Transfer robot chassis structure and vehicle transfer robot

Abstract

The invention discloses a transfer robot chassis structure and a vehicle transfer robot, the transfer robot chassis structure comprises a frame, two groups of lifting suspension mechanisms are symmetrically mounted at the front end and the rear end of the frame, and the two groups of lifting suspension mechanisms are bilaterally symmetrically arranged; the lifting suspension mechanism comprises a hollow shaft motor, a trapezoidal lead screw, a power connecting rod, a wheel frame and wheels; the hollow shaft motor is fixed to the end of the frame, the trapezoidal lead screw is connected with a lead screw nut fixed in a shaft hole of the hollow shaft motor, one end of the trapezoidal lead screw is hinged to one end of the power connecting rod, the other end of the power connecting rod is hinged to the middle of the wheel frame, one end of the wheel frame is hinged to the frame, and the wheel is installed at the other end of the wheel frame. According to the invention, the vehicle can be lifted and descended in the vehicle transfer process, and the accurate adjustment of the height of the vehicle body and the real-time control of the posture are realized through the multi-point independent controllable active lifting adjustment function.

Description

Technical Field

[0001] The invention belongs to the technical field of ro-ro vehicle transport robots, and in particular relates to a transfer robot chassis structure and a vehicle transfer robot. Background Art

[0002] With the growth of trade demand for new energy vehicles, the upgrading and transformation of ports and terminals to be intelligent, automated, and green has become an inevitable trend. As a special ship specially designed for carrying wheeled goods such as cars, the intelligent loading and unloading process of RoRo ships has become the focus of attention. The traditional manual operation mode has many problems: the working environment is harsh, which endangers the health of workers; the space for vehicle stacking is small, and the spacing requirements are strict; manual operation is difficult and the efficiency is limited. To solve these problems, automated handling robots came into being.

[0003] The clamp-type parking robots currently on the market mainly work in smart parking lots, and their suspension system design is mainly for flat road conditions. However, the road conditions inside docks and ro-ro ships are relatively poor, with complex scenes such as road protrusions, road depressions, and large slopes. Existing parking robots mainly use two chassis structures: fixed chassis structure and integral lifting chassis structure.

[0004] The fixed chassis structure is prone to collision and obstruction when passing through uneven roads, and cannot adapt to complex road conditions, seriously affecting work efficiency and safety. At the same time, since the height of the vehicle cannot be adjusted, there is also a problem of limited operating space when loading and unloading the vehicle.

[0005] Although the overall lifting chassis structure can adjust the height of the vehicle body, its lifting mechanism can only perform overall synchronous lifting and lowering, and lacks independent adjustment capabilities, resulting in the inability to keep the vehicle body level when passing through longitudinal or lateral slopes, affecting the stability and safety of vehicle loading. At the same time, the overall lifting structure has a slow response speed and low adjustment accuracy, making it difficult to adapt to rapidly changing road conditions and having poor flexibility under complex road conditions.

[0006] Therefore, the traditional fixed chassis and integral lifting chassis structure cannot meet the use requirements of the complex road conditions at the dock. Summary of the invention

[0007] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a chassis structure of a transfer robot, which can realize vehicle lifting and lowering during vehicle transfer, and realize precise adjustment of vehicle height and real-time control of posture through multi-point independently controllable active lifting and lowering adjustment functions, thereby improving transportation passability and stability under various complex working conditions.

[0008] The objective of the present invention is achieved through the following technical solutions: As a first aspect of the present invention, a chassis structure of a transfer robot is provided, including a frame, and two sets of lifting suspension mechanisms are symmetrically installed at the front and rear ends of the frame, and the two sets of lifting suspension mechanisms are symmetrically arranged left and right; the lifting suspension mechanism includes a hollow shaft motor, a trapezoidal screw, a power connecting rod, a wheel frame and a wheel; the hollow shaft motor is fixed at the end of the frame, the trapezoidal screw is connected to the screw nut fixed in the shaft hole of the hollow shaft motor, one end of the trapezoidal screw is hinged to one end of the power connecting rod, the other end of the power connecting rod is hinged to the middle part of the wheel frame, one end of the wheel frame is hinged to the frame, and the wheel is installed at the other end of the wheel frame; the hollow shaft motor drives the trapezoidal screw to move linearly, and the power of the hollow shaft motor is transmitted to the wheel frame through the power connecting rod, the wheel frame rotates around the axis relative to the frame, and the height adjustment of the frame is realized as the angle of the wheel frame changes.

[0009] Furthermore, the wheels are double-row wheels.

[0010] As a second aspect of the present invention, a vehicle transfer robot is also provided, which includes at least two transfer robot chassis structures described in the present invention, and the two transfer robot chassis structures are longitudinally fixedly connected by die-casting.

[0011] Furthermore, a tire clamping mechanism is fixed on the chassis structure of the transfer robot.

[0012] Compared with the prior art, the beneficial effects of the present invention include: The chassis structure of the transfer robot provided by the present invention has two sets of lifting suspension mechanisms installed at the front and rear of the frame, respectively. The hollow shaft motor of the lifting suspension mechanism drives the trapezoidal screw to extend and retract, and then drives the wheel frame connected to the frame to rotate around the fixed axis through the power connection connecting rod, so that the transfer robot can directly enter the bottom of the vehicle to be transferred longitudinally, and after the clamping mechanism of the transfer robot clamps the car, the lifting suspension mechanism lifts the frame and the vehicle to be transferred away from the ground, and then transports the vehicle to be transferred to the designated position. Since the four lifting suspension mechanisms are controlled separately, the multi-point independent and controllable active lifting adjustment of the frame can be realized. When the vehicle to be transferred is on a broken road or uneven road surface, the vehicle body can still be kept level, thereby improving the stability and safety of vehicle loading.

[0013] The transfer robot chassis structure provided by the present invention has a simple structure, a low failure rate, and a low use cost. It is suitable for use in roll-on / roll-off ships or places where there is a need for vehicle transfer and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural schematic diagram of a transfer robot chassis structure described in Example 1 of the present invention.

[0015] Figure 2This is a schematic diagram of the state of a lifting and suspension mechanism of a transfer robot chassis structure described in Example 1 of the present invention when it is in a small-angle retracted state.

[0016] Figure 3 This is a schematic diagram of the state of a lifting and suspension mechanism of a transfer robot chassis structure described in Example 1 of the present invention when it is in a 90-degree extended state.

[0017] Figure 4 This is a schematic diagram of the top view structure of a vehicle transfer robot described in Example 2 of the present invention.

[0018] In the figure: 1-hollow shaft motor; 2-trapezoidal screw; 3-power connecting rod; 4-wheel frame; 5-frame; 6-wheel. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0020] Example 1: Figure 1 As shown, this embodiment is a chassis structure of a transfer robot, including a frame 5, and two sets of lifting suspension mechanisms are symmetrically installed at the front and rear ends of the frame, and the two sets of lifting suspension mechanisms are symmetrically arranged left and right; the lifting suspension mechanism includes a hollow shaft motor 1, a trapezoidal screw 2, a power connecting rod 3, a wheel frame 4 and a wheel; the hollow shaft motor 1 is fixed to the end of the frame 5 through a motor seat, the trapezoidal screw 2 is connected to the screw nut fixed in the shaft hole of the hollow shaft motor 1, one end of the trapezoidal screw 2 is hinged to one end of the power connecting rod 3, the other end of the power connecting rod 3 is hinged to the middle part of the wheel frame 4, one end of the wheel frame 4 is hinged to the frame 5, and the other end of the wheel frame 4 is installed with a wheel 6; the hollow shaft motor 1 drives the trapezoidal screw 2 to move linearly, and transmits the power of the hollow shaft motor to the wheel frame 4 through the power connecting rod 3, the wheel frame 4 rotates around the axis relative to the frame 5, and the height adjustment of the frame 5 is realized as the angle of the wheel frame 4 changes.

[0021] Furthermore, the wheel frame 4 and the frame 5 are hinged via a pin.

[0022] Furthermore, the wheel 6 is connected to the wheel frame 4 via a connecting shaft and a bearing.

[0023] Furthermore, two ends of the power connection link 3 are respectively hinged to the trapezoidal lead screw 2 and the wheel frame 4 through pins.

[0024] In this embodiment, each group of lifting suspension mechanisms can work independently, and the hollow shaft motors of each group of lifting suspension mechanisms are respectively controlled by the central controller, so as to realize multi-point independent and controllable active lifting adjustment of the chassis structure.

[0025] The lifting suspension mechanism adopted in the present invention makes the realization of this function mechanism extremely simple, has a large lifting force, and has a self-locking function. The motor has high positioning accuracy and can achieve precise adjustment from a small horizontal angle to 90° to adapt to different working conditions.

[0026] Key connectors such as lead screws and connecting rods can also be made of high-strength steel and undergo surface wear-resistant treatment to effectively increase their service life.

[0027] Furthermore, the wheels 6 are all double-row wheels, which effectively improve the load-bearing quality and driving stability of the transport robot.

[0028] Furthermore, the power battery used in the hollow shaft motor is fixed on the frame of the rear half of the handling robot, so that it can be charged at any time or replaced in time.

[0029] The working principle of this embodiment: The hollow shaft motor 1 drives the trapezoidal screw 2 to move linearly, and transmits the power of the hollow shaft motor to the wheel frame 4 through the power connection connecting rod 3. The wheel frame 4 rotates around the axis relative to the frame 5. As the angle of the wheel frame 4 changes, the distance of the frame 5 from the ground is adjusted, and the wheel frame 4 can be precisely adjusted from a small horizontal angle to 90° to adapt to different working conditions. During use, the vehicle transfer robot can directly enter the bottom of the vehicle to be transferred longitudinally, and by adjusting the lifting suspension mechanism, the vehicle tires are lifted off the ground, and then the vehicle to be transferred is transported to the designated parking space in the ro-ro ship; compared with traditional ro-ro ship handling equipment, the lifting suspension mechanism of the handling robot does not need to increase the original ro-ro ship's use space, and has high action reliability, and the failure rate of parts during use is extremely low.

[0030] Example 2: Figure 4 As shown, this embodiment is a vehicle transfer robot, which includes two transfer robot chassis structures described in Embodiment 1, each of which is fixed with a tire clamping mechanism; the two transfer robot chassis are longitudinally fixedly connected by die-casting technology. The two transfer robot chassis structures correspond to the front and rear tire positions of the vehicle to be transferred.

[0031] The working principle of this embodiment is: In actual use, when the vehicle to be transferred needs to be transported to the parking space of the ro-ro ship, the vehicle to be transferred first drives into the parking platform of the parking garage, and the parking garage's laser, ultrasonic, infrared and other sensors identify the tire position of the vehicle to be transferred, and issue a control command to the vehicle transfer robot described in this embodiment; the lifting suspension mechanism is controlled to be in a retracted state, so that the vehicle transfer robot enters the bottom of the vehicle longitudinally, such as Figure 1 shown.

[0032] When the vehicle to be transported is a low-floor vehicle, the lifting suspension mechanism is controlled to be in a small-angle retracted state, so that the vehicle transport robot can enter the bottom of the vehicle longitudinally. Figure 2 As shown, the wheel frame is at a small horizontal angle to the ground, which can meet the needs of the transfer robot to enter the bottom of the low-floor vehicle longitudinally, fully consider most of the vehicle parameters, and maximize the handling efficiency.

[0033] After the transfer robot's clamping mechanism clamps the tires of the vehicle to be transferred, it controls the lifting suspension mechanism to change to a 90-degree extended state, so that the tires of the vehicle to be transferred are lifted off the ground, and then the vehicle to be transferred is transported to the designated parking space in the roll-on / roll-off ship.

[0034] After the vehicle to be transported is transported to the designated location, the lifting suspension mechanism returns to the retracted state, causing the vehicle to land (the tires are in contact with the ground), and the transport robot longitudinally withdraws from the bottom of the vehicle and walks to the waiting area to wait for the next task instruction, and the cycle continues.

[0035] When the vehicle needs to be moved out of the parking garage, that is, the vehicle needs to be moved from the parking space of the roll-on / roll-off ship to the parking platform of the parking garage, the handling robot lowers the suspension position according to the stored data when the vehicle enters the parking position, and then the handling robot longitudinally enters the bottom of the vehicle, raises the suspension, and the vehicle tires leave the ground to move the vehicle to the designated location.

[0036] Although described herein with reference to a number of illustrative embodiments of the present invention, it will be appreciated that those skilled in the art may devise many other modifications and implementations that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope of the present disclosure, drawings, and claims, a variety of variations and improvements may be made to the components and / or layout of the subject combination layout. In addition to variations and improvements made to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. A transfer robot chassis structure, characterized in that: The invention comprises a vehicle frame, and two sets of lifting suspension mechanisms are symmetrically installed at the front and rear ends of the frame, and the two sets of lifting suspension mechanisms are symmetrically arranged left and right; the lifting suspension mechanism comprises a hollow shaft motor, a trapezoidal lead screw, a power connecting rod, a wheel frame and a wheel; the hollow shaft motor is fixed at the end of the frame, the trapezoidal lead screw is connected to a lead screw nut fixed in the shaft hole of the hollow shaft motor, one end of the trapezoidal lead screw is hinged to one end of the power connecting rod, the other end of the power connecting rod is hinged to the middle part of the wheel frame, one end of the wheel frame is hinged to the frame, and the wheel is installed at the other end of the wheel frame; the hollow shaft motor drives the trapezoidal lead screw to move linearly, and the power of the hollow shaft motor is transmitted to the wheel frame through the power connecting rod, and the wheel frame rotates around the axis relative to the frame, and the height adjustment of the frame is realized as the angle of the wheel frame changes.

2. A transfer robot chassis structure as claimed in claim 1, characterized in that: The wheels are double-row wheels.

3. A vehicle transfer robot, characterized in that: It comprises at least two chassis structures of the transfer robot as described in claim 1, and the two chassis structures of the transfer robot are longitudinally fixedly connected by die-casting.

4. A vehicle transfer robot as claimed in claim 3, characterized in that: A tire clamping mechanism is fixed on the chassis structure of the transfer robot.

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