CN211369714U

CN211369714U - Automobile carrying robot

Info

Publication number: CN211369714U
Application number: CN201921973028.8U
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 elevating system, a plurality of mechanism, second drive arrangement, the control circuit of bearing. The first driving device drives the moving wheels to enable the robot main body to move, and the plurality of lifting mechanisms are arranged on different sides of the robot main body respectively and used for correspondingly abutting against a plurality of bearing positions at the bottom of the automobile so as to lift or lower the automobile. The plurality of bearing mechanisms are movably connected with the robot main body and used for bearing wheels of the automobile. The second driving device drives the plurality of bearing mechanisms to extend below or leave from below each wheel of the automobile when the automobile is lifted. The control circuit is connected with and controls the first driving device, the second driving device and the lifting mechanism to operate. In this way, the utility model discloses can effectively simplify car transfer robot's mechanism and reduce the volume to effectively carry 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, can carry the car simply swiftly.

In order to solve the technical problem, the utility model discloses a technical scheme be: an automobile transfer robot comprising: the robot comprises a robot main body, a moving wheel, a first driving device, a plurality of lifting mechanisms, a plurality of bearing mechanisms, a second driving device and a control circuit. And a moving wheel mounted to the robot main body so as to be movable. A first drive device that drives the moving wheel. And the lifting mechanisms are respectively arranged on different sides of the robot main body and are used for correspondingly abutting against a plurality of bearing positions at the bottom of the automobile so as to lift or lower the automobile. And the plurality of bearing mechanisms are movably connected with the robot main body and are used for bearing the wheels of the automobile. And the second driving device drives the plurality of bearing mechanisms to extend into or leave from the lower part of each wheel of the automobile when the automobile is lifted. And the control circuit is connected with and controls the first driving device, the second driving device and the lifting mechanism to operate.

The utility model has the advantages that: be different from prior art's condition, the utility model discloses a with transfer robot's lifting mechanism with bear mechanism separation design, lift the mechanism and correspond at the bearing position of car and lift the car rising earlier by lifting, the rethread will bear the weight that the portion of bearing of auto wheel outwards stretched out the bearing car and withdraws lifting mechanism, can make car transfer robot structure simplify the volume and diminish to can simply swiftly carry out the transport of car.

Drawings

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

FIG. 2 is a schematic top view of an embodiment of the vehicle transfer robot of the present invention;

fig. 3 is a schematic structural view of the carrying mechanism cooperating with the accommodating cavity in an embodiment of the automobile transfer robot of the present invention;

FIG. 4 is a schematic top view of another embodiment of the vehicle transfer robot of the present invention;

fig. 5 is a schematic top view of another embodiment of the 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 car transfer robot is used for carrying the car, including robot main part 10, removal wheel 11, first drive arrangement 12, a plurality of elevating system 13, a plurality of bearing mechanism 14, second drive arrangement 15 and control circuit 16.

The first driving device 12 drives the moving wheels 11 to enable the robot main body 10 to move to reach the bottom of the automobile or leave the automobile, and the plurality of lifting mechanisms 13 are respectively arranged on different sides of the robot main body 10 and used for correspondingly abutting against a plurality of bearing positions at the bottom of the automobile so as to lift or lower the automobile. A plurality of carrying mechanisms 14 are movably connected with the robot body 10 for carrying wheels of the automobile. The second drive means 15 drives the support means 14 into and out of the underside of the respective wheel of the vehicle when the vehicle is lifted. The control circuit 16 is connected with and controls the first driving device 12, the second driving device 15 and the lifting mechanism 13 to cooperate with each other, so as to carry or park the automobile.

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 various other components required for the transfer robot.

The four moving wheels 11 may be connected to the bottom of the robot main body 10, so that the robot main body 10 and the components connected thereto can move along with the movement of the four moving wheels 11, and the robot main body 10 is balanced. Of course, more moving wheels 11 may be added in order to increase the degree of balance and better withstand the weight of the vehicle to be handled. Or, by adopting some moving wheels 11 with more sufficient bearing capacity and wider ground contact area, 2 or 3 moving wheels 11 are arranged and connected on the bottom plate of the robot main body 10, but the balance of the robot main body 10 needs to be kept to prevent the robot main body from turning over. And a crawler-type moving wheel and other moving modes can also be adopted.

The first drive device 12 and the second drive device 15 are provided in the robot main body 10, respectively. The first driving device 12 is used for driving the movement of the moving wheel 11 of the robot main body 10 to drive the operation of the robot main body 10 through the moving wheel 11. In order to improve the efficient operation of the transfer robot during the transfer process, the first driving device 12 may be a driving motor with large driving power. The second driving device 15 is used to drive the plurality of carriers 14 of the transfer robot so that the carriers 14 can be moved from the initial position to the bottom of the wheels of the car to carry the car. Since the second driving device 15 acts on the movement of the driving support mechanism 14, such as the extending movement and the further retracting movement from the initial position, or the rotating movement from the initial position, the second driving device 15 can select a moving device with a driving force sufficient to drive the support mechanism 14 to move, and can select a motor with a driving force smaller than that of the first driving device 11, so as to save the manufacturing cost.

And an elevating mechanism 13 connected to the robot body 10 in an elevating manner. When the lifting mechanism 13 is in the initial position, the height of the top of the lifting mechanism 13 from the ground is lower than the height of the wheel chassis of the automobile to be carried, so that the carrying robot can move to the bottom of the automobile to be carried. In the embodiment, four lifting mechanisms 13 are respectively arranged at four edges of the top of the transfer robot adjacent to the periphery, and each lifting mechanism 13 is used for correspondingly abutting against different bearing positions of the bottom of the automobile so as to lift the automobile off the ground when the four lifting mechanisms 13 are lifted simultaneously. When the four lifting mechanisms 13 are simultaneously lowered, the lifted automobile can naturally descend under the action of the self gravity. Of course, in other embodiments, through proper design, the purpose of lifting or lowering the automobile can also be achieved through the simultaneous cooperation of two lifting mechanisms 13, three lifting mechanisms 13 or more lifting mechanisms 13.

Specifically, each of the elevating mechanisms 13 may include an elevating portion 130 and a supporting portion 131. The elevating part 130 may be automatically elevated and connected to the robot main body 10, and for example, the elevating part 130 may be an electro-hydraulic elevating column. The supporting portion 131 is fixed to the top end of the elevating portion 130, and when the supporting portion 131 is raised, it is used to abut against the corresponding bearing position of the bottom of the automobile, and when the elevating portion 130 is lowered, it is also lowered. The support 131 may be a cross beam perpendicular to the axis of the vehicle. 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. When the vehicle is lifted, the control circuit 16 controls the lifting unit 130 of the lifting mechanism 13 to lift the lifting unit 130 upward, so as to drive the supporting portion 131 to move upward to abut against the bearing position of the vehicle, thereby lifting the vehicle off the ground. In the operating state of parking the automobile, the control circuit 16 controls the lifting unit 130 to descend, so that the automobile can also naturally descend under the action of gravity.

And the bearing mechanism 14 is movably connected with the robot main body 10 and is used for correspondingly placing wheels of the automobile so as to bear the weight of the automobile.

Please refer to fig. 2 and fig. 3 in combination. In the present embodiment, four bearing mechanisms 14 are distributed on two opposite sides of the robot main body 10 corresponding to the positions of the wheels of the vehicle, so that the four bearing mechanisms 14 can respectively bear the four wheels of the vehicle. The support mechanism 14 may be a plate-like mechanism 14a, and the wheels of the automobile can be placed by the plate-like mechanism 14 a. Further, in order to retract the carrying mechanism 14 into the robot main body, accommodating cavities 100 are provided on opposite sides of the robot main body 10 for accommodating the carrying mechanism 14. The carrying mechanism 14 can be driven by the second driving device 15 to extend and retract into the accommodating cavity 100 of the robot main body 10, so that the size of the robot and the transportation of the robot to be transported can be reduced.

Please refer to fig. 4. In another embodiment, the carrying mechanism 14 may also be provided as two strip mechanisms 14b arranged side by side, so as to reduce the material consumption of the carrying mechanism 14 and reduce the production cost. In the vehicle-carrying state, the two bar mechanisms 14b can be extended outwards under the driving of the second driving device 15 to carry the vehicle wheels in a manner of being arranged below the vehicle wheels side by side or clamping the vehicle wheels at two sides.

In order to better enable the carrying mechanism 14 to smoothly extend or retract in the accommodating cavity 100, in the present embodiment, a guide rail 17 is disposed in the accommodating cavity 100, and a sliding groove 18 which is matched with the guide rail 17 is further formed at the bottom of the carrying 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. The carriage 14 is fixedly connected to the slide groove 18, so that when the second driving device 15 drives the slide groove 18 to slide back and forth along the guide rail 17, the carriage 14 slides synchronously with the slide groove 18 to extend or retract outwards.

Please refer to fig. 5. In another embodiment, the carrying mechanism 14 is a plate-shaped mechanism 14a and can be retracted into or rotated out of one side of the robot body 10 in a rotatable manner, for example, the carrying mechanism 14 can be connected to one side of the robot body 10 in a hinged manner, and the carrying mechanism 14 can be rotated. When the carrying mechanism 14 is in the first position, it is located at one side of the robot body 10, and when the carrying mechanism 14 is in the second position, it is at least partially rotated to the bottom of the wheels of the car to support the car.

The carrying mechanism 14 is connected to the second driving device 15 and controlled by the second driving device 15, so that the first driving device 12, the second driving device 15, the lifting mechanism 13 and the carrying mechanism 14 can cooperate with each other under the control of the control circuit 16 to complete the whole carrying process of lifting the vehicle off the ground, carrying the vehicle on the carrying robot, transferring the vehicle to a designated position and finally parking the vehicle at the designated position.

Specifically, after the transfer robot reaches the corresponding position at the bottom of the automobile to be transferred, the four lifting mechanisms 13 can be controlled by the control circuit 16 to start simultaneously and lift the automobile off the ground. After the automobile is lifted to a preset height from the ground, the control circuit 16 controls the second driving device 15, and then the second driving device 15 drives the four bearing mechanisms 14 located at two sides of the robot main body 10 to extend outwards, and each bearing mechanism 14 at least partially extends to the bottom of the automobile wheel and meets the purpose that the automobile can be parked on the bearing mechanism 14 through the wheel. Subsequently, the control circuit 16 controls the lifting mechanism 13 to go back and down, the automobile naturally goes down under the action of gravity, and four wheels of the automobile are in contact with the four bearing mechanisms 14, so that the automobile is stably parked on the bearing mechanisms 14. Further, the control circuit 16 can transport the car to a designated parking position by controlling the first driving device 12, and control the lifting mechanism 13 to be lifted again to support the weight of the car so that the carrying mechanism 14 does not bear the weight of the car and to be withdrawn to the accommodating chamber 100 by the driving of the second driving device 15, and further, the lifting mechanism 13 is continuously lowered to place the car on the ground.

In order to further improve the balance of the transfer robot in the transfer state and prevent the robot from rolling over, a carrier wheel 19 is connected to the bottom of each carrier mechanism 14. The carrier small wheels 19 can be engaged with the moving wheels 11 of the robot body 10, and together bear the weight of the transported vehicle and together transfer the vehicle to a predetermined position. Meanwhile, the small bearing part wheel 19 arranged at the bottom of each bearing mechanism 14 can play a role of effectively supporting the bearing mechanism 14, thereby enhancing the service stability of the bearing mechanism 14 and prolonging the service life.

In order to realize full-automatic automobile carrying and parking of the carrying robot, a positioning system and an image recognition system are added. The positioning system is provided in the connection control circuit 16, and is configured to position the vehicle and send 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 vicinity of the wheels. 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 main body 10 to adjust the relative positional relationship with the wheels. For example, after the control circuit 16 controls the robot main body 10 to move to the vicinity of the wheels, 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 lifting mechanism 13 is controlled by the control circuit 16 to lift the automobile off the ground, the second driving device 15 is controlled to move the bearing mechanism 14 to the bottom of the wheel and bear the wheel, and finally the lifting mechanism 13 is controlled by the control circuit 16 to descend, so that the automobile is naturally placed on the bearing mechanism 14 and the first driving device 12 is controlled to carry the automobile to a specified place. 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 lifting mechanism 13 with transfer robot and 14 separation design of bearing mechanism to accept control circuit 16's connection and control simultaneously, can lift the car off ground through lifting mechanism 13 earlier, and then will bear mechanism 14 and stretch out and receive the wheel of car and finally bear the weight of car when lifting mechanism 13 descends, can enough carry the car high-efficiently, again can simplify transfer robot's mechanism and reduce transfer robot's volume simultaneously, 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 lifting mechanisms are respectively arranged on different sides of the robot main body and are used for correspondingly abutting against a plurality of bearing positions at the bottom of the automobile so as to lift or lower the automobile;

the bearing mechanisms are movably connected with the robot main body and used for bearing wheels of an automobile;

the second driving device drives the plurality of bearing mechanisms to extend into or leave from the positions below the wheels of the automobile when the automobile is lifted;

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

2. The robot of claim 1, wherein the lift mechanism comprises:

a lifting part which can be automatically lifted and connected to the robot main body;

and the supporting part is fixed at the top end of the lifting part and is used for abutting against the corresponding bearing position of the bottom of the automobile when the supporting part is lifted.

3. The robot of claim 2, 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.

4. A robot according to claim 3, wherein the robot body is provided with a housing chamber for housing the carrying mechanism;

the second driving device drives the bearing mechanism to extend outwards or retract into the accommodating cavity.

5. A robot according to claim 4, characterized in that the carrying means are plate-like means for carrying the wheels of the car.

6. The robot of claim 4, wherein the support mechanism is at least two side-by-side bar mechanisms extending outwardly simultaneously to support the vehicle wheels.

7. The robot as claimed in claim 6, 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 bearing mechanism;

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

the bearing mechanism is matched with the bearing 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.

8. The robot of claim 3, wherein one end of the carrying mechanism is rotatably connected with the robot main body;

when the bearing mechanism is at the first position, the bearing mechanism is positioned at one side of the robot main body; when the bearing mechanism is in the second position, the bearing mechanism rotates to the bottom of the wheel of the automobile at least partially to support the automobile.

9. The robot as claimed in any one of claims 1 to 8, wherein the bottom of the carrying mechanism is connected with a small wheel of a carrying part, and the small wheel and the moving wheel are contacted with the ground together to carry the automobile.

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 between the robot main body and the automobile wheels.