Intelligent car moving robot

Abstract

The utility model belongs to the field of moving car equipment technology, especially a kind of intelligent moving car robot, including frame and the multiple walking mechanisms of being set in the bottom of frame, two guide rails are provided in the length direction of the upper surface of the frame and side by side, lifting device for lifting vehicle off the ground is crossed and set on the two guide rails;The lifting device includes two groups of outer bearing platform and two groups of inner bearing platform slidably installed on the two guide rails and in the form of pairing, push-pull mechanism is installed at both ends of outer bearing platform and both ends of inner bearing platform, push-pull mechanism on outer bearing platform and push-pull mechanism on inner bearing platform are oppositely arranged.The robot structure is compact, flexible, and can move vehicles with different wheelbases.

Description

Technical Field

[0001] This utility model belongs to the field of vehicle moving equipment technology, and in particular relates to an intelligent vehicle moving robot. Background Technology

[0002] Since the beginning of the 21st century, my country's car ownership has continued to rise, and the problem of urban parking difficulties has become increasingly prominent. Therefore, research on car-moving robots has been put on the agenda. Currently, automated car-moving robots can already be seen in some smart parking lots or underground parking garages of commercial complexes in China. These robots, through multi-machine coordination and intelligent scheduling systems, move and manage vehicles within the parking lot, maintaining daily parking order and maximizing the utilization of parking space.

[0003] In existing technologies, car-moving robots generally fall into two categories: one type supports and holds the vehicle from underneath, then automatically parks it; the other type supports and pulls the vehicle from the top, automatically parking it according to pre-embedded tracks. However, both types of car-moving robots have certain drawbacks in use, such as high manufacturing and maintenance costs, and a high degree of dependence on technical personnel. Utility Model Content

[0004] The purpose of this invention is to provide an intelligent vehicle moving robot that can solve the technical problems of high manufacturing and maintenance costs and high dependence on technical personnel in existing vehicle moving robots.

[0005] The intelligent vehicle moving robot includes a frame and multiple walking mechanisms set at the bottom of the frame. Two guide rails are arranged side by side along the length of the upper surface of the frame, and a lifting device for lifting the vehicle off the ground is strung on the two guide rails. The lifting device includes two sets of outer bearing platforms and two sets of inner bearing platforms that are slidably mounted on two guide rails and arranged in pairs. Push-pull mechanisms are installed at both ends of the outer bearing platforms and both ends of the inner bearing platforms. The push-pull mechanisms located on the outer bearing platforms and the push-pull mechanisms located on the inner bearing platforms are arranged opposite to each other.

[0006] A further technical solution is that the walking mechanism includes an upper mounting plate, a lower mounting plate, a steering drive motor, a drive gear, a driven gear, and a walking drive motor. The upper mounting plate is fixed to the bottom of the vehicle frame, the lower mounting plate is connected to the lower part of the upper mounting plate, the steering drive motor is fixed to the bottom of the lower mounting plate, and a meshing drive gear and driven gear are installed between the upper and lower mounting plates. The output shaft of the steering drive motor passes upward through the lower mounting plate and is connected to the drive gear. A vertical plate is also fixed to the bottom of the lower mounting plate, the walking drive motor is fixed to one side of the vertical plate, and a walking wheel is installed on the output shaft of the walking drive motor.

[0007] A further technical solution is that the steering drive motor and the travel drive motor are arranged in perpendicular directions.

[0008] A further technical solution is that the external bearing platform and the internal bearing platform have the same structure.

[0009] A further technical solution is that the outer bearing platform includes a bearing platform, and a groove matching the guide rail is provided at the bottom of the bearing platform. A bearing platform driver is connected to one side of the bearing platform. The bearing platform driver is fixed to the frame to drive the bearing platform to reciprocate along the length of the frame. The push-pull mechanism is provided at both ends of the bearing platform.

[0010] A further technical solution is that the push-pull mechanism includes a push-pull driver, a push-pull rod, a roller, and a connecting block. The push-pull driver is fixed to the outer or inner support platform. One end of the push-pull rod is connected to the output end of the push-pull driver. The roller and the push-pull rod are arranged side by side. One end of the roller is independently installed inside the outer or inner support platform. The other end of the roller is rotatably connected to the connecting block. The connecting block is also fixedly connected to the other end of the push-pull rod.

[0011] A further technical solution is to provide a caster wheel at the bottom of the connecting block, with the bottom surface of the caster wheel flush with the bottom surface of the walking mechanism.

[0012] A further technical solution is to provide a weighing pan and a weighing sensor between the connecting block and the caster wheel. The top of the weighing pan is rotatably connected to the connecting block, and the bottom of the weighing pan is fixedly connected to the caster wheel via the weighing pan.

[0013] A further technical solution is to provide a control box at at least one end along the length of the vehicle frame, the control box containing a controller, an operating surface formed on the upper part of the control box, and an indicator light group, a touch screen, a control button, and a power switch arranged sequentially from left to right on the operating surface, and a sensor group arranged on the lower part of the control box.

[0014] A further technical solution is to provide a hydraulic station in the middle of the vehicle frame, which is used to provide a power source for the outer load-bearing platform, the inner load-bearing platform, and the push-pull mechanism.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This robot has a compact structure, flexible movement, and can adapt to the movement of vehicles with different wheelbases, and has low manufacturing and maintenance costs; 2. This robot has the functions of automatic navigation, positioning and recognition. It can automatically identify and locate the position of the vehicle and autonomously plan the movement path. It will not collide with any obstacles during the entire movement process, ensuring the safety of the vehicle being moved and itself. It has a low degree of dependence on technical personnel. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a top view of the present invention; Figure 4 This is the left view of the present invention; Figure 5 This is a bottom view of the present invention; Figure 6 A structural schematic diagram of the walking mechanism from one perspective; Figure 7 A schematic diagram of the walking mechanism from another perspective; Figure 8 A schematic diagram of the mating structure of the lower mounting plate, driven gear, and traveling wheel in the traveling mechanism; Figure 9 A schematic diagram of the mating structure of the first mounting plate, the steering drive motor, and the drive gear; Figure 10 A structural schematic diagram of the external load-bearing platform and the push-pull mechanism; Figure 11 This is a structural schematic diagram of the external support platform and push-pull mechanism from another perspective.

[0017] Component names in the diagram: 1. Frame; 2. Walking mechanism; 2.1. Upper mounting plate; 2.2. Lower mounting plate; 2.3. Steering drive motor; 2.4. Drive gear; 2.5. Driven gear; 2.6. Walking drive motor; 2.7. Walking wheels; 2.8. Vertical plate; 3. Guide rail; 4. Outer load-bearing platform; 4.1. Load-bearing platform; 4.2. Slide groove; 4.3. Load-bearing platform driver; 5. Inner load-bearing platform; 6. Push-pull mechanism; 6.1. Push-pull driver; 6.2. Push-pull rod; 6.3. Roller; 6.4. Connecting block; 6.5. Weighing pan; 6.6. Weighing sensor; 6.7. Casters; 7. Control box; 7.1. Indicator light group; 7.2. Touch screen; 7.3. Control buttons; 7.4. Power switch; 7.5. Sensor group; 8. Hydraulic station. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. Example

[0019] See appendix Figure 1 - Appendix Figure 9 This embodiment proposes an intelligent vehicle moving robot, including a frame 1 and multiple walking mechanisms 2 set at the bottom of the frame 1. Two guide rails 3 are arranged side by side along the length of the upper surface of the frame 1, and a lifting device for lifting the vehicle off the ground is strung on the two guide rails 3. The lifting device includes two sets of outer support platforms 4 and two sets of inner support platforms 5 slidably mounted on two guide rails 3. The outer support platforms 4 and inner support platforms 5 are paired one-to-one, and the distance between the outer support platforms 4 and inner support platforms 5 is adjustable. Push-pull mechanisms 6 are provided at both ends of the outer support platforms 4 and both ends of the inner support platforms 5. The arrangement direction of the push-pull mechanisms 6 is perpendicular to the length direction of the frame 1, and the push-pull mechanisms 6 on the outer support platforms 4 and the push-pull mechanisms 6 on the inner support platforms 5 are arranged opposite to each other. A hydraulic station 8 is also provided in the middle of the frame 1. The hydraulic station 8 is used to provide a power source for the outer support platforms 4, inner support platforms 5 and push-pull mechanisms 6.

[0020] Using the above technical solution, when moving a vehicle, the robot first slides along the guide rail 3 via the outer support platform 4 and the inner support platform 5, driving the push-pull mechanism 6 to move to a position adapted to the front and rear wheels of the vehicle to be moved. Then, the push-pull mechanism 6 extends to the front and rear sides of the tires. Subsequently, driven by the outer support platform 4 and the inner support platform 5, the push-pull mechanism 6 clamps the tires of the vehicle to be moved until they are lifted off the ground. Then, the walking mechanism 2 is controlled to move the robot to the desired position. Therefore, this robot consists only of a frame 1, a walking mechanism 2, a guide rail 3, an outer support platform 4, an inner support platform 5, a push-pull mechanism 6, and a hydraulic station 8. It has a simple and compact structure, flexible movement, and can adapt to the movement of vehicles with different wheelbases, resulting in low manufacturing and maintenance costs. The outer support platform 4, the inner support platform 5, and the push-pull mechanism 6 are all hydraulically driven, which not only simplifies the structure and control logic and reduces manufacturing and maintenance costs, but also allows for a more compact structure, enabling it to be placed in narrow spaces and meet the limited height requirements of the vehicle's bottom.

[0021] In this embodiment, the walking mechanism 2 is described in the attached document. Figure 6 - Appendix Figure 9The system includes an upper mounting plate 2.1, a lower mounting plate 2.2, a steering drive motor 2.3, a drive gear 2.4, a driven gear 2.5, and a travel drive motor 2.6. The upper mounting plate 2.1 is fixed to the bottom of the frame 1, and the lower mounting plate 2.2 is connected below the upper mounting plate 2.1, forming a mounting cavity between the upper mounting plate 2.1 and the lower mounting plate 2.2. The drive gear 2.4 and the driven gear 2.5, which mesh with each other, are fixed to the upper mounting plate 2.1 and the lower mounting plate 2.2. Within the mounting cavity formed between the plates, the steering drive motor 2.3 is fixed to the bottom of the lower mounting plate 2.2. The output shaft of the steering drive motor 2.3 passes upward through the lower mounting plate 2.2 and extends into the mounting cavity, where it connects with the shaft of the drive gear 2.4. A vertical plate 2.8 is also vertically connected to the bottom of the lower mounting plate 2.2. The travel drive motor 2.6 is fixed to one side of the vertical plate 2.8. The output shaft of the travel drive motor 2.6 passes through the vertical plate 2.8 and is fitted with a travel wheel 2.7.

[0022] As can be seen, the walking mechanism 2 is also the robot's movement mechanism. The steering drive motor 2.3 drives the drive gear 2.4 to rotate, which in turn drives the driven gear 2.5 to rotate, thus enabling the robot to turn. The walking drive motor 2.6 drives the walking wheels 2.7 to rotate, thus enabling the robot to move. Therefore, the walking mechanism 2 enables omnidirectional flexible movement of both the robot and the vehicle being moved.

[0023] Preferably, the steering drive motor 2.3 and the walking drive motor 2.6 are arranged perpendicularly. This design allows for better steering via the steering drive motor 2.3 and movement via the walking drive motor 2.6, making the robot's movement more flexible.

[0024] In this embodiment, to reduce manufacturing and maintenance costs, the outer support platform 4 and the inner support platform 5 have identical structures. The outer support platform 4 will be used as an example for explanation; please refer to the appendix. Figure 8 and attached Figure 9 The outer support platform 4 includes a support platform 4.1. A groove 4.2 matching the guide rail 3 is provided at the bottom of the support platform 4.1. A support platform driver 4.3 is connected to one side of the support platform 4.1. The support platform driver 4.3 is fixed to the frame 1 to drive the support platform 4.1 to reciprocate along the length of the frame 1. The push-pull mechanism 6 is provided at both ends of the support platform 4.1.

[0025] The aforementioned external support platform 4, guided by the guide rail 3 and the slide 4.2, ensures the stability of the support platform 4.1 during lifting and lowering. Simultaneously, the support platform driver 4.3 drives the support platform 4.1 and the push-pull mechanisms 6 fixed at both ends to move along the length of the frame 1, thereby clamping and fixing the tires of vehicles with different wheelbases and lifting the vehicles to be moved to the desired height, facilitating the movement of the vehicles to the required position and providing better adaptability.

[0026] From the appendix Figure 10 and attached Figure 11 It can also be seen that the push-pull mechanism 6 includes a push-pull driver 6.1, a push-pull rod 6.2, a roller 6.3, and a connecting block 6.4. The push-pull driver 6.1 is fixed in a groove in the bearing platform 4.1 of the outer bearing platform 4 or the inner bearing platform 5 to reduce height and improve structural compactness. One end of the push-pull rod 6.2 is connected to the output end of the push-pull driver 6.1. The roller 6.3 and the push-pull rod 6.2 are arranged side by side. One end of the roller 6.3 is independently inserted into a sliding sleeve in the end face of the outer bearing platform 4 or the inner bearing platform 5. The other end of the roller 6.3 is rotatably connected to the connecting block 6.4. The connecting block 6.4 is also fixedly connected to the other end of the push-pull rod 6.2.

[0027] In this example, the push-pull mechanism 6 is a structure that directly contacts the vehicle wheels. During the movement of the vehicle, the push-pull rod 6.2 is extended by the push-pull driver 6.1, and is retracted in other states. Therefore, driven by the outer load-bearing platform 4 or the inner load-bearing platform 5, the push-pull mechanism 6 can move along the length of the frame 1 to accommodate vehicles with different wheelbases and tire sizes. Then, the push-pull driver 6.1 drives the push-pull rod 6.2 to move the roller 6.3, so that the roller 6.3 is located on the front and rear sides of the tire. Then, the outer load-bearing platform 4 and the inner load-bearing platform 5 are controlled to move relative to each other until the roller 6.3 contacts and compresses the tire. Because the roller 6.3 is rotated, it can rotate relative to the tire under the compressive force, thereby squeezing the tire and lifting it off the ground. After that, the outer load-bearing platform 4 and the inner load-bearing platform 5 stop moving, and the traveling mechanism 2 can be controlled to transfer the vehicle to be moved. It can be seen that the push-pull mechanism 6 with the above structure can conveniently fix and lift the vehicle under the drive of the outer load-bearing platform 4 and the inner load-bearing platform 5.

[0028] Preferably, a caster wheel 6.7 is also provided at the bottom of the connecting block 6.4, and the bottom surface of the caster wheel 6.7 is flush with the bottom surface of the walking mechanism 2.

[0029] The casters 6.7 not only provide auxiliary support for the vehicle to be moved, reducing the load on the walking mechanism 2 during the moving process, but also, through the active and passive walking structure formed by the casters 6.7 and the walking mechanism 2, the vehicle can be more stable during the movement, ensuring the safety of the vehicle being moved and the casters themselves.

[0030] Preferably, a weighing pan 6.5 and a weighing sensor 6.6 are also provided between the connecting block 6.4 and the universal wheel 6.7. The top of the weighing pan 6.5 is rotatably connected to the connecting block 6.4, and the bottom of the weighing pan 6.5 is fixedly connected to the universal wheel 6.7.

[0031] The load cell 6.6 can detect the pressure on the caster wheel 6.7, thereby determining whether the vehicle has been lifted off the ground based on the magnitude of the pressure, and then controlling the movement of the outer load-bearing platform 4 and the inner load-bearing platform 5 to reduce the reliance on technical personnel.

[0032] Control boxes 7 are provided at both ends along the length of the frame 1. Each control box 7 contains a controller. An operating surface is formed on the upper part of the control box 7. From left to right, an indicator light group 7.1, a touch screen 7.2, a control button 7.3, and a power switch 7.4, which are electrically connected to the controller, are arranged on the operating surface. The walking mechanism 2, the outer bearing platform 4, the inner bearing platform 5, and the push-pull mechanism 6 are all connected to the output terminal group of the controller. A sensor group 7.5 is provided at the lower part of the control box 7.

[0033] The control boxes 7 at both ends enable the robot to perform functions such as indicating its working status, inputting parameters, controlling its status, and controlling its power on / off via indicator lights 7.1, a touch screen 7.2, control buttons 7.3, and a power switch 7.4. The sensor group 7.5 enables automatic navigation, positioning, and identification functions. It can automatically identify and locate the vehicle's position and autonomously plan its movement path. It will not collide with any obstacles during the entire movement process, ensuring the safety of the moved vehicle and itself, and has a low degree of dependence on technicians.

[0034] Based on the above structure, the working principle of this robot is as follows: First, the robot's sensor array 7.5 scans the surrounding working environment and accurately locates the position of the vehicle to be moved; Secondly, the robot's walking mechanism 2 drives the robot to lie dormant under the chassis of the vehicle to be moved; during the process of entering under the chassis, the push-pull mechanism 6 retracts to both sides of the frame 1; Secondly, once the robot has entered the appropriate position under the vehicle chassis, the push-pull driver 6.1 of the inner push-pull mechanism 6 drives the push-pull rod 6.2 to extend the roller 6.3 first. Then, the two sets of inner bearing platforms 5 drive the push-pull mechanism 6 to move in opposite directions until the roller 6.3 on the inner push-pull mechanism 6 abuts against the front and rear wheels respectively. Next, the two sets of external support platforms 4 of this robot drive the push-pull mechanisms 6 at both ends to move relative to each other. When the push-pull mechanisms 6 at both ends move to the appropriate distance, the push-pull driver 6.1 drives the push-pull rod 6.2 to extend with the roller 6.3. Then the two sets of external support platforms 4 drive the push-pull mechanisms 6 to move towards the center respectively until the front and rear wheels of the car are all lifted off the ground. Then, after the robot smoothly lifts all four wheels of the vehicle to be moved off the ground, the controller will plan a reasonable route for the robot, and then the walking mechanism 2 will move the vehicle to the designated location according to the planned route. Finally, upon reaching the designated location, the inner support platforms 5 at both ends of the robot drive the outer push-pull mechanisms 6 to move towards both ends, allowing the car to land smoothly. Once all the wheels have made contact with the ground, the push-pull drivers 6.1 of all the push-pull mechanisms 6 drive the push-pull rods 6.2, along with the rollers 6.3, to retract and return to their original positions. Then, the outer support platform 4 and the inner support platform 5 return to their initial states, and the robot moves away from under the chassis of the vehicle to be moved. The vehicle relocation task is thus completed.

[0035] In summary, this robot has a compact structure, flexible movement, and can adapt to the movement of vehicles with different wheelbases. It has low manufacturing and maintenance costs. Moreover, it has automatic navigation, positioning, and recognition functions, and can automatically identify and locate the vehicle's position and autonomously plan its movement path. It will not collide with any obstacles during the entire movement process, ensuring the safety of the moved vehicle and itself. It has a low degree of dependence on technical personnel and effectively solves the technical defects of existing technologies.

[0036] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0037] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An intelligent vehicle moving robot, characterized in that: Includes a frame (1) and multiple walking mechanisms (2) disposed at the bottom of the frame (1). Two guide rails (3) are arranged side by side along the length of the upper surface of the frame (1), and a lifting device for lifting the vehicle off the ground is provided on the two guide rails (3). The lifting device includes two sets of outer bearing platforms (4) and two sets of inner bearing platforms (5) that are slidably mounted on two guide rails (3) and are arranged in pairs. Push-pull mechanisms (6) are installed at both ends of the outer bearing platform (4) and both ends of the inner bearing platform (5). The push-pull mechanisms (6) on the outer bearing platform (4) and the push-pull mechanisms (6) on the inner bearing platform (5) are arranged opposite to each other.

2. The intelligent vehicle moving robot according to claim 1, characterized in that: The walking mechanism (2) includes an upper mounting plate (2.1), a lower mounting plate (2.2), a steering drive motor (2.3), a drive gear (2.4), a driven gear (2.5), and a walking drive motor (2.6). The upper mounting plate (2.1) is fixed to the bottom of the frame (1), the lower mounting plate (2.2) is connected below the upper mounting plate (2.1), and the steering drive motor (2.3) is fixed to the bottom of the lower mounting plate (2.2). A driving gear (2.4) and a driven gear (2.5) mesh with each other between the lower mounting plates (2.2). The output shaft of the steering drive motor (2.3) passes through the lower mounting plate (2.2) and is connected to the driving gear (2.4) for transmission. A vertical plate (2.8) is also fixed at the bottom of the lower mounting plate (2.2). The walking drive motor (2.6) is fixed on one side of the vertical plate (2.8). A walking wheel (2.7) is installed on the output shaft of the walking drive motor (2.6).

3. The intelligent vehicle moving robot according to claim 2, characterized in that: The steering drive motor (2.3) and the travel drive motor (2.6) are arranged in perpendicular directions.

4. The intelligent vehicle moving robot according to claim 1, characterized in that: The outer bearing platform (4) and the inner bearing platform (5) have the same structure.

5. The intelligent vehicle moving robot according to claim 4, characterized in that: The outer support platform (4) includes a support platform (4.1). A groove (4.2) matching the guide rail (3) is provided at the bottom of the support platform (4.1). A support platform driver (4.3) is connected to one side of the support platform (4.1). The support platform driver (4.3) is fixed to the frame (1) to drive the support platform (4.1) to reciprocate along the length of the frame (1). The push-pull mechanism (6) is provided at both ends of the support platform (4.1).

6. The intelligent vehicle moving robot according to claim 1, characterized in that: The push-pull mechanism (6) includes a push-pull driver (6.1), a push-pull rod (6.2), a roller (6.3), and a connecting block (6.4). The push-pull driver (6.1) is fixed on the outer bearing platform (4) or the inner bearing platform (5). One end of the push-pull rod (6.2) is connected to the output end of the push-pull driver (6.1). The roller (6.3) and the push-pull rod (6.2) are arranged side by side. One end of the roller (6.3) is independently installed in the outer bearing platform (4) or the inner bearing platform (5). The other end of the roller (6.3) is rotatably connected to the connecting block (6.4). The connecting block (6.4) is also fixedly connected to the other end of the push-pull rod (6.2).

7. The intelligent vehicle moving robot according to claim 6, characterized in that: A caster wheel (6.7) is also provided at the bottom of the connecting block (6.4), and the bottom surface of the caster wheel (6.7) is flush with the bottom surface of the walking mechanism (2).

8. The intelligent vehicle moving robot according to claim 7, characterized in that: A weighing pan (6.5) and a weighing sensor (6.6) are also provided between the connecting block (6.4) and the caster wheel (6.7). The top of the weighing pan (6.5) is rotatably connected to the connecting block (6.4), and the bottom of the weighing pan (6.5) is connected to the caster wheel (6.7) through the weighing pan (6.5).

9. The intelligent vehicle moving robot according to any one of claims 1-8, characterized in that: A control box (7) is provided at least one end of the frame (1) along its length. The control box (7) contains a controller. An operating surface is formed on the upper part of the control box (7). From left to right, an indicator light group (7.1), a touch screen (7.2), a control button (7.3), and a power switch (7.4) are arranged on the operating surface. A sensor group (7.5) is provided on the lower part of the control box (7).

10. The intelligent vehicle moving robot according to any one of claims 1-8, characterized in that: A hydraulic station (8) is provided in the middle of the frame (1), which is used to provide a power source for the outer load-bearing platform (4), the inner load-bearing platform (5), and the push-pull mechanism (6).

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