Automobile carrier and stereo garage

Abstract

According to the automobile carrier and the stereo garage, the automobile carrier comprises the frame, the multiple driving wheel mechanisms installed on the frame, the two clamping arm mechanisms, the axle distance adjusting mechanism and the control module, and at least one clamping arm mechanism can move relative to the frame in the length direction of the frame so as to adjust the distance between the two clamping arm mechanisms; the axle distance adjusting mechanisms are used for controlling the movement of the corresponding clamping arm mechanisms on the frame so as to adjust the distance between the two clamping arm mechanisms; the control module is electrically connected with the driving wheel mechanism, the two clamping arm mechanisms and the axle distance adjusting mechanism. The automobile carrier is small in size and can better adapt to special scenes; moreover, the distance between the two clamping arm mechanisms can be automatically adjusted through the axle distance adjusting mechanism, so that the automobile carrier not only can be suitable for carrying automobiles with different axle distances, but also can simplify the automobile taking action of the automobile carrier, and has the effects of shortening the automobile taking time and improving the working efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field related to automobile transportation, and in particular relates to an automobile transporter and a stereoscopic garage. Background Art

[0002] In recent years, with the rapid innovation and continuous development of science and technology, various new types of automobiles have emerged rapidly, greatly enriching the market. This has not only changed people’s travel methods, but also promoted the rapid development of the smart parking industry.

[0003] At present, the existing car transporters in the stereo garage are mainly plate-type AGVs and mother-and-child AGVs. Among them, the plate-type AGV needs to transport the car plate back and forth, which is inefficient and not widely used; the mother-and-child AGV needs to cooperate with the vehicle transporter to operate, and the vehicle transporter relies on tracks to move. In addition, the AGV body is large, and the flexibility and adaptability of picking up the car are poor, resulting in a long time to pick up the car. Therefore, it is particularly necessary to design a new car transporter. Summary of the invention

[0004] In view of this, it is necessary to provide a car transporter and a stereoscopic garage with small size and high car retrieval efficiency.

[0005] A car transporter, the car transporter comprising:

[0006] Frame;

[0007] A plurality of driving wheel mechanisms are arranged in the area where the frame is located and connected to the frame;

[0008] Two clamping arm mechanisms are installed on the vehicle frame and are used to clamp the front and rear wheels of the vehicle. At least one of the clamping arm mechanisms can move relative to the vehicle frame along the length direction of the vehicle frame to adapt to different vehicle wheelbases.

[0009] A wheelbase adjustment mechanism, corresponding to at least one of the two clamp arm mechanisms, the wheelbase adjustment mechanism being mounted on the corresponding clamp arm mechanism and used to control the movement of the corresponding clamp arm mechanism on the frame to adjust the distance between the two clamp arm mechanisms;

[0010] The control module is installed in the frame and is electrically connected to the driving wheel mechanism, the two clamping arm mechanisms and the wheelbase adjustment mechanism respectively.

[0011] It can be understood that the two clamping arm mechanisms for clamping the front and rear wheels of the car are installed on the frame so that the clamping arm mechanisms can be accommodated in the area where the frame is located when the clamping arm mechanisms are folded. This can make the car transporter small in size and better adapt to special scenarios. In addition, the car transporter can autonomously adjust the distance between the two clamping arm mechanisms through the wheelbase adjustment mechanism. This can make the car transporter suitable for transporting cars with different wheelbases on the one hand, and simplify the car picking action of the car transporter on the other hand, which has the effect of shortening the car picking time and improving work efficiency.

[0012] In one embodiment, a chain is installed on the frame, and the chain extends along the length direction of the frame and passes through the corresponding clamping arm mechanism;

[0013] Wherein, the wheelbase adjustment mechanism comprises a driving sprocket and a first rotating driving member, wherein the driving sprocket is engaged with the chain and is drivingly connected to the first rotating driving member;

[0014] The control module is electrically connected to the first rotating drive component. The control module obtains vehicle wheelbase information and outputs the vehicle wheelbase information to the first rotating drive component, so as to control the operation of the first rotating drive component so that the corresponding clamping arm mechanism moves on the frame to a distance between the two clamping arm mechanisms that adapts to the vehicle wheelbase corresponding to the vehicle wheelbase information.

[0015] It can be understood that, by meshing the driving sprocket on the moving clamping arm mechanism with the chain on the frame, the wheelbase adjustment mechanism can utilize the action and reaction forces between the driving sprocket and the chain to realize the movement of the clamping arm mechanism on the frame, thereby satisfying the use requirements of the car transporter for adjusting the distance between the two clamping arm mechanisms.

[0016] In one embodiment, the clamping arm mechanism includes four manipulator swing arms, a second rotating drive member and four rack assemblies, the four manipulator swing arms are respectively provided with arc gears, the four rack assemblies correspond to the four arc gears one by one, and the arc gears can be transmission-connected to the second rotating drive member through the corresponding rack assemblies;

[0017] The control module is electrically connected to the second rotating drive component. The control module obtains the vehicle wheelbase information and outputs the vehicle wheelbase information to the second rotating drive component for controlling the operation of the second rotating drive component to drive the four manipulator swing arms to rotate out from the frame.

[0018] It can be understood that the second rotary drive member can control the four manipulator swing arms to rotate out from the frame according to the vehicle wheelbase information transmitted by the control module, so that the car transporter can automatically drive the two clamping arm mechanisms to clamp the front and rear wheels of the car after entering under the car chassis, which can improve the working efficiency of the car transporter.

[0019] In one embodiment, the rack assembly includes a rack and a ball screw, the rack is connected to the ball screw in a threaded manner and meshes with the corresponding arc gear;

[0020] Wherein, the clamping arm mechanism also includes a synchronous transmission component, and the four ball screws are transmission-connected to the second rotating drive member through the synchronous transmission component.

[0021] It can be understood that a synchronous transmission assembly is used to realize the transmission connection between the second rotating drive member and the four ball screws, so that each of the clamping arm mechanisms can use a second rotating drive member to drive two sets of robot swing arms to clamp the automobile tires. This can simplify the structure of the clamping arm mechanism and reduce costs on the one hand, and on the other hand ensure the consistency of the movement of the four racks to meet the use requirements of driving the two sets of robot swing arms.

[0022] In one embodiment, the driving wheel mechanism comprises two driving wheel groups, a connecting frame, a connecting shaft and a slewing support assembly, wherein the connecting frame is disposed between the two driving wheel groups and connected to the driving wheel groups respectively, and the connecting frame is rotatably mounted on the slewing support assembly via the connecting shaft, so that the two driving wheel groups can swing with the connecting shaft as the rotation center line;

[0023] The driving wheel mechanism further includes an encoder, which is meshed with the annular teeth on the slewing support assembly through an encoder gear, and is used to detect the rotation angle of the driving wheel assembly to adjust the movement direction of the driving wheel mechanism;

[0024] The control module is electrically connected to the two driving wheel groups respectively, and is used to control the rotation speed of the driving wheel on each driving wheel group respectively.

[0025] It can be understood that, since the two driving wheel groups in the driving wheel mechanism can rotate with the connecting shaft as the rotation center line, the driving wheel mechanism can swing left and right when walking, which can reduce the vibration amplitude of the car transporter when walking on an uneven and non-parallel walking surface, so that the car transporter has good adaptability to the environment with poor walking surface flatness, ensures that the two driving wheel mechanisms support the frame, and avoids extreme load-bearing conditions.

[0026] In one embodiment, the driving wheel mechanism further comprises a driving mounting plate and a driving floating assembly, and the slewing support assembly is mounted on the driving mounting plate through the driving floating assembly, so that the slewing support assembly can be adjusted in position in the height direction of the frame;

[0027] The drive mounting plate is mounted on the frame;

[0028] The driving floating assembly includes a guide shaft, an elastic element and a floating pressure plate. The guide shaft is fixedly mounted on the slewing support assembly and is slidably connected to the driving mounting plate. The floating pressure plate is arranged above the driving mounting plate in the height direction of the frame and is fixedly connected to the driving mounting plate. The elastic element is partially arranged in the guide shaft and abuts against the lower cover of the guide shaft and the floating pressure plate in a pre-compressed manner.

[0029] It can be understood that the driving floating assembly is used to achieve the lifting and lowering adjustment of the driving wheel mechanism during walking, which can ensure that the driving wheel on the driving wheel group is always in contact with the walking surface and prevent the driving wheel from idling.

[0030] In one embodiment, the number of the driving wheel mechanisms is configured to be multiple, and the multiple driving wheel mechanisms are arranged on both sides of the frame in the length direction of the frame;

[0031] Wherein, the vehicle transporter further comprises an auxiliary support wheel mechanism, wherein the auxiliary support wheel mechanism is arranged between the two driving wheel mechanisms and connected to the vehicle frame.

[0032] It is understandable that the auxiliary support wheel mechanism is used to auxiliary support the vehicle frame, so as to prevent the vehicle frame from being deformed due to pressure when the vehicle transporter transports the vehicle, thereby improving the load stability of the vehicle transporter.

[0033] In one embodiment, the auxiliary support wheel mechanism comprises:

[0034] Swing seat;

[0035] A load-bearing shaft is arranged through the swing seat and is rotatably connected to the swing seat;

[0036] A swing shaft is arranged through the swing seat and is rotatably connected to the swing seat, the swing shaft and the load-bearing shaft are staggered in the height direction of the frame, and the axial direction of the swing shaft is perpendicular to the axial direction of the load-bearing shaft;

[0037] A plurality of supporting wheel assemblies are arranged on both sides of the swing seat along the axial direction of the swing shaft and are rotatably connected to the swing shaft respectively;

[0038] The plurality of support wheel assemblies can swing with the swing shaft as the rotation center line, and the plurality of support wheel assemblies can swing with the load-bearing shaft as the rotation center line through the swing seat.

[0039] It can be understood that the multiple support wheel assemblies can swing with the mutually perpendicular load-bearing axes and swing axes as the rotation center lines, so that when the auxiliary support wheel mechanism walks on an uneven walking surface, the multiple support wheel assemblies can always be in contact with the walking surface. This can ensure that the auxiliary support wheel mechanism can provide auxiliary support to the frame on the one hand, and on the other hand, it can prevent the auxiliary support wheel mechanism from affecting the walking of the car transporter on the walking surface.

[0040] In one embodiment, the auxiliary support wheel mechanism further comprises a plurality of floating mounting seats, the load-bearing shaft is mounted on the plurality of floating mounting seats and is circumferentially limited relative to the floating mounting seats;

[0041] Wherein, the floating mounting seat can be adjusted in position in the height direction of the frame driven by the load-bearing shaft.

[0042] It is understandable that the floating mounting seat is used to achieve the lifting and lowering adjustment of the auxiliary support wheel mechanism during walking, which can ensure that the support wheel assembly can always be in contact with the walking surface and play an auxiliary supporting role for the frame.

[0043] The present application also provides a three-dimensional parking garage, comprising the above-mentioned car transporter.

[0044] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0045] The car transporter and the stereoscopic car garage claimed for protection in the present application are installed on a vehicle frame by two clamping arm mechanisms for clamping the front and rear wheels of the vehicle, so that the clamping arm mechanisms can be accommodated in the area where the vehicle frame is located when the clamping arm mechanisms are folded. This makes the car transporter small in size and can better adapt to special scenarios. In addition, the car transporter can autonomously adjust the distance between the two clamping arm mechanisms through the wheelbase adjustment mechanism. This makes the car transporter suitable for transporting cars with different wheelbases on the one hand, and simplifies the car retrieval action of the car transporter on the other hand, which has the effect of shortening the car retrieval time and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 This is a schematic structural diagram of the car transporter provided in the present application when it is moving on a walking surface.

[0048] Figure 2 This is a schematic diagram of the structure of the car transporter provided in this application when picking up a car.

[0049] Figure 3 This is a schematic structural diagram of the car transporter provided in the present application, wherein the distance between the two clamping arm mechanisms is the largest.

[0050] Figure 4 This is a schematic structural diagram of the car transporter provided in the present application, wherein the distance between the two clamping arm mechanisms is adjusted.

[0051] Figure 5 This is a bottom view of the driving wheel mechanism in this application.

[0052] Figure 6 It is a top view of the driving wheel mechanism in this application.

[0053] Figure 7 It is a left view of the driving wheel mechanism in this application.

[0054] Figure 8 It is a schematic diagram of the structure of the clamping arm mechanism, wheelbase adjustment mechanism and chain during assembly in the present application, wherein the clamping arm mechanism is in an open state.

[0055] Fig. 9 It is a schematic diagram of the structure of the clamping arm mechanism, wheelbase adjustment mechanism and chain during assembly in the present application, wherein the clamping arm mechanism is in a folded state.

[0056] Fig.10 This is a schematic diagram of the structure of the clamping arm mechanism of this application.

[0057] Fig.11 It is a structural schematic diagram of the wheelbase adjustment mechanism and the chain when assembled in this application.

[0058] Fig.12 This is a schematic diagram of the structure of the driving sprocket, the idler sprocket and the chain in the present application.

[0059] Fig.13 It is a top view of the auxiliary support wheel mechanism in this application.

[0060] Fig.14 It is a structural schematic diagram of the auxiliary support wheel mechanism in this application.

[0061] Fig.15 It is a left view of the auxiliary support wheel mechanism in this application.

[0062] Fig.16This is a schematic diagram of the structure when the load-bearing shaft and the transmission shaft are assembled and connected through a swing seat in this application.

[0063] Fig.17 It is a cross-sectional view of the floating mechanism in this application.

[0064] Reference numerals: 100, car carrier; 10, frame; 11, body rail; 12, chain; 121, chain pull rod; 20, driving wheel mechanism; 21, driving wheel assembly; 211, driving wheel; 212, driving motor; 213, driving reducer; 22, connecting frame; 23, connecting shaft; 24, slewing support assembly; 240, encoder; 241, slewing support mounting seat; 242, slewing support; 2421, ring gear; 243, encoder gear; 25, driving mounting plate; 251, hinge; 252, guide shaft bearing; 26, driving floating assembly; 261, guide shaft; 2611, limit plate; 2612, lower cover; 262, elastic element; 263, floating pressure plate; 264, connecting column; 30, clamping arm mechanism; 301, roller; 302, photoelectric switch; 3021, mounting plate; 310, clamping arm frame; 3101, first trigger plate; 3102, second trigger plate; 31, manipulator swing arm; 311, arc gear; 32, second rotating drive member; 321, motor mounting plate; 33, same Step transmission assembly; 331, ball screw; 332, first coupling; 333, second reducer; 334, synchronous shaft; 335, second coupling; 34, rack; 40, wheelbase adjustment mechanism; 41, drive sprocket; 411, transmission shaft; 4111, rigid coupling; 4112, universal coupling; 42, first rotating drive member; 421, third reducer; 422, mounting seat; 43, idler sprocket; 50, control module; 60, auxiliary support wheel mechanism; 61, swing seat; 62, load-bearing shaft; 621, second plane; 63, swing shaft; 64, support wheel assembly; 641, support wheel mounting seat; 6411, extension convex plate; 642, support wheel group; 65, floating mechanism; 651, floating mounting seat; 652, pressure block; 6521, first plane; 653, elastic member; 654, upper mounting plate; 655, lower mounting plate; 656, connecting guide column; 657, graphite copper sleeve; 101, first detection sensor; 102, second detection sensor; 103, third detection sensor; 200, automobile. DETAILED DESCRIPTION

[0065] 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.

[0066] It should be noted that when an element is referred to as being "provided on" another element, it may be directly provided on the other element or there may be a central element. When an element is considered to be "provided on" another element, it may be directly provided on the other element or there may be a central element at the same time. When an element is considered to be "fixed to" another element, it may be directly fixed to the other element or there may be a central element at the same time.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0068] like Figure 1 , Figure 2 As shown, the car transporter 100 for which protection is sought in the present application specifically refers to an AGV vehicle used in a stereo garage for transporting / storing and retrieving a car 200 .

[0069] like Figure 3 , Figure 4 As shown, the car transporter 100 provided by the present application includes a frame 10, a plurality of driving wheel mechanisms 20, two clamping arm mechanisms 30, a wheelbase adjustment mechanism 40 and a control module 50. The plurality of driving wheel mechanisms 20 are arranged in the region where the frame 10 is located and connected to the frame 10; the two clamping arm mechanisms 30 are installed on the frame 10 to clamp the front and rear wheels of the car 200, and at least one clamping arm mechanism 30 can move relative to the frame 10 along the length direction of the frame 10 to adapt to different wheelbases of the car; the wheelbase adjustment mechanism 40 corresponds to at least one of the two clamping arm mechanisms 30, and the wheelbase adjustment mechanism 40 is installed on the corresponding clamping arm mechanism 30 to control the movement of the clamping arm mechanism 30 on the frame 10; the control module 50 is installed in the frame 10 and is electrically connected to the driving wheel mechanism 20, the two clamping arm mechanisms 30 and the wheelbase adjustment mechanism 40 respectively. Here, the two clamping arm mechanisms 30 on the car transporter 100 are configured as the same structure, and one of the clamping arm mechanisms 30 can move on the frame 10. It is understandable that in other embodiments, the two clamp arm mechanisms 30 may also be configured to be movable on the frame 10 , which will not be elaborated herein.

[0070] As can be seen from the above, when the car transporter 100 does not use the mechanical arm swing arm 31 to clamp the tire of the car 200, the clamp arm mechanism 30 can be accommodated in the area where the frame 10 is located in the folded state. Specifically, it is close to the long side of the frame 10, and does not need to occupy space in the length direction and width direction of the frame 10. In this way, the car transporter 100 can be small in size and can be better adapted to special scenes; and the car transporter 100 can use the wheelbase adjustment mechanism 40 to autonomously adjust the distance between the two clamp arm mechanisms 30, so that the car transporter 100 is not only suitable for the transportation of cars 200 with different wheelbases, but also can autonomously adjust the distance between the two clamp arm mechanisms 30 according to the signal received by the control module 50 when the car transporter 100 enters the bottom of the car 200 to adapt to the wheelbase of the car, so that the car transporter 100 can simplify the car picking action, shorten the car picking time, and improve work efficiency.

[0071] like Figure 3 , Figure 4 and Fig.10 As shown, in one embodiment, a vehicle frame 10 is provided with a body slide rail 11; wherein a moving clamping arm mechanism 30 is rotatably connected with a roller 301, and specifically, the roller 301 can be rotatably mounted on a clamping arm frame 310 of the clamping arm mechanism 30; wherein the roller 301 is provided on the body slide rail 11, and the clamping arm mechanism 30 can move on the body slide rail 11 through the roller 301. That is, the clamping arm mechanism 30 can move through the movement of the roller 301 on the body slide rail 11, so that the friction resistance encountered by the clamping arm mechanism 30 when moving on the vehicle frame 10 can be reduced. Here, the number of the body slide rails 11 is configured as two, and the two body slide rails 11 are arranged at intervals along the width direction of the vehicle frame 10, and the number of the rollers 301 is configured as four, and two rollers 301 are set in a group and can be rollably provided on one of the body slide rails 11.

[0072] like Figure 3 , Figure 4 As shown, in one embodiment, the number of the driving wheel mechanisms 20 is configured to be multiple, and the multiple driving wheel mechanisms 20 are arranged on both sides of the frame 10 in the length direction of the frame 10, and are used together to support the frame 10 and realize the movement of the car transporter 100 on the three-dimensional parking garage. Here, the number of the driving wheel mechanisms 20 is configured to be two, and the two driving wheel mechanisms 20 are configured to be the same structure; it can be understood that in other embodiments, the number of the driving wheel mechanisms 20 can also be four, two in a group, and the two groups of driving wheel mechanisms 20 are arranged on both sides of the frame 10 in the length direction of the frame 10, which will not be elaborated here.

[0073] like Figures 5 to 7As shown, in one embodiment, the driving wheel mechanism 20 includes two driving wheel groups 21, a connecting frame 22, a connecting shaft 23 and a slewing support assembly 24. The connecting frame 22 is disposed between the two driving wheel groups 21 and connected to the driving wheel groups 21 respectively. Moreover, the connecting frame 22 is rotatably mounted on the slewing support assembly 24 through the connecting shaft 23. Specifically, the connecting shaft 23 is fixedly mounted on the slewing support assembly 24 after passing through the connecting frame 22, so that the two driving wheel groups 21 can swing with the connecting shaft 23 as the rotation center line. That is to say, the two driving wheel groups 21 swing left and right according to the unevenness of the walking surface when walking, so that the vibration amplitude generated by the unevenness of the walking surface of the car transporter 100 when walking can be reduced, so that the car transporter 100 has good adaptability to the environment with poor walking surface flatness, and ensures that the two driving wheel mechanisms 20 support the frame 10 to avoid extreme load-bearing conditions. Here, the two driving wheel sets 21 are electrically connected to the control module 50 respectively, so that the control module 50 can independently control the operation of each driving wheel set 21 .

[0074] like Figure 5 , Figure 7 As shown, in one embodiment, the driving wheel group 21 includes a driving wheel 211, a driving motor 212 and a driving reducer 213, and the driving wheel 211 and the driving motor 212 are installed on the driving reducer 213, and are respectively connected to the driving reducer 213 in a transmission manner, so that when the driving wheel group 21 is working, the driving motor 212 can drive the driving wheel 211 to rotate under the deceleration adjustment of the driving reducer 213, and realize the walking of the driving wheel 211. Here, the driving wheel 211 and the driving motor 212 are arranged at right angles, and the driving wheel group 21 is specifically connected and fixed to the connecting frame 22 through the driving reducer 213, so that the two driving wheels 211 on the two driving wheel groups 21 can be symmetrically arranged. It should be noted that the driving motor 212 in the driving wheel group 21 is electrically connected to the control module 50.

[0075] It should be noted that, since the two driving wheels 211, two driving motors 212 and two driving reducers 213 of the two driving wheel groups 21 in the driving wheel mechanism 20 are symmetrically arranged relative to the center line of the connecting shaft 23, and the driving reducers 213 in the two driving wheel groups 21 are connected to form an integral structure by a connecting frame 22, this can play a stabilizing role, and combined with the setting of the slewing support assembly 24, it is more conducive to the steering movement of the driving wheel mechanism 20.

[0076] It can be understood that when the control module 50 controls the rotation speeds of the two driving wheels 211 in the driving wheel set 21 to be inconsistent, the steering function of the driving wheel set 21 can be achieved by utilizing the speed difference between the two driving wheels 211; Figure 5As shown, the driving wheel mechanism 20 also includes an encoder 240 for detecting the rotation angle of the driving wheel mechanism 20 when turning. Specifically, the slewing support assembly 24 includes a slewing support mounting seat 241 and a slewing support 242 fixed to each other, and an encoder gear 243 is connected to the encoder 240, and the encoder gear 243 is meshed with the annular gear 2421 on the slewing support 242. In this way, when the two driving wheel groups 21 use the speed difference between the two driving wheels 211 to turn, the two driving wheel groups 21 can drive the slewing support 242 to rotate through the connecting frame 22 and the connecting shaft 23, and then use the meshing between the encoder gear 243 and the annular gear 2421 to drive the encoder gear 243 to rotate, so as to trigger the encoder 240 and generate a feedback signal, which is used to send to the control module 50, so that the control module 50 can control the speed of the two driving wheels 211 according to the feedback signal transmitted by the encoder 240, and realize the steering control of the driving wheel mechanism 20. Here, the swivel support assembly 24 is connected and fixed to the connecting shaft 23 via a swivel support mounting seat 241 .

[0077] like Figures 5 to 7 As shown, in one embodiment, the driving wheel mechanism 20 further includes a driving mounting plate 25 and a driving floating assembly 26; the driving mounting plate 25 is mounted on the vehicle frame 10; the slewing support assembly 24 is mounted on the driving mounting plate 25 through the driving floating assembly 26, so that the slewing support assembly 24 can be adjusted in the height direction of the vehicle frame 10. In other words, the driving wheel mechanism 20 as a whole can be assembled with the driving mounting plate 25 as the assembly basis, and the driving wheel mechanism 20 can be raised and lowered by using the driving floating assembly 26 when walking, so that the two driving wheels 211 on the driving wheel assembly 21 are always in contact with the walking surface, preventing the driving wheels 211 from idling. Here, one end of the drive mounting plate 25 is rotatably connected to the vehicle frame 10 through a hinge 251, and the other opposite end of the drive mounting plate 25 is abutted against the vehicle frame 10, and the other two ends of the drive mounting plate 25 are placed on the vehicle frame 10 and then locked with bolts or other fasteners (not shown), thereby realizing the assembly connection between the drive mounting plate 25 and the vehicle frame 10, so that when the drive wheel mechanism 20 needs to be repaired, the fasteners can first release the locking of the drive mounting plate 25 on the vehicle frame 10, and then the drive wheel mechanism 20 can be turned upward through the hinge 251, so as to avoid lifting the vehicle transporter 100 as a whole. It should be noted that the number of the drive floating components 26 in the drive wheel mechanism 20 is configured as four, and the four drive floating components 26 are arranged at the four corners of the drive mounting plate 25, and the four drive floating components 26 are used together to realize the lifting and lowering adjustment of the drive wheel group 21.

[0078] like Figure 7As shown, in one embodiment, the driving floating assembly 26 includes a guide shaft 261, an elastic element 262 and a floating pressure plate 263. The guide shaft 261 is fixedly mounted on the slewing support assembly 24 and is slidably connected to the driving mounting plate 25. Specifically, a guide shaft mounting plate (not shown) is fixedly connected to the guide shaft 261, and the guide shaft mounting plate is attached to the slewing support mounting seat 241 of the slewing support assembly 24, and then a limiting plate 2611 fixed on the slewing support mounting seat 241 is used to press and limit the floating pressure plate 263. 3 is arranged above the driving mounting plate 25 in the height direction of the frame 10, and is connected and fixed to the driving mounting plate 25 through a plurality of connecting columns 264. The elastic element 262 is partially arranged in the guide shaft 261, and abuts against the lower cover 2612 and the floating pressure plate 263 of the guide shaft 261 in a pre-compressed manner, so that the deformation of the elastic element 262 can be utilized to realize that the slewing support assembly 24 drives the guide shaft 261 to make an upward and downward floating adjustment relative to the driving mounting plate 25 in the height direction of the frame 10. Here, the elastic element 262 is configured as a spring, a rubber sleeve, or other accessories with high elasticity, which will not be elaborated here. It should be noted that the guide shaft bearing 252 is fixedly installed on the above-mentioned driving mounting plate 25, and the guide shaft 261 is arranged through the guide shaft bearing 252 and is slidably matched with the guide shaft bearing 252, which is used to guide the guide shaft 261 to slide up and down relative to the guide shaft bearing 252.

[0079] like Figure 8 As shown, in one embodiment, the clamping arm mechanism 30 includes four manipulator swing arms 31, a second rotary drive member 32 and four rack assemblies, and the four manipulator swing arms 31 are respectively provided with arc gears 311, and the four rack assemblies correspond to the four arc gears 311 one by one, and the arc gears 311 can be connected to the second rotary drive member 32 through the corresponding rack assembly. In other words, the rotation of the manipulator swing arm 31 on the frame 10 can realize power transmission by the way of gear rack meshing. Here, the second rotary drive member 32 is configured as a motor, and the motor can be installed on the clamping arm frame 310 of the manipulator swing arm 31 through the motor mounting plate 321, and the control module 50 is electrically connected to the motor for controlling the opening / closing of the motor. It can be understood that in other embodiments, the second rotary drive member 32 can also be a rotary cylinder, a rotary oil cylinder, etc., which will not be elaborated here.

[0080] like Figure 8 , Fig. 9As shown, in one embodiment, the rack assembly includes a rack 34 and a ball screw 331, the rack 34 is connected to the ball screw 331 in a threaded manner, and meshes with the corresponding arc gear 311, so that the threaded matching structure between the ball screw 331 and the rack 34 can be used to drive the rack 34 to move along the axial direction of the ball screw 331 when the ball screw 331 rotates, and then the meshing between the rack 34 and the corresponding arc gear 311 causes the arc gear 311 installed on the manipulator swing arm 31 to rotate, thereby driving the manipulator swing arm 31 to rotate. Among them, the four ball screws 331 are connected to the second rotating drive member 32 through the synchronous transmission assembly 33. The clamping arm mechanism 30 can use a second rotating driving member 32 to realize the rotation of four manipulator swing arms 31, and realize the driving of two groups of manipulator swing arms 31 to clamp the tire of the automobile 200. This can simplify the structure of the clamping arm mechanism 30 and reduce the cost on the one hand, and ensure the consistency of the movement of the four racks 34 on the other hand to meet the use requirements of driving the two groups of manipulator swing arms 31. Here, the synchronous transmission assembly 33 includes a first coupling 332, a second reducer 333, a synchronous shaft 334 and a second coupling 335; wherein, the two ball screws 331 corresponding to each group of manipulator swing arms 31 can be connected by the first coupling 332; and the two groups of manipulator swing arms 31 can be connected by the second reducer 333, the synchronous shaft 334 and the second coupling 335.

[0081] In this embodiment, the control module 50 is electrically connected to the second rotary drive member 32. The control module 50 obtains the wheelbase information of the vehicle and outputs the wheelbase information of the vehicle to the second rotary drive member 32, so as to control the operation of the second rotary drive member 32 to drive the four manipulator swing arms 31 to rotate out from the vehicle frame 10, so that the vehicle transporter 100 can automatically drive the two clamping arm mechanisms 30 to clamp the front and rear wheels of the vehicle 200 after entering under the vehicle chassis, thereby improving the working efficiency of the vehicle transporter 100.

[0082] It should be noted that the clamping arm mechanism 30 also includes a detection sensor for detecting the position of the manipulator swing arm 31. The detection sensor is electrically connected to the control module 50 and is used to detect the two positions of the manipulator swing arm 31 when it is folded into the frame 10 and when it is in the working state of clamping the tire of the car 200, and to provide signal feedback on the working state of the clamping arm mechanism 30. Here, a mounting plate 3021 is installed on one of the second reducers 333, and a photoelectric switch 302 is installed on the mounting plate 3021. The photoelectric switch 302 is used to detect whether the manipulator swing arm 31 is in the working state; a trigger switch (not shown) is installed on the clamping arm frame 310 of the manipulator swing arm 31, and correspondingly, a detection plate (not shown) is installed on one of the racks 34. The detection plate is used to detect whether the manipulator swing arm 31 is in the folded state by one-to-one correspondence between the position of the rack 34 when the trigger switch is triggered and the manipulator swing arm 31 is in the folded state. It is understandable that in other embodiments, the above-mentioned detection sensor can also provide feedback by detecting the two extreme positions of the rack 34, which will not be elaborated here.

[0083] like Figure 3 , Figure 4 , Fig.11 and Fig.12 As shown, in one embodiment, a chain 12 is installed on the frame 10, and the chain 12 extends along the length direction of the frame 10 and penetrates the corresponding clamping arm mechanism 30. Specifically, both ends of the chain 12 can be fixed to the frame 10 through a chain pull rod 121; accordingly, the wheelbase adjustment mechanism 40 includes a driving sprocket 41 and a first rotating driving member 42, and the driving sprocket 41 is engaged with the chain 12 and is in transmission connection with the first rotating driving member 42. The wheelbase adjustment mechanism 40 can utilize the action and reaction force between the driving sprocket 41 and the chain 12 to realize the movement of the clamping arm mechanism 30 on the frame 10, so as to meet the use requirements of the car transporter 100 for adjusting the distance between the two clamping arm mechanisms 30. Here, the first rotating driving member 42 is configured as a motor, which is connected to the driving sprocket 41 through the third reducer 421, and the third reducer 421 can be fixed to the clamping arm frame 310 through the mounting seat 422, and the control module 50 is electrically connected to the motor to control the opening / closing of the motor. It can be understood that in other embodiments, the first rotating driving member 42 can also be a rotating cylinder, a rotating oil cylinder, etc., which will not be elaborated here.

[0084] like Fig.11 , Fig.12As shown, in one embodiment, the number of chains 12 is configured as two, and the two chains 12 are arranged at intervals along the width direction of the frame 10; accordingly, the number of driving sprockets 41 in the wheelbase adjustment mechanism 40 is configured as two, and the two driving sprockets 41 are connected to each other through the connecting transmission shaft 411, and each driving sprocket 41 is meshed with one of the chains 12. Here, the first rotating driving member 42 is connected to one of the driving sprockets 41 through the third reducer 421, and the third reducer 421 can be connected to one end of the transmission shaft 411 through the rigid coupling 4111, and the other end of the transmission shaft 411 is connected to the other driving sprocket 41 through the universal coupling 4112, so that when the wheelbase adjustment mechanism 40 is working, the first rotating driving member 42 can be used to drive the two driving sprockets 41 to rotate on the corresponding chain 12. It is understandable that in other embodiments, the number of chains 12 may be one, three, four, or even more, which will not be elaborated herein.

[0085] like Fig.12 As shown, in one embodiment, the wheelbase adjustment mechanism 40 further includes an idler sprocket 43, which is disposed on one side of the driving sprocket 41 and meshes with the chain 12 for tensioning the chain 12, thereby ensuring the stability of the meshing between the driving sprocket 41 and the chain 12, so as to meet the use requirements of the clamping arm mechanism 30 moving on the frame 10. Here, the number of idler sprockets 43 corresponding to each driving sprocket 41 is two, and the two idler sprockets 43 are disposed on both sides of the corresponding driving sprocket 41 and are rotatably connected to the mounting seat 422.

[0086] As can be seen from the above, when the car transporter 100 of the present application is working, the control module 50 can control the opening / closing of the first rotating driving member 42 in the wheelbase adjustment mechanism 40 according to the signal transmitted by the three-dimensional car park, so as to achieve the purpose of adjusting the distance between the two clamping arm mechanisms 30. In order to ensure that the clamping arm mechanism 30 can accurately align with the tire of the car 200, in addition to controlling the distance between the two clamping arm mechanisms 30 according to the signal received by the control module 50, the car transporter 100 of the present application can also detect the movement of the moving clamping arm mechanism 30 and generate a feedback signal by setting a position sensor (not shown in the figure). The feedback signal is used to transmit to the control module 50 and achieve a double insurance effect.

[0087] like Figure 4 , Figure 8 and Fig. 9As shown, in one embodiment, a first detection sensor 101 is installed on the vehicle frame 10. When the distance between the two clamping arm mechanisms 30 is the largest, the first detection sensor 101 can be triggered by the moving clamping arm mechanism 30 and generate a feedback signal. In other words, the vehicle transporter 100 can realize automatic control when the distance between the two clamping arm mechanisms 30 is the largest. Here, the first detection sensor 101 is configured as a photoelectric switch, a micro switch, a proximity switch, etc. fixed on the vehicle frame 10; accordingly, a first trigger plate 3101 is installed on the clamping arm frame 310 of the clamping arm mechanism 30, and the clamping arm mechanism 30 can use the first trigger plate 3101 to trigger the first detection sensor 101.

[0088] like Figure 3 , Fig. 9 As shown, in one embodiment, a second detection sensor 102 is installed on the vehicle frame 10. When the distance between the two clamping arm mechanisms 30 is the smallest, the second detection sensor 102 can be triggered by the moving clamping arm mechanism 30 and generate a feedback signal. In other words, the vehicle transporter 100 can realize automatic control when the distance between the two clamping arm mechanisms 30 is the smallest. Here, the second detection sensor 102 is configured as a photoelectric switch, a micro switch, a proximity switch, etc. fixed on the vehicle frame 10; accordingly, a second trigger plate 3102 is installed on the clamping arm frame 310 of the clamping arm mechanism 30, and the clamping arm mechanism 30 can use the second trigger plate 3102 to trigger the second detection sensor 102.

[0089] like Figure 3 , Figure 4 , Figure 8 and Fig. 9 As shown, in one embodiment, a third detection sensor 103 is also installed on the clamping arm frame 310 of the moving clamping arm mechanism 30, and the third detection sensor 103 can detect the position of the tire of the car 200 and generate a feedback signal. In other words, the car transporter 100 can ensure that the clamping arm mechanism 30 automatically stops when it moves to a position where it can clamp the tire of the car 200 by detecting when the clamping arm mechanism 30 is aligned with the tire of the car, so as to meet the use requirements of the clamping arm mechanism 30 to clamp the tire of the car. Here, the third detection sensor 103 is configured as a photoelectric switch, a proximity switch, etc.

[0090] like Figure 3 , Figure 4 As shown, in one embodiment, the car transporter 100 further includes an auxiliary support wheel mechanism 60, which is disposed between the two driving wheel mechanisms 20 and connected to the vehicle frame 10. The car transporter 100 can use the auxiliary support wheel mechanism 60 to auxiliary support the vehicle frame 10, thereby preventing the vehicle frame 10 from being deformed due to pressure when the car transporter 100 transports the car 200, thereby improving the load stability of the car transporter 100.

[0091] like Figures 13 to 16 As shown, in one embodiment, the auxiliary support wheel mechanism 60 includes a swing seat 61, a load-bearing shaft 62, a swing shaft 63 and a plurality of support wheel assemblies 64, the load-bearing shaft 62 is arranged through the swing seat 61 and is rotatably connected to the swing seat 61; the swing shaft 63 is arranged through the swing seat 61 and is rotatably connected to the swing seat 61, the swing shaft 63 and the load-bearing shaft 62 are staggered in the height direction of the frame 10, and the axial direction of the swing shaft 63 is perpendicular to the axial direction of the load-bearing shaft 62; the plurality of support wheel assemblies 64 are arranged on both sides of the swing seat 61 along the axial direction of the swing shaft 63, and are rotatably connected to the swing shaft 63 respectively; the plurality of support wheel assemblies 64 can swing with the swing shaft 63 as the rotation center line, and the plurality of support wheel assemblies 64 can swing with the load-bearing shaft 62 as the rotation center line through the swing seat 61. That is to say, the plurality of support wheel assemblies 64 can swing with the mutually perpendicular load-bearing shaft 62 and swing shaft 63 as the rotation center line, so that when the auxiliary support wheel mechanism 60 walks on the uneven walking surface, the plurality of support wheel assemblies 64 can always contact the walking surface, so that on the one hand, the auxiliary support wheel mechanism 60 can be ensured to play an auxiliary supporting role on the frame 10, and on the other hand, the auxiliary support wheel mechanism 60 can be prevented from affecting the walking of the vehicle carrier 100 on the walking surface. Here, the number of support wheel assemblies 64 is configured as two. It can be understood that in other embodiments, the number of support wheel assemblies 64 can also be four, or more even numbers, which will not be elaborated here.

[0092] like Figures 13 to 15 As shown, in one embodiment, the support wheel assembly 64 includes a support wheel mounting seat 641 and a plurality of support wheel groups 642, wherein the plurality of support wheel groups 642 are arranged on both sides of the swing shaft 63 along the axial direction of the load-bearing shaft 62 and are respectively connected to the support wheel mounting seat 641; wherein the support wheel mounting seat 641 is provided with an extension convex plate 6411, and the extension convex plate 6411 is rotatably connected to the swing shaft 63. Here, the number of the support wheel groups 642 in the support wheel assembly 64 is two, and each support wheel group 642 can be configured as a universal wheel structure.

[0093] like Figures 13 to 15 , Fig.17As shown, in one embodiment, the auxiliary support wheel mechanism 60 further includes a plurality of floating mechanisms 65, which are arranged on both sides of the load-bearing shaft 62 along the axial direction of the load-bearing shaft 62, and are respectively connected to the load-bearing shaft 62 in a circumferentially limited manner. In other words, the support wheel assembly 64 in the auxiliary support wheel mechanism 60 supports the plurality of floating mechanisms 65 through the support wheel mounting seat 641 and the load-bearing shaft 62. Here, the number of the floating mechanisms 65 is configured to be two, and the two floating mechanisms 65 are arranged at the two end positions in the axial direction of the load-bearing shaft 62. It can be understood that in other embodiments, the number of the floating mechanisms 65 can also be three, four, or even more, and the plurality of floating mechanisms 65 can be specifically arranged at both ends of the axial direction of the load-bearing shaft 62.

[0094] like Fig.15 , Fig.17 As shown, in one embodiment, the floating mechanism 65 includes a floating mounting seat 651, and the bearing shaft 62 is mounted on the floating mounting seat 651 and is circumferentially limited relative to the floating mounting seat 651; wherein the floating mounting seat 651 can be adjusted in the height direction of the vehicle frame 10 under the drive of the bearing shaft 62. When the auxiliary support wheel mechanism 60 walks on an uneven walking surface, the lifting and lowering adjustment of the floating mounting seat 651 can ensure that the support wheel assembly 64 in the auxiliary support wheel mechanism 60 is always in contact with the walking surface, and plays an auxiliary supporting role for the vehicle frame 10.

[0095] like Fig.17 As shown, in one embodiment, the floating mechanism 65 further includes a pressing block 652, which is connected to the floating mounting seat 651 in a threaded manner, and is used to press and limit the portion of the bearing shaft 62 located on the floating mounting seat 651; wherein a first plane 6521 is formed on the pressing block 652, and a second plane 621 is formed on the bearing shaft 62, and the first plane 6521 is abutted with the second plane 621, so as to achieve the circumferential limit of the bearing shaft 62 when assembled on the floating mounting seat 651. It can be understood that in other embodiments, the circumferential limit of the assembly of the floating mounting seat 651 and the bearing shaft 62 can also be achieved by the plane abutment between the floating mounting seat 651 and the bearing shaft 62 during assembly, or by directly using a bolt or other connecting member (not shown) to pass through the bearing shaft 62 and then be threadedly connected to the floating mounting seat 651 to achieve the circumferential limit of the assembly of the two, which will not be elaborated here.

[0096] like Fig.17As shown, in one embodiment, the floating mechanism 65 also includes an elastic member 653, which abuts against the floating mounting seat 651 in a pre-compressed manner, and is used to provide the floating mounting seat 651 with elastic force in the vertical direction, so as to meet the use requirements of the floating mounting seat 651 to be lifted and lowered in the vertical direction under the drive of the load-bearing shaft 62. Specifically, when the support wheel group 642 is lifted due to the protrusion of the walking surface, the support wheel group 642 can drive the floating mounting seat 651 to compress the elastic member 653 to rise under the transmission of the support wheel mounting seat 641 and the load-bearing shaft 62; on the contrary, when the support wheel group 642 drops due to the concave walking surface, the floating mounting seat 651 will drop accordingly. Here, the elastic member 653 is configured as a spring. It can be understood that in other embodiments, the elastic member 653 can also be configured as a rubber sleeve or other accessories with high elasticity, which will not be elaborated here.

[0097] like Fig.14 , Fig.17 As shown, in one embodiment, the floating mechanism 65 further includes an upper mounting plate 654, a lower mounting plate 655 and a connecting guide column 656. The connecting guide column 656 is disposed between the upper mounting plate 654 and the lower mounting plate 655, and is respectively connected to the upper mounting plate 654 and the lower mounting plate 655. Specifically, the three can be connected and fixed by bolts. That is to say, the upper mounting plate 654, the connecting guide column 656 and the lower mounting plate 655 are connected to form an integral frame structure of the floating mechanism 65. Here, the upper mounting plate 654 is extended outwardly relative to the lower mounting plate 655 in a direction away from the swing seat 61, and the protruding portion of the upper mounting plate 654 is connected to the vehicle frame 10 in a threaded manner, thereby realizing the assembly connection of the auxiliary support wheel mechanism 60 on the vehicle frame 10.

[0098] like Fig.17 As shown, the floating mounting seat 651 is disposed between the upper mounting plate 654 and the lower mounting plate 655, and is slidably connected to the connecting guide pillar 656; accordingly, the elastic member 653 is sleeved on the connecting guide pillar 656, and one end of the elastic member 653 away from the floating mounting seat 651 abuts against the upper mounting plate 654. In other words, the floating mounting seat 651 can be adjusted to lift and lower the compressed elastic member 653 between the upper mounting plate 654 and the lower mounting plate 655, and in this process, the connecting guide pillar 656 guides the lifting and lowering movement of the floating mounting seat 651. Here, the number of connecting guide pillars 656 is configured to be multiple, and the multiple connecting guide pillars 656 are arranged in sequence along the axial direction of the swing shaft 63, wherein some of the connecting guide pillars 656 are respectively covered with graphite copper sleeves 657, and these connecting guide pillars 656 can be slidably connected to the floating mounting seat 651 through the graphite copper sleeves 657, and the remaining connecting guide pillars 656 are respectively covered with elastic parts 653.

[0099] In summary, when the car transporter 100 of the present application picks up a car, the control module 50 on the car transporter 100 controls the two driving wheel mechanisms 20 to start according to the received external signal, so that the car transporter 100 can move on the walking surface and enter the bottom of the car 200 through the two driving wheel mechanisms 20 and the auxiliary support wheel mechanism 60. During this process, the wheelbase adjustment mechanism 40 can automatically adjust the distance between the two clamping arm mechanisms 30 according to the wheelbase of the car 200 to be transported. After the car transporter 100 is in place, the manipulator swing arms 31 on the two clamping arm mechanisms 30 are rotated out from the frame 10 and clamp the car tires to drive the car to lift off the walking surface. After that, the car transporter 100 can drive the car to move and complete the action of picking up the car.

[0100] In addition, the present application also provides a three-dimensional parking garage, including the above-mentioned car transporter 100.

[0101] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above 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.

[0102] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection claimed by the present invention.

Claims

1. A car transporter, characterized in that: The car carrier (100) comprises: Frame (10); A plurality of driving wheel mechanisms (20) are arranged in the area where the vehicle frame (10) is located and connected to the vehicle frame (10); Two clamping arm mechanisms (30) are mounted on the vehicle frame (10) and are used to clamp the front and rear wheels of the vehicle (200); at least one of the clamping arm mechanisms (30) is capable of moving relative to the vehicle frame (10) along the length direction of the vehicle frame (10) to adapt to different vehicle wheelbases; a wheelbase adjustment mechanism (40), corresponding to at least one of the two clamping arm mechanisms (30), the wheelbase adjustment mechanism (40) being mounted on the corresponding clamping arm mechanism (30) and used for controlling the movement of the corresponding clamping arm mechanism (30) on the vehicle frame (10) so as to adjust the distance between the two clamping arm mechanisms (30); The control module (50) is installed in the vehicle frame (10) and is electrically connected to the driving wheel mechanism (20), the two clamping arm mechanisms (30) and the wheelbase adjustment mechanism (40) respectively.

2. The vehicle carrier according to claim 1, characterized in that: A chain (12) is installed on the frame (10), and the chain (12) extends along the length direction of the frame (10) and passes through the corresponding clamping arm mechanism (30); The wheelbase adjustment mechanism (40) comprises a driving sprocket (41) and a first rotating driving member (42), wherein the driving sprocket (41) is meshed with the chain (12) and is drivingly connected to the first rotating driving member (42); The control module (50) is electrically connected to the first rotating drive member (42), and the control module (50) obtains vehicle wheelbase information and outputs the vehicle wheelbase information to the first rotating drive member (42) for controlling the operation of the first rotating drive member (42) so that the corresponding clamping arm mechanism (30) moves on the vehicle frame (10) to a distance between the two clamping arm mechanisms (30) that matches the vehicle wheelbase corresponding to the vehicle wheelbase information.

3. The vehicle carrier according to claim 1, characterized in that: The clamping arm mechanism (30) comprises four manipulator swing arms (31), a second rotating driving member (32) and four rack assemblies, wherein the four manipulator swing arms (31) are respectively provided with arc gears (311), the four rack assemblies correspond to the four arc gears (311) one by one, and the arc gears (311) can be transmission-connected to the second rotating driving member (32) through the corresponding rack assemblies; The control module (50) is electrically connected to the second rotating drive member (32), and the control module (50) obtains vehicle wheelbase information and outputs the vehicle wheelbase information to the second rotating drive member (32) for controlling the operation of the second rotating drive member (32) to drive the four manipulator swing arms (31) to rotate out from the vehicle frame (10).

4. The vehicle carrier according to claim 3, characterized in that: The rack assembly comprises a rack (34) and a ball screw (331); the rack (34) is connected to the ball screw (331) in a threaded manner and meshes with the corresponding arc gear (311); Wherein, the clamping arm mechanism (30) further comprises a synchronous transmission assembly (33), and the four ball screws (331) are transmission-connected to the second rotating drive member (32) via the synchronous transmission assembly (33).

5. The vehicle carrier according to claim 1, characterized in that: The driving wheel mechanism (20) comprises two driving wheel sets (21), a connecting frame (22), a connecting shaft (23) and a slewing support assembly (24). The connecting frame (22) is arranged between the two driving wheel assemblies (21) and is respectively connected to the driving wheel assemblies (21), and the connecting frame (22) is mounted on the slewing support assembly (24) via the connecting shaft (23), so that the two driving wheel assemblies (21) can rotate with the connecting shaft (23) as the rotation center line; The driving wheel mechanism (20) further comprises an encoder (240), wherein the encoder (240) meshes with the annular teeth (2421) on the slewing support assembly (24) via an encoder gear (243), and is used to detect the rotation angle of the driving wheel assembly (21) so as to adjust the movement direction of the driving wheel mechanism (20); The control module (50) is electrically connected to the two driving wheel sets (21) respectively, and is used to control the rotation speed of the driving wheel (211) on each driving wheel set (21) respectively.

6. The vehicle carrier according to claim 5, characterized in that: The driving wheel mechanism (20) further comprises a driving mounting plate (25) and a driving floating assembly (26), wherein the slewing support assembly (24) is mounted on the driving mounting plate (25) via the driving floating assembly (26), so that the slewing support assembly (24) can be adjusted in position in the height direction of the vehicle frame (10); The drive mounting plate (25) is mounted on the vehicle frame (10); The driving floating assembly (26) comprises a guide shaft (261), an elastic element (262) and a floating pressure plate (263); the guide shaft (261) is fixedly mounted on the slewing support assembly (24) and is slidably connected to the driving mounting plate (25); the floating pressure plate (263) is arranged above the driving mounting plate (25) in the height direction of the frame (10) and is fixedly connected to the driving mounting plate (25); the elastic element (262) is partially arranged in the guide shaft (261) and abuts against the lower cover (2612) of the guide shaft (261) and the floating pressure plate (263) in a pre-compression manner.

7. The vehicle carrier according to claim 1, characterized in that: The number of the driving wheel mechanisms (20) is configured to be multiple, and the multiple driving wheel mechanisms (20) are arranged on both sides of the frame (10) in the length direction of the frame (10); The vehicle transporter (100) further comprises an auxiliary support wheel mechanism (60), wherein the auxiliary support wheel mechanism (60) is arranged between the two driving wheel mechanisms (20) and connected to the vehicle frame (10).

8. The vehicle carrier according to claim 7, characterized in that: The auxiliary support wheel mechanism (60) comprises: Swing seat (61); A load-bearing shaft (62) is disposed through the swing seat (61) and is rotatably connected to the swing seat (61); A swing shaft (63) is arranged to pass through the swing seat (61) and is rotatably connected to the swing seat (61); the swing shaft (63) and the load-bearing shaft (62) are staggered in the height direction of the frame (10); and the axial direction of the swing shaft (63) is perpendicular to the axial direction of the load-bearing shaft (62); A plurality of support wheel assemblies (64) are arranged on both sides of the swing seat (61) along the axial direction of the swing shaft (63) and are respectively rotatably connected to the swing shaft (63); The plurality of support wheel assemblies (64) can swing with the swing shaft (63) as the rotation center line, and the plurality of support wheel assemblies (64) can swing with the load-bearing shaft (62) as the rotation center line through the swing seat (61).

9. The vehicle carrier according to claim 8, characterized in that: The auxiliary support wheel mechanism (60) further comprises a plurality of floating mounting seats (651), the load-bearing shaft (62) being mounted on the plurality of floating mounting seats (651) and being circumferentially limited relative to the floating mounting seats (651); Wherein, the floating mounting seat (651) can be adjusted in position in the height direction of the vehicle frame (10) under the drive of the load-bearing shaft (62).

10. A three-dimensional parking garage, characterized in that: The vehicle carrier (100) comprises the vehicle carrier (100) as claimed in any one of claims 1 to 9.

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