CN218092297U - Car moving robot device - Google Patents

Abstract

The utility model provides a vehicle moving robot device, which comprises two vehicle bodies which are arranged in parallel relatively, wherein each vehicle body comprises an upright which is vertically arranged upwards, and the tops of the upright are connected with each other through a top cross beam; a moving mechanism for moving the vehicle body and a clamping mechanism for clamping wheels at two sides are arranged below the vehicle body; the clamping mechanism comprises at least two clamping arms which can rotate relatively to be separated and combined, and the clamping arms are used for being inserted into the lower portion of the wheel from front to back simultaneously to clamp and lift the wheel. The robot moving device is arranged, and the robot moving device is connected with the two parallel vehicle bodies through a top cross beam and can move and then straddle over the front part/the rear part of the vehicle to be moved; and the vehicle is clamped and lifted off the ground by the driving wheel and moved to a target position by the vehicle moving robot device in an inclined mode that the driven wheel is grounded through the clamping mechanism arranged below the vehicle body. The structure is simple and firm, the working cost is low, the energy consumption is low, the working duration is long, and the operation and the control are simple.

Description

Car moving robot device

Technical Field

The utility model relates to a move the car device, especially relate to a move car robot device.

Background

The annual output of Chinese automobiles reaches 3000 thousands, the number of automobiles exported every year is nearly 200 thousands, and the automobiles become the first world in the coming years. When the car leaves the factory, transport the car warehouse from the car production line, and transport the steamer pier from the car warehouse, though only the removal that is basically sharp, still adopt the manpower to drive the mode of trailer at present and transport, production efficiency is not high to cause the labour extravagant.

In current urban parking lots, some adopt a vehicle transfer robot to assist parking and taking a vehicle. The existing car transfer robot generally lifts the whole car to be transferred off the ground, and then the car is placed or not placed on a flat plate, and then the car is transferred and carried. According to the working mode, the existing vehicle moving robot can be mainly divided into two types: one is a latent car moving robot, when the robot works, the robot is latent below a vehicle chassis from the lower part of the vehicle, and then the vehicle is integrally jacked and lifted up through a vehicle carrying plate or a clamping mechanism; the other type is a portal frame type vehicle moving robot, and the whole vehicle is lifted from two sides of the vehicle and then transferred. The hidden type vehicle moving robot needs to be drilled below an automobile chassis, so that the size is small, the battery capacity and the power are correspondingly small, the vehicle moving efficiency is low, and the hidden type vehicle moving robot is not suitable for large-scale use. The gantry type car mover robot overcomes the defect of small power of a latent robot, can be used for moving large and large cars, but has the defects of large volume and weight, high power consumption and high use cost because the gantry type car mover robot must bear the whole weight of the hung car and cannot overturn.

Compared with common civil parking facilities, the transfer of the automobile has certain particularity in application scenes of automobile self-assembly factories, wharfs for transferring the automobile and the like. In this case, the car transfer route is relatively simple, and usually the cars are moved out sequentially from front to back, that is, the foremost car is moved out first, and the moving route of each car is very consistent. At the moment, if a latent type vehicle moving robot is adopted, the working efficiency is influenced due to the defects that the latent type robot is small and weak because the workload is large; and if a portal frame type vehicle transfer robot is adopted, because the whole vehicle needs to be lifted, the time required by each vehicle is longer, and the cost is higher.

Therefore, the prior art is still in need of further improvement and development.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, an object of the present invention is to provide a robot moving device for automobiles, which can move automobiles at low cost and quickly with low energy consumption in automobile factories and docks.

The technical scheme of the utility model as follows:

the utility model discloses a robot device for car moving, which comprises two car bodies which are arranged in parallel relatively, wherein each car body comprises a vertical column which is vertically arranged upwards, and the tops of the vertical columns are connected with each other through a top cross beam;

a moving mechanism for moving the vehicle body and a clamping mechanism for clamping wheels at two sides are arranged below the vehicle body;

the clamping mechanism comprises at least two clamping arms which can rotate relatively to be separated and combined, and the clamping arms are used for being inserted into the lower portion of the wheel from front to back simultaneously respectively to clamp and lift the wheel.

The utility model is provided with the vehicle moving robot device which is connected with two parallel vehicle bodies by a top beam, and can move and straddle above the front part and the rear part of the vehicle to be moved; and the vehicle is clamped by the driving wheel and lifted off the ground through the clamping mechanism arranged below the vehicle body, and the driven wheel is moved to a target position by the vehicle moving robot device in an inclined mode of landing the driven wheel. Therefore, the technical effect of quickly moving the vehicle with low cost and low power consumption is achieved.

Preferably, the clamping arm is of a rod structure with a triangular section. The rod piece structure with the triangular cross section saves materials and ensures mechanical strength; meanwhile, when the two clamping arms are clamped, a depression is formed between the clamping surfaces at the two sides, so that the wheel is effectively prevented from sliding out from the front and the back. The clamping surface is a contact surface of the clamping arm and the tire.

Preferably, the two vehicle bodies and the top cross beam can be assembled and fixed before work, or can be divided into two robots with one robot for each vehicle body, the upright column and the half cross beam, and before work, the half cross beams of the two robots are connected with each other to fix the vehicle bodies on the two sides to start work.

Preferably, the clamping arm and the contact surface of the pulley and the tire on the clamping arm are provided with anti-skidding structures for preventing the tire from sliding down along the length direction of the clamping arm. Considering that the vehicle needs to be partially lifted, and therefore is prevented from sliding off, an anti-slip mechanism is provided, which is mainly used for preventing the wheel from sliding off along the length direction of the clamping arms.

More preferably, the anti-slip structure comprises a raised or depressed diagonal and/or a non-slip surface made of a non-slip material. Or in some other way as long as the wheels can be prevented from sliding along the length direction of the clamping arms.

Preferably, the contact surface of the clamping arm and the tire is provided with a pulley which rotates around the length direction of the clamping arm and is used for reducing clamping resistance and helping the clamping arm to clamp and hold the tire tightly. Considering that the outer surface of the wheel is usually non-skid with patterns, the pulley is arranged on the clamping arms, which helps to achieve the goal of tightening the two clamping arms to hold the wheel tightly.

In a preferred embodiment, the vehicle model identification device is further included for identifying whether the vehicle to be moved is a front-drive vehicle, a rear-drive vehicle or a full-drive vehicle. For a front-drive vehicle, the driving wheel is a front wheel of the vehicle, so the vehicle moving robot device preferably moves from the front to stride over a front cover of the vehicle, so that the clamping mechanism stops facing the driving wheel and starts clamping; for a rear drive vehicle, the driving wheel is a rear wheel of the vehicle, so the robot device for moving the vehicle preferably moves from the rear to span the upper part of a rear cover of the vehicle, so that the clamping mechanism stops facing the driving wheel and starts to clamp; for a full-drive vehicle, two vehicle moving robot devices are matched, and simultaneously span the upper parts of the front cover and the rear cover of the vehicle, and the whole vehicle is lifted by the clamp.

Preferably, the top cross beam is further provided with a telescopic part for adjusting the separation distance of the two vehicle bodies, and the telescopic part comprises a screw rod and a telescopic motor. The telescopic part is arranged on the top cross beam, so that the separation distance of two vehicle bodies can be adjusted according to different vehicle widths of vehicles, and the adaptability to different vehicle types is improved.

In another preferred embodiment, the wheel clamping device further comprises a positioning mechanism, wherein the positioning mechanism is used for identifying the position of the front wheel or the rear wheel, so that the clamping mechanism is over against the outer side of the wheel to be clamped, and the two clamping arms can be clamped conveniently at the same time.

Preferably, the positioning mechanism is an electronic eye disposed on the top cross beam or the upright. The mobile scene of the mobile robot device can be collected in real time through the electronic eye, the mobile scene of the mobile robot device can be identified in the background, the position of the robot is distinguished, especially the parking position of a vehicle to be moved is identified, and the moving terminal point is positioned.

Or preferably, the positioning mechanism is a radar positioning device arranged on the clamping mechanism. The radar positioning device is arranged on the holding and clamping mechanism, and is favorable for accurately positioning the tire. Especially in the scene that the vehicle moving robot only moves back and forth in a fixed queue and carries.

The utility model provides a move car robot device owing to adopted and set up detached both sides automobile body structure to set up in the below of every side automobile body and embrace and press from both sides the mechanism, the during operation only lifts the drive wheel of vehicle off ground, so simple structure and firm, and working cost is low, the energy consumption is few, and work duration is long, and controls simply.

Drawings

Fig. 1 is the overall structure schematic diagram of the robot device for moving vehicles.

Fig. 2 is a schematic diagram of a clamping mechanism in a preferred embodiment of the robot device for moving vehicles.

Fig. 3 is a schematic view of the structure of the telescopic part under the top beam of the robot moving device according to the preferred embodiment of the present invention.

In the figure: 101-body, 102-column, 103-top beam, 104-clasping mechanism, 105-roller, 132-telescopic part, 133-telescopic motor, 141-first clamping arm, 142-second clamping arm and 145-clamping arm driving motor.

Detailed Description

The utility model provides a move car robot device, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following reference is drawn and the example is lifted the utility model discloses do further detailed description. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The utility model discloses a move car robot device, move a preferred embodiment of car robot device, as shown in the whole structure chart of fig. 1, by relative parallel placement about two parts constitute: each part comprises a vehicle body 101, a vertical column 102 vertically arranged on the vehicle body, and the tops of the two parts of vertical columns 102 are connected with each other through a top cross beam 103 to form an integral stable structure. The bottom surface of the vehicle body 101 is provided with a moving mechanism, for example, a roller 105 with any steering direction, and the like, for moving the entire vehicle moving robot device to the position of the vehicle to be moved, and after the driving wheel is lifted, the vehicle to be moved is dragged in cooperation with the grounding of the driven wheel, so as to perform the vehicle moving operation. The vehicle body 101, which may be specifically a left and a right portion, is stopped at the left and the right sides of the vehicle to be moved, respectively.

In a more preferred embodiment, steerable and retractable steering wheels may be provided in some or all of the rollers 105, with the other rollers being present as driven wheels. Meanwhile, the implementation of the roller is not limited to the size shown in the drawings, and tires of different sizes can be provided if necessary.

The car moving robot device completes the action of clamping a driving wheel of a car through a clamping mechanism 104 arranged below a car body 101. When the vehicle-moving robot device stops at the position of the vehicle to be moved, the clasping mechanism 104 is directly opposite to the driving wheels on the left side and the right side of the vehicle from the outside.

The clamping mechanism 104 includes at least two clamping arms, a first clamping arm 141 and a second clamping arm 142, for clamping, supporting and carrying the tire from below the opposite wheel. Preferably, but not limited to, the clasping mechanism 104 is configured to rotate in two clamping arms, and is controlled to rotate from a first position to a second position, or vice versa. The clamping arms are away from the ground for a certain distance so as to ensure that the clamping arms are still away from the ground after supporting and bearing tires, and therefore the driven wheels can be conveniently dragged and moved to move the vehicle to be moved.

The first position is a state where the first clamp arm 141 and the second clamp arm 142 are parallel or consistent and hidden along the corresponding longitudinal beams, so that the robot moving device can move between the trains with a minimum contraction space, and simultaneously, the robot moving device can be moved to the front and rear spaces of the clamp arms corresponding to the wheels respectively. The second position is a state where the first clip arm 141 and the second clip arm 142 are perpendicular to the vehicle body 101 and face the opposite vehicle body 101. At the moment, the driving wheel of the vehicle to be moved is positioned above the two clamping arms of the same clamping mechanism.

It is considered that the vehicle is prevented from slipping off the arm clamp because the driving wheel of the vehicle to be moved is to be lifted. Therefore, in a preferred embodiment, the clamping arms, at least the contact surface with the wheel, are further provided with an anti-slip structure, especially for preventing the tire from sliding down along the length direction of the clamping arms. The specific implementation of the anti-slip structure can be various. For example, by providing raised or depressed diagonal lines on the contact surface, and/or by making the non-slip surface of a non-slip material. Or a convex structure is directly arranged at the tail end of the clamping arm.

However, considering that the tyre is usually provided with an anti-slip pattern, when the clamping arms are closed to the second position, the friction force may be too great to actually clamp the tyre, which may cause a slip-off after lifting the vehicle. Therefore, in a better embodiment, the clamping arms are provided with pulleys capable of rotating around the length direction of the clamping arms on the contact surfaces with the tire, and when the clamping arms clamp the tire, the pulleys rotate to counteract the friction force of the tire, so that the clamping arms are assisted to clamp and hold the tire.

Specifically, as shown in fig. 2, each of the clamp arms is driven to rotate by a clamp arm driving motor 145. Each of the clamp arm driving motors 145 may control the first clamp arm 141 and the second clamp arm 142 to rotate simultaneously or sequentially, and the rotation may be converted between a first position and a second position. In the preferred embodiment of the robot moving device of the present invention, when the two clamping arms of the clamping mechanism 104 work at the second position, the distance between the two clamping arms should be smaller than the diameter of the corresponding tire, preferably but not limited to, the distance can be one third to one fourth of the diameter of the corresponding tire, so that a tire recess can be formed between the two clamping arms, which is stable enough, so that the clamping mechanism 104 can be held by the self weight of the vehicle to be moved during the lifting and moving processes.

In the preferred embodiment of the robot moving device as shown in fig. 2, the first clamping arm 141 and the second clamping arm 142 can adopt a polygonal cross section, preferably a bar structure with a triangular cross section, to balance the strength of the clamping arms and the cost saving of materials, and when in the second position, the opposite surfaces of the two clamping arms form a concave structure to accommodate the tire. And anti-skid grains (not shown in the figure) are also arranged on the surface of the clamping arm, which needs to be in contact with the tire.

Generally, self-propelled vehicles include forward drive, rear drive, and full drive, i.e., the drive wheels of the vehicle may be the front wheels, the rear wheels, or all of the wheels of the vehicle. In a preferred embodiment, the vehicle moving robot further comprises a vehicle model identification device for identifying whether the vehicle to be moved is a front-drive vehicle, a rear-drive vehicle or a full-drive vehicle. For the front-drive or rear-drive vehicle, because the corresponding driving wheel is arranged on the front wheel or the rear wheel of the vehicle, the vehicle moving robot device only needs to correspondingly move from the front or the rear of the vehicle body to be spanned above the front carriage or the rear carriage of the vehicle, and the clamping mechanism just faces the driving wheel of the vehicle. For the all-wheel-drive vehicle, the two vehicle moving robot devices are required to move together to the positions above the driving wheels from the head and the tail of the vehicle.

Before each holding and clamping mechanism works, the vehicle moving robot device can be moved to the outer side of the vehicle to be moved, and the holding and clamping mechanism 104 is over against the lower half side of the corresponding driving tire of the vehicle to be moved. This can be done by wireless positioning, such as GPS, or by providing a positioning mechanism. Specifically, the positioning mechanism may be configured as an electronic eye fixed on the top beam or the upright, or a radar positioning device disposed on the clasping mechanism 104. The electronic eyes can be used for acquiring in real time and identifying the real-time moving scene of the vehicle moving robot device in the background, so that the position of the vehicle moving robot device is distinguished, especially the parking position of a vehicle to be moved is identified in the surrounding scene, and the vehicle moving robot can be moved to the moving end point, namely above the driving wheel of the vehicle to be moved. And the radar positioning device is arranged on the holding and clamping mechanism 104, so that the real-time positions of the holding and clamping mechanism 104 and the tire can be accurately positioned.

When the robot moving machine stops at the driving tire position, one of the clamp arms, for example, the first clamp arm 141, can reach the second position from the first position, so when moving the robot moving machine, when the length direction of the vehicle to be moved moves, the first clamp arm 141 which is already at the second position can block at one side of the wheel, and the tire can be stopped by touching at the moment without excessively adjusting the position of the vehicle body 101 or the clamping mechanism 104. The second clamping arm 142 of the clamping mechanism 104 can rotate from the outside of the tire to the second position from the first position on the other side, so as to clamp the two clamping arms to the lower part of the tire, and after clamping, the distance between the two clamping arms must be smaller than the diameter of the tire, so as to carry the tire and perform subsequent lifting operation.

In a preferred embodiment, the distance between two bodies 101 may be fixed, i.e. the top cross beam is not adjustable, and the length of the clamping arm may be telescopically adjustable or set to be long enough so as to be hidden and compliant in the length direction of the body 101 in the first position, so as to facilitate movement when the vehicle is not loaded and reduce the occupied space. And when rotating from the primary importance to the second place, can be close to the tire rotation from the tire outside, the arm lock of sufficient length can guarantee to carry out the tire with most vehicle and bear.

As shown in fig. 3, the top cross beam 103 is adjustable, a telescopic portion 132 is disposed on the top cross beam 103, and a telescopic motor 133 for adjustment is disposed on the top cross beam 103, so that the length of the top cross beam 103 can be adjusted by a screw rod or hydraulic pressure, and the distance between the two vehicle bodies 101 can be controlled and adjusted to adapt to vehicles to be moved with different widths.

To sum up, the car moving robot device provided by the utility model can span the upper part of the front/rear part of the vehicle to be moved by arranging the car moving robot device with the top beam connected with two parallel car bodies; and the vehicle is clamped by the driving wheel and lifted off the ground through the clamping mechanism arranged below the vehicle body, and the driven wheel is moved to a target position by the vehicle moving robot device in an inclined mode of landing the driven wheel. The structure is simple and firm, the working cost is low, the energy consumption is low, the working duration is long, and the operation and the control are simple.

It will be understood that modifications and variations are possible to those skilled in the art in light of the above teachings and that all such modifications and variations are considered to be within the purview of the invention as set forth in the appended claims.

Claims (10)

1. The robot device for the car shifter is characterized by comprising two car bodies which are arranged in parallel relatively, wherein each car body comprises an upright column which is vertically arranged upwards, and the tops of the upright columns are connected with each other through a top cross beam;

a moving mechanism for moving the vehicle body and a clamping mechanism for clamping wheels on two sides are arranged below the vehicle body;

the clamping mechanism comprises at least two clamping arms which can rotate relatively to be separated and combined, and the clamping arms are used for being inserted into the lower portion of the wheel from front to back simultaneously to clamp and lift the wheel.

2. The transfer robot apparatus of claim 1, wherein the clamp arm is a bar structure having a triangular cross section.

3. The transfer robot device according to claim 1, wherein the contact surface between the clamp arm and the tire is provided with a pulley rotating around the length direction of the clamp arm to reduce clamping resistance and help the clamp arm clamp the tire tightly.

4. The car transfer robot device according to claim 3, wherein the clamp arm and the contact surface between the pulley and the tire on the clamp arm are provided with anti-slip structures for preventing the tire from sliding down along the length direction of the clamp arm.

5. The transfer robot apparatus according to claim 4, wherein the anti-slip structure comprises raised or depressed anti-slip twill and/or anti-slip surface made of anti-slip material.

6. The vehicle transfer robot apparatus according to any one of claims 1 to 5, further comprising a vehicle model identification means for identifying whether the vehicle to be transferred is a front-drive vehicle, a rear-drive vehicle or a full-drive vehicle.

7. The transfer robot apparatus of claim 6, wherein the top cross member is further provided with a telescopic part for adjusting a separation distance of the two bodies, the telescopic part comprising a screw and a telescopic motor.

8. The vehicle transfer robot apparatus according to any one of claims 1 to 5, further comprising a positioning mechanism for identifying a position of the front wheel or the rear wheel such that the clasping mechanism faces an outer side of the wheel to be clipped.

9. The transfer robot apparatus of claim 8, wherein the positioning mechanism is an electronic eye disposed on the top cross-beam or the column.

10. The transfer robot apparatus of claim 8, wherein the positioning mechanism is a radar positioning device disposed on the clasping mechanism.

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