Vehicle handling systems

Abstract

The present application discloses a vehicle transport system, including a frame, wherein the frame is provided with a walking mechanism and an arm clamping mechanism, the frame includes a plurality of relatively movable frames, the arm clamping mechanisms on all the frames cooperate with each other to support the vehicle, and the two frames moving relative to each other are connected by a telescopic mechanism that guides the relative movement trend; in each frame, the contact part between the walking mechanism and the ground constitutes a support domain, and the force center of the frame when supporting the vehicle points to the support domain along the direction of gravity. Compared with the prior art, this solution is that the force center of the frame when supporting the vehicle points to the support domain along the direction of gravity, and at this time the telescopic mechanism only plays a connecting role and does not bear torque.

Description

Technical Field

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

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

[0003] The existing vehicle handling system includes a main frame, a holding arm module and a walking unit. Multiple holding arm modules are slidably installed on the main frame respectively. The walking unit is fixed to the main frame and drives the vehicle handling system to operate. Each holding arm module adjusts its position on the main frame according to the position of the wheel, and then cooperates with each other to hold the wheel to support the vehicle. At this time, the force of the vehicle will directly act on the main frame, causing the torque of the main frame to increase. Summary of the invention

[0004] The present application provides a vehicle transport system for solving the technical problem in the prior art that the force of the vehicle directly acts on the main frame, causing the torque of the main frame to increase.

[0005] The present application provides a vehicle transport system, including a frame, the frame is equipped with a walking mechanism and a clamping arm mechanism, the frame is a plurality of 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;

[0006] In each frame, the contact portion between the walking mechanism and the ground constitutes a support area, and the force center of the frame when supporting the vehicle points to the support area along the direction of gravity.

[0007] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution, but are merely further supplements or preferences. Under the premise that there are no technical or logical contradictions, each optional method can be combined with the above-mentioned overall solution separately, and multiple optional methods can also be combined.

[0008] Optionally, in each frame, the contact portion between the walking mechanism and the ground forms the support domain, and the projection of the force center along the direction of gravity is in the support domain.

[0009] Optionally, in each frame, the contact parts of the walking mechanism and the ground are collinear, and the line segment connecting the two contact parts farthest apart in each frame serves as the support domain, and the projection of the force center along the direction of gravity is on the support domain.

[0010] Optionally, the walking mechanism includes walking wheels and a corresponding driving mechanism, and the clamping arm mechanism includes movable arms arranged in pairs to clamp the wheels, and the same pair of movable arms are arranged side by side and at intervals in the working state of supporting the vehicle. Along the direction of gravity, the walking wheel axis of each frame is located in the middle of the same pair of movable arms clamping the same wheel.

[0011] Optionally, the vehicle transport system has a relative system length and system width, and the vehicle transport system has an overhead area that runs through the system length direction, and the frames are arranged in sequence along the system length direction.

[0012] 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 through connecting beams passing through the top of the overhead area. Each base is equipped with a walking mechanism and a clamping arm mechanism.

[0013] Optionally, the center of gravity of each frame itself points to the support area along the direction of gravity.

[0014] Optionally, the connecting beam is swingably or slidably installed relative to the frame, 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.

[0015] Optionally, the connecting beam is height-adjustable relative to the frame on which it is located.

[0016] Optionally, the clamping arm mechanism comprises:

[0017] A lifting seat is slidably mounted relative to the base, and each movable arm rotates on the lifting seat;

[0018] A first driving mechanism installed on the base to drive the lifting base to move;

[0019] The second driving mechanism is installed on the lifting seat to drive each movable arm.

[0020] In a vehicle transport system of the present application, the force center of the frame when supporting the vehicle points to the support area along the direction of gravity. At this time, the telescopic mechanism only plays a connecting role and does not bear torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of a vehicle handling system according to an embodiment of the present application;

[0022] Figure 2 for Figure 1 The structural diagram of the vehicle handling system;

[0023] Figure 3 for Figure 1 The structural diagram of the vehicle handling system;

[0024] Figure 4 for Figure 1 The structural diagram of the vehicle handling system;

[0025] Figure 5 for Figure 1 The structural diagram of the vehicle handling system;

[0026] Figure 6 for Figure 1 A schematic diagram of the structure of the first base;

[0027] Figure 7 for Figure 1 A schematic diagram of the structure of the second base;

[0028] Figure 8 for Figure 1 Structural diagram of the walking mechanism and the clamping arm mechanism;

[0029] Fig. 9 for Figure 8 Structural schematic diagram of the middle clamp arm mechanism;

[0030] Fig.10 for Figure 8 Structural diagram of the middle clamp arm mechanism

[0031] Fig.11 for Figure 8 Structural diagram of the walking mechanism;

[0032] Fig.12 This is a flow chart of a vehicle transport method according to an embodiment of the present application.

[0033] The reference numerals in the figures are described as follows:

[0034] 100. Vehicle handling system; 101. Overhead area;

[0035] 10. frame; 11. base; 111. first base; 112. second base;

[0036] 20. Connecting beam; 21. Lifting piece; 22. Crossing piece;

[0037] 30. Traveling mechanism; 31. Traveling wheel; 32. Driving mechanism; 33. Wheel frame; 34. Third driving mechanism; 35. Fourth driving mechanism; 36. Driving wheel; 37. Driven wheel;

[0038] 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. Synchronous member; 463. Nut member; 464. First synchronous wheel; 465. Second synchronous wheel; 466. Transmission member; 467. Transmission wheel; 47. Worm gear mechanism; 471. Worm; 472. Worm wheel;

[0039] 50. Telescopic mechanism; 51. Guide member; 52. Guide wheel; 53. First limiting mechanism; 54. Second limiting mechanism. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] 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 a central 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 a central component at the same time.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0043] In one embodiment, Figures 1 to 11 As shown, a vehicle transport system 100 includes a frame 10, which is equipped with a walking mechanism 30 and a clamping arm mechanism 40. The frame 10 includes multiple (for example, two) relatively movable clamping arm mechanisms 40 on all frames 10 cooperate with each other to support the vehicle.

[0044] The vehicle handling system 100 moves to the parking position of the vehicle through the walking mechanism 30, and each clamping arm mechanism 40 matches the corresponding wheel position, and each clamping arm mechanism 40 clamps the corresponding wheel respectively, and cooperates with each other to support the vehicle, so that the vehicle handling system 100 can transport the vehicle, realizing the vehicle parking, picking up and leaving the warehouse.

[0045] In order to ensure the balance and stability of the vehicle transport system 100 , the two frames 10 that move relative to each other are connected via a telescopic mechanism 50 that guides the relative movement trend.

[0046] The two frames 10 can move toward or against each other within the travel range of the telescopic mechanism 50. The arrangement of the telescopic mechanism 50 can make the entire vehicle handling system 100 balanced and stable. The telescopic mechanism 50 enables the relative distance between the two frames 10 to be adjustable, ensuring that the vehicle handling system 100 is integrated and operates uniformly as a whole.

[0047] Before the vehicle transporting system 100 transports a vehicle, the two frames 10 respectively move toward or in opposite directions driven by the walking mechanism 30, 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, which can effectively reduce the external dimensions of the vehicle transporting system 100 and can also effectively reduce the size requirements of the vehicle transporting system 100 for the channel.

[0048] 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 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.

[0049] 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 of the distance between the two frames 10 through the deformation.

[0050] The shape of the telescopic mechanism 50 is not strictly limited. For example, when it is a rod, at least one end of the rod can slide along the corresponding frame 10, or the middle part (middle position or near the middle position) of the rod itself can be bent or deformed to change the length of the two ends of the rod. Of course, if the telescopic mechanism 50 is a component, it can be connected to the two frames 10 in the above-mentioned ways. When adapting to the change in the distance between the two frames 10, the relative movement between different components in the component can also be used.

[0051] For example, the telescopic mechanism 50 is a multi-link mechanism, and at least two rods in the multi-link mechanism 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 .

[0052] 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 of 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.

[0053] 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, so the parts where the walking mechanisms 30 contact the ground are multiple points arranged at intervals, and the multiple contact points form a so-called support area.

[0054] For each location, it can be a region with a certain area, or a line segment (for example, the running wheel is a rigid wheel), or even a certain point (for example, the running wheel is a rigid sphere);

[0055] As a whole, the enclosed area of ​​the multiple contact parts can be an area of ​​a certain area, or a line segment.

[0056] For example, the two traveling mechanisms 30 of the same frame 10 are distributed on both sides of the vehicle when the vehicle transport system 100 transports the vehicle.

[0057] 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 farthest contact parts is used as the support domain, and the projection of the force center along the direction of gravity is on the support domain.

[0058] Combination 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.

[0059] 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.

[0060] 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 enclose a support domain with a certain area, and the projection of the force center along the gravity direction 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.

[0061] In another embodiment, the traveling mechanism 30 also includes a driving mechanism 32 for driving the traveling wheel 31, and the clamping arm mechanism 40 includes movable arms 41 arranged in pairs to clamp the wheels. The same pair of movable arms 41 are arranged side by side and at intervals in the working state of supporting the vehicle. Along the direction of gravity, the traveling wheel axis of each frame 10 is located in the middle of the same pair of movable arms 41 clamping the same wheel.

[0062] 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 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.

[0063] When the vehicle handling system 100 faces vehicles with different wheelbases during use, the projection of the force center of the vehicle handling system 100 falls into the support area; at the same time, the structural layout of the vehicle handling system 100 is more compact, and the overall dimensions of the vehicle handling system 100 are effectively controlled.

[0064] In another embodiment, if Figures 3 to 5 As shown, the vehicle transport system 100 has a relative system length and system width, and the vehicle transport system 100 has an overhead area 101 that runs through the system length direction, and the frames 10 are arranged in sequence along the system length direction.

[0065] Among them, the system length (i.e. Figure 3 X direction in the system width (i.e. Figure 3 The system length and system width are perpendicular to each other.

[0066] 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 vehicle support surface.

[0067] 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.

[0068] In another embodiment, the bases 11 on the same side of the overhead area 101 in the width direction of the system are connected via a telescopic mechanism 50 , and the spacing between the two frames 10 along the length direction of the system can be adjusted by the guidance of the telescopic mechanism 50 .

[0069] In another embodiment, in order to reduce the influence of the center of gravity of the frame 10 on the force center when the frame 10 supports the vehicle, the center of gravity of each frame 10 itself points to the support area along the direction of gravity.

[0070] In another embodiment, the connecting beam 20 is swingably or slidably installed 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.

[0071] 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.

[0072] Adjusting the center of gravity of the base 11 can further ensure that no matter when it is unloaded or when transporting a vehicle, the center of gravity of each frame 10 itself is directly above the support area, thereby reducing its own tendency to overturn and avoiding applying torque to the telescopic mechanism 50. In this way, the telescopic mechanism 50 can be simplified as much as possible and the strength requirement of the telescopic mechanism 50 can be reduced.

[0073] 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.

[0074] 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.

[0075] In another embodiment, if 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 one guide member 51. One end of the guide member 51 is slidably matched with the first base 111, and the other end is slidably or fixedly matched with the second base 112.

[0076] The first base 111 and / or the second base 112 are provided with a slide groove that matches with the guide member 51 to limit the movement tendency of each other, for example, the guide member 51 can be inserted into the slide groove and can move along the slide groove. Similarly, the guide member 51 can also have a slide groove itself, and each base is provided with a guide member that matches with the slide groove.

[0077] In this embodiment, both ends of the guide member 51 are slidably matched 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 certain, the maximum distance between the two frames 10 can be maximized.

[0078] In another embodiment, the first base 111 and the second base 112 are respectively provided with guide wheels 52 arranged 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 .

[0079] 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.

[0080] The guide wheels 52 can be completely passive wheels, and at least one guide wheel 52 can be equipped with power as needed, for example, by using gear rack meshing to drive the guide member 51 to move, so as to change the distance between the two frames 10.

[0081] 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 may 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 side walls 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 wheels 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 wheels 52 is in contact with the lower side wall, and the top is set with a gap between the upper side wall.

[0082] In this embodiment, the number of guide wheels 52 on the same base 11 is 2 to 10, such as 3, 4 or 5. Of course, in other embodiments, the number of guide wheels 52 on the same base 11 can be greater, and the number of guide wheels 52 can be adjusted according to the length of the slide groove.

[0083] In another embodiment, the vehicle transport system 100 further includes at least one of the following limiting mechanisms:

[0084] The first limiting mechanism 53 acts between the two frames 10 to limit the minimum distance between the two frames 10 in the close state;

[0085] 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.

[0086] The first limiting mechanisms 53 are arranged at both ends of the guide member 51 , and a limiting step matching with the first limiting mechanisms 53 is arranged in the slide slot to prevent the guide member 51 from leaving the slide slot.

[0087] The second limiting mechanism 54 is disposed in the slideway. In this embodiment, the second limiting mechanism 54 is a stopper mounted on the base 11, and the stopper can abut against the guide member 51. Of course, in other embodiments, the second limiting mechanism 54 can be the bottom wall of the slideway.

[0088] 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.

[0089] In the same frame 10 , there are two lifting members 21 . The two lifting members 21 are respectively located on the two bases 11 , and both ends of the cross member 22 are respectively connected to the two lifting members 21 .

[0090] 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.

[0091] In another embodiment, the two frames 10 have a close state where they are adjacent to each other, and a stretched state where they are away from each other. When the states are changed, only one of the two frames 10 moves, or both of them move at the same time.

[0092] 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 wheelbase length of the vehicle so that the distance between the two frames 10 adapts to the wheelbase length.

[0093] The close state refers to a state where the two frames 10 are pressed against each other, or a state where the minimum distance between the two frames 10 is limited by the telescopic mechanism 50 .

[0094] The extended state is relative to the close state. It is understandable that the two frames 10 move relative to each other from the close state to increase the distance between them, that is, they are in the extended state. 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.

[0095] Among them, Figures 8 to 10 As shown, the clamp arm mechanism 40 also includes:

[0096] A lifting seat 42 is slidably mounted relative to the base 11, and each movable arm 41 rotates on the lifting seat 42;

[0097] A first driving mechanism 43 installed on the base 11 to drive the lifting base 42 to move;

[0098] Each movable arm 41 is independently provided with a second driving mechanism 44 . The second driving mechanism 44 is mounted on the lifting seat 42 and drives the corresponding movable arm 41 to rotate via a worm gear mechanism 47 .

[0099] 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 colinearly arranged. When working, the second driving 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.

[0100] After the two movable arms 41 complete the clamping, the first driving mechanism 43 drives the machine lifting seat 42 together with the movable arms 41 to be lifted and lowered, so that 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 a larger space is maintained; 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.

[0101] 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 moves 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.

[0102] The first driving 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 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 motion mode directly output by the first driving 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.

[0103] 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, the movement form can be diverted and transmitted by using appropriate transmission components.

[0104] 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 adapt to wheels of different sizes.

[0105] In another embodiment, in the worm gear mechanism 47 , the worm 471 is directly linked to the second driving 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 .

[0106] In another embodiment, if Figure 8 and Fig.11 As shown, the driving mechanism 32 includes:

[0107] A wheel frame 33 is rotatably mounted on the base 11, the rotation axis of the wheel frame extends along the height direction of the system, and the travel wheel 31 is rotatably mounted at the bottom of the wheel frame 33;

[0108] A third driving mechanism 34 mounted on the base 11 and driving the wheel frame 33 to rotate;

[0109] A fourth driving mechanism 35 mounted on the wheel frame 33 drives the traveling wheel 31 .

[0110] The travel wheel 31 is driven by the fourth driving mechanism 35 to rotate, driving the vehicle transport system 100 to move; the travel wheel 31 is driven by the third driving mechanism 34 to rotate 360 ​​degrees.

[0111] Through the mutual cooperation of the 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; the operating efficiency of the vehicle transport system 100 during the transport process is improved, and the width requirement of the vehicle transport system 100 for the walking channel is reduced, thereby increasing the area ratio of the parking spaces in the parking lot / garage.

[0112] The third driving mechanism 34 is a steering motor, and the fourth driving mechanism 35 is a travel motor.

[0113] Furthermore, a driving wheel 36 is disposed at the output end of the third driving mechanism 34 , and a driven wheel 37 meshing with the driving wheel 36 is disposed on the wheel frame 33 , and the driven wheel 37 can rotate around the rotation axis of the wheel frame.

[0114] In another embodiment, each base 11 is provided with two lifting seats 42 respectively. Along the length direction of the system, the two lifting seats 42 are arranged on both sides of the rotation axis of the wheel frame respectively.

[0115] In another embodiment, in order to make the lifting seat 42 rise and fall along a fixed direction, a mutually cooperating guide mechanism 45 is provided between the base 11 and the lifting seat 42, and the guide mechanism 45 includes:

[0116] 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;

[0117] The guide sleeve 452 is slidably matched with the guide rod 451 , and the guide sleeve 452 is fixed to the other of the base 11 and the lifting base 42 .

[0118] In this embodiment, the guide rod 451 is fixed to the base 11 , the guide sleeve 452 is fixed to the lifting seat 42 , and the guide sleeve 452 is sleeved on the outer wall of the guide rod 451 .

[0119] In order to ensure stable movement of the lifting seat 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 seat 42 and respectively sleeved on the outer side walls of the corresponding guide rods 451 .

[0120] In another embodiment, the first driving mechanism 43 is linked to the lifting seat 42 through a screw nut mechanism 46, and the screw nut mechanism 46 includes:

[0121] A pair of screw rods 461 mounted on the base 11;

[0122] A synchronizing member 462 linked between a pair of screw rods 461 and the third driving mechanism 34;

[0123] A nut 463 is fixed to each lifting seat 42 and cooperates with the corresponding threaded rod 461 .

[0124] 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.

[0125] 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.

[0126] Furthermore, the first screw rod 4611 is equipped with a first synchronous wheel 464, which is coaxially arranged with the first screw rod 4611; the second screw rod 461 is equipped with a second synchronous wheel 465, which is coaxially arranged with the second screw rod 461. Along the height direction of the system, the heights of the first synchronous wheel 464 and the second synchronous wheel 465 are substantially the same, and the synchronous member 462 bypasses each synchronous wheel, so that the first screw rod 4611 rotates while driving the second screw rod 461 to rotate.

[0127] 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 sprocket wheels. Of course, in other embodiments, the synchronous member 462 can also be a synchronous belt or the like.

[0128] Furthermore, the first screw rod 4611 is provided 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 via the transmission member 466 .

[0129] 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 to receive a signal from the detection unit and drive the walking mechanism 30 to match the clamping arm mechanism 40 with the corresponding wheel position.

[0130] The detection unit detects the wheel position of the vehicle, and sends the detected wheel position signal to the control unit, which receives and processes the wheel position signal and drives the two frames 10 to move relative to each other according to the processed signal, so that each clamping arm mechanism 40 matches the corresponding wheel position. The detection unit can be a laser, a photosensitive device, a photoelectric switch, etc.

[0131] 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 power source carried by itself.

[0132] 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.

[0133] The detection unit can be installed on each frame 10, that is, it can move with the vehicle transport system 100, and can also be external to the vehicle transport system 100. It 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, and the relative position of the front and rear wheels can be converted into wheelbase information and sent to the control unit. The relative position of the front and rear wheels can also be directly sent to the control unit, and the control unit will process and convert it.

[0134] In one embodiment, the detection unit is installed on a side of each frame 10 facing the overhead area 101 , and when a vehicle enters the overhead area 101 , the detection unit can obtain a wheel position signal.

[0135] Wired or wireless communication can be used between the detection unit and the control unit.

[0136] 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.

[0137] In another embodiment, the detection unit is external to the vehicle handling system 100 , and wireless communication is adopted between the detection unit and the control unit.

[0138] For example, the detection unit is installed at the entrance of the garage, and when the vehicle enters the entrance of the garage, the detection unit can obtain the wheel position signal.

[0139] In one embodiment, if Fig.12 As shown, a vehicle transport method is also provided, using the vehicle transport systems of the above embodiments, the vehicle transport method includes:

[0140] Get the vehicle's wheelbase information;

[0141] Adjust the spacing between the frames in the vehicle handling system according to the wheelbase information, so that the relative position of each clamping arm mechanism matches the wheelbase information;

[0142] 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;

[0143] The vehicle handling system moves the vehicle as a whole.

[0144] When obtaining the wheelbase information of the vehicle, it can be obtained by using a detection unit pre-set at the vehicle's moving path; it can also be obtained by using a detection unit set on each frame of the vehicle handling system when the vehicle enters the overhead area.

[0145] Before transporting the 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.

[0146] The adjustment method for the distance between each frame can be a single frame movement or the linkage of two frames. For example, the control unit sends a driving 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 to see if they match. 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.

[0147] The frame spacing can be adjusted based on the wheelbase information, but during actual handling, each clamping arm mechanism should match the actual position of the wheel, so the relative position of the vehicle handling system as a whole and the vehicle needs to be adjusted, that is, the relative position of the vehicle in the overhead area needs to be further confirmed. This can be achieved using existing technologies, such as built-in or external sensor elements relative to the frame to obtain the relative position of the vehicle. After the relative position of the vehicle is confirmed, each clamping arm mechanism is in a matching state with the wheel position. If the frame spacing is adjusted while the vehicle enters the overhead area, the actual position of each clamping arm mechanism can be matched with the wheel at the same time.

[0148] Afterwards, 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 wheels. 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 increased to 20 mm or more.

[0149] According to the preset transport destination, the control unit drives the walking mechanism to drive the vehicle transport system to move as a whole, thereby realizing the transport of the vehicle.

[0150] 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 preventing the height of the vehicle transport system 100 from being limited by the height of the vehicle chassis from the ground.

[0151] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. When the technical features in different embodiments are embodied in the same figure, it can be regarded that the figure also discloses the combination examples of the various embodiments involved.

[0152] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A vehicle handling system, comprising a frame, wherein the frame is provided with a walking mechanism and a clamping arm mechanism, wherein: The frame includes a plurality of frames that move relative to each other, the clamping arm mechanisms on all the 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; In each frame, the contact part between the walking mechanism and the ground constitutes a support area, and the force center of the frame when supporting the vehicle points to the support area along the direction of gravity; The walking mechanism includes walking wheels and corresponding driving mechanisms, and the clamping arm mechanism includes movable arms arranged in pairs to clamp the wheels. The same pair of movable arms are arranged side by side and at intervals in the working state of supporting the vehicle. Along the direction of gravity, the walking wheel axis of each frame is located in the middle of the same pair of movable arms clamping the same wheel; The contact part between the walking mechanism of the vehicle handling system and the ground forms the support area, and the projection of the force center along the gravity direction is in the support area; In each frame, the contact parts of the walking mechanism and the ground are collinear, and the line segment formed by the two contact parts farthest apart in each frame is used as the support domain, and the projection of the force center along the gravity direction is on the support domain; The vehicle handling system has a relative system length and system width, and the vehicle handling system has an overhead area that runs through the system length direction, and the frames are arranged in sequence along the system length direction; The center of gravity of each frame itself points to the support area along the direction of gravity.

2. The vehicle handling system according to claim 1, characterized in that: Each frame includes bases arranged in pairs. 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 through connecting beams passing through the top of the overhead area. Each base is equipped with a walking mechanism and a clamping arm mechanism.

3. The vehicle handling system according to claim 2, characterized in that: The connecting beam is installed in a swinging or sliding manner relative to the frame, 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.

4. The vehicle handling system according to claim 3, characterized in that: The connecting beam is height-adjustable relative to the frame body.

5. The vehicle handling system according to claim 1, characterized in that: The clamping arm mechanism also includes: A lifting seat is slidably mounted relative to the base, and each movable arm rotates on the lifting seat; A first driving mechanism installed on the base to drive the lifting base to move; A second driving mechanism is installed on the lifting seat to drive each movable arm.

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