A three-axis mobile platform device for general vehicle relocation

Abstract

The present invention relates to the technical field of robots, and discloses a three-axis mobile platform device for general vehicle relocation, which includes 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 robotic arm assembly is arranged on the side wall of the first turntable. The lifting robotic arm assembly includes a square tube arranged on the side wall of the first turntable, and telescopic arms are movably connected to the inner sides of both ends of the square tube; a hydraulic drive assembly is also included, which is linked with the lifting mechanism and is used to drive the telescopic arms to extend. The three-axis mobile platform device for general vehicle relocation forms a three-axis robot through the arranged lifting mechanism, walking mechanism and rotating mechanism. It can not only realize the lifting and handling of vehicles, but also rotate in place to turn around, which is convenient to use and solves problems such as inability to turn around in place on narrow roads.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a three-axis mobile platform device for general vehicle relocation. Background Art

[0002] Existing vehicle relocation robots mainly consist of a traveling mechanism, a lifting mechanism, and a robotic arm. Generally, they are biaxial robots. The traveling mechanism mostly adopts a biaxial wheeled or crawler chassis, which is equipped with a navigation module to autonomously move under the vehicle. The lifting mechanism vertically jacks up the vehicle. The robotic arm is usually folded and stored on the side wall, and manual operation is required on both sides of the vehicle to unfold it and adjust it to the position of the vehicle's longitudinal beam at the bottom, and then lift the vehicle to complete the relocation operation.

[0003] However, the current technology has significant limitations: Firstly, the biaxial drive design has a large turning radius, making it difficult to perform a U-turn in a narrow road surface. Multiple forward and backward adjustments are required, resulting in low efficiency and easy collisions. Secondly, in order to save space and reduce the volume, the robotic arm on the side wall of the existing robot is often hidden. Before moving under the vehicle to lift the vehicle, the robotic arm often needs to be manually extended to the side longitudinal beam at the bottom of the vehicle, and operators are required to perform operations on both sides of the bottom of the vehicle respectively. As a result, it is time-consuming and laborious, affecting efficiency and having poor practicability.

[0004] Therefore, it is necessary to propose a three-axis mobile platform device for general vehicle relocation 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 existing in the prior art. The present invention proposes a three-axis mobile platform device for general vehicle relocation, which solves the problems of the prior art that it is difficult to perform a U-turn in a narrow road surface and the large amount of manual participation.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: A three-axis mobile platform device for general vehicle relocation, including 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. The rotating mechanism includes an internal gear ring rotatably arranged on the periphery of the top of the robot bracket. A first turntable is arranged at the upper end of the internal gear ring. 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 internal gear ring; A lifting manipulator assembly is arranged on the side wall of the first turntable. The lifting manipulator assembly includes 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. The end of the telescopic arm is provided with a lifting manipulator higher than the first turntable; It also includes a hydraulic driving component linked with the lifting mechanism and used to drive the telescopic arm to extend. The hydraulic driving component includes a piston main cylinder arranged at one end inside the robot bracket. Hydraulic oil is arranged at one end inside the piston main cylinder. A piston rod is movably arranged inside the piston main cylinder, and the end of the piston rod is connected to the lifting mechanism. An external gear ring is rotatably arranged on the inner side wall of the lower end of the robot bracket. A piston sub-cylinder communicated with the piston main cylinder is arranged at the corresponding position of the inner side of the robot bracket and the external gear ring. An arc-shaped piston rod is arranged inside the piston sub-cylinder, and one end of the arc-shaped piston rod is fixedly connected to the inner side of the external gear ring. A third gear located between the two telescopic arms is rotatably arranged in the middle of the inner side of the square tube. A third rack meshing with the third gear is arranged on the side wall of the telescopic arm close to the third gear. A first rack meshing with the external gear ring is arranged on the lower side surface of the telescopic arm close to the first turntable.

[0007] Preferably, the lifting mechanism includes a pair of mounting brackets installed on the bottom wall of the robot bracket. A pair of cross-activity-connected lifting arms are arranged on both sides of the mounting brackets. A walking bracket is arranged at the lower end of the lifting arms. First guide grooves are arranged on the side walls of one end of the walking bracket and the mounting brackets. A pin shaft is movably arranged in the first guide grooves. The upper ends of one pair of lifting arms are movably connected to the end of the pin shaft on the mounting bracket, and the lower ends are movably connected to one end of the walking bracket. The lower ends of the other 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 bracket. A first driving source is arranged on one side of the mounting bracket. The output end of the first driving source is provided with a second gear driven by the first driving source to rotate. One end of the pin shaft located on the mounting bracket is connected with a second rack meshing with the second gear.

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

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

[0010] Preferably, a pressure driving component for driving the first rack to separate from the external gear ring is provided on the telescopic arm close to the first turntable. The pressure driving component includes a driving rod movably provided inside the telescopic arm and corresponding to the first rack. A guide shaft is provided at the bottom of one end of the driving rod. A second guide groove is obliquely provided on the top of the first rack. The lower end of the guide shaft is movably and guidingly matched with the second guide groove. The end of the driving rod away from the guide shaft corresponds to the first column, and corresponding force receiving blocks are provided on the end corresponding to the first column and the side wall of the first column. The force receiving block on the driving rod is in sliding fit with the inclined surface of the force receiving block on the side wall of the first column, and is configured such that when the lifting manipulator moves downward, the first rack moves away from the external gear ring.

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

[0012] Preferably, the traveling mechanism includes crawler wheels rotatably provided at both ends of the traveling bracket. A crawler is externally engaged with the crawler wheels. A second driving source for driving the rotation of the crawler wheels is provided on the side wall of one of the lifting arms.

[0013] Preferably, the bottom of the robot bracket is in an open shape. The lifting mechanism is installed inside the opening, and the traveling mechanism is hidden inside the opening when the lifting mechanism is in its initial state.

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

[0015] Preferably, a power supply is provided inside one end of the robot bracket.

[0016] Compared with the prior art, the beneficial effects of the present invention include: 1. The universal three-axis mobile platform device for vehicle relocation forms a three-axis robot through the arranged lifting mechanism, traveling mechanism and rotating mechanism. It can not only lift and carry the vehicle, but also rotate and turn around in place, which is convenient to use and solves the problems such as inability to turn around in place on narrow roads. 2. The universal three-axis mobile platform device for vehicle relocation can realize the automatic extension of the lifting manipulator by the cooperation of the lifting manipulator assembly and the hydraulic drive assembly. The hydraulic drive assembly is linked with the lifting mechanism, and can gradually expand the lifting manipulator to the side longitudinal beam at the bottom of the vehicle in the early stage of rising, and then realize the lifting without manual operation, which increases the convenience and improves the efficiency. 3. The universal three-axis mobile platform device for vehicle relocation can use the pressure when lifting the vehicle to expand the mechanical fingers through the arranged expansion assembly, thereby increasing the contact area between the lifting manipulator and the longitudinal beam at the bottom of the vehicle, increasing the stability. Moreover, when not in use, the mechanical fingers are in a hidden state, saving space. The setting of the pressure drive assembly can also use the pressure when lifting the vehicle to separate the first rack from the external gear ring, thus 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 will be described 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 drawings, the same reference numerals are used to refer to the same components.

[0018] Wherein: Figure 1 Schematically shows the structural diagram of the present invention; Figure 2 Schematically shows the present invention Figure 1 The structural diagram of another perspective on the basis; Figure 3 Schematically shows the structural diagram of the present invention in a disassembled state; Figure 4 Schematically shows the present invention Figure 3 The structural diagram of another perspective on the basis; Figure 5 Schematically shows the structural diagram of the present invention in the cooperation state of the external gear ring and the lifting mechanism; Figure 6 Schematically shows the overall structural diagram of the lifting mechanism and the traveling mechanism of the present invention; Figure 7 Schematically shows the present invention Figure 6 The structural diagram of another perspective on the basis; Figure 8 Schematically shows the sectional structural diagram of the piston main cylinder and the piston sub-cylinder of the present invention; Figure 9 Schematically shows the structural diagram of the lifting manipulator assembly of the present invention; Figure 10 Schematically shows the present invention Figure 9 The structural diagram of the disassembled state on the basis; Figure 11 Schematically shows the structural diagram of the telescopic arm near the first turntable in a disassembled state of the present invention;Figure 12 Schematically shows the structural schematic diagram of the stretching component of the present invention in a disassembled state; Figure 13 Schematically shows the present invention Figure 12 The structural schematic diagram from another perspective on this basis; Figure 14 Schematically shows the cross-sectional structural schematic diagram of the rotating sleeve proposed in an embodiment of the present invention.

[0019] Reference numerals in the figure: 1, first turntable; 2, square pipe; 3, telescopic arm; 4, lifting manipulator; 5, external gear ring; 6, crawler; 7, robot bracket; 8, power supply; 9, first driving source; 10, second driving source; 11, lifting arm; 12, internal gear ring; 13, first gear; 14, third driving source; 15, first rack; 16, mounting bracket; 17, piston secondary 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, driving rod; 34, second guide groove; 35, guide shaft; 36, force-bearing block; 37, second turntable; 38, third guide groove; 39, guide wheel; 40, through groove; 41, fixing block; 42, rotating sleeve; 43, second column; 44, elastic member; 45, guide block; 46, fourth guide groove. Specific embodiments

[0020] It is easy to understand that according to the technical solution of the present invention, without changing the essence of the present invention, those of ordinary skill in the art can propose various interchangeable structural forms and implementation manners. Therefore, the following specific embodiments and the accompanying drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as all of the present invention or as a limitation or restriction on the technical solution of the present invention.

[0021] According to an embodiment of the present invention in combination with Figure 1-14 Shown.

[0022] Such as Figures 1-7As shown in the figure, a three-axis mobile platform device for general vehicle relocation includes a robot bracket 7 and a lifting mechanism disposed at the bottom of the robot bracket 7. A traveling mechanism is provided at the lower end of the lifting mechanism. A power supply 8 is disposed inside one end of the robot bracket 7. The bottom of the robot bracket 7 is in an open shape, and the lifting mechanism is installed inside the opening. Initially, the traveling mechanism is hidden inside the opening. The lifting mechanism includes a pair of mounting brackets 16 installed on the bottom wall of the robot bracket 7. A pair of lifting arms 11 that are cross-actively connected are provided on both sides of the mounting bracket 16. A traveling bracket 19 is provided at the lower end of the lifting arm 11. First guide grooves 21 are provided on the side walls of one end of the traveling bracket 19 and the mounting bracket 16. A pin shaft 22 is movably disposed in the first guide groove 21. The upper ends of one pair of lifting arms 11 are movably connected to the ends of the pin shafts 22 on the mounting bracket 16, and the lower ends are movably connected to one end of the traveling bracket 19. The lower ends of the other pair of lifting arms 11 are movably connected to the ends of the pin shafts 22 on the traveling bracket 19, and the upper ends are movably connected to one end of the mounting bracket 16. A first driving source 9 is provided on one side of the mounting bracket 16. The first driving source 9 is preferably a reduction motor. A second gear 26 driven to rotate by the first driving source 9 is provided at the output end of the first driving source 9. One end of the pin shaft 22 located on the mounting bracket 16 is connected to a second rack 25 that meshes with the second gear 26. The second rack 25 is movably connected to the side wall of the mounting bracket 16 through a linear guide rail. The traveling mechanism includes crawler wheels 20 rotatably disposed at both ends of the traveling bracket 19. A crawler 6 is externally engaged with the crawler wheels 20. A second driving source 10 for driving the crawler wheels 20 to rotate is provided on the side wall of one of the lifting arms 11. A rotating mechanism is provided at the upper end of the robot bracket 7. The rotating mechanism includes an internal gear ring 12 rotatably disposed on the outer periphery of the top of the robot bracket 7. A first turntable 1 is provided at the upper end of the internal gear ring 12. A third driving source 14 is provided at one end of the bottom of the robot bracket 7. The third driving source 14 is preferably a reduction motor. A first gear 13 that meshes with the internal gear ring 12 is provided at the output end of the third driving source 14; As Figures 1-4 shown in the figure, a lifting manipulator assembly is provided on the side wall of the first turntable 1. The lifting manipulator assembly includes a square tube 2 fixedly provided on the side wall of the first turntable 1. Telescopic arms 3 are movably connected to the inner sides of both ends of the square tube 2. A lifting manipulator 4 higher than the first turntable 1 is provided at the end of the telescopic arm 3.

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

[0024] As Figures 9-14As shown in the figure, it further includes an extension assembly for increasing the contact area between the lifting manipulator 4 and the longitudinal beam at the bottom of the vehicle. The extension assembly includes a guide hole 31 provided at the end of the telescopic arm 3. A hollow first column 32 is vertically movably connected to the inner side of the guide hole 31. The lifting manipulator 4 is fixed to the top of the first column 32. A fixed block 41 is fixed to the inner wall of the guide hole 31. A through groove 40 that is movably matched with the fixed block 41 is provided on the side wall of the first column 32. A second column 43 is provided on the top of the fixed block 41. A guide block 45 is provided on the upper side wall of the second column 43. The lifting manipulator 4 is of 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. A spiral fourth guide groove 46 is provided on the inner wall of the rotating sleeve 42. The guide block 45 is movably and guidingly matched with the fourth guide groove 46. A second turntable 37 located inside the lifting manipulator 4 is fixedly provided on the outer side of the rotating sleeve 42. An arc-shaped third guide groove 38 is provided on the periphery of the second turntable 37. A mechanical finger 28 is movably connected through the side wall of the lifting manipulator 4. A guide wheel 39 that is movably and guidingly matched with the third guide groove 38 is provided at the inner end of the mechanical finger 28. 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 reset 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 in order to directly improve the stability of the spring, the spring is sleeved outside the second column 43.

[0025] As Figure 11 shown in the figure, 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 close to the first turntable 1. The pressure driving assembly includes a driving rod 33 movably provided inside 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 inclinedly provided on the top of the first rack 15. The lower end of the guide shaft 35 is movably and guidingly matched with the second guide groove 34. The end of the driving rod 33 away from the guide shaft 35 corresponds to the first column 32, and corresponding force receiving blocks 36 are provided at the end corresponding to the first column 32 and on the side wall of the first column 32. The force receiving block 36 on the driving rod 33 is in sliding fit with the inclined surface of the force receiving block 36 on the side wall of the first column 32, and is configured such that when the lifting manipulator 4 moves downward, the first rack 15 moves away from the outer gear ring 5. Specifically, the opposite sides of the two force receiving blocks 36 are adapted inclined surfaces, and a linear guide rail is provided on one of the inclined surfaces, and the other inclined surface is movably connected to the linear guide rail.

[0026] When in use, place the robot beside the vehicle to be moved, then control the second drive source 10 to drive the crawler wheels 20 to rotate. The crawler wheels 20 drive the crawler 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 at the bottom of the vehicle, and the square tube 2 is located on both sides of the vehicle. Then control the first drive source 9 to drive the second gear 26 to rotate. The second gear 26 drives the second rack 25 to displace. The second rack 25 drives the pin shaft 22 on the mounting bracket 16 to displace. Then, under the combined action of the lifting arm 11, the first guide groove 21, the pin shaft 22 and their movable connections, the intersecting lifting arms 11 are gradually unfolded. The robot bracket 7 drives the first turntable 1 to rise, and the traveling mechanism disengages from the bottom of the robot bracket 7. And with the displacement of the pin shaft 22, the piston rod 27 is driven to displace. The piston rod 27 pushes the hydraulic oil, and the hydraulic oil pushes the arc-shaped piston rod 24. The arc-shaped piston rod 24 drives the outer gear ring 5 to rotate. The outer gear ring 5 drives a telescopic arm 3 to extend outward through the first rack 15. 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 mechanical fingers 28 extend. At the same time, when the first column 32 close to the first turntable 1 moves downward, it will also drive the force-bearing block 36 to push the force-bearing block 36 at the end of the drive rod 33 to displace. Then the drive rod 33 is pushed to displace. The drive rod 33 drives the guide shaft 35 and drives the first rack 15 to separate from the outer gear ring 5 through the second guide groove 34. After that, control the traveling mechanism to move the vehicle again. When it is necessary to turn the vehicle in place, control the third drive source 14 to drive the first gear 13 to rotate. The first gear 13 drives the inner gear ring 12 to rotate. Then the inner gear ring 12 drives the vehicle to rotate through the first turntable 1. And because the first rack 15 and the outer gear ring 5 are in a separated state, there will be no movement interference.

[0027] The technical scope of the present invention is not limited to the content described above. 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, crawler tracks are meshed on the outside of the crawler wheels, 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 on the inner side of one end of the robot bracket.

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