A clamp wheel transporter
By designing a low-height clamping wheel handler in a three-dimensional garage, directly installing the clamping arm on the worm gear, and solving the cable problem with telescopic wire support frames and arc-shaped threading pipes, traditional garages are solved in space limitations and cable damage is easily achieved. The problem of solid lifting and adaptability is achieved.
Patent Information
- Application Number
- CN202010551891.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-06-17
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2040-06-17
AI Technical Summary
The traditional comb-tooth exchange three-dimensional garage cannot effectively lift the vehicle when space is limited, and the cables are easily crushed and damaged, making it difficult to adapt to the wheelbase of different vehicle specifications.
A clamping wheel handler was designed, using a front walking frame and a rear walking frame. The clamping wheel mechanism was directly installed on the worm gear, reducing the overall height, and solving the cable problem through telescopic wire support frame and arc-shaped threading pipe, adding clamping The thickness of the arm and the rollers for improved stability and durability.
It realizes the stable lifting of vehicles in low-altitude spaces, avoids cable damage, adapts to vehicles with different wheelbases, and reduces equipment costs and structural complexity.
Smart Images
Figure CN111622563B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of stereo garages, and in particular relates to a clamping wheel transporter. Background Art
[0002] With the continuous improvement of people's living standards, more and more people have bought private cars, which has a significant impact on urban traffic and environment. The emergence of parking difficulties has also brought huge business opportunities and a broad market to the mechanical parking equipment industry. At this time when business opportunities and competition coexist, my country's mechanical parking equipment industry will also enter a stable development stage from a rapid development stage. The future market is huge, but the demand for products will develop towards two extremes: one extreme is the extreme of price. The market needs a large number of low-priced mechanical parking equipment. As long as it can achieve the purpose of increasing parking spaces and can guarantee the most basic performance, it can occupy the market with price advantages. The market share of this part is expected to reach 70%-80%; the other extreme is the extreme of technology and performance, requiring parking equipment to have superior performance, convenient operation, and fast access speed. Through the summary of the use experience of mechanical parking equipment at home and abroad, it can be found that when people use mechanical parking equipment to access cars, the first thing they pursue is the access speed, waiting time and convenience. In addition, the future mechanical parking equipment market will pay more attention to a complete after-sales service system, and remote monitoring systems and remote fault guidance systems will be the goals pursued by users. With the sustained and rapid development of my country's economy and the improvement of urban planning, the mechanical parking equipment industry will become a vibrant sunrise industry, and the technology of mechanical parking equipment will also be rapidly developed.
[0003] In the "Special Equipment Catalog" issued by the General Administration of Quality Supervision, Inspection and Quarantine, three-dimensional parking garages are divided into nine categories, namely: lifting and lateral movement, simple lifting, vertical circulation, horizontal circulation, multi-layer circulation, plane movement, aisle stacking, vertical lifting and special car lifts. Lifting and lateral movement, plane movement, aisle stacking, and vertical lifting are the most typical, the most widely used, the highest market share, and the most suitable for large-scale development.
[0004] However, in the traditional comb-tooth exchange stereo garage, the vehicle is lifted by combining the transverse comb rack and the lifting comb rack. That is, when the vehicle needs to be stored, the lifting comb rack needs to be dropped below the parking position first, the transverse comb rack moves transversely to the parking position, and then the vehicle drives into the transverse comb rack, and the lifting comb rack lifts the vehicle to the position where it needs to be parked. When the vehicle is taken out, the reverse is true. This vehicle handling structure is complex, and the lifting comb rack needs to be lifted and lowered, and the required height is relatively high, that is, the corresponding transverse comb rack requires a large height space, which makes this structure unusable in some places where small space requirements are required.
[0005] The invention patent application for a handling robot for a stereoscopic parking garage filed by the present applicant with application number 2017108028795 disclosed a handling robot, including a walking frame driven by a first power device, two sets of clamping arm assemblies are arranged at the front wheel position and the rear wheel position on the walking frame, the clamping arm assemblies include a first gear and a second gear rotatably mounted on the walking frame, the first gear is meshed with the second gear, a first clamping arm is fixedly mounted on the first gear, a second clamping arm is fixedly mounted on the second gear, the first gear is transmission-connected to the second power device, and each of the first gears is coaxially A worm gear is fixedly installed, and a worm corresponding to the worm gear is rotatably installed on the walking frame, replacing the comb teeth of the traditional transverse comb tooth frame for storing and retrieving vehicles. Two sets of clamping arm assemblies are used to clamp the front wheel and the rear wheel of the vehicle respectively, so as to lift the vehicle. The structure is simple and the overall height of the walking frame is reduced. However, when this structure is used, the first gear and the worm gear are coaxially fixed together, so that the height of its power transmission is relatively high, resulting in a relatively high overall height of the transport robot. For ordinary small cars with a minimum ground clearance of only 120 mm, the transport robot still needs the assistance of a lifting mechanism to lift such vehicles, otherwise it cannot enter under the vehicle for lifting.
[0006] In addition, due to the different vehicle specifications, the wheelbase between the front and rear wheel tires is also different. For the handling robot, the distance between the front wheel clamping arm and the rear wheel clamping arm should also change accordingly. Often, a handling robot of one specification is difficult to adapt to the wheelbase of vehicles of many specifications, especially the handling robot has multiple walking drive motors and clamping arm drive motors, and there are many wires and cables, which can easily cause the wires and cables to drag on the ground. Once the walking wheels crush the wires and cables, especially the external wires and cables, when the handling process changes from forward to backward or from backward to forward, the cable angle cannot be adjusted in time and a loss occurs, which can more easily cause the walking wheels to crush the wires and cables, and may also cause damage to the wires and cables or increase the height of the overall mechanism, resulting in height collisions and other faults.
[0007] Therefore, in the field of stereo garage technology, there is still a need for research and improvement of the clamp wheel transporter, which is also a research hotspot and focus in the field of stereo garage technology, and is the starting point for the completion of the present invention. Summary of the invention
[0008] Therefore, the technical problem to be solved by the present invention is to provide a wheel clamping transporter to solve the technical problem that the current transporter cannot directly enter the bottom of a vehicle with a small ground clearance for lifting.
[0009] To solve the above technical problems, the technical solution of the present invention is: a clamping wheel transporter, comprising a front walking frame and a rear walking frame, the front end of the front walking frame is provided with a front walking wheel driven by a front walking motor, the rear end of the rear walking frame is provided with a rear walking wheel driven by a rear walking motor, a telescopic wire support frame is provided between the front walking frame and the rear walking frame, and a clamping wheel mechanism is installed on the front walking frame and the rear walking frame, the clamping wheel mechanism comprises a first worm gear and a second worm gear driven by a driving shaft and arranged at intervals, a first clamping arm is fixedly mounted on the first worm gear, a second clamping arm is fixedly mounted on the second worm gear, the first clamping arm and the second clamping arm are arranged opposite to each other, the driving shaft is connected to a power device, and a first worm and a second worm corresponding to the first worm gear and the second worm gear respectively are provided on the driving shaft, and the spiral rotation directions of the first worm gear and the second worm gear are opposite.
[0010] As an improvement, the power device includes a servo motor.
[0011] As a further improvement, a plurality of rollers are mounted on both the first clamping arm and the second clamping arm.
[0012] As a further improvement, the roller on the first clamping arm is located on a side of the first clamping arm close to the second clamping arm, and the roller on the second clamping arm is located on a side of the second clamping arm close to the first clamping arm.
[0013] As a further improvement, the telescopic wire support frame includes several groups of cross-link groups hinged in sequence, and the cross-link groups located at the head and the tail are respectively installed on the front walking frame and the rear walking frame. The cross-link group includes a first link and a second link that are cross-arranged and hinged together in the middle position, the end of the first link located upstream is hinged to the head end of the second link located downstream, and the end of the second link located upstream is hinged to the head end of the first link located downstream.
[0014] As a further improvement, a wire threading tube is installed on the side wall of the front walking frame or the rear walking frame, and one end of the wire threading tube located on the outside of the front walking frame or the rear walking frame has an arc-shaped bending portion, and the other end of the wire threading tube passes through the side wall of the front walking frame or the rear walking frame.
[0015] As a further improvement, the threading tube is rotatably mounted on the side wall of the front walking frame or the rear walking frame through a bearing seat.
[0016] As a further improvement, the overall height of the front walking frame and the rear walking frame are both less than 120 mm.
[0017] As a further improvement, an anti-collision buffer mechanism is provided between the front walking frame and the rear walking frame.
[0018] As a further improvement, the anti-collision buffer mechanism includes an elastic rubber pad, and the elastic rubber pad is fixedly mounted on the front walking frame or the rear walking frame.
[0019] After adopting the above technical solution, the beneficial effects of the present invention are:
[0020] (1) Compared with the traditional structure, the first clamping arm and the second clamping arm of the clamping wheel carrier provided by the present invention are directly installed on the corresponding first worm gear and the second worm gear, and the gear pair structure that meshes with each other is no longer used, thereby reducing the use of gear pairs, not only reducing the overall height, but also appropriately increasing the thickness of the first clamping arm and the second clamping arm, improving the rigidity and strength, making the first clamping arm and the second clamping arm more stable when lifting the vehicle, and will not cause excessive deformation due to cantilever lifting, thereby reducing the traditional support wheels installed at the ends of the first clamping arm and the second clamping arm; and because a telescopic wire support frame is provided between the front walking frame and the rear walking frame for supporting the wires and cables connected between the front walking frame and the rear walking frame, the length of the telescopic wire support frame can be extended to meet the different distances between the front walking frame and the rear walking frame, that is, when the wheelbase is different, the telescopic wire support frame can change its length accordingly, so that the wires and cables can still be securely supported on the telescopic wire support frame and will not be dragged on the ground and crushed.
[0021] (2) Since a plurality of rollers are installed on the first clamping arm and the second clamping arm, when lifting or lowering the tire, the rollers can roll, converting sliding friction into rolling friction, which not only makes it easier to lift or lower the tire, but also does not damage the tire.
[0022] (3) Since the wire threading tube is rotatably installed on the side wall of the front walking frame or the rear walking frame, when the front walking frame and the rear walking frame move back and forth, the arc-shaped bending portion of the wire threading tube can rotate at an angle, and the wires and cables located outside the front walking frame and the rear walking frame can always be pulled by the wire threading tube, thereby avoiding the wires and cables from being reversely folded when the carrier reciprocates, thereby extending the service life of the wires and cables.
[0023] (4) Since an anti-collision buffer mechanism is provided between the front walking frame and the rear walking frame, a large collision inertia force is avoided when the front walking frame collides with the rear walking frame, which may cause the transport vehicle to be unstable or damage other parts. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.
[0025] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.
[0026] Figure 1 is a schematic structural diagram of an embodiment of the present invention;
[0027] Figure 2 is a schematic structural diagram of a clamping wheel mechanism in an embodiment of the present invention;
[0028] Figure 3 2 is a schematic structural diagram of a telescopic wire support frame according to an embodiment of the present invention;
[0029] Figure 4 yes Figure 1 A is a schematic diagram of the partially enlarged structure of the middle part;
[0030] In the figure: 1, front walking frame, 2, rear walking frame, 3, front walking motor, 4, front walking wheel, 5, rear walking motor, 6, rear walking wheel, 7, telescopic wire support frame, 701, first connecting rod, 702, second connecting rod, 8, clamping wheel mechanism, 801, first worm gear, 802, second worm gear, 803, first clamping arm, 804, second clamping arm, 805, power device, 806, driving shaft, 8061, first worm, 8062, second worm, 807, roller, 9, threading tube, 901, arc-shaped bending portion, 10, bearing seat, 11, elastic rubber pad. DETAILED DESCRIPTION
[0031] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0032] The terms such as "front", "back", "left", "right", "inside", "outside", "middle", etc. cited in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of implementation of the present invention without substantially changing the technical content.
[0033] like Figure 1 As shown, the present invention provides a clamping wheel transporter, including a front walking frame 1 and a rear walking frame 2, the front end of the front walking frame 1 is provided with a front walking wheel 4 driven by a front walking motor 3, and the rear end of the rear walking frame 2 is provided with a rear walking wheel 6 driven by a rear walking motor 5, the front walking frame 1 and the rear walking frame 2 can walk independently to meet the use of vehicles with different wheelbases, a telescopic wire supporting frame 7 is provided between the front walking frame 1 and the rear walking frame 2, for supporting the wires and cables connected between the front walking frame 1 and the rear walking frame 2, the length of the telescopic wire supporting frame 7 can be telescopic to meet the different distances between the front walking frame 1 and the rear walking frame 2, that is, when the wheelbase is different, the telescopic wire supporting frame 7 can change its length accordingly, so that the wires and cables can still be securely supported on the telescopic wire dragging frame, and will not be dragged on the ground and crushed, and a clamping wheel mechanism 8 is installed on both the front walking frame 1 and the rear walking frame 2. Figure 2As shown, the clamping wheel mechanism 8 includes a first worm wheel 801 and a second worm wheel 802 which are driven by a driving shaft 806 and are spaced apart. A first clamping arm 803 is fixedly mounted on the first worm wheel 801, and a second clamping arm 804 is fixedly mounted on the second worm wheel 802. Compared with the traditional structure, the first clamping arm 803 and the second clamping arm 804 are directly mounted on the corresponding first worm wheel 801 and the second worm wheel 802, and the gear pair structure that meshes with each other is no longer used, thereby reducing the use of gear pairs and reducing the overall height. In addition, the thickness of the first clamping arm 803 and the second clamping arm 804 can be appropriately increased to improve the rigidity and strength, so that the first clamping arm 803 and the second clamping arm 804 are more stable when lifting the vehicle, and will not produce excessive deformation due to cantilever lifting. The first clamping arm 803 and the second clamping arm 804 are arranged opposite to each other, and the driving shaft 806 is connected to the power device 805. The power device 805 includes a servo motor, and other motors can also be selected. The servo motor can be connected to a wireless remote control to achieve remote control. Ordinary motors require wires and cables for power supply and control, which can easily cause wires and cables to be entangled or dragged on the ground, and be crushed by walking wheels to damage wires and cables or cause the height of the overall mechanism to increase, resulting in height collisions, etc., while the use of a remote-controlled servo motor can avoid the hidden dangers caused by dragging wires. The driving shaft 806 is provided with a first worm 8061 and a second worm 8062 corresponding to the first worm gear 801 and the second worm gear 802 respectively. The first worm 8061 corresponds to the first worm gear 801, and the second worm 8062 corresponds to the second worm gear 802. The spiral rotation directions of the first worm 8061 and the second worm 8062 are opposite. When the driving shaft 806 rotates, the first worm gear 801 and the second worm gear 802 will rotate synchronously towards or away from each other, thereby lifting or lowering the vehicle tire.
[0034] Several rollers 807 are installed on the first clamping arm 803 and the second clamping arm 804. The rollers 807 are commonly used components and can be directly purchased, installed and used. They include a mounting shaft installed on the first clamping arm 803 or the second clamping arm 804. The wheel body of the roller 807 is installed on the mounting shaft through a bearing. Its structure and installation method are well known to those skilled in the art and will not be repeated here. The roller 807 on the first clamping arm 803 is located on a side of the first clamping arm 803 close to the second clamping arm 804, and the roller 807 on the second clamping arm 804 is located on a side of the second clamping arm 804 close to the first clamping arm 803. When lifting or lowering the tire, the roller 807 can roll, converting the sliding friction into rolling friction, which not only makes it easier to lift or lower the tire, but also does not damage the tire.
[0035] The overall height of the front walking frame 1 and the rear walking frame 2 is less than 120 mm, that is, after the components on the front walking frame 1 and the rear walking frame 2 are installed, the height difference between the highest point and the lowest point is less than 120 mm. This height can meet the needs of most cars with a small ground clearance, and the first clamping arm 803 and the second clamping arm 804 also have sufficient rigidity and strength. When in use, the front walking frame 1 and the rear walking frame 2 can be directly inserted under the vehicle body as a whole, and then the first clamping arm 803 and the second clamping arm 804 are retracted under the action of the power device 805 to clamp the vehicle tires and lift the vehicle without using auxiliary lifting mechanisms such as an exchange comb rack, thereby simplifying the equipment structure and reducing the equipment cost.
[0036] The present invention provides one set of wheel clamping mechanisms 8 for one tire. Those skilled in the art will determine the number of sets of wheel clamping mechanisms 8 according to the specifications of the vehicle and the number of tires, which will not be described in detail here.
[0037] The structure of the telescopic wire support frame 7 can be various, such as a telescopic tube structure or a connecting rod structure, etc. Here, in order to facilitate construction, Figure 3 As shown, the telescopic wire support frame 7 includes a plurality of groups of cross-link groups hinged in sequence, and the cross-link groups located at the head and the tail are respectively installed on the front walking frame 1 and the rear walking frame 2, and the cross-link groups include a first link 701 and a second link 702 which are cross-arranged and hinged together at the middle position, and the end of the first link 701 located upstream is hinged to the head end of the second link 702 located downstream, and the end of the second link 702 located upstream is hinged to the head end of the first link 701 located downstream. When the distance between the front walking frame 1 and the rear walking frame 2 changes, the first link 701 and the second link 702 rotate around the middle hinged part to change the angle between the first link 701 and the second link 702, so that the length direction changes accordingly to meet the change in the distance between the front walking frame 1 and the rear walking frame 2.
[0038] like Figure 4As shown, a wire threading tube 9 is installed on the side wall of the front walking frame 1 or the rear walking frame 2, and one end of the wire threading tube 9 located on the outside of the front walking frame 1 or the rear walking frame 2 has an arc-shaped bending portion 901, which can enable external wires and cables to smoothly transition into the wire threading tube 9, and then pass through the wire threading tube 9 to be connected to the connection points of the front walking frame 1 and the rear walking frame 2 respectively. These connection points, for example, are located on the front walking motor 3 on the front walking frame 1, the power device 805 of the clamping wheel mechanism 8, and the rear walking motor 5 on the rear walking frame 2, the power device 805 of the clamping wheel mechanism 8, and even other sensors, etc. The other end of the wire threading tube 9 passes through the side wall of the front walking frame 1 or the rear walking frame 2. The wire threading tube 9 is rotatably installed on the side wall of the front walking frame 1 or the rear walking frame 2 through the bearing seat 10. When the front walking frame 1 and the rear walking frame 2 move back and forth, the arc-shaped bending portion 901 of the wire threading tube 9 can rotate at an angle, and the wires and cables located outside the front walking frame 1 and the rear walking frame 2 can always be pulled by the wire threading tube 9, avoiding the wires and cables from being reversely folded when the carrier reciprocates, thereby extending the service life of the wires and cables.
[0039] An anti-collision buffer mechanism is provided between the front walking frame 1 and the rear walking frame 2. Specifically, the anti-collision buffer mechanism includes an elastic rubber pad 11. Usually, the elastic rubber pad 11 is a rubber pad. The elastic rubber pad 11 is fixedly installed on the front walking frame 1 or the rear walking frame 2. Specifically, the elastic rubber pad 11 is installed on one end of the front walking frame 1 close to the rear walking frame 2, or the elastic rubber pad 11 is installed on one end of the rear walking frame 2 close to the front walking frame 1, so as to avoid a large collision inertia force generated when the front walking frame 1 collides with the rear walking frame 2, which may cause the transported vehicle to be unstable or damage other components.
[0040] When picking up the vehicle, the front walking frame 1 and the rear walking frame 2 directly enter the bottom of the vehicle, the threading tube 9 drives the wires and cables to enter the bottom of the vehicle, and the arc-shaped bending portion 901 of the threading tube 9 tends to the rear walking frame 2. According to the wheelbase of the vehicle to be picked up, the clamping wheel mechanism 8 of the front walking frame 1 corresponds to the front wheel position of the vehicle, and the clamping wheel mechanism 8 of the rear walking frame 2 corresponds to the rear wheel position of the vehicle. Under the action of the power device 805, the first clamping arm 803 and the second clamping arm 804 are retracted to lift the tire of the vehicle, and the front walking motor 3 and the rear walking motor 5 rotate in opposite directions. The front walking frame 1 and the rear walking frame 2 travel in the opposite direction of the original driving direction. At this time, the threading tube 9 rotates an angle, and the arc-shaped bending portion 901 of the threading tube 9 tends to the front walking frame 1. During the withdrawal process of the carrier, the wires and cables can still be dragged to avoid the reverse folding of the wires and cables. After reaching the designated position, the first clamping arm 803 and the second clamping arm 804 are unfolded to place the vehicle at that position.
[0041] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.
Claims
1. A gripping wheel carrier, characterized in that: The cam is an angularly-spaced wheel which is adapted to move relative to the front wheels and to move relative to the rear wheels, and the cam is a chain which is configured to move the wheels relative to the front wheels when the cam is in motion. On the walking frame, the cross-link group includes a first link and a second link that are cross-arranged and hinged together in the middle position, the end of the first link located upstream is hinged to the head end of the second link located downstream, and the end of the second link located upstream is hinged to the head end of the first link located downstream. A wire threading tube is installed on the side wall of the front walking frame or the rear walking frame, and the end of the wire threading tube located on the outside of the front walking frame or the rear walking frame has an arc-shaped bending portion, and the other end of the wire threading tube passes through the side wall of the front walking frame or the rear walking frame. The wire threading tube is rotatably installed on the side wall of the front walking frame or the rear walking frame through a bearing seat. When the front walking frame and the rear walking frame move back and forth, the arc-shaped bending portion of the wire threading tube can rotate an angle, and the wires and cables located outside the front walking frame and the rear walking frame can always be in a state of being pulled by the wire threading tube. The overall height of the front walking frame and the rear walking frame is less than 120 mm.
2. The gripper wheel carrier according to claim 1, characterized in that: The power device includes a servo motor.
3. The gripper wheel carrier according to claim 1, characterized in that: A plurality of rollers are mounted on the first clamping arm and the second clamping arm.
4. The gripper wheel carrier according to claim 3, characterized in that: The roller on the first clamping arm is located on a side of the first clamping arm close to the second clamping arm, and the roller on the second clamping arm is located on a side of the second clamping arm close to the first clamping arm.
5. The gripper wheel carrier according to claim 1, characterized in that: An anti-collision buffer mechanism is arranged between the front walking frame and the rear walking frame.
6. The gripper wheel carrier according to claim 5, characterized in that: The anti-collision buffer mechanism comprises an elastic rubber pad, and the elastic rubber pad is fixedly mounted on the front walking frame or the rear walking frame.