Carrying robot wheel positioning method and carrying robot

Abstract

The invention relates to the technical field of automobile carrying, in particular to a carrying robot wheel positioning method and a carrying robot. The carrying robot wheel positioning method comprises the following steps that a first vehicle body and a second vehicle body are moved to the bottom of a vehicle; a first detection piece on a first vehicle body obtains the starting position X1 and the ending position X2 of a first wheel and transmits the X1 and the X2 to a control system, and the control system calculates the midpoint position X3 of the first wheel and the radius M of the wheel; after the second detection piece on the second vehicle body moves to X3, the control system controls the second vehicle body to stop moving; the first detection piece obtains the initial position Y1 of the second wheel and transmits the Y1 to the control system, the control system calculates the midpoint position Y3 of the second wheel, and after the first detection piece moves to the Y3, the control system controls the first vehicle body to stop moving; the clamping pieces of the first vehicle body and the second vehicle body clamp the second wheel and the first wheel correspondingly, and then the first vehicle body and the second vehicle body drive the vehicle to move to the parking space.

Description

Technical Field

[0001] The invention relates to the technical field of automobile transport, and in particular to a method for positioning wheels of a transport robot and the transport robot. Background Art

[0002] A multi-story parking garage mainly includes multiple parking spaces arranged in an array in a three-dimensional space. After the vehicle enters the garage, it is first parked on a transfer mechanism, which then transfers the vehicle to each parking space one by one. The advantages of a multi-story parking garage over a traditional garage are: there is no need to set up a climbing road for vehicles to travel, which greatly saves space; secondly, since the vehicle is lifted by a transfer mechanism, the lifting speed is much greater than the speed at which the vehicle climbs by itself, so the number of floors of a multi-story parking garage can be much greater than that of a traditional garage.

[0003] Vehicle transfer in a stereoscopic parking garage is mainly accomplished by transport robots. Existing transport robots have the problem of inaccurate wheel positioning and are unable to accurately lift and clamp the wheels. When lifting and clamping the wheels when the positioning is inaccurate, the wheels are easily damaged. Summary of the invention

[0004] In view of this, the present invention provides a method for locating wheels of a handling robot and a handling robot to solve the problem of inaccurate wheel positioning.

[0005] In a first aspect, the present invention provides a method for locating wheels of a handling robot, comprising the following steps:

[0006] After the car to be transported is moved to the designated location, the first car body and the second car body are kept in a close fit and moved to the bottom of the car;

[0007] The first detection element on the first vehicle body obtains the starting position X1 and the ending position X2 of the first wheel, and transmits X1 and X2 to the control system, and the control system calculates the midpoint position X3 and the wheel radius M of the first wheel;

[0008] The control system records X3, and after the second detection member on the second vehicle body moves to X3, the control system controls the second vehicle body to stop moving;

[0009] The first vehicle body continues to move and enables the first detection component to obtain the starting position Y1 of the second wheel, and transmits Y1 to the control system. The control system calculates the midpoint position Y3 of the second wheel. When the first detection component moves to Y3 with the first vehicle body, the control system controls the first vehicle body to stop moving, thereby completing the positioning.

[0010] Beneficial effects:

[0011] By adopting the above positioning method, the wheel can be accurately positioned, avoiding the situation where the wheel is damaged due to inaccurate positioning, which is beneficial to protecting the wheel and effectively improving the safety and stability of the car during transportation.

[0012] In an optional embodiment, the following steps are also included: after the control system calculates X3, it calculates the deceleration position X4 of the second vehicle body according to the set deceleration distance F, and after the second detection member on the second vehicle body moves to X4, it starts to decelerate, and the second vehicle body stops moving after the second detection member moves to X3.

[0013] Beneficial effects:

[0014] By controlling the second vehicle body to decelerate before the second detection member reaches X3, the positioning accuracy can be effectively guaranteed to prevent the second vehicle body from being unable to stop accurately at X3 due to inertia and having to move to X3 again, thereby avoiding wasting time and improving positioning efficiency.

[0015] In an optional embodiment, the following steps are also included: after the first detection member obtains X2 and travels a certain distance at a normal speed, the control system controls the first vehicle body to decelerate, so that when the first detection member obtains Y1, the first vehicle body is in a low-speed running state, and when the first detection member moves to Y3, the first vehicle body stops moving.

[0016] Beneficial effects:

[0017] By controlling the first vehicle body to decelerate, the first vehicle body is in a decelerating state when passing Y1, and thus the calculation time of the control system can be reserved, thereby avoiding the situation where the first detection component has passed Y3 after the control system obtains Y3, thus preventing invalid movement and time waste, effectively ensuring the positioning accuracy and helping to improve the positioning efficiency.

[0018] In an optional embodiment, the following steps are also included: the second detection member re-acquires the starting position X1 of the first wheel, the second detection member transmits the acquired X1 to the control system, the control system calculates X1 and X1, determines the position error value L, the control system compares the error value L with the set error value, if the error value L is greater than the set error value, the control system alarms and controls the first vehicle body and the second vehicle body to stop moving, if the error value L is less than or equal to the set error value, the control system controls the second vehicle body to drive the second detection member to move to X3.

[0019] Beneficial effects:

[0020] By re-detecting the starting position of the first wheel, it is possible to avoid the problem of obstacles affecting the detection result of the first detection part during detection by the first detection part, resulting in inaccurate wheel midpoint position, which is beneficial to improving positioning accuracy and effectively improving the safety and stability of the car during transportation.

[0021] In an optional embodiment, the following steps are also included: the second detection component of the second vehicle body re-acquires the starting position X1 and the ending position X2 of the first wheel, the second detection component transmits the acquired X1 and X2 to the control system, the control system calculates X1, X2 and X1, X2 to determine the position error value L, the control system compares the error value L with the set error value, if the error value L is greater than the set error value, the control system alarms and controls the first vehicle body and the second vehicle body to stop moving, if the error value L is less than or equal to the set error value, the control system controls the second vehicle body to drive the second detection component to return to X3.

[0022] In an optional embodiment, the method further includes the following steps: before the first vehicle body and the second vehicle body move, the control system controls the second vehicle body to move toward the first vehicle body so that the second vehicle body fits with the first vehicle body.

[0023] Beneficial effects:

[0024] Before aligning the wheels of the automobile, the second vehicle body is firstly fitted to the first vehicle body to complete the initialization setting, which is beneficial to improving the positioning accuracy.

[0025] In a second aspect, the present invention further provides a handling robot, which is applied to the handling robot wheel positioning method described in any one of the above solutions, comprising:

[0026] A vehicle frame, the vehicle frame comprising a first vehicle body and a second vehicle body, the first vehicle body having a first clamping member and a first detecting member, the second vehicle body having a second clamping member and a second detecting member;

[0027] A control system, wherein the control system is connected to the first vehicle body and the second vehicle body signals to respectively control the movement of the first vehicle body and the second vehicle body, the control system is connected to the first detection member and the second detection member signals to receive wheel position information detected by the first detection member and the second detection member, and the control system is connected to the first clamping member and the second clamping member signals to respectively control the first clamping member and the second clamping member to clamp the wheel.

[0028] Beneficial effects:

[0029] Because the handling robot uses the handling robot wheel alignment method, which has the same effect as the handling robot wheel alignment method, it will not be repeated here.

[0030] In an optional embodiment, the first detecting member and the second detecting member are respectively arranged on the midlines of the first clamping member and the second clamping member.

[0031] Beneficial effects:

[0032] By arranging the first detection member and the second detection member on the center line of the first clamping member and the second clamping member, when the first detection member and the second detection member move to the midpoint of the wheel, the first clamping member and the second clamping member can accurately clamp the wheel, which is beneficial to improving the positioning accuracy and effectively improving the safety and stability during automobile transportation.

[0033] In an optional embodiment, the first vehicle body is connected to the second vehicle body via a connecting piece, the second vehicle body is provided with a movable locking piece, the connecting piece is provided with a matching piece, the locking piece is movably provided on the second vehicle body, when the locking piece is in a first position, the second vehicle body can relatively move along a guide direction of the connecting piece to approach or move away from the first vehicle body, when the locking piece is in a second position, the locking piece cooperates with the matching piece to lock the second vehicle body, and the control system is connected to the locking piece to control the locking piece to move to the first position or the second position.

[0034] Beneficial effects:

[0035] By arranging a matching piece on the connecting piece and a locking piece on the second vehicle body, the locking piece can cooperate with the matching piece to lock the connecting piece, so that the distance between the second vehicle body and the first vehicle body is locked. The matching piece and the locking piece cooperate with each other, thereby solving the problem of fixing the distance between the two vehicle bodies. At the same time, the matching piece and the locking piece have a simple structure and are convenient for installation and disassembly.

[0036] In an optional embodiment, the first vehicle body has a first airbag at one end away from the second vehicle body, the second vehicle body has a second airbag at one end away from the first vehicle body, and the first airbag and the second airbag are respectively connected to the control system signal.

[0037] Beneficial effects:

[0038] By providing the first safety airbag and the second safety airbag, direct collision between the first vehicle body, the second vehicle body and the automobile can be avoided, thereby effectively protecting the first vehicle body, the second vehicle body and the automobile and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 1 ;

[0041] Figure 2 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 2 ;

[0042] Figure 3 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 3 ;

[0043] Figure 4 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 4 ;

[0044] Figure 5 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 5 ;

[0045] Figure 6 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 6 ;

[0046] Figure 7 A schematic diagram of a method for locating wheels of a transport robot according to an embodiment of the present invention Figure 7 ;

[0047] Figure 8 A schematic diagram of a transport robot according to an embodiment of the present invention;

[0048] Fig. 9 for Figure 8 Enlarged view of part A.

[0049] Description of reference numerals:

[0050] 1. First vehicle body; 2. Second vehicle body; 3. First detection member; 4. Second detection member; 5. First wheel; 6. Second wheel; 7. First clamping member; 8. Second clamping member; 9. Connecting member; 10. Locking member; 11. Matching member; 12. Electric telescopic rod; 13. First safety airbag; 14. Second safety airbag. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0052] Combine the following Figures 1 to 9 , describing an embodiment of the present invention.

[0053] According to an embodiment of the present invention, on the one hand, a method for locating wheels of a handling robot is provided, comprising the following steps:

[0054] After the car to be transported is moved to the designated location, the first car body 1 and the second car body 2 are kept in a fitted state and moved to the bottom of the car.

[0055] Before the first vehicle body 1 and the second vehicle body 2 move, the following steps are also included: the control system controls the second vehicle body 2 to move toward the first vehicle body 1 so that the second vehicle body 2 and the first vehicle body 1 are fitted together.

[0056] Specifically, Figure 1 and Figure 2 As shown, the first vehicle body 1 and the second vehicle body 2 clamp the front wheel or the rear wheel of the car respectively. After the first vehicle body 1 and the second vehicle body 2 complete the transportation of the car, the second vehicle body 2 and the first vehicle body 1 are in a spaced state. When the car to be transported is moved to a designated position, the control system first controls the second vehicle body 2 to move toward the first vehicle body 1 so that the second vehicle body 2 fits with the first vehicle body 1 to complete the initialization. At this time, the positions of the first vehicle body 1 and the second vehicle body 2 are both 0. Subsequently, the control system controls the first vehicle body 1 and the second vehicle body 2 to maintain a fitted state and move to the bottom of the car to be transported.

[0057] It should be noted that the designated position here refers to the transport position of the transport robot.

[0058] The first detection member 3 on the first vehicle body 1 obtains the starting position X1 and the ending position X2 of the first wheel 5 , and transmits X1 and X2 to the control system, and the control system calculates the midpoint position X3 and the wheel radius M of the first wheel 5 .

[0059] Specifically, Figure 3 and Figure 4As shown, the first detection member 3 on the first vehicle body 1 moves with the first vehicle body 1. When the first detection member 3 passes through the starting position and the ending position of the first wheel 5, the starting position X1 and the ending position X2 of the first wheel 5 are obtained. The first detection member 3 transmits the obtained position information X1 and X2 to the control system, and the control system can obtain the midpoint position X3 of the first wheel 5 and the radius M of the first wheel 5 through calculation.

[0060] Preferably, the first detection member 3 and the second detection member 4 are both arranged on the center line of the clamping member. When the first detection member 3 and the second detection member 4 move to the midpoint position of the wheel to be clamped, the positioning of the wheel is completed and the clamping member can accurately clamp the wheel.

[0061] It should be noted that the first detection component 3 and the second detection component 4 are both laser detection components. When the light beam released by the laser detection component is blocked, the laser detection component will transmit the position information to the control system. When the light beam is not blocked, the laser detection component will transmit the position information when the light beam is not blocked to the control system. The blocked position is the starting position of the wheel described in this embodiment, and the blocked position is the ending position of the wheel described in this embodiment.

[0062] The control system records X3, and after the second detection member 4 on the second vehicle body 2 moves to X3, the control system controls the second vehicle body 2 to stop moving.

[0063] Specifically, Figure 5 As shown, the control system records the calculated midpoint position X3 of the first wheel 5, and the second detection member 4 on the second vehicle body 2 moves along with the second vehicle body 2. The second detection member 4 can transmit the detected position information to the control system. After the control system receives the information that the second detection member 4 has arrived at X3, the control system controls the second vehicle body 2 to stop moving so that the second detection member 4 is located at X3.

[0064] The first vehicle body 1 continues to move and enables the first detection component 3 to obtain the starting position Y1 of the second wheel 6, and transmits Y1 to the control system. The control system calculates the midpoint position Y3 of the second wheel 6. When the first detection component 3 moves to Y3 with the first vehicle body 1, the control system controls the first vehicle body 1 to stop moving, thereby completing the positioning.

[0065] Specifically, Figure 6 and Figure 7As shown, after the first detection component 3 transmits the starting position X1 and the ending position X2 of the first wheel 5 to the control system, the control system controls the first vehicle body 1 to continue to move. The first detection component 3 can pass the starting position of the second wheel 6 as the first vehicle body 1 continues to move, and simultaneously obtains the starting position Y1 of the second wheel 6. The first detection component 3 transmits the position information Y1 to the control system, and the control system can obtain the midpoint position Y3 of the second wheel 6 according to Y1 and the radius M of the first wheel 5. The first detection component 3 can transmit the detected position information to the control system. After the control system receives the information that the first detection component 3 has arrived at Y3, the control system controls the first vehicle body 1 to stop moving, so that the first detection component 3 is located at Y3.

[0066] In other embodiments, after obtaining the starting position Y1 of the second wheel 6, the control system will continue to control the first vehicle body 1 to move and obtain the ending position Y2 of the second wheel 6, and the first detection component 3 transmits the position information Y1 and Y2 to the control system. The control system calculates the midpoint position Y3 of the second wheel 6 based on the position information Y1 and Y2. Subsequently, the control system controls the first vehicle body 1 to retreat. When the control system receives the information that the first detection component 3 has reached Y3, the control system controls the first vehicle body 1 to stop moving so that the first detection component 3 is located at Y3.

[0067] It should be noted that in this embodiment, the diameters of the first wheel 5 and the second wheel 6 are the same, and the control system determines the center position Y3 of the second wheel 6 by the radius M of the first wheel 5 after obtaining the position information of Y1; when the diameters of the first wheel 5 and the second wheel 6 are different, the control system determines the center position Y3 of the second wheel 6 after obtaining the position information of Y1 and Y2. The above two methods can be switched by manual control or automatically by the system. The car information can be entered into the control system in advance. The control system determines the car information by scanning the car license plate and selects different Y3 calculation methods.

[0068] Specifically, after the first detection member 3 and the second detection member 4 on the first vehicle body 1 and the second vehicle body 2 are respectively located at X3 and Y3, the positioning is completed, and the control system controls the clamping members on the first vehicle body 1 and the second vehicle body 2 to clamp the second wheel 6 and the first wheel 5 respectively. Subsequently, the control system controls the first vehicle body 1 and the second vehicle body 2 to move and move the car to the parking space.

[0069] Specifically, in the present embodiment, the first wheel 5 is the rear wheel of the vehicle, and the second wheel 6 is the front wheel of the vehicle. In other optional embodiments, the first wheel 5 may be the front wheel of the vehicle, and the second wheel 6 may be the rear wheel of the vehicle.

[0070] By adopting the above positioning method, the wheel can be accurately positioned, avoiding the situation where the wheel is damaged due to inaccurate positioning, which is beneficial to protecting the wheel and effectively improving the safety and stability of the car during transportation.

[0071] In one embodiment, the following steps are also included: after the control system calculates X3, it calculates the deceleration position X4 of the second vehicle body 2 according to the set deceleration distance F; after the second detection member 4 on the second vehicle body 2 moves to X4, it starts to decelerate; after the second detection member 4 moves to X3, the second vehicle body 2 stops moving.

[0072] Specifically, Figure 4 As shown, before the second detection member 4 of the second vehicle body 2 moves to X3, it is necessary to control the second vehicle body 2 to decelerate, and set the deceleration distance F in the control system. After the control system obtains X3 through calculation, the deceleration position X4 is calculated by setting the deceleration distance F and X3. The calculation formula of the deceleration position X4 is: X4=X3-F. When the control system obtains that the second detection member 4 moves to X4, the control system controls the second vehicle body 2 to start decelerating. At the same time, the second vehicle body 2 starts to separate from the first vehicle body 1. When the control system obtains that the second detection member 4 moves to X3, the control system controls the second vehicle body 2 to stop moving.

[0073] By controlling the second vehicle body 2 to decelerate before the second detection member 4 reaches X3, the positioning accuracy can be effectively guaranteed to prevent the second vehicle body 2 from being unable to stop accurately at X3 due to inertia and having to move to X3 again, thereby avoiding wasting time and improving positioning efficiency.

[0074] In one embodiment, the following steps are also included: after the first detection member 3 obtains X2 and travels a certain distance at a normal speed, the control system controls the first vehicle body 1 to decelerate, so that when the first detection member 3 obtains Y1, the first vehicle body 1 is in a low-speed running state, and when the first detection member 3 moves to Y3, the first vehicle body 1 stops moving.

[0075] Specifically, after the first detection member 3 obtains X2, the process also includes a step of decelerating the first vehicle body 1. After the first detection member 3 obtains X2 and transmits it to the control system, the control system controls the first vehicle body 1 to travel a certain distance at a normal speed and then controls the first vehicle body 1 to decelerate. When the first detection member 3 obtains Y1, the first vehicle body 1 is in a low-speed running state. The control system calculates Y3 based on Y1. When the control system receives the information that the first detection member 3 has reached Y3, the control system controls the first vehicle body 1 to stop moving so that the first detection member 3 is located at Y3.

[0076] By controlling the first vehicle body 1 to decelerate, the first vehicle body 1 is in a decelerated state when passing Y1, and thus the calculation time of the control system can be reserved, thereby avoiding the situation where the first detection member 3 has passed Y3 after the control system obtains Y3, thereby preventing invalid movement and wasting time, effectively ensuring the accuracy of positioning, and being conducive to improving positioning efficiency.

[0077] In one embodiment, the following steps are also included: the second detection member 4 re-acquires the starting position X1 of the first wheel 5, the second detection member 4 transmits the acquired X1 to the control system, the control system calculates X1 and X1 to determine the position error value L, the control system compares the error value L with the set error value, if the error value L is greater than the set error value, the control system alarms and controls the first vehicle body 1 and the second vehicle body 2 to stop moving, if the error value L is less than or equal to the set error value, the control system controls the second vehicle body 2 to drive the second detection member 4 to move to X3.

[0078] Specifically, before the second detection member 4 moves to X3, it also includes a step of performing an error detection on the starting position X1 of the first wheel 5. After the second detection member 4 moves to the starting position of the first wheel 5 with the second vehicle body 2, the second detection member 4 obtains the starting position X1 of the first wheel 5 and transmits X1 to the control system. The control system calculates X1 and X1 to determine the position error value L. Subsequently, the control system compares the error value L with the set error value input in advance into the control system. During the comparison, the first vehicle body 1 is in a deceleration state. When the error value L obtained after comparison is greater than the set error value, the control system alarms and controls the first vehicle body 1 and the second vehicle body 2 to stop moving. When the error value L obtained after comparison is less than or equal to the set error value, the control system controls the second vehicle body 2 to drive the second detection member 4 to move to X3.

[0079] By re-detecting the starting position of the first wheel 5, it is possible to avoid the problem of obstacles affecting the detection result of the first detection member 3 during detection, resulting in inaccurate wheel midpoint position. This is beneficial to improving positioning accuracy and effectively improving the safety and stability of the car during transportation.

[0080] In other optional embodiments, error detection can also adopt the following steps: the second detection component 4 of the second vehicle body 2 re-acquires the starting position X1 and the ending position X2 of the first wheel 5, the second detection component 4 transmits the acquired X1 and X2 to the control system, the control system calculates X1, X2 and X1, X2 to determine the position error value L, the control system compares the error value L with the set error value, if the error value L is greater than the set error value, the control system alarms and controls the first vehicle body 1 and the second vehicle body 2 to stop moving, if the error value L is less than or equal to the set error value, the control system controls the second vehicle body 2 to drive the second detection component 4 to return to X3.

[0081] According to an embodiment of the present invention, on the other hand, a transport robot is provided, including: a frame and a control system.

[0082] Specifically, the frame includes a first vehicle body 1 and a second vehicle body 2, the first vehicle body 1 has a first clamping member 7 and a first detecting member 3, and the second vehicle body 2 has a second clamping member 8 and a second detecting member 4. The control system is connected to the first vehicle body 1 and the second vehicle body 2 by signal to control the movement of the first vehicle body 1 and the second vehicle body 2 respectively, the control system is connected to the first detecting member 3 and the second detecting member 4 by signal to receive wheel position information detected by the first detecting member 3 and the second detecting member 4 respectively, and the control system is connected to the first clamping member 7 and the second clamping member 8 by signal to control the first clamping member 7 and the second clamping member 8 to clamp the wheels respectively.

[0083] In this embodiment, if Figure 8 As shown, the first vehicle body 1 is arranged on the left side of the second vehicle body 2, and the first vehicle body 1 is provided with a first detection member 3 for detecting wheel position information and a first clamping member 7 for clamping the wheel. The first clamping member 7 is arranged on the upper and lower sides of the first vehicle body 1, and the first detection member 3 is arranged on the first clamping member 7. Each first clamping member 7 has two rotatable cantilevers, a worm wheel, a worm and a motor. The two cantilevers are respectively connected to the two worm wheels, the two worm wheels are meshed with the worm, and the worm is connected to the motor. When the wheel needs to be clamped, the motor drives the worm to rotate, the rotation of the worm drives the worm wheel to rotate, and the worm wheel drives the cantilever to rotate, and the cantilever rotates to both sides of the wheel and clamps the wheel. The second vehicle body 2 is provided with a second detection member 4 for detecting wheel position information and a second clamping member 8 for clamping the wheel. The second clamping member 8 is arranged on the upper and lower sides of the second vehicle body 2, and the second detection member 4 is arranged on the second clamping member 8. The second clamping member 8 has the same structure as the first clamping member 7, which will not be described in detail. Preferably, the control system is a PLC controller, the control system is connected to the motor signal to control the cantilever to rotate through the motor to complete the action of clamping the wheel, the control system is respectively connected to the first detection member 3 and the second detection member 4, and the first detection member 3 and the second detection member 4 can transmit the detected position information to the control system. Preferably, the first detection member 3 and the second detection member 4 are both laser detection members, and when the light beam released by the laser detection member is blocked, the laser detection member will transmit the position information to the control system, and when the light beam is not blocked, the laser detection member will transmit the position information when the light beam is not blocked to the control system, the blocked position is the starting position of the wheel described in this embodiment, and the blocked position is the end position of the wheel described in this embodiment.

[0084] In one embodiment, the first detecting member 3 and the second detecting member 4 are respectively disposed on the midlines of the first clamping member 7 and the second clamping member 8 .

[0085] In this embodiment, if Figure 8 As shown, the first detection member 3 is arranged between the two cantilevers of the first clamping member 7, and the distance between the first detection member 3 and the two cantilevers is equal; the second detection member 4 is arranged between the two cantilevers of the second clamping member 8, and the distance between the second detection member 4 and the two cantilevers is equal.

[0086] By arranging the first detection member 3 and the second detection member 4 on the center line of the first clamping member 7 and the second clamping member 8, when the first detection member 3 and the second detection member 4 move to the midpoint of the wheel, the first clamping member 7 and the second clamping member 8 can accurately clamp the wheel, which is beneficial to improve the positioning accuracy and effectively improve the safety and stability during automobile transportation.

[0087] In one embodiment, the first vehicle body 1 is connected to the second vehicle body 2 through a connecting member 9, and the second vehicle body 2 is provided with a movable locking member 10, and a matching member 11 is provided on the connecting member 9. The locking member 10 is movably arranged on the second vehicle body 2. When the locking member 10 is in the first position, the second vehicle body 2 can move relatively along the guide direction of the connecting member 9 to approach or move away from the first vehicle body 1. When the locking member 10 is in the second position, the locking member 10 cooperates with the matching member 11 to lock the second vehicle body 2. The control system is connected to the locking member 10 to control the locking member 10 to move to the first position or the second position.

[0088] In this embodiment, if Figure 8 and Fig. 9 As shown, the first vehicle body 1 and the second vehicle body 2 both have a moving assembly, and the first vehicle body 1 and the second vehicle body 2 can be moved by the moving assembly. The first vehicle body 1 and the second vehicle body 2 are connected to each other by a connecting member 9, one end of the connecting member 9 is fixedly connected to the first vehicle body 1, and the other end of the connecting member 9 is movably connected to the second vehicle body 2, and the second vehicle body 2 can move relative to the connecting member 9. Preferably, the matching member 11 has a rack, and the rack is arranged on the side of the connecting member 9 facing the locking member 10. The locking member 10 has a toothed portion at one end facing the matching member 11. When the locking member 10 is in the first position, there is a gap between the rack and the toothed portion. The second vehicle body 2 can be relatively moved along the guide direction of the connecting member 9 by the moving assembly, so as to approach the first vehicle body 1 or move away from the first vehicle body 1. When the distance between the first vehicle body 1 and the second vehicle body 2 is reduced or increased to the desired distance, the locking member 10 moves to the second position, the rack is meshed and locked with the toothed portion, and the connecting member 9 is fixed, so that the second vehicle body 2 cannot approach or move away from the first vehicle body 1, thereby fixing the distance between the first vehicle body 1 and the second vehicle body 2.

[0089] Specifically, Fig. 9As shown, an electric telescopic rod 12 is provided on the side of the locking member 10 away from the connecting member 9, and the electric telescopic rod 12 is connected to the locking member 10. The electric telescopic rod 12 can drive the locking member 10 to move from the first position to the second position, or from the second position to the first position. The control system is connected to the electric telescopic rod 12 signal. When the first clamping member 7 and the second clamping member 8 complete the clamping action, the control system drives the locking member 10 to lock with the matching member 11 through the electric telescopic rod 12, thereby fixing the distance between the first vehicle body 1 and the second vehicle body 2. Before the car needs to be moved, the control system drives the locking member 10 to move to the first position through the electric telescopic rod 12, so that the second vehicle body 2 moves relatively along the guiding direction of the connecting member 9 through the moving assembly, moves toward the direction close to the first vehicle body 1, and after being fitted with the first vehicle body 1, the first vehicle body 1 and the second vehicle body 2 remain in a fitted state and move to the bottom of the car.

[0090] By providing a matching piece 11 on the connecting piece 9 and a locking piece 10 on the second vehicle body 2, the locking piece 10 can cooperate with the matching piece 11 to lock the connecting piece 9, so that the distance between the second vehicle body 2 and the first vehicle body 1 is locked. The matching piece 11 and the locking piece 10 cooperate with each other, thereby solving the problem of fixing the distance between the two vehicle bodies. At the same time, the matching piece 11 and the locking piece 10 have a simple structure and are convenient for installation and disassembly.

[0091] Specifically, the first vehicle body 1 and the second vehicle body 2 are both regular quadrilateral structures, and the moving assembly includes running wheels arranged at the four corners of the first vehicle body 1 and the second vehicle body 2, and servo motors arranged on the first vehicle body 1 and the second vehicle body 2. Two servo motors are respectively arranged on the first vehicle body 1 and the second vehicle body 2, and each servo motor is respectively connected to two running wheels on one side of the vehicle body, that is, one servo motor can drive two running wheels on the same side to rotate. The control system is connected to the servo motor signal to control the movement and stop of the first vehicle body 1 and the second vehicle body 2.

[0092] Specifically, tracks are arranged on both sides of the first vehicle body 1 and the second vehicle body 2, and the running wheels on the first vehicle body 1 and the second vehicle body 2 are movably connected to the tracks, so that the first vehicle body 1 and the second vehicle body 2 can move relatively along the guide direction of the tracks through the running wheels.

[0093] In one embodiment, the first vehicle body 1 has a first airbag 13 at one end away from the second vehicle body 2, and the second vehicle body 2 has a second airbag 14 at one end away from the first vehicle body 1. The first airbag 13 and the second airbag 14 are respectively connected to control system signals.

[0094] Specifically, Figure 8As shown, the left end of the first vehicle body 1 is provided with a first airbag 13, and the right end of the second vehicle body 2 is provided with a second airbag 14. The first airbag 13 and the second airbag 14 are respectively connected with control system signals. When the vehicle floor is too low or there is an obstacle, the first airbag 13 or the second airbag 14 collides with the vehicle chassis or the obstacle, and the first airbag 13 or the second airbag 14 will pop out and transmit the information to the control system, and the control system will control the first vehicle body 1 and the second vehicle body 2 to stop moving and sound an alarm.

[0095] By providing the first safety airbag 13 and the second safety airbag 14, direct collision between the first vehicle body 1, the second vehicle body 2 and the automobile can be avoided, thereby effectively protecting the first vehicle body 1, the second vehicle body 2 and the automobile and improving safety.

[0096] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for positioning wheels of a handling robot, characterized in that: The following steps are involved: After the car to be transported is moved to a designated location, the first car body (1) and the second car body (2) are moved to the bottom of the car while maintaining a close fit; A first detection member (3) on the first vehicle body (1) obtains a starting position X1 and an ending position X2 of a first wheel (5), and transmits X1 and X2 to a control system, and the control system calculates a midpoint position X3 and a wheel radius M of the first wheel (5); The control system records X3, and after the second detection member (4) on the second vehicle body (2) moves to X3, the control system controls the second vehicle body (2) to stop moving; The first vehicle body (1) continuously moves and enables the first detection member (3) to obtain the starting position Y1 of the second wheel (6), and transmits Y1 to the control system. The control system calculates the midpoint position Y3 of the second wheel (6). When the first detection member (3) moves to Y3 along with the first vehicle body (1), the control system controls the first vehicle body (1) to stop moving, thus completing the positioning.

2. The method for wheel positioning of a handling robot according to claim 1, characterized in that: The method further comprises the following steps: after the control system calculates X3, it calculates the deceleration position X4 of the second vehicle body (2) according to the set deceleration distance F; after the second detection member (4) on the second vehicle body (2) moves to X4, it starts to decelerate; after the second detection member (4) moves to X3, the second vehicle body (2) stops moving.

3. The method for wheel positioning of a handling robot according to claim 2, characterized in that: The method further comprises the following steps: after the first detection member (3) obtains X2 and travels a certain distance at a normal speed, the control system controls the first vehicle body (1) to decelerate, so that when the first detection member (3) obtains Y1, the first vehicle body (1) is in a low-speed running state; when the first detection member (3) moves to Y3, the first vehicle body (1) stops moving.

4. The method for wheel positioning of a handling robot according to claim 1, characterized in that: The method further comprises the following steps: the second detection member (4) reacquires the starting position X1 of the first wheel (5); the second detection member (4) transmits the acquired X1 to the control system; the control system calculates X1 and X1 to determine the position error value L; the control system compares the error value L with the set error value; if the error value L is greater than the set error value, the control system issues an alarm and controls the first vehicle body (1) and the second vehicle body (2) to stop moving; if the error value L is less than or equal to the set error value, the control system controls the second vehicle body (2) to drive the second detection member (4) to move to X3.

5. The method for wheel positioning of a handling robot according to claim 1, characterized in that: The method further comprises the following steps: the second detection member (4) of the second vehicle body (2) reacquires the starting position X1 and the ending position X2 of the first wheel (5); the second detection member (4) transmits the acquired X1 and X2 to the control system; the control system calculates X1, X2 and X1, X2 to determine the position error value L; the control system compares the error value L with the set error value; if the error value L is greater than the set error value, the control system issues an alarm and controls the first vehicle body (1) and the second vehicle body (2) to stop moving; if the error value L is less than or equal to the set error value, the control system controls the second vehicle body (2) to drive the second detection member (4) to return to X3.

6. The method for wheel alignment of a handling robot according to any one of claims 1 to 5, characterized in that: The method also includes the following steps: before the first vehicle body (1) and the second vehicle body (2) move, the control system controls the second vehicle body (2) to move toward the first vehicle body (1) so that the second vehicle body (2) and the first vehicle body (1) are fitted together.

7. A handling robot, applied to the handling robot wheel alignment method according to any one of claims 1 to 6, characterized in that: include: A vehicle frame, the vehicle frame comprising a first vehicle body (1) and a second vehicle body (2), the first vehicle body (1) having a first clamping member (7) and a first detection member (3), and the second vehicle body (2) having a second clamping member (8) and a second detection member (4); A control system, wherein the control system is connected to the first vehicle body (1) and the second vehicle body (2) by signals so as to respectively control the movement of the first vehicle body (1) and the second vehicle body (2); the control system is connected to the first detection member (3) and the second detection member (4) by signals so as to receive wheel position information detected by the first detection member (3) and the second detection member (4); the control system is connected to the first clamping member (7) and the second clamping member (8) by signals so as to respectively control the first clamping member (7) and the second clamping member (8) to clamp the wheel.

8. The handling robot according to claim 7, characterized in that: The first detection member (3) and the second detection member (4) are respectively arranged on the center lines of the first clamping member (7) and the second clamping member (8).

9. The handling robot according to claim 7, characterized in that: The first vehicle body (1) is connected to the second vehicle body (2) via a connecting member (9); the second vehicle body (2) is provided with a movable locking member (10); the connecting member (9) is provided with a matching member (11); the locking member (10) is movably arranged on the second vehicle body (2); when the locking member (10) is in a first position, the second vehicle body (2) can move relatively along the guiding direction of the connecting member (9) to approach or move away from the first vehicle body (1); when the locking member (10) is in a second position, the locking member (10) cooperates with the matching member (11) to lock the second vehicle body (2); the control system is connected to the locking member (10) to control the locking member (10) to move to the first position or the second position.

10. The handling robot according to any one of claims 7 to 9, characterized in that: The first vehicle body (1) has a first safety airbag (13) at one end away from the second vehicle body (2), and the second vehicle body (2) has a second safety airbag (14) at one end away from the first vehicle body (1). The first safety airbag (13) and the second safety airbag (14) are respectively connected to the control system signal.

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