CN215671391U

CN215671391U - Trackless automobile transfer robot

Info

Publication number: CN215671391U
Application number: CN202121465816.3U
Authority: CN
Inventors: 夏宗群; 赵阳; 白永亮; 陆海俊; 李子权
Original assignee: Shenyang Kewei Robot Technology Co ltd
Current assignee: Shenyang Kewei Robot Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2022-01-28
Anticipated expiration: 2031-06-29

Abstract

The utility model provides a trackless automobile transfer robot, which comprises a main vehicle; the secondary vehicle is connected with the primary vehicle through a folding arm structure; the slot is arranged at the bottom of the main vehicle and the auxiliary vehicle in a penetrating way; the guide wheel sets are arranged at the front end and the rear end of the master vehicle and the slave vehicle; and the guide rail is movably embedded in the open groove and is in sliding connection with the guide wheel set. The guide wheel set is used for strengthening sliding connection between the master vehicle and the slave vehicle and the guide rail, so that stable walking of the master vehicle and the slave vehicle is guaranteed, the master vehicle and the slave vehicle are prevented from being separated from a track, and the operation accuracy of the trackless automobile transfer robot is improved. The guide rail is used for guiding and limiting the master vehicle and the slave vehicle and is mutually matched with the groove, so that the trackless vehicle carrying robot abandons the supporting vehicle carrying plate, the manufacturing cost of a parking space is saved on the one hand, the space occupied by the supporting vehicle carrying plate is saved on the other hand, and the clear space height of the parking space is further saved.

Description

Trackless automobile transfer robot

Technical Field

The utility model relates to the technical field of automobile carrying devices, in particular to a trackless automobile carrying robot.

Background

With the continuous development and innovation of parking technology, the existing rail type automobile carrying robot (clamp type) is more and more applied, and overcomes the defects of other types of parking robots, for example, the rail type parking robot needs a small parking clear space, and the clamp type for automobile tires is to rotate and then directly clamp, so that the automobile tires are damaged very little.

However, along with the increasingly competitive situation of the garage industry, the requirements of each manufacturer on the cost are higher and higher, however, the rail type parking robot in the prior art needs to lay and support the car carrying plates in advance for the walking of the rail car carrying robot, so that a large amount of parking space is occupied, the processing and manufacturing cost is increased on one hand, and the clear space height of the parking space is increased on the other hand.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art.

Therefore, the utility model provides a trackless automobile transfer robot.

The utility model provides a trackless automobile transfer robot, which comprises a main vehicle; the secondary vehicle is connected with the primary vehicle through a folding arm structure; the slot is arranged at the bottom of the main vehicle and the auxiliary vehicle in a penetrating way; the guide wheel sets are arranged at the front end and the rear end of the master vehicle and the slave vehicle; and the guide rail is movably embedded in the open groove and is in sliding connection with the guide wheel set.

The utility model provides a trackless automobile transfer robot which comprises a main automobile, a secondary automobile, a groove, a guide wheel set and a guide rail. The main vehicle is used for walking to the position of the front wheel of the automobile, so that the trackless automobile carrying robot can conveniently provide subsequent operation for the front wheel of the automobile. The slave vehicle is used for walking to the position of the rear wheel of the vehicle, so that the trackless vehicle carrying robot can conveniently provide subsequent operation for the rear wheel of the vehicle. And the master car and the slave car are connected through a folded arm structure, in particular, one end of the folded arm structure is connected with the rear end of the master car, and the other end of the folded arm structure is connected with the front end of the slave car, so that the flexible connection between the master car and the slave car is ensured, and the distance between the master car and the slave car is further adjusted. The slot is used for movably embedding the guide rail, so that the main vehicle and the secondary vehicle are ensured to walk to the designated position through the slot and the limit of the guide rail in the walking process. The guide wheel set is used for strengthening sliding connection between the master vehicle and the slave vehicle and the guide rail, so that stable walking of the master vehicle and the slave vehicle is guaranteed, the master vehicle and the slave vehicle are prevented from being separated from a track, and the operation accuracy of the trackless automobile transfer robot is improved. The guide rail is used for guiding and limiting the master vehicle and the slave vehicle and is mutually matched with the groove, so that the trackless vehicle carrying robot abandons the supporting vehicle carrying plate, the manufacturing cost of a parking space is saved on the one hand, the space occupied by the supporting vehicle carrying plate is saved on the other hand, and the clear space height of the parking space is further saved.

The trackless automobile transfer robot according to the technical scheme of the utility model can also have the following additional technical characteristics:

in the above technical solution, the guide pulley group includes: the mounting frames are arranged at the front end and the rear end of the master vehicle and the slave vehicle; and the guide wheel is rotatably connected to the mounting frame and is in sliding connection with the guide rail.

In this technical scheme, the guide pulley group includes mounting bracket and guide pulley. The guide wheel sets are arranged at the front end and the rear end of the master vehicle and the slave vehicle, so that the stability of the master vehicle and the slave vehicle in walking can be ensured, the master vehicle and the slave vehicle can be ensured to walk on the guide rails along the appointed route, and the synchronism between the master vehicle and the slave vehicle is improved. The mounting bracket provides installation space for the guide wheel, and particularly, the mounting bracket can be connected to the main vehicle and the auxiliary vehicle in a bolt structure mode. The guide wheel is used for being in sliding connection with the guide rail, on one hand, the main vehicle and the secondary vehicle can be limited to walk, the deviation of the main vehicle and the secondary vehicle from the rail is avoided, on the other hand, the connectivity between the main vehicle and the secondary vehicle and the guide rail is improved, and the stable walking action of the main vehicle and the secondary vehicle is further guaranteed.

In the above technical solution, the master vehicle and the slave vehicle further include a traveling structure, and the traveling structure at least includes: the walking motors are arranged on the master vehicle and the slave vehicles; and the walking wheel is connected with the walking motor and is driven by the walking motor to walk.

In the technical scheme, the master vehicle and the slave vehicle further comprise walking structures, and the walking structures comprise walking motors and walking wheels. The walking motor is used for driving the walking motor to rotate, so that the main vehicle and the auxiliary vehicle can walk. Specifically, the walking motor is a servo motor, and the specific model is not specifically limited. The walking wheels can be arranged on each side of the main vehicle and the auxiliary vehicle, and the two walking wheels are connected through a chain, so that the synchronism between the two walking wheels is ensured. Through the arrangement, at least one walking wheel can be arranged on the walking track when the main vehicle and the auxiliary vehicle pass through the joint.

In the above technical solution, still include drive structure, set up in the owner's car with the car that follows, drive structure includes: the driving motors are arranged on the master vehicle and the slave vehicles; the lead screw is connected with the driving end of the driving motor; the screw nut is sleeved on the lead screw; the clamping push plate is arranged on the screw; the clamping push plate is arranged on the two sides of the main vehicle and the auxiliary vehicle, and the clamping push plate is connected in the guide rails in a sliding mode; and the holding and clamping part is connected with the holding and clamping push plate.

In this technical scheme, still include drive structure, and drive structure includes: driving motor, lead screw, embrace and press from both sides push pedal, guided way and embrace and press from both sides the portion. Wherein, driving motor is used for driving the lead screw and rotates. Specifically, the driving motor is a servo motor, and the specific type is not limited. The screw can cooperate with the lead screw, when the lead screw rotates, realizes the displacement of self to drive and embrace the push pedal of pressing from both sides and carry out synchronous displacement. Specifically, the screw rod is provided with an external thread, and the screw nut is provided with an internal thread matched with the external thread. The clasping push plate and the nut do synchronous displacement on one hand, and the clasping portion is driven to perform displacement action on the other hand. The guide rail is used for limiting the displacement of the clamping push plate and preventing the clamping push plate from deviating from a displacement track, so that the clamping push plate is ensured to perform stable linear motion. The clamping part realizes clamping action through the driving of the clamping push plate, so that the automobile wheel is clamped.

In the above technical solution, the clasping portion includes: mounting plates provided on both sides of the master vehicle and the slave vehicle; the slideway is arranged on the mounting plate; the guide block is connected in the slideway in a sliding manner; a sliding plate provided to the guide block; the supporting seat is arranged on the sliding plate; the supporting arm is connected with the supporting seat; the wheel supporting roller is rotatably connected to the supporting arm; the support arm movement roller is arranged at one end of the support arm; the connecting seat is rotatably connected with the supporting seat and is connected with the clamping push plate; the guide roller is rotatably connected in the slide way and is in sliding contact with the sliding plate; embrace and press from both sides detection sensor that targets in place, set up in main car with from the car, and be located embrace and press from both sides between the push pedal.

In this technical scheme, embrace and press from both sides portion and include mounting panel, slide, guide block, sliding plate, supporting seat, support arm, wheel support gyro wheel, support arm motion gyro wheel, connecting seat, guide roller and embrace and press from both sides detection sensor that targets in place. Wherein the mounting plate is used for providing mounting stations for other structures. The slide way is used for limiting the movement of the guide block so as to enable the guide block to move according to the shape of the slide way. Specifically, the slideway is an arc-shaped section at the end of the mounting plate, and the rest is a straight line section. When the guide block moves to the connection part of the arc section and the straight line section, the support arm is transited from the swing state to the state vertical to the main vehicle and the secondary vehicle and keeps the vertical state to perform displacement action. The sliding plate is used for contacting with the guide roller, so that the acting force received by the guide block is dispersed, and the service life of the guide block is prolonged. The supporting seat is then used for providing the installation station for the support arm, and supporting seat self also can follow the guide block and carry out synchronous displacement. The supporting arm is used for swinging and linear displacement, so that tires of the automobile are clamped, and the automobile carrying process is realized. The wheel supporting rollers are used for supporting automobile tires. Support arm motion gyro wheel is used for strengthening the structural strength of support arm to improve handling capacity, the connecting seat is used for guaranteeing to embrace the connection between pressing from both sides push pedal and the supporting seat, and the connecting seat rotates to be connected on the supporting seat, can guarantee when the guide block carries out the displacement that the support arm can carry out wobbling action. The guide rollers are used for ensuring the sliding action of the sliding plate, so that the sliding plate is ensured to share the acting force of the guide block, and the service life of the whole structure is further prolonged. The clamp in-place detection sensor is used for detecting whether the supporting arm is used and completing clamp actions. Specifically, the clamp-in-place detection sensor is a proximity sensor manufactured by Ohlong corporation and having a model number of E2B-M18KS08_ M1_ B1.

In the above technical solution, still include the support arm structure that resets, the support arm structure that resets includes: the resetting lifting plates are arranged on two sides of the master vehicle and the slave vehicle; and the reset detection sensor is arranged on one side of the reset lifting plate.

In this technical scheme, still include the support arm structure that resets, and the support arm structure that resets includes: reset lifting plate and reset detection sensor. The horizontal installation height of the reset lifting plate is the same as the height of the lower end face of the supporting arm, after the supporting arm retracts, the reset lifting plate applies supporting force to the supporting arm, on one hand, the supporting arm is guaranteed not to be in contact with the ground, and on the other hand, the supporting arm can be prevented from deforming downwards after long-time work. The reset detection sensor is then used to ensure retraction of the support arm. Specifically, the reset detection sensor employs a proximity switch manufactured by SICK corporation, model IME18-12BPOZW 2S.

In the technical scheme, the device further comprises a driving in-place detection sensor which is arranged on the main vehicle and the auxiliary vehicle and is positioned on one side of the holding and clamping push plate.

In the technical scheme, the system further comprises a driving in-place detection sensor. The driving in-place detection sensor is used for detecting that the automobile transfer robot can walk in place. Specifically, a proximity sensor manufactured by Ohlong corporation, model No. E2B-M30KS 15-WZ-B12M, was used.

In the above technical solution, the vehicle further comprises a laser range finder arranged between the master vehicle and the slave vehicle.

In the technical scheme, the device further comprises a laser range finder. For detecting the distance between the master and slave vehicles. Specifically, a laser ranging sensor manufactured by SICK corporation and having a model number DT35-B15551 is used.

In the above technical solution, the method further comprises: and the scratch-proof chassis device is arranged at the front end of the master vehicle and the rear end of the slave vehicle.

In the technical scheme, the anti-scraping chassis device is further included. The automobile garage is used for preventing an automobile with a too low chassis from entering the garage and causing damage to the automobile or garage equipment. In particular, the scratch-proof chassis device can adopt the structures of a turning plate and a travel switch. The turning plate is connected to the front end of the master vehicle and the rear end of the slave vehicle in a rotating mode, the end head of the travel switch is in contact with the turning plate, when the chassis exerts acting force on the turning plate, the turning plate can press the travel switch, and the travel switch can be connected to an alarm device so as to perform an alarm process.

In the above technical solution, the vehicle further comprises a stacking prevention detection device disposed at the front end of the master vehicle and the rear end of the slave vehicle.

In the technical scheme, the device further comprises an anti-stacking detection device. The device can prevent the automobile from being stored in the parking space or garage equipment of the existing automobile, and when the automobile is detected in the target parking space, the anti-stacking detection device can give an alarm and prompt a garage manager to process the automobile. Specifically, the anti-stacking detection device employs an ultrasonic sensor manufactured by banner corporation and having a model number T30 UXDC.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of a trackless automotive transfer robot in accordance with one embodiment of the present invention;

FIG. 2 is a top view of a trackless automotive transfer robot of one embodiment of the present invention;

FIG. 3 is a top cross-sectional view of a trackless automotive transfer robot of one embodiment of the present invention;

FIG. 4 is a perspective view (hidden guide rails) of the main vehicle of the trackless auto transfer robot shown in FIG. 1;

FIG. 5 is one of the cross-sectional views (hidden guide rails) of the main vehicle in the trackless automobile transfer robot shown in FIG. 4;

fig. 6 is a second cross-sectional view (hidden guide rail) of the main vehicle in the trackless vehicle transfer robot shown in fig. 4;

fig. 7 is a schematic structural view of a driving structure of the trackless vehicle transfer robot shown in fig. 1.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 7 is:

102 primary vehicle, 104 secondary vehicle, 106 groove, 108 guide wheel set, 1082 mounting rack, 1084 guide wheel, 110 guide rail, 112 walking motor, 114 walking wheel, 116 driving motor, 118 lead screw, 120 screw, 122 clamp holding push plate, 124 guide rail, 126 mounting plate, 128 slide way, 130 guide block, 132 sliding plate, 134 supporting seat, 136 supporting arm, 140 wheel supporting roller, 142 supporting arm moving roller, 144 connecting seat, 146 guide roller, 148 clamp holding in place detection sensor, 150 reset lifting plate, 152 reset detection sensor, 154 driving in place detection sensor, 156 laser range finder, 158 anti-scratch chassis device, 160 anti-stacking detection device.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

A trackless mobile haulage robot provided in accordance with some embodiments of the present invention is described below with reference to fig. 1-7.

As shown in fig. 1 and 2, a trackless vehicle transfer robot according to a first embodiment of the present invention includes a main vehicle 102; a secondary vehicle 104, wherein the secondary vehicle 104 is connected with the primary vehicle 102 through a folding arm structure; a slot 106 which is arranged at the bottom of the main vehicle 102 and the auxiliary vehicle 104 in a penetrating way; guide wheel sets 108 provided at front and rear ends of the master vehicle 102 and the slave vehicle 104; and the guide rail 110 is movably embedded in the slot 106 and is in sliding connection with the guide wheel set 108.

The trackless automobile carrying robot provided by the utility model comprises a main automobile 102, a secondary automobile 104, a slot 106, a guide wheel set 108 and a guide rail 110. The main vehicle 102 is used for traveling to the position of the front wheel of the automobile, so that the trackless automobile transfer robot can provide subsequent operation for the front wheel of the automobile conveniently. The slave vehicle 104 is used to travel to the position of the rear wheels of the vehicle, thereby facilitating the trackless vehicle transfer robot to provide subsequent operation to the rear wheels of the vehicle. And the master car 102 and the slave car 104 are connected by a knuckle arm structure, specifically, one end of the knuckle arm structure is connected with the rear end of the master car 102, and the other end is connected with the front end of the slave car 104, thereby ensuring flexible connection between the master car 102 and the slave car 104 and further facilitating adjustment of the spacing between the master car 102 and the slave car 104. The slot 106 is used for movably embedding the guide rail 110, so that the master vehicle 102 and the slave vehicle 104 are ensured to walk to a specified position through the limit of the slot 106 and the guide rail 110 during the walking process. The guide wheel set 108 is used for enhancing the sliding connection between the master vehicle 102 and the slave vehicle 104 and the guide rail 110, so as to ensure the stable walking of the master vehicle 102 and the slave vehicle 104, avoid the master vehicle 102 and the slave vehicle 104 from being separated from the track, and improve the operation accuracy of the trackless automobile transfer robot. The guide rail 110 is used for guiding and limiting the master vehicle 102 and the slave vehicle 104, and is matched with the slot 106, so that the trackless vehicle handling robot abandons a supporting vehicle carrying plate, the manufacturing cost of a parking space is saved, the space occupied by the supporting vehicle carrying plate is saved, and the clear space height of the parking space is further saved.

As shown in fig. 3, a second embodiment of the present invention provides a trackless vehicle transfer robot, including a main frame 102; a secondary vehicle 104, wherein the secondary vehicle 104 is connected with the primary vehicle 102 through a folding arm structure; a slot 106 which is arranged at the bottom of the main vehicle 102 and the auxiliary vehicle 104 in a penetrating way; guide wheel sets 108 provided at front and rear ends of the master vehicle 102 and the slave vehicle 104; and the guide rail 110 is movably embedded in the slot 106 and is in sliding connection with the guide wheel set 108.

Specifically, the guide wheel set 108 includes a mounting bracket 1082 disposed at the front and rear ends of the master vehicle 102 and the slave vehicle 104; and a guide wheel 1084 rotatably coupled to the mounting bracket 1082 and slidably coupled to the guide rail 110.

In the present embodiment, guide pulley set 108 includes a mounting bracket 1082 and a guide pulley 1084. The guide wheel sets 108 are arranged at the front end and the rear end of the master vehicle 102 and the slave vehicle 104, so that the stability of the master vehicle 102 and the slave vehicle 104 during walking can be ensured, the master vehicle 102 and the slave vehicle 104 can be ensured to walk on the guide rail 110 in a specified route, and the synchronism between the master vehicle 102 and the slave vehicle 104 is improved. The mounting bracket 1082 provides mounting space for the guide wheel 1084. specifically, the mounting bracket 1082 may be coupled to the master vehicle 102 and the slave vehicle 104 by way of a bolt structure. The guide wheels 1084 are slidably connected to the guide rails 110, so as to limit the traveling of the master vehicle 102 and the slave vehicle 104, avoid the deviation of the two from the track, and improve the connectivity between the master vehicle 102 and the slave vehicle 104 and the guide rails 110, thereby further ensuring the stable traveling action of the master vehicle 102 and the slave vehicle 104.

Specifically, the master cart 102 and the slave cart 104 further include a walking structure, which at least includes: a traveling motor 112 provided to the master vehicle 102 and the slave vehicle 104; and a traveling wheel 114 connected to the traveling and driven by the traveling motor 112 to travel.

In this embodiment, the master vehicle 102 and the slave vehicle 104 further include a travel structure including a travel motor 112 and travel wheels 114. The traveling motor 112 is used to drive the traveling rotation, so that the master vehicle 102 and the slave vehicle 104 perform the traveling motion. Specifically, the traveling motor 112 is a servo motor, and the specific type is not particularly limited. The road wheels 114 may be provided in two on each side of the master and

slave vehicles

102, 104, with the two road wheels 114 connected by a chain, thereby ensuring synchronicity between the two road wheels 114. Through the arrangement, at least one traveling wheel 114 can be ensured to be on the traveling track when the master vehicle 102 and the slave vehicle 104 pass through the joint.

Specifically, the driving structure is further included and is disposed on the master vehicle 102 and the slave vehicle 104, and the driving structure includes: a driving motor 116 provided to the master vehicle 102 and the slave vehicle 104; a screw 118 connected to a driving end of the driving motor 116; a nut 120 sleeved on the screw 118; a clamp push plate 122 arranged on the nut 120; the guide rails 124 are arranged on two sides of the master vehicle 102 and the slave vehicle 104, and the clamping push plates 122 are connected in the guide rails 124 in a sliding manner; and the holding and clamping part is connected with the holding and clamping push plate 122.

In this embodiment, the driving structure further includes: the clamping device comprises a driving motor 116, a lead screw 118, a nut 120, a clamping push plate 122, a guide rail 124 and a clamping part. The driving motor 116 is used for driving the lead screw 118 to rotate. Specifically, the driving motor 116 is a servo motor, and the specific type is not limited. The nut 120 can cooperate with the screw 118, and when the screw 118 rotates, the self displacement is realized, so that the clamping push plate 122 is driven to synchronously displace. Specifically, the screw 118 is provided with an external thread, and the nut 120 is provided with an internal thread matching with the external thread. The clasping push plate 122 moves synchronously with the nut 120, and drives the clasping portion to move. The guide rail 124 is used for limiting the displacement of the clasping push plate 122 and preventing the displacement from deviating from the displacement track, so as to ensure that the clasping push plate 122 performs stable linear motion. The clamping part is driven by the clamping push plate 122 to realize clamping action, so that the automobile wheel is clamped.

Specifically, the clasping portion includes: mounting plates 126 provided on both sides of the master truck 102 and the slave truck 104; a slide 128, opening in the mounting plate 126; a guide block 130 slidably coupled within the slide 128; a sliding plate 132 provided to the guide block 130; a support base 134 provided on the slide plate 132; a support arm 136 connected with the support base 134; a wheel support roller 140 rotatably coupled to the support arm 136; a support arm 136 moving roller 142 arranged at one end of the support arm 136; a connecting seat 144 rotatably connected to the supporting seat 134 and connected to the clasping push plate 122; a guide roller 146 rotatably coupled in the slide 128 and slidably contacting the sliding plate 132; and a clamp in-place detection sensor 148 arranged between the master vehicle 102 and the slave vehicle 104 and positioned between the clamp push plates 122.

In the present embodiment, the clasping portion includes a mounting plate 126, a slide 128, a guide block 130, a sliding plate 132, a support base 134, a support arm 136, a wheel support roller 140, a support arm 136 moving tube roller, a connection base 144, a guide roller 146, and a clasping-in-place detection sensor 148. Wherein the mounting plate 126 is used to provide mounting stations for other structures. The slide 128 is used to limit the movement of the guide block 130 so that it can move in accordance with the shape of the slide 128. Specifically, the slide 128 is arcuate in section at the end of the mounting plate 126, with the remainder being straight in section. When the guide block 130 moves in the arc section, the support arm 136 is driven to swing by the displacement of the guide block 130, when the guide block 130 moves to the end of the arc section, the support arm 136 is in a retraction state, namely is parallel to the master vehicle 102 and the slave vehicle 104 and is abutted against the two sides of the master vehicle 102 and the slave vehicle 104, when the guide block 130 moves to the connection of the arc section and the straight section, the support arm is transited from the swing state to a state vertical to the master vehicle 102 and the slave vehicle 104 and keeps the vertical state to perform the displacement action. The sliding plate 132 is used to contact the guide rollers 146, thereby dispersing the force received by the guide block 130 and thus increasing the lifespan of the guide block 130. The support base 134 is used to provide a mounting station for the support arm 136, and the support base 134 itself is displaced synchronously with the guide block 130. The supporting arm 136 is used for swinging and linear displacement, so as to clamp the tire of the automobile, thereby realizing the automobile transportation process. The wheel support rollers 140 are used to support the tires of the vehicle. The support arm 136 movement roller 142 is used for enhancing the structural strength of the support arm 136, so that the carrying capacity is improved, the connecting seat 144 is used for ensuring the connection between the clasping push plate 122 and the supporting seat 134, and the connecting seat 144 is rotatably connected to the supporting seat 134, so that the support arm 136 can swing when the guide block 130 displaces. The guide roller 146 ensures the sliding motion of the sliding plate 132, thereby ensuring that the sliding plate 132 shares the force of the guide block 130, and further improving the service life of the entire structure. The clamp-in-place detection sensor 148 is used for detecting whether the supporting arm 136 performs the clamping action or not and completing the clamping action. Specifically, the clasping position detection sensor 148 is a proximity sensor manufactured by Ohlong corporation, model number E2B-M18KS08_ M1_ B1.

The working principle of clamping and lifting actions is as follows: the driving motor 116 drives the lead screw 118 to operate, and the nut 120 on the lead screw 118 drives the clasping push plate 122 to move linearly along the direction of the guide rail 124. The clasping push plate 122 drives the connecting seat 144 to move linearly, and the guide block 130 below the connecting seat 144 moves along the slide rail 128, so as to drive the connecting seat 144 and the supporting arm 136 to do a compound motion of linear motion and swinging motion. When the supporting arm 136 swings to 90 degrees, the holding and clamping push plate 122 can drive the supporting arm 136 to linearly move together, and when the in-position sensor detects that the in-position sensor is effective, the movement is stopped. At which time the tire is lifted off the ground. Therefore, the trackless automobile transfer robot can swing firstly and then clamp linearly, damage to automobile tires is reduced, the position gap between the supporting arm 136 and the wheels is greatly increased, and the error event of clamping tires is solved.

After the automobile holding and clamping action is finished, the supporting arm 136 can reset to the initial state along the track, the supporting arm 136 resetting detection sensor 152 has a signal, the supporting arm 136 is ensured to be retracted, and the supporting arm 136 is prevented from not retracting in place, so that the automobile is prevented from being carried. The reset lifting plate 150 is arranged at the retracting position of the supporting arm 136, so that the supporting arm 136 is prevented from contacting the ground after being retracted to influence the normal walking of the automobile transfer robot

Specifically, the support arm 136 reduction structure is further included, and the support arm 136 reduction structure includes: reset lifting plates 150 provided on both sides of the master 102 and slave sides; the reset detection sensor 152 is disposed on one side of the reset lift plate 150.

In this embodiment, a support arm 136 reposition structure is further included, and the support arm 136 reposition structure includes: a reset lift plate 150 and a reset detection sensor 152. The horizontal installation height of the reset lifting plate 150 is the same as the height of the lower end face of the support arm 136, after the support arm 136 retracts, the reset lifting plate 150 applies supporting force to the support arm 136, on one hand, the support arm 136 is guaranteed not to be in contact with the ground, and on the other hand, the support arm 136 can be prevented from deforming downwards after long-time work. The reset detection sensor 152 is used to ensure retraction of the support arm 136. Specifically, the reset detection sensor 152 employs a proximity switch manufactured by SICK corporation, model IME18-12BPOZW 2S.

As shown in fig. 1 to 3, a trackless vehicle transfer robot according to a third embodiment of the present invention includes a main frame 102; a secondary vehicle 104, wherein the secondary vehicle 104 is connected with the primary vehicle 102 through a folding arm structure; a slot 106 which is arranged at the bottom of the main vehicle 102 and the auxiliary vehicle 104 in a penetrating way; guide wheel sets 108 provided at front and rear ends of the master vehicle 102 and the slave vehicle 104; and the guide rail 110 is movably embedded in the slot 106 and is in sliding connection with the guide wheel set 108.

Specifically, a driving position detection sensor 154 is further included, which is disposed on the master vehicle 102 and the slave vehicle 104 and is located on one side of the clasping push plate 122.

In this embodiment, a driving position detection sensor 154 is further included. The driving position detection sensor 154 is used to detect that the vehicle transfer robot is moving in position. Specifically, a proximity sensor manufactured by Ohlong corporation, model No. E2B-M30KS 15-WZ-B12M, was used.

Specifically, a laser range finder 156 is also included, disposed between the master vehicle 102 and the slave vehicle 104.

In this embodiment, a laser rangefinder 156 is also included. For detecting the distance between the master vehicle 102 and the slave vehicle 104. Specifically, a laser ranging sensor manufactured by SICK corporation and having a model number DT35-B15551 is used.

Specifically, the method further comprises the following steps: and the scratch-proof chassis device 158 is arranged at the front end of the master vehicle 102 and the rear end of the slave vehicle 104.

In this embodiment, a scratch resistant chassis arrangement 158 is also included. The automobile garage is used for preventing an automobile with a too low chassis from entering the garage and causing damage to the automobile or garage equipment. In particular, the scratch resistant chassis device 158 may employ a structure of a flap and a travel switch. The turning plate is connected to the front end of the master vehicle 102 and the rear end of the slave vehicle 104 in a rotating manner, the end of the travel switch is in contact with the turning plate, when the chassis exerts force on the turning plate, the turning plate can press the travel switch, and the travel switch can be connected to an alarm device so as to perform an alarm process.

Specifically, the anti-stacking detection device 160 is further included, and is disposed at the front end of the master vehicle 102 and the rear end of the slave vehicle 104.

In this embodiment, a stacking prevention detection device 160 is further included. The device 160 can prevent the car from being stored in the parking space or garage equipment of the existing car, and when the car is detected in the target parking space, the device can give an alarm and prompt the garage manager to process the car. Specifically, the anti-stacking detection device 160 employs an ultrasonic sensor of model T30UXDC manufactured by banner corporation.

As shown in fig. 1 to 7, a trackless vehicle transfer robot according to a fourth embodiment of the present invention includes a main frame 102; a secondary vehicle 104, wherein the secondary vehicle 104 is connected with the primary vehicle 102 through a folding arm structure; a slot 106 which is arranged at the bottom of the main vehicle 102 and the auxiliary vehicle 104 in a penetrating way; guide wheel sets 108 provided at front and rear ends of the master vehicle 102 and the slave vehicle 104; and the guide rail 110 is movably embedded in the slot 106 and is in sliding connection with the guide wheel set 108.

slave vehicles

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A trackless vehicle transfer robot, comprising:

a host vehicle (102);

a slave vehicle (104), wherein the slave vehicle (104) is connected with the master vehicle (102) through a folding arm structure;

the slot (106) is arranged at the bottom of the main vehicle (102) and the auxiliary vehicle (104) in a penetrating way;

guide wheel sets (108) arranged at the front end and the rear end of the master vehicle (102) and the slave vehicle (104);

and the guide rail (110) is movably embedded in the open slot (106) and is in sliding connection with the guide wheel set (108).

2. A trackless vehicle transfer robot as claimed in claim 1, wherein the guide wheel set (108) comprises:

mounting frames (1082) provided at front and rear ends of the master vehicle (102) and the slave vehicle (104);

and the guide wheel (1084) is rotatably connected to the mounting frame (1082) and is in sliding connection with the guide rail (110).

3. A trackless vehicle transfer robot as claimed in claim 1, wherein the master vehicle (102) and the slave vehicle (104) further comprise a walking structure comprising at least:

a traveling motor (112) provided to the master vehicle (102) and the slave vehicle (104);

and the traveling wheel (114) is connected with the traveling motor (112) and is driven by the traveling motor (112) to travel.

4. A trackless vehicle transfer robot as claimed in claim 1, further comprising a drive structure provided to the master vehicle (102) and the slave vehicle (104), the drive structure comprising:

a drive motor (116) provided to the master vehicle (102) and the slave vehicle (104);

a lead screw (118) connected to a drive end of the drive motor (116);

a nut (120) sleeved on the lead screw (118);

the holding and clamping push plate (122) is arranged on the nut (120);

the guide rails (124) are arranged on two sides of the master vehicle (102) and the slave vehicle (104), and the clamping push plate (122) is connected in the guide rails (124) in a sliding mode;

and the holding and clamping part is connected with the holding and clamping push plate (122).

5. A trackless vehicle transfer robot as claimed in claim 4, wherein the clasping means comprises:

mounting plates (126) provided on both sides of the master vehicle (102) and the slave vehicle (104);

a slide (128) provided on the mounting plate (126);

a guide block (130) slidably connected within the slide way (128);

a sliding plate (132) provided to the guide block (130);

a support base (134) provided to the slide plate (132);

a support arm (136) connected with the support base (134);

a wheel support roller (140) rotatably connected to the support arm;

a support arm movement roller (142) disposed at one end of the support arm;

the connecting seat (144) is rotatably connected with the supporting seat (134) and is connected with the clamp holding push plate (122);

a guide roller (146) rotatably connected in the slide (128) and in sliding contact with the slide plate (132);

and the holding clamp in-place detection sensor (148) is arranged between the master vehicle (102) and the slave vehicle (104) and is positioned between the holding clamp push plates (122).

6. A trackless vehicle transfer robot as claimed in claim 5, further comprising a support arm repositioning structure, the support arm repositioning structure comprising:

reset lifting plates (150) arranged on two sides of the master vehicle (102) and the slave vehicle (104);

and a reset detection sensor (152) arranged on one side of the reset lifting plate (150).

7. A trackless vehicle transfer robot as claimed in claim 4, further comprising:

the driving in-place detection sensor (154) is arranged on the master vehicle (102) and the slave vehicle (104) and is positioned on one side of the clamp holding push plate (122); and/or

A laser range finder (156) disposed between the master vehicle (102) and the slave vehicle (104).

8. A trackless vehicle transfer robot as claimed in claim 1, further comprising:

a scratch-resistant chassis arrangement (158) provided at a front end of the master car (102) and a rear end of the slave car (104); and/or

And a stacking prevention detection device (160) which is arranged at the front end of the master vehicle (102) and the rear end of the slave vehicle (104).