Portable car moving robot

Abstract

The invention relates to a portable car moving robot which comprises a car lifting unit and a car moving unit, the car lifting unit is used for lifting wheels of a car, and the car moving unit is used for supporting the wheels of the car and moving the car after the car lifting unit lifts the wheels; wherein the car lifting unit comprises a driving joint, a first car lifting rod, a wheel fixing frame, a wheel supporting rod, a wheel and a second car lifting rod, when the input end of the driving joint inputs acting force, the first car lifting rod and the second car lifting rod are driven to contract, and when the first car lifting rod and the second car lifting rod contract, the wheels of a car are lifted; the car moving unit comprises an intelligent moving trolley and moving wheels, the intelligent moving trolley is used for bearing wheels of the car lifted by the car lifting unit, and the moving wheels are used for moving the intelligent moving trolley. According to the portable vehicle moving robot, the operation mode that the vehicle lifting unit and the vehicle moving unit cooperatively operate is adopted, the portability and practicability of the vehicle moving robot are improved, and an anchored vehicle can be quickly transferred to a safe area in the field of emergency rescue.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a portable car-moving robot. Background Art

[0002] In recent years, with the development of social economy, the per capita car ownership has become higher and higher. At the same time, due to the sharp increase in the number of cars, the roads are too crowded with vehicles, and the phenomenon of random parking of vehicles is common, which seriously hinders traffic convenience. Especially when traffic accidents and road rescue operations occur, the vehicles cannot be moved in time, affecting the rescue and emergency time.

[0003] Car moving robots are often used to move cars to clear blocked passages and quickly and stably move cars. However, most existing car moving robots are crawler mobile robots, which are large in size and weight, and are not easy to carry. In addition, they use a bottom support method when moving cars, which makes it difficult to find the correct support point and easily causes damage to the vehicle, thereby causing external property losses. At the same time, this support method is difficult to adapt to the different suspension heights of different car models. Therefore, a portable car moving robot is needed to meet its portability and applicability requirements. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems in the prior art that the car moving robot occupies a large area and is inconvenient to carry, and it is difficult to find a support point.

[0005] In order to solve the above technical problems, the present invention provides a portable car-moving robot, comprising: a car-lifting unit and a car-moving unit, wherein the car-lifting unit and the car-moving unit are independent structures, the car-lifting unit is used to lift the wheels of the car, and the car-moving unit is used to support the wheels of the car and move the car after the car-lifting unit lifts the wheels; wherein the car-lifting unit comprises a driving joint, a first car-lifting rod, a wheel fixing frame, a wheel supporting rod, wheels, and a second car-lifting rod, the upper ends of the first car-lifting rod and the second car-lifting rod are both connected to the driving joint, and the first car-lifting rod and the second car-lifting rod are arranged in a "V" shape with an open lower end, the lower ends of the first car-lifting rod and the second car-lifting rod are both connected to wheels, and the driving joint When the input end of the movable joint inputs a force, the "V"-shaped opening between the first car lifting rod and the second car lifting rod is driven to shrink, and the first car lifting rod and the second car lifting rod drive the driving joint to move upward, the upper end of the wheel fixing frame is connected to the driving joint, and the wheel fixing frame is a tripod, and the two corners of the lower end of the wheel fixing frame are connected to wheel support rods, and the wheel support rods are used to lift the wheels of the car when the first car lifting rod and the second car lifting rod are retracted; the car moving unit includes an intelligent mobile trolley and moving wheels, and the moving wheels are arranged on the lower end surface of the intelligent mobile trolley. The intelligent mobile trolley is used to support the wheels of the car lifted by the car lifting unit, and the moving wheels are used to move the intelligent mobile trolley. The portable car moving robot of the present invention, the operation mode of the car lifting unit and the car moving unit working in coordination, improves the portability and practicality of the car moving robot, and helps to quickly transfer the stranded car to a safe area in the field of emergency rescue.

[0006] In one embodiment of the present invention, a supporting steel ball is provided on the lower end surface of the intelligent mobile vehicle, and the supporting steel ball is used to support the intelligent mobile vehicle.

[0007] In one embodiment of the present invention, the number of the moving wheels is two, the number of the supporting steel balls is two, the two moving wheels and the two supporting steel balls are respectively located at the four corners of the rectangular cross-section, the two moving wheels are located on one of the diagonals of the rectangular cross-section, and the two supporting steel balls are located on the other diagonal of the rectangular cross-section.

[0008] In one embodiment of the present invention, a square groove is provided on the upper end surface of the intelligent mobile vehicle, and the square groove is used to clamp the tire of the vehicle.

[0009] In one embodiment of the present invention, the upper end of the first vehicle lifting rod is connected to the output end of the driving joint, and the upper end of the second vehicle lifting rod is connected to the fixed end of the driving joint.

[0010] In one embodiment of the present invention, the wheel support rod is composed of three connecting rods, and the three connecting rods are arranged in an "A" shape. The three connecting rods are hinged to each other, and the hinged upper ends of two of the connecting rods are connected to the driving joint, and the lower end of the connecting rod connected to the driving joint is connected to the wheel support rod.

[0011] In one embodiment of the present invention, the distance between the wheel support rods connected to the lower ends of the two connecting rods is smaller than the diameter of the vehicle wheel.

[0012] In one embodiment of the present invention, the first vehicle lifting rod and the second vehicle lifting rod are symmetrically arranged with the vertical axis where the center of the driving joint is located as the symmetry axis.

[0013] In one embodiment of the present invention, the vertical center axes of the three connecting rods are coaxial with the vertical axis where the center of the driving joint is located.

[0014] In one embodiment of the present invention, the wheel support rod is a cylindrical rod.

[0015] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The portable car-moving robot described in the present invention has a car-lifting unit that functions to lift each tire of the car separately, making it easier for the car-moving robot to enter the bottom of the wheel. Four car-moving units and one car-lifting unit form a group and work together, greatly improving the application range, practicality, portability and flexibility of the car-moving robot. The present invention addresses the shortcomings of existing car-moving robots, such as the need for dedicated transportation equipment, poor portability, difficulty in finding support points for the bottom support, and difficulty in adapting to the suspension heights of different car models. The car-moving robot directly acts on the tires. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1 This is a schematic diagram of the structure of the portable car-moving robot in the preferred embodiment of the present invention when in use; Figure 2 It is an axonometric diagram of a car lift unit in a preferred embodiment of the present invention; Figure 3 The structure of the vehicle moving unit in the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Figure 4 The structure of the vehicle moving unit in the preferred embodiment of the present invention is shown in FIG. Figure 2 ; Figure 5 This is a front view of the portable car-moving robot in the preferred embodiment of the present invention when in use; Figure 6A schematic diagram of the structure of a portable car-moving robot in a preferred embodiment of the present invention; Figure 7 Analytical parameter diagram of the portable car-moving robot in the preferred embodiment of the present invention; Figure 8 This is a simplified structural diagram of the extreme posture of the portable car-moving robot in the preferred embodiment of the present invention; Fig. 9 This is a simplified structural diagram of the second extreme posture of the portable car-moving robot in the preferred embodiment of the present invention; Fig.10 This is a force analysis diagram of the portable car-moving robot in the preferred embodiment of the present invention; Fig.11 A curve diagram showing the variation of the minimum torque required to drive the joint with h in a preferred embodiment of the present invention; Fig.12 The minimum torque required to drive the joint in the preferred embodiment of the present invention The change curve diagram of Fig.13 The minimum torque required to drive the joint in the preferred embodiment of the present invention 's change curve graph.

[0017] Explanation of the reference numerals in the specification: lifting unit 1, driving joint 101, first lifting rod 102, wheel fixing frame 103, wheel supporting rod 104, wheel 105, second lifting rod 106, moving unit 2, intelligent mobile cart 201, moving wheel 202, supporting steel ball 203, square groove 204, wheel 3. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0019] Reference Figure 1 , 5 As shown, the portable car moving robot of the present invention comprises: a car lifting unit 1 and a car moving unit 2, wherein the car lifting unit 1 and the car moving unit 2 are independent structures, wherein the car lifting unit 1 is used to lift the wheels of the car, and the car moving unit 2 is used to support the wheels of the car and move the car after the car lifting unit 1 lifts the wheels. The portable car moving robot is composed of a car lifting unit and a car moving unit, wherein the function of the car lifting unit is to lift each tire of the car separately, so that the car moving unit can enter the bottom of the wheel. Four car moving units and one car lifting unit form a group and work in coordination, which greatly improves the application scope, practicality, portability and flexibility of the car moving robot. At the same time, the portable car moving robot designed by the present invention has the advantages of small size, good portability, and the ability to adapt to different car models and suspension heights.

[0020] Reference Figure 2 As shown, the vehicle lifting unit 1 includes a driving joint 101, a first vehicle lifting rod 102, a wheel fixing frame 103, a wheel supporting rod 104, a wheel 105 and a second vehicle lifting rod 106. The upper ends of the first vehicle lifting rod 102 and the second vehicle lifting rod 106 are connected to the driving joint 101, and the first vehicle lifting rod 102 and the second vehicle lifting rod 106 are arranged in a "V" shape with an open lower end. The lower ends of the first vehicle lifting rod 102 and the second vehicle lifting rod 106 are connected to the wheel 105. The input end of the driving joint 101 is input When force is applied, the "V"-shaped opening between the first car lifting rod 102 and the second car lifting rod 106 is driven to shrink, and the first car lifting rod 102 and the second car lifting rod 106 drive the driving joint 101 to move upward, the upper end of the wheel fixing frame 103 is connected to the driving joint 101, and the wheel fixing frame 103 is a tripod, and the two corners of the lower end of the wheel fixing frame 103 are connected to the wheel support rod 104, and the wheel support rod 104 is used to lift the wheels of the car when the first car lifting rod 102 and the second car lifting rod 106 are retracted.

[0021] In the car lifting unit 1, the first car lifting rod 102 is connected to the output end of the driving joint 101, and the second car lifting rod 106 is connected to the fixed end of the driving joint 101. When the driving joint 101 drives the first car lifting rod 102 to move inward, the second car lifting rod 106 will move inward at the same time due to the reaction force of the fixed end. Since the force driving the first car lifting rod 102 to move and the force driving the second car lifting rod 106 are in the relationship of action and reaction, the forces on the first car lifting rod 102 and the second car lifting rod 106 are equal. Under ideal conditions, the first car lifting rod 102 and the second car lifting rod 106 will move inward at the same speed and angle, thereby driving the wheel support rod 104 and the wheel fixing frame 103 to move vertically upward, thereby realizing the action of lifting the wheel. The structure of the driving joint 101 refers to the prior application, application number: CN201920596129.1, and the patent name is: An inner rotor motor driven integrated joint.

[0022] Reference Figure 3 , 4As shown, the car moving unit 2 includes an intelligent mobile car 201 and a moving wheel 202. The moving wheel 202 is arranged on the lower end surface of the intelligent mobile car 201. The intelligent mobile car 201 is used to support the wheels of the car lifted by the car lifting unit 1, and the moving wheel 202 is used to move the intelligent mobile car 201. The lower end surface of the intelligent mobile car 201 is provided with a supporting steel ball 203, and the supporting steel ball 203 is used to support the intelligent mobile car 201. The number of the moving wheels 202 is two, and the number of the supporting steel balls 203 is two. The two moving wheels 202 and the two supporting steel balls 203 are respectively located at the four corners of the rectangular cross section, the two moving wheels 202 are located on one of the diagonals of the rectangular cross section, and the two supporting steel balls 203 are located on the other diagonal of the rectangular cross section. A square groove 204 is provided on the upper end surface of the intelligent mobile car 201, and the square groove 204 is used to clamp the tire of the car. The intelligent mobile cars 201 work in groups of four, and can automatically calibrate the positions of the four intelligent mobile cars 201, and realize omnidirectional movement of the car through remote control.

[0023] The driving wheel group in the car moving unit 2 is composed of two moving wheels 202. When the two moving wheels 202 move forward at the same speed, the car moving unit 2 moves forward at the same speed. When the two moving wheels 202 move at different speeds, the two moving wheels 202 form a differential motion. The movement of the car moving unit 2 consists of movement in a certain direction and rotation around a certain point on the ground. In special cases, when one moving wheel 202 rotates and the other moving wheel stops, the car moving unit 2 rotates around the stopped wheel. When the two moving wheels 202 move in opposite directions at the same speed, the car moving unit 2 rotates in place. A square groove 204 is designed on the intelligent mobile car 201, which can be used to clamp the tire. The supporting steel ball 203 and the intelligent mobile car 201 are connected by a spherical pair. The supporting steel ball can rotate freely, and the supporting steel ball plays a load-bearing role when moving the car.

[0024] In the above structure, the upper end of the first car lifting rod 102 is connected to the output end of the driving joint 101, and the upper end of the second car lifting rod 106 is connected to the fixed end of the driving joint 101. The wheel support rod 104 is composed of three connecting rods, and the three connecting rods are arranged in an "A" shape. The three connecting rods are hinged, and the hinged upper ends of two of the connecting rods are connected to the driving joint 101, and the lower end of the connecting rod connected to the driving joint 101 is connected to the wheel support rod 104. The distance between the wheel support rods 104 connected to the lower ends of the two connecting rods is less than the diameter of the car wheel. The first car lifting rod 102 and the second car lifting rod 106 are symmetrically arranged with the vertical axis where the center of the driving joint 101 is located as the symmetry axis. The vertical center axis of the three connecting rods is coaxial with the vertical axis where the center of the driving joint 101 is located.

[0025] In the above structure, the wheel support rod 104 is a cylindrical rod.

[0026] The working principle of the portable car moving robot of the present invention is: First, the two wheel support rods 104 in the lifting unit 1 need to extend into both sides of the wheel 3 to clamp the wheel 3. The wheel fixing frame 103 can adjust the distance between the two wheel support rods 104 to adapt to different vehicle models. Then the driving joint 101 outputs a torque to drive the first lifting rod 102 and the second lifting rod 106 to rotate inward, thereby driving the wheel fixing frame 103 and the wheel support rod 104 to lift, and finally achieving the purpose of lifting the wheel 3.

[0027] Then, after lifting the wheel, the moving unit 2 can enter the bottom of the wheel 3, and then the lifting unit 1 puts down the wheel and places the wheel 3 on the moving unit 2. After the four wheels 3 are lifted by the lifting unit 1 and then placed on the moving unit 2, the four moving units 2 are grouped as a group, which can automatically calibrate the relative positions of each moving unit 2 and establish a motion model of the car, thereby realizing the movement of the car in any direction.

[0028] In order to verify the feasibility of the portable car moving robot, it is necessary to analyze the torque required to drive the joint 101 from the working principle. The main parameters that affect the torque required to drive the joint 101 are as follows: Figure 6 , 7 The symbols and meanings of various parameters are shown in Table 1.

[0029] Table 1 Analysis of driving joint torque

[0030] To determine the torque required to drive the joint 101, the magnitude of l1 must first be calculated. When the first lifting rod 102 and the second lifting rod 106 are received inward to the limit position, the lifting height Δh must be satisfied. Figure 8 As shown in the figure, when Δh<2r1, the calculation formula of l1 is:

[0031] like Fig. 9 As shown in the figure, when Δh>2r1, the calculation formula of l1 is:

[0032] According to Fig.10 From the force analysis diagram of the car lifting robot shown, we can get the force balance equation:

[0033] Where: F1 is the reaction force of the ground acting on the wheel 105, F2 is the force of the driving joint 101 acting on the center of the wheel 105, and , is the friction coefficient between the wheel 105 and the ground, α is F1 and F N The angle between , F S is the friction between the wheel 105 and the ground.

[0034] According to formula (0.3), we can get:

[0035] The minimum torque required by the joint is:

[0036] When the vehicle lifting unit 1 lifts the vehicle, only two wheels 3 bear the weight in the extreme case. Assuming the weight of the entire vehicle is 2 tons, then M = 1000 kg, and the wheel radius R = [0.3, 0.35, 0.4] m. .

[0037] At a given friction coefficient , lifting height When , the relationship between the minimum torque required for driving the joint 101 and the height h from the driving joint 101 to the tire center can be obtained as follows: Fig.11 As shown, it can be seen that when the radius of wheel 3 is R=0.3m, the minimum torque required to drive joint 101 is 1899Nm, when the radius of wheel 3 is R=0.35m, the minimum torque required to drive joint 101 is 1969Nm, and when the radius of wheel 3 is 0.4m, the minimum torque required to drive joint 101 is 2045Nm.

[0038] When the height from the driving joint 101 to the tire center is h=0.3m, the friction coefficient When the minimum torque required to drive joint 101 and the vehicle lifting height are obtained, The relationship between Fig.12 As shown, it can be seen that the higher the car is lifted, the greater the torque required to drive the joint 101.

[0039] When the height from the driving joint 101 to the tire center is h=0.3m, the lifting height When the minimum torque and friction coefficient required to drive the joint 101 are obtained, The relationship between Fig.13 As shown, it can be seen that the higher the friction coefficient is, the greater the torque required to drive the joint 101 is.

[0040] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A portable car moving robot, characterized in that: include: A vehicle lifting unit and a vehicle moving unit, wherein the vehicle lifting unit and the vehicle moving unit are independent structures, the vehicle lifting unit is used to lift the wheels of the vehicle, and the vehicle moving unit is used to support the wheels of the vehicle and move the vehicle after the wheels are lifted by the vehicle lifting unit; The vehicle lifting unit comprises a driving joint, a first vehicle lifting rod, a wheel fixing frame, a wheel support rod, a wheel and a second vehicle lifting rod, the upper ends of the first vehicle lifting rod and the second vehicle lifting rod are both connected to the driving joint, and the first vehicle lifting rod and the second vehicle lifting rod are arranged in a "V" shape with an opening at the lower end, and the lower ends of the first vehicle lifting rod and the second vehicle lifting rod are both connected to wheels, when a force is input to the input end of the driving joint, the "V"-shaped opening between the first vehicle lifting rod and the second vehicle lifting rod is driven to shrink, and the first vehicle lifting rod and the second vehicle lifting rod drive the driving joint to move upward, the upper end of the wheel fixing frame is connected to the driving joint, and the wheel fixing frame is a tripod, and the two corners of the lower end of the wheel fixing frame are both connected to wheel support rods, and the wheel support rods are used to lift the wheels of the car when the first vehicle lifting rod and the second vehicle lifting rod are retracted; The car moving unit includes an intelligent mobile trolley and moving wheels. The moving wheels are arranged on the lower end surface of the intelligent mobile trolley. The intelligent mobile trolley is used to support the wheels of the car lifted by the car lifting unit, and the moving wheels are used to move the intelligent mobile trolley.

2. The portable car-moving robot according to claim 1, characterized in that: A supporting steel ball is provided on the lower end surface of the intelligent mobile vehicle, and the supporting steel ball is used to support the intelligent mobile vehicle.

3. The portable car-moving robot according to claim 2, characterized in that: The number of the moving wheels is two, the number of the supporting steel balls is two, the two moving wheels and the two supporting steel balls are respectively located at the four corners of the rectangular cross-section, the two moving wheels are located on one of the diagonals of the rectangular cross-section, and the two supporting steel balls are located on the other diagonal of the rectangular cross-section.

4. The portable car-moving robot according to claim 1 or 2, characterized in that: A square groove is provided on the upper end surface of the intelligent mobile car, and the square groove is used to clamp the tire of the car.

5. The portable car-moving robot according to claim 1, characterized in that: The upper end of the first vehicle lifting rod is connected to the output end of the driving joint, and the upper end of the second vehicle lifting rod is connected to the fixed end of the driving joint.

6. The portable car-moving robot according to claim 1, characterized in that: The wheel support rod is composed of three connecting rods, and the three connecting rods are arranged in an "A" shape. The three connecting rods are hinged, and the hinged upper ends of two of the connecting rods are connected to the driving joint, and the lower end of the connecting rod connected to the driving joint is connected to the wheel support rod.

7. The portable car-moving robot according to claim 6, characterized in that: The distance between the wheel support rods connected to the lower ends of the two connecting rods is smaller than the diameter of the automobile wheel.

8. The portable car-moving robot according to claim 1, characterized in that: The first vehicle lifting rod and the second vehicle lifting rod are symmetrically arranged with the vertical axis where the center of the driving joint is located as the symmetry axis.

9. The portable car-moving robot according to claim 6, characterized in that: The vertical center axes of the three connecting rods are coaxial with the vertical axis where the center of the driving joint is located.

10. The portable car-moving robot according to claim 1, characterized in that: The wheel support rod is a cylindrical rod.

Images