Combination vehicle handling apparatus and method

Abstract

The invention provides a combined vehicle handling apparatus and method. The combined type vehicle carrier comprises a child vehicle and a mother vehicle capable of bearing the child vehicle, the child vehicle comprises a child vehicle frame, an advancing mechanism and a conveying mechanism, the advancing mechanism is connected with the child vehicle frame and used for driving the child vehicle frame to move, and the conveying mechanism is movably connected with the child vehicle frame and used for being matched with the child vehicle frame to support a vehicle. According to the combined type vehicle carrying equipment and method, the child vehicle moves to the position below the vehicle, loads the vehicle and moves to the mother vehicle to carry the vehicle, the conveying mechanism and the child vehicle frame move and cooperate with each other to lift up the vehicle, in this way, other parts of the parking equipment can be placed on the mother vehicle, and therefore the structure of the child vehicle can be simplified; therefore, the device is suitable for a low-chassis vehicle or an application scene in which an obstacle is arranged below the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of parking equipment, and in particular to a combined vehicle handling device and method. Background Art

[0002] Parking systems facilitate vehicle handling by inserting and loading underneath vehicles. Depending on how the vehicle carrier enters the vehicle, they are categorized as side-entry systems, which enter from the side, or forward-entry systems, which enter from the vehicle's direction of travel (i.e., from the front or rear). With forward-entry systems, there may be a loading platform or other obstructions beneath the vehicle, resulting in a narrow space for the carrier, limiting its practical application. Summary of the Invention

[0003] In view of the above, it is necessary to provide a combined vehicle handling device and method, which aims to solve the problem that the space under the vehicle is too narrow to handle the vehicle.

[0004] The present disclosure provides a combined vehicle carrier, which includes a sub-carriage and a mother car capable of carrying the sub-carriage. The sub-carriage includes a sub-frame, a forward mechanism and a conveying mechanism. The forward mechanism is connected to the sub-frame and is used to drive the sub-frame to move. The conveying mechanism is movably connected to the sub-frame and is used to cooperate with the sub-frame to lift the vehicle.

[0005] According to the combined vehicle carrier, the forward movement mechanism includes running wheels connected to the sub-frame via a rotation pair.

[0006] The forward mechanism includes a travel drive device connected to the sub-frame and at least one of the travel wheels for driving the sub-frame to move. Alternatively, the conveying mechanism includes a conveying motor and a conveyor belt, the conveyor belt is movably connected to the sub-frame, and the conveying motor is connected to the conveyor belt.

[0007] The sub-cart also includes a clamping arm mechanism, and the clamping arm mechanism includes:

[0008] A mobile frame, a pair of clamping arms and a clamping arm driving assembly, wherein the mobile frame is movably connected to the sub-frame, the clamping arms are rotatably connected to the mobile frame, and the clamping arm driving assembly is connected to the mobile frame to drive the mobile frame to move;

[0009] A movable plate is movably connected to the movable frame, and the clamping arm is rotatably connected to the movable plate;

[0010] The clamping arm motor is connected to the movable plate and is used for pushing and pulling the movable plate to drive the clamping arm to retract and rotate.

[0011] The clamp arm drive assembly includes:

[0012] A moving motor, a driving screw and a nut, wherein the moving motor is connected to the driving screw, the driving screw is threadedly connected to the nut, and the nut is movably connected to the sub-frame;

[0013] A push-pull rod, one end of which is hinged to the nut and the other end of which is hinged to the movable frame;

[0014] The clamping arm walking wheel is rotatably connected to the mobile frame and is used to carry the mobile frame.

[0015] The clamp arm drive assembly includes a drive connecting rod and an auxiliary wheel, wherein the auxiliary wheel is rotatably connected to the drive connecting rod;

[0016] The sub-frame includes a first bearing portion for bearing the clamping arm walking wheel and a second bearing portion for bearing the auxiliary wheel. One end of the driving connecting rod is hinged to the push-pull rod, and the other end is hinged to the moving frame.

[0017] According to the combined vehicle transporter, the mother vehicle includes a mother vehicle frame, a plurality of supporting arms, and a lifting drive assembly. The supporting arms are vertically movably connected to the mother vehicle frame and protrude from the mother vehicle frame. The lifting drive assembly is connected to the supporting arms and is used to drive the supporting arms to move upward and downward to adjust the height of the child vehicle. The mother vehicle also includes a plurality of running wheels connected to the mother vehicle frame.

[0018] In addition, the present disclosure also provides a combined vehicle transport method, which is applied to the combined vehicle transporter, and the transport method includes:

[0019] The sub-vehicle moves along the traveling direction of the vehicle to the bottom of the vehicle and lifts the vehicle;

[0020] The sub-carriage carries the vehicle and moves it onto the mother car;

[0021] The mother vehicle carries the child vehicle and the vehicle and moves to a target position.

[0022] The sub-vehicle moves along the traveling direction of the vehicle to the bottom of the vehicle to lift the vehicle, including:

[0023] When the conveying mechanism of the sub-carriage abuts against the outer side of the wheel of the vehicle, the conveying speed of the conveying mechanism is equal to the moving speed of the sub-carriage until the conveying mechanism of the sub-carriage lifts up the vehicle.

[0024] Wherein, the sub-car also includes a clamping arm mechanism, and the clamping arm mechanism includes:

[0025] A mobile frame, a pair of clamping arms and a clamping arm driving assembly, wherein the mobile frame is movably connected to the sub-frame, the clamping arms are rotatably connected to the mobile frame, and the clamping arm driving assembly is connected to the mobile frame to drive the mobile frame to move;

[0026] A movable plate is movably connected to the movable frame, and the clamping arm is rotatably connected to the movable plate;

[0027] A clamping arm motor, connected to the movable plate, for pushing and pulling the movable plate to drive the clamping arm to retract and rotate;

[0028] The sub-carriage moves to the bottom of the vehicle along the direction of travel of the vehicle to lift the vehicle, further comprising: when the movable frame moves to a position over the wheel, the clamping arm motor drives a pair of clamping arms to open on a side of the wheel opposite to the conveying mechanism through the movable plate;

[0029] The clamping arm driving assembly drives the moving frame to move, and pushes the wheel in a direction toward the conveying mechanism through a pair of clamping arms.

[0030] The mother vehicle comprises a mother vehicle frame, a plurality of supporting arms and a lifting drive assembly, wherein the supporting arms are connected to the mother vehicle frame in a vertically movable manner and protrude from the mother vehicle frame, and the lifting drive assembly is connected to the supporting arms for driving the supporting arms to move upward and downward to adjust the height of the sub-vehicle;

[0031] After the sub-trolley carries the vehicle and moves onto the mother vehicle, the method further comprises: the lifting drive assembly drives the supporting arm to move up and down to adjust the height of the sub-trolley.

[0032] Compared with the existing technology, the above-mentioned combined vehicle handling equipment and method transports the vehicle by moving the sub-trolley to the bottom of the vehicle and the loaded vehicle to the mother vehicle, and lifts the vehicle through the cooperation of the conveying mechanism and the sub-trolley frame. In this way, other components of the parking equipment can be placed on the mother vehicle, thereby simplifying the structure of the sub-trolley and reducing the ground clearance of the sub-trolley, making it suitable for application scenarios with low-floor vehicles or obstacles under the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods, the following will briefly introduce the drawings required for use in the description of the implementation methods. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 Schematic diagram of the structure of the combined vehicle handling equipment.

[0035] Figure 2 It is a structural diagram of the sub-carriage and forward mechanism.

[0036] Figure 3 It is a structural diagram of the transmission mechanism.

[0037] Figure 4 It is a structural diagram of the forward mechanism.

[0038] Figure 5 It is a structural diagram of the sub-car.

[0039] Figure 6 It is a structural diagram of the sub-frame.

[0040] Figure 7 It is a structural diagram of the clamping arm mechanism.

[0041] Figure 8 It is a structural diagram of the mother vehicle.

[0042] Figure 9 It is a structural diagram of the support arm and lifting drive assembly.

[0043] Figure 10 and Figure 11 It is a structural diagram of a combined vehicle transporter transporting a vehicle.

[0044] Figure 12 This is a schematic diagram of a combined vehicle transporter transporting a vehicle when a vehicle loading plate is provided under the vehicle.

[0045] Figure 13-17 Schematic diagram of a combined vehicle transporter transporting a vehicle when there is no vehicle loading platform underneath the vehicle.

[0046] Description of main component symbols:

[0047] 100-mother car; 200-child car;

[0048] 10- mother frame;

[0049] 20-lifting drive assembly; 21-support arm; 22-lifting motor; 23-lifting chain; 24-lifting frame; 241-lifting screw;

[0050] 30-forward mechanism; 31-forward motor; 311-forward gear; 32-forward rack; 33-forward chain; 34-forward arm;

[0051] 40-sub-frame; 41-first load-bearing portion; 42-second load-bearing portion;

[0052] 50-transmission mechanism; 51-transmission motor; 52-conveyor belt;

[0053] 60-clamping arm mechanism; 61-moving motor; 611-driving screw; 62-nut; 621-push-pull rod; 63-moving frame; 64-clamping arm motor; 641-clamping arm screw; 65-clamping arm; 651-clamping arm connecting rod; 66-clamping arm walking wheel; 67-moving plate; 68-driving connecting rod; 681-auxiliary wheel.

[0054] 70-travel wheel; 80-carriage plate.

[0055] The following specific embodiments will further illustrate the present disclosure in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0056] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the present disclosure is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present disclosure. The embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of the present disclosure. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0058] In various embodiments, for ease of description and not to limit the present disclosure, the term "connection" used in the patent specification and claims of the present disclosure is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "below," "left," and "right" are used solely to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0059] Figure 1 Schematic diagram of the structure of the combined vehicle handling equipment. Figure 1 As shown, the combined vehicle transporter includes a sub-trolley 200 and a mother vehicle 100 that can carry the sub-trolley 200. The sub-trolley 200 is used to move to the bottom of the vehicle to transport the vehicle. When the sub-trolley 200 moves onto the mother vehicle 100, the mother vehicle 100 can move with the sub-trolley 200 to complete the vehicle transport operation.

[0060] Figure 2 2 is a schematic diagram of the structure of the sub-car 200. Figure 2As shown, sub-vehicle 200 includes a sub-frame 40, a forward mechanism 30, and a conveying mechanism 50. The forward mechanism 30 is connected to the sub-frame 40 and is used to drive the sub-frame 40 to move. The conveying mechanism 50 is movably connected to the sub-frame 40 and is used to cooperate with the sub-frame 40 to lift the vehicle. During operation, the forward mechanism 30 pushes the sub-frame 40 toward the vehicle, and the conveying mechanism 50 pulls the vehicle toward the sub-frame 40. The two mechanisms work together to move the vehicle onto the sub-frame 40 and lift it.

[0061] Figure 3 Schematic diagram of the structure of the transmission mechanism 50. Figure 3 As shown, the conveying mechanism 50 includes a conveying motor 51 and a conveyor belt 52. The conveyor belt 52 is movably connected to the sub-frame 40, and the conveying motor 51 is connected to the conveyor belt 52. In this embodiment, the conveyor belt 52 is a plurality of plate chains that are movably connected to the sub-frame 40 along the length direction of the sub-frame 40. The conveying motor 51 is connected to the conveyor belt 52 by various means such as a chain-sprocket, gears, etc., and can drive the conveyor belt 52 to move.

[0062] Figure 4 Schematic diagram of the structure of the forward mechanism 30. Figure 4 As shown, the forward mechanism 30 includes a running wheel connected to the sub-frame 40 via a rotating pair. The forward mechanism 30 includes a running drive device, which connects the sub-frame 40 and the running wheel and is used to drive the running wheel to rotate. Figure 4 In the illustrated embodiment, the forward mechanism 30 includes a forward motor 31, a forward gear 311, a forward rack 32, a forward chain 33, and multiple forward arms 34. The forward motor 31 is connected to the forward gear 311 and the forward rack 32, which is connected to the forward arms 34. The multiple forward arms 34 are connected in series via the forward chain 33, and the end forward arms 34 are connected to the sub-carriage 200. During operation, the forward motor 31 drives one forward arm 34 to extend and retract via the forward gear 311 and the forward rack 32. The forward arm 34 drives the other forward arms 34 to extend and retract synchronously via the forward chain 33 and sprocket, thereby pulling the sub-carriage 200 relative to the mother car 100 via the forward arms 34. Furthermore, the forward mechanism 30 may also be implemented in other ways, for example, by connecting to the sub-carriage 200 via a screw rod, a scissors fork, or the like, to drive the sub-carriage 200 to move forward and backward.

[0063] In some other embodiments, the forward mechanism 30 can also be set on the sub-vehicle 200, connected to the running wheels of the sub-vehicle 200 through a chain-sprocket, gears, etc., or the running wheels of the sub-vehicle 200 themselves are set as steering wheels with autonomous walking and steering functions to realize the autonomous walking function of the sub-vehicle 200.

[0064] During operation, the forward mechanism 30 controls the movement speed of the sub-trolley 200 to be equal to the movement speed of the conveying cabinet, but in the opposite direction. In this way, during the pushing and pulling process of the vehicle, since the movement speed of the sub-trolley 200 and the movement speed of the conveying mechanism 50 relative to the ground are the same and in opposite directions, the vehicle remains stationary relative to the ground during the pushing and pulling process, and the vehicle will not touch other objects and damage the vehicle.

[0065] Figure 5 This is a schematic diagram of the structure of the sub-car. Figure 6 It is a structural diagram of the sub-frame. Figure 5 and Figure 6 As shown, the sub-frame 40 includes a first supporting portion 41 for supporting the arm travel wheels 66 and a second supporting portion 42 for supporting the auxiliary wheels 681. The first supporting portion 41 is open at one end and has a protruding structure at the other end that can stop the sub-frame. The second supporting portion 42 is located on the other side of the first supporting portion 41 relative to the end where the first supporting portion 41 is located.

[0066] Figure 7 It is a schematic diagram of the structure of the clamping arm mechanism. Figure 5 and 7 As shown, the clamping arm mechanism 60 includes two parts, one part includes a mobile frame 63, a pair of clamping arms 65 and a clamping arm driving assembly, and the clamping arm driving assembly is used to drive the entire mobile frame 63 and the pair of clamping arms 65 to move relative to the sub-frame 40. Among them, the mobile frame 63 is movably connected to the sub-frame 40, the clamping arm 65 is rotationally connected to the mobile frame 63, and the clamping arm driving assembly is connected to the mobile frame 63 for driving the mobile frame 63 to move. In this embodiment, the clamping arm driving assembly includes a mobile motor 61, a driving screw rod 611 and a nut 62, as well as a push-pull rod 621 and a clamping arm walking wheel 66. Among them, the mobile motor 61 is connected to the driving screw rod 611, the driving screw rod 611 is threadedly connected to the nut 62, the nut 62 is rotationally connected to one end of the push-pull rod 621, and the other end of the push-pull rod 621 is rotationally connected to the mobile frame 63. The clamping arm walking wheel 66 is rotationally connected to the mobile frame 63 for carrying the mobile frame 63.

[0067] During operation, the mobile motor 61 drives the push-pull rod 621 to pull the mobile frame 63 by driving the screw rod 611 and the nut 62, and the running wheels of the mobile frame 63 carry the mobile frame 63 to move. During the movement process, due to the certain gap between the sub-frame 40 and the ground, the mobile frame 63 can adapt to the ground drop through the hinged connection of the push-pull rod 621, and will not cause radial force on the screw rod. Moreover, the mobile frame 63 can also adapt to the situation of the ground height difference. For example, in some application scenarios, there is a car loading plate with a "J"-shaped cross section under the vehicle. In this way, the height of the middle part of the car loading plate is basically the same as the height of the sub-frame 40, and the sub-frame 40 can move directly to the bottom of the vehicle; in other scenarios, there is no car loading plate under the vehicle, resulting in a large height difference between the ground height and the sub-frame 40. Through the hinged connection of the push-pull rod 621, the mobile frame 63 can adapt to this height difference.

[0068] In order to better adapt to the height difference between the sub-frame 40 and the ground, in this embodiment, the clamping arm drive assembly includes a driving link 68 and an auxiliary wheel 681. The auxiliary wheel 681 is rotatably connected to the driving link 68, one end of the driving link 68 is rotatably connected to the push-pull rod 621, and the other end is rotatably connected to the movable frame 63. When the movable frame 63 is located at the sub-frame 40, the clamping arm walking wheel 66 is located at the first bearing part 41, and the auxiliary wheel 681 is located at the second bearing part 42. In the process of the movable frame 63 returning to the sub-frame 40, the auxiliary wheel 681 will first return to the second bearing part 42, pre-supporting the driving link 68 to lift the movable frame 63, and at the same time reducing the inclination of the push-pull rod 621, so as to facilitate pulling the clamping arm walking wheel 66 to move onto the first bearing part 41.

[0069] Another part of the clamping arm mechanism 60 is used to realize the expansion or folding action of the clamping arm 65. Specifically, the other part includes a movable plate 67, a clamping arm connecting rod 651 and a clamping arm motor 64. The movable plate 67 is movably connected to the movable frame 63, and the clamping arm 65 is rotatably connected to the movable plate 67. The clamping arm motor 64 is connected to the movable plate 67 through the clamping arm screw rod 641, and is used to push and pull the movable plate 67. One end of the clamping arm connecting rod 651 is hinged to the movable plate 67, and the other end is hinged to the clamping arm 65. When the movable plate 67 moves, the clamping arm 65 is driven to fold and rotate together with the clamping arm connecting rod 651. During operation, when the movable frame 63 moves to the side of the relative conveying mechanism 50 of the wheel, the clamping arm motor 64 pushes the movable plate 67 to move. The movable plate 67 drives the clamping arm 65 to open to the side of the relative conveying mechanism 50 of the vehicle through the clamping arm connecting rod 651, and then follows the movement of the movable frame 63 to push the vehicle toward the direction of the conveying mechanism 50.

[0070] In this embodiment, the clamping arm mechanism 60 is provided at one end of the sub-trolley 200. In other embodiments, the clamping arm mechanism 60 can also be provided at both ends of the sub-trolley 200, and the sub-trolley 200 can be moved in and out from both ends of the mother vehicle 100, so that both ends of the mother vehicle 100 can complete the vehicle handling operation.

[0071] Figure 8 1 is a schematic structural diagram of the mother vehicle 100. Figure 8 As shown, the mother vehicle 100 includes a mother vehicle frame 10, a plurality of supporting arms 21, and a lifting drive assembly 20. The mother vehicle 100 also includes a plurality of running wheels 70 connected to the mother vehicle frame 10. The plurality of supporting arms 21 are used to support the sub-vehicle 200, and the lifting drive assembly 20 is used to drive the supporting arms 21 to move up and down, thereby adjusting the height of the sub-vehicle 200. The running wheels 70 are used to carry the mother vehicle 100 and move.

[0072] The mother frame 10 is in a U-shaped structure, with an opening at one end for the sub-carriage 200 to enter and exit. A plurality of running wheels 70 can be arranged on both sides of the mother frame 10. The forward mechanism 30 is arranged at the closed end of the mother frame 10 away from the open end, so that the sub-carriage 200 can be driven to move in and out of the opening. The running wheel 70 can use a steering wheel, which is a mechanical structure that integrates a drive motor, a steering motor, a reducer, etc., and has the functions of walking, autonomous traction and steering. It can load and tow heavier cargo, thereby realizing the walking and steering movement of the mother vehicle 100.

[0073] Figure 9 Schematic diagram of the structure of the support arm 21 and the lifting drive assembly 20. Figure 8 and 9 As shown, multiple supporting arms 21 are connected to a lifting frame 24. The supporting arms 21 protrude from the mother frame 10. The lifting frame 24 is connected to the mother frame 10 in a vertically movable manner via a slider-rail structure. In addition, the mother frame 10 is also provided with a lifting screw 241. The lifting frame 24 is provided with a nut (not shown) that cooperates with the lifting screw 241. The lifting motor 22 is connected to the lifting screws 241 of the multiple lifting frames 24 via a lifting chain 23. In this way, the lifting motor 22 can synchronously drive the multiple lifting screws 241 to rotate synchronously. The lifting screws 241 drive the multiple supporting arms 21 to move up and down through the lifting frame 24, thereby supporting the sub-trolley 200 and adjusting its height.

[0074] Figure 10 and Figure 11 This is a schematic diagram of the structure of a combined vehicle transporter transporting vehicles. Figure 10 and 11 A combined vehicle transport method based on the combined vehicle transporter is described in detail. The transport method includes the following steps.

[0075] Step S1: The sub-carriage 200 moves along the vehicle's travel direction to the bottom of the vehicle and lifts the vehicle. In this step, when the conveyor mechanism 50 of the sub-carriage 200 abuts the outside of the vehicle's wheel, the sub-carriage 200 moves toward the wheel, while the conveyor belt 52 moves away from the wheel, and together with the clamping arm mechanism 60, lifts the wheel. Specifically, when the sub-carriage 200 moves to a position close to the outside of the vehicle's wheel by the conveyor mechanism 50, and when the movable frame 63 moves to a position beyond the wheel, the clamping arm motor 64 drives the pair of clamping arms 65 via the movable plate 67 to open on the side of the wheel opposite the conveyor mechanism 50. The pair of clamping arms 65 push the vehicle toward the sub-carriage 40 in the direction toward the conveyor mechanism 50. Simultaneously, the sub-carriage 40 moves toward the vehicle, and the conveyor belt 52 of the conveyor mechanism 50 pushes toward the vehicle, abutting the outside of the vehicle's wheel. The conveyor belt 52 then moves in a direction opposite to the movement of the sub-carriage 200, pulling the vehicle's wheel. The vehicle is moved onto the conveyor belt 52 of the conveyor mechanism 50 through the combined action of the arm mechanism 60, the sub-carriage 40, and the conveyor mechanism 50. After the vehicle's wheels move onto the conveyor belt 52, the conveyor mechanism 50 coordinates with the moving speed of the sub-carriage 200. Generally, the moving speed of the conveyor belt 52 is equal to the moving speed of the sub-carriage 200, thereby maintaining the vehicle's position relative to the ground throughout the entire process.

[0076] Step S2: The sub-trolley 200, loaded with the vehicle, moves onto the mother vehicle 100. In this step, the forward mechanism 30 pulls the sub-trolley frame 40 toward the mother vehicle 100, allowing it to enter the mother vehicle 100 through its opening. The lifting drive mechanism then lifts the sub-trolley 200 via the supporting arms 21, lifting the wheels of the sub-trolley 200 off the ground and carrying the entire sub-trolley 200 and the vehicle.

[0077] Step S3: The mother vehicle 100 carries the sub-vehicle 200 and the vehicle and moves to the target position. In this step, the running wheels 70 of the mother vehicle 100 rotate to complete the running and steering functions of the mother vehicle 100 until the mother vehicle 100 moves to the target position.

[0078] Step S4: the lifting drive assembly 20 drives the supporting arm 21 to move up and down to adjust the height of the sub-trolley 200 and release the sub-trolley 200. After the sub-trolley 200 leaves the mother vehicle 100, the conveying mechanism 50 releases the vehicle to the ground, completing the vehicle transportation function.

[0079] In step S1, the sub-car moves to the bottom of the vehicle and lifts the vehicle. Figure 12-17 The process of moving the combined vehicle carrier under the vehicle in two situations, small and large ground clearance, is described in detail.

[0080] Figure 12This is a schematic diagram of a combined vehicle transporter transporting a vehicle when there is a vehicle loading plate under the vehicle. When there is a "J"-shaped vehicle loading plate under the vehicle, the raised part in the middle of the vehicle loading plate causes the vehicle's ground clearance to be smaller. Figure 12 As shown, the height of the middle portion of the vehicle loading plate is substantially flush with the height of the moving frame, and the clamping arm travel wheel 66 can be directly moved to the middle region of the vehicle loading plate.

[0081] When there is no loading plate or other components under the vehicle, the ground clearance of the vehicle is larger than that with a loading plate. In order to prevent the mobile frame from tilting or the connecting rod from bending due to large radial force, in this embodiment, the driving connecting rod 68 is rotatably connected to the mobile frame and the push-pull rod 621.

[0082] Figure 13-17 This is a schematic diagram of a combined vehicle carrier transporting a vehicle when there is no vehicle plate underneath the vehicle. Figure 13-17 The moving process of the clamping arm mechanism when the ground clearance of the vehicle is large is described in detail.

[0083] like Figure 13 As shown, due to the large ground clearance, the mobile frame 63 is cantilevered out of the sub-frame, and the inner clamp arm walking wheel 66 is located on the first bearing portion 41 and is kept fixed under the pulling of the push-pull rod 621 and the driving connecting rod 68.

[0084] like Figure 14 As shown, driven by the push-pull rod 621, the mobile frame 63 moves outward, the outer end of the clamp arm walking wheel 66 touches the ground, and the inner end of the entire mobile frame 63 tilts upward. Because the mobile frame 63 and the drive link 68 are pivotally connected, a certain angle is formed between the drive link 68 and the mobile frame 63 to prevent radial stress. Furthermore, the pivotal connection between the drive link 68 and the push-pull rod 621 allows the drive link 68 to create a transition in height between the mobile frame 63 and the push-pull rod 621 without affecting the horizontal movement of the push-pull rod 621.

[0085] like Figure 15 and 16 As shown, as the moving frame 63 continues to move outward, the inner clamp arm walking wheel 66 detaches from the first bearing portion 41 , the inner end height of the moving frame 63 decreases, and the driving connecting rod 621 pulls the moving frame 63 under the support of the auxiliary wheel 681 .

[0086] like Figure 17 As shown, when the moving frame 63 continues to move outward, the inner clamping arm walking wheel 66 is completely on the ground.

[0087] When the mobile frame 63 moves out of the vehicle, the inner end of the mobile frame 63 tilts upward, and the height difference of the mobile frame 63 can be overcome by the rotation angle of the two ends of the driving connecting rod 68; when the clamping arm walking wheel 66 at the inner end of the mobile frame 63 touches the ground, the driving connecting rod 68, supported by the auxiliary wheel 681, pulls the mobile frame 63 to ensure that the mobile frame 63 lands smoothly.

[0088] On the contrary, during the process of the mobile frame 63 returning to the sub-frame 40, the driving connecting rod 68 can also use the auxiliary wheel 681 as a fulcrum to pull the mobile frame 63 upward. During the movement of the mobile frame 63, the inner clamping arm walking wheel 66 is gradually lifted and enters the first load-bearing part 41, avoiding the situation where the mobile frame 63 vibrates too much or even cannot enter the first load-bearing part 41.

[0089] The above-mentioned combined vehicle handling equipment and method transports the vehicle by moving the sub-trolley 200 to the bottom of the vehicle and the loaded vehicle to the mother vehicle 100, and lifts the vehicle by cooperating with the movement of the conveying mechanism 50 and the sub-trolley frame 40. In this way, other components of the parking equipment can be placed on the mother vehicle 100, thereby simplifying the structure of the sub-trolley 200 and reducing the ground clearance of the sub-trolley 200, making it suitable for application scenarios with low-floor vehicles or obstacles under the vehicle.

[0090] In the several specific embodiments provided in the present disclosure, it is obvious to those skilled in the art that the present disclosure is not limited to the details of the above-mentioned exemplary embodiments, and that the present disclosure can be implemented in other specific forms without departing from the spirit or basic characteristics of the present disclosure. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present disclosure is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present disclosure. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. Words such as first, second, etc. are used to indicate names and do not indicate any particular order.

[0091] The above embodiments are only used to illustrate the technical solutions of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present disclosure should not depart from the spirit and scope of the technical solutions of the present disclosure.

Claims

1. A combined vehicle carrier, characterized in that: It includes a sub-trolley and a mother car that can carry the sub-trolley. The sub-trolley includes a sub-frame, a forward mechanism and a transmission mechanism. The forward mechanism is connected to the sub-frame and is used to drive the sub-frame to move. The transmission mechanism is movably connected to the sub-frame and is used to cooperate with the sub-frame to lift the vehicle.

2. The combined vehicle carrier according to claim 1, wherein: The forward mechanism includes a traveling wheel connected to the sub-frame via a rotating pair.

3. The combined vehicle carrier according to claim 2, wherein: The forward mechanism includes a travel drive device, which is connected to the sub-frame and at least one of the travel wheels and is used to drive the sub-frame to move.

4. The combined vehicle carrier according to claim 1, wherein: The conveying mechanism includes a conveying motor and a conveying belt, the conveying belt is movably connected to the sub-frame, and the conveying motor is connected to the conveying belt.

5. The combined vehicle carrier according to claim 1, wherein: The sub-cart also includes a clamping arm mechanism, and the clamping arm mechanism includes: A mobile frame, a pair of clamping arms and a clamping arm driving assembly, wherein the mobile frame is movably connected to the sub-frame, the clamping arms are rotatably connected to the mobile frame, and the clamping arm driving assembly is connected to the mobile frame to drive the mobile frame to move; A movable plate is movably connected to the movable frame, and the clamping arm is rotatably connected to the movable plate; The clamping arm motor is connected to the movable plate and is used for pushing and pulling the movable plate to drive the clamping arm to retract and rotate.

6. The combined vehicle carrier according to claim 5, wherein: The clamp arm drive assembly includes: A moving motor, a driving screw and a nut, wherein the moving motor is connected to the driving screw, the driving screw is threadedly connected to the nut, and the nut is movably connected to the sub-frame; A push-pull rod, one end of which is hinged to the nut and the other end of which is hinged to the movable frame; The clamping arm walking wheel is rotatably connected to the mobile frame and is used to carry the mobile frame.

7. The combined vehicle carrier according to claim 6, wherein: The clamp arm drive assembly includes a drive connecting rod and an auxiliary wheel, wherein the auxiliary wheel is rotatably connected to the drive connecting rod; The sub-frame includes a first bearing portion for bearing the clamping arm walking wheel and a second bearing portion for bearing the auxiliary wheel. One end of the driving connecting rod is hinged to the push-pull rod, and the other end is hinged to the moving frame.

8. The combined vehicle carrier according to claim 1, wherein: The mother vehicle includes a mother vehicle frame, a plurality of supporting arms and a lifting drive assembly. The supporting arms are connected to the mother vehicle frame for movement in a vertical direction. The supporting arms protrude from the mother vehicle frame. The lifting drive assembly is connected to the supporting arms for driving the supporting arms to move up and down to adjust the height of the sub-vehicle.

9. The combined vehicle carrier according to claim 8, wherein: The mother vehicle further comprises a plurality of running wheels connected to the mother vehicle frame.

10. A combined vehicle transport method, characterized in that: Applied to the combined vehicle transporter according to claim 1, the transport method comprises: The sub-vehicle moves along the traveling direction of the vehicle to the bottom of the vehicle and lifts the vehicle; The sub-carriage carries the vehicle and moves it onto the mother car; The mother vehicle carries the child vehicle and the vehicle and moves to a target position.

11. The combined vehicle transport method according to claim 10, wherein: The conveying mechanism includes a conveying motor and a conveying belt, the conveying belt is movably connected to the sub-frame, and the conveying motor is connected to the conveying belt; The sub-vehicle moves along the traveling direction of the vehicle to the bottom of the vehicle to lift the vehicle, including: When the conveying mechanism of the sub-carriage abuts against the outer side of the wheel of the vehicle, the sub-carriage moves in a direction close to the wheel, and at the same time the conveyor belt moves in a direction away from the wheel, thereby jointly lifting the wheel.

12. The combined vehicle transport method according to claim 11, wherein: The sub-cart also includes a clamping arm mechanism, and the clamping arm mechanism includes: A mobile frame, a pair of clamping arms and a clamping arm driving assembly, wherein the mobile frame is movably connected to the sub-frame, the clamping arms are rotatably connected to the mobile frame, and the clamping arm driving assembly is connected to the mobile frame to drive the mobile frame to move; A movable plate is movably connected to the movable frame, and the clamping arm is rotatably connected to the movable plate; A clamping arm motor, connected to the movable plate, for pushing and pulling the movable plate to drive the clamping arm to retract and rotate; The sub-carriage moves to the bottom of the vehicle along the direction of travel of the vehicle to lift the vehicle, further comprising: when the movable frame moves to a position over the wheel, the clamping arm motor drives a pair of clamping arms to open on a side of the wheel opposite to the conveying mechanism through the movable plate; The clamping arm driving assembly drives the movable frame to move, and drives the wheels to move toward the conveying mechanism through a pair of clamping arms.

13. The combined vehicle transport method according to claim 12, wherein: After the sub-vehicle moves to the bottom of the vehicle along the traveling direction of the vehicle and lifts the vehicle, the method further includes: When the conveyor belt lifts the wheel, the moving speed of the conveyor belt matches the moving speed of the sub-vehicle to keep the position of the vehicle relative to the ground constant.

14. The combined vehicle transport method according to claim 12, wherein: The mother vehicle comprises a mother vehicle frame, a plurality of supporting arms and a lifting drive assembly, wherein the supporting arms are connected to the mother vehicle frame in a vertically movable manner and protrude from the mother vehicle frame, and the lifting drive assembly is connected to the supporting arms for driving the supporting arms to move upward and downward to adjust the height of the sub-vehicle; After the sub-trolley carries the vehicle and moves onto the mother vehicle, the method further comprises: the lifting drive assembly drives the supporting arm to move up and down to adjust the height of the sub-trolley.

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