A vehicle handling robot

Abstract

A vehicle handling robot provided by the present invention belongs to the technical field of vehicle handling and includes: a walking unit having driving wheels at the bottom; a support frame provided at the top of the walking unit; two sets of telescopic fork arms symmetrically arranged in the width direction of the support frame; the telescopic fork arms are slidably connected to the support frame, and the telescopic fork arms have insertion arc surfaces adapted to contact vehicle tires; a first driving device provided on the support frame for driving the telescopic fork arms to expand and contract in the width direction of the support frame. In the present invention, the support frame drives into the bottom of the vehicle along the width direction of the vehicle, the first driving device drives the telescopic fork arms to extend outwards, so that the insertion arc surfaces of the telescopic fork arms contact the vehicle tires, generating an upward tension to lift the vehicle tires; the first driving device drives the telescopic fork arms to retract, so that the vehicle tires land; the overall height and length of the above vehicle handling robot are low, the structure is compact, the space required for work is small, and the applicable range is wider.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle handling, and particularly to an automobile handling robot. Background Art

[0002] In automobile production lines and automated parking lots, the transportation of vehicles is a very important link, and automobile handling robots can play a great role.

[0003] Existing automobile handling robots serve a single vehicle model, and are relatively long in length and high in height, resulting in a large working space requirement and difficult control. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects that the structure size of the existing automobile handling robot is relatively large and the service vehicle model is single, so as to provide an automobile handling robot.

[0005] To solve the above technical problem, an automobile handling robot provided by the present invention includes:

[0006] A walking unit having driving wheels at the bottom end;

[0007] A support frame provided at the top end of the walking unit;

[0008] Two telescopic fork arms symmetrically arranged in the width direction of the support frame; the telescopic fork arms are slidably connected to the support frame, and the telescopic fork arms have insertion arc surfaces adapted to contact with automobile tires;

[0009] A first driving device provided on the support frame for driving the telescopic fork arms to expand and contract in the width direction of the support frame.

[0010] As a preferred solution, a transmission plate is slidably provided in the width direction of the support frame, and the telescopic fork arms are hinged to the transmission plate.

[0011] As a preferred solution, the telescopic fork arms include:

[0012] A fork arm body having an insertion slot with an outward opening, and a support shaft adapted to contact with automobile tires is provided in the insertion slot.

[0013] As a preferred solution, the telescopic fork arms further include:

[0014] Auxiliary wheels provided at the bottom end of the fork arm body, and the auxiliary wheels support on the ground.

[0015] As a preferred solution, a plurality of bearings are rotatably sleeved on the support shaft, and the bearings are adapted to rollingly contact with automobile tires.

[0016] As a preferred solution, the walking unit includes:

[0017] A walking frame;

[0018] Connecting plates, there are two of them, symmetrically arranged on both sides of the walking frame, and the driving wheels are rotatably arranged on the connecting plates;

[0019] A slewing bearing, arranged at the center of the top end of the walking frame, and the support frame is connected to the outer ring of the slewing bearing;

[0020] A second driving device, arranged on the walking frame, for driving the driving wheels to rotate;

[0021] A control device, arranged on the walking frame, for controlling the relative rotation angle between the support frame and the walking frame.

[0022] As a preferred solution, one end of the connecting plate is hinged to the walking frame, and the other end is connected to the walking frame in a vertically floating manner.

[0023] As a preferred solution, the floating ends of the two connecting plates are arranged diagonally.

[0024] As a preferred solution, the bottom end of the support frame is provided with a plurality of symmetrically arranged universal casters, and the universal casters support on the ground.

[0025] As a preferred solution, it further includes:

[0026] An obstacle sensor, arranged on the outer edge of the support frame.

[0027] The technical solution of the present invention has the following advantages:

[0028] 1. For the vehicle handling robot provided by the present invention, the support frame drives into the bottom of the vehicle along the width direction of the vehicle. At this time, the width direction of the support frame is perpendicular to the width direction of the vehicle; the first driving device drives the telescopic fork arm to extend outwards, so that the inserting arc surface of the telescopic fork arm contacts the vehicle tire, generating an upward tension to lift the vehicle tire; the telescopic fork arm continues to extend until the vehicle tire is carried on the telescopic fork arm, completing the lifting action of the vehicle; after the vehicle is transported to the designated position, the first driving device drives the telescopic fork arm to retract, so that the vehicle tire lands; after the vehicle landing action is completed, the walking unit carries the support frame and drives away from the bottom of the vehicle. The overall height of the above vehicle handling robot is low, the length is small, the structure is compact, and the space required for work is small; the telescopic length of the telescopic fork arm can be finely adjusted according to the vehicle models of different lengths, and thus it can serve vehicle models of different lengths, with a wider adaptation range.

[0029] 2. For the vehicle handling robot provided by the present invention, the telescopic fork arm is hinged to the transmission plate, which can absorb the height difference of the ground, making the telescopic fork arm have better adaptability.

[0030] 3. The vehicle handling robot provided by the present invention, with the insertion slot, further reduces the load-bearing height of the vehicle handling robot.

[0031] 4. The vehicle handling robot provided by the present invention, where the auxiliary wheels contact the ground to provide a load-bearing function for the fork arm body.

[0032] 5. The vehicle handling robot provided by the present invention, where the support shaft is in rolling contact with the vehicle tire through a bearing, reducing the frictional resistance between the support shaft and the vehicle tire during the lifting process.

[0033] 6. The vehicle handling robot provided by the present invention, when the driving ground is uneven, the connecting plate can float up and down, making the driving wheels always fit the ground, and enabling the vehicle handling robot to always run smoothly.

[0034] 7. The vehicle handling robot provided by the present invention, with the universal casters on the support frame, increases the load-bearing capacity of the support frame.

[0035] 8. The vehicle handling robot provided by the present invention, where the obstacle sensor provides non-contact protection for the vehicle handling robot to avoid collision damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a top view of the vehicle handling robot provided in the present invention.

[0038] Figure 2 It is a schematic structural diagram of the walking unit.

[0039] Figure 3 For Figure 2 the bottom view.

[0040] Figure 4 It is a schematic structural diagram of the support frame.

[0041] Figure 5 It is a schematic diagram of the connection relationship between the telescopic fork arm and the support frame.

[0042] Figure 6 It is a schematic diagram of the driving relationship between the first driving device and the ball screw.

[0043] Figure 7It is a structural schematic diagram of a telescopic fork arm.

[0044] Description of the reference numerals in the drawings:

[0045] 1. Traveling unit; 2. Support frame; 3. Telescopic fork arm; 4. First driving device; 5. Traveling frame; 6. Slewing bearing; 7. Control device; 8. Second driving device; 9. Gear; 10. Fixed connection plate; 11. Connection plate; 12. Hinge seat; 13. Spring; 14. Second driven wheel; 15. Second sprocket; 16. Driving wheel; 17. Safety edge; 18. Obstacle sensor; 19. Universal caster; 20. Eye bolt; 21. U-shaped groove; 22. Transmission plate; 23. Suspension seat; 24. First sprocket; 25. First driven wheel; 26. Ball screw; 27. Slide rail; 28. Fork arm body; 29. Auxiliary wheel; 30. Insertion slot; 31. Bearing; 32. Rotating sleeve; 33. Hinge seat; 34. Hinge shaft; 35. Support shaft. Detailed implementation manners

[0046] Next, the technical solutions of the present invention will be described clearly and completely in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] The vehicle handling robot provided in this embodiment includes a traveling unit 1, a support frame 2, a telescopic fork arm 3, and a first driving device 4.

[0051] As Figure 1 shown, there are two of the traveling units 1, and the two traveling units 1 are symmetrically distributed at the two ends of the top of the support frame 2 in the front and rear; there are four telescopic fork arms 3, which are symmetrically arranged at the left and right ends of the support frame 2; the first driving device 4 is arranged at the top end of the support frame 2 and can drive the telescopic fork arm 3 to expand and contract in the width direction of the support frame 2.

[0052] As Figure 2 、 Figure 3 shown, the traveling unit 1 includes a traveling frame 5, a slewing bearing 6, a control device 7, and a second driving device 8; there is a sunken surface at the center of the top end of the traveling frame 5, and the inner ring of the slewing bearing 6 is connected to the center of the sunken surface; connecting plates 11 are vertically arranged on the left and right sides of the traveling frame 5, one end of the connecting plate 11 is rotatably connected to a hinge seat 12 at the bottom end of the traveling frame 5, the other end of the connecting plate 11 is floatingly connected to the traveling frame 5 through a spring 13, and the floating ends of the two connecting plates 11 are arranged diagonally; when the driving ground is uneven, the connecting plate 11 can float up and down, so that the driving wheels are always in contact with the ground, and the vehicle handling robot always runs smoothly. The driving wheel 16 is rotatably connected to the connecting plate 11 through a connecting shaft, and a second driven wheel 14 is sleeved on the connecting shaft; the second driving device 8 is a motor, which is connected to the bottom of the traveling frame 5, and a second sprocket 15 is connected to the driving end of the second driving device 8, and the second sprocket 15 extends out of the connecting plate 11; the second sprocket 15 and the second driven wheel 14 are wound by a chain to form a linkage structure, and the second driving device 8 drives the second sprocket 15 to rotate, and then drives the driving wheel 16 to rotate. The control device 7 is an encoder, which is connected to the traveling frame 5 and is in signal connection with the second driving device 8; a gear 9 is connected to the driving end of the control device 7, and the gear 9 is meshed with the external teeth of the slewing bearing 6, and a fixing plate 10 is connected to the top end of the outer ring of the slewing bearing 6; the control device 7 judges and controls the rotation of the gear 9 according to the rotation speed and rotation angle received by the second driving device 8, and then makes the inner ring and the outer ring of the slewing bearing 6 rotate relative to each other, that is, the fixing plate 10 and the traveling frame 5 rotate relative to each other, so as to realize the in-situ turning of the traveling unit 1.

[0053] As Figure 1 、 Figure 4As shown, the support frame 2 is connected to the fixed plate 10. Safety touch edges 17 are provided at both the front end and the tail end of the support frame 2. There are four obstacle sensors 18, which are respectively arranged at the four edges of the support frame 2. The obstacle sensors 18 can provide non-contact protection. Four universal casters 19 are symmetrically connected to the bottom end of the support frame 2. The universal casters 19 support on the ground to increase the load-bearing capacity of the support frame 2. Four eyebolt studs 20 are evenly connected to the top end of the support frame 2. The eyebolt studs 20 serve as the lifting fulcrums of the overall structure. The left and right ends of the support frame 2 respectively have two U-shaped grooves 21 arranged at intervals, and the openings of the U-shaped grooves 21 face outward.

[0054] As Figure 5 , Figure 6 shown, four telescopic fork arms 3 are slidably connected to the top end of the support frame 2. The telescopic fork arms 3 correspond to the U-shaped grooves 21 one by one. In the retracted state, the telescopic fork arms 3 cover directly above the U-shaped grooves 21. Ball screw 26 and slide rail 27 are respectively arranged on both sides of the U-shaped groove 21. A first slider is slidably arranged on the ball screw 26, and a second slider is slidably arranged on the slide rail 27. The transmission plate 22 is connected between the first slider and the second slider. The telescopic fork arm 3 is hinged to the transmission plate 22 through a suspension seat 23. The telescopic fork arm 3 can rotate up and down to adapt to the uneven bottom surface. The first driving device 4 is a motor, which is connected to the support frame 2. A first sprocket 24 is connected to the driving end of the first driving device 4. A first driven wheel 25 is connected to the end of the ball screw 26. The first driven wheel 25 and the first sprocket 24 are wound by a chain to form a linkage structure. The first driving device 4 drives the first sprocket 24 to rotate, and the first driven wheel 25 drives the ball screw 26 to rotate, so as to realize the telescopic fork arm 3 sliding towards and away from the support frame 2.

[0055] As Figure 7As shown in the figure, the telescopic fork arm 3 includes: a fork arm body 28 and auxiliary wheels 29; the fork arm body 28 has an insertion slot 30 with an opening facing outward, and the insertion slot 30 communicates with the U-shaped slot 21 up and down; there are two support shafts 35 arranged at intervals between the two opposite inner side walls of the insertion slot 30, and the support shafts 35 are located at a position slightly lower than the middle of the insertion slot 30; multiple groups of bearings 31 are sleeved on the support shaft 35 near the opening of the insertion slot 30 at intervals, and adjacent groups of bearings 31 are abutted by a rotating sleeve 32. There are two auxiliary wheels 29, which are connected to the bottom of the fork arm body 28 and are symmetrically arranged on both sides of the insertion slot 30, and the auxiliary wheels 29 can enhance the load-bearing capacity of the telescopic fork arm 3. The bottom end of the fork arm body 28 has two hinge seats 33 arranged at intervals, and a hinge shaft 34 is fixedly connected to the hinge seats 33; one end of the suspension seat 23 is rotatably connected to the hinge shaft 34, and the other end is fixedly connected to the transmission plate 22.

[0056] Working principle:

[0057] The vehicle handling robot drives into the bottom of the vehicle along the width direction of the vehicle. At this time, the width direction of the support frame 2 is perpendicular to the width direction of the vehicle, and the telescopic fork arm 3 is facing the vehicle tire.

[0058] The first driving device 4 drives the telescopic fork arm 3 to extend outward. The bearings 31 on the telescopic fork arm 3 rollingly contact the vehicle tire and generate an upward tension to lift the vehicle tire.

[0059] The telescopic fork arm 3 continues to extend until the vehicle tire is supported between the two support shafts 35, completing the lifting action of the vehicle.

[0060] After the vehicle is transported to the designated position, the first driving device 4 drives the telescopic fork arm 3 to retract, so that the vehicle tire lands.

[0061] After completing the vehicle lowering action, the vehicle handling robot drives away from the bottom of the vehicle.

[0062] Obviously, the above embodiments are only examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. An automotive handling robot, characterized in that, Comprising: A walking unit (1) having driving wheels (16) at its bottom end; A support frame (2) provided at the top end of the walking unit (1); Two telescopic fork arms (3) symmetrically arranged in the width direction of the support frame (2); the telescopic fork arms (3) are slidably connected to the support frame (2), and the telescopic fork arms (3) have an insertion arc surface adapted to contact an automobile tire; A first driving device (4) provided on the support frame (2) for driving the telescopic fork arms (3) to expand and contract in the width direction of the support frame (2); A transmission plate (22) is slidably arranged in the width direction of the support frame (2), and the telescopic fork arms (3) are hinged to the transmission plate (22); The telescopic fork arms (3) include: A fork arm body (28) having an insertion slot (30) with an opening facing outward, and a support shaft (35) adapted to contact an automobile tire is provided in the insertion slot (30); An auxiliary wheel (29) provided at the bottom end of the fork arm body (28), and the auxiliary wheel (29) supports on the ground; A plurality of bearings (31) are rotatably sleeved on the support shaft (35), and the bearings (31) are adapted to rollingly contact an automobile tire.

2. The automotive handling robot according to claim 1, characterized in that, The walking unit (1) includes: A walking frame (5); Two connecting plates (11) symmetrically arranged on both sides of the walking frame (5), and the driving wheels (16) are rotatably provided on the connecting plates (11); A slewing bearing (6) provided at the center of the top end of the walking frame (5), and the support frame (2) is connected to the outer ring of the slewing bearing; A second driving device (8) provided on the walking frame (5) for driving the driving wheels (16) to rotate; A control device (7) provided on the walking frame (5) for controlling the relative rotation angle between the support frame (2) and the walking frame (5).

3. The automotive handling robot according to claim 2, wherein, One end of the connecting plate (11) is hinged to the walking frame (5), and the other end is connected to the walking frame (5) in a vertically floating manner.

4. The automotive handling robot according to claim 3, wherein, The floating ends of the two connecting plates (11) are arranged diagonally.

5. The automotive handling robot according to claim 1, characterized in that, A plurality of universal casters (19) are symmetrically provided at the bottom end of the support frame (2), and the universal casters (19) support on the ground.

6. The automotive handling robot according to any one of claims 1-5, characterized in that, Further comprising: An obstacle sensor (18) provided on the outer edge of the support frame (2).

Images