CN215212622U

CN215212622U - Modular mobile robot for realizing automobile transportation

Info

Publication number: CN215212622U
Application number: CN202121534343.8U
Authority: CN
Inventors: 苏刚
Original assignee: Zongheng Intelligent Shenyang Robot Technology Co ltd
Current assignee: Shenyang Shengke Intelligent Robot Technology Co ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-12-17
Anticipated expiration: 2031-07-07

Abstract

A modularized mobile robot for realizing automobile transportation belongs to the field of mechanical three-dimensional parking equipment. The device comprises a clamping mechanism, an auxiliary walking driving module, a walking follow-up module and an electric control system module, wherein two clamping guide modules of the clamping mechanism are symmetrically arranged at two ends of a middle beam, and clamping arm ends of the two clamping modules are arranged at the outer side; the walking driving module is connected with one end of the clamping guide module, and a rear beam is connected between the walking driving module and the clamping guide module; the two auxiliary walking driving modules are respectively connected to the end parts of the walking driving modules; the two walking follow-up modules are respectively connected to the other end of the clamping guide module and connected through the front beam, and the electric control system module is installed between the front beam and the middle beam and connected with a driving motor of each module. The invention controls the motors of the clamping guide module and the walking driving module through the electric control system module to drive the robot to walk and clamp or place the automobile tire. Simple structure, the equipment of being convenient for, the operation is steady.

Description

Modular mobile robot for realizing automobile transportation

Technical Field

The invention belongs to the field of mechanical three-dimensional parking equipment, and particularly relates to a modular mobile robot for realizing automobile transportation.

Background

The holding type automobile carrying robot is a core component in intelligent mechanical three-dimensional parking equipment, generally divided into an integral type and a split type, and the existing automobile carrying robot with a higher end is common in the split type. The split type automobile carrying robot is generally formed by connecting two robot bodies in a folding arm or connecting rod mode and the like, wherein each robot is responsible for carrying a group of automobile front wheels or a group of rear wheels, and the two robots cooperate to complete the carrying process of the whole automobile.

The length of each robot body of the clamp type automobile carrying robot is about 2 meters generally. When a unitary structural frame is used, it is costly to machine and the manufacturing, maintenance and servicing processes are greatly inconvenient. In order to solve the problems, the patent discloses a modular transfer robot structure, a robot frame with a large structure is split into a plurality of modular units, the requirement and the cost of processing equipment are greatly reduced, and inconvenience caused by operation on a large structure is avoided during assembly and maintenance.

Disclosure of Invention

In view of the above technical problems, the present invention provides a modular mobile robot for carrying automobiles, which realizes an integrated design of small parts of the mobile robot.

The purpose of the invention is realized by the following technical scheme:

the invention relates to a modular mobile robot for realizing automobile transportation, which comprises two clamping mechanisms, two auxiliary walking driving modules, two walking follow-up modules and two electric control system modules, wherein the two clamping mechanisms respectively comprise a clamping module and two clamping guide modules; the walking driving module is connected with one end of the clamping guide module, and a rear beam is connected between the walking driving module and the clamping guide module; the two auxiliary walking driving modules are respectively connected to the end parts of the walking driving modules; the two walking follow-up modules are respectively connected to the other end of the clamping guide module and connected through the front beam, and the electric control system module is installed between the front beam and the middle beam and connected with a driving motor of each module.

Furthermore, the clamping mechanism comprises a clamping guide module and a clamping module, one end of the clamping guide module is connected with the walking driving module, the other end of the clamping guide module is connected with the follow-up module, the sliding end of the clamping module is arranged in the guide groove of the clamping guide module, the driving mechanism of the clamping module is arranged on the inner side of the clamping guide module, and the end of the clamping arm is arranged on the outer side of the clamping guide module; the centre gripping guide module comprises two symmetrical lateral walls connected on the bottom plate, it has the notch to open on the bottom plate, both ends of both sides wall be respectively with walking drive module cooperation and with follow-up module complex link I, the symmetry is provided with the T template on one of them side wall, it has the through-hole to open on the lateral wall between two T templates, a driving chain I for the centre gripping module passes through, form between T template and bottom plate with the sliding end complex guide way of centre gripping module, the opposite side lateral wall outside is provided with the backup pad, the backup pad both ends symmetry be provided with the centre gripping arm piece on the driven rack of gear engagement.

Further, link I sets up inclined plane I at lateral wall both ends, sets up flat face I in I bottom on inclined plane, forms wedge end structure, all opens screw hole I on lateral wall top end face, inclined plane I and flat face I.

Furthermore, the angle beta between the inclined plane I and the straight plane I of the connecting end I is 5-60 degrees.

Furthermore, the clamping module comprises a driving mechanism, a transmission chain I, a lead screw, a fixed seat, clamping arms and a sliding end, wherein the driving mechanism is a clamping motor and is arranged at the inner side of the clamping guide module, an output chain wheel is arranged on an output shaft of the driving mechanism, the transmission chain wheel is connected with the transmission chain wheel on the lead screw through the transmission chain I, the two clamping arms are symmetrically arranged on the lead screw through the sliding end connected with a rotating piece respectively, the rotating piece is connected with the sliding end through a rotating shaft, a rolling wheel is also arranged on the rotating piece, one end of the sliding end is arranged in the guide groove and slides along the guide groove, and the other end of the sliding end is arranged on a rack of the clamping guide module; when the clamping arm is rotated and closed, the rotating part is meshed with the rack for transmission, and the rolling wheel on the rotating part is disengaged from the side edge of the rack; when the clamping arm is rotated and opened, the rolling wheel on the rotating part is contacted with the side edge of the supporting plate at the outer side of the rack and rolls along the side edge.

Furthermore, one end of the rotating part is connected with the clamping arm in a matched mode, the other end of the rotating part is connected with the sliding end through the rotating shaft, the angle alpha between the rotating axis of the rotating part and the vertical direction is 0.2-5 degrees, gear teeth meshed with the rack for transmission are arranged on the non-clamping side, when the gear is meshed with the rack, the clamping arm can rotate under the driving of the gear, a rolling wheel is arranged on the ground end, close to the rotating shaft, of the side of the clamping arm and used for limiting the rotation of the clamping arm when the gear is separated from the rack, and the sliding end of the clamping module is connected with the clamping arm through the rotating shaft.

Furthermore, the walking driving module comprises a walking driving motor, two walking modules, a coupler and a transmission mechanism, roller shafts I on the two walking modules are connected through the coupler, the walking driving motor is installed on one walking module, and the transmission mechanism comprises an output wheel arranged on an output shaft of the walking driving motor, a transmission wheel I arranged on the roller shaft corresponding to the output wheel and a transmission chain II arranged on the output wheel and the transmission wheel I.

Furthermore, the walking module comprises an installation frame I, a roller shaft I and a driving wheel II, wherein one end of the installation frame I is a connecting end II matched with the clamping guide module, the other end of the installation frame I is a connecting end III matched with the auxiliary driving module, the roller I is arranged in the installation frame I, the roller shaft I extends out of the installation frame I, and the driving wheel II is arranged on the roller shaft I; the connecting end III is characterized in that a connecting plate is arranged at the end I of the installation frame, a connecting key is arranged on one side of the connecting plate, holes are formed in the two sides of the connecting key and used for being connected with the auxiliary driving module, and a tensioning screw is further arranged on the other side of the connecting plate and used for tensioning between the two modules.

Furthermore, the auxiliary walking driving module comprises an installation frame II, a driving wheel, a roller II and a connecting end IV connected with the walking driving module, the roller II is installed in the installation frame II, a roller shaft II of the roller II extends out of one side of the installation frame II and is connected with the driving wheel III, one end of the installation frame II is provided with the connecting end IV connected with the walking driving module, and a key groove matched with the walking driving module is formed in the end face of the connecting end IV.

Further, two gyro wheels III of installation in walking follow-up module includes mounting bracket and the mounting bracket, and mounting bracket one end has the link V of being connected with the cooperation of centre gripping direction module, link V extends for the wedge-shaped plate by two curb plates of mounting bracket and constitutes, the lower surface of wedge-shaped plate comprises vertical face II, straight face IV, inclined plane III and straight face V, and the terminal surface of wedge-shaped plate is less than the root cross-section, and the upper surface of wedge-shaped plate is opened there is screw hole III.

The invention has the beneficial effects that:

1. the invention relates to a modular mobile robot, wherein a walking driving module and a walking follow-up module are respectively arranged at two ends of a clamping guide module, the tail end of the walking driving module is connected with an auxiliary walking driving module, and an electric control system module is arranged between a front beam and a middle beam and is connected with a driving motor of each module. The electric control system module controls motors of the clamping guide module and the walking driving module to drive the robot to walk and clamp or place the automobile tire. Simple structure, convenient assembly, stable operation and continuous action of clamping or releasing the tire.

2. The modularized clamping mechanism comprises a clamping guide module and a clamping module which are mutually matched and connected, wherein a guide groove matched with a sliding end of the clamping module is formed in the clamping guide module, a T-shaped plate matched with the sliding end is arranged on one side of the clamping guide module, and a supporting plate with a rack is arranged on the other side of the clamping guide module and is used for being meshed with gear teeth on a clamping arm for transmission, so that the rotation of the clamping arm after translation is realized and the clamping arm is folded; and two ends of the clamping guide module are respectively provided with a connecting end I matched with the walking driving module and a connecting end I matched with the follow-up module. The connecting end I is provided with an inclined plane I at two ends of the side wall, a straight plane I is arranged at the bottom of the inclined plane I to form a wedge-shaped end structure, and screw holes I are formed in the top end face of the side wall, the inclined plane I and the straight plane I. The connecting structure is convenient to connect and stable in connection.

3. The clamping arm of the clamping module is connected with the sliding end of the clamping module through a rotating part, one end of the rotating part is connected with the clamping arm in a matching mode, the other end of the rotating part is connected with the sliding end through a rotating shaft, the angle alpha between the rotating axis of the rotating part and the vertical direction is 0.2-5 degrees, gear teeth which are meshed with and driven by a rack are arranged on the non-clamping side, a rolling wheel is arranged on the grounding end of the non-clamping side, and the sliding end of the clamping module is connected with the clamping arm through the rotating shaft. When the clamping arm is rotated and closed, the rotating part is meshed with the rack for transmission, and the rolling wheel on the rotating part is disengaged from the side edge of the rack; when the clamping arm is rotated and opened, the rolling wheel on the rotating part is contacted with the side edge of the rack and rolls along the side edge.

4. The walking module of the invention drives the two walking modules to move synchronously through one walking driving motor, thereby ensuring the stable operation of the robot. The walking module has I complex link II with centre gripping direction module link, with auxiliary drive module complex link III, sets up the connecting plate at I end of installation frame, and the connecting key connection through setting up on it, auxiliary walking drive module has the keyway through opening on it, is connected with the connecting key cooperation of walking drive module, and the walking is followed up the module and is connected centre gripping direction module through the cooperation of wedge plate structure above that for the equipment is convenient between each module.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic structural view of the clamping guide module in fig. 1.

Fig. 3 is a schematic structural diagram of the clamping module in fig. 1.

Fig. 4 is a partial schematic view of the clamp arm of fig. 3.

Fig. 5 is a schematic structural diagram of the travel driving module in fig. 1.

Fig. 6 is a schematic view of the structure in the other direction of fig. 5.

Fig. 7 is a schematic structural diagram of the walking module in fig. 5.

Fig. 8 is a schematic structural view of the auxiliary walking driving module in fig. 1.

Fig. 9 is a schematic structural diagram of the follower module in fig. 1.

In the figure: 1. the clamping guide module comprises 11 side walls, 12 bottom plates, 13 connecting ends I, 131 inclined planes I, 132 straight planes I, 133 top end faces, 134 screw holes I, 14 racks, 15T-shaped plates, 16 through holes, 17 guide grooves and 18 support plates;

2. the clamping module comprises a clamping module, 21 clamping motors, 22 mounting seats, 23 transmission chains I, 24 lead screws, 25 fixing seats, 26 clamping arms, 27 sliding ends, 271 sliding grooves, 28 rotating pieces, 281 rotating shaft axes, 282 rolling wheels and 29 matching ends;

3. the device comprises a walking driving module, 31 walking driving motors, 32 walking modules, 321 mounting frames I and 322 rollers I and 323 roller shafts I and 324 wedge-shaped plates, 325 vertical surfaces I and 326 straight surfaces II, 327 inclined surfaces II and 328 straight surfaces III and 329 screw holes II; 33. connecting ends II and 34, connecting ends III and 341, connecting plates and 342, connecting keys, holes 343 and connecting screws 344; 35. the coupling, 36. the transmission mechanism, 361. the output wheel, 362. the transmission wheel I, 363. the transmission chain II; 37. a driving wheel II;

4. the auxiliary walking driving module 41 is used for installing frames II and 42, a driving wheel 43, rollers II 4 and 44, connecting ends IV and 45, roller shafts II and 46, driving wheels III and 47 and a key groove;

5. the servo module comprises a servo module, 51, a mounting frame, 511, a side plate, 52, rollers III, 53, a connecting end V, 531, a wedge-shaped plate, 532, vertical surfaces II, 533, a straight surface IV, 534, an inclined surface III, 535, a straight surface V, 54 and screw holes III;

6. an electronic control system module; 7. a front beam; 8. a middle beam; 9. a back beam.

Detailed Description

The invention is described in detail below with reference to the figures and examples.

Example (b): as shown in fig. 1, the modular mobile robot for realizing automobile transportation of the present invention comprises two clamping mechanisms, an auxiliary walking driving module 5, a walking driving module 3, a walking following module 4 and an electric control system module 6, wherein each of the two clamping mechanisms comprises a clamping module 2 and a clamping guide module 1, the two clamping guide modules 1 are symmetrically installed at two ends of a middle beam 8, and ends of clamping arms 26 of the two clamping modules 2 are disposed at the outer side; the walking driving module 3 is connected with one end of the clamping guide module 1, and a back beam 9 is connected between the walking driving module and the clamping guide module; the two auxiliary walking driving modules 5 are respectively connected with the end parts of the walking driving modules 3; the two walking follow-up modules 4 are respectively connected to the other end of the clamping guide module 1 and connected through a front beam 7, and the electric control system module 6 is installed between the front beam 7 and the middle beam 8 and connected with a driving motor of each module. The electric control system module 6 controls the motors of the clamping guide module 1 and the walking driving module 3 to drive the robot to walk and clamp or place the automobile tire.

Further, as shown in fig. 2-4, the clamping mechanism includes a clamping guide module 1 and a clamping module 2, one end of the clamping guide module 1 is connected with a walking driving module 3, the other end of the clamping guide module is connected with a follow-up module 4, the sliding end of the clamping module 2 is arranged in the guide groove of the clamping guide module 1, the driving mechanism of the clamping module 2 is arranged inside the clamping guide module 1, the clamping arm end is arranged outside the clamping guide module 1, and the driving mechanism drives the sliding end of the clamping module 2 to drive the clamping arm end to slide and turn along the clamping guide module 1, so as to realize clamping and closing of the clamping arm end.

Further, as shown in fig. 2, the clamping and guiding module 1 of the present embodiment is formed by connecting two symmetrical side walls 11 to a bottom plate 12, a notch is formed on the bottom plate 12, two ends of each of the two side walls 11 are respectively a connecting end i 13 matched with the traveling driving module 3 and the follower module 4, a T-shaped plate 15 is symmetrically arranged on one side wall 11, a through hole 16 is formed on a side wall between the two T-shaped plates 15 for a transmission chain i 23 of the clamping module 2 to pass through, a guiding groove 17 matched with a sliding end of the clamping module 2 is formed between the T-shaped plate 15 and the bottom plate 12, a supporting plate 18 is arranged outside the other side wall 11, and two ends of the supporting plate 18 are symmetrically provided with racks 17 engaged with gear teeth on the clamping arm rotating member 28 for transmission.

Further, as shown in fig. 2, in the connection end i 13 of the present embodiment, the two ends of the side wall 11 are provided with inclined surfaces i 131, the bottom of the inclined surface i 131 is provided with a flat surface i 132 to form a wedge-shaped end structure, and the top end surface 133 of the side wall 11, the inclined surface i 131 and the flat surface i 132 are all provided with screw holes i 134. The angle beta between the inclined surface I131 and the straight surface I132 is 5-60 degrees.

Further, as shown in fig. 3, the clamping module 2 includes a driving mechanism, a driving chain i 23, a lead screw 24, a fixing seat 25, clamping arms 26 and a sliding end 27, the driving mechanism is a clamping motor 21, and is disposed inside the clamping guide module 1, an output shaft thereof is provided with an output wheel, the driving wheel on the lead screw 24 is connected through the driving chain i 23, the two clamping arms 26 are symmetrically mounted on the lead screw 24 through the sliding ends 27 connected by a rotating member 28, the rotating member 28 is connected with the sliding ends 27 through a rotating shaft, a rolling wheel 281 is further mounted on the rotating member, one end of the sliding end 27 is disposed in the guide slot 17 and slides along the guide slot 17, and the other end of the sliding end 27 is disposed on the rack 14 of the clamping guide module 1; when the clamping arm 26 is rotated and closed, the rotating part 28 is meshed with the rack 14 for transmission, and the rolling wheel 281 on the rotating part 28 is disengaged from the side edge of the rack 14; when the clip arms 26 are rotated open, the rolling wheels 281 on the rotating member 28 contact and roll along the side of the rack 14.

As shown in fig. 4, the rotating member 28 has one end connected to the clamping arm 26 and the other end connected to the sliding end 27 through a rotating shaft, and the angle α between the rotating shaft 281 and the vertical direction is 0.2-5 degrees, so as to ensure that the clamping mechanism does not interfere with the movement of the robot when being retracted, and the non-clamping side has gear teeth meshed with the rack 14 for transmission, and the grounding end of the side is provided with a rolling wheel 281.

The transmission chain I23 penetrates through the through hole 16 on the side wall and is sleeved on an output wheel of the clamping motor 21 and a transmission wheel on the lead screw 24 to transmit power.

Further, as shown in fig. 5 to 7, the walking driving module 3 includes a walking driving motor 31, two walking modules 32, a coupler 35 and a transmission mechanism 36, roller shafts i on the two walking modules 32 are connected through the coupler 35, the walking driving motor 31 is installed on one walking module 32, and the transmission mechanism 36 includes an output wheel 361 disposed on an output shaft of the walking driving motor 31, a transmission wheel i 362 disposed on the roller shaft corresponding to the output wheel 361, and a transmission chain ii 363 disposed on the output wheel 361 and the transmission wheel i 362. Wherein the travel driving motor 31 is fixed on the centre sill 8 through a mounting seat thereof.

Further, as shown in fig. 1, 5 and 7, the walking module 32 includes a mounting frame i 321, a roller i 322, a roller shaft i 323 and a driving wheel ii 37, one end of the mounting frame i 321 is a connecting end ii 33 matched with the clamping guide module 1, and the other end is a connecting end iii matched with the auxiliary walking driving module 5

34, a roller I322 is arranged in the mounting frame I321, a roller shaft I323 of the roller I322 extends out of the mounting frame I321, and a driving wheel II 37 is arranged on the roller I323; the connecting end III 34 is characterized in that a connecting plate 341 is arranged at one end of the mounting frame I321, a connecting key 342 is arranged at one side of the connecting plate 341, holes 343 are formed in two sides of the connecting key 342 to realize the connection and fixation of two modules, and a tensioning screw 344 is arranged at the other side of the connecting plate 341 to tension the two modules.

As shown in fig. 6, the connecting end ii 33 is a structure matched with the connecting end i 13, and is formed by extending two side plates of the mounting frame i 321 into a wedge plate, the lower surface of the wedge plate 324 is formed by a vertical surface i 325, a straight surface ii 326, an inclined surface ii 327 and a straight surface iii 328, the end surface of the wedge plate 324 is smaller than the root section, and the upper surface of the wedge plate 324 is provided with a screw hole ii 329.

Further, as shown in fig. 8, the auxiliary walking drive module 4 comprises a mounting frame ii 41, a driving wheel 42, a roller ii 43, and a connecting end iv 44 connected with the walking drive module 3, wherein the roller ii 43 is mounted in the mounting frame ii 41, a roller shaft ii 45 thereof extends out of one side of the mounting frame ii 41, and is connected with the driving wheel iii

46, one end of the mounting frame II 41 is provided with a connecting end IV 44 connected with the walking driving module 3, and the end surface of the connecting end IV 44 is provided with a key groove 47 matched with the connecting key 342 of the walking driving module 3.

Further, as shown in fig. 9, the walking follower module 5 includes a mounting frame 51 and two rollers iii 52 installed in the mounting frame 51, one end of the mounting frame 51 has a connecting end v 53 connected with the clamping guide module 1 in a matching manner, the connecting end v 53 is formed by extending two side plates 511 of the mounting frame 51 into a wedge plate 531, a lower surface of the wedge plate is formed by a vertical surface ii 532, a straight surface iv 533, an inclined surface iii 534 and a straight surface v 535, an end surface of the wedge plate 531 is smaller than a root section, and a screw hole iii 54 is formed in an upper surface of the wedge plate 531 for connecting the connecting end i 13 of the clamping guide module.

The electric control system module 6 adopts the existing structure and is used for connecting a driving motor of each module and a sensor on the mobile robot. Other structural components of the mobile robot are all of the existing structures, and the front beam 7, the middle beam 8 and the rear beam 9 are all of the structures matched and connected with all modules of the mobile robot.

The working process of the invention is as follows:

when the two clamping arms 26 are opened after clamping a tire, the clamping motor 21 drives the two sliding ends 276 to respectively move reversely along the lead screw 24 (the lead screw 24 is respectively provided with a left-handed thread and a right-handed thread) to drive the two clamping arms 26 to simultaneously move reversely to loosen the clamped tire, and when the clamping arms 26 are in the opening position, the rolling wheels 28 on the rotating parts 28 of the clamping arms 26 are in contact with and roll along the side surfaces of the supporting plate 18, so that the clamping arms 26 are prevented from swinging towards the closing direction, and the clamping arms 26 are ensured to be in the opening state.

When the clamping arms 26 slide to the two ends close to the supporting plate 18, the gear teeth on the rotating part 28 are meshed with the rack 14 on the supporting plate 18, the rolling wheels 28 are separated from the side surfaces of the supporting plate 18, the clamping arms 26 realize swinging motion with the axis 281 of the rotating shaft as the center of a circle while translating, the clamping arms 26 rotate for 90 degrees to be folded, and the whole mechanical arm stops running.

The opening process of the clip arms 26 is the reverse of the closing process.

It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.

Claims

1. A modularization mobile robot for realizing car transport which characterized in that: the device comprises two clamping mechanisms, an auxiliary walking driving module, a walking follow-up module and an electric control system module, wherein the two clamping mechanisms respectively comprise a clamping module and clamping guide modules; the walking driving module is connected with one end of the clamping guide module, and a rear beam is connected between the walking driving module and the clamping guide module; the two auxiliary walking driving modules are respectively connected to the end parts of the walking driving modules; the two walking follow-up modules are respectively connected to the other end of the clamping guide module and connected through the front beam, and the electric control system module is installed between the front beam and the middle beam and connected with a driving motor of each module.

2. The modular mobile robot for enabling automobile handling according to claim 1, characterized by: the clamping mechanism comprises a clamping guide module and a clamping module, one end of the clamping guide module is connected with the walking driving module, the other end of the clamping guide module is connected with the follow-up module, the sliding end of the clamping module is arranged in the guide groove of the clamping guide module, the driving mechanism of the clamping module is arranged on the inner side of the clamping guide module, and the end of the clamping arm is arranged on the outer side of the clamping guide module; the centre gripping guide module comprises two symmetrical lateral walls connected on the bottom plate, it has the notch to open on the bottom plate, both ends of both sides wall be respectively with walking drive module cooperation and with follow-up module complex link I, the symmetry is provided with the T template on one of them side wall, it has the through-hole to open on the lateral wall between two T templates, a driving chain I for the centre gripping module passes through, form between T template and bottom plate with the sliding end complex guide way of centre gripping module, the opposite side lateral wall outside is provided with the backup pad, the backup pad both ends symmetry be provided with the centre gripping arm piece on the driven rack of gear engagement.

3. The modular mobile robot for enabling automobile handling according to claim 2, characterized in that: the connecting end I is provided with an inclined plane I at two ends of the side wall, a straight plane I is arranged at the bottom of the inclined plane I to form a wedge-shaped end structure, and screw holes I are formed in the top end face of the side wall, the inclined plane I and the straight plane I.

4. The modular mobile robot for accomplishing automobile handling of claim 3, wherein: the angle beta between the inclined plane I and the straight plane I of the connecting end I is 5-60 degrees.

5. The modular mobile robot for enabling automobile handling according to claim 2, characterized in that: the clamping module comprises a driving mechanism, a transmission chain I, a lead screw, a fixed seat, clamping arms and sliding ends, wherein the driving mechanism is a clamping motor and is arranged on the inner side of the clamping guide module; when the clamping arm is rotated and closed, the rotating part is meshed with the rack for transmission, and the rolling wheel on the rotating part is disengaged from the side edge of the rack; when the clamping arm is rotated and opened, the rolling wheel on the rotating part is contacted with the side edge of the supporting plate at the outer side of the rack and rolls along the side edge.

6. The modular mobile robot for enabling automobile handling according to claim 2, characterized in that: one end of the rotating piece is connected with the clamping arm in a matched mode, the other end of the rotating piece is connected with the sliding end through the rotating shaft, the angle alpha between the rotating axis of the rotating piece and the vertical direction is 0.2-5 degrees, gear teeth meshed with the rack in a transmission mode are arranged on the non-clamping side, when the gear is meshed with the rack, the clamping arm can rotate under the driving of the gear, a rolling wheel is arranged on the ground-near end, close to the rotating shaft, of the side of the clamping arm and used for limiting the rotation of the clamping arm when the gear is separated from the rack, and the sliding end of the clamping module is connected with the clamping arm through the rotating shaft.

7. The modular mobile robot for accomplishing automobile handling of claim 1, wherein: the walking driving module comprises a walking driving motor, two walking modules, a coupler and a transmission mechanism, roller shafts I on the two walking modules are connected through the coupler, the walking driving motor is installed on one walking module, and the transmission mechanism comprises an output wheel arranged on an output shaft of the walking driving motor, a transmission wheel I arranged on the roller shafts corresponding to the output wheel and a transmission chain II arranged on the output wheel and the transmission wheel I.

8. The modular mobile robot for accomplishing automobile handling of claim 7, wherein: the walking module comprises an installation frame I, a roller shaft I and a driving wheel II, wherein one end of the installation frame I is a connecting end II matched with the clamping guide module, the other end of the installation frame I is a connecting end III matched with the auxiliary driving module, the roller I is arranged in the installation frame I, the roller shaft I extends out of the installation frame I, and the driving wheel II is installed on the roller shaft I; connecting end III sets up the connecting plate at I end of installation frame, sets up the connecting key in connecting plate one side, and it is porose to open in the connecting key both sides.

9. The modular mobile robot for accomplishing automobile handling of claim 1, wherein: the auxiliary walking driving module comprises an installation frame II, a driving wheel, a roller II and a connecting end IV connected with the walking driving module, the roller II is installed in the installation frame II, a roller shaft II of the roller II extends out of one side of the installation frame II and is connected with the driving wheel III, one end of the installation frame II is provided with the connecting end IV connected with the walking driving module, and a key groove matched with the walking driving module is formed in the end face of the connecting end IV.

10. The modular mobile robot for accomplishing automobile handling of claim 1, wherein: walking follow-up module includes two gyro wheels III of installation in mounting bracket and the mounting bracket, and mounting bracket one end has the link V of being connected with the cooperation of centre gripping direction module, link V extends for the wedge by two curb plates of mounting bracket and constitutes, the lower surface of wedge comprises vertical face II, straight face IV, inclined plane III and straight face V, and the terminal surface of wedge is less than the root cross-section, and the upper surface of wedge is opened there is screw hole III.