WO2021155652A1 - 运输子母车及其运输母车 - Google Patents

运输子母车及其运输母车 Download PDF

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Publication number
WO2021155652A1
WO2021155652A1 PCT/CN2020/095883 CN2020095883W WO2021155652A1 WO 2021155652 A1 WO2021155652 A1 WO 2021155652A1 CN 2020095883 W CN2020095883 W CN 2020095883W WO 2021155652 A1 WO2021155652 A1 WO 2021155652A1
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WO
WIPO (PCT)
Prior art keywords
tray
car
vehicle
transport
mother
Prior art date
Application number
PCT/CN2020/095883
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English (en)
French (fr)
Inventor
吴昊
屈义
蔡颖杰
Original Assignee
深圳怡丰机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳怡丰机器人科技有限公司 filed Critical 深圳怡丰机器人科技有限公司
Priority to US17/138,923 priority Critical patent/US11447376B2/en
Publication of WO2021155652A1 publication Critical patent/WO2021155652A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices

Definitions

  • This application relates to the technical field of intelligent parking robots, and in particular to a transport child-carriage and its transport mother-car.
  • one of the current schemes is to transform the existing garage so that the parking spaces in the garage are arranged in multiple layers, so that the number of parking spaces can be increased on the basis of the original garage, and the overall garage is further improved.
  • the mechanized transformation to set up lifting devices to transport vehicles to parking spaces on different floors is obviously too costly and the engineering volume is too large, so a simple and efficient solution is urgently needed to realize the transportation of vehicles to parking spaces on different floors.
  • This application mainly provides a transport vehicle and its transport parent vehicle, to solve the problem of high cost and large amount of work caused by mechanized transformation of the garage to transport the vehicle to parking spaces on different floors.
  • the transport child vehicle includes a transport parent vehicle and a transport child vehicle.
  • the transport parent vehicle includes: a traveling frame including an underframe and two side brackets respectively connected to opposite sides of the underframe; Between the two side brackets, the lifting platform assembly is slidably connected with the side brackets, and the lifting platform assembly moves up and down along the vertical direction of the main surface of the underframe under the limit of the side brackets; wherein, the transport cart can be clamped along the two side brackets The resulting passage leaves the lifting platform assembly and enters the lifting platform assembly.
  • the side of the lifting platform assembly facing away from the underframe is provided with two sub-car guide rails arranged at intervals, and the side of the transport vehicle facing the lifting platform assembly is provided with sub-car guide wheels
  • the guide wheel of the sub-carriage is used to cooperate with the guide rail of the sub-car to correct the transportation sub-car.
  • the side of the lifting platform assembly away from the underframe is provided with a sub-car positioning member, and the sub-car positioning member is used to position the transport sub-car under the correction of the sub-car guide rail.
  • the lifting platform assembly includes:
  • the chassis is arranged on the bottom frame
  • a vehicle tray stacked with the chassis, and used to carry the transport vehicle
  • the lifting mechanism is arranged between the chassis and the car tray;
  • the lifting mechanism includes:
  • a first folding frame a first end of the first folding frame is hinged to the chassis, and a second end of the first folding frame is slidably supported on the car tray;
  • the second folding frame the first end of the second folding frame is hinged with the car tray, the second end of the second folding frame is slidably supported on the chassis, and the middle part of the first folding frame and The middle parts of the second folding frame are hinged to each other;
  • the transmission mechanism is used to change the angle of intersection between the first folding frame and the second folding frame, thereby driving the vehicle tray to rise and fall relative to the chassis.
  • the transmission mechanism is a telescopic rod, one end of the telescopic rod is hinged with the first folding frame, and the other end of the telescopic rod is hinged with the second folding frame, and the telescopic rod is hinged to the second folding frame.
  • the sides of the two side brackets opposite to each other are provided with a first guide
  • the car tray is provided with a corresponding second guide
  • the second guide is connected to the first guide.
  • the guide member is slidably connected, and the vehicle tray is raised and lowered along the extension direction of the first guide member.
  • the lifting platform assembly further includes a bridge mechanism, the bridge mechanism is arranged at the end of the car tray; the bridge mechanism includes:
  • a rotating shaft which is rotatably arranged on the car tray
  • a plurality of pedals, all fixed to the rotating shaft, and the pedals are used to form a transition bridge between the car tray and the parking space;
  • the swing member is fixedly connected to the rotating shaft
  • Push rod both ends of the push rod are hinged to the swing member and the car tray respectively;
  • the push rod drives the swing member to swing around the axis of the rotation shaft to drive the plurality of pedals to swing around the axis of the rotation shaft.
  • a first optical coupler is connected to the car tray, a sensing plate is fixedly connected to the rotating shaft, and the sensing plate rotates with the rotating shaft to be sensed by the first optical coupler.
  • the push rod stops driving the swing member to swing, and a plurality of the pedals extend to be coplanar with the vehicle tray.
  • an alignment sensor is also provided on the end of the vehicle tray where the transport vehicle enters and exits, and the alignment sensor is used to detect whether the height of the vehicle tray is the same as that of the parking space. Height alignment, and further adjust the height of the car tray when the height of the car tray is not aligned with the height of the parking space, and adjust the height of the car tray when the height of the car tray is aligned with the height of the parking space. The multiple pedals overlap the parking space.
  • a second optocoupler and a third optocoupler are further provided on the car tray, the second optocoupler is disposed at one end of the car tray, and the second optocoupler is used for detecting
  • the transport vehicle is driven out of and into the car tray, the third optical coupler is arranged along the diagonal of the car tray, and the third optical coupler is used to detect a pair of on the car tray. Whether the transport vehicle is carried.
  • the transport mother vehicle includes: a traveling frame, including an underframe and two side brackets respectively connected to opposite sides of the underframe; a lifting platform assembly, which is arranged on the underframe and located between the two side supports, the lifting platform assembly and the side supports The brackets are slidably connected, and the lifting platform assembly moves up and down along the vertical direction of the main surface of the base frame under the limit of the side brackets.
  • the mother transport vehicle includes a plurality of traveling mechanisms and a plurality of load wheels, and the plurality of traveling mechanisms are respectively arranged at least at four corners of the traveling frame and used to drive the traveling frame to travel and Changing the traveling direction of the traveling frame under the condition that the posture of the traveling frame is unchanged, and a plurality of load wheels are arranged on the underframe for supporting the traveling of the traveling frame.
  • the mother transport vehicle further includes a plurality of distance detectors, the plurality of distance detectors are arranged on the peripheral side of the traveling frame, and the distance detector is used to detect the relationship between the mother transport vehicle and the distance detector. The distance between obstacles, thereby adjusting the walking trajectories of multiple walking mechanisms;
  • the mother transport vehicle further includes at least two visual detectors, which are respectively arranged on the two side brackets, and are used to detect the spatial information directly in front of the corresponding side brackets, and then adjust the State the walking direction of the walking mechanism;
  • the mother transport vehicle further includes a lidar positioning sensor, the lidar positioning sensor is arranged on the top of the side bracket away from the bottom frame, and the lidar positioning sensor is used to determine the position and cruising of the mother transport vehicle. .
  • the lifting platform assembly includes:
  • the chassis is arranged on the bottom frame
  • a carrier tray which is stacked with the chassis, and is used to carry a carrier trolley;
  • the lifting mechanism is arranged between the chassis and the car tray;
  • the lifting mechanism includes:
  • a first folding frame a first end of the first folding frame is hinged to the chassis, and a second end of the first folding frame is slidably supported on the car tray;
  • the second folding frame the first end of the second folding frame is hinged with the car tray, the second end of the second folding frame is slidably supported on the chassis, and the middle part of the first folding frame and The middle parts of the second folding frame are hinged to each other;
  • the transmission mechanism is used to change the angle of intersection between the first folding frame and the second folding frame, thereby driving the vehicle tray to rise and fall relative to the chassis.
  • the sides of the two side brackets opposite to each other are provided with a first guide
  • the car tray is provided with a corresponding second guide
  • the second guide is connected to the first guide.
  • the guide member is slidably connected, and the vehicle tray is raised and lowered along the extension direction of the first guide member.
  • a pull-wire encoder is connected to the chassis, a pull seat is connected to the car tray, the pull-wire of the pull-wire encoder is connected to the pull seat, and the pull-wire encoder is used to detect State the lifting height of the car tray.
  • an alignment sensor is also provided on the end of the vehicle tray where the transport vehicle enters and exits, and the alignment sensor is used to detect whether the height of the vehicle tray is the same as that of the parking space. Height alignment, and further adjust the height of the car tray when the height of the car tray is not aligned with the height of the parking space.
  • the lifting platform assembly further includes a bridge mechanism, the bridge mechanism is arranged at the end of the car tray; the bridge mechanism includes:
  • a rotating shaft which is rotatably arranged on the car tray
  • a plurality of pedals, all fixed to the rotating shaft, and the pedals are used to form a transition bridge between the car tray and the parking space;
  • the swing member is fixedly connected to the rotating shaft
  • Push rod both ends of the push rod are hinged to the swing member and the car tray respectively;
  • the push rod drives the swing member to swing around the axis of the rotation shaft to drive a plurality of pedals to swing around the axis of the rotation shaft.
  • the side bracket is further formed with an accommodating space
  • the mother transport vehicle further includes a battery, a power source, and a control system
  • the battery and the control system are disposed in the container of one of the side brackets.
  • the power source is arranged in the accommodating space of the other side bracket
  • the battery powers the transport mother vehicle
  • the power source is used to provide the transmission mechanism and the push rod Power
  • the control system is used to control the traveling of the traveling frame and regulate the lifting of the lifting platform assembly.
  • the bottom frame is provided with a first charging connector
  • the battery supplies power to the first charging connector
  • the side of the vehicle tray facing the bottom frame is provided with a second charging connector
  • the A sub-car positioning member is provided on the side of the vehicle tray facing away from the underframe, the sub-car positioning member is electrically connected to the second charging connector, and the sub-car positioning member is used to supply power to the transportation sub-car;
  • the second charging connector is electrically connected to the first charging connector.
  • the present application discloses a transport vehicle and its transport parent vehicle.
  • the transport child-carriage includes a transport child vehicle and a transport mother vehicle, wherein the transport mother vehicle includes a carriage frame and a lifting platform assembly, and the transport child vehicle is used between the parking space and the lifting platform assembly Transfer the vehicle, and when the vehicle needs to be transported to the high-level parking space, the lifting platform assembly moves up and down along the vertical direction of the main surface of the underframe under the limit of the side bracket, so as to lift the transport vehicle to be aligned with the high-level parking space.
  • the transport vehicle can transport the loaded vehicle to the high-level parking space. Therefore, the transport vehicle provided in this application can easily and efficiently transport the vehicle to the parking space of different floors, thereby avoiding the high cost of the garage.
  • the mechanized transformation with a large amount of engineering can realize the high-level transportation of vehicles.
  • Fig. 1 is a schematic diagram of the structure of the transport vehicle provided by this application;
  • Figure 2 is a schematic front view of the structure of the transport vehicle of Figure 1;
  • Figure 3 is a schematic diagram of the structure of the mother transport vehicle in Figure 1;
  • Fig. 4 is a schematic structural diagram of the lifting platform assembly in the mother transport vehicle of Fig. 3 after being raised;
  • Fig. 5 is a schematic structural diagram of the transport mother vehicle in Fig. 3 with the lifting platform assembly and the outer shell removed;
  • Fig. 6 is a schematic structural diagram of the lifting platform assembly in Fig. 3 in a stacked state
  • Fig. 7 is a schematic structural diagram of the lifting platform assembly in Fig. 3 in a separated state
  • Figure 8 is a bottom view of the structure of the lifting platform assembly of Figure 6;
  • Figure 9 is a partial enlarged schematic view of the structure of the lifting platform assembly of Figure 6;
  • Figure 10 is a partial enlarged schematic view of the structure of the lifting platform assembly of Figure 8.
  • Fig. 11 is a schematic diagram of a partial enlarged structure of area A in the transport vehicle of Fig. 2.
  • first”, “second”, and “third” in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first”, “second”, and “third” may explicitly or implicitly include at least one of the features.
  • “a plurality of” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the terms “including” and “having” and any variations of them are intended to cover non-exclusive inclusions.
  • a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.
  • FIG. 1 is a schematic structural diagram of the transport child-carriage provided in this application.
  • Fig. 1 is a schematic structural view of the mother transport vehicle, and
  • Fig. 4 is a schematic structural view of the lifting platform assembly in the mother transport vehicle of Fig. 3 after being raised.
  • the transport vehicle 300 can be applied to a parking lot scene to carry vehicles from the entrance of the vehicle to the parking spaces of each floor, and to carry the vehicles in the parking space to the exit of the vehicle.
  • the transport child vehicle 300 includes a transport mother vehicle 100 and a transport child vehicle 200.
  • the transport mother vehicle 100 consigns the transport child vehicle 200, and the transport parent vehicle 100 is aligned with the parking space.
  • the transport child vehicle 200 is used in the parking space and the transport parent vehicle. Carrying vehicles between.
  • the mother transport vehicle 100 includes a traveling frame 10, a plurality of traveling mechanisms 20, and a lifting platform assembly 30.
  • the multiple traveling mechanisms 20 are arranged on the traveling frame 10 and used to drive the traveling frame 10 to travel, and the lifting platform assembly 30 is arranged on the traveling frame.
  • the frame 10 is also used for lifting to lift the transport sub-car 200 placed thereon, so that the vehicle carried by the transport sub-car 200 can be transported to a parking space located at a high level.
  • the transport mother vehicle 100 consigns the transport child vehicle 200 to the vehicle entrance of the garage, and the transport child vehicle 200 carries the vehicle parked at the garage entrance and transfers it to the transport mother vehicle 100, and the transport mother vehicle 100 travels to
  • the vacant parking space in the garage if the parking space is a high-rise storage space, the lifting platform assembly 30 is raised and lowered to align with the high-rise storage space, and the transport vehicle 200 then transfers the loaded vehicle to the high-rise storage space, and then the empty transport vehicle
  • the cart 200 returns to the lifting platform assembly 30, and the transport mother cart 100 transports another vehicle to be transported.
  • the traveling frame 10 includes an underframe 12 and two side brackets 14 respectively connected to opposite sides of the underframe 12.
  • a plurality of traveling mechanisms 20 are respectively arranged at the four corners of the traveling frame 10 to drive the traveling frame 10 to walk and change the traveling direction of the traveling frame 10 under the condition that the posture of the traveling frame 10 remains unchanged, and the multiple traveling The cooperation of the mechanism 20 can make the traveling frame 10 spin in place to adjust the heading of the carried vehicle.
  • the traveling mechanism 20 may be an electrically driven steering wheel, which can drive and adjust its direction by itself, so that the cooperation of a plurality of electrically driven steering wheels can change the traveling direction of the traveling frame 10 and make the traveling direction of the traveling frame 10 remain unchanged while the posture of the traveling frame 10 remains unchanged.
  • the driving frame 10 spins in place.
  • the traveling mechanism 20 may also include a motor and traveling wheels.
  • the motor drives the traveling wheels to rotate.
  • a plurality of traveling mechanisms 20 can cooperate to drive the traveling frame 10 to travel, and each traveling mechanism 20 performs differential rotation to realize the traveling of the traveling frame 10 Direction adjustment.
  • the mother transport vehicle 100 further includes a plurality of load wheels 22, and the plurality of load wheels 22 are arranged on the underframe 12.
  • the load wheels 22 may also be arranged on the side of the side frame 14 facing the supporting surface (such as the ground). 22 is used to support the traveling of the traveling frame 10 to share the supporting force borne by the traveling mechanism 20, so that the distribution of the supporting force obtained by the traveling frame 10 is more even, and the transport mother vehicle 100 travels more stably.
  • the load wheels 22 are universal wheels.
  • the four corners of the underframe 12 are provided with four electrically driven steering wheels.
  • the four load wheels 22 are set corresponding to the four electrically driven steering wheels.
  • the four load wheels 22 are distributed on the side of the underframe 12 facing the supporting surface.
  • the mother transport vehicle 100 also includes a plurality of distance detectors 151, the distance detectors 151 are arranged on the peripheral side of the traveling frame 10, and the distance detector 151 is used to detect the distance between the mother transport vehicle 100 and the obstacle, and then adjust The walking trajectories of the multiple traveling mechanisms 20 and the distance detector 151 can also detect the distance between the mother transport vehicle 100 and the corresponding parking space, so that the mother transport vehicle 100 is aligned with the parking space and maintains an appropriate distance, which is convenient
  • the transport child vehicle 200 loads and unloads vehicles from the transport parent vehicle 100 and the parking space.
  • the distance detector 151 may be a distance-detectable element such as a distance sensor or a photo sensor.
  • another transport child vehicle 300 is loading or unloading in front of the walking track of the mother transport vehicle 100, and the distance detector 151 on the mother transport vehicle 100 is detecting the transport between itself and the front.
  • the distance detector 151 detects that the mother transport vehicle 100 is close to the obstacle on the side of the walking track, and there is a risk of collision, and the traveling direction of the traveling mechanism 20 will be adjusted to change the walking track to avoid a collision.
  • the mother transport vehicle 100 also includes at least two visual detectors 152, and the at least two visual detectors 152 are respectively disposed on the two side brackets 14 for detecting the spatial information directly in front of the corresponding side brackets 14, and then adjusting the running mechanism 20 Walking direction.
  • the vision detector 152 may be a component capable of performing vision detection, such as a vision sensor and a laser sensor.
  • the visual detector 152 detects the spatial information in the direction of movement.
  • the spatial information includes signs on the path ahead, obstacle information on the path, etc., such as turning signs on the path, and on the trajectory of the forward path. If there is another mother transport vehicle 100 or the like, the visual detector 152 can send a signal to adjust the walking trajectory of the mother transport vehicle 100, in other words, adjust the walking directions of the multiple walking mechanisms 20 at the same time to walk along the trajectory or avoid obstacles.
  • the mother transport vehicle 100 further includes a lidar positioning sensor 153, which is arranged on the top of the side bracket 14 away from the chassis 12, and the lidar positioning sensor 153 is used to determine the position and cruise of the mother transport vehicle 100.
  • the control system of the transport mother vehicle 100 stores the scene map of the garage, so the transport mother vehicle 100 can follow the instructions when receiving the instruction.
  • the trajectory in the scene map moves to the corresponding position.
  • the lidar positioning sensor 153 has the function of determining the position of the mother transport vehicle 100 in the scene map, so the control system of the mother transport vehicle 100 can plan its own walking trajectory in real time, thereby realizing the automatic cruise function of the mother transport vehicle 100.
  • the mother transport vehicle 100 can automatically cruise in the garage and adjust the walking trajectory of the mother transport vehicle 100 in real time, so that the mother transport vehicle 100 can be highly efficient. Land transfer vehicles.
  • the lifting platform assembly 30 is disposed on the bottom frame 12 and located between the two side brackets 14.
  • the lifting platform assembly 30 is slidably connected to the side bracket 14
  • the vertical direction of the main surface of the frame 12 moves up and down.
  • the transport sub-car 200 is placed on the lifting platform assembly 30 and can move away from the lifting platform assembly 30 and into the lifting platform assembly 30 along the passage formed by the two side brackets 14.
  • the two side brackets 14 are provided with a first guide 141 on the opposite side to each other, and the lifting platform assembly 30 is provided with a second guide 142 corresponding to the second guide 142.
  • a guide member 141 is slidably connected, and the lifting platform assembly 30 is lifted and lowered along the first guide member 141, so that the lifting platform assembly 30 can be lifted more smoothly.
  • the first guide 141 is a guide rail, and the second guide 142 is a slider; or the first guide 141 is a guide shaft, and the second guide 142 is a guide block, and the guide block is slidably connected to the guide shaft.
  • a lifting mechanism may be further provided on the two side brackets 14, and the lifting mechanism is used to drive the lifting platform assembly 30 to lift as a whole, so that the mother transport vehicle 100 can lift the transport child vehicle 200 twice and increase the transport capacity.
  • the lifting height of the mother car 100 may be further provided on the two side brackets 14, and the lifting mechanism is used to drive the lifting platform assembly 30 to lift as a whole, so that the mother transport vehicle 100 can lift the transport child vehicle 200 twice and increase the transport capacity. The lifting height of the mother car 100.
  • the lifting mechanism can be a servo electric cylinder or a hydraulic cylinder.
  • a servo electric cylinder for example, two servo electric cylinders are provided on the opposite sides of the two side supports 14; Raise the lifting platform assembly 30 together.
  • FIG. 6 is a schematic structural diagram when the lifting platform assembly is in a stacked state
  • FIG. 7 is a structural schematic diagram when the lifting platform assembly is in a separated state
  • the lifting platform assembly 30 includes a chassis 31. Car tray 33 and lifting mechanism 35.
  • the chassis 31 is disposed on the bottom frame 12, for example, the chassis 31 and the bottom frame 12 are stacked and can be connected by fasteners or the like.
  • the car tray 33 is stacked on the chassis 31.
  • the car tray 33 is used to carry the transport sub-car 200, and the car tray 33 can be stacked on and in contact with the chassis 31.
  • the lifting mechanism 35 is provided between the chassis 31 and the car tray 33.
  • the lifting mechanism 35 is used to drive the car tray 33 away from the chassis 31, so that the car tray 33 and the chassis 31 are in contact with each other from being stacked and contacted with each other to be separated from each other. And for driving the vehicle tray 33 to move toward the chassis 31, so that the vehicle tray 33 and the chassis 31 are transformed from a state of being separated from each other to a state in which they are in contact with each other.
  • the lifting mechanism 35 includes a first folding frame 351, a second folding frame 353 and a transmission mechanism 355.
  • the first end of the first folding frame 351 is hinged to the chassis 31, and the second end of the first folding frame 352 is slidably supported on the tray 33.
  • the first end of the second folding frame 353 is hinged to the vehicle tray 33, the second end of the second folding frame 353 is slidably supported on the chassis 31, and the middle part of the first folding frame 351 and the middle part of the second folding frame 353 are hinged to each other.
  • the transmission mechanism 355 is used to change the angle of intersection between the first folding frame 351 and the second folding frame 353, which is the angle between the first folding frame 351 and the second folding frame 353 from the hinged point of each other.
  • the undercarriage 33 is raised and lowered relative to the chassis 31.
  • the transmission mechanism 355 is a telescopic rod, one end of the telescopic rod is hinged with the first folding frame 351, and the other end of the telescopic rod is hinged with the second folding frame 353, and the first folding frame 351 and the second folding frame are changed by extension and contraction.
  • the telescopic rod may be a hydraulic telescopic rod driven by hydraulic pressure, or the telescopic rod may be a pneumatic telescopic rod driven by air pressure, which is not limited in this application.
  • one end of the telescopic rod is hinged with the first folding frame 351, and the other end of the telescopic rod is hinged with the chassis 31; or one end of the telescopic rod is hinged with the second folding frame 353, and the other end of the telescopic rod is hinged with the car tray. 33 articulated.
  • the transmission mechanism 355 may also be a motor and a chain.
  • the motor drives the second end of the second folding frame 353 to slide on the chassis 31 through the chain, and then changes the angle of intersection to drive the car tray 33 to move up and down relative to the chassis 31.
  • the transmission mechanism 355 may also be other transmission modes, which are not limited in this application.
  • the lifting mechanism 35 may be a group, and the group of lifting mechanisms 35 is arranged in the middle of the chassis 31 and the car tray 33 to stabilize the lifting and lowering of the car tray 33.
  • the lifting platform assembly 30 may also include two groups of lifting mechanisms 35.
  • a first support beam 352 is connected between the two groups of first folding frames 351, and a second support beam 354 is connected between the two groups of second folding frames 353.
  • the telescopic end is hinged to the first support beam 352, and the driving end of the telescopic rod is hinged to the second support beam 354.
  • the telescopic rod simultaneously changes the angle of intersection between the two sets of the first folding frame 351 and the second folding frame 353 through expansion and contraction.
  • the two sets of lifting mechanisms 35 are arranged at intervals along the spacing direction of the brackets 14 on both sides, which can further improve the stability of the lifting car tray 33.
  • the first support beam 352, the second support beam 354, and the telescopic rod are arranged non-coplanar to avoid the first support beam 352, the second support beam 354 and the telescopic rod from being locked.
  • the first support beam 352 is provided with a hinge seat
  • the telescopic end of the telescopic rod is hinged with the hinge seat
  • the angle between the telescopic end of the telescopic rod and the hinge seat is not 180 degrees, so that the first support beam can be changed when the telescopic rod is telescopic.
  • the lifting mechanisms 35 are in four groups, which are arranged at intervals along the spacing direction, and are distributed on opposite ends of the car tray 33 in pairs to further improve the lifting stability of the driving car tray 33.
  • Fig. 8 is a schematic bottom view of the structure of the lifting platform assembly of Fig. 6
  • Fig. 9 is a partial enlarged schematic view of the structure of the lifting platform assembly of Fig. 6.
  • the chassis 31 includes a first frame 310 and two first sliding guides 312 respectively arranged on two opposite inner sides of the first frame 310.
  • the vehicle tray 33 includes a second frame 330 and two opposite inner sides of the second frame 330.
  • Two second sliding guides 332, the two outer sides of the second end of the first folding frame 351 are respectively rotatably connected with first sliding parts 357, and the two outer sides of the second end of the second folding frame 353 are respectively rotatably connected with second sliding parts 356,
  • the first sliding member 357 is slidably connected to the corresponding first sliding guide 312, and the second sliding member 356 is slidably connected to the corresponding second sliding guide 332.
  • the second frame 330 and the first frame 310 can be overlapped and separated from each other.
  • the first sliding member 357 slides under the guidance of the first sliding guide 312, and the second sliding member 356 slides on the second sliding guide 332. It slides down under the guide, so that the car tray 33 is more smoothly raised and lowered relative to the chassis 31.
  • Fig. 10 is a partial enlarged structural diagram of the lifting platform assembly of Fig. 8.
  • the lifting platform assembly 30 also includes a bridge mechanism 37, which is arranged at the end of the car tray 33 for forming a transition bridge between the car tray 33 and the parking space for the transport vehicle 200 to pass through. .
  • the bridge mechanism 37 includes a rotating shaft 370, a plurality of pedals 371, a swing member 372 and a push rod 373.
  • the rotating shaft 370 is rotatably provided on the car tray 33.
  • a plurality of pedals 371 are all fixed to the rotating shaft 370, and the pedals 371 are used to form a transition bridge between the vehicle tray 33 and the parking space for the transport vehicle 200 to pass through.
  • the swing member 372 is fixed to the rotating shaft 370, and both ends of the push rod 373 are hinged to the swing member 372 and the vehicle tray 33, respectively.
  • the push rod 373 drives the swing member 372 to swing around the axis of the rotation shaft 370 to drive the plurality of pedals 371 to swing around the axis of the rotation shaft 370, thereby causing the plurality of pedals 371 to rotate so as to overlap the parking space and retract from the parking space.
  • the push rod 373 may be a hydraulic push rod or a pneumatic push rod, and the push rod 373 expands and contracts to drive the swing member 372 to swing around the axis of the rotation shaft 370.
  • a first optical coupler 381 is connected to the car tray 33, a sensing sheet 382 is fixedly connected to the rotating shaft 370, and the sensing sheet 382 rotates with the rotating shaft 370 to be driven by the first optical coupler 381.
  • the push rod 373 stops driving the swing member 372 to swing, and the plurality of pedals 371 extend to be coplanar with the car tray 33 and can overlap the parking space.
  • a second optocoupler 383 and a third optocoupler 384 are also provided on the side of the vehicle tray 33 facing away from the chassis 31.
  • the second optocoupler 383 is provided at one end of the vehicle tray 33, and the second photocoupler 383 is used to detect the transporter.
  • the vehicle 200 drives out of the vehicle tray 33 and the detection transport vehicle 200 enters the vehicle tray 33.
  • the third optical coupler 384 is arranged along the diagonal of the vehicle tray 33, and the third optical coupler 384 is used to detect whether the transport vehicle 200 is Carried on the car tray 33.
  • the second optical coupler 383 is provided at the end of the carriage tray 33 that enters and exits the transport sub-car 200, so that the transport sub-car 200 can be detected in and out of the carriage tray 33.
  • the third optical coupler 384 is arranged along the diagonal line of the car carrier plate 33, which can be understood as the detection light of the third optical coupler 384 exits along the diagonal line of the car carrier plate 33, so that the transport sub-car 200 is carried on the car carrier plate 33. Time can be detected by the third optical coupler 384.
  • FIGS. 5 and 6 there are second guide members 142 on both sides of the vehicle tray 33, and the second guide member 142 is slidably connected to the first guide member 141.
  • a cable encoder 385 is connected to the underframe 12
  • a pull seat 386 is connected to the car tray 33
  • the cable of the cable encoder 385 is connected to the pull seat 386
  • the cable encoder 385 is used to detect the lifting of the car tray 33.
  • the height of the vehicle tray 33 is prevented from exceeding the height limit of the first guide 141, and the height of the vehicle tray 33 relative to the chassis 31 can be detected in real time to ensure the accuracy of the rising height of the vehicle tray 33.
  • the car tray 33 is also provided with an alignment sensor 387, which is used to align the car tray 33 with the parking space.
  • the alignment sensor 387 detects whether the height of the car tray 33 is aligned with the height of the parking space. If the height of the car tray 33 is different from the height of the parking space, the height of the car tray 33 is further adjusted.
  • the height of the tray 33 matches the height of the parking space, and the multiple pedals 371 are adjusted to overlap the parking space, so as to facilitate the transportation of the child vehicle 200 between the parking space and the transportation mother vehicle 100, that is, the alignment sensor 387 is used for The alignment between the car tray 33 and the parking space is further ensured.
  • the side of the carriage plate 33 away from the chassis 31 is provided with two sub-car guide rails 391 arranged at intervals, and the side of the transport carriage 200 facing the carriage plate 33 is provided with sub-car guide wheels 392.
  • the sub-car guide wheel 392 is used to roll-fit with the sub-car guide rail 391 and enter between the two sub-car guide rails 391 to correct the running track of the transport sub-car 200 so as to prevent the vehicle carried by the transport sub-car 200 from colliding with the side frame 14.
  • the side of the carrier tray 33 away from the chassis 31 is also provided with a sub-car positioning member 393, and the side of the transport sub-car 200 facing the carrier tray 33 is provided with a sub-car positioning seat 394, and the sub-car positioning member 393 is used for sensing The child vehicle positioning seat 394 is then positioned to transport the child vehicle 200.
  • the mother transport vehicle 100 further includes a battery 40, and the battery 40 is used for energy supply.
  • the side bracket 14 is provided with a battery 40
  • the bottom frame 12 is provided with a first charging connector 120
  • the battery 40 supplies power to the first charging connector 120.
  • the vehicle tray 33 is provided with a second charging connector 331 facing the chassis 12, and the vehicle tray 33 is provided with a second charging connector 331.
  • the side away from the chassis 31 is provided with a sub-car positioning member 393.
  • the sub-car positioning member 393 can also be electrically connected to the second charging connector 331.
  • the transport sub-car 200 is provided with a sub-car positioning seat 394 on the side facing the carrier tray 33.
  • the child vehicle positioning seat 394 is used to electrically connect with the child vehicle positioning member 393, so that when the child vehicle positioning seat 394 is connected to the child vehicle positioning member 393, it can be determined that the transport child vehicle 200 is located at the set position on the transport mother vehicle 100. In turn, the movement of the transport sub-car 200 can be stopped.
  • the second charging connector 331 is electrically connected to the first charging connector 120; the transport sub-car 200 is guided by the sub-car guide rail 391, the sub-car positioning seat 394 and the sub-car positioning member 393 is electrically connected to determine the position of the transport sub-car 200 and stop the movement of the transport sub-car 200.
  • the mother transport vehicle 100 further includes a control system 50, which is used to control the traveling of the traveling frame 10 and regulate the lifting of the lifting platform assembly 30.
  • the above-mentioned distance detector 151, visual detector 152, lidar positioning sensor 153, first photocoupler 381, second photocoupler 383 and third photocoupler 384, alignment sensor 387, and cable encoder 385 are all controlled
  • the system 50 is in communication connection, and the control system 50 is also in communication connection with the traveling mechanism 20 and the lifting platform assembly 30.
  • the control system 50 is used to receive the data collected by the above components and perform data processing, and the final processing result is formed
  • the control instructions are used to control the walking of the mother transport vehicle 100 and the lifting and lowering of the vehicle tray 33 and so on.
  • the mother transportation vehicle 100 further includes a power source 60, which is used to provide power to the transmission mechanism 355 and the push rod 373.
  • the transmission mechanism 355 is a hydraulic telescopic rod driven by hydraulic pressure
  • the push rod 373 is a hydraulic push rod
  • the power source 60 can be a hydraulic pump
  • the transmission mechanism 355 is a pneumatic telescopic rod driven by air pressure
  • the push rod 373 is a pneumatic push rod.
  • the power source 60 may be a pneumatic pump.
  • the power source 60 can provide the power required by the transmission mechanism 355 and the push rod 373 described above.
  • the power source 60 may further include a first power source 61 and a second power source 62, wherein the first power source 61 provides power to the transmission mechanism 355, and the second power source 62 provides power to the push rod 373.
  • the side bracket 14 is further formed with an accommodating space 145.
  • the battery 40, the control system 50 and the power source 60 are arranged in the accommodating space 145 of the side bracket 14.
  • the battery 40 and the control system 50 are arranged in the same accommodating space of the side bracket 14.
  • the power source 60 is arranged in the accommodating space 145 of the bracket 14 on the other side.
  • all electrical components, cables, etc. can be arranged in the accommodating space 145, so that the layout of the components of the mother transport vehicle 100 is reasonable and compact.
  • the present application discloses a transport vehicle.
  • the transport child-carriage includes a transport child vehicle and a transport mother vehicle, wherein the transport mother vehicle includes a carriage frame and a lifting platform assembly, and the transport child vehicle is used between the parking space and the lifting platform assembly Transfer the vehicle, and when the vehicle needs to be transported to the high-level parking space, the lifting platform assembly moves up and down along the vertical direction of the main surface of the underframe under the limit of the side bracket, so as to lift the transport vehicle to be aligned with the high-level parking space. After that, the transport vehicle can transport the loaded vehicle to the high-level parking space. Therefore, the transport vehicle provided in this application can easily and efficiently transport the vehicle to the parking space of different floors, thereby avoiding the high cost of the garage.
  • the mechanized transformation with a large amount of engineering can realize the high-level transportation of vehicles.

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Abstract

本申请公开了一种运输子母车及其运输母车。该运输子母车包括运输母车和运输子车，运输母车包括：行车架包括底架和分别连接于底架相对两侧的两个侧支架；升降台组件设置于底架且位于两个侧支架之间，升降台组件与侧支架滑动连接，升降台组件在侧支架的限位下沿底架的主表面的垂直方向升降运动；其中，运输子车可沿两个侧支架夹设而成的通道驶离升降台组件和驶入升降台组件。通过运输子母车包括运输子车和运输母车，其中运输母车包括行车架和升降台组件，运输子车用于在停车位与升降台组件之间转移车辆，且升降台组件可将运输子车抬升至与高层停车位对准，因而本申请提供的运输子母车可简捷高效地实现将车辆搬运至不同层的停车位中。

Description

运输子母车及其运输母车
本申请要求于2020年02月06日提交的申请号为2020100819530，发明名称为“运输子母车”的中国专利申请的优先权，其通过引用方式全部并入本申请。
【技术领域】
本申请涉及智能泊车机器人技术领域，特别是涉及一种运输子母车及其运输母车。
【背景技术】
随着经济的发展和人们生活条件的改善，越来越多的人拥有轿车作为代步工具，因而近年来轿车的数量呈爆炸性增长，但城市内的停车位资源有限，导致人们停车难。
为解决停车难的问题，现行的一种方案是对现有车库进行改造，使得车库内的停车位呈多层设置，从而在原有车库的基础上可增加停车位的数量，而进一步对车库整体进行机械化改造以设置升降装置将车辆搬运至不同层的停车位，显然成本太高、工程量太大，因而急需一种简捷高效的方案以实现将车辆搬运至不同层的停车位中。
【发明内容】
本申请主要提供一种运输子母车及其运输母车，以解决对车库进行机械化改造以将车辆搬运至不同层的停车位而致使成本高、工程量大的问题。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种运输子母车。该运输子母车包括运输母车和运输子车，运输母车包括：行车架包括底架和分别连接于底架相对两侧的两个侧支架；升降台组件设置于底架且位于两个侧支架之间，升降台组件与侧支架滑动连接，升降台组件在侧支架的限位下沿底架的主表面的垂直方向升降运动；其中，运输子车可沿两个侧支架夹设而成的通道驶离升降台组件和驶入升降台组件。
在一些实施例中，所述升降台组件背离所述底架的一侧设有两条间隔设置的子车导轨，所述运输子车朝向所述升降台组件的一侧设有子车导轮，所述子车导轮用于与所述子车导轨配合，以校正所述运输子车。
在一些实施例中，所述升降台组件背离所述底架的一侧设有子车定位件，所述子车定位件用于在所述子车导轨的校正下定位所述运输子车。
在一些实施例中，所述升降台组件包括：
底盘，设置于所述底架；
载车盘，与所述底盘层叠设置，用于承载所述运输子车；
升降机构，设置于所述底盘与所述载车盘之间；
所述升降机构包括：
第一折叠架，所述第一折叠架的第一端与所述底盘铰接，所述第一折叠架的第二端滑动支撑于所述载车盘；
第二折叠架，所述第二折叠架的第一端与所述载车盘铰接，所述第二折叠架的第二端滑动支撑于所述底盘，且所述第一折叠架的中部和所述第二折叠架的中部彼此铰接；
传动机构，用于改变所述第一折叠架和所述第二折叠架之间的交角，进而带动所述载车盘相对所述底盘升降。
在一些实施例中，所述传动机构为伸缩杆，所述伸缩杆的一端与所述第一折叠架铰接，所述伸缩杆的另一端与所述第二折叠架铰接，并通过伸缩改变所述第一折叠架和所述第二折叠架之间的交角。
在一些实施例中，两个所述侧支架彼此相对的一侧均设有第一导向件，所述载车盘设有相应的第二导向件，所述第二导向件与所述第一导向件滑动连接，所述载车盘沿所述第一导向件的延伸方向升降。
在一些实施例中，所述升降台组件还包括搭接桥机构，所述搭接桥机构设置于所述载车盘的端部；所述搭接桥机构包括：
转动轴，转动设置于所述载车盘；
多个踏板，均固接于所述转动轴，所述踏板用于在所述载车盘与停车位之间形成过渡桥；
摆动件，固接于所述转动轴；
推杆，所述推杆的两端分别铰接于所述摆动件与所述载车盘；
其中，所述推杆驱动所述摆动件绕所述转动轴的轴线摆动，以带动多个所 述踏板绕所述转动轴的轴线摆动。
在一些实施例中，所述载车盘上连接有第一光耦，所述转动轴上固接有感应片，所述感应片随所述转动轴转动至被所述第一光耦所感应时，所述推杆停止驱动所述摆动件摆动，且多个所述踏板伸展至与所述载车盘共面。
在一些实施例中，所述载车盘上由所述运输子车出入的端部还设有对位感应器，所述对位感应器用于检测所述载车盘的高度是否与停车位的高度对准，并在所述载车盘的高度与停车位的高度未对准时进一步调整所述载车盘的高度，以及在所述载车盘的高度与停车位的高度对准时，调控所述多个踏板搭接于所述停车位。
在一些实施例中，所述载车盘上还设有第二光耦和第三光耦，所述第二光耦设置于所述载车盘的一端，所述第二光耦用于检测所述运输子车驶出和驶入所述载车盘，所述第三光耦沿所述载车盘的对角线设置，所述第三光耦用于检测所述载车盘上对否承载有所述运输子车。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种运输母车。该运输母车包括：行车架，包括底架和分别连接于底架相对两侧的两个侧支架；升降台组件，设置于底架且位于两个侧支架之间，升降台组件与侧支架滑动连接，升降台组件在侧支架的限位下沿底架的主表面的垂直方向升降运动。
在一些实施例中，所述运输母车包括多个行走机构和多个负载轮，多个所述行走机构至少分别设置于所述行车架的四角，用于驱动所述行车架行走并在所述行车架的姿态不变的情况下改变所述行车架的行走方向，多个所述负载轮设置于所述底架，用于支撑所述行车架行走。
在一些实施例中，所述运输母车还包括多个距离检测器，多个所述距离检测器设置于所述行车架的周侧，所述距离检测器用于检测所述运输母车与障碍物之间的间距，进而调整多个所述行走机构的行走轨迹；
所述运输母车还包括至少两个视觉检测器，所述至少两个视觉检测器分别设置于两个所述侧支架，用于检测对应的所述侧支架正前方的空间信息，进而调整所述行走机构的行走方向；
所述运输母车还包括激光雷达定位传感器，所述激光雷达定位传感器设置于所述侧支架远离所述底架的顶部，所述激光雷达定位传感器用于确定所述运输母车的位置和巡航。
在一些实施例中，所述升降台组件包括：
底盘，设置于所述底架；
载车盘，与所述底盘层叠设置，用于承载搬运子车；
升降机构，设置于所述底盘与所述载车盘之间；
所述升降机构包括：
第一折叠架，所述第一折叠架的第一端与所述底盘铰接，所述第一折叠架的第二端滑动支撑于所述载车盘；
第二折叠架，所述第二折叠架的第一端与所述载车盘铰接，所述第二折叠架的第二端滑动支撑于所述底盘，且所述第一折叠架的中部和所述第二折叠架的中部彼此铰接；
传动机构，用于改变所述第一折叠架和所述第二折叠架之间的交角，进而带动所述载车盘相对所述底盘升降。
在一些实施例中，两个所述侧支架彼此相对的一侧均设有第一导向件，所述载车盘设有相应的第二导向件，所述第二导向件与所述第一导向件滑动连接，所述载车盘沿所述第一导向件的延伸方向升降。
在一些实施例中，所述底架上连接有拉线编码器，所述载车盘上连接有拉座，所述拉线编码器的拉线连接于所述拉座，所述拉线编码器用于检测所述载车盘的升降高度。
在一些实施例中，所述载车盘上由所述运输子车出入的端部还设有对位感应器，所述对位感应器用于检测所述载车盘的高度是否与停车位的高度对准，并在所述载车盘的高度与停车位的高度未对准时进一步调整所述载车盘的高度。
在一些实施例中，所述升降台组件还包括搭接桥机构，所述搭接桥机构设置于所述载车盘的端部；所述搭接桥机构包括：
转动轴，转动设置于所述载车盘；
多个踏板，均固接于所述转动轴，所述踏板用于在所述载车盘与停车位之间形成过渡桥；
摆动件，固接于所述转动轴；
推杆，所述推杆的两端分别铰接于所述摆动件与所述载车盘；
其中，所述推杆驱动所述摆动件绕所述转动轴的轴线摆动，以带动多个所述踏板绕所述转动轴的轴线摆动。
在一些实施例中，所述侧支架进一步形成有容置空间，所述运输母车还包 括电池、动力源和控制系统，所述电池和所述控制系统设置于其中一个所述侧支架的容置空间内，所述动力源设置于另一所述侧支架的容置空间，所述电池给所述运输母车供能，所述动力源用于给所述传动机构和所述推杆提供动力，所述控制系统用于控制所述行车架行走和调控所述升降台组件升降。
在一些实施例中，所述底架设有第一充电接头，所述电池给所述第一充电接头供电，所述载车盘朝向所述底架的一侧设有第二充电接头，所述载车盘背离所述底架的一侧设有子车定位件，所述子车定位件与所述第二充电接头电连接，所述子车定位件用于给所述运输子车供电；
其中，所述载车盘叠置于所述底盘时，所述第二充电接头与所述第一充电接头电连接。
本申请的有益效果是：区别于现有技术的情况，本申请公开了一种运输子母车及其运输母车。通过提供一种运输子母车，该运输子母车包括运输子车和运输母车，其中运输母车包括行车架和升降台组件，运输子车用于在停车位与升降台组件之间转移车辆，并在车辆需要搬运至高层停车位时，升降台组件在侧支架的限位下沿底架的主表面的垂直方向升降运动，以将运输子车抬升至与高层停车位对准，之后运输子车可将所承载的车辆搬运至高层停车位，因而本申请提供的运输子母车可简捷高效地实现将车辆搬运至不同层的停车位中，从而可避免对车库进行成本高、工程量大的机械化改造即可实现车辆的高层搬运。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，其中：
图1是本申请提供的运输子母车的结构示意图；
图2是图1运输子母车的正视结构示意图；
图3是图1中运输母车的结构示意图；
图4是图3运输母车中升降台组件升起后的结构示意图；
图5是图3中运输母车去掉升降台组件和外壳的结构示意图；
图6是图3中升降台组件呈叠置状态时的结构示意图；
图7是图3中升降台组件呈分离状态时的结构示意图；
图8是图6升降台组件的仰视结构示意图；
图9是图6升降台组件的局部放大结构示意图；
图10是图8升降台组件的局部放大结构示意图；
图11是图2运输子母车中A区域的局部放大结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例中的术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括至少一个该特征。本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其他实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其他实施例相结合。
本申请提供一种运输子母车300，参阅图1至图4，图1是本申请提供的运输子母车的结构示意图，图2是图1运输子母车的正视结构示意图，图3是图1中运输母车的结构示意图，图4是图3运输母车中升降台组件升起后的结构示 意图。
该运输子母车300可应用于停车场场景，以将车辆自车辆进口位运载至各层停车位，和将停车位的车辆运载至车辆出口位。
该运输子母车300包括运输母车100和运输子车200，运输母车100托运运输子车200，运输母车100与停车位对准，运输子车200用于在停车位与运输母车之间运载车辆。
其中，运输母车100包括行车架10、多个行走机构20和升降台组件30，多个行走机构20设置于行车架10并用于驱动行车架10行走，升降台组件30设置于行车架10并用于升降以抬升置于其上的运输子车200，进而可将运输子车200所运载的车辆搬运至位于高层的停车位。
参阅图1和图2，运输母车100托运运输子车200至车库的车辆进口位，运输子车200搬运起停在车库进口位的车辆并转移至运输母车100，运输母车100行走至车库内空置的停车位，若停车位为高层库位，则升降台组件30升降以与高层库位对齐，运输子车200再将所承载的车辆转移至高层库位，之后空载的运输子车200返回升降台组件30，运输母车100去运输另一待搬运的车辆。
参阅图3至图5，行车架10包括底架12和分别连接于底架12相对两侧的两个侧支架14。
多个行走机构20至少分别设置于行车架10的四角，用于驱动行车架10行走并在行车架10的姿态不变的情况下改变行车架10的行走方向，且多个行走机构20配合可使得行车架10原地自旋，以调整所运载的车辆的车头朝向。
行走机构20可以是电驱动舵轮，电驱动舵轮能够自我驱动并调节方向，从而多个电驱动舵轮配合可使得在行车架10的姿态不变的情况下改变行车架10的行走方向和使得行车架10原地自旋。
行走机构20还可以包括电机和行走轮，电机驱动行走轮转动，多个行走机构20配合可驱动行车架10行走，且各行走机构20进行差速转动即可实现对行车架10的行走方向的调整。
进一步，运输母车100还包括多个负载轮22，多个负载轮22设置于底架12，负载轮22还可设置于侧车架14朝向支撑面(例如地面等)的一侧，负载轮22用于支撑行车架10行走，以分担由行走机构20所承担的支撑力，使得行车架10所得到的支撑力分布更加均匀，运输母车100行走更加平稳。
本实施例中，负载轮22为万向轮，底架12的四角分别设有四个电驱动舵 轮，负载轮22有八个，其中四个负载轮22分别对应四个电驱动舵轮设置，其余四个负载轮22分布于底架12的朝向支撑面的一侧。
运输母车100还包括多个距离检测器151，多个距离检测器151设置于行车架10的周侧，距离检测器151用于检测运输母车100与障碍物之间的间距，进而调整多个行走机构20的行走轨迹，以及距离检测器151还可以检测运输母车100与对应停车位之间的间距，以便于运输母车100与停车位对准且保持适当的距离，进而可方便运输子车200自运输母车100与停车位之间装卸车辆。
距离检测器151可以是距离传感器、光电传感器等可检测距离的元件。
例如，在车库的路径上，运输母车100的行走轨迹前方有另一运输子母车300在装载或卸载车辆，进而该运输母车100上的距离检测器151在检测到自身与前方的运输子母车300的间距到达设定距离时，其可给出信号以使得该运输母车100减速缓行，或者减速至停止运动。或者，距离检测器151检测到运输母车100距离行走轨迹的侧方的障碍物较近，存在撞车的风险，则将调整行走机构20的行进方向，进而改变行走轨迹，避免撞车。
运输母车100还包括至少两个视觉检测器152，至少两个视觉检测器152分别设置于两个侧支架14，用于检测对应的侧支架14正前方的空间信息，进而调整行走机构20的行走方向。
视觉检测器152可以视觉传感器、激光传感器等可进行视觉检测的元件。
例如，在车库的路径上，视觉检测器152对运动方向上的空间信息进行检测，空间信息包括前方路径上的标志、路径上的障碍物信息等，如路径上有转向标志，前方路径轨迹上有另一运输母车100等，则视觉检测器152可发出信号以对运输母车100的行走轨迹进行调整，换言之同时调整多个行走机构20的行走方向以沿轨迹行走或规避障碍物等。
运输母车100还包括激光雷达定位传感器153，激光雷达定位传感器153设置于侧支架14远离底架12的顶部，激光雷达定位传感器153用于确定运输母车100的位置和巡航。
在车库场景中，场景道路及车辆的进出口、停车位等的位置均是确定的，运输母车100的控制系统中存储有车库的场景地图，因而运输母车100在接收到指令时可沿场景地图中的轨迹移动到相应的位置。激光雷达定位传感器153具有确定运输母车100在场景地图中的位置的功能，因而运输母车100的控制系统可实时规划自身的行走轨迹，从而实现运输母车100的自动巡航功能。
因而在距离检测器151、视觉检测器152和激光雷达定位传感器153的配合调节下，运输母车100能够自动在车库内巡航并实时调整运输母车100的行走轨迹，使得运输母车100能够高效地转运车辆。
如图4所示，升降台组件30设置于底架12且位于两个侧支架14之间，升降台组件30与侧支架14滑动连接，升降台组件30在侧支架14的限位下沿底架12的主表面的垂直方向升降运动。
运输子车200置于升降台组件30，并可沿两个侧支架14夹设而成的通道驶离升降台组件30和驶入升降台组件30。
如图3所示，本实施例中，两个侧支架14彼此相对的一侧均设有第一导向件141，升降台组件30对应设置有第二导向件142，第二导向件142与第一导向件141滑动连接，进而升降台组件30沿第一导向件141升降，使得升降台组件30的升降更加平稳。
第一导向件141为导轨，第二导向件142为滑块；或者第一导向件141为导向轴，第二导向件142为导向块，导向块与导向轴滑动连接。
在其他实施方式中，两个侧支架14上还可设置抬升机构，抬升机构用于驱动升降台组件30整体升降，从而运输母车100可对运输子车200进行两次升降，并可增长运输母车100的升降高度。
抬升机构可以为伺服电缸或液压缸，例如两个侧支架14彼此相对的一侧均设有两个伺服电缸，伺服电缸的驱动端与升降台组件30连接，四个伺服电缸配合共同抬升升降台组件30。
本实施例中，如图6和图7所示，图6为升降台组件呈叠置状态时的结构示意图，图7为升降台组件呈分离状态时的结构示意图，该升降台组件30包括底盘31、载车盘33和升降机构35。
底盘31设置于底架12，例如底盘31与底架12层叠设置且可通过紧固件等连接。载车盘33与底盘31层叠设置，载车盘33用于承载运输子车200，且载车盘33可叠置于底盘31并与底盘31接触。升降机构35设置于底盘31与载车盘33之间，升降机构35用于驱动载车盘33远离底盘31，使得载车盘33与底盘31由彼此层叠接触的状态转变为彼此分离的状态，和用于驱动载车盘33朝向底盘31运动，使得载车盘33与底盘31由彼此分离的状态转变为彼此层叠接触的状态。
升降机构35包括第一折叠架351、第二折叠架353和传动机构355。第一 折叠架351的第一端与底盘31铰接，第一折叠架352的第二端滑动支撑于载车盘33。第二折叠架353的第一端与载车盘33铰接，第二折叠架353的第二端滑动支撑于底盘31，且第一折叠架351的中部和第二折叠架353的中部彼此铰接。传动机构355用于改变第一折叠架351和第二折叠架353之间的交角，该交角为第一折叠架351和第二折叠架353自彼此铰接处的夹角，进而交角改变可带动载车盘33相对底盘31升降。
本实施例中，传动机构355为伸缩杆，伸缩杆的一端与第一折叠架351铰接，伸缩杆的另一端与第二折叠架353铰接，并通过伸缩改变第一折叠架351和第二折叠架353之间的交角。
伸缩杆可以为由液压驱动的液压伸缩杆，或者伸缩杆为气压驱动的气压伸缩杆，本申请对此不作限制。
在一些实施方式中，伸缩杆的一端与第一折叠架351铰接，伸缩杆的另一端与底盘31铰接；或者伸缩杆的一端与第二折叠架353铰接，伸缩杆的另一端与载车盘33铰接。
在另一些实施方式中，传动机构355还可以是电机和链条，电机通过链条驱动第二折叠架353的第二端在底盘31上滑动，进而改变交角带动载车盘33相对底盘31升降。传动机构355还可以是其他传动方式，本申请对此不作限制。
升降机构35可以为一组，该一组升降机构35设置于底盘31和载车盘33的中部，以稳定升降载车盘33。
升降台组件30还可以包括两组升降机构35，两组第一折叠架351之间连接有第一支撑梁352，两组第二折叠架353之间连接有第二支撑梁354，伸缩杆的伸缩端与第一支撑梁352铰接，伸缩杆的驱动端与第二支撑梁354铰接，伸缩杆通过伸缩同时改变两组第一折叠架351和第二折叠架353之间的交角。该两组升降机构35沿两侧支架14的间隔方向间隔设置，可进一步地提升升降载车盘33的稳定性。
其中，第一支撑梁352、第二支撑梁354和伸缩杆非共面设置，以避免第一支撑梁352、第二支撑梁354和伸缩杆锁死。例如，第一支撑梁352上设有铰接座，伸缩杆的伸缩端与铰接座铰接，伸缩杆的伸缩端与铰接座之间的夹角为非180度，从而伸缩杆的伸缩时可改变第一折叠架351和第二折叠架353之间的交角。
本实施例中，升降机构35为四组，两两沿间隔方向彼此间隔设置，且两两分布于载车盘33的相对两端，以进一步提升驱动载车盘33的升降稳定性。
如图8和图9所示，图8为图6升降台组件的仰视结构示意图，图9为图6升降台组件的局部放大结构示意图。底盘31包括第一框架310和分别设置于第一框架310两相对内侧的两个第一滑动导向件312，载车盘33包括第二框架330和分别设置于第二框架330两相对内侧的两个第二滑动导向件332，第一折叠架351的第二端的两外侧分别转动连接有第一滑动件357，第二折叠架353的第二端的两外侧分别转动连接有第二滑动件356，第一滑动件357滑动连接于对应的第一滑动导向件312，第二滑动件356滑动连接于对应的第二滑动导向件332，第二框架330可与第一框架310彼此叠置和分离。
换言之，第一折叠架351和第二折叠架353之间的交角改变时，第一滑动件357在第一滑动导向件312的导向下滑动，第二滑动件356在第二滑动导向件332的导向下滑动，以使得载车盘33相对底盘31升降时更加顺畅。
如图10所示，图10为图8升降台组件的局部放大结构示意图。升降台组件30还包括搭接桥机构37，搭接桥机构37设置于载车盘33的端部，以用于在载车盘33与停车位之间形成供运输子车200通过的过渡桥。
搭接桥机构37包括转动轴370、多个踏板371、摆动件372和推杆373。
转动轴370转动设置于载车盘33。多个踏板371均固接于转动轴370，踏板371用于在载车盘33与停车位之间形成供运输子车200通过的过渡桥。摆动件372固接于转动轴370，推杆373的两端分别铰接于摆动件372与载车盘33。
其中，推杆373驱动摆动件372绕转动轴370的轴线摆动，以带动多个踏板371绕转动轴370的轴线摆动，进而使得多个踏板371转动以搭接于停车位和自停车位收起。
推杆373可以为液压推杆或气压推杆，推杆373自身伸缩以驱动摆动件372绕转动轴370的轴线摆动。
进一步，如图6和图10所示，载车盘33上连接有第一光耦381，转动轴370上固接有感应片382，感应片382随转动轴370转动至被第一光耦381所感应时，推杆373停止驱动摆动件372摆动，且多个踏板371伸展至与载车盘33共面并可搭接于停车位。
载车盘33上背离底盘31的一侧还设有第二光耦383和第三光耦384，第二光耦383设置于载车盘33的一端，第二光耦383用于检测运输子车200驶出载 车盘33和检测运输子车200驶入载车盘33，第三光耦384沿载车盘33的对角线设置，第三光耦384用于检测运输子车200是否承载于载车盘33。
具体地，载车盘33上进出运输子车200的端部均设有第二光耦383，因而运输子车200进出载车盘33均可被检测到。第三光耦384沿载车盘33的对角线设置，可理解为第三光耦384的检测光线沿载车盘33的对角线出射，从而在运输子车200承载于载车盘33时可被第三光耦384所检测到。
如图5和图6所示，载车盘33的两侧边设有第二导向件142，第二导向件142与第一导向件141滑动连接。进一步地，底架12上连接有拉线编码器385，载车盘33上连接有拉座386，拉线编码器385的拉线连接于拉座386，拉线编码器385用于检测载车盘33的升降高度，以避免载车盘33上升的高度超过第一导向件141的高度极限，同时可实时检测载车盘33相对底盘31的高度，以保证载车盘33上升高度的准确性。
载车盘33还设有对位感应器387，对位感应器387用于使得载车盘33与停车位对准。换言之，对位感应器387检测载车盘33的高度是否与停车位的高度对准，若载车盘33的高度与停车位的高度不同，则进一步调整载车盘33的高度，若载车盘33的高度与停车位的高度匹配，则调控多个踏板371搭接于停车位，从而便于运输子车200在停车位与运输母车100之间搬运车辆，即对位感应器387用于进一步保证载车盘33与停车位之间的对准。
结合参阅图2和图11，载车盘33背离底盘31的一侧设有两条间隔设置的子车导轨391，运输子车200朝向载车盘33的一侧设有子车导轮392，子车导轮392用于与子车导轨391滚动配合并进入两条子车导轨391之间，以校正运输子车200的运行轨迹，从而避免运输子车200所搬运的车辆碰撞侧车架14。
进一步地，载车盘33背离底盘31的一侧还设有子车定位件393，运输子车200朝向载车盘33的一侧设有子车定位座394，子车定位件393用于感应子车定位座394，进而定位运输子车200。
进一步地，参阅图5、图8和图11，运输母车100还包括电池40，电池40用于供能。侧支架14内设有电池40，底架12设有第一充电接头120，电池40给第一充电接头120供电，载车盘33朝向底架12设有第二充电接头331，载车盘33背离底盘31的一侧设有子车定位件393，子车定位件393还可与第二充电接头331电连接，运输子车200朝向载车盘33的一侧设有子车定位座394，子车定位座394用于与子车定位件393电连接，从而子车定位座394与子车定位 件393导通时，即可确定运输子车200位于运输母车100上的设定位置，进而可停止运输子车200的运动。
其中，载车盘33叠置于底盘31时，第二充电接头331与第一充电接头120电连接；运输子车200在子车导轨391的导向下，子车定位座394与子车定位件393电连接，从而确定运输子车200的位置并关停运输子车200的运动。
如图5所示，运输母车100还包括控制系统50，控制系统50用于控制行车架10行走和调控升降台组件30升降。上述的距离检测器151、视觉检测器152、激光雷达定位传感器153、第一光耦381、第二光耦383和第三光耦384、对位感应器387和拉线编码器385等均与控制系统50通信连接，且控制系统50还与行走机构20及升降台组件30等通信连接，控制系统50用于接收上述各元件所采集的数据并进行数据处理，并将最终处理所得到的结果形成控制指令，以控制运输母车100行走和升降载车盘33等。
运输母车100还包括动力源60，动力源60用于给传动机构355和推杆373提供动力。例如传动机构355为由液压驱动的液压伸缩杆，推杆373为液压推杆，则动力源60可以是液压泵；或者传动机构355为气压驱动的气压伸缩杆，推杆373为气压推杆，则动力源60可以是气压泵。换言之，动力源60可提供上述传动机构355和推杆373所需的动力。
动力源60还可以包括第一动力源61和第二动力源62，其中第一动力源61给传动机构355提供动力，第二动力源62给推杆373提供动力。
侧支架14进一步形成有容置空间145，电池40、控制系统50和动力源60设置于侧支架14的容置空间145内，例如电池40和控制系统50设置于同一侧支架14的容置空间145内，动力源60设置于另一侧支架14的容置空间145内。
进一步地，各电气元件、电缆等均可设置于容置空间145内，从而使得运输母车100的各部件布局合理且紧凑。
区别于现有技术的情况，本申请公开了一种运输子母车。通过提供一种运输子母车，该运输子母车包括运输子车和运输母车，其中运输母车包括行车架和升降台组件，运输子车用于在停车位与升降台组件之间转移车辆，并在车辆需要搬运至高层停车位时，升降台组件在侧支架的限位下沿底架的主表面的垂直方向升降运动，以将运输子车抬升至与高层停车位对准，之后运输子车可将所承载的车辆搬运至高层停车位，因而本申请提供的运输子母车可简捷高效地实现将车辆搬运至不同层的停车位中，从而可避免对车库进行成本高、工程量 大的机械化改造即可实现车辆的高层搬运。
以上所述仅为本申请的实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (20)

  1. 一种运输子母车，其特征在于，所述运输子母车包括运输母车和运输子车，所述运输母车包括：
    行车架，所述行车架包括底架和分别连接于所述底架相对两侧的两个侧支架；
    升降台组件，设置于所述底架且位于两个所述侧支架之间，所述升降台组件与所述侧支架滑动连接，所述升降台组件在所述侧支架的限位下沿所述底架的主表面的垂直方向升降运动；
    其中，所述运输子车可沿两个所述侧支架夹设而成的通道驶离所述升降台组件和驶入所述升降台组件，所述运输子车用于在所述升降台组件与停车位之间转移车辆。
  2. 根据权利要求1所述的运输子母车，其特征在于，所述升降台组件背离所述底架的一侧设有两条间隔设置的子车导轨，所述运输子车朝向所述升降台组件的一侧设有子车导轮，所述子车导轮用于与所述子车导轨配合，以校正所述运输子车。
  3. 根据权利要求2所述的运输子母车，其特征在于，所述升降台组件背离所述底架的一侧设有子车定位件，所述子车定位件用于在所述子车导轨的校正下定位所述运输子车。
  4. 根据权利要求1所述的运输子母车，其特征在于，所述升降台组件包括：
    底盘，设置于所述底架；
    载车盘，与所述底盘层叠设置，用于承载所述运输子车；
    升降机构，设置于所述底盘与所述载车盘之间；
    所述升降机构包括：
    第一折叠架，所述第一折叠架的第一端与所述底盘铰接，所述第一折叠架 的第二端滑动支撑于所述载车盘；
    第二折叠架，所述第二折叠架的第一端与所述载车盘铰接，所述第二折叠架的第二端滑动支撑于所述底盘，且所述第一折叠架的中部和所述第二折叠架的中部彼此铰接；
    传动机构，用于改变所述第一折叠架和所述第二折叠架之间的交角，进而带动所述载车盘相对所述底盘升降。
  5. 根据权利要求4所述的运输子母车，其特征在于，所述传动机构为伸缩杆，所述伸缩杆的一端与所述第一折叠架铰接，所述伸缩杆的另一端与所述第二折叠架铰接，并通过伸缩改变所述第一折叠架和所述第二折叠架之间的交角。
  6. 根据权利要求4所述的运输子母车，其特征在于，两个所述侧支架彼此相对的一侧均设有第一导向件，所述载车盘设有相应的第二导向件，所述第二导向件与所述第一导向件滑动连接，所述载车盘沿所述第一导向件的延伸方向升降。
  7. 根据权利要求4所述的运输子母车，其特征在于，所述升降台组件还包括搭接桥机构，所述搭接桥机构设置于所述载车盘的端部；所述搭接桥机构包括：
    转动轴，转动设置于所述载车盘；
    多个踏板，均固接于所述转动轴，所述踏板用于在所述载车盘与停车位之间形成过渡桥；
    摆动件，固接于所述转动轴；
    推杆，所述推杆的两端分别铰接于所述摆动件与所述载车盘；
    其中，所述推杆驱动所述摆动件绕所述转动轴的轴线摆动，以带动多个所述踏板绕所述转动轴的轴线摆动。
  8. 根据权利要求7所述的运输子母车，其特征在于，所述载车盘上连接有第一光耦，所述转动轴上固接有感应片，所述感应片随所述转动轴转动至被所 述第一光耦所感应时，所述推杆停止驱动所述摆动件摆动，且多个所述踏板伸展至与所述载车盘共面。
  9. 根据权利要求7所述的运输子母车，其特征在于，所述载车盘上由所述运输子车出入的端部还设有对位感应器，所述对位感应器用于检测所述载车盘的高度是否与停车位的高度对准，并在所述载车盘的高度与停车位的高度未对准时进一步调整所述载车盘的高度，以及在所述载车盘的高度与停车位的高度对准时，调控所述多个踏板搭接于所述停车位。
  10. 根据权利要求4所述的运输子母车，其特征在于，所述载车盘上还设有第二光耦和第三光耦，所述第二光耦设置于所述载车盘的一端，所述第二光耦用于检测所述运输子车驶出和驶入所述载车盘，所述第三光耦沿所述载车盘的对角线设置，所述第三光耦用于检测所述载车盘上对否承载有所述运输子车。
  11. 一种运输母车，其特征在于，所述运输母车包括：
    行车架，包括底架和分别连接于所述底架相对两侧的两个侧支架；
    升降台组件，设置于所述底架且位于两个所述侧支架之间，所述升降台组件与所述侧支架滑动连接，所述升降台组件在所述侧支架的限位下沿所述底架的主表面的垂直方向升降运动。
  12. 根据权利要求11所述的运输母车，其特征在于，所述运输母车包括多个行走机构和多个负载轮，多个所述行走机构至少分别设置于所述行车架的四角，用于驱动所述行车架行走并在所述行车架的姿态不变的情况下改变所述行车架的行走方向，多个所述负载轮设置于所述底架，用于支撑所述行车架行走。
  13. 根据权利要求12所述的运输母车，其特征在于，所述运输母车还包括多个距离检测器，多个所述距离检测器设置于所述行车架的周侧，所述距离检测器用于检测所述运输母车与障碍物之间的间距，进而调整多个所述行走机构的行走轨迹；
    所述运输母车还包括至少两个视觉检测器，所述至少两个视觉检测器分别 设置于两个所述侧支架，用于检测对应的所述侧支架正前方的空间信息，进而调整所述行走机构的行走方向；
    所述运输母车还包括激光雷达定位传感器，所述激光雷达定位传感器设置于所述侧支架远离所述底架的顶部，所述激光雷达定位传感器用于确定所述运输母车的位置和巡航。
  14. 根据权利要求11所述的运输母车，其特征在于，所述升降台组件包括：
    底盘，设置于所述底架；
    载车盘，与所述底盘层叠设置，用于承载搬运子车；
    升降机构，设置于所述底盘与所述载车盘之间；
    所述升降机构包括：
    第一折叠架，所述第一折叠架的第一端与所述底盘铰接，所述第一折叠架的第二端滑动支撑于所述载车盘；
    第二折叠架，所述第二折叠架的第一端与所述载车盘铰接，所述第二折叠架的第二端滑动支撑于所述底盘，且所述第一折叠架的中部和所述第二折叠架的中部彼此铰接；
    传动机构，用于改变所述第一折叠架和所述第二折叠架之间的交角，进而带动所述载车盘相对所述底盘升降。
  15. 根据权利要求14所述的运输母车，其特征在于，两个所述侧支架彼此相对的一侧均设有第一导向件，所述载车盘设有相应的第二导向件，所述第二导向件与所述第一导向件滑动连接，所述载车盘沿所述第一导向件的延伸方向升降。
  16. 根据权利要求14所述的运输母车，其特征在于，所述底架上连接有拉线编码器，所述载车盘上连接有拉座，所述拉线编码器的拉线连接于所述拉座，所述拉线编码器用于检测所述载车盘的升降高度。
  17. 根据权利要求14所述的运输母车，其特征在于，所述载车盘上由所述运输子车出入的端部还设有对位感应器，所述对位感应器用于检测所述载车盘 的高度是否与停车位的高度对准，并在所述载车盘的高度与停车位的高度未对准时进一步调整所述载车盘的高度。
  18. 根据权利要求14所述的运输母车，其特征在于，所述升降台组件还包括搭接桥机构，所述搭接桥机构设置于所述载车盘的端部；所述搭接桥机构包括：
    转动轴，转动设置于所述载车盘；
    多个踏板，均固接于所述转动轴，所述踏板用于在所述载车盘与停车位之间形成过渡桥；
    摆动件，固接于所述转动轴；
    推杆，所述推杆的两端分别铰接于所述摆动件与所述载车盘；
    其中，所述推杆驱动所述摆动件绕所述转动轴的轴线摆动，以带动多个所述踏板绕所述转动轴的轴线摆动。
  19. 根据权利要求18所述的运输母车，其特征在于，所述侧支架进一步形成有容置空间，所述运输母车还包括电池、动力源和控制系统，所述电池和所述控制系统设置于其中一个所述侧支架的容置空间内，所述动力源设置于另一所述侧支架的容置空间，所述电池给所述运输母车供能，所述动力源用于给所述传动机构和所述推杆提供动力，所述控制系统用于控制所述行车架行走和调控所述升降台组件升降。
  20. 根据权利要求19所述的运输母车，其特征在于，所述底架设有第一充电接头，所述电池给所述第一充电接头供电，所述载车盘朝向所述底架的一侧设有第二充电接头，所述载车盘背离所述底架的一侧设有子车定位件，所述子车定位件与所述第二充电接头电连接，所述子车定位件用于给所述运输子车供电；
    其中，所述载车盘叠置于所述底盘时，所述第二充电接头与所述第一充电接头电连接。
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