CN214055243U - Four-wheel drive two-claw type vehicle transfer robot - Google Patents

Abstract

The utility model belongs to the technical field of vehicle transfer robot, a four-wheel drive two-claw type vehicle transfer robot is disclosed. The robot includes: the frame is of a straight-line structure; the driving walking device is arranged on two ends of the frame and used for driving the frame to move; the left fork arm and the right fork arm are respectively arranged on the same side of the frame, and the distance between the left fork arm and the right fork arm is adjustable; the universal wheel is arranged on the left fork arm and the right fork arm and comprises a wheel, a rotating body, a bevel gear set and a motor; the bevel gear group comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is located in the central hole of the rotating body, the inner ring of the rotating body and the inner side of the annular gear are fixedly connected with the wheel hub respectively, and the driving motor drives the wheel to steer actively by driving the bevel gear set. The robot occupies a small space, the fork arms are provided with the active driving universal wheels, the structure is simple, the weighing is strong, and the operation is stable.

Description

Four-wheel drive two-claw type vehicle transfer robot

Technical Field

The utility model belongs to the technical field of vehicle transfer robot, a parking area is with transporting or removing the automation equipment on parking stall with the vehicle navigation, specifically speaking are four-wheel drive two claw formula vehicle transfer robot.

Background

At present, a single-layer shipping robot of a parking lot basically adopts a four-grab structure, a walking arm and two clamping arms are arranged in the middle of the walking arm and the right walking arm respectively, tires of a vehicle are clamped by the movement of the walking arm and the clamping arm, and the vehicle is transported by the movement of the walking arm. The mechanism needs to separately design a set of moving mechanism for each of the two middle clamping arms, which not only increases the complexity of the structure, but also increases the weight and the manufacturing cost, and needs to be improved.

At present, a two-claw vehicle transfer robot has appeared, but two fork arms of the robot are positioned at two ends of a frame, so that the occupied space is still large, and a motor on the frame is utilized to drive steering wheels on the fork arms.

Disclosure of Invention

In view of there being above-mentioned technical problem among the prior art, the utility model discloses a there is the structure redundancy to current four formula vehicle handling robot of grabbing, the problem that manufacturing cost is high, and current two claw formula vehicle handling robot occupation space is big, and the motor on the frame drives the yoke directive wheel and turns to the fragile problem, designs a four-wheel drive two claw formula vehicle handling robot.

The technical scheme of the utility model as follows:

the utility model provides a four-wheel drive two-claw type vehicle transfer robot, the robot includes:

a frame 100, the frame 100 having a straight-line structure;

the active walking device 140 is installed on two ends of the frame 100, and is used for driving the frame 100 to move;

the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable, so that the wheels can be lifted off the ground by moving in opposite directions or in opposite directions after being inserted;

a universal wheel 340, the universal wheel 340 being mounted on the left yoke 200 and the right yoke 300, and including a wheel 341, a rotating body 344, a bevel gear set 345 and a motor 348; the bevel gear group 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348; the wheel 341 is located in the central hole of the rotating body 344, the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected to the hub 342 of the wheel 341, and the driving motor 348 drives the wheel 341 to actively steer by driving the bevel gear set 345, so as to meet the driving requirements of the vehicle transfer robot.

Further, a photoelectric sensor 400 is arranged in the middle of the frame 100 on the same side as the left yoke 200 and the right yoke 300, and is used for detecting parameters such as the position of a vehicle, the distance between tires of the vehicle and the like.

Further, the left yoke 200 and the right yoke 300 are provided with a hub limiting seat 330 at positions corresponding to the tire, and a tire bracket 331 is installed in the hub limiting seat 330.

Further, the tire holder 331 includes a rolling member 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343.

Still further, the tire bracket 331 is fixedly connected to the hub holder 330 through the first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, there is a height difference of 10mm or more between the upper surface of the tire bracket 331 and the upper surface of the left yoke 200 or the right yoke 300. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.

Furthermore, the roller hub limiting seat 330 of the left fork arm 200 is positioned at the left side of the left fork arm, and the roller hub limiting seat 330 of the right fork arm 300 is positioned at the right side of the left fork arm, so that the left fork arm 200 and the right fork arm 300 move away when the vehicle is lifted off the ground; or the roller hub limiting seat 330 of the left fork arm 200 is positioned at the right side of the left fork arm 200, and the roller hub limiting seat 330 of the right fork arm 300 is positioned at the left side of the right fork arm 300, so that the left fork arm 200 and the right fork arm 300 move relatively when the vehicle is lifted off the ground. In the former way, when the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground; in the latter case, when the vehicle is lifted off the ground, the left yoke 200 and the right yoke 300 are inserted to the outer sides of the two rows of wheels of the vehicle, and the left yoke 200 and the right yoke 300 move relatively to each other, thereby lifting both rows of tires off the ground.

Further, the left yoke 200 and the right yoke 300 are both connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 can be adjusted through the yoke moving device 310, the yoke moving device 310 includes a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is also connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110.

Further, the wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the wheel hub 342 through a fixing member 349, the rotating body 344 is a cross roller bearing, an outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300, the motor 348 drives the pinion gear 3452 through the speed reducer 7 and is mounted on a motor holder 346, the motor holder 346 is mounted on the left yoke 200 or the right yoke 300, the bevel gear set is a spiral bevel gear with spiral teeth, and an included angle between a central axis of the pinion gear 3452 and a central axis of the ring gear 3451 is 90 °. When the universal wheel 340 is used, the outer ring of the rotating body 344 is fixedly mounted on the base of the device. When the motor 348 is not activated, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is turned on, the motor 348 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, while the outer ring of the rotating body 344 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the operation time of the motor 348 can be adjusted to control the magnitude of the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.

Further, the frame 100 is composed of a front plate 110, a rear plate 120 and a middle connecting member 130, wherein the middle connecting member 130 is located in the middle of the frame 110, and two sides of the middle connecting member 130 are respectively fixedly connected with the middle of the front plate 110 and the middle of the rear plate 120.

The utility model discloses following beneficial effect has:

1. the utility model discloses under the prerequisite of guarantee transfer robot power and mechanical properties, saved two yoke arms that present are used for the centre gripping tire, not only simplified the complete machine structure, improved its flexibility moreover, greatly reduced manufacturing cost.

2. The mode that the fork arms are inserted into the inner sides of the two rows of tires is adopted to lift the vehicle off the ground, the length of the frame can be shortened, and the occupied space of the vehicle carrying robot is further reduced.

3. The four-wheel-drive universal wheel has the advantages that the four-wheel-drive moving structure is adopted, particularly, the fork arm is provided with the independent active driving universal wheel, the universal wheel does not adopt structures such as a chain, a worm gear and a worm, the structure is simple, the weighing is strong, and the operation is stable.

4. The anti-falling fork arm for the vehicle transfer robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the tire from sliding on the fork arm, so as to realize the purpose of preventing the vehicle from falling;

5. the utility model can deflect to the ground after contacting with the tire, reduces the force required by the tire to climb on the tire bracket, and can easily lift a heavier vehicle or a vehicle with larger difference of front and rear counterweights;

6. the utility model relates to a tire bracket is a self-adaptive structure, and no additional driving device is needed, thereby saving energy and reducing cost;

7. the triangular cushion block with the sharp angle is used for replacing the outermost edge rolling shaft sleeve, and the rolling shaft sleeve can be plugged into a gap between a tire and the ground, so that the tire can easily climb up a tire bracket under the assistance of a gentle slope formed by the sharp angle surface;

8. the diameters of all or a plurality of rows of the rolling shaft sleeves far away from the transverse support are gradually reduced along with the increase of the distance between the rolling shaft sleeves and the transverse support, so that the gradient on which the tire needs to climb when the tire is lifted is more gradual, and the energy required for lifting the vehicle off the ground is further reduced.

Drawings

Fig. 1 is a three-dimensional structure view of a vehicle transfer robot according to embodiment 1 of the present invention;

fig. 2 is a three-dimensional structure view of a fork arm of a vehicle transfer robot according to an embodiment of the present invention;

fig. 3 is a perspective view of a tire carrier of a vehicle transfer robot yoke according to an embodiment of the present invention;

FIG. 4 is a bottom view of another tire carrier of a vehicle transfer robot yoke according to an embodiment of the present invention;

fig. 5 is a schematic view of a universal wheel structure of a fork arm of a vehicle transfer robot according to an embodiment of the present invention;

fig. 6 is a cross-sectional view of a universal wheel of a vehicle transfer robot yoke according to an embodiment of the present invention;

fig. 7 is a perspective view of a vehicle transfer robot according to embodiment 2 of the present invention;

wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle connecting piece, 140 is an active walking device, 200 is a left yoke, 300 is a right yoke, 310 is a yoke moving device, 311 is a moving motor, 312 is an L-shaped mounting plate, 313 is a first guide rail slider mechanism, 314 is a second guide rail slider mechanism, 315 is a rack, 330 is a hub limiting seat, 331 is a tire bracket, 332 is a rolling component, 333 is a fixing bracket, 334 is a fixing block, 3341 is a first fixing block, 3342 is a second fixing block, 3343 is a third fixing block, 335 is a spring, 336 is a rolling shaft sleeve, 337 is a roller shaft, 338 is a shaft bracket, 3381 is a transverse bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear side bracket, 3385 is a front side bracket, 3386 is a second rear side bracket, 339 is a cushion block, 340 is a universal wheel, 342 is a wheel hub, 343 is a wheel axle, 344 is a rotating body, 345 is a bevel gear set, 3451 is a ring gear, 3452 is a pinion gear, 346 is a motor holder, 347 is a reducer, 348 is a motor, 349 is a fixture, and 400 is a photoelectric sensor.

Detailed Description

In order to more clearly illustrate the technical solution of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other examples can be obtained according to these embodiments without inventive labor.

Example 1

As shown in fig. 1 to 6, the present embodiment relates to a four-wheel drive two-claw vehicle transfer robot, which, as shown in fig. 1, includes: a frame 100, the frame 100 having a straight-line structure; the active walking device 140 is installed on two ends of the frame 100, and is used for driving the frame 100 to move; the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable, so that the wheels can be lifted off the ground by moving in opposite directions or in opposite directions after being inserted; and a universal wheel 340, wherein the universal wheel 340 is installed on the left fork arm 200 and the right fork arm 300 to meet the driving requirements of the vehicle transfer robot.

The middle of the frame 100, which is on the same side as the left yoke 200 and the right yoke 300, is provided with a photoelectric sensor 400 for detecting parameters such as the position of a vehicle, the distance between tires of the vehicle, and the like.

The left fork arm 200 and the right fork arm 300 are respectively provided with a hub limiting seat 330 at the positions corresponding to the wheels. As shown in fig. 2, a tire bracket 331 is mounted in the hub stopper 330.

As shown in fig. 3 and 4, the tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343. The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. The diameters of all or two or more rows of the rolling sleeves 336 far from the transverse support 3381 are gradually reduced as the distance from the transverse support 3381 increases. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 331 and the upper surface of the left fork arm 200 or the right fork arm 300. The outermost row of rolling sleeves 336 is a triangular pad 339. The transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are provided at the bottom of the first rear support 3384 and the second rear support 3386. When the tire bracket 331 is used, under the action of the extrusion force, the portion of the tire bracket 331 close to the tire deflects to the ground (because the front bracket and the rear bracket are rotatably connected, the front bracket close to the tire is pressed downwards, so that the front bracket portion rotates downwards by a certain angle); the tire climbs onto the tire holder 331 by the pressing force, and the deflection of the tire holder 331 is partially restored by the spring, so that the tire is separated from the ground to lift the vehicle.

The roller hub limiting seat 330 of the left yoke 200 is located on the left side, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side, so that the left yoke 200 and the right yoke 300 move away when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted into the inner sides of two rows of wheels of the vehicle, the left fork arm 200 and the right fork arm 300 move away from each other, and the two rows of tires are lifted off the ground.

The left fork arm 200 and the right fork arm 300 are both connected with a fork arm moving device 310, the distance between the left fork arm 200 and the right fork arm 300 can be adjusted through the fork arm moving device 310, the fork arm moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail sliding block mechanism 313, a second guide rail sliding block mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left fork arm 200 or the right fork arm 300 and is simultaneously connected with the first guide rail sliding block mechanism 313 and the second guide rail sliding block mechanism 314, and the first guide rail sliding block mechanism 313 and the second guide rail sliding block mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110.

The frame 100 is composed of a front plate 110, a rear plate 120 and a middle connecting member 130, wherein the middle connecting member 130 is located in the middle of the frame 110, and two sides of the middle connecting member 130 are respectively fixedly connected with the middle of the front plate 110 and the middle of the rear plate 120.

As shown in fig. 3, the universal wheel 340 of the present embodiment includes a wheel 341, a hub 342, an axle 343, a rotating body 344, a bevel gear set 345, and a motor 348. The wheel 341 is mounted on an axle 343, and the axle 343 is fixedly mounted within the hub 342 by fasteners 349. The bevel gear set 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348. The hub 342 is located in the central hole of the rotating body 344, and the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected with the hub 342 of the wheel 341. The rotating body 344 is a cross roller bearing, and an outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300. The motor 348 drives the pinion gear 3452 through the reducer 347, and is mounted on the motor mount 346. The motor fixing bracket 346 is installed on the left yoke 200 or the right yoke 300. The bevel gear set is a spiral bevel gear with spiral teeth. The central axis of the pinion gear 3452 and the central axis of the ring gear 3451 are at an angle of 90 °.

When the universal wheel is used, the outer ring of the rotating body 4 is fixedly arranged on a base of equipment. When the motor 8 is not started, the inner ring and the outer ring of the rotating body 4 are relatively static, and the universal wheel cannot rotate freely. When the motor 8 is started, the motor 8 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 4 and the hub 2 to rotate by the angle α, while the outer ring of the rotating body 4 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the running time of the motor 8 can be adjusted to control the size of alpha at will, and the purpose of rotating the rolling direction of the wheel in any direction is achieved.

The using method of the embodiment is as follows: when the vehicle transfer robot receives a dispatching instruction of a control center, namely, the vehicle transfer robot reaches a waiting parking area according to a navigation path, the distance between the two forklift arms is adjusted at first, then the vehicle is moved to the vehicle at a low speed until the transferred vehicle completely enters the robot transfer area, the two forklift arms move relatively afterwards until the wheel hub limiting seats on the forklift arms are contacted with the tire, the two forklift arms continue to work to lift the tire gradually, the two forklift arms stop moving, and the vehicle can be dragged after the clamping action is completed.

Example 2

As shown in fig. 2 to 7, the present embodiment relates to a four-wheel drive two-claw vehicle transfer robot, which includes, as shown in fig. 6: a frame 100, the frame 100 having a straight-line structure; the active walking device 140 is installed on two ends of the frame 100, and is used for driving the frame 100 to move; the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable, so that the wheels can be lifted off the ground by moving in opposite directions or in opposite directions after being inserted; and a universal wheel 340, wherein the universal wheel 340 is installed on the left fork arm 200 and the right fork arm 300 to meet the driving requirements of the vehicle transfer robot.

The middle of the frame 100, which is on the same side as the left yoke 200 and the right yoke 300, is provided with a photoelectric sensor 400 for detecting parameters such as the position of a vehicle, the distance between tires of the vehicle, and the like.

The left fork arm 200 and the right fork arm 300 are respectively provided with a hub limiting seat 330 at the positions corresponding to the wheels. As shown in fig. 2, a tire bracket 331 is mounted in the hub stopper 330.

As shown in fig. 3 and 4, the tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343. The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. The diameters of all or two or more rows of the rolling sleeves 336 far from the transverse support 3381 are gradually reduced as the distance from the transverse support 3381 increases. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 331 and the upper surface of the left fork arm 200 or the right fork arm 300. The outermost row of rolling sleeves 336 is a triangular pad 339. The transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are provided at the bottom of the first rear support 3384 and the second rear support 3386. When the tire bracket 331 is used, under the action of the extrusion force, the portion of the tire bracket 331 close to the tire deflects to the ground (because the front bracket and the rear bracket are rotatably connected, the front bracket close to the tire is pressed downwards, so that the front bracket portion rotates downwards by a certain angle); the tire climbs onto the tire holder 331 by the pressing force, and the deflection of the tire holder 331 is partially restored by the spring, so that the tire is separated from the ground to lift the vehicle.

The roller hub limiting seat 330 of the left fork arm 200 is positioned on the right side of the left fork arm, and the roller hub limiting seat 330 of the right fork arm 300 is positioned on the left side of the left fork arm, so that the left fork arm 200 and the right fork arm 300 move relatively when a vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted into the outer sides of the two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move relatively to lift the two rows of tires off the ground.

The left fork arm 200 and the right fork arm 300 are both connected with a fork arm moving device 310, the distance between the left fork arm 200 and the right fork arm 300 can be adjusted through the fork arm moving device 310, the fork arm moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail sliding block mechanism 313, a second guide rail sliding block mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left fork arm 200 or the right fork arm 300 and is simultaneously connected with the first guide rail sliding block mechanism 313 and the second guide rail sliding block mechanism 314, and the first guide rail sliding block mechanism 313 and the second guide rail sliding block mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110.

The frame 100 is composed of a front plate 110, a rear plate 120 and a middle connecting member 130, wherein the middle connecting member 130 is located in the middle of the frame 110, and two sides of the middle connecting member 130 are respectively fixedly connected with the middle of the front plate 110 and the middle of the rear plate 120.

As shown in fig. 3, the universal wheel 340 of the present embodiment includes a wheel 341, a hub 342, an axle 343, a rotating body 344, a bevel gear set 345, and a motor 348. The wheel 341 is mounted on an axle 343, and the axle 343 is fixedly mounted within the hub 342 by fasteners 349. The bevel gear set 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348. The hub 342 is located in the central hole of the rotating body 344, and the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected with the hub 342 of the wheel 341. The rotating body 344 is a cross roller bearing, and an outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300. The motor 348 drives the pinion gear 3452 through the reducer 347, and is mounted on the motor mount 346. The motor fixing bracket 346 is installed on the left yoke 200 or the right yoke 300. The bevel gear set is a spiral bevel gear with spiral teeth. The central axis of the pinion gear 3452 and the central axis of the ring gear 3451 are at an angle of 90 °.

When the universal wheel is used, the outer ring of the rotating body 4 is fixedly arranged on a base of equipment. When the motor 8 is not started, the inner ring and the outer ring of the rotating body 4 are relatively static, and the universal wheel cannot rotate freely. When the motor 8 is started, the motor 8 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 4 and the hub 2 to rotate by the angle α, while the outer ring of the rotating body 4 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the running time of the motor 8 can be adjusted to control the size of alpha at will, and the purpose of rotating the rolling direction of the wheel in any direction is achieved.

The using method of the embodiment is as follows: when the vehicle transfer robot receives a dispatching instruction of a control center, namely, the vehicle transfer robot reaches a waiting parking area according to a navigation path, the distance between the two forklift arms is adjusted at first, then the vehicle is moved to the vehicle at a low speed until the transferred vehicle completely enters the robot transfer area, the two forklift arms move relatively afterwards until the wheel hub limiting seats on the forklift arms are contacted with the tire, the two forklift arms continue to work to lift the tire gradually, the two forklift arms stop moving, and the vehicle can be dragged after the clamping action is completed.

The utility model discloses the part that does not relate to all is the same with prior art or can adopt prior art to realize.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A four-wheel drive two-claw vehicle transfer robot, the robot comprising:

the frame is of a straight-line structure;

the driving walking device is arranged on two ends of the frame and used for driving the frame to move;

the left fork arm and the right fork arm are respectively arranged on the same side of the frame, and the distance between the left fork arm and the right fork arm is adjustable;

the universal wheel is arranged on the left fork arm and the right fork arm and comprises a wheel, a rotating body, a bevel gear set and a motor; the bevel gear set comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is located the centre bore of rotator, just the inner circle of rotator and ring gear inboard are with wheel hub fixed connection respectively, and driving motor drives the wheel initiative through driving the bevel gear group and turns to.

2. The four-wheel drive two-claw vehicle transfer robot of claim 1, wherein a photoelectric sensor is disposed on the frame in the middle of the same side as the left and right forks.

3. The four-wheel drive two-claw vehicle transfer robot of claim 1, wherein a wheel hub limiting seat is mounted on each of the left and right forks opposite to the wheel, and a tire carrier is mounted in the wheel hub limiting seat.

4. The four wheel drive two claw vehicle transfer robot of claim 3 wherein the tire carrier includes a rolling assembly, a fixed block, and a spring;

the rolling assembly comprises a rolling shaft sleeve, roller shafts and a shaft bracket, the rolling shaft sleeve is sleeved on the roller shafts, and the roller shafts are arranged in two rows or more than two rows and are arranged on the shaft bracket;

the shaft bracket comprises a transverse bracket, two first longitudinal brackets and one or more second longitudinal brackets; the transverse bracket is positioned at the rear side of the rolling assembly; all the first longitudinal supports and the second longitudinal supports are parallel to each other; the first longitudinal support is two sheet structures which are in rotary connection and respectively comprises a first rear side support and a front side support, and the second longitudinal support is two sheet structures which are in rotary connection and respectively comprises a second rear side support and a second front side support; the first rear side brackets are positioned at the left side and the right side of the rolling assembly, and the second rear side brackets are positioned in the middle of the rolling assembly and are fixedly connected with the transverse bracket; the roller shaft is arranged between the two longitudinal brackets;

a first fixed block is fixedly arranged on the outer side of the first rear side bracket end of the first longitudinal bracket, a third fixed block is fixedly arranged on the outer side of the front side bracket end of the first longitudinal bracket, and a second fixed block is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket of the first longitudinal bracket; one end of the sheet-shaped spring is fixed on the first fixing block and penetrates through the second fixing block and the third fixing block.

5. The four-wheel drive two-claw vehicle transfer robot of claim 4, wherein the tire carrier is fixedly connected to the hub holder by a first rear bracket; the diameters of all or more than two rows of the rolling shaft sleeves far away from the transverse bracket are gradually reduced along with the distance between the rolling shaft sleeves and the transverse bracket; the height difference of more than or equal to 10mm exists between the upper surface of the tire bracket and the upper surface of the left fork arm or the right fork arm; the outermost row of rolling shaft sleeves are triangular cushion blocks; the transverse support is of a block structure, and one or more transverse fixing supports are arranged at the bottoms of the first rear side support and the second rear side support.

6. The four-wheel drive two-claw vehicle transfer robot of claim 3, wherein the hub retainer of the left fork arm is located on the left side of the robot and the hub retainer of the right fork arm is located on the right side of the robot, such that the left fork arm and the right fork arm move away from each other when the vehicle is lifted off the ground; or the roller hub limiting seat of the left fork arm is positioned on the right side of the left fork arm, the roller hub limiting seat of the right fork arm is positioned on the left side of the right fork arm, and the left fork arm and the right fork arm move relatively when the vehicle is lifted off the ground.

7. The four-wheel two-claw vehicle transfer robot of claim 1, wherein the left and right forks are each connected to a fork arm moving device and the distance between the left and right forks is adjustable by the fork arm moving device, the fork arm moving device comprises a moving motor, an L-shaped mounting plate, a first guide rail slider mechanism, a second guide rail slider mechanism and a rack, the L-shaped mounting plate is connected to the left or right forks and is also connected to the first guide rail slider mechanism and the second guide rail slider mechanism, and the first guide rail slider mechanism and the second guide rail slider mechanism are fixed to the frame; the movable motor is arranged on the L-shaped mounting plate, the output shaft of the movable motor is provided with a driving gear, and the driving gear is meshed with a rack fixed on the frame.

8. The four wheel drive two claw vehicle handling robot of claim 1 wherein the wheels of the universal wheels are mounted on axles that are fixedly mounted within hubs by fasteners.

9. The four-wheel two-claw vehicle transfer robot of claim 1, wherein the rotating body is a cross roller bearing, an outer race of the cross roller bearing is fixed to the left yoke or the right yoke, the motor drives the pinion gear through a speed reducer and is mounted on a motor mount, the motor mount is mounted on the left yoke or the right yoke, the bevel gear set is a spiral bevel gear with spiral teeth, and a central axis of the pinion gear forms an angle of 90 ° with a central axis of the ring gear.

10. The four-wheel drive two-claw vehicle transfer robot of claim 1, wherein the frame is comprised of a front plate, a rear plate and a middle connector, the middle connector is located at the middle of the frame, and both sides of the middle connector are fixedly connected with the middle of the front plate and the middle of the rear plate respectively.

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