Vehicle transfer trolley
By designing a vehicle transfer vehicle with open beam and robotic arm fixing mechanism, the problems of low efficiency and poor stability in the prior art are solved, efficient and stable vehicle transfer is achieved, and a variety of road environments are adapted to.
Patent Information
- Application Number
- CN202420910150.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-26
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-04-26
AI Technical Summary
Vehicle transfer robots in existing automatic parking garages are inefficient, have poor stability, and cannot adapt to outdoor environments, especially in multiple road environments.
A vehicle transfer vehicle is designed, using an open beam and a robotic arm fixing mechanism, and the wheel diameter can be large. The vehicle is stable lifting and transported through the rotation and telescopic frame of the robotic arm, adapting to different vehicle sizes and road environments.
It improves the efficiency and stability of vehicle transfer, can adapt to multiple road environments, reduces vehicle transfer time and cost, and simplifies the scheduling algorithm.
Smart Images
Figure CN222276321U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic parking, in particular to a vehicle transfer vehicle. Background Art
[0002] Parking garages are usually large places used to park vehicles. Newly produced vehicles need to be temporarily parked in garages. In life, parking garages in large commercial buildings, office buildings and other places are mainly used for car owners entering and leaving the place to park their vehicles.
[0003] At present, in parking garages, the parking and picking up of cars are mostly done by workers or car owners driving the car to or from the parking space, which has a low parking / picking up efficiency, thus causing great inconvenience to the parking and picking up of cars. Therefore, people have developed a vehicle transfer robot to automatically carry vehicles and move them to a designated location, thus making vehicle transfer convenient and fast.
[0004] In the automatic warehousing scenario, placing the vehicle on a pallet or bracket requires manual securing of the vehicle. If the vehicle is not secured, driving uphill or downhill or sudden braking may cause accidents during the movement of the pallet or bracket. The vehicle leaving the pallet or bracket generally requires manual operation and cannot be done automatically.
[0005] The technology of using AGV robots to transport vehicles is generally to drive the robot under the chassis of the car and lift the car for transportation. Therefore, the wheel diameter of the AGV robot is small, generally not exceeding 10cm, and the driving speed is generally 1m / s, with low efficiency. At the same time, due to limited size and small battery capacity, the working time is limited. If a large number of commercial vehicles need to be automatically transported, the number of AGV robots required is relatively high, which not only increases the investment cost, but also makes the scheduling algorithm of the AGV robot relatively complicated, and has high requirements for the site. It can only operate indoors and requires a flat site, and cannot adapt to outdoor environments. Utility Model Content
[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a vehicle transfer vehicle, which has high transfer efficiency, better stability and better adaptability.
[0007] In order to solve the above technical problems, the technical solution adopted by the utility model is as follows: a vehicle transfer vehicle, including a transfer vehicle, the transfer vehicle includes a powered front vehicle and a frame connected thereto, and wheels are installed at the bottom of the front vehicle and the frame; the front vehicle is located outside the vehicle to be transferred, and a larger capacity battery can be installed to provide a longer working time. It also includes a connecting frame, which is arranged along the left and right directions of the transfer vehicle, and the connecting frame is connected to the front of the vehicle through a telescopic frame; the frame includes at least two cross beams arranged along the front and rear directions of the transfer vehicle, and one end of the cross beam is slidably connected to the connecting frame so that the two cross beams can move away from or approach each other; back plates are respectively provided on the opposite or opposite sides of the two cross beams, and the back plates are connected to the cross beams through a lifting mechanism and can move up and down under the action of the lifting mechanism; at least one group of vehicle fixing mechanisms is installed on the back plate, and the vehicle fixing mechanism includes at least one mechanical arm and at least one group of rotating drive mechanisms connected to the mechanical arm, one end of the mechanical arm is rotatably connected to the back plate, and the rotating drive mechanism can drive the mechanical arm to rotate, so that the other end of the mechanical arm can move from a position close to the cross beam to under the chassis of the vehicle to be transferred or contact with the wheel of the vehicle to be transferred.
[0008] As an optimization, the rotation drive mechanism includes a screw rod parallel to the back plate and a slider threadedly sleeved on the screw rod, the screw rod is driven to rotate by a motor, the slider is slidably connected to the back plate, one end of the robotic arm is rotatably mounted on the slider via a rotating shaft, and a fan-shaped gear is provided at this end of the robotic arm, and a steering rack is correspondingly provided on the back plate. When the slider moves along the screw rod under the action of the screw rod, the fan-shaped gear can engage with the steering rack, driving the robotic arm to rotate around the rotating shaft.
[0009] As an optimization, the slider includes a first slider and a second slider which are arranged opposite to each other in an upper and lower direction, and the first slider is connected to the second slider through the rotating shaft. Correspondingly, two first slide rails extending along the front and rear directions of the transfer vehicle are provided on the back plate, and the first slider and the second slider are respectively slidably connected to the two first slide rails; a screw hole which is threadably connected to the screw rod is provided at the lower part of the second slider, and an extension into position switch and a reset switch are provided on its upper end surface. When the end of the robotic arm away from the cross beam is located close to the cross beam, the robotic arm can contact the reset switch; when the end of the robotic arm away from the cross beam moves to under the chassis of the vehicle to be transferred or contacts the wheel of the vehicle to be transferred, the robotic arm can contact the extension into position switch.
[0010] As an optimization, a groove is also provided on the upper end surface of the second slider, in which a first elastic pin is installed. The first elastic pin can retract or pop out of the groove, and when it pops out, it can contact the robotic arm and prevent the robotic arm from rotating.
[0011] As an optimization, the vehicle fixing mechanism includes two mechanical arms and two sets of corresponding rotation drive mechanisms, and the two sets of rotation drive mechanisms are symmetrically arranged so that the sliders of the two sets of rotation drive mechanisms can move toward or away from each other synchronously under the drive of the screw, thereby making the mechanical arms rotate toward or away from each other synchronously.
[0012] As an optimization, a support plate capable of contacting the chassis of the vehicle to be transferred or a backstop capable of contacting the wheel of the vehicle to be transferred is provided at one end of the mechanical arm away from the crossbeam. The backstop has an arc-shaped contact surface with the same arc as the wheel of the vehicle to be transferred. When the backstop contacts the wheel of the vehicle to be transferred, the contact surface contacts the wheel surface of the vehicle to be transferred. A sensor is installed on the arc-shaped contact surface of the backstop to detect whether it is in close contact with the wheel surface of the wheel.
[0013] As an optimization, the lifting mechanism includes second slide rails respectively arranged at both ends of the beam, and the two ends of the back plate are respectively connected to the second slide rails in a sliding manner. The back plate moves up and down along the second slide rails through a gear drive mechanism, a screw drive mechanism or a hydraulic drive mechanism.
[0014] As an optimization, a plurality of second elastic pins distributed vertically are provided on one side of the cross beam close to the back plate. The second elastic pins can retract or pop out, and when they pop out, they can contact the back plate and prevent the back plate from moving.
[0015] As an optimization, a plurality of limit switches distributed vertically are provided on one side of the cross beam close to the back plate. When the back plate moves to a certain position, it can contact the corresponding limit switch.
[0016] Compared with the prior art, the utility model has the following advantages: through the open crossbeam design, the frame can be moved to the side of the vehicle to be transferred, and through the rotation of the mechanical arm, the mechanical arm can lift the vehicle from under the chassis of the vehicle to be transferred or clamp the wheels through multiple groups of mechanical arms, so as to stably lift the vehicle to be transferred and complete the vehicle transfer. Since in this application, the crossbeam is moved to the side of the vehicle, the wheel diameter of the transfer vehicle is not limited by the height of the chassis of the vehicle to be transferred, so its diameter can be larger, thereby improving the transfer speed and efficiency of the transfer vehicle. At the same time, as its wheel diameter increases, its adaptability is also improved, and it can adapt to a variety of road environments and has better stability. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is the front view of the utility model;
[0018] Figure 2 It is a schematic diagram of the top view structure of the utility model;
[0019] Figure 3 This is a schematic diagram of another arrangement of the utility model;
[0020] Figure 4 It is a side view structural diagram of one side of the back plate of the crossbeam of the utility model;
[0021] Figure 5 It is a schematic diagram of the structure of the mechanical arm of the utility model when it is folded;
[0022] Figure 6 This is a structural schematic diagram of the slider in the utility model;
[0023] Figure 7 This is a schematic diagram of the structure of the stop retreat device of the utility model;
[0024] In the figure: 1 front of the vehicle, 2 cross beam, 3 back plate, 4 mechanical arm, 5 screw, 6 slider, 601 first slider, 602 second slider, 7 motor, 8 shaft, 9 sector gear, 10 steering rack, 11 first slide rail, 12 reset switch, 13 extended position switch, 14 first elastic latch, 15 backstop, 16 second slide rail, 17 second elastic latch, 18 limit switch. DETAILED DESCRIPTION
[0025] The utility model will be further described below in conjunction with the accompanying drawings and embodiments.
[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the utility model for which protection is sought, but merely represents the selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.
[0027] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] Example: See Figures 1 to 7A vehicle transfer vehicle includes a transfer vehicle, which includes a front 1 and a frame connected thereto, and wheels are installed at the bottom of the front 1 and the frame. It also includes a connecting frame, which is arranged along the left and right directions of the transfer vehicle, and the connecting frame is connected to the front 1 through a telescopic frame; the frame includes at least two crossbeams 2 arranged along the front and rear directions of the transfer vehicle, and one end of the crossbeam 2 is connected to the connecting frame in a sliding manner, so that the two crossbeams 2 can move away from or approach each other; specifically, the front 1 is connected to the frame through a telescopic connecting frame, and a telescopic structure such as a hydraulic cylinder or a gear or a screw 5 can be used, so that the frame can be adjustable within a certain range, so that it can adjust the moving position according to the size of different vehicles. The frame includes at least two crossbeams 2 arranged along the front and rear directions of the transfer vehicle, specifically, the crossbeam 2 can be connected to the connecting frame in a sliding manner, and the spacing between the two crossbeams 2 can be synchronously adjusted through a transmission mechanism, so that it can adjust the position of the crossbeam 2 according to the wheelbase of different vehicles, further improving its versatility. A back plate 3 is provided on the opposite or opposite sides of the two beams 2, and the back plate 3 is connected to the beam 2 through a lifting mechanism and can move up and down under the action of the lifting mechanism. Specifically, the lifting mechanism includes a second slide rail 16 provided at both ends of the beam 2, and both ends of the back plate 3 are respectively connected to the second slide rail 16 in a sliding manner. The back plate 3 moves up and down along the second slide rail 16 through a gear drive mechanism, a screw 5 drive mechanism, or a hydraulic drive mechanism. The gear drive mechanism, the screw 5 drive mechanism, the hydraulic drive mechanism, etc. are all relatively mature lifting mechanisms, and this application will not describe them in detail.
[0029] A plurality of second elastic latches 17 distributed vertically are provided on one side of the cross beam 2 close to the back plate 3 . The second elastic latches 17 can be retracted or popped out, and when they pop out, they can contact the back plate 3 and prevent the back plate 3 from moving.
[0030] A plurality of limit switches 18 distributed vertically are provided on one side of the cross beam 2 close to the back plate 3. When the back plate 3 moves to a certain position, it can contact the corresponding limit switch 18, so that the movement of the back plate 3 is fed back through the limit switch 18, thereby ensuring that the back plates 3 on both sides are synchronized and move to the specified position, that is, they can stop after being lifted to the specified height, thereby improving their safety.
[0031] At least one group of vehicle fixing mechanisms is installed on the back plate 3, and the vehicle fixing mechanisms include at least one mechanical arm 4 and at least one group of rotating drive mechanisms connected to the mechanical arm 4. One end of the mechanical arm 4 is rotatably connected to the back plate 3, and the rotating drive mechanism can drive the mechanical arm 4 to rotate, so that the other end of the mechanical arm 4 can move from a position close to the beam 2 to under the chassis of the vehicle to be transported or contact the wheel of the vehicle to be transported. In this embodiment, the mechanical arm 4 rotates within a range of 90° from a position parallel to the beam 2 to a position perpendicular to the beam 2.
[0032] Specifically, the rotation drive mechanism includes a screw rod 5 parallel to the back plate 3 and a slider 6 threadedly sleeved on the screw rod 5, the screw rod 5 is driven to rotate by a motor 7, the slider 6 is slidably connected with the back plate 3, one end of the mechanical arm 4 is rotatably mounted on the slider 6 through a rotating shaft 8, and a sector gear 9 is provided at the end of the mechanical arm 4, and a steering rack 10 is correspondingly provided on the back plate 3, when the slider 6 moves along the screw rod 5 under the action of the screw rod 5, the sector gear 9 can mesh with the steering rack 10, driving the mechanical arm 4 to rotate around the rotating shaft 8. Among them, the central angle of the sector gear 9 can be any angle of 90° to 360°, preferably 90°, which can minimize the volume and weight, save materials and costs, and adopt a 90° sector gear 9, when in use, the mechanical arm 4 can be disengaged from the steering rack 10 after rotating into place, preventing the mechanical arm 4 from further moving the slider 6 after being limited, causing scraping and affecting the service life.
[0033] Among them, the slider 6 includes a first slider 601 and a second slider 602 which are arranged opposite to each other in the upper and lower parts, and the first slider 601 is connected to the second slider 602 through the rotating shaft 8. Correspondingly, two first slide rails 11 extending along the front and rear directions of the transfer vehicle are provided on the back plate 3, and the first slider 601 and the second slider 602 are respectively slidably connected with the two first slide rails 11; a screw hole which is threadedly connected with the screw rod 5 is provided at the lower part of the second slider 602, and an extension-in-place switch 13 and a reset switch 12 are provided on its upper end surface. When the end of the robot arm 4 away from the beam 2 is located close to the beam 2, the robot arm 4 can contact the reset switch 12; when the end of the robot arm 4 away from the beam 2 moves to the bottom of the chassis of the vehicle to be transferred or contacts the wheel of the vehicle to be transferred, the robot arm 4 can contact the extension-in-place switch 13.
[0034] In order to fix the robot arm 4 when it moves to a position perpendicular to the beam 2 so as to prevent it from accidentally rotating during operation, a groove is further provided on the upper end surface of the second slider 602, in which a first elastic pin 14 is installed. The first elastic pin 14 can retract or pop out of the groove, and when it pops out, it can contact the robot arm 4 and prevent the robot arm 4 from rotating.
[0035] A support plate capable of contacting the chassis of the vehicle to be transferred is provided at one end of the mechanical arm 4 away from the cross beam 2, which is used to lift the vehicle through the chassis of the vehicle to be transferred, or a backstop 15 capable of contacting the wheel of the vehicle to be transferred, wherein the backstop 15 has an arc-shaped contact surface with the same arc as the wheel of the vehicle to be transferred. When the backstop 15 contacts the wheel of the vehicle to be transferred, the contact surface contacts the wheel surface of the wheel of the vehicle to be transferred, and is used to lift the vehicle by clamping the wheel of the vehicle to be transferred. For this method, in this embodiment, the vehicle fixing mechanism includes two mechanical arms 4 and two sets of corresponding rotation drive mechanisms, and the two sets of rotation drive mechanisms are symmetrically arranged, so that the sliders 6 of the two sets of rotation drive mechanisms can move synchronously toward or away from each other under the drive of the screw 5, thereby causing the mechanical arms 4 to rotate synchronously toward or away from each other. Specifically for four-wheeled cars, one or two sets of vehicle fixing mechanisms can generally be used to clamp the wheels. In actual use, considering the low chassis of the vehicle and the interference of structures such as wheel guards, the crossbeam 2 in the present application is preferably located on both sides of the vehicle, and the backstop 15 is mainly in contact with the front and rear lower positions of the wheels to prevent the wheels from rotating. Of course, in actual application, the crossbeam 2 can also extend under the chassis of the vehicle, such as Figure 4 As shown, the mechanical arm 4 extends from the inside to the outside to clamp the wheel of the vehicle to be transferred. Although the wheel diameter on the crossbeam 2 is limited, the large wheel of the front of the vehicle 1 can still ensure the transfer speed of the transfer vehicle. This method has a small lateral width and is easier to adapt to the environment where the transfer channel is relatively narrow. Therefore, the present application can be flexibly selected according to the application environment.
[0036] The utility model uses an open crossbeam design to enable the frame to move to the side of the vehicle to be transferred, and through the rotation of the mechanical arm, the mechanical arm can lift the vehicle from under the chassis of the vehicle to be transferred or clamp the wheels through multiple sets of mechanical arms, thereby stably lifting the vehicle to be transferred and completing the vehicle transfer. Since in this application, the crossbeam is moved to the side of the vehicle, the wheel diameter of the transfer vehicle is not limited by the height of the chassis of the vehicle to be transferred, so its diameter can be larger, thereby improving the transfer speed and efficiency of the transfer vehicle. At the same time, as its wheel diameter increases, its adaptability is also improved, and it can adapt to a variety of road environments and has better stability.
[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit the technical solution. Ordinary technicians in this field should understand that those modifications or equivalent replacements of the technical solution of the utility model without departing from the purpose and scope of the technical solution should be included in the scope of the claims of the utility model.
Claims
1. A vehicle transfer vehicle, comprising a transfer vehicle, the transfer vehicle comprising a vehicle head and a vehicle frame connected thereto, and wheels are installed at the bottom of the vehicle head and the vehicle frame; characterized in that: It also includes a connecting frame, which is arranged along the left and right directions of the transfer vehicle, and the connecting frame is connected to the front of the vehicle through a telescopic frame; the frame includes at least two cross beams arranged along the front and rear directions of the transfer vehicle, and one end of the cross beam is slidably connected to the connecting frame so that the two cross beams can move away from or approach each other; back plates are respectively provided on the opposite or opposite sides of the two cross beams, and the back plates are connected to the cross beams through a lifting mechanism and can move up and down under the action of the lifting mechanism; at least one group of vehicle fixing mechanisms is installed on the back plate, and the vehicle fixing mechanism includes at least one mechanical arm and at least one group of rotating drive mechanisms connected to the mechanical arm, one end of the mechanical arm is rotatably connected to the back plate, and the rotating drive mechanism can drive the mechanical arm to rotate, so that the other end of the mechanical arm can move from a position close to the cross beam to under the chassis of the vehicle to be transferred or contact with the wheel of the vehicle to be transferred.
2. A vehicle transporter according to claim 1, characterized in that: The rotation drive mechanism includes a screw rod parallel to the back plate and a slider threadedly sleeved on the screw rod, the screw rod is driven to rotate by a motor, the slider is slidably connected to the back plate, one end of the mechanical arm is rotatably mounted on the slider via a rotating shaft, and a sector gear is provided at this end of the mechanical arm, and a steering rack is correspondingly provided on the back plate, when the slider moves along the screw rod under the action of the screw rod, the sector gear can mesh with the steering rack, driving the mechanical arm to rotate around the rotating shaft.
3. A vehicle transporter according to claim 2, characterized in that: The slider includes a first slider and a second slider which are arranged opposite to each other in the upper and lower parts, and the first slider is connected to the second slider through the rotating shaft. Correspondingly, two first slide rails extending along the front and rear directions of the transfer vehicle are provided on the back plate, and the first slide rail and the second slide rail are respectively slidably connected to the two first slide rails; a screw hole which is threadably connected to the screw rod is provided at the lower part of the second slider, and an extension into position switch and a reset switch are provided on its upper end surface. When the end of the robotic arm away from the cross beam is located close to the cross beam, the robotic arm can contact the reset switch; when the end of the robotic arm away from the cross beam moves to under the chassis of the vehicle to be transferred or contacts the wheel of the vehicle to be transferred, the robotic arm can contact the extension into position switch.
4. A vehicle transporter according to claim 3, characterized in that: A groove is also provided on the upper end surface of the second sliding block, in which a first elastic latch is installed. The first elastic latch can retract or pop out of the groove, and when it pops out, it can contact the mechanical arm and prevent the mechanical arm from rotating.
5. A vehicle transporter according to any one of claims 1 to 4, characterized in that: The vehicle fixing mechanism includes two mechanical arms and two sets of corresponding rotation drive mechanisms, and the two sets of rotation drive mechanisms are symmetrically arranged so that the sliders of the two sets of rotation drive mechanisms can move synchronously toward or away from each other under the drive of the screw, thereby causing the mechanical arms to rotate synchronously toward or away from each other.
6. A vehicle transporter according to claim 5, characterized in that: A support plate capable of contacting the chassis of the vehicle to be transferred or a backstop capable of contacting the wheel of the vehicle to be transferred is provided at the end of the robot arm away from the crossbeam. The backstop has an arc-shaped contact surface with the same arc as the wheel of the vehicle to be transferred. When the backstop contacts the wheel of the vehicle to be transferred, the contact surface contacts the wheel surface of the wheel of the vehicle to be transferred.
7. The vehicle transporter according to claim 5, characterized in that: The lifting mechanism includes second slide rails respectively arranged at both ends of the crossbeam, and both ends of the back plate are respectively connected to the second slide rails in a sliding manner. The back plate moves up and down along the second slide rails through a gear drive mechanism, a screw drive mechanism or a hydraulic drive mechanism.
8. The vehicle transporter according to claim 5, characterized in that: A plurality of second elastic latches distributed vertically are arranged on one side of the cross beam close to the back plate. The second elastic latches can be retracted or popped out, and when they pop out, they can contact the back plate and prevent the back plate from moving.
9. The vehicle transporter according to claim 5, characterized in that: A plurality of limit switches distributed vertically are also provided on one side of the cross beam close to the back plate. When the back plate moves to a certain position, it can contact the corresponding limit switch.