CN214402953U

CN214402953U - Automobile carrying robot

Info

Publication number: CN214402953U
Application number: CN202022976485.1U
Authority: CN
Inventors: 顾佳伟; 佟坤; 徐升阳
Original assignee: Huaxiao Precision Suzhou Co ltd
Current assignee: Huaxiao Precision Suzhou Co ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-10-15
Anticipated expiration: 2030-12-08

Abstract

The utility model provides a pair of car transfer robot belongs to vehicle transport technical field, include: the bottom end of the walking unit is provided with a driving wheel; the supporting frame is arranged at the top end of the walking unit; the telescopic fork arms are symmetrically arranged in the width direction of the supporting frame; the telescopic fork arm is connected with the support frame in a sliding manner and is provided with an inserting arc surface suitable for contacting with an automobile tire; the first driving device is arranged on the supporting frame and used for driving the telescopic fork arm to stretch along the width direction of the supporting frame. The supporting frame of the utility model drives into the bottom of the automobile along the width direction of the automobile, the first driving device drives the telescopic fork arm to extend outwards, so that the inserting cambered surface of the telescopic fork arm is contacted with the automobile tire, and upward tension is generated to jack the automobile tire; the first driving device drives the telescopic fork arm to retract, so that the automobile tire falls to the ground; the automobile transfer robot is low in overall height, small in length, compact in structure, small in space required by work and wide in application range.

Description

Automobile carrying robot

Technical Field

The utility model relates to a vehicle transport technical field, concretely relates to car transfer robot.

Background

In an automobile production line and an automatic parking lot, vehicle conveying is an important link, and an automobile carrying robot can play a great role.

The existing automobile carrying robot has the defects of single service model, longer length, higher height, large space required by work and difficult control.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the automobile transfer robot among the prior art structure size great, and the single defect of service motorcycle type to a car transfer robot is provided.

In order to solve the technical problem, the utility model provides a pair of car transfer robot, include:

the bottom end of the walking unit is provided with a driving wheel;

the supporting frame is arranged at the top end of the walking unit;

the two groups of telescopic fork arms are symmetrically arranged in the width direction of the supporting frame; the telescopic fork arm is connected with the support frame in a sliding manner and is provided with an inserting arc surface suitable for being in contact with an automobile tire;

the first driving device is arranged on the supporting frame and used for driving the telescopic fork arm to stretch along the width direction of the supporting frame.

Preferably, the supporting frame is provided with a transmission plate which is arranged in a sliding mode in the width direction, and the telescopic fork arms are hinged to the transmission plate.

Preferably, the telescopic yoke comprises:

the fork arm body is provided with an insertion groove with an outward opening, and a support shaft suitable for being in contact with an automobile tire is arranged in the insertion groove.

Preferably, the telescopic yoke further comprises:

the auxiliary wheel is arranged at the bottom end of the fork arm body and supported on the ground.

Preferably, the support shaft is rotatably sleeved with a plurality of bearings, and the bearings are suitable for rolling contact with automobile tires.

Preferably, the walking unit includes:

a walking frame;

the two connecting plates are symmetrically arranged on two sides of the walking frame, and the driving wheels are rotatably arranged on the connecting plates;

the slewing bearing is arranged at the center of the top end of the walking frame, and the supporting frame is connected to the outer ring of the slewing bearing;

the second driving device is arranged on the walking frame and used for driving the driving wheel to rotate;

and the control device is arranged on the walking frame and used for controlling the relative rotating angle between the supporting frame and the walking frame.

Preferably, one end of the connecting plate is hinged to the walking frame, and the other end of the connecting plate is connected to the walking frame in a vertically floating manner.

Preferably, the floating ends of the two connecting plates are diagonally arranged.

Preferably, the bottom end of the supporting frame is provided with a plurality of symmetrically arranged universal casters, and the universal casters are supported on the ground.

Preferably, the method further comprises the following steps:

an obstacle sensor provided on an outer edge of the support frame.

The utility model discloses technical scheme has following advantage:

1. the utility model provides an automobile transfer robot, the supporting frame drives into the bottom of the automobile along the width direction of the automobile, and the width direction of the supporting frame is vertical to the width direction of the automobile at the moment; the first driving device drives the telescopic fork arm to extend outwards, so that the inserting and taking arc surface of the telescopic fork arm is contacted with an automobile tire, and upward tension is generated to jack the automobile tire; the telescopic fork arm continues to extend until the automobile tire is borne on the telescopic fork arm, and the lifting action of the automobile is completed; after the automobile is carried to a designated position, the first driving device drives the telescopic fork arm to retract, so that the automobile tire falls to the ground; after the vehicle falling action is completed, the walking unit carries the supporting frame to drive away from the bottom of the vehicle. The automobile transfer robot has the advantages of low overall height, small length, compact structure and small space required by work; the flexible length of flexible yoke can finely tune according to the motorcycle type of different length, and then can serve the motorcycle type of different length, and accommodation is wider.

2. The utility model provides a car transfer robot, flexible yoke is articulated with the transmission plate, can absorb the difference in height on ground, makes flexible yoke have better adaptability.

3. The utility model provides a car transfer robot inserts the setting in year groove, has further reduced car transfer robot's bearing height.

4. The utility model provides a car transfer robot, auxiliary wheel and ground contact provide the bearing effect for the yoke body.

5. The utility model provides a car transfer robot, back shaft pass through bearing and car tire rolling contact, reduce the frictional resistance between lift in-process back shaft and car tire.

6. The utility model provides a car transfer robot, when the ground unevenness that traveles, the connecting plate can fluctuate, makes the drive wheel laminate with ground all the time, lets car transfer robot even running all the time.

7. The utility model provides a car transfer robot, universal castor on the braced frame increases braced frame's bearing capacity.

8. The utility model provides a car transfer robot, barrier sensor provide non-contact protection for car transfer robot, avoid the collision damage.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a top view of the automobile transfer robot provided in the present invention.

Fig. 2 is a schematic structural view of the walking unit.

Fig. 3 is a bottom view of fig. 2.

Fig. 4 is a schematic structural view of the support frame.

Fig. 5 is a schematic view of the connection relationship between the telescopic yoke and the support frame.

Fig. 6 is a schematic view showing a driving relationship between the first driving device and the ball screw.

Fig. 7 is a schematic structural view of the telescopic yoke.

Description of reference numerals:

1. a traveling unit; 2. a support frame; 3. a telescopic yoke; 4. a first driving device; 5. a walking frame; 6. a slewing bearing; 7. a control device; 8. a second driving device; 9. a gear; 10. fixing the connecting plate; 11. a connecting plate; 12. hinging seat; 13. a spring; 14. a second driven wheel; 15. a second sprocket; 16. a drive wheel; 17. safe edge contact; 18. an obstacle sensor; 19. a universal caster; 20. an eye bolt; 21. a U-shaped groove; 22. a drive plate; 23. a suspension seat; 24. a first sprocket; 25. a first driven wheel; 26. a ball screw; 27. a slide rail; 28. a yoke body; 29. an auxiliary wheel; 30. a plug-in slot; 31. a bearing; 32. a rotating sleeve; 33. a hinged seat; 34. hinging a shaft; 35. and supporting the shaft.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The car transfer robot that this embodiment provided includes: a walking unit 1, a support frame 2, a telescopic fork arm 3 and a first driving device 4.

As shown in fig. 1, the number of the walking units 1 is two, and the two walking units 1 are symmetrically distributed at two ends of the top of the supporting frame 2 in front and back; the four telescopic fork arms 3 are symmetrically arranged at the left end and the right end of the supporting frame 2; the first driving device 4 is disposed at the top end of the support frame 2 and can drive the telescopic fork 3 to extend and contract in the width direction of the support frame 2.

As shown in fig. 2 and 3, the walking unit 1 includes: a traveling frame 5, a slewing bearing 6, a control device 7, and a second drive device 8; a sinking surface is arranged at the center of the top end of the walking frame 5, and the inner ring of the slewing bearing 6 is connected to the center of the sinking surface; the left side and the right side of the walking frame 5 are vertically provided with connecting plates 11, one end of each connecting plate 11 is rotatably connected to a hinged support 12 at the bottom end of the walking frame 5, the other end of each connecting plate 11 is in floating connection with the walking frame 5 through a spring 13, and the floating ends of the two connecting plates 11 are arranged diagonally; when the ground is uneven, the connecting plate 11 can float up and down, so that the driving wheel is always attached to the ground, and the automobile transfer robot can operate stably all the time. The driving wheel 16 is rotatably connected to the connecting plate 11 through a connecting shaft, and a second driven wheel 14 is sleeved on the connecting shaft; the second driving device 8 is a motor and is connected to the bottom of the walking frame 5, a second chain wheel 15 is connected to the driving end of the second driving device 8, and the second chain wheel 15 extends out of the connecting plate 11; the second chain wheel 15 and the second driven wheel 14 are wound and connected through a chain to form a linkage structure, and the second driving device 8 drives the second chain wheel 15 to rotate, so as to drive the driving wheel 16 to rotate. The control device 7 is an encoder, is connected to the walking frame 5, and is in signal connection with the second driving device 8; a gear 9 is connected to the driving end of the control device 7, the gear 9 is meshed with the external teeth of the slewing bearing 6, and the top end of the outer ring of the slewing bearing 6 is connected with a fixed connecting plate 10; the control device 7 determines and controls the gear 9 to rotate according to the received rotating speed and the received rotating angle of the second driving device 8, so that the inner ring and the outer ring of the slewing bearing 6 rotate relatively, namely the fixed connecting plate 10 and the walking frame 5 rotate relatively, and the in-situ turning of the walking unit 1 is realized.

As shown in fig. 1 and 4, the supporting frame 2 is connected to the fixed connecting plate 10, and both the front end and the tail end of the supporting frame 2 are provided with safety contact edges 17; the obstacle sensors 18 are four and are respectively arranged at four edges of the supporting frame 2, and the obstacle sensors 18 can provide non-contact protection; four universal casters 19 are symmetrically connected to the bottom end of the support frame 2, and the universal casters 19 are supported on the ground to increase the bearing capacity of the support frame 2; four lifting bolts 20 are uniformly distributed and connected to the top end of the supporting frame 2, and the lifting bolts 20 are used as lifting fulcrums of the whole structure; the left end and the right end of the supporting frame 2 are respectively provided with two U-shaped grooves 21 arranged at intervals, and the openings of the U-shaped grooves 21 face to the outside.

As shown in fig. 5 and 6, the four telescopic jibs 3 are slidably connected to the top end of the supporting frame 2, the telescopic jibs 3 correspond to the U-shaped grooves 21 one by one, and the telescopic jibs 3 in the contracted state are covered over the U-shaped grooves 21. A ball screw 26 and a slide rail 27 are respectively arranged on two sides of the U-shaped groove 21, a first slide block is arranged on the ball screw 26 in a sliding manner, a second slide block is arranged on the slide rail 27 in a sliding manner, and the transmission plate 22 is connected between the first slide block and the second slide block; the telescopic fork arm 3 is hinged to the transmission plate 22 through a suspension seat 23, and the telescopic fork arm 3 can rotate up and down to adapt to the uneven bottom surface. The first driving device 4 is a motor and is connected to the supporting frame 2, and a first chain wheel 24 is connected to the driving end of the first driving device 4; the end part of the ball screw 26 is connected with a first driven wheel 25, and the first driven wheel 25 and the first chain wheel 24 are wound through a chain to form a linkage structure; the first driving device 4 drives the first chain wheel 24 to rotate, and the first driven wheel 25 drives the ball screw 26 to rotate, so that the telescopic fork arm 3 slides towards and away from the supporting frame 2.

As shown in fig. 7, the telescopic yoke 3 includes: a yoke body 28 and an auxiliary wheel 29; the fork arm body 28 is provided with a loading slot 30 with an outward opening, and the loading slot 30 is vertically communicated with the U-shaped slot 21; two support shafts 35 which are arranged at intervals are arranged between the two inner side walls of the insertion groove 30, and the support shafts 35 are positioned at the lower middle position of the insertion groove 30; a plurality of groups of bearings 31 are sleeved on the support shaft 35 close to the opening of the insertion groove 30 at intervals, and adjacent groups of bearings 31 are abutted through rotating sleeves 32. The auxiliary wheels 29 are connected to the bottom of the fork arm body 28 and symmetrically arranged on two sides of the insertion groove 30, and the auxiliary wheels 29 can enhance the bearing capacity of the telescopic fork arm 3. The bottom end of the fork arm body 28 is provided with two hinge seats 33 arranged at intervals, and hinge shafts 34 are fixedly connected to the hinge seats 33; one end of the suspension seat 23 is rotatably connected with the hinge shaft 34, and the other end is fixedly connected with the transmission plate 22.

The working principle is as follows:

the automobile carrying robot drives into the bottom of the automobile along the width direction of the automobile, at the moment, the width direction of the supporting frame 2 is vertical to the width direction of the automobile, and the telescopic fork arm 3 is over against the tire of the automobile;

the first driving device 4 drives the telescopic fork arm 3 to extend outwards, and a bearing 31 on the telescopic fork arm 3 is in rolling contact with an automobile tire and generates upward tension to jack the automobile tire;

the telescopic fork arm 3 continues to extend until the tire of the automobile is supported between the two support shafts 35, so that the lifting action of the automobile is completed;

after the automobile is transported to a designated position, the first driving device 4 drives the telescopic fork arm 3 to retract, so that the automobile tire falls to the ground;

after the vehicle falling action is finished, the automobile carrying robot drives away from the bottom of the vehicle.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. An automobile transfer robot, comprising:

a walking unit (1) with a driving wheel (16) at the bottom end;

the supporting frame (2) is arranged at the top end of the walking unit (1);

the telescopic fork arms (3) are provided with two groups and symmetrically arranged in the width direction of the supporting frame (2); the telescopic fork arm (3) is connected with the supporting frame (2) in a sliding mode, and the telescopic fork arm (3) is provided with an inserting arc surface suitable for being in contact with an automobile tire;

the first driving device (4) is arranged on the supporting frame (2) and used for driving the telescopic fork arm (3) to stretch along the width direction of the supporting frame (2).

2. Automotive handling robot according to claim 1, characterised in that said supporting frame (2) has, in the width direction, a transmission plate (22) arranged sliding, said telescopic fork arm (3) being hinged on said transmission plate (22).

3. Automotive handling robot according to claim 1, characterised in that said telescopic fork arm (3) comprises:

the fork arm body (28) is provided with an insertion loading groove (30) with an outward opening, and a support shaft (35) suitable for being in contact with a vehicle tire is arranged in the insertion loading groove (30).

4. The automotive transfer robot of claim 3, wherein the telescopic fork arm (3) further comprises:

and the auxiliary wheel (29) is arranged at the bottom end of the fork arm body (28), and the auxiliary wheel (29) is supported on the ground.

5. The automotive transfer robot of claim 3, wherein the support shaft (35) is rotatably journaled in a plurality of bearings (31), the bearings (31) adapted for rolling contact with automotive tires.

6. The automobile transfer robot of claim 1, wherein the walking unit (1) comprises:

a walking frame (5);

the two connecting plates (11) are symmetrically arranged on two sides of the walking frame (5), and the driving wheels (16) are rotatably arranged on the connecting plates (11);

the slewing bearing (6) is arranged at the center of the top end of the walking frame (5), and the supporting frame (2) is connected to the outer ring of the slewing bearing;

the second driving device (8) is arranged on the walking frame (5) and is used for driving the driving wheel (16) to rotate;

and the control device (7) is arranged on the walking frame (5) and used for controlling the relative rotating angle between the supporting frame (2) and the walking frame (5).

7. A vehicle transfer robot according to claim 6, wherein said connecting plate (11) is hingedly connected to said walking frame (5) at one end and floatably connected to said walking frame (5) at the other end.

8. Automotive transfer robot according to claim 7, characterized in that the floating ends of the two connection plates (11) are diagonally arranged.

9. The automotive transfer robot of claim 1, wherein the bottom end of the support frame (2) has a plurality of symmetrically disposed casters (19), the casters (19) being supported on the ground.

10. The automobile transfer robot of any one of claims 1-9, further comprising:

an obstacle sensor (18) provided on an outer edge of the support frame (2).