A car moving robot

Abstract

The present invention relates to the field of automobile handling technology, and discloses a car-moving robot comprising: at least two bases detachably mounted along a first direction; a lifting assembly provided on the upper surface of the base for lifting the automobile; a moving assembly provided on the bottom of the base for driving the base to move; at least two wheel hub support assemblies, the wheel hub support assemblies being mounted on both sides of the base, the wheel hub support assemblies comprising a main support portion, the main support portion comprising two first support rods extending along a second direction and a first drive portion, the power output end of the first drive portion being transmission-connected to the two first support rods to drive the first support rods to move on a horizontal plane; a visual sensing assembly provided on the base; the first direction and the second direction being perpendicular to each other. The present invention provides a car-moving robot that can flexibly adapt to automobiles with different wheelbases, track widths, and wheel hub sizes, thereby improving versatility for different automobiles, the safety of the car-moving operation, and avoiding unnecessary damage to the automobile chassis and tires.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile transport, in particular to a car moving robot. Background Art

[0002] With the continued growth in car ownership, parking lots, showrooms, repair shops, and automotive manufacturing and logistics are placing increasingly stringent demands on the precise, efficient, and safe movement of vehicles. Traditional vehicle movement methods have numerous limitations in terms of efficiency and operating space requirements, making them particularly difficult to meet in precision vehicle movement scenarios or those requiring limited space. While large trailers or forklifts can move vehicles, they typically require a larger operating space, lack flexibility, and pose a risk of scratching when interacting with the vehicle, making them unsuitable for all precision vehicle movement scenarios.

[0003] To address the above-mentioned issues, the prior art provides some automatic or semi-automatic car-moving robots or devices. Specifically, some car-moving devices use an integrated platform structure, which is driven under the car and then lifted up to move the car. Although such devices can achieve the movement of the car, they are usually large and fixed in size. When the car encounters bumps during movement, it is easy to cause wear and tear on the car chassis, which is not conducive to medium and long-distance movement. Other car-moving devices use a tire clamping method. Such devices usually have a clamping arm to clamp the car's tire and then drive the car to move through its own moving mechanism. However, if this clamping method is not designed or controlled properly, it is easy to cause unnecessary squeezing or surface wear on the tire during the clamping process. Long-term or frequent use may cause damage to the tire structure, affecting the tire's service life and even posing a safety hazard. In addition, the above two methods have poor adaptability to cars with different wheelbases or track widths, making it difficult to flexibly apply to multiple models. Summary of the Invention

[0004] The purpose of the present invention is to provide a car-moving robot that can flexibly adapt to cars with different wheelbases, track widths, and wheel hub sizes through a detachable base and a support structure that can be moved and adjusted on a plane. The robot can safely move the car by lifting the car and then placing the car hub on the support structure for support, thereby improving the versatility and safety of the car-moving operation and avoiding unnecessary damage to the car chassis and tires.

[0005] In order to achieve the above object, the present invention provides a car moving robot, comprising:

[0006] at least two bases, the bases being arranged along a first direction, the bases having a first end and a second end in the first direction, and when two adjacent bases are connected to each other, the first end of one base is detachably connected to the second end of the other base;

[0007] A lifting assembly, the lifting assembly being arranged on the upper surface of the base and being used for lifting the car;

[0008] A moving component, which is arranged at the bottom of the base and is used to drive the base to move;

[0009] at least two wheel hub support assemblies, at least one wheel hub support assembly is respectively installed on both sides of the base in the first direction, the wheel hub support assembly includes a main support portion, the main support portion includes two first support rods extending along the second direction and a first driving portion, the two first support rods are spaced apart along the first direction, the first driving portion is arranged at the bottom of the base, and the power output end of the first driving portion is transmission-connected with the two first support rods to drive the first support rods to move on a plane defined by the first direction and the second direction;

[0010] A visual sensing component, wherein the visual sensing component is mounted on the base;

[0011] The first direction and the second direction are perpendicular to each other.

[0012] Furthermore, the wheel hub support assembly also includes an auxiliary support part, the auxiliary support part includes a first connecting rod, a second support rod, and a second driving part, the upper surface of the base is provided with a first accommodating groove for accommodating the auxiliary support part, the first accommodating groove includes a first groove body extending along the first direction and a second groove body extending along the second direction, the end of the first groove body is connected to the second groove body, the second support rod extends along the second direction, the second support rod can be accommodated in the second groove body, the first connecting rod can be accommodated in the first groove body, one end of the first connecting rod is hinged to the first groove body, and the other end is connected to the second support rod, the power output end of the second driving part is connected to the first connecting rod for driving the first connecting rod to rotate.

[0013] Furthermore, the auxiliary support part also includes a first return spring, the first connecting rod includes a sleeve rod and a sliding rod slidably inserted on the sleeve rod, the sleeve rod is hinged in the first groove body, the sliding rod is connected to the second support rod, the first return spring is sleeved on the outer periphery of the first connecting rod, one end of the first return spring is connected to the sleeve rod, and the other end is connected to the sliding rod.

[0014] Furthermore, the auxiliary support portion further includes a sleeve, which is detachably and rotatably sleeved on the outer periphery of the second support rod, and an anti-wear layer is provided on the outer periphery of the sleeve.

[0015] Furthermore, the wheel hub support assembly includes two auxiliary support portions, and the two auxiliary support portions are arranged along the first direction with the main support portion spaced apart.

[0016] Furthermore, the wheel hub support assembly further includes an anti-steering portion, which is disposed on the base and includes a suction cup, a transmission rod group, and a third driving portion, wherein the third driving portion drives the suction cup to move to a receiving position or an abutting position through the transmission rod group;

[0017] When the suction cup is located at the receiving position, the suction cup is located below the base;

[0018] When the suction cup is located at the abutting position, the suction cup abuts against the outer wall of the automobile wheel hub.

[0019] Furthermore, the base includes two main bodies, the two main bodies are capable of moving toward or away from each other along the second direction, and at least one hub support assembly is arranged on the main bodies.

[0020] Furthermore, the visual sensing assembly includes a fifth driving unit, a rotating bracket and a first visual sensor rotatably arranged on the rotating bracket, the rotating bracket is installed on the first end of the base, the fifth driving unit is installed on the rotating bracket, and the power output end of the fifth driving unit is connected to the first visual sensor.

[0021] Furthermore, the rotating bracket has an inserting portion, and the second end of the base is provided with a slot that cooperates with the inserting portion.

[0022] Furthermore, the car-moving robot also includes a brake assembly, which includes a brake block and a fifth drive unit. The fifth drive unit is arranged at the bottom of the base, and the power output end of the fifth drive unit is connected to the brake block for driving the brake block to move in a vertical direction. A storage groove corresponding to the position of the brake block is provided on the upper surface of the base.

[0023] Compared with the prior art, a car-moving robot according to an embodiment of the present invention has the following beneficial effects: by providing at least two detachably mounted bases, the chassis position, wheel hub position and wheel hub size of the car can be obtained through a visual sensing component, and the distance between the bases can be adjusted through a moving component; the first support rod of the main support portion of the wheel hub support component can move on a plane defined by a first direction and a second direction, accurately adapting to cars with different wheelbases and wheel hub sizes, and effectively supporting the wheel hubs; the car-moving robot can flexibly adapt to cars of different sizes (wheelbase, wheel hub size); by lifting the car and then placing each wheel hub of the car on the two first support rods for support and movement, the damage to the tires or chassis that may be caused by the traditional method is avoided, and the versatility, accuracy and safety of the car-moving operation are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 1 is a schematic diagram of the overall structure of the car moving robot according to an embodiment of the present invention;

[0025] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0026] Figure 3 yes Figure 1 A partial enlarged view of point B in the middle;

[0027] Figure 4 yes Figure 1 A partial enlarged view of point C in the middle;

[0028] Figure 5 yes Figure 1 A partial enlarged view of point D in the middle;

[0029] Figure 6 yes Figure 1 A partial enlarged view of point E in the middle;

[0030] Figure 7 yes Figure 1 A partial enlarged view of point F in the middle;

[0031] Figure 8 2 is a schematic diagram of the overall structure of the car-moving robot according to an embodiment of the present invention from another angle;

[0032] Figure 9 yes Figure 8 A partial enlarged view of point G in the middle;

[0033] Figure 10 yes Figure 8 A partial enlarged view of the H in the middle;

[0034] Figure 11 2 is a schematic structural diagram of a visual sensing component of a car-moving robot according to an embodiment of the present invention;

[0035] In the figure,

[0036] 1. Base: 11. First end; 12. Second end; 13. Main body; 131. First accommodating groove; 1311. First groove body; 1312. Second groove body; 1313. Third groove body; 1314. Fourth groove body; 132. Second accommodating groove; 133. Third slider; 134. Receiving groove; 135. Through groove; 14. Hinge; 141. Hinge node; 1411. Hinge plate; 14111. First hinge hole; 14112. Second hinge hole; 15. Fourth drive unit; 151. Fifth drive cylinder;

[0037] 2. Lifting assembly; 21. Lifting drive cylinder; 22. Lifting platform;

[0038] 3. Mobile assembly; 31. Roller;

[0039] 4. Wheel hub support assembly;

[0040] 41. Main support portion; 411. First support rod; 4111. Rack; 412. First drive portion; 4121. Third drive motor; 4122. First slider; 41221. First drive slot; 41222. First guide hole; 4123. Second slider; 41231. Second drive slot; 41232. Second guide hole; 4124. First drive gear; 4125. Second drive gear; 4126. Screw; 4127. Bearing seat;

[0041] 42. Auxiliary support portion; 421. First connecting rod; 4211. Sleeve rod; 4212. Sliding rod; 422. Second support rod; 423. Second driving portion; 4231. Sixth driving motor; 4232. First driving cylinder; 424. First return spring; 425. Sleeve;

[0042] 43. Anti-steering part;

[0043] 431, suction cup;

[0044] 432, transmission rod assembly; 4321, second connecting rod; 4322, telescopic rod;

[0045] 433, third driving unit; 4331, second driving cylinder; 4332, third driving cylinder; 4333, seventh driving motor;

[0046] 5. Visual sensor assembly; 51. Fifth drive unit; 511. Eighth drive motor; 52. Rotating bracket; 521. Connecting block; 5211. Slide groove; 5212. Second return spring; 522. Connecting column; 53. First visual sensor;

[0047] 6. Brake assembly; 61. Brake pad;

[0048] 7. Crossing assembly; 71. Speed bump crossing member; 711. Crossing rod; 712. Abutment joint; 72. Ninth drive motor;

[0049] X, first direction; Y, second direction. DETAILED DESCRIPTION

[0050] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0051] In the description of the present invention, the terms "upper," "lower," "left," "right," "front," "back," "inner," "outer," "lateral," and "longitudinal" to indicate directions or positions are based on the directions or positions shown in the accompanying drawings. These terms are used solely to facilitate the description of the present invention and to simplify the description. They are not intended to limit the devices, elements, or components indicated to having a specific direction, or to be constructed or operated in a specific direction. Therefore, they should not be construed as limitations on the present invention. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0052] In the description of the present invention, the terms "provided with," "disposed," "connected," and "placed" should be interpreted broadly. For example, they may refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0053] Furthermore, the terms "first," "second," and the like are primarily used to distinguish between different devices, elements, or components (which may or may not be of the same type and configuration), and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0054] The technical solution of the present invention is further described below with reference to the embodiments and drawings.

[0055] like Figure 1-11 As shown, a car moving robot according to an embodiment of the present invention includes:

[0056] At least two bases 1 are arranged along a first direction X. The bases 1 have a first end 11 and a second end 12 in the first direction X. When two adjacent bases 1 are connected to each other, the first end 11 of the base 1 is detachably connected to the second end 12 of the other base 1;

[0057] A lifting assembly 2 is provided on the upper surface of the base 1 and is used to lift the car;

[0058] The moving component 3 is arranged at the bottom of the base 1 and is used to drive the base 1 to move;

[0059] At least two hub support assemblies 4 are respectively installed on both sides of the base 1 in the first direction X. The hub support assembly 4 includes a main support portion 41, and the main support portion 41 includes two first support rods 411 extending along the second direction Y and a first drive portion 412. The two first support rods 411 are spaced apart along the first direction X. The first drive portion 412 is disposed at the bottom of the base 1. The power output end of the first drive portion 412 is connected to the two first support rods 411 to drive the first support rods 411 to move on the plane defined by the first direction X and the second direction Y.

[0060] A visual sensing component 5 is installed on the base 1;

[0061] The first direction X and the second direction Y are perpendicular to each other.

[0062] In a specific embodiment, the lifting assembly 2 includes a lifting drive cylinder 21 and a lifting platform 22. The lifting drive cylinder 21 is installed on the upper surface of the base 1. The power output end of the lifting drive cylinder 21 is connected to the lifting platform 22 for driving the lifting platform 22 to move in the vertical direction.

[0063] Specifically, the lifting drive cylinder 21 is a pneumatic cylinder or a hydraulic cylinder.

[0064] In a specific embodiment, the moving component 3 includes a first drive motor, a second drive motor, and a roller 31. The first drive motor is installed at the bottom of the base 1, the power output end of the first drive motor is connected to the second drive motor, and the power output end of the second drive motor is connected to the roller 31. The first drive motor is used to drive the second drive motor to rotate to achieve the steering of the roller 31, and the second drive motor is used to drive the roller 31 to rotate so that the roller 31 can move (the first drive motor and the second drive motor are not shown in the accompanying drawings).

[0065] In a specific embodiment, the first driving unit 412 includes a third driving motor 4121, a fourth driving motor, a fifth driving motor, a first slider 4122, a second slider 4123, a first driving gear 4124, a second driving gear 4125, a screw rod 4126, and a bearing seat 4127. The third driving motor 4121 and the bearing seat 4127 are installed at the bottom of the base 1 at intervals along the first direction X. The power output end of the third driving motor 4121 is connected to one end of the screw rod 4126, and the other end of the screw rod 4126 is rotatably connected to the bearing seat 4127. The screw rod 4126 has a first external thread and a second external thread with opposite thread directions. The first slider 4122 is provided with a first threaded hole extending along the first direction X, and the first slider 4122 is engaged with the first external thread of the screw rod 4126 through the first threaded hole. The second slider 4123 is provided with a second threaded hole extending along the first direction X, and the second slider 4123 is engaged with the second external thread of the screw rod 4126 through the second threaded hole.

[0066] A first driving slot 41221 is defined on the first slider 4122. A fourth driving motor is installed in the first driving slot 41221. The power output end of the fourth driving motor is connected to the first driving gear 4124. A first guide hole 41222 extending along the second direction Y is also defined on the first slider 4122. The first guide hole 41222 is connected to the first driving slot 41221. A rack 4111 is defined on the first support rod 411. A first support rod 411 is slidably inserted into the first guide hole 41222. The rack 4111 of the first support rod 411 is engaged with the first driving gear 4124.

[0067] A second drive slot 41231 is defined on the second slider 4123. A fifth drive motor is installed in the second drive slot 41231. The power output end of the fifth drive motor is connected to the second drive gear 4125. The second slider 4123 is further defined with a second guide hole 41232 extending in the second direction Y. The second guide hole 41232 is connected to the second drive slot 41231. Another first support rod 411 is slidably inserted into the second guide hole 41232. The rack 4111 of the first support rod 411 is engaged with the second drive gear 4125.

[0068] When the third drive motor 4121 rotates, the first slider 4122 and the second slider 4123 move toward or away from each other in the first direction X, adjusting the distance between the two first support rods 411 to adapt to different wheel hub sizes. The first support rod 411 slides in the second direction Y through a gear rack structure, and the extension amount of the first support rod 411 is adjusted to adapt to different wheel hub thicknesses (the fourth drive motor and the fifth drive motor are not shown in the drawings in the specification).

[0069] Based on the above technical solution, the position of the car is obtained through the visual sensing component 5, the moving component 3 drives the car-moving robot to move to the bottom of the car, and then the chassis position and the position of the jacking point of the car (generally the position of the car skirt or chassis crossbeam) are obtained through the visual sensing component 5. The base 1 is separated, and each base 1 moves until each wheel hub support component 4 is aligned with the position of each wheel hub of the car one by one. The lifting drive cylinder 21 drives the lifting platform 22 to rise. After the lifting platform 22 contacts the jacking point, it continues to rise to lift the car. Then the visual sensing component 5 obtains the position of the wheel hub of the car. , wheel hub size and wheel hub thickness, according to the wheel hub size, the third drive motor 4121 drives the two first support rods 411 to move in the first direction X, adjusts the distance between the two first support rods 411, and according to the wheel base and wheel hub thickness, the fourth drive motor and the fifth drive motor drive the first support rod 411 to slide in the second direction Y. When the first support rod 411 moves to a position suitable for supporting the wheel hub, the first support rod 411 stops sliding, and the lifting drive cylinder 21 drives the lifting platform 22 to descend until each wheel hub is completely placed on the two first support rods 411.

[0070] By setting up at least two detachable bases 1, the chassis position, wheel hub position, wheel hub size and wheel hub thickness of the car can be obtained through the visual sensing component 5, and the distance between the bases 1 can be flexibly adjusted through the moving component 3. By setting the first support rod 411 of the main support part 41 of the wheel hub support component 4, it can move on the plane jointly defined by the first direction X and the second direction Y, and can accurately adapt to cars with different wheel bases and wheel hub sizes, and effectively support the wheel hub. The car moving robot can flexibly adapt to cars of different sizes (wheelbase, wheel base, wheel hub size). After lifting the car, the various wheel hubs of the car are placed on the two first support rods 411 for support and movement, thereby avoiding the damage to the tires or chassis that may be caused by traditional methods, and improving the versatility, accuracy and safety of the car moving operation.

[0071] Preferably, the hub support assembly 4 also includes an auxiliary support part 42, the auxiliary support part 42 includes a first connecting rod 421, a second support rod 422, and a second driving part 423, and the upper surface of the base 1 is provided with a first accommodating groove 131 for accommodating the auxiliary support part 42, the first accommodating groove 131 includes a first groove body 1311 extending along the first direction X and a second groove body 1312 extending along the second direction Y, the end of the first groove body 1311 is connected to the second groove body 1312, the second support rod 422 extends along the second direction Y, the second support rod 422 can be accommodated in the second groove body 1312, the first connecting rod 421 can be accommodated in the first groove body 1311, one end of the first connecting rod 421 is hinged to the first groove body 1311, and the other end is connected to the second support rod 422, and the power output end of the second driving part 423 is connected to the first connecting rod 421 for driving the first connecting rod 421 to rotate.

[0072] In a specific embodiment, the second drive part 423 includes a sixth drive motor 4231 and a first drive cylinder 4232. The first accommodating groove 131 also includes a third groove body 1313 extending along the second direction Y and a fourth groove body 1314 extending along the first direction X. One end of the third groove body 1313 is connected to an end of the first groove body 1311 facing away from the second groove body 1312. The sixth drive motor 4231 is accommodated in the third groove body 1313. The power output end of the sixth drive motor 4231 is connected to the first connecting rod 421 for driving the first connecting rod 421 to rotate. One end of the fourth groove body 1314 is connected to the second groove body 1312. The first drive cylinder 4232 is hinged in the fourth groove body 1314. The power output end of the first drive cylinder 4232 is rotatably connected to the second support rod 422.

[0073] Based on the above technical solution, after the automobile wheel hub is completely placed on the first support rod 411, the sixth drive motor 4231 drives the first connecting rod 421 to rotate, the first connecting rod 421 rotates out of the first groove body 1311, and the second support rod 422 escapes from the second groove body 1312. At the same time, the first drive cylinder 4232 rotates out of the fourth groove body 1314, and the second support rod 422 abuts against the wheel hub. The first drive cylinder 4232 provides a more stable force point for the second support rod 422, which can better provide lateral support for the wheel hub.

[0074] The second support rod 422 provides an additional support point for the wheel hub, and together with the first support rod 411, supports the vehicle wheel hub, so that the original small bottom support area is expanded into a polygonal support with lateral support points, thereby enhancing the overall stability of the vehicle on the car moving robot.

[0075] When moving the car, you may encounter uneven ground, specifically:

[0076] When going uphill (the car has a tendency to tilt backward), if the second support rod 422 is located at the rear side or below the side of the wheel hub, when the car tends to tilt backward, the second support rod 422 will provide a supporting force to prevent the car from tilting backward;

[0077] When going downhill (the car has a tendency to tilt forward), if the second support rod 422 is located in front of or below the wheel hub, when the car tends to tilt forward, the second support rod 422 will provide a supporting force to prevent the car from tilting forward;

[0078] Even if the vertical projection line of the center of gravity of the car is offset due to the slope, the projection line can still remain within the bearing surface of the effective support base formed by the second support rod 422 and the first support rod 411, thereby preventing the car from overturning.

[0079] The auxiliary support part 42 is usually accommodated in the first receiving groove 131 on the surface of the base 1, does not take up additional space, and does not affect the car-moving robot's entry into the bottom space of the car. It is extended to work only when additional reinforcement is required, realizing on-demand deployment of functions, optimizing space utilization, and increasing structural flexibility.

[0080] More preferably, the auxiliary support part 42 also includes a first return spring 424, the first connecting rod 421 includes a sleeve rod 4211 and a slide rod 4212 slidably inserted on the sleeve rod 4211, the end of the sleeve rod 4211 away from the slide rod 4212 is hinged in the first groove body 1311, and the end of the slide rod 4212 away from the sleeve rod 4211 is connected to the second support rod 422, the first return spring 424 is sleeved on the outer periphery of the first connecting rod 421, one end of the first return spring 424 is connected to the sleeve rod 4211, and the other end is connected to the slide rod 4212.

[0081] Specifically, when the auxiliary support part 42 supports the wheel hub, when the sixth drive motor 4231 drives the first connecting rod 421 to rotate forward, the second support rod 422 abuts against the wheel hub. At this time, the sixth drive motor 4231 continues to drive the first connecting rod 421 to rotate, and the second support rod 422 slides along the tire in a small range. Under the action of the tire, the first return spring 424 is stretched, and the sliding rod 4212 overcomes the elastic force of the first return spring 424 and extends out of the sleeve rod 4211; when the auxiliary support part 42 is separated from the support of the wheel hub, the sixth drive motor 4231 drives the first connecting rod 421 to rotate in the opposite direction, and the second support rod 422 slides along the tire. The action of the tire decreases until it disappears, the first return spring 424 is shortened, and the elastic force of the first return spring 424 drives the sliding rod 4212 to gradually retract into the sleeve rod 4211, and the second support rod 422 is separated from the abutment with the tire until the first connecting rod 421, the second support rod 422, and the first drive cylinder 4232 are accommodated in the accommodating groove.

[0082] The telescopic structure of the first return spring 424 and the first connecting rod 421 enables the auxiliary support part 42 to have better adaptability to wheels of different shapes and sizes. The telescopic structure of the first return spring 424 and the first connecting rod 421 allows the second support rod 422 to find a stable support position on the wheel hub with a large bearing surface that ensures effective support of the base, which provides operability for the support limit of the wheel hub that requires a specific support angle; when the second support rod 422 abuts against the tire and slides, the first return spring 424 is stretched, and the first drive cylinder 4232 supports the second support rod 422 to continuously provide stable support to the tire, avoiding the possible offset of the force application point between the second support rod 422 and the wheel hub that may exist in multi-point support, and the wheel hub is more evenly stressed.

[0083] More preferably, the auxiliary support portion 42 further includes a sleeve 425 , which is detachably and rotatably sleeved on the outer periphery of the second support rod 422 , and an anti-wear layer is provided on the outer periphery of the sleeve 425 .

[0084] Specifically, the anti-wear layer can be made of highly wear-resistant plastic, rubber, or polyurethane material.

[0085] When the second support rod 422 contacts the tire and slides relative to it, the rotatable sleeve 425 converts the sliding friction between the contact surfaces into rolling friction, significantly reducing the scratches and wear of the tire by the second support rod 422; the second support rod 422 itself does not directly rub, thereby extending the service life of the second support rod 422; reducing friction, the sixth drive motor 4231 needs to overcome less resistance when adjusting the position of the second support rod 422, thereby reducing energy consumption; the movement of the second support rod 422 when contacting the tire and adjusting its position is smoother and more fluent, which helps to more accurately locate the appropriate support point; the sleeve 425 is detachably connected, and when the sleeve 425 or its anti-wear layer is worn to a certain extent, it can be replaced quickly and easily without replacing the entire second support rod 422, thereby reducing the maintenance cost and repair difficulty of long-term use.

[0086] More preferably, the hub support assembly 4 includes two auxiliary support portions 42 , and the two auxiliary support portions 42 are arranged along the first direction X with the main support portion 41 spaced apart.

[0087] In a specific embodiment, in the auxiliary support portion 42 near the first end 11, the end of the first groove body 1311 near the first end 11 is connected to the second groove body 1312, the end of the first groove body 1311 near the second end 12 is connected to the third groove body 1313, and the end of the fourth groove body 1314 near the second end 12 is connected to the second groove body 1312;

[0088] In the auxiliary support part 42 near the second end 12, the end of the first groove body 1311 near the second end 12 is connected to the second groove body 1312, the end of the first groove body 1311 near the first end 11 is connected to the third groove body 1313, and the end of the fourth groove body 1314 near the first end 11 is connected to the second groove body 1312, that is, the two auxiliary support parts 42 are symmetrically arranged.

[0089] When the car tends to tilt backward when going uphill, the auxiliary support portion 42 near the second end 12 provides support force in time;

[0090] When the car tends to tilt forward when going downhill, the auxiliary support portion 42 near the first end 11 provides support force in time;

[0091] The effective support base formed by the first support rod 411 and the second support rod 422 greatly increases the allowable deviation range of the vehicle's center of gravity. Even if the vertical projection line of the vehicle's center of gravity deviates significantly due to the slope, it is difficult to exceed the bearing surface range of the effective support base.

[0092] The two auxiliary support parts 42 can coordinately adjust their support force on the wheel hub. During the dynamic uphill and downhill process, the structure can automatically adjust the strength of the front and rear auxiliary supports to smoothly and gently offset the overturning tendency.

[0093] Preferably, the hub support assembly 4 further includes an anti-steering portion 43, which is disposed on the base 1. The anti-steering portion 43 includes a suction cup 431, a transmission rod group 432, and a third driving portion 433. The third driving portion 433 drives the suction cup 431 to move to the receiving position or the abutting position through the transmission rod group 432.

[0094] When the suction cup 431 is located at the receiving position, the suction cup 431 is located below the base 1;

[0095] When the suction cup 431 is located at the abutting position, the suction cup 431 abuts against the outer wall of the automobile wheel hub.

[0096] In a specific embodiment, the transmission rod group 432 is arranged between the two first support rods 411, and the transmission rod group 432 includes a second connecting rod 4321 and a telescopic rod 4322. The third driving part 433 includes a second driving cylinder 4331, a third driving cylinder 4332, a fourth driving cylinder, and a seventh driving motor 4333;

[0097] The second driving cylinder 4331 is installed at the bottom of the base 1, and the power output end of the second driving cylinder 4331 is connected to the third driving cylinder 4332 to drive the third driving cylinder 4332 to move in the vertical direction. The power output end of the third driving cylinder 4332 is connected to the second connecting rod 4321 to drive the second connecting rod 4321 to move in the second direction Y. The second connecting rod 4321 extends along the second direction Y, and the outer end of the second connecting rod 4321 is hinged to the end of the telescopic rod 4322. The rotating shaft of the telescopic rod 4322 extends along the first direction X. The seventh driving motor 4333 is installed on the second connecting rod 4321, and the power output end of the seventh driving motor 4333 is connected to the telescopic rod 4322. The power output end of the fourth driving cylinder is connected to the telescopic rod 4322 for driving the telescopic rod 4322 to extend and retract. The suction cup 431 is arranged at the end of the telescopic rod 4322 away from the second connecting rod 4321.

[0098] Based on the above technical solution, after the main support part 41 and the auxiliary support part 42 both support the automobile wheel hub, when the suction cup 431 is initially located in the receiving position, the suction cup 431 is located on the bottom surface of the base 1 and abuts against it, switching the suction cup 431 from the receiving position to the abutting position, and the second drive cylinder 4331 drives the third drive cylinder 4332 to move downward until the suction cup 431 and the second connecting rod 4321 are both lower than the lowest point of the wheel hub, and the third drive cylinder 4332 drives the second connecting rod 4321 to move until the hinge between the second connecting rod 4321 and the telescopic rod 4322 is located on the outside of the wheel hub, the seventh drive motor 4333 drives the telescopic rod 4322 to rotate, and the fourth drive cylinder drives the telescopic rod 4322 to extend until the suction cup 431 is facing the outer wall of the wheel hub, and the third drive cylinder 4332 drives the second connecting rod 4321 to move inward until the suction cup 431 is in contact with the outer wall of the wheel hub. At this time, the suction cup 431 is in the abutting position (the fourth drive cylinder is not shown in the drawings of the specification).

[0099] Specifically, the second driving cylinder 4331 , the third driving cylinder 4332 , and the fourth driving cylinder are air cylinders or hydraulic cylinders.

[0100] When the wheel hub is supported solely by the first support rod 411 and the second support rod 422, it is still possible for the wheel hub to steer to a certain extent, because steering of a vehicle wheel is a rotational motion about the vertical axis. The first support rod 411 and the second support rod 422 primarily constrain the wheel hub's three degrees of freedom in translation, but their restraint is relatively weak for the rotational degree of freedom about the vertical axis.

[0101] After the suction cup 431 abuts against the wheel hub, it is fixed relative to the base 1. If the wheel hub turns, it is actually trying to make the fixed suction cup 431 rotate, but this is difficult to achieve structurally. The anti-steering part 43 specifically constrains the rotational freedom of the wheel hub through the abutment of the suction cup 431 with the outer wall of the wheel hub to ensure the all-round stability of the car during movement.

[0102] Preferably, the base 1 includes two main bodies 13 , which are capable of moving toward or away from each other along the second direction Y, and at least one hub support assembly 4 is disposed on the main body 13 .

[0103] It should be noted that, if more than one wheel hub support assembly 4 is disposed on the main body 13 , the wheel hub support assemblies 4 are arranged along the first direction X at intervals.

[0104] Each main body 13 is provided with a lifting assembly 2 , a moving assembly 3 , and a hub supporting assembly 4 , and each main body 13 is provided with a first accommodating groove 131 .

[0105] In a specific embodiment, the base 1 further includes a plurality of hinges 14 and a fourth driving unit 15 spaced apart along the first direction X. Second accommodating grooves 132 are provided on opposite end surfaces of the two main bodies 13 of the same base 1. The two ends of the hinge 14 are respectively connected to the bottoms of the opposite second accommodating grooves 132. The fourth driving unit 15 is installed in one of the second accommodating grooves 132. The power output end of the fourth driving unit 15 is connected to the bottom of the other second accommodating groove 132 to drive the two main bodies 13 of the same base 1 to move toward or away from each other.

[0106] Specifically, the fourth driving unit 15 includes a fifth driving cylinder 151 , and the fifth driving cylinder 151 is a pneumatic cylinder or a hydraulic cylinder.

[0107] More specifically, the hinge 14 includes a plurality of hinge nodes 141 arranged along the second direction Y, and the hinge node 141 includes two staggered hinge plates 1411, and the middle part of the two hinge plates 1411 has a first hinge hole 14111, and the first hinge holes 14111 of the two hinge plates 1411 are connected by a pin, and the two hinge plates 1411 can rotate relative to each other. Second hinge holes 14112 are provided at both ends of the hinge plate 1411, and the second hinge holes 14112 of the hinge plates 1411 of adjacent hinge nodes 141 are connected by a pin.

[0108] Preferably, the visual sensing assembly 5 includes a fifth driving unit 51, a rotating bracket 52 and a first visual sensor 53 rotatably arranged on the rotating bracket 52, the rotating bracket 52 is installed at the first end 11 close to the base 1, the fifth driving unit 51 is installed on the rotating bracket 52, and the power output end of the fifth driving unit 51 is connected to the first visual sensor 53.

[0109] Specifically, the fifth driving unit 51 is an eighth driving motor 511 .

[0110] In a specific embodiment, the visual sensing assembly 5 further includes a plurality of second visual sensors, and the plurality of second visual sensors are disposed in a one-to-one correspondence at the end of the first support rod 411 facing away from the base 1 .

[0111] Based on the above technical solution, the position of the car is obtained through the first visual sensor 53, the moving component 3 drives the car-moving robot to move to the bottom of the car, and the eighth drive motor 511 drives the first visual sensor 53 to rotate to identify the position of the car chassis. The car chassis information obtained by the first visual sensor 53 is used to adjust the position of the car-moving robot so that the central axis of the car-moving robot is aligned with the central axis of the car. At this time, the base 1 is separated, and the car-moving robot moves along the central axis of the car. Each base 1 obtains the position and size of its corresponding car wheel hub through its second visual sensor located on the first support rod 411. The wheel hub support component 4 corresponds one-to-one to the car wheel hub, and each base 1 moves to a position where the power output end of the third drive cylinder 4332 and the rotating shaft of the wheel are in the same vertical direction. At this time, the fifth drive cylinder 151, the first drive motor, and the second drive motor drive the two main bodies 13 of the same base 1 to move back to back, so that the main bodies 13 are close to their respective corresponding wheel hubs, that is, the wheel hub support assembly 4 on each main body 13 is close to its respective corresponding wheel hub, and the lifting drive cylinder 21 drives the lifting platform 22 to lift the jacking point of the car. After the car is lifted, the first drive part 412 drives the first support rod 411 to move to correspond to the car wheel hub. During the process of the first support rod 411 extending outward, the second visual sensor can obtain the thickness of the wheel hub. After the end of the first support rod 411 away from the base 1 protrudes a certain distance from the outer wall of the car wheel hub, the first drive part 412 stops driving, and the lifting drive cylinder 21 drives the lifting platform 22 to descend, placing the car on the first support rod 411.

[0112] The design of the two main bodies 13 moving back to back can reduce the length of the first support rod 411 to a certain extent during support, thereby preventing the first support rod 411 from being damaged due to excessive torque when bearing the weight of the car.

[0113] The first visual sensor 53 performs wide-area search, coarse positioning and navigation. After the first support rod 411 approaches the car wheel hub, the second visual sensor performs fine guidance, precise alignment and local feature recognition, forming a complete sensing chain from long distance to short distance, which improves the intelligent level of autonomous operation of the car moving robot.

[0114] More preferably, the rotating bracket 52 has an inserting portion, and the second end 12 of the base 1 is provided with a slot that cooperates with the inserting portion.

[0115] In a specific embodiment, the rotating bracket 52 includes a connecting block 521 and two connecting columns 522 arranged on the upper end surface of the connecting block 521. The two connecting columns 522 are arranged at intervals along the second direction Y. The first visual sensor 53 is hinged between the two connecting columns 522. The eighth drive motor 511 is arranged on one of the connecting columns 522. The power output end of the eighth drive motor 511 passes through the connecting column 522 and is connected to the first visual sensor 53 to drive the first visual sensor 53 to rotate. The main body 13 is provided at the first end 11. There is a third slider 133, the projection surface of the third slider 133 in the second direction Y is "T"-shaped, and a slide groove 5211 extending along the second direction Y is opened on the end surface of the connecting block 521 close to the base 1, and the projection surface of the slide groove 5211 in the second direction Y is "T"-shaped. The third slider 133 is slidably set in the slide groove 5211, and a second return spring 5212 is connected between the third slider 133 and the end of the slide groove 5211 close to it. The plug-in part is set on the connecting block 521, and the connecting block 521 is plugged into the slot.

[0116] When the two main bodies 13 of the same base 1 move back to back, the two third sliders 133 slide back to back in the slide groove 5211, and the two second return springs 5212 are compressed at the same time. The connecting block 521 is subjected to balanced force in the second direction Y, which can ensure that the connecting block 521 is centered, thereby ensuring that the first visual sensor 53 is set in the center, so as to prevent the two main bodies 13 from moving back to back and causing an offset between the first visual sensor 53 and the central axis of the base 1, thereby causing difficulties in the linkage between visual acquisition and control of the base 1. The slide groove 5211 of the connecting block 521 limits the distance of the back-to-back movement of the two main bodies 13; when the car-moving robot is being transported, the adjacent bases 1 are detachably connected to each other through the plug-in part and the slot to realize the first end 11 and the second end 12.

[0117] Preferably, the car-moving robot also includes a brake assembly 6, which includes a brake block 61 and a sixth drive unit. The sixth drive unit is arranged at the bottom of the base 1, and the power output end of the sixth drive unit is connected to the brake block 61, which is used to drive the brake block 61 to move in the vertical direction. A storage groove 134 corresponding to the position of the brake block 61 is provided on the upper surface of the base 1 (the sixth drive unit is not shown in the drawings in the specification).

[0118] In a specific embodiment, the sixth driving part includes a sixth driving cylinder.

[0119] Specifically, the sixth driving cylinder is a pneumatic cylinder or a hydraulic cylinder.

[0120] When the car-moving robot is being transported, stable stacking in the vertical direction can be achieved by plugging the brake block 61 into the storage slot 134. The brake block 61 of the car-moving robot on the upper side is plugged into the storage slot 134 of the car-moving robot on the lower side; a detachable connection in the horizontal direction can be achieved through the plug-in block and the slot.

[0121] The mating plug-in structure of the first end 11 and the second end 12 of the base 1 of the moving robot, and the vertical stacking structure of the brake block 61 and the storage groove 134 provide a standardized and reliable arrangement method when the moving robot is transported, significantly enhancing the stability of the moving robot during transportation and simplifying the loading and fixing operations.

[0122] In another embodiment, the car-moving robot also includes a crossing component 7, a through slot 135 corresponding to the roller 31 is opened on the base 1, and the through slot 135 extends in the vertical direction. The crossing component 7 includes a speed bump crossing member 71 and a ninth drive motor 72. The speed bump crossing member 71 includes a crossing rod 711 and abutment joints 712 arranged at both ends of the crossing rod 711. The crossing rod 711 is hinged in the through slot 135, and the rotating shaft of the crossing rod 711 extends along the second direction Y. The power output end of the ninth drive motor 72 is connected to the crossing rod 711 for driving the crossing rod 711 to rotate. The rotation radius of the speed bump crossing member 71 is greater than the diameter of the roller 31.

[0123] Specifically, when the first visual sensor 53 detects that there is a speed bump in front of the base 1 and it is necessary to cross the speed bump, the ninth drive motor 72 drives the crossing rod 711 to rotate. At this time, the abutment head 712 abuts against the ground in front of the speed bump, and the ninth drive motor 72 continues to rotate. The roller 31 leaves the ground and crosses the speed bump. The abutment head 712 disengages from the abutment with the ground, the ninth drive motor 72 stops rotating, and the roller 31 contacts the ground again.

[0124] Speed bumps are common obstacles on roads. For a car-moving robot with a low chassis or small wheel diameter, passing over them directly may cause impact, jamming, or even damage. The crossing component 7 improves the car-moving robot's ability to pass over speed bumps, enhances the smoothness of its operation, protects itself and the vehicle load, and improves the environmental adaptability of the car-moving robot.

[0125] In summary, an embodiment of the present invention provides a car-moving robot, which, by providing at least two detachably connected bases 1, can obtain the chassis position, wheel hub position, wheel hub size and wheel hub thickness of the car through the visual sensing component 5, and flexibly adjust the distance between the bases 1 through the moving component 3. By providing multiple wheel hub support components 4, the first support rod 411 of the main support part 41 can move on the plane jointly defined by the first direction X and the second direction Y, and can accurately adapt to cars with different wheel bases and wheel hub sizes, and effectively support the wheel hub, so that the car-moving robot can flexibly adapt to cars of different sizes (wheelbase, wheel base, wheel hub size), and move by means of wheel hub support, avoiding the damage to the tires or chassis that may be caused by traditional methods, and improving the versatility, accuracy and safety of the car-moving operation.

[0126] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A car moving robot, characterized in that: include: At least two bases (1), the bases (1) are arranged along a first direction (X), the bases (1) have a first end (11) and a second end (12) in the first direction (X), and when two adjacent bases (1) are connected to each other, the first end (11) of one base (1) and the second end (12) of the other base (1) are detachably connected; A lifting assembly (2), the lifting assembly (2) being arranged on the upper surface of the base (1), and the lifting assembly (2) being used to lift the car; A moving component (3), the moving component (3) being arranged at the bottom of the base (1) and being used to drive the base (1) to move; At least two hub support assemblies (4), at least one hub support assembly (4) is respectively installed on both sides of the base (1) in the first direction (X), the hub support assembly (4) includes a main support portion (41), the main support portion (41) includes two first support rods (411) extending along the second direction (Y) and a first drive portion (412), the two first support rods (411) are spaced apart along the first direction (X), the first drive portion (412) is arranged at the bottom of the base (1), and the power output end of the first drive portion (412) is transmission-connected with the two first support rods (411) to drive the first support rods (411) to move on a plane defined by the first direction (X) and the second direction (Y); A visual sensing component (5), wherein the visual sensing component (5) is mounted on the base (1); Wherein, the first direction (X) and the second direction (Y) are perpendicular to each other; The hub support assembly (4) further includes an auxiliary support portion (42), the auxiliary support portion (42) includes a first connecting rod (421), a second supporting rod (422), and a second driving portion (423), the upper surface of the base (1) is provided with a first receiving groove (131) for receiving the auxiliary support portion (42), the first receiving groove (131) includes a first groove body (1311) extending along the first direction (X) and a second groove body (1312) extending along the second direction (Y), the end of the first groove body (1311) and the second groove body (1312) extending along the second direction (Y) are connected. (1312) is connected, the second support rod (422) extends along the second direction (Y), the second support rod (422) can be accommodated in the second groove body (1312), the first connecting rod (421) can be accommodated in the first groove body (1311), one end of the first connecting rod (421) is hinged to the first groove body (1311), and the other end is connected to the second support rod (422), and the power output end of the second driving part (423) is connected to the first connecting rod (421) for driving the first connecting rod (421) to rotate; The auxiliary support portion (42) further includes a first return spring (424), the first connecting rod (421) includes a sleeve rod (4211) and a slide rod (4212) slidably inserted on the sleeve rod (4211), the sleeve rod (4211) is hinged in the first groove body (1311), the slide rod (4212) is connected to the second support rod (422), the first return spring (424) is sleeved on the outer periphery of the first connecting rod (421), one end of the first return spring (424) is connected to the sleeve rod (4211), and the other end is connected to the slide rod (4212); The wheel hub support assembly (4) further includes an anti-steering portion (43), the anti-steering portion (43) being arranged on the base (1), the anti-steering portion (43) including a suction cup (431), a transmission rod group (432) and a third driving portion (433), the third driving portion (433) driving the suction cup (431) to move to a receiving position or an abutting position via the transmission rod group (432); When the suction cup (431) is located at the receiving position, the suction cup (431) is located below the base (1); When the suction cup (431) is located at the abutting position, the suction cup (431) abuts against the outer wall of the automobile wheel hub.

2. The car moving robot according to claim 1, characterized in that: The auxiliary support portion (42) further comprises a sleeve (425), wherein the sleeve (425) is detachably and rotatably sleeved on the outer periphery of the second support rod (422), and an anti-wear layer is provided on the outer periphery of the sleeve (425).

3. The car moving robot according to claim 1, characterized in that: The hub support assembly (4) comprises two auxiliary support portions (42), and the two auxiliary support portions (42) are arranged along the first direction (X) and spaced apart from the main support portion (41).

4. The car moving robot according to claim 1, characterized in that: The base (1) comprises two main bodies (13), the two main bodies (13) are capable of moving toward or away from each other along the second direction (Y), and at least one hub support assembly (4) is arranged on the main body (13).

5. The car-moving robot according to claim 1, characterized in that: The visual sensing assembly (5) comprises a fifth driving unit (51), a rotating bracket (52) and a first visual sensor (53) rotatably arranged on the rotating bracket (52), wherein the rotating bracket (52) is mounted on the first end (11) of the base (1), the fifth driving unit (51) is mounted on the rotating bracket (52), and the power output end of the fifth driving unit (51) is connected to the first visual sensor (53).

6. The car-moving robot according to claim 5, characterized in that: The rotating bracket (52) has a plug-in portion, and the second end (12) of the base (1) is provided with a slot that cooperates with and plugs into the plug-in portion.

7. The car-moving robot according to claim 1, characterized in that: The invention also includes a brake assembly (6), wherein the brake assembly (6) includes a brake block (61) and a fifth driving part (51), wherein the fifth driving part (51) is arranged at the bottom of the base (1), and the power output end of the fifth driving part (51) is connected to the brake block (61) for driving the brake block (61) to move in a vertical direction, and a storage groove (134) corresponding to the position of the brake block (61) is provided on the upper surface of the base (1).

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