CN214195755U - Telescopic fork arm and vehicle carrying robot with same - Google Patents

Abstract

The utility model belongs to the technical field of intelligence is parked, a scalable yoke and have its vehicle transfer robot is disclosed. The fork arm comprises a fork arm front part and a fork arm rear part, and the fork arm front part and the fork arm rear part are connected through a telescopic structure; the front part of the fork arm comprises a fork arm front plate and universal wheels, the rear part of the fork arm comprises a fork arm rear plate and a fork arm fixing plate which is vertical to the fork arm rear plate, and the fork arm is fixedly connected with a cross beam of the vehicle transfer robot through the fork arm fixing plate; the stretching structure comprises an electric telescopic push rod and a crossed roller guide rail, one end of the electric telescopic push rod is connected with the front plate of the fork arm, and the other end of the electric telescopic push rod is connected with the rear plate of the fork arm; and a crossed roller guide rail is arranged between the fork arm front plate and the fork arm rear plate. The fork arm is telescopic, so that the occupied space during no-load is greatly reduced, when vehicles are required to be placed side by side, the vehicle carrying robot can enter the parking lot only by a small space, the vehicle carrying work is completed, and the space utilization rate of the parking lot is improved.

Description

Telescopic fork arm and vehicle carrying robot with same

Technical Field

The utility model belongs to the technical field of intelligence is parked, a robot is parked to intelligence is related to, concretely relates to scalable yoke and have its vehicle transfer robot.

Background

The three-dimensional parking equipment has been developed for over ten years since the introduction of China, and the parking is increasingly tense due to the fact that urban land is increasingly scarce. Along with the improvement of living standard of people, the demand on the stereo garage with small floor area and high automation level is gradually increased. The most important equipment in the full-automatic three-dimensional parking garage is a vehicle carrying robot. Vehicle transfer robots of various structures have appeared in the market at present, wherein the vehicle transfer robot which adopts a fork arm to clamp a vehicle tire to enable a vehicle to be separated from the ground has a wide application prospect because of small volume, flexible movement and no need of site reconstruction or large-scale equipment construction.

However, the forks used in the conventional vehicle transfer robots have been found in use that the vehicle transfer robots are inserted into the bottom of the vehicle from the side, the length of the forks of the vehicle transfer robots is greater than the width of the vehicle, and if the vehicles are parked side by side in a parking space, a large space is left beside the vehicle for the vehicle transfer robots to use when transferring the vehicles. This is unfavorable for designing more parking stall in the parking area overall arrangement, and space utilization reduces.

Disclosure of Invention

In view of the technical problem existing in the prior art, the utility model discloses a to current vehicle transfer robot width when empty too big, need reserve the technical problem that great space is used for the preparation work of haulage vehicle, design a fork arm and vehicle transfer robot for vehicle transfer robot that can stretch out and draw back.

The utility model discloses a technical scheme as follows:

the utility model provides a scalable yoke 1, yoke 1 includes that yoke front portion 2 and yoke rear portion 3 are connected through extending structure 4 between front portion 2 of yoke and the yoke rear portion 3. Fork arm front portion 2 includes fork arm front bezel 5 and universal wheel 6, fork arm rear portion 3 includes fork arm backplate 7, with fork arm backplate 7 looks vertically fork arm fixed plate 8, the fork arm passes through fork arm fixed plate 8 and vehicle transfer robot's crossbeam fixed connection. The telescopic structure 4 comprises an electric telescopic push rod 9 and a crossed roller guide rail 10, wherein one end of the electric telescopic push rod 9 is connected with the fork arm front plate 5, and the other end of the electric telescopic push rod 9 is connected with the fork arm rear plate 7. And a crossed roller guide rail 10 is arranged between the fork arm front plate 5 and the fork arm rear plate 7.

In the technical scheme, when the electric telescopic push rod 9 extends, the front part 2 of the fork arm is pushed to move along the crossed roller guide rail 10, so that the fork arm 1 extends; when the electric telescopic push rod 9 is shortened, the front part 2 of the fork arm is pulled to press the crossed roller guide rail 10 to move, and the fork arm 1 is shortened.

In a further technical scheme, a wheel hub limiting seat 11 is arranged at a position, corresponding to a tire, of the fork arm 1, and a tire bracket 12 is installed in the wheel hub limiting seat 11. The tire carrier 12 includes a rolling assembly 13, a fixed block 14, and a spring 15. The rolling assembly 13 includes a rolling sleeve 16, a roller shaft 17 and a pedestal 18. The rolling shaft sleeves 16 are sleeved on the roller shafts 17, and the roller shafts 17 are arranged in two rows or more than two rows and are arranged on the shaft bracket 18. The pedestal 18 comprises a transverse support 19, two first longitudinal supports 20 and one or more second longitudinal supports 21. The lateral bracket 19 is located at the rear side of the rolling assembly 13. All the first longitudinal supports 20 and the second longitudinal supports 21 are parallel to each other. The first longitudinal support 20 is two sheet structures which are rotatably connected, namely a first rear support 22 and a front support 23, and the second longitudinal support 21 is two sheet structures which are rotatably connected, namely a second rear support 24 and a front support 23. The first rear side bracket 22 is located at the left and right sides of the rolling assembly 13, and the second rear side bracket 24 is located at the middle of the rolling assembly 13 and is fixedly connected with the transverse bracket 19. The roller axle 17 is mounted between two longitudinal brackets. A first fixing block 25 is fixedly arranged on the outer side of the first rear side bracket 22 end of the first longitudinal bracket 20, a third fixing block 26 is fixedly arranged on the outer side of the front side bracket 23 end of the first longitudinal bracket, and a second fixing block 27 is fixedly arranged on the outer side of the front side bracket 23 close to the rotary connecting structure. One end of the leaf spring 15 is fixed to the first fixing block 24 and passes through the second fixing block 27 and the third fixing block 26.

In a further embodiment, the tire carrier 12 is fixedly connected to the hub limiting seat 11 through the first rear bracket 22. Still further, the diameters of all or two or more rows of the rolling bushes 16 remote from the lateral support 19 are gradually reduced with increasing distance from the lateral support 19. Still further, the outermost row of rolling sleeves 16 is a triangular pad 28. Still further, the transverse bracket 19 is a block structure, and one or more transverse fixing brackets 29 are arranged at the bottom of the first rear bracket 22 and the second rear bracket 24.

In a further technical scheme, the universal wheel 6 comprises a wheel 30, a rotating body 31, a bevel gear set 32 and a motor 33; the bevel gear set 32 includes a horizontally disposed ring gear 34 and a pinion gear 35 driven by a motor 33; the wheel 30 is located in the central hole of the rotating body 31, the inner ring of the rotating body 31 and the inner side of the ring gear 34 are respectively and fixedly connected with the hub 36 of the wheel 30, and the driving motor 33 drives the wheel 30 to actively steer by driving the bevel gear set 32.

In a further technical solution, the wheel 30 of the universal wheel 6 is mounted on a wheel axle 37, the wheel axle 37 is fixedly mounted in a wheel hub 36 through a fixing member 38, the rotating body 31 is a cross roller bearing, an outer ring of the cross roller bearing is fixed on a yoke, the motor 33 drives a pinion 35 through a speed reducer 39 and is mounted on a motor fixing frame 40, the motor fixing frame 40 is mounted on the yoke, the bevel gear is a spiral bevel gear with spiral curved teeth, and an included angle between a central axis of the pinion 35 and a central axis of the ring gear 34 is 90 °.

When the universal wheel 6 is used, the outer ring of the rotating body 31 is fixedly mounted on the base of the equipment. When the motor 33 is not started, the inner ring and the outer ring of the rotating body 31 are relatively static, and the universal wheel cannot rotate freely. When the motor 33 is started, the motor 33 drives the pinion 35 to rotate, and the pinion 35 drives the ring gear 34 to rotate by an angle α, the ring gear 34 drives the inner ring of the rotating body 31 and the hub 36 to rotate by the angle α, while the outer ring of the rotating body 31 is fixed on the equipment base and cannot rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. Moreover, the speed and the running time of the motor 33 can be adjusted to control the magnitude of alpha at will, so as to achieve the purpose of rotating the rolling direction of the wheel in any direction.

The utility model also provides a vehicle transfer robot, vehicle transfer robot installs above-mentioned scalable yoke.

Scalable yoke or vehicle transfer robot's working process as follows: when the vehicle transfer robot is in a state of shortening the fork arm when the vehicle transfer robot is in idle load, and the occupied space is greatly reduced when the vehicle transfer robot stops beside a vehicle. When the vehicle transfer robot stretches the fork arm into the bottom of the vehicle, the electric telescopic push rod is controlled to extend to drive the fork arm to extend, so that the fork arm can lift four tires of the vehicle simultaneously. When the fork arm moves to the part of the tire close to the ground, after the adaptive tire bracket on the fork arm contacts the tire, continuously applying extrusion force to the tire; under the action of the extrusion force, the part of the tire bracket close to the tire deflects to a certain degree towards the ground (because the front side bracket and the rear side bracket are rotationally connected, the front side bracket close to the tire can be pressed downwards, so that the front side bracket part rotates downwards by a certain angle); the tyre climbs onto the tyre bracket under the action of the extrusion force, and the deflection of the tyre bracket is partially recovered under the action of the spring, so that the tyre is separated from the ground to support the vehicle. Particularly, the outermost rolling shaft sleeve is a triangular cushion block, one fillet of the triangle can be plugged into an included angle between the tire and the ground, and compared with a circular rolling shaft sleeve, the drop between the edge of the triangle and the ground is obviously reduced. That is, the tire carrier using the triangular pad block can lift the tire off the ground more easily than the tire carrier using only the circular rolling bearing housing. Meanwhile, the diameters of the rolling shaft sleeves, which are all or 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 angle of a sharp corner extending out of the triangular cushion block is smaller, the gradient of the tire needing to climb up when the tire is lifted up is smoother, and the energy required for lifting the vehicle off the ground is further reduced.

In the working process, the tire bracket automatically deflects downwards, the height difference between the tire bracket and the ground is reduced through the deflection, the sliding friction between the tire and the tire bracket can be converted into the rolling friction through the rolling assembly, the extrusion force required by the vehicle to be separated from the ground is greatly reduced, and the risk of tire burst caused by clamping the tire is greatly reduced. When the vehicle is separated from the ground, the deflection of the tire bracket automatically restores a part under the action of the spring; when the vehicle is lowered, the deflection of the tire carrier will automatically be fully restored under the action of the spring. That is, the utility model discloses a tire bracket exists the self-adaptation effect.

The utility model discloses following beneficial effect has:

1. the fork arms are telescopic, so that the occupied space during no-load is greatly reduced, when vehicles need to be placed side by side, the vehicle carrying robot can enter the parking lot only by a small space, the vehicle carrying work is completed, and the space utilization rate of the parking lot is improved;

2. 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;

3. 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;

4. 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;

5. 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 plan view of a yoke according to embodiment 1 of the present invention;

fig. 2 is a side view of a yoke according to embodiment 1 of the present invention;

fig. 3 is a schematic structural view of a universal wheel according to embodiment 1 of the present invention;

fig. 4 is a cross-sectional view of a universal wheel according to embodiment 1 of the present invention;

fig. 5 is a schematic structural view of a tire carrier according to embodiment 2 of the present invention;

fig. 6 is a bottom view of another tire carrier according to embodiment 2 of the present invention;

fig. 7 is a schematic view illustrating a gradual change in the diameter of the rolling sleeve according to embodiment 2 of the present invention;

wherein, 1 is a yoke, 2 is a front part of the yoke, 3 is a rear part of the yoke, 4 is a telescopic structure, 5 is a front plate of the yoke, 6 is a universal wheel, 7 is a rear plate of the yoke, 8 is a fixing plate of the yoke, 9 is an electric telescopic push rod, 10 is a cross roller guide rail, 11 is a wheel hub limiting seat, 12 is a tire bracket, 13 is a rolling component, 14 is a fixing block, 15 is a spring, 16 is a rolling shaft sleeve, 17 is a roller shaft, 18 is a shaft bracket, 19 is a transverse bracket, 20 is a first longitudinal bracket, 21 is a second longitudinal bracket, 22 is a first rear side bracket, 23 is a front side bracket, 24 is a second rear side bracket, 25 is a first fixing block, 26 is a third fixing block, 27 is a second fixing block, 28 is a cushion block, 29 is a fixing bracket, 30 is a wheel, 31 is a rotating body, 32 is a bevel gear set, 33 is a motor, 34 is a ring gear, 35 is a pinion, 36 is a wheel hub, 37 is a wheel shaft, 38 is a fixing part, 39 is a speed reducer, and 40 is a motor fixing frame.

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 and 2, the present embodiment relates to a telescopic yoke, wherein the yoke 1 comprises a yoke front part 2 and a yoke rear part 3, and the yoke front part 2 and the yoke rear part 3 are connected through a telescopic structure 4. Fork arm front portion 2 includes fork arm front bezel 5 and universal wheel 6, fork arm rear portion 3 includes fork arm backplate 7, with fork arm backplate 7 looks vertically fork arm fixed plate 8, the fork arm passes through fork arm fixed plate 8 and vehicle transfer robot's crossbeam fixed connection. The telescopic structure 4 comprises an electric telescopic push rod 9 and a crossed roller guide rail 10, wherein one end of the electric telescopic push rod 9 is connected with the fork arm front plate 5, and the other end of the electric telescopic push rod 9 is connected with the fork arm rear plate 7. And a crossed roller guide rail 10 is arranged between the fork arm front plate 5 and the fork arm rear plate 7.

As shown in fig. 3 and 4, the universal wheel 6 includes a wheel 30, a rotating body 31, a bevel gear set 32 and a motor 33; the bevel gear set 32 includes a horizontally disposed ring gear 34 and a pinion gear 35 driven by a motor 33; the wheel 30 is located in the central hole of the rotating body 31, the inner ring of the rotating body 31 and the inner side of the ring gear 34 are respectively and fixedly connected with the hub 36 of the wheel 30, and the driving motor 33 drives the bevel gear set 32 to drive the wheel 30 to actively steer.

The wheel 30 of the universal wheel 6 is mounted on a wheel shaft 37, the wheel shaft 37 is fixedly mounted in a wheel hub 36 through a fixing piece 38, the rotating body 31 is a crossed roller bearing, the outer ring of the crossed roller bearing is fixed on a yoke, the motor 33 drives a pinion 35 through a speed reducer 39 and is mounted on a motor fixing frame 40, the motor fixing frame 40 is mounted on the yoke, the bevel gear is a spiral bevel gear with arc teeth, and the included angle between the central axis of the pinion 35 and the central axis of the annular gear 34 is 90 degrees.

The fork arm 1 is equipped with the spacing seat of wheel hub 11 corresponding to the position of tire, install tire bracket 12 in the spacing seat of wheel hub 11.

When the electric telescopic push rod 9 extends, the front part 2 of the fork arm is pushed to move along the crossed roller guide rail 10, so that the fork arm 1 extends; when the electric telescopic push rod 9 is shortened, the front part 2 of the fork arm is pulled to press the crossed roller guide rail 10 to move, and the fork arm 1 is shortened.

When the universal wheel 6 is used, the outer ring of the rotating body 31 is fixedly mounted on the base of the equipment. When the motor 33 is not started, the inner ring and the outer ring of the rotating body 31 are relatively static, and the universal wheel cannot rotate freely. When the motor 33 is started, the motor 33 drives the pinion 35 to rotate, and the pinion 35 drives the ring gear 34 to rotate by an angle α, the ring gear 34 drives the inner ring of the rotating body 31 and the hub 36 to rotate by the angle α, while the outer ring of the rotating body 31 is fixed on the equipment base and cannot rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. Moreover, the speed and the running time of the motor 33 can be adjusted to control the magnitude of alpha at will, so as to achieve the purpose of rotating the rolling direction of the wheel in any direction.

The present embodiment also relates to a vehicle transfer robot to which the above-described retractable yoke 1 is mounted.

Example 2

The present embodiment relates to a telescopic yoke 1, wherein the yoke 1 has all the structural features of the yoke 1 in embodiment 1, and further has the following structural features:

as shown in fig. 5 to 7, the tire carrier 12 includes a rolling assembly 13, a fixed block 14, and a spring 15. The rolling assembly 13 includes a rolling sleeve 16, a roller shaft 17 and a pedestal 18. The rolling shaft sleeves 16 are sleeved on the roller shafts 17, and the roller shafts 17 are arranged in two rows or more than two rows and are arranged on the shaft bracket 18. The pedestal 18 comprises a transverse support 19, two first longitudinal supports 20 and one or more second longitudinal supports 21. The lateral bracket 19 is located at the rear side of the rolling assembly 13. All the first longitudinal supports 20 and the second longitudinal supports 21 are parallel to each other. The first longitudinal support 20 is two sheet structures which are rotatably connected, namely a first rear support 22 and a front support 23, and the second longitudinal support 21 is two sheet structures which are rotatably connected, namely a second rear support 24 and a front support 23. The first rear side bracket 22 is located at the left and right sides of the rolling assembly 13, and the second rear side bracket 24 is located at the middle of the rolling assembly 13 and is fixedly connected with the transverse bracket 19. The roller axle 17 is mounted between two longitudinal brackets. A first fixing block 25 is fixedly arranged on the outer side of the first rear side bracket 22 end of the first longitudinal bracket 20, a third fixing block 26 is fixedly arranged on the outer side of the front side bracket 23 end of the first longitudinal bracket, and a second fixing block 27 is fixedly arranged on the outer side of the front side bracket 23 close to the rotary connecting structure. One end of the leaf spring 15 is fixed to the first fixing block 24 and passes through the second fixing block 27 and the third fixing block 26.

The tire bracket 12 is fixedly connected with the hub limiting seat 11 through a first rear bracket 22. The diameters of all or two or more rows of the rolling bushes 16 remote from the transverse support 19 are progressively reduced with increasing distance from the transverse support 19. The outermost row of rolling sleeves 16 is a triangular pad 28. The transverse bracket 19 is a block structure, and one or more transverse fixing brackets 29 are arranged at the bottoms of the first rear bracket 22 and the second rear bracket 24.

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 (7)

1. The telescopic fork arm is characterized in that the fork arm comprises a fork arm front part and a fork arm rear part, and the fork arm front part and the fork arm rear part are connected through a telescopic structure; the front part of the fork arm comprises a fork arm front plate and universal wheels, the rear part of the fork arm comprises a fork arm rear plate and a fork arm fixing plate which is vertical to the fork arm rear plate, and the fork arm is fixedly connected with a cross beam of the vehicle transfer robot through the fork arm fixing plate; the telescopic structure comprises an electric telescopic push rod and a crossed roller guide rail, one end of the electric telescopic push rod is connected with the front plate of the fork arm, and the other end of the electric telescopic push rod is connected with the rear plate of the fork arm; and a crossed roller guide rail is arranged between the fork arm front plate and the fork arm rear plate.

2. The retractable yoke as claimed in claim 1, wherein the yoke is provided with a hub limiting seat corresponding to the position of the tire, and the tire bracket is mounted in the hub limiting seat.

3. The retractable yoke of claim 2 wherein the tire carrier includes a rolling assembly, a fixed block, and a spring; the rolling assembly comprises a rolling shaft sleeve, a roller shaft and a shaft bracket; the rolling shaft sleeves are sleeved on 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.

4. The retractable yoke of claim 3 wherein the tire carrier is fixedly attached 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 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.

5. The retractable yoke of claim 1 wherein the universal wheel 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 respectively with the wheel hub fixed connection of wheel, driving motor drives the initiative of wheel through driving the bevel gear group and turns to.

6. The retractable yoke as claimed in claim 5, wherein the wheel of the universal wheel is mounted on a wheel shaft, the wheel shaft is fixedly mounted in the wheel hub through a fixing member, the rotating body is a cross roller bearing, an outer ring of the cross roller bearing is fixed on the yoke, the motor drives a pinion gear through a speed reducer and is mounted on a motor mount, the motor mount is mounted on the yoke, the bevel gear 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.

7. A vehicle transfer robot, characterized in that it is equipped with a telescopic yoke according to any of claims 1-6.

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