching out automobile bearing position with telescopic machanism 14, raise elevating system 13 again in order to lift the car off ground and begin the transport car, can reach the car and carry high-efficiently, can simplify automobile transfer robot's mechanism and reduce automobile transfer robot's volume simultaneously again, all have positive social effect to manufacturing and in-service use, have special meaning.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automobile transfer robot, comprising:

a robot main body;

a moving wheel mounted to the robot main body so as to be movable;

a first driving device that drives the moving wheel;

the telescopic mechanisms are arranged in a radial manner relative to the robot main body, can be telescopically arranged on the robot main body and respectively correspond to different bearing positions of the automobile;

each lifting mechanism is arranged corresponding to one telescopic mechanism and used for lifting or lowering the automobile;

and the control circuit is connected with and controls the first driving device, the telescopic mechanism and the lifting mechanism to operate.

2. The robot of claim 1, wherein the telescopic mechanism is a hydraulic column, and one end of the telescopic mechanism is fixedly connected with the robot main body; the control circuit controls the extension or retraction of the telescoping mechanism.

3. The robot of claim 2, wherein one side of the lifting mechanism is fixedly connected to an end of the telescoping mechanism away from the robot body, and the lifting mechanism can be abutted against the automobile bearing position to lift the automobile.

4. A robot according to claim 1, characterized in that the robot body is provided with a receiving cavity for receiving the telescopic mechanism.

5. The robot of claim 4, wherein each of the retractable mechanisms is received in the receiving cavity and connected to a second driving device, and the second driving device is connected to the control circuit for driving each of the retractable mechanisms to extend or retract outwardly from the robot body.

6. The robot according to claim 5, wherein a guide rail is arranged in the accommodating cavity, and a sliding groove matched with the guide rail is formed at the bottom of the telescopic mechanism;

the guide rail is fixedly connected with the bottom of the accommodating cavity;

the telescopic mechanism is matched with the telescopic mechanism through the sliding groove and slides along the guide rail under the driving of the second driving device so as to extend outwards or retract into the accommodating cavity.

7. A robot as claimed in any one of claims 1 to 6, wherein one side of the lifting mechanism is fixedly connected with the end of the telescoping mechanism away from the central position of the robot body; the bottom of the lifting mechanism is connected with a small bearing wheel which is used for bearing the gravity of the automobile together with the movable wheel; or

One side surface of the lifting mechanism is fixedly connected with the end part of the telescopic mechanism far away from the center of the robot main body; the bottom of the telescopic mechanism is connected with a small bearing wheel which is used for bearing the gravity of the automobile together with the movable wheel; or

One side surface of the lifting mechanism is fixedly connected with the end part of the telescopic mechanism far away from the center of the robot main body; and the bottom of the lifting mechanism and the bottom of the telescopic mechanism are both connected with small bearing wheels which are used for bearing the gravity of the automobile together with the movable wheels.

8. The robot of claim 7, wherein the lift mechanism comprises:

the lifting part is connected with the telescopic mechanism in a lifting way;

and the supporting part is connected with one end, far away from the robot main body, of the lifting part and is used for abutting against the corresponding bearing position of the bottom of the automobile.

9. The robot of claim 8, wherein the support is a cross beam perpendicular to the vehicle axis, the cross beam length being greater than a width difference between different target vehicles.

10. A robot as claimed in claim 9, comprising:

the positioning system is arranged on the control circuit and used for positioning and sending a positioning result to the control circuit so that the control circuit controls the robot main body to move to the bottom of the automobile to be carried;

and the image recognition system is arranged on the control circuit and used for carrying out image recognition and sending a recognition result to the control circuit so that the control circuit controls the robot main body to adjust the relative position relation with the bottom of the automobile.