Inner forklift vehicle carrying robot capable of moving fork teeth simultaneously

Abstract

The invention belongs to the technical field of vehicle carrying robots, and discloses an inner forklift vehicle carrying robot capable of moving fork teeth simultaneously and a parking method. The robot comprises a vehicle frame, a driving walking device, a left fork tooth, a right fork tooth and universal wheels, wherein the vehicle frame is of a linear structure; the driving walking device is arranged at the two ends of the vehicle frame and is used for driving the vehicle frame to move; the left fork tooth and the right fork tooth are symmetrical and identical in structure, the left fork tooth and the right fork tooth are arranged on the same side of the vehicle frame respectively, and the distance between the left fork tooth and the right fork tooth is adjustable; the universal wheelsare arranged on the left fork tooth and the right fork tooth, and each universal wheel comprises a wheel body, a rotating body, a bevel gear set and a motor; each bevel gear set comprises a horizontally-arranged annular gear and a small gear driven by the corresponding motor; and the wheel bodies are located in center holes of the rotating bodies, the inner rings of the rotating bodies and the inner sides of the annular gears are fixedly connected with hubs respectively, and the driving motors drive the bevel gear sets to drive the wheel bodies to steer actively. The robot is small in occupied space, the fork teeth are provided with the universal wheels which are driven actively, the structure is simple, the weighing is high, and the operation is stable.

Description

technical field [0001] The invention belongs to the technical field of vehicle handling robots, and relates to an automatic equipment for transporting vehicles to or from a parking space in a parking lot, in particular to a vehicle handling robot with inner forks that simultaneously moves forks. Background technique [0002] At present, the single-layer shipping robots in the parking lot basically adopt a four-grab structure, with a walking arm on the left and a right and two clamping arms in the middle. The movement of the arm enables the handling of the vehicle. This mechanism needs to separately design a set of moving mechanisms for the two clamping arms in the middle, which not only increases the complexity of the structure, but also increases the weight and manufacturing cost, so it needs to be improved. [0003] At present, a two-claw vehicle handling robot has appeared, but the two forks of the robot are located at both ends of the frame, which still takes up a lot o...

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Problems solved by technology

[0004] In view of the above-mentioned technical problems in the prior art, the purpose of the present invention is to solve the problem of redundant structure and high manufacturing cost in the existing four-claw vehicle handling robot, and the large space occupied by the existing two-claw vehicle handling robot. The motor on the frame drives the fork tine to turn the steering wheel, which is easy to be damaged, and the tire is difficult to climb on the fork tine through the extrusion force. Design a vehicle handling robot with inner fork that moves the fork tine at the same time

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