Universal three-axis moving platform device for vehicle moving

Abstract

The invention relates to the technical field of robots, and discloses a universal three-axis moving platform device for vehicle moving, which comprises a robot bracket and a lifting mechanism arranged at the bottom of the robot bracket, a walking mechanism is arranged at the lower end of the lifting mechanism, and a rotating mechanism is arranged at the upper end of the robot bracket; a lifting mechanical arm assembly is arranged on the side wall of the first rotating disc, the lifting mechanical arm assembly comprises a square pipe arranged on the side wall of the first rotating disc, and telescopic arms are movably connected to the inner sides of the two ends of the square pipe; and the hydraulic driving assembly is linked with the lifting mechanism and is used for driving the telescopic arm to stretch. According to the universal three-axis moving platform device for vehicle moving, a three-axis robot is formed through the arranged lifting mechanism, the arranged walking mechanism and the arranged rotating mechanism, lifting and carrying of a vehicle can be achieved, in-situ rotating and turning-around can be achieved, use is convenient, and the problem that in-situ turning-around cannot be achieved on a narrow road surface is solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a universal three-axis mobile platform device for moving vehicles. Background Art

[0002] Existing vehicle moving robots are mainly composed of a walking mechanism, a lifting mechanism and a robotic arm. They are generally dual-axis robots. The walking mechanism mostly adopts a dual-axis wheeled or crawler chassis, and is equipped with a navigation module to achieve autonomous movement to the bottom of the vehicle; the lifting mechanism lifts the vehicle vertically; the robotic arm is usually folded and stored in the side wall, and needs to be manually unfolded on both sides of the vehicle and adjusted to the position of the longitudinal beam under the vehicle, and then the vehicle is lifted to complete the moving operation.

[0003] However, the current technology has significant limitations: first, the dual-axis drive design has a large turning radius, making it difficult to turn around on the spot on a narrow road, and multiple forward and backward adjustments are required, which is inefficient and prone to collisions; second, in order to save space and reduce the size of existing robots, the mechanical arms on the side walls are often hidden. Before moving to the bottom of the vehicle to lift the vehicle, the mechanical arms often need to be manually extended to the side longitudinal beams under the vehicle, requiring staff to operate separately on the bottom of both sides of the vehicle. This is time-consuming and labor-intensive, affects efficiency, and is not practical.

[0004] Therefore, it is necessary to propose a three-axis mobile platform device that is universal for moving vehicles to solve the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art. The present invention proposes a three-axis mobile platform device universal for moving vehicles, which solves the problem that the prior art is difficult to achieve on-the-spot U-turn on narrow roads and requires a large amount of manual participation.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a three-axis mobile platform device universal for moving vehicles, including a robot bracket and a lifting mechanism arranged at the bottom of the robot bracket, the lower end of the lifting mechanism is provided with a walking mechanism, the upper end of the robot bracket is provided with a rotating mechanism, the rotating mechanism includes an inner gear ring rotatably arranged on the outer periphery of the top of the robot bracket, the upper end of the inner gear ring is provided with a first turntable, one end of the bottom of the robot bracket is provided with a third driving source, and the output end of the third driving source is provided with a first gear meshing with the inner gear ring; a lifting mechanical arm assembly is provided on the side wall of the first turntable, the lifting mechanical arm assembly includes a square tube arranged on the side wall of the first turntable, the inner sides of the two ends of the square tube are movably connected with telescopic arms, and the ends of the telescopic arms are provided with lifting mechanical hands higher than the first turntable; it also includes a lifting mechanism linked with the lifting mechanism The cam is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts,

[0007] Preferably, the lifting mechanism includes a pair of mounting frames installed on the bottom wall of the robot bracket, a pair of lifting arms that are cross-movably connected are provided on both sides of the mounting frames, a walking bracket is provided at the lower end of the lifting arm, the walking bracket and the side wall of one end of the mounting frame are provided with a first guide groove, and the first guide groove is movably provided with a pin shaft, wherein the upper ends of a pair of lifting arms are movably connected to the end of the pin shaft on the mounting frame, and the lower ends are movably connected to one end of the walking bracket, and the lower ends of another pair of lifting arms are movably connected to the end of the pin shaft on the walking bracket, and the upper ends are movably connected to one end of the mounting frame, a first driving source is provided on one side of the mounting frame, and a second gear driven to rotate by the first driving source is provided at the output end of the first driving source, and one end of the pin shaft located on the mounting frame is connected to a second rack meshing with the second gear.

[0008] Preferably, one end of the piston rod is connected to the end of a pin on one of the mounting brackets.

[0009] Preferably, it also includes an extension component for increasing the contact area between the lifting manipulator and the bottom longitudinal beam of the vehicle, the extension component includes a guide hole arranged at the end of the telescopic arm, the inner side of the guide hole is vertically and movably connected with a hollow first column, the lifting manipulator is fixed to the top of the first column, the inner wall of the guide hole is fixed with a fixing block, the side wall of the first column is provided with a through groove that movably cooperates with the fixing block, the top of the fixing block is provided with a second column, the upper end side wall of the second column is provided with a guide block, the lifting manipulator is a hollow structure, and the inner middle part of the lifting manipulator is rotated A rotating sleeve corresponding to the second column is movably provided, the upper end of the second column is movably connected to the inner side of the rotating sleeve, the inner wall of the rotating sleeve is provided with a spiral fourth guide groove, the guide block cooperates with the fourth guide groove movably guide, the outer side of the rotating sleeve is fixedly provided with a second turntable located on the inner side of the lifting manipulator, the outer periphery of the second turntable is provided with an arc-shaped third guide groove, a mechanical finger is movably connected through the side wall of the lifting manipulator, the inner end of the mechanical finger is provided with a guide wheel cooperated with the third guide groove movably guide, and the top of the outer end of the mechanical finger is flush with the top of the lifting manipulator.

[0010] Preferably, a pressure drive component for driving the first rack to separate from the outer gear ring is provided on the telescopic arm near the first turntable, the pressure drive component includes a drive rod movably arranged on the inner side of the telescopic arm and corresponding to the first rack, a guide shaft is provided at the bottom of one end of the drive rod, a second guide groove is obliquely provided at the top of the first rack, the lower end of the guide shaft is movably guided in the second guide groove, the end of the drive rod away from the guide shaft corresponds to the first column, and the end corresponding to the first column and the side wall of the first column are provided with corresponding force blocks, and the force block on the drive rod is slidably matched with the inclined surface of the force block on the side wall of the first column, and is configured so that when the lifting manipulator moves downward, the first rack moves in a direction away from the outer gear ring.

[0011] Preferably, an elastic member is provided between the top of the fixing block and the inner top of the through slot.

[0012] Preferably, the traveling mechanism comprises track wheels rotatably arranged at both ends of the traveling frame, the track wheels are externally meshed with tracks, and a second driving source for driving the track wheels to rotate is arranged on the side wall of one of the lifting arms.

[0013] Preferably, the bottom of the robot bracket is open, the lifting mechanism is installed on the inner side of the opening, and the walking mechanism of the lifting mechanism is initially hidden on the inner side of the opening.

[0014] Preferably, the elastic member is a spring, and the spring is sleeved on the outside of the second column.

[0015] Preferably, a power source is provided on the inner side of one end of the robot bracket.

[0016] Compared with the prior art, the beneficial effects of the present invention include: 1. The three-axis mobile platform device universal for moving vehicles forms a three-axis robot through the setting of the lifting mechanism, walking mechanism and rotating mechanism, which can not only realize the lifting and carrying of the vehicle, but also can rotate and turn around on the spot, which is easy to use and solves the problem of being unable to turn around on the spot on a narrow road. 2. The three-axis mobile platform device universal for moving vehicles, the lifting mechanical arm assembly cooperates with the hydraulic drive assembly to realize the automatic extension of the lifting mechanical arm. The hydraulic drive assembly is linked with the lifting mechanism, and the lifting mechanical arm can be gradually unfolded to the side longitudinal beam of the bottom of the vehicle in the early stage of the rise, and then the lifting can be realized without manual participation in the operation, which increases convenience and improves efficiency. 3. The three-axis mobile platform device for moving vehicles can use the pressure when lifting the vehicle to expand the mechanical fingers through the extension component, thereby increasing the contact area of ​​the lifting manipulator on the bottom longitudinal beam of the vehicle and increasing stability. When not in use, the mechanical fingers are hidden to save space. The setting of the pressure drive component can also use the pressure when lifting the vehicle to separate the first rack and the outer gear ring, thereby facilitating the rotation of the first turntable after lifting. The structure is compact and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The disclosure of the present invention is explained with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the accompanying drawings, the same reference numerals are used to refer to the same components.

[0018] in: Figure 1 The structural diagram of the present invention is schematically shown; Figure 2 The present invention is schematically shown Figure 1 A structural diagram from another perspective based on the above; Figure 3 The schematic diagram of the structure of the present invention in a disassembled state is shown schematically; Figure 4 The present invention is schematically shown Figure 3 A structural diagram from another perspective based on the above; Figure 5 The schematic diagram of the structure of the outer gear ring and the lifting mechanism of the present invention in the matching state is shown; Figure 6 The overall structural diagram of the lifting mechanism and the walking mechanism of the present invention is schematically shown; Figure 7 The present invention is schematically shown Figure 6 A structural diagram from another perspective based on the above; Figure 8 The cross-sectional structure diagram of the piston main cylinder and the piston auxiliary cylinder of the present invention is schematically shown; Fig. 9 The schematic diagram of the structure of the lifting mechanical arm assembly of the present invention is shown schematically; Fig.10 The present invention is schematically shown Fig. 9 Schematic diagram of the structure when the foundation is disassembled; Fig.11 A schematic diagram of the structure of the telescopic arm close to the first rotating disk of the present invention in a disassembled state is shown; Fig.12 The schematic diagram shows the structure of the extension assembly of the present invention in a disassembled state; Fig.13 The present invention is schematically shown Fig.12 A structural diagram from another perspective based on the above; Fig.14 The cross-sectional structure diagram of a rotating sleeve proposed in one embodiment of the present invention is schematically shown.

[0019] Numbers in the figure: 1, first turntable; 2, square tube; 3, telescopic arm; 4, lifting manipulator; 5, outer gear ring; 6, crawler track; 7, robot bracket; 8, power supply; 9, first driving source; 10, second driving source; 11, lifting arm; 12, inner gear ring; 13, first gear; 14, third driving source; 15, first rack; 16, mounting frame; 17, piston sub-cylinder; 18, piston main cylinder; 19, walking bracket; 20, crawler wheel; 21, first guide groove; 22, pin shaft; 23, pipeline ; 24. arc-shaped piston rod; 25. second rack; 26. second gear; 27. piston rod; 28. mechanical finger; 29. ​​third gear; 30. third rack; 31. guide hole; 32. first column; 33. drive rod; 34. second guide groove; 35. guide shaft; 36. force block; 37. second turntable; 38. third guide groove; 39. guide wheel; 40. through groove; 41. fixed block; 42. rotating sleeve; 43. second column; 44. elastic member; 45. guide block; 46. fourth guide groove. DETAILED DESCRIPTION

[0020] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction to the technical solution of the present invention.

[0021] According to one embodiment of the present invention, Figure 1-14 Shown.

[0022] like Figure 1-Figure 7As shown, a three-axis mobile platform device universal for moving vehicles comprises a robot support 7 and a lifting mechanism arranged at the bottom of the robot support 7, a walking mechanism is arranged at the lower end of the lifting mechanism, a power supply 8 is arranged on the inner side of one end of the robot support 7, the bottom of the robot support 7 is open, the lifting mechanism is installed on the inner side of the opening, and the walking mechanism is hidden on the inner side of the opening when the lifting mechanism is initially installed, the lifting mechanism comprises a pair of mounting frames 16 mounted on the bottom wall of the robot support 7, a pair of lifting arms 11 cross-movably connected are arranged on both sides of the mounting frame 16, a walking support 19 is arranged at the lower end of the lifting arm 11, the walking support 19 and the side wall of one end of the mounting frame 16 are both provided with a first guide groove 21, and a pin shaft 22 is movably arranged on the first guide groove 21, wherein the upper ends of a pair of lifting arms 11 are movably connected to the ends of the pin shaft 22 on the mounting frame 16, and the lower ends are movably connected to one end of the walking support 19, and the lower ends of another pair of lifting arms 11 are movably connected to the ends of the pin shaft 22 on the walking support 19, and the upper ends are movably connected to the mounting frame 1 6, a first driving source 9 is arranged on one side of the mounting frame 16, and the first driving source 9 is preferably a reduction motor. The output end of the first driving source 9 is provided with a second gear 26 driven to rotate by the first driving source 9, and one end of the pin shaft 22 located on the mounting frame 16 is connected to a second rack 25 meshing with the second gear 26, and the second rack 25 is movably connected to the side wall of the mounting frame 16 through a linear guide. The walking mechanism includes track wheels 20 rotatably arranged at both ends of the walking bracket 19, and the track wheels 20 are meshed with tracks 6 on the outside, and a second driving source 10 for driving the track wheels 20 to rotate is arranged on the side wall of one lifting arm 11. The upper end of the robot bracket 7 is provided with a rotating mechanism, and the rotating mechanism includes an inner gear ring 12 rotatably arranged on the outer periphery of the top of the robot bracket 7, and the upper end of the inner gear ring 12 is provided with a first turntable 1, and one end of the bottom of the robot bracket 7 is provided with a third driving source 14, and the third driving source 14 is preferably a reduction motor. The output end of the third driving source 14 is provided with a first gear 13 meshing with the inner gear ring 12; Figure 1-Figure 4 As shown, the side wall of the first turntable 1 is provided with a lifting robot arm assembly, which includes a square tube 2 fixedly arranged on the side wall of the first turntable 1, and telescopic arms 3 are movably connected to the inner sides of both ends of the square tube 2. A lifting robot 4 higher than the first turntable 1 is provided at the end of the telescopic arm 3.

[0023] like Figure 5-Figure 10As shown, it also includes a hydraulic drive component that is linked with the lifting mechanism and is used to drive the telescopic arm 3 to extend. The hydraulic drive component includes a piston main cylinder 18 arranged at one end of the inner side of the robot bracket 7, and the inner end of the piston main cylinder 18 is provided with hydraulic oil. A piston rod 27 is movably arranged on the inner side of the piston main cylinder 18, and the end of the piston rod 27 is connected to the lifting mechanism. Specifically, one end of the piston rod 27 is connected to the end of a pin shaft 22 on one of the mounting frames 16. An outer gear ring 5 is rotatably arranged on the inner side of the side wall of the lower end of the robot bracket 7. A piston sub-cylinder 17 connected to the piston main cylinder 18 is arranged at the corresponding position of the inner side of the robot bracket 7 and the outer gear ring 5. Specifically, a pipeline 23 is connected between one end of the piston main cylinder 18 and one end of the piston sub-cylinder 17, and the piston main cylinder 18 is connected to the piston sub-cylinder 17 through the pipeline 23. The connection between the pipeline 23 and the piston main cylinder 18 is at the end close to the hydraulic oil in the piston main cylinder 18, and the end of the piston main cylinder 18 away from the hydraulic oil is provided with a through hole for air inlet and outlet. The piston sub-cylinder 17 is preferably an arc-shaped structure whose curvature is adapted to the outer gear ring 5. An arc-shaped arc-shaped piston rod 24 is provided on the inner side of the piston sub-cylinder 17. The center of the displacement of the arc-shaped piston rod 24 coincides with the center of the outer gear ring 5, and one end of the arc-shaped piston rod 24 is fixedly connected to the inner side of the outer gear ring 5. A third gear 29 located between the two telescopic arms 3 is rotatably provided in the middle part of the inner side of the square tube 2. A third rack 30 meshing with the third gear 29 is provided on the side wall of one end of the telescopic arm 3 close to the third gear 29, and a first rack 15 extending to the outside of the square tube 2 and meshing with the outer gear ring 5 is provided on the lower end side of the telescopic arm 3 close to the first turntable 1.

[0024] like Figure 9-Figure 14As shown, it also includes an extension component for increasing the contact area between the lifting manipulator 4 and the bottom longitudinal beam of the vehicle, the extension component includes a guide hole 31 arranged at the end of the telescopic arm 3, the inner side of the guide hole 31 is vertically and movably connected with a hollow first column 32, the lifting manipulator 4 is fixed to the top of the first column 32, the inner wall of the guide hole 31 is fixed with a fixing block 41, the side wall of the first column 32 is provided with a through groove 40 movably matched with the fixing block 41, the top of the fixing block 41 is provided with a second column 43, the upper end side wall of the second column 43 is provided with a guide block 45, the lifting manipulator 4 is a hollow structure, and a rotating sleeve 42 corresponding to the second column 43 is rotatably provided in the middle of the inner side of the lifting manipulator 4, the upper end of the second column 43 is movably connected to the inner side of the rotating sleeve 42, and the rotating sleeve 45 is provided with a guide block 46. 2 is provided with a spiral fourth guide groove 46, the guide block 45 is movably guided and matched with the fourth guide groove 46, the outer side of the rotating sleeve 42 is fixedly provided with a second turntable 37 located on the inner side of the lifting manipulator 4, the outer periphery of the second turntable 37 is provided with an arc-shaped third guide groove 38, the side wall of the lifting manipulator 4 is penetrated and movably connected with a mechanical finger 28, the inner end of the mechanical finger 28 is provided with a guide wheel 39 movably guided and matched with the third guide groove 38, the top of the outer end of the mechanical finger 28 is flush with the top of the lifting manipulator 4, in order to facilitate the resetting of the first column 32, an elastic member 44 is provided between the top of the fixed block 41 and the inner top of the through groove 40, the elastic member 44 is preferably a spring, and the spring sleeve is arranged on the outside of the second column 43 for direct spring stability.

[0025] like Fig.11 As shown, a pressure driving assembly for driving the first rack 15 to separate from the outer gear ring 5 is provided on the telescopic arm 3 near the first turntable 1, and the pressure driving assembly includes a driving rod 33 movably arranged on the inner side of the telescopic arm 3 and corresponding to the first rack 15, a guide shaft 35 is provided at the bottom of one end of the driving rod 33, a second guide groove 34 is obliquely provided at the top of the first rack 15, and the lower end of the guide shaft 35 is movably guided and matched with the second guide groove 34, an end of the driving rod 33 away from the guide shaft 35 corresponds to the first column 32, and a corresponding force block 36 is provided on the end corresponding to the first column 32 and the side wall of the first column 32, and the force block 36 on the driving rod 33 is slidably matched with the inclined surface of the force block 36 on the side wall of the first column 32, and is configured so that when the lifting manipulator 4 moves downward, the first rack 15 moves in a direction away from the outer gear ring 5. Specifically, the opposite side of the two force blocks 36 is an adaptive inclined surface, one of which is provided with a linear guide rail, and the other inclined surface is movably connected to the linear guide rail.

[0026] When in use, the robot is placed next to the vehicle that needs to be moved, and then the second driving source 10 is controlled to drive the track wheel 20 to rotate, and the track wheel 20 drives the track 6 to operate, and then move to the bottom of the vehicle, adjust the position, so that the robot is located in the middle area of ​​the bottom of the vehicle, and the square tube 2 is located on both sides of the vehicle, and then the first driving source 9 is controlled to drive the second gear 26 to rotate, the second gear 26 drives the second rack 25 to move, and the second rack 25 drives the pin 22 on the mounting frame 16 to move, and then under the joint action of the lifting arm 11, the first guide groove 21, the pin 22 and their movable connection, the crossed lifting arm 11 is gradually unfolded, the robot bracket 7 drives the first turntable 1 to rise, the walking mechanism is separated from the bottom of the robot bracket 7, and with the displacement of the pin 22, the piston rod 27 is driven to move, the piston rod 27 pushes the hydraulic oil, the hydraulic oil pushes the arc piston rod 24, and the arc piston rod 24 drives the outer gear ring 5 to rotate, and the outer gear ring 5 drives a telescopic arm 3 to extend outward through the first rack 15, and under the action of the third gear 29 and the third rack 30 The other telescopic arm 3 extends synchronously and in the opposite direction. As the first turntable 1 rises, the lifting manipulator 4 gradually contacts the longitudinal beam on the side of the bottom of the vehicle. The lifting manipulator 4 is pressed to drive the first column 32 to move downward, and the elastic member 44 is compressed. Under the action of the guide block 45 and the fourth guide groove 46, the rotating sleeve 42 drives the second turntable 37 to rotate. Under the action of the third guide groove 38 and the guide wheel 39, the manipulator finger 28 extends. At the same time, when the first column 32 close to the first turntable 1 moves downward, it will also drive the force block 36 to push the force at the end of the driving rod 33. The block 36 is displaced, and then the driving rod 33 is pushed to displace, and the driving rod 33 drives the guide shaft 35 and drives the first rack 15 to separate from the outer ring gear 5 through the second guide groove 34, and then the walking mechanism is controlled again to move the vehicle. When the vehicle needs to turn around on the spot, the third driving source 14 is controlled to drive the first gear 13 to rotate, and the first gear 13 drives the inner ring gear 12 to rotate, and then the inner ring gear 12 drives the vehicle to rotate through the first turntable 1, and because the first rack 15 and the outer ring gear 5 are in a separated state, no motion interference will occur.

[0027] The technical scope of the present invention is not limited to the contents in the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of ​​the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A three-axis mobile platform device for moving vehicles, characterized in that: The robot comprises a robot support and a lifting mechanism arranged at the bottom of the robot support, a walking mechanism is arranged at the lower end of the lifting mechanism, a rotating mechanism is arranged at the upper end of the robot support, the rotating mechanism comprises an inner gear ring rotatably arranged at the outer periphery of the top of the robot support, a first turntable is arranged at the upper end of the inner gear ring, a third driving source is arranged at one end of the bottom of the robot support, and a first gear meshing with the inner gear ring is arranged at the output end of the third driving source; a lifting mechanical arm assembly is arranged on the side wall of the first turntable, the lifting mechanical arm assembly comprises a square tube arranged on the side wall of the first turntable, telescopic arms are movably connected to the inner sides of both ends of the square tube, and a lifting mechanical hand higher than the first turntable is arranged at the end of the telescopic arm; and a hydraulic driving assembly which is linked with the lifting mechanism and used to drive the telescopic arm to extend is also included. The hydraulic drive assembly includes a piston main cylinder arranged at one end of the inner side of the robot bracket, hydraulic oil is arranged at one end of the inner side of the piston main cylinder, a piston rod is movably arranged on the inner side of the piston main cylinder, and the end of the piston rod is connected to the lifting mechanism, an outer gear ring is rotatably arranged on the inner side of the side wall of the lower end of the robot bracket, a piston sub-cylinder connected to the piston main cylinder is arranged at the corresponding part of the inner side of the robot bracket and the outer gear ring, an arc-shaped arc-shaped piston rod is arranged on the inner side of the piston sub-cylinder, and one end of the arc-shaped piston rod is fixedly connected to the inner side of the outer gear ring, a third gear located between the two telescopic arms is rotatably arranged on the middle part of the inner side of the square tube, a third rack meshing with the third gear is arranged on the side wall of one end of the telescopic arm close to the third gear, and a first rack meshing with the outer gear ring is arranged on the lower end side of the telescopic arm close to the first turntable.

2. The three-axis mobile platform device for moving vehicles according to claim 1, characterized in that: The lifting mechanism includes a pair of mounting frames installed on the bottom wall of the robot bracket, a pair of lifting arms that are cross-movably connected are provided on both sides of the mounting frame, a walking frame is provided at the lower end of the lifting arm, the walking frame and the side wall of one end of the mounting frame are provided with a first guide groove, and a pin shaft is movably provided in the first guide groove, wherein the upper ends of a pair of lifting arms are movably connected to the pin shaft ends on the mounting frame, and the lower ends are movably connected to one end of the walking bracket, and the lower ends of another pair of lifting arms are movably connected to the pin shaft ends on the walking bracket, and the upper ends are movably connected to one end of the mounting frame, a first driving source is provided on one side of the mounting frame, and a second gear driven to rotate by the first driving source is provided at the output end of the first driving source, and one end of the pin shaft located on the mounting frame is connected to a second rack meshing with the second gear.

3. The three-axis mobile platform device for moving vehicles according to claim 2, characterized in that: One end of the piston rod is connected to the end of a pin shaft on one of the mounting brackets.

4. The three-axis mobile platform device for moving vehicles according to claim 1, characterized in that: The invention also includes an extension component for increasing the contact area between the lifting manipulator and the bottom longitudinal beam of the vehicle, the extension component includes a guide hole arranged at the end of the telescopic arm, the inner side of the guide hole is vertically and movably connected with a hollow first column, the lifting manipulator is fixed to the top of the first column, the inner wall of the guide hole is fixed with a fixing block, the side wall of the first column is provided with a through groove movably matched with the fixing block, the top of the fixing block is provided with a second column, the upper end side wall of the second column is provided with a guide block, the lifting manipulator is a hollow structure, and the inner middle part of the lifting manipulator is provided with a rotating device A rotating sleeve corresponding to the second column is provided, the upper end of the second column is movably connected to the inner side of the rotating sleeve, the inner wall of the rotating sleeve is provided with a spiral fourth guide groove, the guide block cooperates with the fourth guide groove for movably guiding, the outer side of the rotating sleeve is fixedly provided with a second turntable located on the inner side of the lifting manipulator, the outer periphery of the second turntable is provided with an arc-shaped third guide groove, a mechanical finger is movably connected through the side wall of the lifting manipulator, the inner end of the mechanical finger is provided with a guide wheel cooperating with the third guide groove for movably guiding, and the top of the outer end of the mechanical finger is flush with the top of the lifting manipulator.

5. The three-axis mobile platform device for moving vehicles according to claim 4, characterized in that: A pressure drive assembly for driving the first rack to separate from the outer gear ring is arranged on the telescopic arm near the first turntable, the pressure drive assembly includes a drive rod movably arranged on the inner side of the telescopic arm and corresponding to the first rack, a guide shaft is arranged at the bottom of one end of the drive rod, a second guide groove is obliquely arranged at the top of the first rack, the lower end of the guide shaft is movably guided in the second guide groove, the end of the drive rod away from the guide shaft corresponds to the first column, and the end corresponding to the first column and the side wall of the first column are provided with corresponding force blocks, and the force block on the drive rod is slidably matched with the inclined surface of the force block on the side wall of the first column, and is configured so that when the lifting manipulator moves downward, the first rack moves in a direction away from the outer gear ring.

6. The three-axis mobile platform device for moving vehicles according to claim 4, characterized in that: An elastic member is arranged between the top of the fixing block and the inner top of the through slot.

7. The three-axis mobile platform device for moving vehicles according to claim 2, characterized in that: The walking mechanism comprises crawler wheels rotatably arranged at both ends of the walking bracket, the crawler wheels are externally meshed with crawlers, and a second driving source for driving the crawler wheels to rotate is arranged on the side wall of one lifting arm.

8. The three-axis mobile platform device for moving vehicles according to claim 7, characterized in that: The bottom of the robot bracket is in an open shape, the lifting mechanism is installed on the inner side of the opening, and the walking mechanism of the lifting mechanism is initially hidden on the inner side of the opening.

9. The three-axis mobile platform device for moving vehicles according to claim 6, characterized in that: The elastic member is a spring, and the spring is sleeved outside the second column.

10. A three-axis mobile platform device for moving vehicles according to any one of claims 1 to 9, characterized in that: A power source is arranged inside one end of the robot bracket.

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