Support wheel mechanism and car transporter

Abstract

The supporting wheel mechanism and automobile transporter of the present application include a swing seat, a load-bearing shaft, a swing shaft and a plurality of supporting wheel assemblies, wherein the load-bearing shaft runs through the swing seat and is rotatably connected to the swing seat; the swing shaft runs 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 swing seat, and the axial direction of the swing shaft is perpendicular to the axial direction of the load-bearing shaft; 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; a plurality of supporting wheel assemblies can swing with the swing shaft as the rotation center line respectively, and a plurality of supporting wheel assemblies can swing with the load-bearing shaft as the rotation center line through the swing seat. When the supporting wheel mechanism walks on a convex walking surface, a concave walking surface or an uneven walking surface, the plurality of supporting wheel assemblies can always contact the walking surface, which can ensure the supporting function of the supporting wheel mechanism on the one hand.

Description

Technical Field

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

[0002] With the advent of the era of intelligent manufacturing and Industry 4.0, automated material systems have become an indispensable and important part of modern manufacturing. AGV (Automated Guided Vehicle), with its high efficiency, flexibility and intelligence, plays an increasingly important role in the fields of smart garages, material handling, and production line docking.

[0003] At present, the existing automatic guided vehicles are usually equipped with a support wheel mechanism between two driving wheel mechanisms to assist in supporting the frame of the automatic guided vehicle. However, whether it is a smart garage or a factory warehouse, the walking surface for the automatic guided vehicle to walk on is often uneven to a certain extent, and the uneven walking surface will affect the walking of the automatic guided vehicle. When the automatic guided vehicle encounters a concave walking surface, the support wheels in the support wheel mechanism of the automatic guided vehicle cannot provide support for the automatic guided vehicle because they cannot contact the walking surface, and all the weight is concentrated on the driving wheels of the driving wheel mechanism, which will affect the life of the driving wheels and cause damage to the equipment of the automatic guided vehicle; when the automatic guided vehicle encounters a raised walking surface, the support wheels in the support wheel mechanism of the automatic guided vehicle will be tilted and unbalanced, which will reduce the stability of the automatic guided vehicle when walking. Summary of the invention

[0004] In view of this, it is necessary to provide a supporting wheel mechanism and a car transporter that can be adapted and adjusted according to the uneven walking surface.

[0005] A supporting wheel mechanism, the supporting wheel mechanism comprising:

[0006] Swing seat;

[0007] A load-bearing shaft is arranged through the swing seat and is rotatably connected to the swing seat;

[0008] A swing shaft is arranged through the swing seat and connected to the swing seat, the swing shaft and the load-bearing shaft are staggered in the height direction of the swing seat, and the axial direction of the swing shaft is perpendicular to the axial direction of the load-bearing shaft;

[0009] 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;

[0010] 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.

[0011] 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 support wheel mechanism walks on a raised walking surface, a recessed walking surface or an uneven walking surface, the multiple support wheel assemblies can always be in contact with the walking surface, thereby ensuring the auxiliary support role that the support wheel mechanism can play and improving the stability of the car transporter with the support wheel mechanism when walking on the walking surface.

[0012] In one embodiment, the support wheel assembly includes a support wheel mounting seat and a plurality of support wheel groups, wherein the plurality of support wheel groups are arranged on both sides of the swing shaft along the axial direction of the load-bearing shaft and are respectively connected to the support wheel mounting seat; wherein an extension protrusion is provided on the support wheel mounting seat, and the extension protrusion is rotatably connected to the swing shaft.

[0013] In one of the embodiments, the support wheel mechanism further includes a plurality of floating mechanisms, which are arranged on both sides of the load-bearing shaft along the axial direction of the load-bearing shaft and are respectively connected to the load-bearing shaft in a circumferential limiting manner.

[0014] In one embodiment, the floating mechanism includes a floating mounting seat, the load-bearing shaft is mounted on the floating mounting seat, and is circumferentially limited relative to the floating mounting seat;

[0015] Wherein, the floating mounting seat can be adjusted in position in the height direction of the swing seat under the drive of the load-bearing shaft.

[0016] It can be understood that the floating mounting seat is used to realize the lifting and lowering adjustment of the support wheel mechanism during walking, which can further ensure that the support wheel assembly can always be in contact with the walking surface when walking on a raised walking surface, a recessed walking surface or an uneven walking surface, and play an auxiliary supporting role for the car transporter.

[0017] In one of the embodiments, the floating mechanism further includes an elastic member, which is connected to the floating mounting seat in a pre-compressed manner and is used to provide a vertical elastic force to the floating mounting seat.

[0018] It can be understood that the pre-compressed elastic member is used to provide a vertical elastic force to the floating mounting seat, so that the contact between the supporting wheel assembly and the walking surface can be ensured.

[0019] In one of the embodiments, the floating mechanism further includes an upper mounting plate and a lower mounting plate;

[0020] The floating mounting seat is arranged between the upper mounting plate and the lower mounting plate; one end of the elastic member away from the floating mounting seat abuts against the upper mounting plate, so that a first elastic gap is formed between the floating mounting seat and the upper mounting plate.

[0021] And / or, one end of the elastic member away from the upper mounting plate is connected to the floating mounting seat, so that a second elastic gap is formed between the floating mounting seat and the lower mounting plate.

[0022] In one of the embodiments, the floating mechanism also includes a connecting guide column, which is arranged between the upper mounting plate and the lower mounting plate and is respectively connected to the upper mounting plate and the lower mounting plate; the elastic member is sleeved on the connecting guide column, and the floating mounting seat is slidably connected to the connecting guide column.

[0023] It is understandable that the sliding connection between the floating mounting seat and the connecting guide pillar plays a guiding role in the lifting and lowering adjustment of the floating mounting seat and ensures that the floating mounting seat is always subjected to the elastic force of the elastic member in the vertical direction.

[0024] In one embodiment, the number of the connecting guide pillars is configured to be multiple, at least some of the multiple connecting guide pillars are respectively sleeved with graphite copper sleeves, and the connecting guide pillars can be slidably connected to the floating mounting seat through the graphite copper sleeves.

[0025] It can be understood that the structural characteristics of the graphite copper sleeve can be used to reduce the resistance encountered by the floating mounting seat during lifting and lowering adjustment.

[0026] In one of the embodiments, the upper mounting plate is arranged to extend outwardly relative to the lower mounting plate in a direction away from the swing seat.

[0027] It can be understood that, by using the portion of the upper mounting plate extending out of the lower mounting plate, the support wheel mechanism can be assembled on the vehicle carrier with the upper mounting plate as the mounting base, which can facilitate the assembly and application of the support wheel mechanism in the vehicle carrier.

[0028] In one embodiment, the floating mechanism further includes a pressing block, which is connected to the floating mounting seat in a threaded manner and is used to press and limit the portion of the load-bearing shaft located on the floating mounting seat;

[0029] A first plane is formed on the pressing block, a second plane is formed on the load-bearing shaft, and the first plane is in contact with the second plane.

[0030] It is understandable that the load-bearing shaft is pressed and limited to the floating mounting plate by using a pressing block, which can facilitate the assembly and connection of the load-bearing shaft on the floating mounting plate.

[0031] In addition, the present application also provides a car transporter, comprising a frame, two sets of driving wheel mechanisms, and the above-mentioned supporting wheel mechanism;

[0032] The two sets of the driving wheel mechanisms and the supporting wheel mechanisms are both installed on the frame and are used to support the frame.

[0033] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0034] The support wheel mechanism and car transporter claimed for protection in the present application have multiple support wheel assemblies that can swing in horizontal and vertical directions with mutually perpendicular load-bearing axes and swing axes as rotation center lines, wherein the vertical swing refers to rotation around the swing axis along the axis of the load-bearing axis, and the horizontal swing refers to rotation around the load-bearing axis in a direction perpendicular to the axis of the load-bearing axis (i.e., the axis of the swing axis), so that when the support wheel mechanism walks on a raised walking surface, a recessed walking surface, or an uneven walking surface, the multiple support wheel assemblies can always be in contact with the walking surface, thereby ensuring the auxiliary support role that the support wheel mechanism can play and improving the stability of the car transporter using the support wheel mechanism when walking on the walking surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] 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.

[0037] Figure 2 This is a schematic diagram of the structure of the car transporter provided in this application when picking up a car.

[0038] 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.

[0039] 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.

[0040] Figure 5 This is a bottom view of the driving wheel mechanism in this application.

[0041] Figure 6 It is a top view of the driving wheel mechanism in this application.

[0042] Figure 7 It is a left view of the driving wheel mechanism in this application.

[0043] 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.

[0044] 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.

[0045] Fig.10 This is a schematic diagram of the structure of the clamping arm mechanism of this application.

[0046] Fig.11 It is a structural schematic diagram of the wheelbase adjustment mechanism and the chain when assembled in this application.

[0047] Fig.12 This is a schematic diagram of the structure of the driving sprocket, the idler sprocket and the chain in the present application.

[0048] Fig.13 It is a top view of the support wheel mechanism in this application.

[0049] Fig.14 It is a structural schematic diagram of the support wheel mechanism in this application.

[0050] Fig.15 It is a left view of the support wheel mechanism in this application.

[0051] Fig.16 This 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.

[0052] Fig.17 It is a cross-sectional view of the floating mechanism in this application.

[0053] Fig.18 It is a structural schematic diagram of the support wheel mechanism in this application.

[0054] Fig.19 It is a partial cross-sectional view of the support wheel mechanism in the present application when walking on the raised walking surface.

[0055] Fig. 20 for Fig.19 Cross-sectional view of the corresponding floating mechanism.

[0056] Fig.21 It is a partial cross-sectional view of the support wheel mechanism in the present application when walking on a concave walking surface.

[0057] Fig. 22 for Fig.21 Cross-sectional view of the corresponding floating mechanism.

[0058] Fig.23 It is a partial cross-sectional view of the support wheel mechanism in the present application when walking on an uneven walking surface.

[0059] 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, Synchronous 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, 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

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The support wheel mechanism 60 for which protection is requested in this application is applied to the car transporter 100 in the stereo garage, and is used to provide auxiliary support for the car transporter 100. It should be noted that the support wheel mechanism 60 of this application is an independent module, and in addition to being applied to the car transporter 100, the support wheel mechanism 60 can also be applied to other types of automatic guided vehicles that can walk on a walking surface, and of course, the support wheel mechanism 60 can also be applied to electrical equipment.

[0064] like Figures 13 to 16As shown, the support wheel mechanism 60 provided in one embodiment of the present application includes a swing seat 61, a bearing shaft 62, a swing shaft 63 and a plurality of support wheel assemblies 64, the 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 connected to the swing seat 61, the swing shaft 63 and the bearing shaft 62 are staggered in the height direction of the swing seat 61, and the axial direction of the swing shaft 63 is perpendicular to the axial direction of the 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 rotatably connected to the swing shaft 63 respectively; a plurality of support wheel assemblies 64 can be swung with the swing shaft 63 as the rotation center line, and a plurality of support wheel assemblies 64 can be swung with the bearing shaft 62 as the rotation center line through the swing seat 61. 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.

[0065] As can be seen from the above, the multiple support wheel assemblies 64 in the support wheel mechanism 60 of the present application swing with the mutually perpendicular load-bearing shaft 62 and the swing shaft 63 as the rotation center line, so that when the support wheel mechanism 60 walks on a raised walking surface, a recessed walking surface or an uneven walking surface, the multiple support wheel assemblies 64 can always be in contact with the walking surface, thereby ensuring the auxiliary support role of the support wheel mechanism 60 and improving the stability of the car transporter 100 using the support wheel mechanism when walking on the walking surface.

[0066] It should be noted that the multiple support wheel assemblies 64 mentioned above can swing with the swing shaft 63 as the rotation center line, specifically, the support wheel groups 642 located on both sides of the swing shaft 63 in each support wheel assembly 64 can rotate around the swing shaft 63 to form a vertical swing; the multiple support wheel assemblies 64 mentioned above can swing with the load-bearing shaft 62 as the rotation center line through the swing seat 61, specifically, the multiple support wheel assemblies 64 located on both sides of the load-bearing shaft 62 can rotate around the load-bearing shaft 62 to form a horizontal swing.

[0067] like Fig.16 As shown, in one embodiment, the swing shaft 63 is disposed below the load-bearing shaft 62 in the vertical direction; wherein the swing shaft 63 can rotate relative to the load-bearing shaft 62 along the circumferential direction of the load-bearing shaft 62. Here, the swing shaft 63 and the swing seat 61 are limitedly matched in the circumferential direction of the load-bearing shaft 62, so that the swing shaft 63 can drive the swing seat 61 to rotate on the load-bearing shaft 62 under the drive of the plurality of support wheel assemblies 64.

[0068] Furthermore, the outer wall of the swing shaft 63 is provided with a recessed mating surface, and at least a portion of the outer peripheral wall of the load-bearing shaft 62 is located in the recessed mating surface, and a limiting fit is formed along the axial direction of the swing shaft 63, so that the swing shaft 63 can rotate around the load-bearing shaft 62, while avoiding slippage between the swing shaft 63 and the load-bearing shaft 62 in the axial direction of the swing shaft 63.

[0069] 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, and 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 support wheel assembly 64 realizes rotation around the swing shaft 63 through the support wheel mounting seat 641 and the extension convex plate 6411, that is, swings in the vertical direction. In one embodiment, the number of the support wheel groups 642 in the support wheel assembly 64 is two, wherein each support wheel group 642 can be configured as a universal wheel structure. It can be understood that in other embodiments, the number of the support wheel groups 642 can also be three, four, or even more, and the plurality of support wheel groups 642 can be specifically arranged at both ends of the swing shaft 63.

[0070] like Figures 13 to 15 , Figures 17 to 20 As shown, in one embodiment, the 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 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.

[0071] like Fig.15 , Figures 17 to 20As 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 swing seat 61 under the drive of the bearing shaft 62. When the supporting wheel mechanism 60 walks on a convex walking surface, a concave walking surface or an uneven walking surface, the lifting and lowering adjustment of the floating mounting seat 651 can ensure that the supporting wheel assembly 64 in the supporting wheel mechanism 60 is always in contact with the walking surface, and plays an auxiliary supporting role for the frame 10.

[0072] like Fig.17 , Fig. 20 , Fig. 22 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.

[0073] like Figures 17 to 23 As 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.

[0074] like Fig.14 , Figures 17 to 23As shown, in one embodiment, the floating mechanism 65 further includes an upper mounting plate 654 and a lower mounting plate 655, and the floating mounting seat 651 is disposed between the upper mounting plate 654 and the lower mounting plate 655; one end of the elastic member 653 away from the floating mounting seat 651 abuts against the upper mounting plate 654, so that a first elastic gap D is formed between the floating mounting seat 651 and the upper mounting plate 654; and / or one end of the elastic member 653 away from the upper mounting plate 654 is connected to the floating mounting seat 651, so that a second elastic gap d is formed between the floating mounting seat 651 and the lower mounting plate 655. Here, one end of the elastic member 653 away from the floating mounting seat 651 abuts against the upper mounting plate 654. That is, when the floating mounting seat 651 can be adjusted between the upper mounting plate 654 and the lower mounting plate 655 by lifting and lowering the elastic member 653, in this process, the first elastic gap D and the second elastic gap d mentioned above will change with the stretching or compression of the elastic member 653.

[0075] When the supporting wheel assembly 64 is moving on a normal flat ground, due to the deadweight of the vehicle transporter 100 or the supporting wheel assembly 64, the elastic member 653 is compressed to a certain extent, the first elastic gap D between the upper mounting plate 654 and the floating mounting seat 651 is reduced, and the second elastic gap d between the lower mounting plate 655 and the floating mounting seat 651 is increased.

[0076] When the supporting wheel assembly 64 encounters a raised ground, the supporting wheel mounting seat 641 is raised in relative height, and the bearing shaft 62 and the floating mounting seat 651 further compress the elastic member 653, and the first elastic gap D between the upper mounting plate 654 and the floating mounting seat 651 is further reduced. During this process, the position of the frame 10 of the car transporter 100 relative to the ground is almost unchanged, that is, the vibration amplitude of the car transporter 100 is effectively reduced by the compression of the elastic member 653.

[0077] When the support wheel assembly 64 encounters a concave ground, the relative height of the support wheel mounting seat 641 decreases, the elastic member 653 stretches, and the first elastic gap D between the upper mounting plate 654 and the floating mounting seat 651 expands. During this process, the position of the car transporter 100 relative to the ground is almost unchanged, that is, the extension of the elastic member 653 effectively reduces the vibration amplitude of the car transporter 100, and ensures that the support wheel assembly 64 is always in contact with the ground to provide support for the AGV.

[0078] When the support wheel assembly 642 walks on an uneven ground in the vertical direction (axial direction of the load-bearing axis), the support wheel mounting seat 641 can achieve vertical swing by rotating with the swing shaft 63, ensuring that the support wheel assembly 642 is always in contact with the ground to provide support for the AGV vehicle.

[0079] When the support wheel assembly 642 walks on an uneven ground in the horizontal direction (axial direction of the swing axis), the support wheel mounting seat 641 and the swing seat 61 can achieve horizontal swing by rotating with the load-bearing shaft 62, ensuring that the support wheel assembly 642 is always in contact with the ground to provide support for the AGV cart.

[0080] like Fig.14 , Figures 17 to 23 As shown, in one embodiment, the floating mechanism 65 further includes a connecting guide post 656, which is disposed between the upper mounting plate 654 and the lower mounting plate 655 and is connected to the upper mounting plate 654 and the lower mounting plate 655 respectively, and can be connected and fixed by bolts; the elastic member 653 is sleeved on the connecting guide post 656, and the floating mounting seat 651 is slidably connected to the connecting guide post 656. That is, the upper mounting plate 654, the connecting guide post 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, so as to realize the assembly connection of the supporting wheel mechanism 60 on the vehicle frame 10. That is to say, the floating mounting seat 651 can perform lifting and lowering adjustment of the compressed elastic member 653 between the upper mounting plate 654 and the lower mounting plate 655, and in this process, the connecting guide column 656 guides the lifting and lowering movement of the floating mounting seat 651. Here, the number of connecting guide columns 656 is configured to be multiple, and the multiple connecting guide columns 656 are sequentially arranged at intervals along the axial direction of the swing shaft 63, wherein at least some of the multiple connecting guide columns 656 are respectively covered with graphite copper sleeves 657, and these part of the connecting guide columns 656 can be slidably connected with the floating mounting seat 651 through the graphite copper sleeves 657, and the remaining part of the connecting guide columns 656 are respectively covered with elastic members 653. In one embodiment, the connecting guide column 656 covered with the graphite copper sleeve 657 is arranged at intervals from the connecting guide column 656 covered with the elastic member 653.

[0081] like Figure 3 , Figure 4As shown, the car transporter 100 provided by the present application includes a frame 10, two driving wheel mechanisms 20, two clamping arm mechanisms 30, a wheelbase adjustment mechanism 40, a control module 50 and the above-mentioned supporting wheel mechanism 60, wherein the two driving wheel mechanisms 20 are arranged in the area 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 200; wherein each Each clamping arm mechanism 30 includes four manipulator swing arms 31, two manipulator swing arms 31 form a group, and both groups of manipulator swing arms 31 can be rotated out from the frame 10 to clamp the tire of the car 200 (not shown); 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 support wheel mechanism 60 is arranged between the two driving wheel mechanisms 20 and connected to the frame 10. The car transporter 100 can use the support wheel mechanism 60 to assist in supporting the frame 10, so that the frame 10 can be prevented from being deformed due to pressure when the car transporter 100 transports the car 200, which has the effect of improving the load stability of the car transporter 100.

[0082] It should be noted that the two clamping arm mechanisms 30 in the above-mentioned car transporter 100 are configured as the same structure, and one of the clamping arm mechanisms 30 can move on the frame 10. It can be understood that in other embodiments, the two clamping arm mechanisms 30 can also be configured to be movable on the frame 10, which will not be elaborated here.

[0083] 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 transporting 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 drives into 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.

[0084] 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.

[0085] 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.

[0086] 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 arranged between the two driving wheel groups 21 and connected to the driving wheel groups 21 respectively, and 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 convex walking surface, the concave walking surface or the concave and convex non-parallel walking surface when walking, so that the vibration amplitude generated by the convex walking surface, the concave walking surface or the uneven walking surface when the car transporter 100 is 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 .

[0087] 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.

[0088] 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.

[0089] 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 .

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] like Figure 1 , Figure 2As shown, 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 through the two driving wheel mechanisms 20 and the supporting wheel mechanism 60 and enter the bottom of the car 200. In 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.

[0104] 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.

[0105] 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 support wheel mechanism, characterized in that: The supporting 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 penetrate the swing seat (61) and is connected to the swing seat (61); the swing shaft (63) and the load-bearing shaft (62) are arranged to be staggered in the height direction of the swing seat (61); 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 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).

2. The support wheel mechanism according to claim 1, characterized in that: The support wheel assembly (64) comprises a support wheel mounting seat (641) and a plurality of support wheel groups (642); 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, an extension convex plate (6411) is provided on the support wheel mounting seat (641), and the extension convex plate (6411) is rotationally connected to the swing shaft (63).

3. The support wheel mechanism according to claim 1, characterized in that: The supporting wheel mechanism (60) further comprises 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.

4. The support wheel mechanism according to claim 3, characterized in that: The floating mechanism (65) comprises a floating mounting seat (651), the load-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 position in the height direction of the swing seat (61) under the drive of the load-bearing shaft (62).

5. The support wheel mechanism according to claim 4, characterized in that: The floating mechanism (65) further comprises an elastic member (653), wherein the elastic member (653) is connected to the floating mounting seat (651) in a pre-compressed manner and is used to provide the floating mounting seat (651) with elastic force in a vertical direction.

6. The support wheel mechanism according to claim 5, characterized in that: The floating mechanism (65) further comprises an upper mounting plate (654) and a lower mounting plate (655); The floating mounting seat (651) is arranged between the upper mounting plate (654) and the lower mounting plate (655); an end of the elastic member (653) away from the floating mounting seat (651) abuts against the upper mounting plate (654), so that a first elastic gap (D) is formed between the floating mounting seat (651) and the upper mounting plate (654). And / or, one end of the elastic member (653) away from the upper mounting plate (654) is connected to the floating mounting seat (651), so that a second elastic gap (d) is formed between the floating mounting seat (651) and the lower mounting plate (655).

7. The support wheel mechanism according to claim 6, characterized in that: The floating mechanism (65) further comprises a connecting guide column (656), wherein the connecting guide column (656) is arranged 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); the elastic member (653) is sleeved on the connecting guide column (656), and the floating mounting seat (651) is slidably connected to the connecting guide column (656).

8. The support wheel mechanism according to claim 7, characterized in that: The number of the connecting guide pillars (656) is configured to be multiple, and at least some of the multiple connecting guide pillars (656) are respectively sleeved with graphite copper sleeves (657), and the connecting guide pillars (656) can be slidably connected to the floating mounting seat (651) through the graphite copper sleeves (657).

9. The support wheel mechanism according to claim 4, characterized in that: The floating mechanism (65) further comprises a pressing block (652), wherein the pressing block (652) is connected to the floating mounting seat (651) in a threaded manner and is used to press and limit the portion of the load-bearing shaft (62) located on the floating mounting seat (651); A first plane (6521) is formed on the pressing block (652), a second plane (621) is formed on the load-bearing shaft (62), and the first plane (6521) is in contact with the second plane (621).

10. A car transporter, characterized in that: It comprises a frame (10), two sets of driving wheel mechanisms (20), and a supporting wheel mechanism (60) as claimed in any one of claims 1 to 9; The two sets of the driving wheel mechanisms (20) and the supporting wheel mechanisms (60) are both installed on the vehicle frame (10) and are used to support the vehicle frame (10).

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