Self-locking vehicle handling system

Abstract

The present application discloses a self-locking vehicle transport system, comprising a frame, a walking mechanism and an arm clamping mechanism installed on the frame, wherein the arm clamping mechanism comprises: a lifting seat slidably installed relative to a base; a first driving mechanism installed on the base to drive the lifting seat to move; a pair of movable arms that cooperate with each other to clamp the wheels, and each movable arm can be rotatably installed on the lifting seat; each movable arm is independently configured with a second driving mechanism, and the second driving mechanism is installed on the lifting seat and drives the corresponding movable arm to rotate through a worm gear mechanism. Compared with the existing technology, the setting of the worm gear mechanism can not only transmit the power of the second driving mechanism to the two movable arms, but also realize self-locking of each movable arm when it runs to a predetermined position, avoiding the locking of each movable arm by the braking of the second driving mechanism, and prolonging the service life of the second driving mechanism.

Description

Technical Field

[0001] The present application relates to the field of stereo garages, and in particular to a self-locking vehicle transport system. Background Art

[0002] With the rapid development of society, cars are becoming more and more popular. To solve the parking problem, various types of garages have been developed. Among them, smart garages have developed a robot AGV car as a vehicle transporter to complete the storage and retrieval of vehicles.

[0003] Existing vehicle handling systems include a main frame, a holding arm module and a traveling unit. Multiple holding arm modules are slidably installed on the main frame. The traveling unit is fixed to the main frame and drives the vehicle handling system to operate. Each holding arm module includes a pair of clamping arms. The clamping arms clamp the wheels and then support the vehicle under the drive of the driving mechanism. Since the clamping arms need to bear the weight of the vehicle, the driving mechanism needs to brake and lock the clamping arms. The driving mechanism continues to output power, which will shorten the life of the driving mechanism. Summary of the Invention

[0004] The present application provides a self-locking vehicle handling system for solving the technical problem in the prior art that the brake locking of the driving mechanism locks the clamping arm, and the driving mechanism continuously outputs power, which shortens the service life of the driving mechanism.

[0005] The present application provides a self-locking vehicle transport system, comprising a frame, a walking mechanism and a clamping arm mechanism installed on the frame, wherein the clamping arm mechanism comprises:

[0006] A lifting seat slidably mounted relative to the base;

[0007] A first driving mechanism installed on the base to drive the lifting seat;

[0008] A pair of movable arms that cooperate with each other to clamp the wheels, each movable arm can be rotatably mounted on the lifting seat;

[0009] Each movable arm is independently equipped with a second driving mechanism, which is mounted on the lifting seat and drives the corresponding movable arm through a worm gear mechanism.

[0010] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution. They are merely further supplements or optimizations. Under the premise that there are no technical or logical contradictions, each optional method can be combined separately for the above-mentioned overall solution, or multiple optional methods can be combined.

[0011] Optionally, the movable arm is rotatably mounted on the bottom of the lifting base, and the rotation axis extends along the height direction of the system.

[0012] Optionally, in the worm gear mechanism, the worm is directly linked to the second driving mechanism, and the worm gear is fixed to the rotating shaft of the movable arm.

[0013] Optionally, the frame includes multiple frames that move relative to each other, the clamping arm mechanisms on all frames cooperate with each other to support the vehicle, and the two frames that move relative to each other are connected by a telescopic mechanism that guides the relative movement trend.

[0014] Optionally, the vehicle transport system has relative system length and system width directions, and the vehicle transport system has an overhead area running through the system length direction, and the frames are arranged in sequence along the system length direction.

[0015] Optionally, each frame includes bases arranged in pairs, and the same pair of bases are arranged on both sides of the overhead area along the width direction of the system and are connected and fixed to each other by connecting beams passing around the top of the overhead area. Each base is equipped with a walking mechanism and a clamping arm mechanism.

[0016] Optionally, the walking mechanism includes:

[0017] Rotate a wheel frame mounted on the base, with the wheel frame rotation axis extending along the height direction of the system;

[0018] a third driving mechanism mounted on the base and driving the wheel frame to rotate;

[0019] Rotating the traveling wheel installed at the bottom of the wheel frame;

[0020] A fourth driving mechanism is installed on the wheel frame to drive the traveling wheel.

[0021] Optionally, each base is provided with two lifting seats, and there are two lifting seats, which are arranged on both sides of the wheel frame rotation axis along the length direction of the system.

[0022] Optionally, a mutually cooperating guide mechanism is provided between the base and the lifting seat, and the guide mechanism includes:

[0023] A guide rod arranged along the height direction of the system, wherein the guide rod is fixed to one of the base and the lifting base;

[0024] A guide sleeve is slidably matched with the guide rod, and the guide sleeve is fixed to the other of the base and the lifting seat.

[0025] Optionally, the first driving mechanism is linked to the lifting seat via a screw-nut mechanism, and the screw-nut mechanism includes:

[0026] A pair of screw rods mounted on the base;

[0027] a synchronizing member linked between the pair of lead screws and the third driving mechanism;

[0028] A nut piece is fixed to each lifting seat and cooperates with the corresponding lead screw.

[0029] The present application discloses a self-locking vehicle transport system. The worm gear mechanism is set up, which can not only transmit the power of the second drive mechanism to the two movable arms, but also enable each movable arm to self-lock when it runs to a predetermined position, thereby avoiding the locking of each movable arm by using the second drive mechanism to brake and lock, and prolonging the life of the second drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic structural diagram of a vehicle handling system according to an embodiment of the present application;

[0031] Figure 2 for Figure 1 Schematic diagram of the vehicle handling system;

[0032] Figure 3 for Figure 1 Schematic diagram of the vehicle handling system;

[0033] Figure 4 for Figure 1 Schematic diagram of the vehicle handling system;

[0034] Figure 5 for Figure 1 Schematic diagram of the vehicle handling system;

[0035] Figure 6 for Figure 1 A schematic diagram of the structure of the first base;

[0036] Figure 7 for Figure 1 Schematic diagram of the structure of the second base;

[0037] Figure 8 for Figure 1 Schematic diagram of the structure of the walking mechanism and the clamping arm mechanism;

[0038] Figure 9 for Figure 8 Schematic diagram of the structure of the middle clamping arm mechanism;

[0039] Figure 10 for Figure 8 Schematic diagram of the structure of the middle clamping arm mechanism;

[0040] Figure 11 for Figure 8 Schematic diagram of the structure of the walking mechanism;

[0041] Figure 12 This is a flow chart of a vehicle transport method according to an embodiment of the present application.

[0042] The reference numerals in the figures are described as follows:

[0043] 100. Vehicle handling system; 101. Overhead area;

[0044] 10. Frame; 11. Base; 111. First base; 112. Second base;

[0045] 20. Connecting beam; 21. Lifting piece; 22. Crossing piece;

[0046] 30. Traveling mechanism; 31. Traveling wheel; 33. Wheel frame; 34. Third driving mechanism; 35. Fourth driving mechanism; 36. Driving wheel; 37. Driven wheel;

[0047] 40. Clamping arm mechanism; 41. Movable arm; 42. Lifting seat; 43. First driving mechanism; 44. Second driving mechanism; 45. Guide mechanism; 451. Guide rod; 452. Guide sleeve; 46. Screw-nut mechanism; 461. Screw; 4611. First screw; 4612. Second screw; 462. Synchronizing element; 463. Nut; 464. First synchronizing wheel; 465. Second synchronizing wheel; 466. Transmission element; 467. Transmission wheel; 47. Worm gear mechanism; 471. Worm; 472. Worm wheel;

[0048] 50. Telescopic mechanism; 51. Guide member; 52. Guide wheel; 53. First limiting mechanism; 54. Second limiting mechanism. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0050] It should be noted that when a component is referred to as being "connected" to another component, it may be directly connected to the other component or there may be an intermediate component. When a component is referred to as being "disposed on" another component, it may be directly disposed on the other component or there may be an intermediate component.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0052] In one embodiment, Figures 1 to 11 As shown, a self-locking vehicle transport system 100 includes a frame 10 and a walking mechanism 30 and a clamping arm mechanism 40 installed on the frame 10.

[0053] The vehicle handling system 100 moves to the vehicle's parking position via the traveling mechanism 30. Each clamping arm mechanism 40 matches the corresponding wheel position, clamps the corresponding wheel, and cooperates with each other to support the vehicle, enabling the vehicle handling system 100 to transport the vehicle, thus achieving the vehicle's entry, parking, and retrieval and removal processes.

[0054] Among them, such as Figures 8 to 10 As shown, the clamping arm mechanism 40 includes:

[0055] A lifting base 42 slidably mounted relative to the base 11;

[0056] A first driving mechanism 43 mounted on the base 11 to drive the lifting base 42 to move;

[0057] A pair of movable arms 41 cooperate with each other to clamp the wheel, each movable arm 41 rotates on a lifting base 42;

[0058] Each movable arm 41 is independently equipped with a second driving mechanism 44 . The second driving mechanism 44 is mounted on the lifting base 42 and drives the corresponding movable arm 41 to rotate via a worm gear mechanism 47 .

[0059] The two movable arms 41 are roughly rod-shaped and have corresponding strength. In the initial state, the two movable arms 41 extend in opposite directions relative to their own rotation axes, that is, the two are roughly collinearly arranged. During operation, the second drive mechanism 44 drives the two movable arms 41 to rotate around their own axes until the two movable arms 41 clamp the vehicle wheels. At this time, the two movable arms 41 roughly support the bottom of the wheel side by side.

[0060] After the two movable arms 41 complete the clamping, the first drive mechanism 43 drives the motor lifting seat 42 together with the movable arms 41 to be raised and lowered, and the height of the two movable arms 41 from the ground can be raised by 40 mm or more, so that the vehicle is completely off the ground and maintains a larger space; ensuring that when the vehicle handling system 100 encounters uneven ground or potholes during the vehicle handling process, the movable arms 41 and the vehicle wheels will not touch the ground, effectively protecting the safety of the equipment and the vehicle.

[0061] The ground is the support surface for supporting the vehicle transport system 100 and should be understood in a broad sense. That is, any scene that can provide a support surface for the vehicle transport system 100 to move can be understood as the ground, such as a floor or other supporting structure.

[0062] The setting of the worm gear mechanism 47 can not only transmit the power of the second drive mechanism 44 to the two movable arms 41, but also enable each movable arm 41 to self-lock when it runs to a predetermined position, without the need to additionally set a locking mechanism for each movable arm 41, or avoid using the second drive mechanism 44 to brake and lock for locking.

[0063] The first drive mechanism 43 is mainly used to drive the lifting seat 42 to perform linear reciprocating motion along the height direction of the system. In order to achieve its basic function, a motor, a cylinder, a hydraulic cylinder or even a manual drive component can be selected from the existing technology. When the motion mode directly output by the first drive mechanism 43 is inconsistent with the motion mode of the lifting seat 42, appropriate transmission components can be used to redirect and transmit the motion mode.

[0064] The second driving mechanism 44 is mainly used to drive the movable arm 41 to rotate. In order to realize its basic function, a motor, a cylinder, a hydraulic cylinder or even a manual driving component can be selected from the existing technology. When the movement mode directly output by the second driving mechanism 44 is inconsistent with the movement mode of the movable arm 41, appropriate transmission components can be used to redirect and transmit the movement form.

[0065] In another embodiment, the movable arm 41 is rotatably mounted at the bottom of the lifting base 42, and the rotation axis of the movable arm 41 extends along the height direction of the system, so as to reduce the height of the movable arm 41 when it is not raised (or regarded as the initial state) as much as possible to accommodate wheels of different sizes.

[0066] In another embodiment, in the worm gear mechanism 47 , the worm 471 is directly linked to the second drive mechanism 44 , the worm wheel 472 is fixed to the rotating shaft of the movable arm 41 , the worm wheel 472 is meshed with the worm 471 , and the worm wheel 472 is coaxially arranged with the rotating shaft of the movable arm 41 .

[0067] In another embodiment, Figure 1 and Figure 2 As shown, the frame 10 includes multiple (for example, two) frames that move relative to each other. The clamping arm mechanisms 40 on all frames 10 cooperate with each other to support the vehicle. In order to ensure the balance and stability of the vehicle handling system 100, the two frames 10 that move relative to each other are connected by a telescopic mechanism 50 that guides the relative movement trend.

[0068] The two frames 10 can move toward or away from each other within the travel range of the telescopic mechanism 50. The telescopic mechanism 50 ensures balance and stability for the entire vehicle handling system 100. The telescopic mechanism 50 allows for adjustable distance between the two frames 10, ensuring the integrity and unified operation of the vehicle handling system 100.

[0069] Before the vehicle transporting system 100 transports a vehicle, the two frames 10 are driven by the walking mechanism 30 to move toward or in opposite directions, thereby adjusting the relative distance between the clamping arm mechanisms 40 installed on the two frames 10. This allows the vehicle transporting system 100 to transport vehicles with different wheelbases without the need for the clamping arm mechanisms 40 to perform separate distance adjustments, effectively reducing the external dimensions of the vehicle transporting system 100 and, at the same time, effectively reducing the vehicle transporting system 100's requirements for the channel dimensions.

[0070] Among them, the telescopic mechanism 50 can be a single component, and the telescopic mechanism 50 can simultaneously cooperate with the two connected frames 10 (that is, relative displacement can occur), or it can be fixed to one frame 10 and movably cooperate with the other frame 10. The telescopic mechanism 50 and at least one frame 10 can undergo relative movement to adapt to changes in the distance between the two frames 10.

[0071] When the telescopic mechanism 50 is a single component, the telescopic mechanism 50 and the two frames 10 can also be fixedly connected. In this case, the telescopic mechanism 50 itself can be deformed and adapt to the change in the distance between the two frames 10 through the deformation.

[0072] The shape of the telescopic mechanism 50 is not strictly limited. For example, if it is a rod, at least one end of the rod can slide along the corresponding frame 10, or the middle portion of the rod (at or near the middle) can be bent or deformed to change the length of the rod's ends. Of course, if the telescopic mechanism 50 is a component, it can be connected to the two frames 10 using the aforementioned methods. When adapting to changes in the distance between the two frames 10, the relative movement between different components within the component can also be utilized.

[0073] For example, the telescopic mechanism 50 is a multi-link mechanism, in which at least two rods can move relative to each other to change the overall span of the multi-link mechanism, that is, to change and adjust the length of the telescopic mechanism 50 .

[0074] Since the two frames 10 are equipped with the walking mechanism 30, the telescopic mechanism 50 adopts a passive mode, that is, the two frames 10 actively move, and the telescopic mechanism 50 passively adapts to the change in the distance between the two frames 10. The telescopic mechanism 50 can also be equipped with power to actively drive the two frames 10 to move relative to each other.

[0075] In another embodiment, Figures 3 to 5 As shown, the vehicle transport system 100 has relative system length and system width directions, and the vehicle transport system 100 has an overhead area 101 running through the system length direction, and the frames 10 are arranged in sequence along the system length direction.

[0076] Among them, the system length (i.e. Figure 3 X direction in the system) and system width (i.e. Figure 3The system length and system width are perpendicular to each other.

[0077] The vehicle handling system 100 moves to the parking position of the vehicle until the vehicle is in the overhead area 101. At this time, the vehicle handling system 100 does not need to enter from under the vehicle chassis, so that the height of the vehicle handling system 100 is not limited by the height of the vehicle chassis from the ground.

[0078] In another embodiment, in order to ensure the balance and stability of the vehicle handling system 100, each frame 10 includes bases 11 arranged in pairs. The same pair of bases 11 are arranged on both sides of the overhead area 101 along the width direction of the system and are connected and fixed to each other by connecting beams 20 passing through the top of the overhead area 101. Each base 11 is equipped with a walking mechanism 30 and a clamping arm mechanism 40. The clamping arm mechanisms 40 on each base 11 cooperate with each other to support the vehicle located in the overhead area 101.

[0079] In another embodiment, the bases 11 on the same side of the overhead area 101 in the width direction of the system are connected by a telescopic mechanism 50. With the guidance of the telescopic mechanism 50, the spacing between the two frames 10 along the length direction of the system can be adjusted.

[0080] In another embodiment, Figure 6 and Figure 7 As shown, the first base 111 and the second base 112 are connected to the telescopic mechanism 50 respectively. The telescopic mechanism 50 includes at least a guide member 51, one end of the guide member 51 is slidably engaged with the first base 111, and the other end is slidably or fixedly engaged with the second base 112.

[0081] The first base 111 and / or the second base 112 are provided with a sliding groove that cooperates with the guide member 51 to limit their movement. For example, the guide member 51 can be inserted into the sliding groove and can move along the sliding groove. Similarly, the guide member 51 can also have a sliding groove itself, and each base is provided with a guide member that cooperates with the sliding groove.

[0082] In this embodiment, both ends of the guide member 51 are slidably engaged with the first base 111 and the second base 112 respectively. When the space occupied by the first base 111 and the second base 112 is fixed, the maximum distance between the two frames 10 can be maximized.

[0083] In another embodiment, the first base 111 and the second base 112 are respectively provided with guide wheels 52 installed in a row along the length direction of the system, and the guide members 51 are respectively matched with the guide wheels 52 on the corresponding side bases 11 .

[0084] Each guide wheel 52 is rotatably connected to the corresponding side base 11 , and the rotation axes of the guide wheels 52 on the same base 11 are arranged in parallel.

[0085] The guide wheels 52 can be completely passive wheels, or at least one guide wheel 52 can be equipped with power as needed, for example, by using a gear rack engagement method to drive the guide member 51 to move, so as to change the distance between the two frames 10.

[0086] In order to limit the relative movement tendency between the guide member 51 and the row of guide wheels 52, as well as the smoothness of the relative movement, a support groove extending along the length of the system can be opened on the guide member 51 (for example, the cross-section of the guide member 51 is C-shaped), and the support groove has relative upper and lower side walls along the height direction of the system. The guide wheels 52 belonging to the same row can both be in contact with a certain side wall (for example, the upper side wall), or the guide wheels 52 belonging to the same row can be divided into two parts, wherein the top of one part of the guide wheel 52 is in contact with the upper side wall, and the bottom is set with a gap between the lower side wall; the bottom of the other part of the guide wheel 52 is in contact with the lower side wall, and the top is set with a gap between the upper side wall.

[0087] In this embodiment, the number of guide wheels 52 on the same base 11 is 2 to 10, for example 3, 4 or 5. Of course, in other embodiments, the number of guide wheels 52 on the same base 11 can be more, and the number of guide wheels 52 can be adjusted according to the length of the slide groove.

[0088] In another embodiment, the vehicle transport system 100 further includes at least one of the following limiting mechanisms:

[0089] The first limiting mechanism 53 acts between the two frames 10 to limit the minimum distance between the two frames 10 when they are close together;

[0090] The second limiting mechanism 54 acts between the two frames 10 to limit the maximum distance between the two frames 10 in the extended state.

[0091] The first limiting mechanisms 53 are provided at both ends of the guide member 51 , and limiting steps cooperating with the first limiting mechanisms 53 are provided in the slide groove to prevent the guide member 51 from falling out of the slide groove.

[0092] The second limiting mechanism 54 is disposed within the chute. In this embodiment, the second limiting mechanism 54 is a stopper mounted on the base 11, which can abut against the guide member 51 to limit the movement of the guide member 51 within the chute. Of course, in other embodiments, the second limiting mechanism 54 can be the bottom wall of the chute.

[0093] In another embodiment, in order to allow the connecting beam 20 to avoid vehicles in the overhead area 101, the connecting beam 20 includes a lifting member 21 and a cross member 22; the lifting member 21 extends upward from the base 11; and the cross member 22 is connected between the lifting members 21 of the same pair of bases 11.

[0094] In the same frame 10 , there are two raising members 21 . The two raising members 21 are respectively located on the two bases 11 , and both ends of the cross member 22 are respectively connected to the two raising members 21 .

[0095] In another embodiment, the lifting member 21 extends obliquely upward from the base 11 , and the top ends of the lifting members 21 on the two frames 10 are close to each other, which can reduce the space occupied by the vehicle transport system 100 when it is stopped.

[0096] In another embodiment, the two frames 10 have a close state where they are adjacent to each other, and an extended state where they are away from each other. When the states are changed, only one of the two frames 10 moves, or both move at the same time.

[0097] When the vehicle transport system 100 is in standby mode, the two frames 10 are close to each other; when the vehicle transport system 100 needs to transport a vehicle, the extended state is adjusted according to the vehicle wheelbase length so that the distance between the two frames 10 adapts to the wheelbase length.

[0098] The close state is a state where the two frames 10 are pressed against each other, or a state where the distance between the two frames 10 is the minimum under the restriction of the telescopic mechanism 50 .

[0099] The extended state is relative to the closed state. It is understood that the two frames 10 are in the extended state when they move relative to each other from the closed state to increase the distance between them. For example, the limit position of the extended state is the maximum distance between the two frames 10 under the limit of the telescopic mechanism 50.

[0100] In another embodiment, the vehicle handling system 100 is configured with a detection unit and a control unit. The detection unit is used to detect the wheel position of the vehicle; the control unit is connected to the detection unit circuit, and is used to receive signals from the detection unit and drive the walking mechanism 30 to match the clamping arm mechanism 40 with the corresponding wheel position.

[0101] The detection unit detects the wheel position of the vehicle and transmits the detected wheel position signal to the control unit. The control unit receives and processes the wheel position signal and, based on the processed signal, drives the two frames 10 to move relative to each other so that each clamping arm mechanism 40 matches the corresponding wheel position. The detection unit may be a laser, a photosensitive device, a photoelectric switch, or the like.

[0102] Furthermore, each frame 10 supplies power to the walking mechanism 30 , the clamping arm mechanism 40 , the control unit and the detection unit respectively through an external power source or a battery power source carried by the frame 10 .

[0103] The walking mechanism 30 and the clamping arm mechanism 40 on each frame are respectively connected to the detection unit and the control unit for communication.

[0104] The detection unit can be installed on each frame 10, that is, it can move with the vehicle transport system 100, or it can be placed outside the vehicle transport system 100, and can generally be installed on the vehicle's movement path. When the vehicle passes by, the wheel position of the vehicle is detected. The detection unit can be configured with corresponding processing functions to convert the relative position of the front and rear wheels into wheelbase information and then send it to the control unit, or the relative position of the front and rear wheels can be directly sent to the control unit, and the control unit will process and convert it.

[0105] In one embodiment, the detection unit is installed on a side of each frame 10 facing the overhead area 101 . When a vehicle enters the overhead area 101 , the detection unit can obtain a wheel position signal.

[0106] Wired or wireless communication can be used between the detection unit and the control unit.

[0107] During wireless communication, the detection unit has a wireless transmitting module, and the control unit has a wireless receiving module. The wireless transmitting module transmits the detected signal, and the wireless receiving module can receive the signal.

[0108] In another embodiment, the detection unit is external to the vehicle handling system 100 , and wireless communication is employed between the detection unit and the control unit.

[0109] For example, the detection unit is installed at the entrance of the garage. When a vehicle enters the garage entrance, the detection unit can obtain the wheel position signal.

[0110] The walking mechanism 30 and the clamping arm mechanism 40 on each frame are respectively connected to the detection unit and the control unit for communication.

[0111] In one embodiment, if Figure 8 and Figure 11 As shown, the walking mechanism 30 includes:

[0112] A wheel frame 33 is rotatably mounted on the base 11, with the wheel frame rotation axis extending along the height direction of the system;

[0113] A third driving mechanism 34 mounted on the base 11 to drive the wheel frame 33 to rotate;

[0114] Rotate the travel wheel 31 mounted on the bottom of the wheel frame 33;

[0115] A fourth driving mechanism 35 is mounted on the wheel frame 33 to drive the traveling wheels 31 .

[0116] The traveling wheel 31 is driven by the fourth driving mechanism 35 to rotate, driving the vehicle transport system 100 to move; the traveling wheel 31 is driven by the third driving mechanism 34 to rotate 360 ​​degrees.

[0117] Through the mutual cooperation of the various walking mechanisms 30, the vehicle transport system 100 can not only move longitudinally in the front-to-back direction and laterally in the left-to-right direction, but can even rotate 360° on the spot; thereby improving the operating efficiency of the vehicle transport system 100 during the transport process, reducing the width requirement of the vehicle transport system 100 for the walking channel, and increasing the area ratio of the parking spaces in the parking lot / garage.

[0118] The third driving mechanism 34 is a steering motor, and the fourth driving mechanism 35 is a travel motor.

[0119] The running wheel 31 is a rubber wheel in the present embodiment. Of course, in other embodiments, the running wheel 31 can also be a track wheel or a rigid wheel etc.

[0120] Furthermore, a driving wheel 36 is provided at the output end of the third driving mechanism 34 , and a driven wheel 37 meshing with the driving wheel 36 is provided on the wheel frame 33 , and the driven wheel 37 can rotate around the rotation axis of the wheel frame.

[0121] In another embodiment, each base 11 is provided with two lifting seats 42 , and along the length direction of the system, the two lifting seats 42 are respectively arranged on both sides of the wheel frame rotation axis.

[0122] In another embodiment, in order to make the lifting base 42 rise and fall along a fixed direction, a mutually cooperating guide mechanism 45 is provided between the base 11 and the lifting base 42. The guide mechanism 45 includes:

[0123] A guide rod 451 arranged along the height direction of the system, the guide rod 451 being fixed to one of the base 11 and the lifting base 42;

[0124] The guide sleeve 452 is slidably fitted on the guide rod 451 , and the guide sleeve 452 is fixed to the other of the base 11 and the lifting base 42 .

[0125] In this embodiment, the guide rod 451 is fixed to the base 11 , the guide sleeve 452 is fixed to the lifting base 42 , and the guide sleeve 452 is sleeved on the outer wall of the guide rod 451 .

[0126] In order to ensure stable movement of the lifting base 42, there are two guide rods 451, which are arranged side by side on the base 11; accordingly, there are two guide sleeves 452, which are respectively fixed on the lifting base 42 and respectively engaged with the outer side walls of the corresponding guide rods 451.

[0127] In another embodiment, the first driving mechanism 43 is linked to the lifting base 42 via a screw-nut mechanism 46, and the screw-nut mechanism 46 includes:

[0128] A pair of screw rods 461 mounted on the base 11;

[0129] a synchronizing member 462 linked between the pair of screw rods 461 and the third driving mechanism 34;

[0130] A nut 463 is fixed to each lifting seat 42 and engages with the corresponding threaded rod 461 .

[0131] The rotation of the screw rod 461 can be converted into power for the lifting seat 42 to move up and down, and drive the clamping arm mechanism 40 to move up and down.

[0132] The two screw rods 461 are respectively a first screw rod 4611 and a second screw rod 4612 . The first driving mechanism 43 drives the first screw rod 4611 to rotate. The first screw rod 4611 drives the second screw rod 4612 to rotate through the synchronous member 462 , so that the two lifting seats 42 can be lifted and lowered synchronously.

[0133] Furthermore, a first synchronizing wheel 464 is mounted on the first screw rod 4611 and is coaxially arranged with the first screw rod 4611. A second synchronizing wheel 465 is mounted on the second screw rod 461 and is coaxially arranged with the second screw rod 461. Along the height of the system, the first synchronizing wheel 464 and the second synchronizing wheel 465 are approximately the same height. The synchronizing member 462 passes around each synchronizing wheel, so that the rotation of the first screw rod 4611 also drives the rotation of the second screw rod 461.

[0134] In this embodiment, the synchronous member 462 is a transmission chain, and the first synchronous wheel 464 and the second synchronous wheel 465 are both sprockets. Of course, in other embodiments, the synchronous member 462 can also be a synchronous belt, etc.

[0135] Furthermore, the first screw rod 4611 is equipped with a transmission wheel 467 , and the transmission wheel 467 is coaxially arranged with the first screw rod 461 . The first driving mechanism 43 drives the transmission wheel 467 to rotate through the transmission member 466 .

[0136] In another embodiment, in each frame 10, the contact area between the walking mechanism 30 and the ground constitutes a support area. When the frame 10 supports the vehicle, the force center points to the support area along the direction of gravity. At this time, the telescopic mechanism 50 only plays a connecting role and does not bear torque.

[0137] In each frame 10, there may be multiple sets of walking mechanisms 30, generally at least two sets distributed on both sides of the overhead area. Therefore, the parts where the walking mechanisms 30 contact the ground are arranged at intervals, and the multiple contact parts form a so-called support area.

[0138] Each location may be a region with a certain area, or a line segment (for example, the traveling wheel is a rigid wheel), or even a certain point (for example, the traveling wheel is a rigid sphere);

[0139] As a whole, the enclosed area of ​​the multiple contact parts can be an area of ​​a certain size or a line segment.

[0140] For example, the two traveling mechanisms 30 of the same frame 10 are distributed on both sides of the vehicle when the vehicle transporting system 100 transports the vehicle.

[0141] Each walking mechanism 30 adopts a single wheel or a side-by-side double wheel structure. At this time, if the tire deformation is ignored, it can be regarded as that the contact parts of the walking mechanism 30 and the ground in the same frame 10 are collinear. In each frame 10, the line segment connecting the two contact parts farthest apart is used as the support domain, and the projection of the force center along the direction of gravity is on the support domain.

[0142] Combine Figure 8 , the force center points to the support domain along the direction Q, and the support domain corresponds to point M from this perspective.

[0143] Since the running wheel 31 may be deformed according to the weight of the frame 10 and the vehicle body, thereby changing the area of ​​the contact portion, it does not affect the determination of the support area.

[0144] For another example, the same frame 10 has more than two sets of running mechanisms 30, or all the running wheels 31 in the same running mechanism 30 are not arranged coaxially. In this case, the contact points between the running mechanism 30 and the ground are more than three points and form a support domain with a certain area, and the projection of the force center along the direction of gravity is in the support domain. In a preferred embodiment, the same frame 10 has two sets of running mechanisms 30. When the vehicle transport system 100 transports a vehicle, the two sets of running mechanisms 30 of the same frame 10 are distributed on both sides of the vehicle. Each set of running mechanisms 30 adopts a single wheel or a side-by-side double wheel structure. When the vehicle transport system 100 moves forward or backward, all the running wheels 31 in the same frame 10 are arranged coaxially.

[0145] In another embodiment, the same pair of movable arms 41 are arranged side by side and spaced apart in the working state of supporting the vehicle. Along the direction of gravity, the axis of the running wheel of each frame 10 is located in the middle of the same pair of movable arms 41 clamping the same wheel.

[0146] Since the same pair of movable arms 41 are generally symmetrically clamped on both sides of the lower half of the same wheel, from the perspective of the direction of gravity, the middle position of the same pair of movable arms 41 basically corresponds to the force center of the frame. Such a structural setting can make the projection of the force center of the frame correspond to the axis of the walking wheel.

[0147] When the vehicle transport system 100 faces vehicles with different wheelbases during use, the projection of the force center of the vehicle transport system 100 falls into the support area; at the same time, the structural layout of the vehicle transport system 100 is more compact, and the external dimensions of the vehicle transport system 100 are effectively controlled.

[0148] In another embodiment, in order to reduce the influence of the center of gravity of the frame 10 on the center of force when the frame 10 supports a vehicle, the center of gravity of each frame 10 is directed toward the support area along the direction of gravity.

[0149] In another embodiment, the connecting beam 20 is swingably or slidably mounted relative to the frame 10 , wherein the swing axis is parallel to the width direction of the system, and the sliding direction is parallel to the width length direction of the system.

[0150] By adjusting the connecting beam 20 and changing the relative position between the connecting beam 20 and the frame 10 , the center of gravity of the base 11 can be adjusted, or the vehicle transport system 100 can be adapted to vehicles of different heights.

[0151] Adjusting the center of gravity of the base 11 can further ensure that, whether it is empty or when transporting a vehicle, the center of gravity of each frame 10 itself is directly above the support area, reducing its own tendency to overturn and avoiding applying torque to the telescopic mechanism 50. This can simplify the telescopic mechanism 50 as much as possible and reduce the strength requirements of the telescopic mechanism 50.

[0152] The change in the center of gravity position of the base 11 can be detected by a sensing device (for example, a gyroscope, etc.); when the frame 10 changes its posture (overturns), the sensing device will detect the center of gravity position change signal and send it to the control unit. The control unit receives and processes the center of gravity position change signal, and drives the connecting beam 20 to change its position on the frame 10 according to the processed signal, so as to change the posture of the connecting beam on the frame, compensate for the trend of the frame posture change, and ensure that the center of gravity position of each frame 10 is directly above the support area.

[0153] In another embodiment, in order to further adapt the vehicle transport system 100 to vehicles of different heights, the height of the connecting beam 20 relative to the frame 10 is adjustable.

[0154] In one embodiment, Figure 12 As shown, a vehicle transport method is also provided, which adopts the vehicle transport system of each embodiment above, and the vehicle transport method includes:

[0155] Get the vehicle's wheelbase information;

[0156] Adjust the spacing between the frames in the vehicle handling system based on the wheelbase information so that the relative positions of the clamping arms match the wheelbase information;

[0157] For vehicles located in the overhead area, when the positions of the clamping arm mechanisms and the wheels are matched, the clamping arm mechanisms are driven to clamp and support the corresponding vehicle wheels respectively;

[0158] The vehicle handling system moves the vehicle as a whole.

[0159] When obtaining the wheelbase information of the vehicle, it can be obtained by using a detection unit pre-installed at the vehicle's movement path; it can also be obtained by using a detection unit installed on each frame of the vehicle handling system when the vehicle enters the overhead area.

[0160] Before transporting a vehicle, each clamping arm mechanism should match the wheel position, and the control unit needs to adjust the distance between the two frames accordingly based on the wheelbase information. Since the wheelbase information can be obtained before the vehicle enters the overhead area, the distance between the frames can be adjusted in advance or after the vehicle enters the overhead area.

[0161] The adjustment method for the distance between each frame can be the movement of a single frame or the linkage of two frames. For example, the control unit sends a drive signal to the walking mechanism of the frame. While the walking mechanism is working, the control unit also compares the frame distance and wheelbase information in real time according to its movement amount. Of course, an additional distance measuring unit can also be set up to collect the frame distance in real time and send it to the control unit.

[0162] The frame spacing can be adjusted based on the wheelbase information, but during actual handling, the clamping arms must align with the actual wheel positions. Therefore, the relative position of the vehicle handling system and the vehicle must be adjusted. This further confirms the vehicle's relative position within the overhead area. This can be achieved using existing technologies, such as internal or external sensors relative to the frame to determine the vehicle's relative position. Once the relative position of the vehicle is confirmed, the clamping arms are aligned with the wheel positions. If the frame spacing is adjusted as the vehicle enters the overhead area, the clamping arms can be adjusted to match the actual wheel positions.

[0163] After that, the control unit drives the movable arms in each clamping arm mechanism to rotate, and the movable arms belonging to the same pair are spaced side by side and are located on both sides of the bottom of the corresponding wheel. Then the control unit drives each pair of movable arms to rise synchronously to lift the vehicle off the ground. According to needs, the clearance height between the bottom of the wheel and the ground can be raised to 20 mm or more.

[0164] According to the preset transport destination, the control unit drives the traveling mechanism to drive the vehicle transport system as a whole to move forward, thereby realizing the transport of the vehicle.

[0165] The vehicle transport system 100 of the present application has an improved structure and does not need to be entered from under the vehicle chassis, thereby avoiding the height of the vehicle transport system 100 being limited by the height of the vehicle chassis from the ground.

[0166] The technical features of the above embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. When technical features in different embodiments are reflected in the same figure, it can be regarded as that figure also discloses the combination examples of the various embodiments involved.

[0167] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person skilled in the art could make numerous variations and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application.

Claims

1. A self-locking vehicle handling system comprising a frame and a traveling mechanism and a clamping arm mechanism mounted on the frame, characterized in that: The clamping arm mechanism comprises: A lifting seat slidably mounted relative to the base; A first driving mechanism installed on the base to drive the lifting base to move; A pair of movable arms that cooperate with each other to clamp the wheels, each movable arm being rotatably mounted on a lifting seat; Each movable arm is independently equipped with a second driving mechanism, which is mounted on the lifting seat and drives the corresponding movable arm to rotate through a worm gear mechanism; The walking mechanism includes walking wheels and a fourth driving mechanism that drives the walking wheels. The same pair of movable arms are arranged side by side and spaced apart in the working state of supporting the vehicle. Along the direction of gravity, the axis of the walking wheel of each frame is located in the middle of the same pair of movable arms holding the same wheel. The frame includes multiple frames that move relative to each other, and the clamping arm mechanisms on all frames cooperate with each other to support the vehicle. The two frames that move relative to each other are connected by a telescopic mechanism that guides the relative movement trend; In each frame, the contact area between the walking mechanism and the ground constitutes a support area, and the center of force of each frame when supporting the vehicle points to the support area along the direction of gravity; The vehicle transport system has relative system length and system width directions, and the vehicle transport system has an overhead area running through the system length direction, and the frames are arranged in sequence along the system length direction; Each frame includes a pair of bases, which are arranged on both sides of the overhead area along the width of the system and are connected and fixed to each other by connecting beams passing through the top of the overhead area. Each base is equipped with a walking mechanism and a clamping arm mechanism.

2. The vehicle handling system according to claim 1, wherein: The movable arm is rotatably mounted on the bottom of the lifting base, and the rotation axis extends along the height direction of the system.

3. The vehicle handling system according to claim 1 or 2, characterized in that: In the worm gear mechanism, the worm is directly linked to the second driving mechanism, and the worm gear is fixed to the rotating shaft of the movable arm.

4. The vehicle handling system according to claim 3, wherein: The walking mechanism comprises: Rotate a wheel frame mounted on the base, with the wheel frame rotation axis extending along the height direction of the system; a third driving mechanism mounted on the base and driving the wheel frame to rotate; Rotating the travel wheel installed at the bottom of the wheel frame; A fourth driving mechanism is installed on the wheel frame to drive the traveling wheel.

5. The vehicle handling system according to claim 4, characterized in that: Each of the bases is provided with two lifting seats, and along the length direction of the system, the two lifting seats are respectively arranged on both sides of the wheel frame rotation axis.

6. The vehicle handling system according to claim 5, characterized in that: A mutually cooperating guide mechanism is provided between the base and the lifting seat, and the guide mechanism includes: A guide rod arranged along the height direction of the system, wherein the guide rod is fixed to one of the base and the lifting base; A guide sleeve is slidably matched with the guide rod, and the guide sleeve is fixed to the other of the base and the lifting seat.

7. The vehicle handling system according to claim 5, wherein: The first driving mechanism is linked to the lifting seat through a screw and nut mechanism, and the screw and nut mechanism includes: A pair of screw rods mounted on the base; a synchronizing member linked between the pair of lead screws and the third driving mechanism; A nut piece is fixed to each lifting seat and cooperates with the corresponding lead screw.

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