Main manipulator, manipulator and stereo garage

Abstract

The present invention relates to the field of parking technology, and in particular to a main manipulator, a manipulator and a stereoscopic parking garage for a stereoscopic parking garage. A main manipulator for a stereoscopic parking garage comprises a frame body, a clamping arm mechanism and a walking mechanism; the clamping arm mechanism comprises a first driving unit, a first linkage unit, two groups of first transmission units and two groups of clamping arm groups; the walking mechanism comprises a second driving unit, a second linkage unit, two groups of second transmission units and two groups of walking wheel units; wherein the first transmission unit and the second transmission unit corresponding to the same side of the frame body are arranged crosswise and stacked along the thickness direction of the frame body. A manipulator comprises the above-mentioned main manipulator and a slave manipulator. A stereoscopic parking garage comprises the above-mentioned manipulator. The advantages of the present invention are: it can realize the movement of four clamping arms driven by one and the movement of two groups of walking wheel units driven by one motor; it is not only simple and compact in structure, but also has good synchronization and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of parking, and in particular to a main manipulator, a manipulator and a stereo garage. Background Art

[0002] A stereo garage is used for parking vehicles. To park and retrieve vehicles, there will be a manipulator in the stereo garage to realize the circulation of vehicles in the stereo garage. Existing manipulators include a master manipulator and a slave manipulator. The slave manipulator is connected to the master manipulator and cooperates with the master manipulator to clamp the vehicle, so that the vehicle is suspended in the air and the circulation of the vehicle is realized.

[0003] At present, the four grippers on the main robot are controlled by four independent motors respectively. Each motor is matched with a driver. The number of components is large, which is not only costly but also difficult to adjust the synchronization of the four motors. Summary of the invention

[0004] Based on this, it is necessary to provide a main manipulator, a manipulator and a stereoscopic car park with a simple structure, low cost and good synchronization of four clamping arms to address the current problems.

[0005] A main manipulator for a stereo garage, the main manipulator comprising:

[0006] A frame body, the frame body having a first side and a second side disposed opposite to each other;

[0007] A clamping arm mechanism, the clamping arm mechanism comprising a first driving unit mounted on the frame body, a first linkage unit connected to the first driving unit, two groups of first transmission units respectively arranged on both sides of the first driving unit and connected to the first linkage unit, and clamping arm groups respectively arranged on the first side and the second side of the frame body; each clamping arm group comprises two clamping arms respectively connected to the corresponding first transmission unit, and each clamping arm group can be expanded or retracted relative to the frame body by being driven by the first transmission unit;

[0008] A walking mechanism, the walking mechanism comprising a second driving unit installed on the frame body, a second linkage unit connected to the second driving unit and driven by the second driving unit, two sets of second transmission units respectively connected to the second linkage units, and at least two sets of active walking wheel units connected to the second transmission unit and installed on the frame body;

[0009] The first transmission unit and the second transmission unit correspondingly located on the same side of the frame body are cross-arranged and stacked along the thickness direction of the frame body.

[0010] In one embodiment, the frame body has a bisector X along its length and bisecting the width of the frame body;

[0011] The two groups of the first transmission units are both arranged adjacent to the bisector X and arranged in the middle of the frame body.

[0012] In one embodiment, the two groups of the first transmission units are symmetrically arranged with the bisector X as the symmetry axis.

[0013] In one embodiment, two groups of the second transmission units are symmetrically arranged with the bisector X as the symmetry axis.

[0014] In one embodiment, the frame body has a bisector Y along its width direction and bisects the length of the frame body, the bisector X is perpendicular to the bisector Y, and the first drive unit and the second drive unit are symmetrically arranged with the bisector Y as the symmetry axis.

[0015] In one embodiment, the frame body has a bisector X along its length and bisecting the width of the frame body;

[0016] The first drive unit is arranged in the middle position of the frame body, and the axis of the first drive unit is arranged adjacent to the bisector X; and / or the second drive unit is arranged in the middle position of the frame body, and the axis of the second drive unit is arranged adjacent to the bisector X.

[0017] In one embodiment, the axis of the first linkage unit is perpendicular to the axis of the first transmission unit, and two groups of the first transmission units are respectively connected to two ends of the first linkage unit.

[0018] In one of the embodiments, on the same side of the frame body, the second transmission unit is located between the two clamping arms.

[0019] In one embodiment, the axis of the second transmission unit is arranged orthogonal to the axis of the second driving unit.

[0020] In one of the embodiments, the manipulator further includes a power supply, which is installed on the frame body and electrically connected to the first drive unit and / or the second drive unit.

[0021] The present invention also provides the following technical solutions:

[0022] A manipulator comprises a main manipulator and a slave manipulator, wherein the slave manipulator can move along with the main manipulator; and the main manipulator adopts the above-mentioned main manipulator.

[0023] The present invention also provides the following technical solutions:

[0024] A three-dimensional garage comprises a main body and the above-mentioned manipulator, wherein the main body has a plurality of parking spaces, and the manipulator can move vehicles to corresponding parking spaces or move vehicles away from corresponding parking spaces.

[0025] Compared with the prior art, the main manipulator for the stereoscopic car park is arranged by setting a first linkage unit and a layout of two groups of first transmission units, a second linkage unit and a layout of two groups of second transmission units, and along the vertical axis direction, the corresponding first transmission units and the corresponding second transmission units are cross-linked and stacked with each other; in this way, one driving motor simultaneously drives at least four clamping arms to move, and one simultaneously drives two groups of walking wheel units to move, effectively ensuring the synchronization of the movement of the clamping arms and walking wheel units; secondly, through the above layout, the number of drivers corresponding to the driving motor is reduced, so as to reduce the number of parts of the main manipulator as a whole, reduce the cost, and make the assembly efficiency of the main manipulator higher; in addition, the cross-arranged first transmission unit and the second transmission unit can reduce the thickness of the frame body in the vertical axis direction as a whole, so that the main manipulator becomes an ultra-thin body, thereby adapting to vehicles with more chassis heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a three-dimensional parking garage provided in one embodiment of the present invention.

[0027] Figure 2 A schematic diagram of the structure of a manipulator provided in one embodiment of the present invention.

[0028] Figure 3 A schematic diagram of the structure of a main manipulator in a folded state provided by an embodiment of the present invention.

[0029] Figure 4 A schematic diagram of the structure of a main manipulator in an expanded state provided by an embodiment of the present invention.

[0030] Figure 5 A schematic structural diagram of a clamping arm mechanism provided in one embodiment of the present invention.

[0031] Figure 6 A schematic structural diagram of a clamping arm mechanism provided in one embodiment of the present invention.

[0032] Figure 7 A schematic structural diagram of a walking mechanism provided in one embodiment of the present invention.

[0033] Figure 8 for Figure 7 A partial enlarged view of point B in the middle.

[0034] Fig. 9 A diagram of a force model of a comparative simply supported beam provided in one embodiment of the present invention.

[0035] Fig.10 An embodiment of the present invention provides Fig. 9 Schematic diagram of shear force on a simply supported beam under the action of force F.

[0036] Fig.11 An embodiment of the present invention provides Fig. 9 Schematic diagram of the bending moment of a simply supported beam under the action of force F.

[0037] Fig.12 An embodiment of the present invention provides Fig. 9 Schematic diagram of the torsion angle of the cross section of a simply supported beam under the action of force F.

[0038] Fig.13 An embodiment of the present invention provides Fig. 9 Schematic diagram of the deflection of a simply supported beam under the action of force F.

[0039] Fig.14 A force model diagram of a simply supported beam of the present invention provided for one embodiment of the present invention.

[0040] Fig.15 An embodiment of the present invention provides Fig.14 Schematic diagram of shear force on a simply supported beam under the action of force F.

[0041] Fig.16 An embodiment of the present invention provides Fig.14 Schematic diagram of the bending moment of a simply supported beam under the action of force F.

[0042] Fig.17 An embodiment of the present invention provides Fig.14 Schematic diagram of the torsion angle of the cross section of a simply supported beam under the action of force F.

[0043] Fig.18 An embodiment of the present invention provides Fig.14 Schematic diagram of the deflection of a simply supported beam under the action of force F.

[0044] Among them, 200, three-dimensional parking garage; 201, vehicle; 202, vertical axis; 203, vehicle entrance; 210, main body; 220, handling device; 230, translation mechanism; 240, parking platform; 250, vertical moving platform; 260, horizontal moving platform; 100, manipulator; 101, main manipulator; 102, slave manipulator; 10, frame body; 11, first side; 12, second side; 13, connecting shaft; 14, mounting groove; 20, clamping arm mechanism; 21 , first driving unit; 211, first driving motor; 212, first speed reducer; 213, first transmission shaft; 214, first coupling; 22, first linkage unit; 221, first driving wheel; 222, first linkage wheel; 223, second linkage wheel; 224, transmission belt; 225, intermediate linkage wheel; 23, first transmission unit; 231, first worm; 232, second worm; 233, second coupling; 24, clamp arm group; 241, clamp arm; 2411, first clamping arm; 2411a, arm body; 2411b, connecting part; 2411c, meshing part; 2411d, reinforcing member; 2411e, roller; 2412, second clamping arm; 2413, clamping space; 30, walking mechanism; 30a, transmission mechanism; 31, second drive unit; 311, second drive motor; 312, output shaft of second drive motor; 313, second reducer; 314, second coupling; 32, second linkage unit; 321, first bevel gear Wheel; 322, second bevel gear; 323, second transmission shaft; 324, housing; 325, third transmission shaft; 33, second transmission unit; 331, fourth transmission shaft; 332, third coupling; 333, gear set; 3331, first gear; 3332, second gear; 3333, third gear; 34, active walking wheel unit; 341, active walking wheel; 35, driven walking wheel unit; 351, driven walking wheel; 40, controller; 50, power supply. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0051] See also Figure 1 , Figure 1 The stereo garage 200 can be applied to shopping malls, hotels, residences and other areas, and can have one or more floors, each floor can be provided with multiple parking spaces, so as to realize the parking of vehicles 201, so as to solve the problem of tight parking spaces in the corresponding area.

[0052] Specifically, the three-dimensional parking garage 200 includes a main body 210 and a transport device 220. The main body 210 has a vehicle entrance 203 and a plurality of parking platforms 240. The plurality of parking platforms 240 are arranged at intervals inside the main body 210. The transport device 220 can operate inside or outside the main body 210 to transport the vehicle 201 to a predetermined position. For example, when parking / picking up a vehicle, the vehicle 201 is transported from the vehicle entrance 203 to the corresponding parking platform 240 to achieve parking; or the vehicle 201 on the parking platform 240 is transported to the vehicle entrance 203 (which can be understood as the vehicle exit at this time) to achieve picking up the vehicle; for another example, when moving a vehicle on the road, the transport device 220 moves the vehicle 201 to other locations, such as other locations or other open locations.

[0053] like Figure 1As shown, the schematic diagram of the structure of the transport device is shown as an example. The transport device 220 includes a translation mechanism 230 and a manipulator 100. The translation mechanism 230 can run in the main body 210. The translation mechanism 230, as an intermediate transport component, can receive the vehicle 201 and move the vehicle 201 vertically or horizontally in the main body 210 to transport the vehicle 201 to a predetermined position; the manipulator 100 is arranged on the translation mechanism 230 to clamp the tire of the vehicle 201; and the manipulator 100 can move between the translation mechanism 230 and the parking platform 240 to realize the flow of the vehicle 201 between the translation mechanism 230 and the parking platform 240 as an intermediate transport mechanism. That is, in the parking process of the vehicle shown in one embodiment, the vehicle 201 to be parked moves from the vehicle entrance 203 to the translation mechanism 230 in the main body 210, and the translation mechanism 230 starts and transports the vehicle 201 to a position corresponding to the parking platform 240; then, the manipulator 100 clamps the wheels of the vehicle 201 to be parked, so that the vehicle 201 to be parked is suspended relative to the translation mechanism 230, and then the manipulator 100 transfers the vehicle 201 to be parked from the translation mechanism 230 to the parking platform 240, so as to realize the parking of the vehicle 201. The steps of picking up the vehicle are opposite to the parking process, and will not be repeated here.

[0054] Furthermore, the translation mechanism 230 includes a vertical moving platform 250 and a horizontal moving platform 260. The vertical moving platform 250 is used to carry the vehicle 201 and drive the vehicle 201 to move along the vertical axis 202 in the main body 210 to transport the vehicle 201 to the corresponding layer. The horizontal moving platform 260 corresponds to the vertical moving platform 250 to carry the vehicle on the vertical moving platform 250, and can move horizontally in the main body 210 to transport the vehicle to the corresponding parking platform 240. The manipulator 100 can be arranged on the vertical moving platform 250 or the horizontal moving platform 260, and can be transferred between the vertical moving platform 250, the horizontal moving platform 260 and the parking platform 240. When the vertical moving platform 250 moves to the corresponding parking layer, the manipulator 100 transports the vehicle on the vertical moving platform 250 to the horizontal moving platform 260; thereafter, the horizontal moving platform 260 transports the vehicle together with the manipulator 100 to the corresponding parking platform 240, and then the manipulator 100 moves the vehicle to the parking platform 240 to achieve parking. It should be explained that the specific structures of the vertical moving platform 250 and the horizontal moving platform 260 are all prior art and will not be described in detail here.

[0055] Of course, the above embodiments only show that the manipulator 100 moves on the vertical moving platform 250, the horizontal moving platform 260 or the parking platform 240; if necessary, the manipulator 100 can also move directly on the ground and transport the vehicle to the corresponding position.

[0056] like Figure 2 As shown, a schematic diagram of the structure of the manipulator 100 is exemplarily shown. The manipulator 100 can be an integrated structure or a split structure. In this embodiment, the split manipulator is used as the object of explanation, and the specific structure, principle and working process of the manipulator 100 are specifically explained.

[0057] Specifically, the manipulator 100 includes a main manipulator 101 and a slave manipulator 102 , which respectively carry / clamp the front wheels and rear wheels of the vehicle, so that the vehicle 201 is suspended relative to the translation mechanism 230 and the vehicle 201 is transported to a predetermined position.

[0058] Preferably, the master manipulator 101 and the slave manipulator 102 are connected to each other or can be independently set; when connected to each other, they can be connected by a telescopic component. When the master manipulator 101 and the slave manipulator 102 are independent of each other, the two are also in a linkage state. That is, no matter how the master manipulator 101 and the slave manipulator 102 are set, the slave manipulator 102 will move synchronously with the master manipulator 101, and the master manipulator 101 and the slave manipulator 102 can also move closer or farther, thereby adjusting the distance between the master manipulator 101 and the slave manipulator 102, so that the manipulator 100 can adapt to vehicles with different wheelbases, thereby improving the applicable vehicle models of the manipulator 100.

[0059] Exemplarily, the structures of the master manipulator 101 and the slave manipulator 102 are substantially the same. This application mainly takes the master manipulator 101 as the object of explanation and introduces the structure and working principle of the master manipulator 101 in detail.

[0060] like Figures 3 to 5 As shown, the structural schematic diagram of the main manipulator 101 in the folded state and the unfolded state is exemplarily shown. In this exemplary embodiment, the main manipulator 101 includes a frame body 10, a clamping arm mechanism 20 and a walking mechanism 30. The clamping arm mechanism 20 is installed on the frame body 10, and the clamping arm mechanism 20 can be folded or unfolded relative to the frame body 10, and in the unfolded state, the wheels of the vehicle 201 are clamped, so that the vehicle 201 is suspended relative to the translation mechanism 230 or the parking platform 240. The walking mechanism 30 is installed on the frame body 10, and is used to drive the frame body 10 to move on the translation mechanism 230, the parking platform 240 or the ground, so as to realize the circulation of the vehicle.

[0061] It should be explained that, in order to clamp the tire of the vehicle 201, the main manipulator 101 has two groups of clamping arms, and the two groups of clamping arms are respectively located on both sides of the frame body of the main manipulator 101. Each group of clamping arms has two clamping arms, and the two clamping arms on the same side are close to each other to form a clamping space, thereby clamping the vehicle tire. In the prior art, each clamping arm needs to be matched with a corresponding driving member, so four clamping arms need to be equipped with four driving members, which not only makes it difficult to adjust the synchronization between the clamping arms, but also in the case of limited space of the main manipulator 101, the number of driving members is too large, resulting in difficulty in overall layout; at the same time, when the forces output by the driving members are inconsistent, the main manipulator 101 will also have a large local force, resulting in a series of problems such as wear and damage of local components. In the present invention, the main manipulator 101 realizes the driving of four clamping arms at the same time by setting a driving member, which is not only simple and compact in structure but also can effectively ensure that the four clamping arms are highly consistent in pace.

[0062] like Figures 4 to 6 As shown, the schematic diagram of the structure of the clamping arm mechanism 20 is shown as an example. Specifically, the clamping arm mechanism 20 includes a first driving unit 21, a first linkage unit 22, two groups of first transmission units 23 and two groups of clamping arm groups 24. The frame body 10 is roughly arranged in a rectangular shape, and the frame body 10 has a first side 11 and a second side 12. One group of clamping arm groups 24 is located on the first side 11 of the frame body 10 and is rotatably connected to the frame body 10, and corresponds to clamping the tire on one side of the vehicle 201, and the other group of clamping arm groups 24 is located on the second side 12 of the frame body 10 and is rotatably connected to the frame body 10, and corresponds to clamping the tire on the other side of the vehicle. The first driving unit 21 is installed on the frame body 10, the first linkage unit 22 is connected to the first driving unit 21 and can rotate under the drive of the first driving unit 21, the two groups of first transmission units 23 are respectively connected to the first linkage unit 22, and can move synchronously under the rotation of the first linkage unit 22, and the two groups of clamping arm groups 24 are respectively arranged one by one with the two groups of first transmission units 23 and are rotatably connected. It is understandable that when the clamping arm group 24 needs to be unfolded to clamp the vehicle tire, the first drive unit 21 is actuated to drive the first linkage unit 22 to rotate. The rotation of the first linkage unit 22 can drive the two groups of first transmission units 23 connected to the first linkage unit 22 to rotate respectively, and the two groups of first transmission units 23 respectively drive the two groups of clamping arm groups 24 to move and unfold; in other words, in this embodiment, only one first drive unit 21 is used to realize the simultaneous movement of the clamping arm groups 24 on both sides of the frame body 10, ensuring the uniformity of the movement pace of each clamping arm group 24; at the same time, reducing the number of first drive units 21 is not only convenient for layout but also low in cost.

[0063] Preferably, the bisector of the width direction of the frame body 10 is recorded as X, and the bisector of the length direction of the frame body 10 is recorded as Y. The first drive unit 21 is arranged in the middle position of the frame body 10, and the axis of the first drive unit 21 is arranged adjacent to the bisector X. It can be understood that the term "adjacent" in the present invention refers to the axis of the first drive unit 21 being arranged adjacent to the bisector X or coinciding with the bisector X. At the same time, the middle position described in the present application can be along the width direction of the frame body 10, and the frame body 10 is preset into three sections, and the middle section can be defined as the middle position of the frame body 10.

[0064] More preferably, the axis of the output shaft of the first driving unit 21 is parallel to the bisector X and is disposed adjacent to the bisector X.

[0065] In one embodiment, the first drive unit 21 includes a first drive motor 211, a first reducer 212 and a first transmission shaft 213. The first drive motor 211 is located in the middle of the frame body 10, and the output shaft of the first drive motor 211 faces the bisector Y. The first reducer 212 is mounted on the first drive motor 211, and is used to control the speed of the first drive motor 211 and increase the output torque of the first drive motor 211. One end of the first transmission shaft 213 is connected to the first reducer 212, and the other end is connected to the first linkage unit 22. The first drive motor 211 moves, and drives the first transmission shaft 213 to rotate through the first reducer 212, so that the first transmission shaft 213 drives the first linkage unit 22 to move, so as to realize the linkage between the first drive motor 211 and the first linkage unit 22.

[0066] Preferably, the axis of the first drive motor 211 is arranged to coincide with the bisector X, and the axis extension line of the output shaft of the first drive motor 211 passes through the intersection of the bisector X and the bisector Y. In this way, the first drive motor 211 is ensured to be located in the middle of the frame body 10, making the overall structure of the frame body 10 more compact.

[0067] Further, the first drive unit 21 also includes a first coupling 214, which is arranged between the first transmission shaft 213 and the first reducer 212, and is used to connect the output shaft of the first reducer 212 with the first transmission shaft 213. In this way, while realizing power transmission through the first coupling 214, the power part composed of the first drive motor 211 and the first reducer 212 is separated from the first transmission shaft 213. If an abnormality occurs during operation and causes excessive transmission torque, the first coupling 214 will be damaged first to avoid damage to the motor or other transmission parts. It is understandable that the first coupling 214 can be selected from any one of a rigid coupling or an elastic coupling, and the specific selection can be determined according to actual needs. Of course, in one embodiment, the first drive motor 211 can also be directly connected to the first linkage unit 22 to achieve direct drive.

[0068] The first linkage unit 22 includes a first driving wheel 221, a first linkage wheel 222, a second linkage wheel 223 and a transmission belt 224. The first driving wheel 221 is fixed on the output shaft of the first driving unit 21, and the axis of the first driving wheel 221 coincides with the first transmission shaft 213, so as to ensure the synchronization of the movement of the first driving wheel 221 and the first driving wheel 221. The first linkage wheel 222 is fixed on one group of first transmission units 23, the second linkage wheel 223 is fixed on another group of first transmission units 23, and the transmission belt 224 is sleeved on the first linkage wheel 222 and the second linkage wheel 223, and is connected to the first driving wheel 221. Thus, the first driving unit 21 drives the first driving wheel 221 to rotate, and the transmission belt 224 links the first linkage wheel 222 and the second linkage wheel 223, thereby driving the two groups of first transmission units 23 to move respectively, and then the movement of the two groups of first transmission units 23 drives the two groups of clamp arm groups 24 to expand or retract respectively, that is, to achieve the clamping and release of the vehicle.

[0069] Preferably, a connecting shaft 13 is fixed to the frame body 10, a bearing is fixed to the connecting shaft 13, and the first linkage wheel 222 is sleeved on the bearing, thereby realizing the rotational connection between the first linkage wheel 222 and the frame body 10. Similarly, the second linkage wheel 223 is also rotationally connected to the frame body 10 in the above manner. It can be understood that, in other embodiments, the rotational connection between the first linkage wheel 222 and / or the second linkage wheel 223 and the frame body 10 can also be directly realized by a rotating shaft.

[0070] Furthermore, the first linkage unit 22 further includes an intermediate linkage wheel 225, which is in transmission connection with the transmission belt 224 and plays a bridging and tensioning role, so that the transmission of power of the transmission belt 224 is more stable and reliable. In one embodiment, the number of the intermediate linkage wheel 225 is one, and one intermediate linkage wheel 225 is arranged between the first driving wheel 221 and the first linkage wheel 222 or between the first driving wheel 221 and the second linkage wheel 223. In another embodiment, the number of the intermediate linkage wheels 225 is multiple; in this case, at least one intermediate linkage wheel 225 is arranged between the first driving wheel 221 and the first linkage wheel 222; and at least one intermediate linkage wheel 225 is also arranged between the first driving wheel 221 and the second linkage wheel 223.

[0071] In an exemplary embodiment, the first driving wheel 221, the first interlocking wheel 222, the second interlocking wheel 223 and / or the intermediate interlocking wheel 225 are sprockets, the transmission belt 224 is a chain, and the chain is engaged with the sprocket to respectively transmit the power of the first driving unit 21 to the two sets of first transmission units 23. Of course, in other embodiments, the first driving wheel 221, the first interlocking wheel 222 and the second interlocking wheel 223 are pulleys, and the transmission belt 224 is a belt, so that the belt is connected to the corresponding pulleys to transmit the power of the first driving unit 21 to the two sets of first transmission units 23 respectively.

[0072] Each group of first transmission units 23 corresponds to a group of clamping arms 24, and each group of first transmission units 23 includes a first worm 231, a second worm 232, and a second coupling 233. Each group of clamping arms 24 includes two clamping arms 241. For the convenience of description, the two clamping arms 241 are defined as a first clamping arm 2411 and a second clamping arm 2412. The first clamping arm 2411 and the second clamping arm 2412 are respectively rotatably connected to the frame body 10 and are symmetrically arranged with Y as the symmetry axis. When the first clamping arm 2411 and the second clamping arm 2412 are both in the unfolded state, a clamping space 2413 for clamping the vehicle wheel is formed between the first clamping arm 2411 and the second clamping arm 2412. The first worm 231 is rotatably mounted on the frame body 10, and the first worm 231 is transmission-connected with the first clamp arm 2411, and the first linkage wheel 222 is fixed on the first worm 231, so that when the first worm 231 rotates, the first clamp arm 2411 is driven to expand or retract, and at this time, the first worm 231 is used as an active worm. The second worm 232 is transmission-connected with the second clamp arm 2412, and the second worm 232 is rotatably mounted on the frame body 10, and the second worm 232 is transmission-connected with the first worm 231 through the second coupling 233, so that the second worm 232 and the first worm 231 move synchronously, that is, the synchronous movement of the first clamp arm 2411 and the second clamp arm 2412 to expand or retract is achieved through a power source. At this time, the second worm 232 is used as a driven worm. Of course, the first linkage wheel 222 can also be fixed on the second worm 232, in which case the second worm 232 is used as an active worm and the first worm 231 is used as a driven worm. It can be understood that the transmission of the worm and the worm has a large transmission ratio, the meshing tooth surfaces are in line contact, the bearing capacity is large, the transmission is stable and the noise is low. In other embodiments, the first transmission unit 23 can also be set as a gear structure, etc.

[0073] Exemplarily, in order to improve the transmission stability of the first worm 231 and the second worm 232, the first worm 231 and the second worm 232 are respectively connected to the frame body 10 at two locations. Specifically, taking the installation of the first worm 231 as an example, the frame body 10 is provided with two spaced installation points (not marked in the figure), each installation point is provided with a bearing, and the first worm 231 is penetrated by two bearings to achieve rotational connection with the frame body 10.

[0074] The two first worms 231 in the two groups of first transmission units 23 are arranged on both sides of the frame body 10, and a first linkage wheel 222 is fixed on one of the first worms 231, and a second linkage wheel 223 is fixed on the other first worm 231. When the first driving wheel 221 rotates, the transmission belt 224 drives the first worm 231 and the second worm 232 on both sides of the frame body 10 to rotate, thereby realizing the synchronous movement of the four clamping arms 241. That is, a first driving motor 211 is used to complete the simultaneous driving of the four clamping arms 241, so that the four clamping arms 241 can evenly share the output force of the first driving motor 211, not only the force of the clamping arms 241 is uniform, but also the movement is consistent and stable; at the same time, since the existing four clamping arms are driven by motors separately and each motor is equipped with a driver, the structure is complex and there are many parts. The structure of the present application is to drive the four clamping arms 241 to move by a first drive motor 211, thereby reducing the number of motors and drivers used, significantly reducing the production cost, and having a simple structure and convenient installation; secondly, the worm corresponding to the existing four clamping arms is unevenly stressed, and the structural strength of one or more of the worms needs to be strengthened to meet the use requirements. The existing strengthening of the worm is usually to increase its volume, and after the volume of the worm increases, the worm will occupy a larger space of the frame body 10, which is not conducive to the thinning of the frame body 10. The present application can make the first worm 231 and the second worm 232 stressed evenly through the reasonable layout of the first drive motor 211, the first worm 231 and the second worm 232, that is, the volume of the first worm 231 and the second worm 232 can be kept consistent, thereby reducing the space occupied by the first worm 231 and / or the second worm 232, so that the frame body 10 can be designed to be smaller and thinner.

[0075] Preferably, the first drive motor 211 is located on the bisector X, and the two first worm gears 231 are arranged on both sides of the bisector X, and the two first worm gears 231 are basically arranged symmetrically about the bisector X; the two second worm gears 232 are also arranged on both sides of the bisector X, and the second worm gears 232 are basically arranged symmetrically about the bisector X; at the same time, the first worm gears 231 and the second worm gears 232 are basically arranged symmetrically about the bisector Y, and the axis of the first worm gear 231 coincides with the axis of the second worm gear 232, and is parallel to the axis of the output shaft of the first drive motor 211; driven by the first drive motor 211, the transmission belt 224 rotates around the axis of the first drive motor 211 for transmission.

[0076] Reference Figure 6, the two groups of clamping arm groups 24 are basically arranged symmetrically with the bisector X as the symmetry axis. Each clamping arm 241 includes an arm body 2411a and a connecting portion 2411b, the connecting portion 2411b is rotatably connected to the frame body 10, and the connecting portion 2411b has an engaging portion 2411c, and the engaging portion 2411c is engaged with the worm in the first transmission unit 23. The arm body 2411a is connected to the connecting portion 2411b, and can be folded or unfolded with the rotation of the engaging portion 2411c. Here, when the arm body 2411a is displayed, the arm body 2411a is basically perpendicular to the frame body 10; when the arm body 2411a is folded, the arm body 2411a is basically parallel to the side of the frame body 10, so that the size of the main manipulator 101 in the width direction can be reduced, so that the main manipulator 101 can move to the bottom of the vehicle and perform corresponding clamping actions.

[0077] When clamping a vehicle, the clamp arm 241 is subjected to a large force, and in order to improve the structural strength of the clamp arm 241, the connection portion 2411b of the clamp arm 241 is reinforced. Specifically, the thickness of the connection portion 2411b is in the range of 20-30mm; and / or a reinforcement piece 2411d is provided on the connection portion 2411b, so that the structural strength of the connection portion 2411b meets the use requirements.

[0078] In this embodiment, there are two reinforcement members 2411d, and the reinforcement members 2411d are respectively arranged on both sides of the connection part 2411b and connected to the connection part 2411b; in this way, both sides of the connection part 2411b are reinforced respectively, which effectively improves the structural strength and service life of the connection part 2411b.

[0079] Continue to refer Figure 6 In order to reduce the wear of the clamp arm 241 and the tire during the clamping process, a plurality of rollers 2411e are arranged at intervals on the side surface of the arm body 2411a that contacts the tire along the length direction of the clamp arm 241, and the rollers 2411e are rotatably connected to the arm body 2411a. In this way, during the clamping process, the rollers 2411e and the tire are in sliding contact, thereby reducing the wear of the vehicle tire.

[0080] The clamp arm 241 is relatively in a suspended state as a whole, that is, the clamp arm 241 does not contact the translation mechanism 230 and the parking platform 240. It can be understood that in the prior art, the clamp arm 241 is respectively connected to the translation mechanism 230 and the parking platform 240 in a contacting manner, that is, a sliding wheel is provided at one end of the arm body 2411a away from the connecting portion 2411b, and the corresponding translation mechanism 230 and the parking platform 240 both need to be provided with a track that cooperates with the sliding wheel, which has a high manufacturing cost. In the present application, the clamp arm 241 is set as a whole in a suspended state and combined with the clamp arm 241 having sufficient structural strength, the guide rail and the sliding wheel are omitted, the number of parts is reduced, and the production cost is saved.

[0081] like Figure 4 as well as Figure 7 As shown, Figure 7 The schematic diagram of the structure of the walking mechanism 30 is shown as an example. Specifically, the walking mechanism 30 includes a second drive unit 31, a transmission mechanism 30a and two groups of active walking wheel units 34. The transmission mechanism 30a includes a second linkage unit 32 and at least two groups of second transmission units 33. The second drive unit 31 is installed on the frame body 10, and the second linkage unit 32 is connected to the second drive unit 31 and moves under the drive of the second drive unit 31. The two groups of second transmission units 33 are respectively connected to the second linkage unit 32, wherein one group of active walking wheel units 34 is located on the first side 11 of the frame body 10 and is rotatably connected to the frame body 10, and is connected to one group of second transmission units 33, and the other group of active walking wheel units 34 is located on the second side 12 of the frame body 10 and is rotatably connected to the frame body 10, and is connected to another group of second transmission units 33. When the main manipulator 101 needs to move, the second drive unit 31 is started, and the two groups of second transmission units 33 are respectively linked through the second linkage unit 32 to achieve the synchronous movement of the two groups of active walking wheel units 34. In other words, in the present embodiment, only one second drive unit 31 is used to realize the simultaneous movement of the active walking wheel units 34 on both sides of the frame body 10, thereby ensuring the uniformity of the movement pace of each active walking wheel unit 34; at the same time, the number of second drive units 31 and the drivers corresponding to the second drive units 31 is reduced, which is not only convenient for layout but also low in cost.

[0082] In an exemplary embodiment, the axis of the second drive unit 31 is arranged adjacent to the bisector X. That is, the second drive unit 31 is located near the bisector X or coincides with the bisector X, and the first transmission unit 23 and the second transmission unit 33 correspondingly located on the same side of the frame body 10 are arranged crosswise and stacked along the thickness direction of the frame body 10. Such an arrangement effectively saves space for the main manipulator 101, reduces the overall thickness of the frame body 10, and thus the main manipulator 101 can adapt to more vehicles with different chassis heights and complete the handling of the corresponding vehicles.

[0083] Preferably, the axis of the second drive unit 31 coincides with the bisector X, that is, coincides with the axis of the first drive unit 21, and the axis of the second transmission unit 33 is arranged perpendicular to the bisector X, and is arranged crosswise with the axis of the first transmission unit 23; and, along the vertical axis 202 (the thickness of the frame body), the axis of the second transmission unit 33 is relatively located above the axis of the first transmission unit 23, that is, the second transmission unit 33 and the first transmission unit 23 are arranged in a stacked manner in the direction of the vertical axis 202. The two groups of second transmission units 33 are arranged symmetrically about the bisector X, and the two groups of active walking wheel units 34 are arranged symmetrically about the bisector X. In this way, the clamping arm mechanism 20 and the walking mechanism 30 are centrally arranged in the middle of the main manipulator 101, making the structure of the main manipulator 101 more compact.

[0084] like Figure 4 As shown, in one embodiment, a group of active walking wheel units 34 are arranged between two clamping arms 241 on the same side of the frame body 10. Thus, the space of the frame body 10 is fully utilized, making the structure of the frame body 10 more compact; at the same time, the active walking wheel unit 34 can be used as a support point for the frame body 10 to bear the force, and is arranged between the two clamping arms 241, so that the bearing capacity of the frame body at this position is more reliable and stable.

[0085] like Figure 6 As shown, the second drive unit 31 includes a second drive motor 311, which is located near or on the bisector X. The output shaft 312 of the second drive motor 311 is connected to the second linkage unit 32, thereby realizing the linkage between the second drive motor 311 and the second linkage unit 32.

[0086] Preferably, the axis of the second drive motor 311 is arranged parallel to or coincident with the bisector X. And the output shaft 312 of the second drive motor 311 is arranged toward the bisector Y.

[0087] Furthermore, the second drive unit 31 further includes a second reducer 313, which is mounted on the output shaft 312 of the second drive motor 311 and is used to control the speed of the second drive motor 311 and increase the output torque of the second drive motor 311. It should be explained that the second reducer 313 can be set according to actual needs.

[0088] Furthermore, the second drive unit 31 also includes a second coupling 314, which is arranged between the second linkage unit 32 and the output shaft 312 of the second drive motor 311, and is used to connect the second linkage unit 32 and the output shaft 312 of the second drive motor 311. In this way, while the power transmission is realized by the second coupling 314, the second drive motor 311 is separated from the second linkage unit 32. If an abnormality occurs during operation and causes excessive transmission torque, the second coupling 314 will be damaged first to avoid damage to the motor or other transmission parts. It is understandable that the second coupling 314 can be any one of a rigid coupling or an elastic coupling, and the specific selection can be determined according to actual needs.

[0089] like Figure 7 and Figure 8 As shown, exemplarily, the second linkage unit 32 has at least two output ends, and the two groups of second transmission units 33 are respectively arranged in one-to-one correspondence with the output ends and connected to the corresponding active walking wheel units 34, so that under the drive of the corresponding output ends, the two groups of second transmission units 33 respectively drive the corresponding active walking wheel units 34 to move.

[0090] Optionally, the second linkage unit 32 is a dual right-angle reducer or a hydraulic transmission structure. In this embodiment, the second linkage unit 32 is a dual right-angle reducer.

[0091] Specifically, the second linkage unit 32 includes a first bevel gear 321, a second bevel gear 322 and a second transmission shaft 323, the first bevel gear 321 is fixed to the output shaft 312, the second bevel gear 322 is fixed to the second transmission shaft 323, the second bevel gear 322 is meshed with the first bevel gear 321, and the two ends of the second transmission shaft 323 are respectively connected to the two groups of second transmission units 33; thus, the first bevel gear 321 rotates to drive the second bevel gear 322 to rotate, and the second transmission shaft 323 rotates synchronously to drive the two groups of second transmission units 33 to move, thereby realizing the control of the movement of the two groups of active walking wheel units 34. It can be understood that the structure of the second linkage unit 32 is not limited to the above description, and it can also be a hydraulic transmission structure, etc., as long as it can realize the synchronous movement of the two groups of second transmission units 33.

[0092] Preferably, the second linkage unit 32 further includes a housing 324, the second transmission shaft 323 is passed through the housing 324, and both ends of the second transmission shaft 323 are located outside the housing 324 to form the output end. The first bevel gear 321 and the second bevel gear 322 are located in the housing 324 to protect the first bevel gear 321 and the second bevel gear 322 through the housing 324.

[0093] Furthermore, the second linkage unit 32 further includes a third transmission shaft 325, the first bevel gear 321 is fixed to the third transmission shaft 325, and the third transmission shaft 325 is connected to the output shaft 312 of the second drive motor 311 through the second coupling 314. In this way, the second drive motor 311 controls the rotation of the third transmission shaft 325 through the second coupling 314, the first bevel gear 321 moves with the third transmission shaft 325, and drives the second bevel gear 322, and then drives the second transmission shaft 323 to move, thereby realizing the driving of the second transmission unit 33.

[0094] Continue to refer Figure 6 The second transmission unit 33 is arranged in the middle position of the frame body 10 , and the axis of the second transmission unit 33 is perpendicular to the axis of the second driving unit 31 .

[0095] Specifically, each set of second transmission units 33 includes a fourth transmission shaft 331 and a third coupling 332, the third coupling 332 is disposed between the fourth transmission shaft 331 and the second transmission shaft 323, and one end of the fourth transmission shaft 331 is connected to the active walking wheel unit 34, and the other end is connected to the corresponding third coupling 332, so that the force of the second transmission shaft 323 is transmitted to the fourth transmission shaft 331 through the third coupling 332, thereby driving the active walking wheel unit 34 to move. In one embodiment, the third coupling 332 and the fourth transmission shaft 331 can also be omitted, that is, the active walking wheel unit 34 is directly connected to the second transmission shaft 323.

[0096] Preferably, the axis of the fourth transmission shaft is disposed adjacent to the bisector Y. Here, adjacent is interpreted as being close to the bisector Y or being disposed coincident with the bisector Y.

[0097] Further, the axis of the third coupling 332 is tilted relative to the axis of the second transmission shaft 323 and is lifted in the vertical upward direction, and the fourth transmission shaft 331 is connected to the third coupling 332, so that the axis of the fourth transmission shaft 331 is relatively located above the corresponding worm (the first worm 231 or the second worm 232) in the direction of the vertical axis 202, thereby realizing that the second transmission unit 33 and the first transmission unit 23 are stacked in the direction of the vertical axis 202. That is, along the vertical direction, the axis of the fourth transmission shaft 331 is located above the axis of the output end and is parallel to the axis of the output end.

[0098] Preferably, the included angle between the axis of the fourth transmission shaft 331 and the axis of the third coupling 332 is B, and 90° < B < 180°. It can be understood that when the value of B is selected within the above range, if the value of B is too small, it is likely to cause the fourth transmission shaft 331 and the second transmission shaft 323 to pile up, resulting in a need for a larger space in the thickness direction of the frame body 10 to accommodate the fourth transmission shaft 331 and the third coupling 332, thereby causing the overall thickness of the frame body 10 to be relatively large, which is not conducive to the thin and light setting of the frame body. Optionally, B can be 95°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, etc., and the specific value can be set according to requirements.

[0099] Exemplarily, referring to Figure 6 , both groups of active walking wheel units 34 are located at the middle position of the frame body 10, and are symmetrically installed on both sides of the frame body 10 with respect to the bisector X. The two groups of active walking wheel units 34 are respectively connected to both ends of the fourth transmission shaft 331 to realize the drive of the active walking wheel units 34; and, a group of active walking wheel units 34 are provided between two clamping arms on the same side of the frame body 10.

[0100] Furthermore, each group of active walking wheel units 34 includes at least two active walking wheels 341, and at least two active walking wheels 341 are all connected to the corresponding fourth transmission shaft 331. It can be understood that setting two active walking wheels 341 can improve the walking stability of the frame body 10.

[0101] To further reflect the structural advantages of the present application, the frame body 10 is simplified to a simply supported beam model, and the force received by this simply supported beam is F (i.e., the clamping arm receives the force F). Fig. 9 The comparative example is shown, in which, in this comparative example, the schematic structural diagram of the active walking wheels 341 arranged in the front and rear manner at both ends of the simply supported beam; Figures 10 to 13 respectively show that under the action of F, Figure 7 the shear force diagram, bending moment diagram, torsion diagram and deflection diagram of the simply supported beam in Fig.14 shows that the active walking wheels 341 of the present application are arranged in the middle of the simply supported beam; Figures 15 to 18 respectively show that under the action of F, Fig.14 the shear force diagram, bending moment diagram, torsional deformation diagram and deflection diagram of the simply supported beam in

[0102] It should be explained that by Fig.15 compared with Fig.10 , under the same F force, the shear force received by the simply supported beam of the present application is smaller, only about 9 / 20 of that in Fig.10 ; by Fig.16 compared with Fig.11 , under the same F force, the maximum bending moment received by the simply supported beam in the present application is only about 0.67 KN·m, while Fig.11 The maximum bending moment of the simply supported beam in the middle reaches 2.65KN.m, which is about 4 times the bending moment of the simply supported beam in this application. Obviously, the bending moment of the simply supported beam in this application is smaller. Fig.17 and Fig.12 contrast, Fig.12 The cross-sectional torsion angle of the simply supported beam in the present application is about 10 times that of the simply supported beam in the present application; Fig.18 and Fig.13 contrast, Fig.18 The deflection of the simply supported beam is only 0.18 mm. Fig.12 The deflection of the simply supported beam is as high as 4.02mm. It is obvious that the deformation of the simply supported beam in this application can be ignored and it can withstand greater forces. That is, from the above comparison, it can be seen that the overall layout of this application makes the simply supported beam better than the frame body 10 in this application in terms of shear force, bending moment, torsion angle and deflection. Figures 7 to 11 The layout shown in .

[0103] like Figure 7 As shown, it is convenient to connect the two active walking wheels 341 with the corresponding fourth transmission shaft 331. The second transmission unit 33 also includes a gear set 333, and each gear set 333 includes three gears. For the convenience of description, the three gears respectively define a first gear 3331, a second gear 3332 and a third gear 3333, the first gear 3331 is fixedly connected to the fourth transmission shaft 331, and the second gear 3332 and the third gear 3333 are arranged on both sides of the first gear 3331 and mesh with the first gear 3331. The two active walking wheels 341 are respectively fixed on the second gear 3332 and the third gear 3333, so that the fourth transmission shaft 331 drives the first gear 3331 to rotate, so that the second gear 3332 and the third gear 3333 follow the first gear 3331 to rotate, so as to drive the two active walking wheels 341 to move synchronously.

[0104] like Figure 6 As shown, the walking mechanism 30 further includes a driven walking wheel unit 35 , which is installed on the frame body 10 to support and assist the movement of the frame body 10 .

[0105] Specifically, the driven running wheel unit 35 includes a plurality of driven running wheels 351, and the plurality of driven running wheels 351 are arranged at intervals on the frame body 10. Preferably, the number of driven running wheels 351 is four, and the four driven running wheels 351 are arranged in a rectangular array at the four corners of the frame body 10 to stably support the frame body 10, and at the same time, cooperate with the active running wheel 341 to stabilize the walking of the auxiliary frame body 10. It can be understood that the specific number of driven running wheels 351 can be selected according to actual requirements, and no excessive restrictions are made here.

[0106] For example, Figures 2 to 8 As shown, as a preferred embodiment, the first drive motor 211 and the second drive motor 311 are both arranged in the middle of the frame, and the first drive motor 211 and the second drive motor 311 are located on both sides of the bisector Y; at the same time, the axis of the first drive motor 211 and the axis of the second drive motor 311 are both arranged parallel to the bisector X. The two groups of first transmission units 23 are symmetrically arranged with the bisector X as the symmetry axis, and the axis of the first transmission unit 23 is arranged parallel to the bisector X. The two groups of clamping arm groups 24 are symmetrically arranged on the frame body 10 with the bisector X as the symmetry axis. The two groups of second transmission units 33 are symmetrically arranged with the bisector X as the symmetry axis, and the two groups of active walking wheel units 34 are symmetrically arranged with the bisector X as the symmetry axis; the second transmission unit 33 is arranged crosswise with the first transmission unit 23; and along the vertical axis 202, the second transmission unit 33 is relatively located above the first transmission unit 23. With such a layout, the second transmission unit 33 and the first transmission unit 23 are arranged crosswise, so as to reduce the thickness of the frame body 10 in the direction of the vertical axis 202 as a whole, so that the main manipulator 101 becomes an ultra-thin body (less than 95 mm), thereby adapting to vehicles with more chassis heights. At the same time, through the arrangement of the second transmission unit 33 and the first transmission unit 23, it is possible to drive multiple clamping arms 241 with one first drive motor 211; and drive two sets of active walking wheel units 34 with one second drive motor 311; thereby reducing the use of drivers, not only saving costs, but also saving space in the frame body 10.

[0107] Preferably, a mounting groove 14 is defined in the middle of the frame body 10 , and the first linkage unit 22 and the second linkage unit 32 are both arranged in the mounting groove 14 , so as to accommodate corresponding components.

[0108] Please refer to Figure 2 or Figure 3 , the main manipulator 101 also includes a controller 40 and a power supply 50. The controller 40 is installed on the frame body 10 and is connected to the external system signal to coordinate and control the movement of the main manipulator 101 as a whole. The power supply 50 is arranged on the frame body 10, and one end of the power supply 50 is electrically connected to the clamping arm mechanism 20, the walking mechanism 30 and the controller 40 respectively, and the other end is connected to the external power supply, so as to realize the power supply to the clamping arm mechanism 20, the walking mechanism 30 and the controller 40. The existing main manipulator is mainly powered by batteries; this leads to more electrical components and increases the hidden dangers of failure; at the same time, the cost is high and the overall weight of the main manipulator is increased. In the present application, the power supply 50 is used to connect the external power supply, and there is no need to add additional electrical components, which effectively avoids the occurrence of the above problems.

[0109] Preferably, the controller 40 is arranged near one end of the frame body 10, and the power supply 50 is arranged near the other end of the frame body 10; in this way, the weight of the two ends of the frame body 10 is basically balanced, thereby improving the stability of the operation of the main manipulator 101.

[0110] The working process of the stereo garage 200 is described below:

[0111] During the parking process, the vehicle enters the main body 210 from the vehicle entrance 203 and stops on the vertical moving platform 250. The vertical moving platform 250 drives the vehicle to move to a predetermined number of floors along the vertical axis 202 according to the control signal. Secondly, the horizontal moving platform 260 moves to the vertical moving platform 250 and docks. The manipulator 100 moves from the horizontal moving platform 260 to the bottom of the vehicle on the vertical moving platform 250. The manipulator 100 controls the clamping arm 241 to move from the retracted state to the unfolded state and to hold the vehicle. The tires are clamped so that the vehicle is lifted by the manipulator 100 in the direction of the vertical axis 202; then, the manipulator 100 moves to move the vehicle from the vertical moving platform 250 to the horizontal moving platform 260; again, the horizontal moving platform 260 drives the vehicle to move horizontally to the corresponding parking platform 240, and then the manipulator 100 moves the vehicle from the horizontal moving platform 260 to the parking platform 240, and controls the clamping arm 241 to move from the unfolded state to the retracted state to release the vehicle and complete the parking of the vehicle. And after the vehicle is parked, the manipulator 100 moves from the parking platform 240 to the horizontal moving platform 260 to reset and prepare for the next action.

[0112] The process of picking up the car is the opposite of the process of storing the car, so I will not go into details here.

[0113] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0114] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. 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 invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A main manipulator for a stereo garage, It is characterized in that The main manipulator comprises: A frame body, the frame body having a first side and a second side disposed opposite to each other; A clamping arm mechanism, the clamping arm mechanism comprising a first driving unit mounted on the frame body, a first linkage unit connected to the first driving unit, two groups of first transmission units respectively arranged on both sides of the first driving unit and connected to the first linkage unit, and clamping arm groups respectively arranged on the first side and the second side of the frame body; each clamping arm group comprises two clamping arms respectively connected to the corresponding first transmission unit, and each clamping arm group can be expanded or retracted relative to the frame body by being driven by the first transmission unit; A walking mechanism, the walking mechanism comprising a second driving unit installed on the frame body, a second linkage unit connected to the second driving unit and driven by the second driving unit, two sets of second transmission units respectively connected to the second linkage units, and at least two sets of active walking wheel units connected to the second transmission unit and installed on the frame body; Wherein, the first transmission unit and the second transmission unit correspondingly located on the same side of the frame body are cross-arranged and stacked along the thickness direction of the frame body; Each group of the active walking wheel units is arranged between the two clamping arms in each clamping arm group, and the two groups of the first transmission unit, the first drive unit, the second drive unit, the first linkage unit and the second linkage unit are arranged in the middle position of the frame body. On the same side of the frame body, the second transmission unit is located between the two clamping arms.

2. The main manipulator for a stereo garage according to claim 1, It is characterized in that The frame body has a bisector X along its length direction and bisecting the width of the frame body; The two groups of the first transmission units are both arranged adjacent to the bisector X.

3. The main manipulator for the stereo garage according to claim 2, It is characterized in that The two groups of first transmission units are symmetrically arranged with the bisector X as the symmetry axis.

4. The main manipulator for the stereo garage according to claim 2, It is characterized in that The two groups of the second transmission units are symmetrically arranged with the bisector X as the symmetry axis.

5. The main manipulator for the stereo garage according to claim 2, It is characterized in that The frame body has a bisector Y along its width direction and bisects the length of the frame body, the bisector X is perpendicular to the bisector Y, and the first driving unit and the second driving unit are symmetrically arranged with the bisector Y as a symmetry axis.

6. The main manipulator for the stereo garage according to claim 1, It is characterized in that The frame body has a bisector X along its length direction and bisecting the width of the frame body; The axis of the first driving unit is disposed adjacent to the bisector X; and / or the axis of the second driving unit is disposed adjacent to the bisector X.

7. The main manipulator for a stereo garage according to claim 1 or 5, It is characterized in that The axis of the first linkage unit is arranged perpendicularly to the axis of the first transmission unit, and two groups of the first transmission units are respectively connected to two ends of the first linkage unit.

8. The main manipulator for the stereo garage according to claim 1, It is characterized in that The axis of the second transmission unit is arranged orthogonally to the axis of the second driving unit.

9. The main manipulator for a stereo garage according to claim 1, It is characterized in that The manipulator further includes a power supply, which is mounted on the frame body and electrically connected to the first drive unit and / or the second drive unit.

10. A robot arm, It is characterized in that It comprises a main manipulator and a slave manipulator, wherein the slave manipulator can move with the main manipulator; and the main manipulator is the main manipulator as described in any one of claims 1-9.

11. A three-dimensional parking garage, It is characterized in that It comprises a main body and the manipulator as claimed in claim 10, wherein the main body has a plurality of parking spaces, and the manipulator can move a vehicle to a corresponding parking space or move a vehicle away from a corresponding parking space.

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