Innovative automobile carrying device and method

Abstract

The invention relates to an innovative automobile carrying device and method, and belongs to the technical field of parking of three-dimensional parking lots, and the innovative automobile carrying device comprises a walking unit used for walking in a two-dimensional space of a parking lot plane and a mechanical arm used for grabbing automobile tires. According to the innovative automobile carrying device and method, the two mechanical arms are arranged on the two side faces of the mechanical arm correspondingly, automobile tires are lifted to a small extent through unfolding and retracting of the two mechanical arms at the front end or the rear end, the problem that the obstacle crossing capacity is poor can be solved, automobile parking and taking can be achieved on the flat ground, and the height limitation of traditional equipment is broken through; the obstacle crossing ability is remarkably improved, the problem of vehicle access without an auxiliary device on the flat ground is solved, and the problems that the height limitation can be solved, but operation on the flat ground, a wheel holding carrier and the like are difficult, the height is limited and the obstacle crossing ability is influenced due to the fact that the vehicle needs to submerge into the vehicle bottom to hold wheels although the vehicle adapts to the flat ground are solved in a vehicle carrying plate, crawler belt and comb tooth exchange mode.

Description

Technical Field

[0001] The invention relates to the technical field of parking of a three-dimensional parking lot, and in particular to an innovative automobile transporting device and method. Background Art

[0002] Modern cities are facing severe parking problems. As one of the effective solutions, multi-story parking lots are centered on car handling devices. Multi-story parking lots use multi-story structures or mechanical equipment to achieve three-dimensional parking of vehicles on a limited land area, thereby greatly increasing the parking capacity per unit area. The biggest advantage of multi-story parking lots is that they can make full use of urban space and are known as "energy savers" of urban space. Compared with underground garages, multi-story parking lots can more effectively ensure the safety of people and vehicles. Modern multi-story parking lots are usually equipped with high-tech management systems, such as IC card operation, license plate number entry and display systems, etc., which improve the safety performance and management efficiency of parking lots.

[0003] The current car handling equipment on the market is mainly divided into two categories: with auxiliary devices and without auxiliary devices. The former, such as the car-carrying plate, crawler and comb exchange type, can solve the height limitation, but it is difficult to operate on flat ground. The latter, such as the wheel-holding transporter, although suitable for flat ground, is limited in height because it needs to dive under the car to hold the wheels, affecting the ability to cross obstacles.

[0004] In view of this, the present invention aims to provide a vehicle transport device and method which can not only overcome the difficulty of overcoming obstacles but also flexibly store and retrieve vehicles on flat ground. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the present invention provides an innovative automobile transporting device and method, which has the advantages of not only solving the problem of poor obstacle crossing ability but also realizing the storage and retrieval of vehicles on flat ground. It solves the problem that although the vehicle loading plate, crawler tracks and comb teeth exchange type can solve the height limitation, it is difficult to operate on flat ground. Although the wheel-holding transporter is suitable for flat ground, it is limited in height because it needs to dive under the vehicle to lift the wheels, which affects the obstacle crossing ability.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an innovative automobile transport device and method, comprising a walking unit for walking in a two-dimensional space of a parking lot and a mechanical arm for grabbing automobile tires, push rods are fixedly installed at both ends of the walking unit, rollers are rotatably installed on both sides of the top of the walking unit, and a track is fixedly installed on the top of the walking unit;

[0009] The mechanical arm comprises a base slidably mounted on the top of a track, and two mechanical arms are rotatably mounted on both sides of the base.

[0010] Furthermore, a moving device for moving on a track is fixedly installed inside the base, and a connecting piece adapted to the push rod is provided on one side of the base.

[0011] Furthermore, a contact sensor is provided on the surface of the manipulator for detecting whether the manipulator is in contact with the automobile tire.

[0012] Furthermore, when the robotic arm moves to one end of the walking unit, it is connected to the push rod. At this time, the two front robotic arms are unfolded to the front end. When the two rear robotic arms contact the car tires, the two front robotic arms are retracted to lift the front wheels of the car to the top of the robotic arms.

[0013] Furthermore, the robotic arm drives the front wheels of the car to move toward the walking unit at a speed V, and at the same time, the walking unit moves toward the robotic arm at a speed V until the rear wheels of the car move to the top of the roller, and the robotic arm continues to drive the car to move until the entire car moves to the top of the car transport device.

[0014] Another technical problem to be solved by the present invention is to provide an innovative automobile transport method, comprising the following steps:

[0015] 1) Pick up the car. The car handling device moves to the front of the car under the action of the walking unit, and the robotic arm moves the car to the top of the car handling device;

[0016] 2) Moving the car: the car handling device moves the car to the front of the parking space under the action of the traveling unit;

[0017] 3) Putting the car: The action is opposite to taking the car. The robotic arm moves the car into the parking space.

[0018] Furthermore, the steps of picking up the car include:

[0019] The first step is to obtain the parking position of the car, and the car transport device moves to the front of the car through the walking unit;

[0020] In the second step, the robot arm leaves the walking unit and connects with the push rod at the front end of the car on the ground;

[0021] In the third step, after the manipulator at the front end of the robotic arm is unfolded, it continues to move toward the car until the manipulator at the rear end of the robotic arm contacts the front wheel of the car;

[0022] Step 4: The front end of the robotic arm retracts and clamps the front wheel, while the tire of the car is lifted;

[0023] Step 5: The walking unit moves toward the car until it touches the robotic arm and stops. The push rod moves toward the walking unit. The walking unit moves toward the car at the same speed, so that the robotic arm climbs onto the walking unit. At the same time, the push rod pulls the robotic arm.

[0024] Step 6: The robot arm moves away from the car at a speed V on the walking unit, and at the same time, the walking unit approaches the car at a speed V, and the lifted front wheels of the car are stationary relative to the parking ground until the rear tires of the car touch the rollers on the walking unit;

[0025] In the seventh step, the robot arm and the walking unit continue to run in the opposite direction at the same speed. The robot arm drags the front wheels of the car to the rollers on the carrier to support the rear wheels, and the car is stored on the carrier, completing the car retrieval action.

[0026] (III) Beneficial effects

[0027] Compared with the prior art, the present invention provides an innovative vehicle transport device and method, which has the following beneficial effects:

[0028] 1. This innovative automobile transport device and method, by arranging two manipulators on both sides of the mechanical arm, respectively, and by unfolding and recovering the two manipulators at the front or rear end, the automobile tires can be lifted in a very small range, which can not only solve the problem of poor obstacle crossing ability, but also realize the storage and retrieval of vehicles on flat ground, breaking through the height limitation of traditional equipment, significantly improving the obstacle crossing ability, and solving the problem of vehicle storage and retrieval on flat ground without auxiliary devices. The exchangeable loading plate, crawler track and comb teeth can solve the height limitation, but it is difficult to operate on flat ground. The wheel-holding transporter, etc., although suitable for flat ground, is limited in height because it needs to dive under the vehicle to pick up the wheels, which affects the obstacle crossing ability.

[0029] 2. This innovative automobile transport device and method, by setting a movable mechanical arm on the top of the walking unit, through the coordinated movement of the walking unit and the mechanical arm, the automobile can be moved to the top of the walking unit while being relatively still with respect to the ground, thereby reducing the space required for automobile transport and loading, and solving the problem that a larger space is needed to move the automobile to the top of the transport device during automobile transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic top view of the structure of an innovative automobile transport device and method proposed by the present invention;

[0031] Figure 2 A schematic diagram of a vehicle picking process of an innovative vehicle transport device and method proposed by the present invention;

[0032] Figure 3 The present invention is a flow chart of an innovative automobile transport method proposed by the present invention.

[0033] In the figure: 1. walking unit; 11. push rod; 12. roller; 13. track; 2. robot arm; 21. base; 22. robot hand. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-3 An innovative automobile transporting device and method include a walking unit 1 for walking in a two-dimensional space of a parking lot and a mechanical arm 2 for grabbing automobile tires, push rods 11 are fixedly installed at both ends of the walking unit 1, rollers 12 are rotatably installed on both sides of the top of the walking unit 1, and a track 13 is fixedly installed on the top of the walking unit 1.

[0036] The robot arm 2 includes a base 21 slidably mounted on the top of the track 13, and two robot arms 22 are rotatably mounted on both sides of the base 21. When the robot arm 2 is on the walking unit 1, it points to both sides and is in the action of clamping the tire. When the robot arm 2 moves outside the walking unit 1, the two robot arms 22 at one end point to the moving side, which is convenient for going around to the other side of the tire. When recycling, the tire is clamped above the robot arm 22.

[0037] Meanwhile, a moving device for moving on the track 13 is fixedly installed inside the base 21 , and a connecting piece adapted to the push rod 11 is provided on one side of the base 21 .

[0038] The surface of the manipulator 22 is provided with a contact sensor for detecting whether the manipulator 22 is in contact with the tire of the automobile.

[0039] At the same time, when the robot arm 2 moves to one end of the walking unit 1, it is connected to the push rod 11. At this time, the two front manipulators 22 are unfolded to the front end. When the two rear manipulators 22 contact the car tires, the two front manipulators 22 are retracted to lift the front wheels of the car to the top of the manipulators 22.

[0040] Among them, the robot arm 2 drives the front wheels of the car to move toward the walking unit 1 at a speed V. At the same time, the walking unit 1 moves toward the robot arm 2 at a speed V until the rear wheels of the car move to the top of the roller 12. The robot arm 2 continues to drive the car to move until the entire car moves to the top of the car transport device.

[0041] Another technical problem to be solved by the present invention is to provide an innovative automobile transport method, comprising the following steps:

[0042] 1) Pick up the car. The car handling device moves to the front of the car under the action of the walking unit, and the robotic arm moves the car to the top of the car handling device;

[0043] 2) Moving the car: the car handling device moves the car to the front of the parking space under the action of the traveling unit;

[0044] 3) Putting the car: The action is opposite to taking the car. The robotic arm moves the car into the parking space.

[0045] Furthermore, the steps of picking up the car include:

[0046] The first step is to obtain the parking position of the car, and the car transport device moves to the front of the car through the walking unit;

[0047] In the second step, the robot arm leaves the walking unit and connects with the push rod at the front end of the car on the ground;

[0048] In the third step, after the manipulator at the front end of the robotic arm is unfolded, it continues to move toward the car until the manipulator at the rear end of the robotic arm contacts the front wheel of the car;

[0049] Step 4: The front end of the robotic arm retracts and clamps the front wheel, while the tire of the car is lifted;

[0050] Step 5: The walking unit moves toward the car until it touches the robotic arm and stops. The push rod moves toward the walking unit. The walking unit moves toward the car at the same speed, so that the robotic arm climbs onto the walking unit. At the same time, the push rod pulls the robotic arm.

[0051] Step 6: The robot arm moves away from the car at a speed V on the walking unit, and at the same time, the walking unit approaches the car at a speed V, and the lifted front wheels of the car are stationary relative to the parking ground until the rear tires of the car touch the rollers on the walking unit;

[0052] In the seventh step, the robot arm and the walking unit continue to run in the opposite direction at the same speed. The robot arm drags the front wheels of the car to the rollers on the carrier to support the rear wheels, and the car is stored on the carrier, completing the car retrieval action.

[0053] Working principle: The walking unit 1 moves to the front of the car, and the car wheel tyre is clamped onto the manipulator 22 through the deployment and recovery of the manipulator 22 on the manipulator 2. Through the relative movement of the manipulator 2 and the walking unit 1, the car is moved to the walking unit 1 in a relatively stationary state relative to the ground. The walking unit 1 drives the car to the position where the car needs to be lowered, and the car is lowered in the opposite steps.

[0054] In summary, this innovative automobile transport device and method, by using the robot arm 2 to move the automobile tires to the transport device with a lower ground clearance, can not only solve the problem of poor obstacle crossing ability, but also achieve storage and retrieval of the car on a flat ground, breaking through the height limitation of traditional equipment and significantly improving the obstacle crossing ability.

[0055] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0056] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An innovative automobile transport device, comprising a walking unit (1) for walking in a two-dimensional space of a parking lot and a mechanical arm (2) for grabbing automobile tires, characterized in that: Push rods (11) are fixedly mounted at both ends of the walking unit (1), rollers (12) are rotatably mounted on both sides of the top of the walking unit (1), and a track (13) is fixedly mounted on the top of the walking unit (1); The mechanical arm (2) comprises a base (21) slidably mounted on the top of the track (13), and two mechanical arms (22) are rotatably mounted on both sides of the base (21).

2. An innovative vehicle handling device according to claim 1, characterized in that: A moving device for moving on the track (13) is fixedly installed inside the base (21), and a connecting piece adapted to the push rod (11) is provided on one side of the base (21).

3. An innovative automobile transport device according to claim 1, characterized in that: The surface of the manipulator (22) is provided with a contact sensor for detecting whether the manipulator (22) is in contact with a tire of a car.

4. An innovative automobile transport device according to claim 3, characterized in that: When the mechanical arm (2) moves to one end of the walking unit (1), it is connected to the push rod (11), and at this time, the two mechanical arms (22) at the front end are unfolded toward the front end, and when the two mechanical arms (22) at the rear end come into contact with the tire of the car, the two mechanical arms (22) at the front end are retracted to lift the front wheel of the car to the top of the mechanical arms (22).

5. An innovative automobile transport device according to claim 1, characterized in that: The mechanical arm (2) drives the front wheel of the vehicle to move toward the walking unit (1) at a speed V, and at the same time, the walking unit (1) moves toward the mechanical arm (2) at a speed V until the rear wheel of the vehicle moves to the top of the roller (12), and the mechanical arm (2) continues to drive the vehicle to move until the vehicle as a whole moves to the top of the vehicle transport device.

6. An innovative method for transporting automobiles, characterized in that: The following steps are involved: 1) Pick up the car. The car handling device moves to the front of the car under the action of the walking unit, and the robotic arm moves the car to the top of the car handling device; 2) Moving the car: the car handling device moves the car to the front of the parking space under the action of the traveling unit; 3) Putting the car: The action is opposite to taking the car. The robotic arm moves the car into the parking space.

7. An innovative automobile transport method according to claim 6, characterized in that: The steps to pick up your vehicle include: The first step is to obtain the parking position of the car, and the car transport device moves to the front of the car through the walking unit; In the second step, the robot arm leaves the walking unit and connects with the push rod at the front end of the car on the ground; In the third step, after the manipulator at the front end of the robotic arm is unfolded, it continues to move toward the car until the manipulator at the rear end of the robotic arm contacts the front wheel of the car; Step 4: The front end of the robotic arm retracts and clamps the front wheel, while the tire of the car is lifted; Step 5: The walking unit moves toward the car until it touches the robotic arm and stops. The push rod moves toward the walking unit. The walking unit moves toward the car at the same speed, so that the robotic arm climbs onto the walking unit. At the same time, the push rod pulls the robotic arm. Step 6: The robot arm moves away from the car at a speed V on the walking unit, and at the same time, the walking unit approaches the car at a speed V, and the lifted front wheels of the car are stationary relative to the parking ground until the rear tires of the car touch the rollers on the walking unit; In the seventh step, the robot arm and the walking unit continue to run in the opposite direction at the same speed. The robot arm drags the front wheels of the car to the rollers on the carrier to support the rear wheels, and the car is stored on the carrier, completing the car retrieval action.

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