A parking robot that can directly drill into the chassis

Abstract

The present invention relates to a parking robot that can directly drill into the chassis, which includes a main body frame. The main body frame includes a lifting frame for lifting the vehicle and a main power frame for installing a steering wheel device. An anterior arm device for clamping the front wheels of the car and a posterior arm device for clamping the rear wheels of the car are installed on the lifting frame. A lifting device for driving the lifting frame to lift is installed on the main power frame. The lifting link mechanism of the lifting device is used to drive the support of the rear wheels to rise and fall. While the lifting device drives the lifting frame to lift, the lifting link mechanism drives the support of the rear wheels to open, and the power device drives each group of supports of the front wheels to open, jointly enabling the lifting frame to rise steadily. Through the cooperation of the support of the rear wheels and the support of the front wheels, the support effect is significantly improved, the stability of the overall structure is enhanced, the deformation caused by the suspension of the middle part of the frame during long-term use is avoided, and the service life of the transporter is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle handling equipment, and in particular to a parking robot that can directly drill into the chassis. Background Art

[0002] With the development of technology, automatic parking systems are increasingly being applied in daily life. In existing automatic parking systems, when a vehicle carrier enters the bottom of a car, since the vehicle carrier is too high to directly enter the bottom of the car, the vehicle is lifted up, and then the vehicle carrier enters the bottom of the car, and then the wheels of the car are lifted, so as to achieve the effect of lifting the whole car off the ground, and then the vehicle is transported to a predetermined position for parking or charging by the vehicle carrier.

[0003] The applicant once filed a patent application with the State Intellectual Property Office on December 24, 2020, with the patent application number 2020115432785 and the patent name "A Lifting-Type Vehicle Handling AGV", which includes a pair of main support beams, a navigation system, two sets of steering wheel devices, a lifting device, a lifting link device, the lifting rack of the lifting device is connected to the lifting hook of the main support beam, the lifting hook and the lifting rotating arm on the lifting link device are connected by a lifting shaft, the lifting rotating arm and the lifting device are connected by a rotating shaft, the lifting link device and the roller combination on the main support beam are connected by a roller combination connecting plate, and the main support beam is provided with a lifting hook, a rear arm holding device, a screw combination device, a front arm holding device, a roller combination, and a roller combination limit block, and the lifting link device includes a lifting rotating arm, a sleeve locking device, a roller combination connecting plate, and a pair of guide shafts.

[0004] In the above application, the applicant proposed a support method composed of retractable front support wheels and steering wheels. After further summarizing and experimenting by the applicant, it was found that the above structure has the following technical defects in the use process: due to the large weight of the vehicle to be handled, only supported by the front support wheels and steering wheels, the span is large, and there is a lack of support in the middle part of the vehicle frame, the support effect is not good, and it also affects the stability of the overall structure. After long-term use, the middle part of the vehicle frame is prone to deformation due to suspension, reducing the service life of the carrier.

[0005] Based on the above problems, the applicant further improved on the basis of the originally proposed structure and proposed a parking robot that can directly drill into the chassis, effectively solving the above problems. Summary of the Invention

[0006] The present invention aims at the deficiencies of the prior art and provides a parking robot that can directly drill into the chassis.

[0007] The present invention is realized through the following technical solutions. A parking robot capable of directly drilling into the chassis is provided, including a main body frame. The main body frame includes a lifting frame for lifting the vehicle and a main power frame for installing a steering wheel device. The steering wheel device is used to drive the main body frame to move and control the traveling direction. A front arm device and a rear arm device for clamping the front wheels and rear wheels of the vehicle respectively are installed on the lifting frame. A lifting device for driving the lifting frame to lift is installed on the main power frame. The lifting link mechanism of the lifting device is used to drive the support of the rear wheels to rise and fall. A set of front wheel supports are installed on both sides of the lifting frame respectively, and a power device for driving each set of front wheel supports to rise and fall is installed on the main body frame.

[0008] Preferably, the power device is a traction mechanism. The traction mechanism includes a support seat fixedly installed on the lifting frame. The rotating shaft is rotatably connected to the support seat. Two wire winding discs are installed on the rotating shaft. The reduction motor drives the rotating shaft to rotate through a chain. Steel cable ropes are wound on each wire winding disc. The end of each steel cable rope is connected to a sleeve after passing around a guide pulley.

[0009] Preferably, each set of front wheel supports includes a swing arm. The lower end of the swing arm is connected to a roller. The upper end of the swing arm is hinged to the lifting frame through a pin shaft. A force-bearing rod is connected to the upper end of the swing arm. The sleeve is sleeved on the force-bearing rod.

[0010] Preferably, in order to prevent the steel cable ropes from sagging, a plurality of idler rollers for supporting the steel cable ropes are installed on the lifting frame.

[0011] Preferably, in order to adapt to the vehicle lengths of different vehicles to be transferred, the lifting frame includes a front section frame and a rear section frame. The front section frame and the rear section frame can be adjusted in length through a screw rod combination device. In order to relatively accurately control the length adjustment of the main body frame, a laser rangefinder is installed on the rear section frame, and a reflector cooperating with the laser rangefinder is installed on the front section frame. Before transferring the vehicle, the vehicle length information of the vehicle to be transferred is transmitted to the controller of the transporter in advance. The controller controls the screw rod combination device to adjust the length and monitors the distance between the front section frame and the rear section frame through the laser rangefinder.

[0012] Preferably, in order to detect whether the steel cable ropes are tightened, a tension sensor is installed on each steel cable rope. The tension situation of the steel cable ropes is judged through the tension sensors.

[0013] Preferably, the front section frame and the rear section frame are connected through a pin shaft, and a buffer gap is left at the connection part of the front section frame and the rear section frame. Through the form of connection by the pin shaft and the setting of the buffer gap, even if there is a slight inconsistency in the actions of the rear wheel support and the front wheel support when they fall, it will not cause deformation of the connection part of the front section frame and the rear section frame, effectively improving the service life of the main body frame.

[0014] The beneficial effects of the present invention are:

[0015] 1. While the lifting device drives the lifting vehicle frame to lift, the lifting link mechanism drives the supporting rear wheels to open, and the power device drives each group of supporting front wheels to open, jointly enabling the lifting vehicle frame to rise steadily. Through the cooperation of the supporting rear wheels and the supporting front wheels for support, the supporting effect is significantly improved, the stability of the overall structure is enhanced, the deformation of the middle part of the vehicle frame caused by suspension during long-term use is avoided, and the service life of the transporter is prolonged.

[0016] 2. Through the form of pin shaft connection and the setting of buffer gaps, even if there is a slight inconsistency in the actions of the supporting rear wheels and the supporting front wheels during falling, it will not cause deformation of the connection part between the front section of the vehicle frame and the rear section of the vehicle frame, effectively improving the service life of the main vehicle frame.

[0017] 3. Before transporting the vehicle, the vehicle length information of the vehicle to be transferred is transmitted to the controller of the transporter in advance. The controller controls the screw rod combination device to adjust the length and monitors the distance between the front section of the vehicle frame and the rear section of the vehicle frame through a laser rangefinder.

[0018] 4. Tension sensors are installed on each steel cable. The tension sensors are used to judge the tension of the steel cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic three-dimensional structure diagram of Embodiment 1 of the present invention;

[0020] Figure 2 is a schematic top view structure diagram of Embodiment 1 of the present invention;

[0021] Figure 3 is a schematic front view structure diagram when the front and rear wheels of Embodiment 1 of the present invention are retracted;

[0022] Figure 4 is a schematic front view sectional view when the front and rear wheels of Embodiment 1 of the present invention are retracted;

[0023] Figure 5 is Figure 4 a partial enlarged structure diagram at position E in;

[0024] Figure 6 is Figure 1 a partial enlarged structure diagram at position A in;

[0025] Figure 7 is Figure 1 a partial enlarged structure diagram at position B in;

[0026] Figure 8 is Figure 1 a partial enlarged structure diagram at position C in;

[0027] Figure 9Schematic front view structure diagram when the front and rear wheels of Embodiment 1 of the present invention fall down;

[0028] Figure 10 Schematic top view structure diagram of Embodiment 2 of the present invention;

[0029] Figure 11 Front view sectional view of Embodiment 2 of the present invention;

[0030] Figure 12 is Figure 11 Partial enlarged structure diagram at position D in

[0031] Figure 13 Schematic structure diagram of the connection relationship between the support front wheel and the steel cable in Embodiment 3 of the present invention;

[0032] As shown in the figure:

[0033] 1. Lifting device, 2. Lifting vehicle frame, 3. Support rear wheel, 4. Support front wheel, 5. Steering wheel device, 6. Rear arm device, 7. Front arm device, 8. Screw rod combination device, 9. Steel cable, 10. Roller, 11. Swing arm, 12. Stress rod, 13. Roller, 14. Support seat, 15. Rotating shaft, 16. Winding disc, 17. Chain, 18. Reduction motor, 19. Guide pulley, 20. Tensile sensor, 21. Laser rangefinder, 22. Rear section vehicle frame, 23. Front section vehicle frame, 24. Pin shaft, 25. Buffer gap, 26. Reflector, 27. Sleeve, 28. Cylinder, 29. Mounting plate, 30. First swing rod, 31. First connecting shaft, 32. Second swing rod, 33. Third swing rod, 34. Fourth swing rod, 35. Second connecting shaft, 36. Guide shaft. Detailed implementation manners

[0034] To clearly illustrate the technical features of this solution, the following elaborates on this solution through specific implementation manners.

[0035] Embodiment 1:

[0036] As Figure 1-9 shown, it includes a main vehicle frame, and the main vehicle frame includes a lifting vehicle frame 2 for lifting the vehicle and a main power vehicle frame for installing the steering wheel device 5. The steering wheel device 5 is used to drive the main vehicle frame to travel and control the traveling direction. The front arm device 7 and the rear arm device 6 for clamping the front wheels and rear wheels of the vehicle respectively are installed on the lifting vehicle frame 2. The steering wheel device 5, the front arm device 7, and the rear arm device 6 are all existing structures and have been disclosed in Patent Application No. 2020115432785.

[0037] A lifting device 1 for driving the lifting of the lifting frame 2 is installed on the main power frame. The lifting link mechanism of the lifting device 1 is used to drive the support rear wheel 3 to rise and fall. The method of realizing the rise and fall of the support rear wheel 3 through the lifting link mechanism has been introduced in detail in the patent application No. 2020115432785, and will not be elaborated further here. A set of support front wheels 4 are respectively installed on both sides of the lifting frame 2, and a power device for driving each set of support front wheels 4 to rise and fall is installed on the main body frame.

[0038] While the lifting device drives the lifting of the lifting frame 2, the lifting link mechanism drives the support rear wheel 3 to open, and the power device drives each set of support front wheels 4 to open, jointly enabling the lifting frame to rise steadily. Through the cooperation of the support rear wheel 3 and the support front wheels 4 for support, the support effect is significantly improved, the stability of the overall structure is enhanced, the deformation caused by the middle part of the frame being suspended during long-term use is avoided, and the service life of the transporter is increased.

[0039] As Figure 6 、 8 As shown, the power device is a traction mechanism. The traction mechanism includes a support seat 14 fixedly installed on the lifting frame 2. The rotating shaft 15 is rotatably connected to the support seat 14, and specifically, a bearing connection can be adopted. Two wire winding discs 16 are installed on the rotating shaft 15. The reduction motor 18 drives the rotating shaft 15 to rotate through a chain 17. A steel cable 9 is wound on each wire winding disc 16. The end of each steel cable 9 is connected to a sleeve 27 after passing around a guide pulley 19. Each set of support front wheels 4 includes a swing arm 11. The lower end of the swing arm 11 is connected to a roller 13. The upper end of the swing arm 11 is hinged to the lifting frame 2 through a pin shaft. A force-bearing rod 12 is connected to the upper end of the swing arm 11. The sleeve 27 is sleeved on the force-bearing rod 12. When the wire winding disc 16 winds up, the force-bearing rod 12 is pulled by the steel cable 9 to swing towards the side close to the wire winding disc 16, and correspondingly, the roller 13 swings towards the side away from the wire winding disc 16, realizing the opening of the support front wheels 4 and providing support force to the main body frame, jointly enabling the vehicle body to rise steadily. When the lifting frame 2 bears a vehicle, under the action of the vehicle gravity, the roller 13 has a tendency to swing reversely and retract. Through the pulling force of the steel cable 9 on the force-bearing rod 12, the roller 13 cannot swing reversely, ensuring that the support front wheels 4 remain in the lowered state under the load condition.

[0040] In order to prevent the steel cable 9 from sagging, a plurality of idler rollers 10 for supporting the steel cable 9 are installed on the lifting frame 2.

[0041] As Figure 7As shown in the figure, in order to adapt to the vehicle lengths of different vehicles to be transferred, the lifting frame 2 includes a front frame 23 and a rear frame 22. The front frame 23 and the rear frame 22 can be adjusted in length through a screw rod combination device 8. The specific structure of the screw rod combination device 8 has been introduced in detail in the patent application number 2020115432785, and will not be elaborated further here. In order to relatively accurately control the length adjustment of the lifting frame 2, a laser rangefinder 21 is installed on the rear frame 22, and a reflector 26 that cooperates with the laser rangefinder 21 is installed on the front frame 23. Before transporting the vehicle, the vehicle length information of the vehicle to be transferred will be transmitted to the controller of the transporter in advance. The controller controls the screw rod combination device 8 to adjust the length, and monitors the distance between the front frame 23 and the rear frame 22 through the laser rangefinder 21.

[0042] In order to detect whether the steel cable 9 is tensioned, a tension sensor 20 is installed on each steel cable 9. The tension situation of the steel cable 9 is judged through the tension sensor 20.

[0043] There will be inconsistencies in the actions of the supporting rear wheels 3 and the supporting front wheels 4 when they fall relative to the lifting frame, which is likely to cause deformation of the connecting part between the front frame 23 and the rear frame 22. The front frame 23 and the rear frame 22 are connected by a pin shaft 24, and a buffer gap 25 is left at the connection between the front frame 23 and the rear frame 22. Through the form of pin shaft connection and the setting of the buffer gap 25, even if there is a slight inconsistency in the actions of the supporting rear wheels 3 and the supporting front wheels 4 when they fall, it will not cause deformation of the connecting part between the front frame 23 and the rear frame 22, effectively improving the service life of the lifting frame 2.

[0044] Embodiment 2:

[0045] The difference between Embodiment 2 and Embodiment 1 is that, as Figure 10-12 shown, the power device is two cylinders 28. Each cylinder 28 corresponds to a group of supporting front wheels 4, and the cylinder body of each cylinder 28 is hinged to the lifting frame 2. Each group of supporting front wheels 4 includes a swing arm 11. The lower end of the swing arm 11 is connected to a roller 13. The upper end of the swing arm 11 is hinged to the lifting frame 2 through a pin shaft. A force-bearing rod 12 is connected to the upper end of the swing arm 11, and the push rod of the cylinder 28 is hinged to the force-bearing rod 12. The lifting and lowering of the supporting front wheels 4 is realized through the cylinder 28.

[0046] Embodiment 3:

[0047] The difference between Embodiment 3 and Embodiment 1 is that, as Figure 13As shown in the figure, each set of front-wheel supports 4 includes a mounting plate 29 for mounting the rollers 13. One end of the first swing rod 30 is hinged to the mounting plate 29, and the other end is hinged to the second swing rod 32 through the first connecting shaft 31. The other end of the second swing rod 32 is hinged to the lifting vehicle frame 2. One end of the third swing rod 33 is hinged to the mounting plate 29, and the other end is hinged to the fourth swing rod 34 through the second connecting shaft 35. The other end of the fourth swing rod 34 is hinged to the lifting vehicle frame 2. A guide shaft 36 is fixedly connected to the lifting vehicle frame. The power device is a traction mechanism. The steel cable 9 of the traction mechanism sequentially bypasses the guide shaft 36 and the first connecting shaft 31, and the end of the steel cable 9 is fixed to the second connecting shaft 35. Through the traction of the steel cable 9, the first connecting shaft 31 and the second connecting shaft 35 gradually approach, so as to realize the lowering of the rollers 13, provide a supporting force for the main vehicle frame, and jointly make the vehicle body rise steadily.

[0048] Of course, the above description is not limited to the above examples. The technical features not described in the present invention can be realized by or adopted from the prior art, and will not be elaborated here. The above embodiments and drawings are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. The present invention has been described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that any changes, modifications, additions or substitutions made by those of ordinary skill in the art within the scope of the essence of the present invention do not depart from the purpose of the present invention and should also fall within the scope of the claims of the present invention.

Claims

1. A parking robot that can directly drill into the chassis, comprising a main body frame. The main body frame includes a lifting frame for lifting the vehicle and a main power frame for installing a steering wheel device. The steering wheel device is used to drive the main body frame to move and control the traveling direction. A front arm device and a rear arm device for clamping the front wheels and rear wheels of the vehicle respectively are installed on the lifting frame. It is characterized in that: A lifting device for driving the lifting of the lifting frame is installed on the main power frame, and the lifting link mechanism of the lifting device is used to drive the support of the rear wheels to rise and fall; a set of support front wheels are respectively installed on both sides of the lifting frame, and a power device for driving each set of support front wheels to rise and fall is installed on the main body frame; the power device is a traction mechanism, and the traction mechanism includes a support seat fixedly installed on the lifting frame, the rotating shaft is rotatably connected to the support seat, two wire winding discs are installed on the rotating shaft, the reduction motor drives the rotating shaft to rotate through a chain, a steel cable is wound on each wire winding disc, and the end of each steel cable is connected to a sleeve after passing around a guide pulley; the lifting frame includes a front section frame and a rear section frame, the length of the front section frame and the rear section frame is adjusted by a lead screw combination device, a laser rangefinder is installed on the rear section frame, and a reflector cooperating with the laser rangefinder is installed on the front section frame.

2. The parking robot capable of directly drilling into the chassis according to claim 1, wherein: Each set of support front wheels includes a swing arm, the lower end of the swing arm is connected with a roller, the upper end of the swing arm is hinged to the lifting frame through a pin shaft, a force-bearing rod is connected to the upper end of the swing arm, and the sleeve is sleeved on the force-bearing rod.

3. The parking robot capable of directly drilling into the chassis according to claim 1, characterized in that: A plurality of rollers for supporting the steel cable are installed on the lifting frame.

4. A parking robot capable of directly drilling into the chassis according to claim 1, characterized in that: A tension sensor is installed on each steel cable.

5. A parking robot capable of directly drilling into the chassis according to claim 1, characterized in that: The front section frame and the rear section frame are connected by a pin shaft, and a buffer gap is left at the connection of the front section frame and the rear section frame.

Images