CN211369716U

CN211369716U - Automobile carrying robot and wheel carrying body

Info

Publication number: CN211369716U
Application number: CN201921947628.7U
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 provides a car transfer robot and wheel transport body, car transfer robot include the wheel transport body of four separations. The four wheel carrying bodies respectively correspond to four wheels of the automobile so as to carry the automobile together. Each wheel carrier comprises: the robot comprises a robot main body, a lifting mechanism, a bearing mechanism, a first driving device, a second driving device, a control circuit and a wireless communication system. The control circuit is used for controlling the lifting mechanism, the first driving device, the second driving device and the wireless communication system. The robot main body is driven to move by the first driving device. The lifting mechanism correspondingly props against the bearing position at the bottom of the automobile to lift the automobile. The second driving device drives the bearing mechanism to extend into the lower part of the automobile wheel or leave the lower part of the automobile wheel. The communication between the four transfer robots is established through the wireless communication system so as to synchronously transfer or park the automobile. In this way, the utility model discloses can effectively reduce car transfer robot volume to can high-efficient transport car.

Description

Automobile carrying robot and wheel carrying body

Technical Field

The utility model relates to a vehicle transport technical field especially relates to a car transfer robot and wheel transport body.

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 in industrialized development, and the automobile carrying robot is also developed in the direction of intelligentization and multi-scene application, but the existing automobile carrying robot is large in size, high in requirement on a use place in the use process, inconvenient to carry, not beneficial to production and manufacture and not suitable for small or uneven scenes.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves provides a car transfer robot and wheel transport body, corresponds four wheels of transport car, is applied to multiple scene effectively and carries the car.

An automobile transfer robot comprises four separated wheel transfer bodies. The four wheel carrying bodies are respectively used for carrying four wheels in the automobile so as to carry the automobile together. Each wheel carrier comprises a robot main body, a lifting mechanism, a bearing mechanism, a first driving device, a second driving device, a control circuit and a wireless communication system. The bottom of the robot main body is provided with a movable wheel. The lifting mechanism is arranged on one side of the robot main body and is used for correspondingly abutting against a bearing position at the bottom of the automobile so as to lift or lower the automobile. The bearing mechanism is movably connected with the robot main body and used for bearing wheels of an automobile, and the bearing mechanism is connected with bearing part small wheels. The first driving device drives the moving wheel to move. The second driving device drives the bearing mechanism to extend into or leave from the lower part of the wheels of the automobile when the automobile is lifted. The control circuit is arranged on the robot main body and used for controlling the lifting mechanism, the first driving device and the second driving device. The wireless communication system is arranged on the robot main body, is connected with the control circuit and is used for communicating with at least one of the other three carrying robots so as to carry or park the automobile synchronously.

The utility model has the advantages that: be different from prior art's condition, the utility model discloses a with the separation design of car transfer robot for four wheel transport bodies, correspond respectively by each wheel and lift and bear a car wheel of transport to through four wheel transport body synergy of wireless communication system and control circuit control, carry or put down the car jointly high-efficiently, the volume is less, and can be suitable for multiple scene and carry out the transport of car.

Drawings

Fig. 1 is a schematic plan view of a transfer robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the wheel carrier of FIG. 1;

FIG. 3 is a schematic view of the structure of the carrying mechanism of the wheel carrier of FIG. 1 engaged with the receiving cavity;

fig. 4 is a schematic top view of an embodiment of the wheel carrier of the present invention;

FIG. 5 is a schematic top view of another embodiment of the wheel carrier of the present invention;

FIG. 6 is a schematic top view of yet another embodiment of the vehicle 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 transport automobile robot, it is too big to have the transport machine human volume, is unfavorable for using multiple application scene, such as the bumpy ground, perhaps comparatively narrow and small ground etc.. How to provide a transfer robot with smaller volume and more flexible transfer operation is a development trend of the whole industry and a process needing continuous improvement. In order to meet the market demand, provide the car transfer robot that the volume is littleer practical scene is more abundant, 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 an automobile transfer robot embodiment, this automobile transfer robot can specifically include the wheel carrier 8 of four separations. The four wheel carriers 8 are respectively used for correspondingly carrying four wheels in the automobile so as to carry the automobile together. Each wheel carrier 8 includes: the robot comprises a robot main body 10, a first driving device 12, a lifting mechanism 13, a bearing mechanism 14, a second driving device 15, a control circuit 16 and a wireless communication system 20.

The first driving device 12 drives the moving wheels 101 to enable the robot main body 10 to move to under or away from the automobile to be transported. The lifting mechanism 13 is disposed at one side of the robot body 10 and is used for correspondingly abutting against a load-bearing position at the bottom of the automobile so as to raise or lower the automobile. The bearing mechanism 14 is movably connected with the robot main body 10 and is used for bearing wheels of an automobile. The carrying mechanism 14 may be a carrying portion small wheel 19 connected to the bottom thereof so as to be able to carry the weight of the car through the carrying portion small wheel 19 and keep the balance of the robot and carry the car together with the moving wheel 101 of the robot main body 10. The second drive device 15 drives the support means 14 into and out of the position under the wheels of the vehicle when the vehicle is lifted. The control circuit 16 is connected to and controls the operation of the first driving device 12, the second driving device 15, and the elevating mechanism 13.

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 wheel carrier 8. Four moving wheels 101 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 101 and to keep the robot main body 10 balanced. Of course, more moving wheels 101 may be added in order to enhance the balance and better withstand the weight of the vehicle to be handled. Because the bearing mechanism 14 is connected with the bearing part small wheel 19, the moving wheels 101 with more sufficient bearing capacity and wider ground contact area can be combined and adopted by a reasonable design mode, and two or three moving wheels 101 are arranged and connected at the bottom of the robot main body 10, but the balance of the robot main body 10 needs to be kept to prevent the occurrence of side turning. The moving means such as the crawler type moving wheel 101 may 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 101 of the robot main body 10 to drive the operation of the robot main body 10 through the moving wheel 101. In order to improve the efficient operation of the wheel carrier 8 during the transportation process, the first driving device 12 may be a driving motor with large driving power. The second drive device 15 is used to drive the support means 14 of the wheel carrier 8 in order to be able to move the support means 14 from the starting position to the bottom of the vehicle wheels to support the vehicle. Since the second driving device 15 acts on the movement of the driving support mechanism 14, such as the extending movement and further retracting movement of the driving support mechanism 14 from the initial position, or the rotating movement of the driving support mechanism 14 from the initial position, the second driving device 15 can select a moving device with a driving force sufficient to drive the driving support mechanism 14 to move, and can select a motor with a driving force smaller than that of the first driving device 12, so as to save the manufacturing cost.

The control circuit 16 and the wireless communication system 20 are provided in the robot body 10, and the control circuit 16 and the wireless communication system 20 are provided in the robot body 10, respectively. The control circuit 16 can operate the first drive device 12, the lifting mechanism 13, and the second drive device 15. The wireless communication system 20 is connected to the control circuit 16 and controlled by the control circuit 16 for communicating with at least one of the other three wheel carriers 8 to synchronously carry or park the vehicle. For example, one wheel carrier 8 of the four wheel carriers 8 may transmit a communication signal to another wheel carrier 8 to establish a connection and operate cooperatively, and the wheel carrier 8 that has not yet established a communication connection may also transmit a communication signal to another wheel carrier 8 via its own wireless communication system 20 to establish a connection. The purpose of establishing communication connection between the two wheel carriers 8 can be simply moved together to carry the automobile synchronously, and the remaining two wheel carriers 8 can be driven to move along without any communication. Of course, the purpose of establishing a communication connection between the two wheel carriers 8 may be to transmit some sensing signals to facilitate the transportation of the vehicle. Further, a plurality of wheel carriers 8 may communicate with each other, and a single control console may be provided to collectively control the operations of the four wheel carriers 8.

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 wheel carrying body 8 can move to the bottom of the automobile to be carried.

In this embodiment, a lifting mechanism 13 is disposed on the top of the wheel carrier 8, and the lifting mechanism 13 is used to support against the bearing position of the bottom of the automobile so as to lift the automobile wheels off the ground. When the four wheel carriers 8 simultaneously support the bearing positions of the bottom of the automobile adjacent to the four wheels under the control of the control circuit 16 and the wireless communication system 20, the four wheels of the automobile can be lifted up respectively, so that the automobile is lifted up to a certain height from the ground integrally. When the lifting mechanisms 13 of the four wheel carriers 8 are simultaneously lowered, the lifted vehicle can be naturally lowered by its own weight. Of course, in other embodiments, through proper design, the purpose of lifting or lowering the wheels of 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, the lifting mechanism 13 of each wheel carrier 8 may include a lifting 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 so that the support 131 can better withstand the load bearing position of the corresponding vehicle. Of course, the supporting portion 131 may be square or circular.

And the bearing mechanism 14 is movably connected with the robot main body 10 and is used for bearing wheels of an automobile. The carrier mechanism 14 is connected with a carrier small wheel 19. The control circuit 16 can drive the carrier mechanism 14 by controlling the second drive device 15.

Please refer to fig. 2 and fig. 3 in combination. Optionally, a carrying mechanism 14 is provided on one side of the robot main body 10, so that wheels of the automobile can be carried by the carrying mechanism 14. The carrying mechanism 14 may be a plate-shaped mechanism 14a, and a carrying portion small wheel 19 is connected to the bottom of the plate-shaped mechanism 14a so as to be capable of placing and carrying the wheel of the automobile through the plate-shaped mechanism 14 a.

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. A carrier wheel 19 is connected to the bottom of each bar 14b, so that the wheels of the vehicle can be held or carried by the bar 14 b. In the state of carrying the vehicle wheel, the two bar-like mechanisms 14b, driven by the second driving device 15, may extend outwards to be able to carry the vehicle wheel by being placed side by side under the vehicle wheel.

The plate-shaped mechanism 14a and the bottom of each strip-shaped mechanism 14b are connected with the bearing part small wheel 19, so that not only can the automobile wheels be borne on the wheel carrier 8 by matching with the moving wheel 101 on the robot main body 10, but also the bearing part small wheel 19 can play a role in effectively supporting the bearing mechanism 14, thereby enhancing the service stability of the bearing mechanism 14 and prolonging the service life.

Further, in order to retract the carriage mechanism 14 into the robot main body 10, a housing chamber 100 for housing the carriage mechanism 14 is provided on one side surface of the robot main body 10 where the carriage mechanism 14 is located. The carrying mechanism 14 is driven by the second driving device 15 to be retractable into the accommodating chamber 100 of the robot main body 10, so that the volume of the wheel carrier 8 can be further reduced.

In order to better enable the carrying mechanism 14 to smoothly extend or retract in the accommodating cavity 100, in the embodiment, a guide rail 17 is 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 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. So that the carrying mechanism 14 can be engaged with the guide rail 17 through the slide groove 18 and extend outward 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. 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.

Because the control circuit 16 can control the first driving device 12, the second driving device 15, the lifting mechanism 13 and the wireless communication system 20 in a centralized manner, the whole process from the vehicle-mounted single wheel of the wheel carrier 8 to the cooperative loading of the four wheel carriers 8 for carrying the vehicle and transferring the vehicle to a specified position can be realized.

Specifically, after the four wheel carriers 8 respectively reach the corresponding positions of the four wheels at the bottom of the automobile to be carried, the control circuit 16 controls the wireless communication system 20 to establish communication connection between two or three or four separated wheel carriers 8, so as to realize the coordinated movement of the four wheel carriers 8. Further, the control circuits 16 of the four wheel carriers 8 respectively control their own lifting mechanisms 13 synchronously to correspondingly abut against the bearing position of the automobile, so that the automobile body is lifted to a predetermined height from the ground under the synchronous abutment of the four wheel carriers 8. Further, each wheel carrier 8 controls its own carrying mechanism 14 to move outward through the control circuit 16 so as to extend below the corresponding wheel of the vehicle, and at this time, when the lifting mechanism 13 descends downward, the four wheels of the vehicle can be stably placed on the top ends of the carrying mechanisms 14 of the corresponding wheel carriers 8, respectively. Due to the gravity of the vehicle, the moving wheels 101 connected to the robot main body 10 and the carrier small wheels 19 connected to the carrier mechanism 14 are both subjected to forces, and the balance of the wheel carrier 8 can be maintained. After the automobile is stably placed on the four wheel carrying bodies 8, the four wheel carrying bodies 8 control the first driving device 12 to cooperatively operate through the control circuit 16 of the four wheel carrying bodies 8 through communication between the wireless communication system 20 again, and the automobile is synchronously and cooperatively transported to be carried to a specified parking position. After reaching the designated position, continuing to connect through the wireless communication system 20, the four wheel carriers 8 raise the lifting mechanism 13 again to lift the vehicle to a certain height, so as to transfer the vehicle weight to the lifting mechanism 13, and further the second driving device 15 drives the carrying mechanism 14 to leave the bottom of the vehicle wheel, so that the vehicle can naturally descend to the ground along with the descending of the lifting part 130, and the parking of the vehicle is completed.

In order to realize full-automatic transportation and parking of the four wheel transportation bodies 8, a positioning system and an image recognition system are added in each wheel transportation body 8. 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, and then the second driving device 15 is controlled to extend the bearing mechanism 14 to the bottom of the wheel and bear the wheel. By combining the connection of the wireless communication system 20, the four wheel carriers 8 can automatically carry and park the automobile. 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 four wheels that the wheel carrier 8 of four separations corresponds transport car respectively to establish the communication between four wheel carriers 8 through wireless communication system 20, make and to carry out the synergism, rise the car jointly and bear the weight of the car and finally park the car, finally realize shifting the purpose of transport and parking with the car. Through carrying the body 8 for four wheel of separation with the design of car transfer robot disconnect-type, can enough effectively realize the transport to the car, can effectively reduce car transfer robot's volume again, can be applicable to the vehicle of multiple different application scenes and different automobile body width, effectively solve the problem of parking the vehicle, have good social.

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:

the four separated wheel carrying bodies are respectively used for carrying four wheels in the automobile so as to carry the automobile together; each wheel carrier comprises:

the robot comprises a robot main body, wherein the bottom of the robot main body is provided with a movable wheel;

the lifting mechanism is arranged on one side of the robot main body and is used for correspondingly propping against a bearing position at the bottom of the automobile so as to lift or lower the automobile;

the bearing mechanism is movably connected with the robot main body and used for bearing wheels of an automobile, and the bearing mechanism is connected with small wheels of a bearing part;

a first driving device for driving the moving wheel;

the second driving device drives the bearing mechanism to extend into or leave from the lower part of the wheel when the automobile is lifted;

the control circuit is arranged on the robot main body and used for controlling the lifting mechanism, the first driving device and the second driving device;

and the wireless communication system is arranged on the robot main body, is connected with the control circuit and is used for communicating with at least one of the other three wheel carrying bodies so as to carry or park the automobile synchronously.

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. A robot as claimed in claim 2, wherein the support is a cross beam perpendicular to the car axis.

4. A robot according to claim 1, characterized in that the carrying means is a plate-like means for carrying the wheels.

5. The robot of claim 1, wherein the support mechanism is at least two side-by-side bar mechanisms extending outwardly to grip or support the wheel.

6. A robot according to claim 4 or 5, characterized in that the robot body is provided with a receiving cavity for receiving the carrying mechanism;

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

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 a 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. A robot as claimed in claim 4 or 5, 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 at least partially to support the automobile.

9. The robot of claim 8, 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 wheels of the automobile to be carried.

10. A wheel carrier of a vehicle carrier robot, comprising:

a first driving device for driving the moving wheel;