Telescopic locking mechanism and automobile carrying robot

Abstract

The utility model provides a telescopic locking mechanism and an automobile carrying robot. The telescopic locking mechanism comprises a guide rod assembly, a brake locking assembly and two connecting beams. Wherein the two connecting beams are connected to the two vehicle bodies respectively, and the guide rod assembly extends in the longitudinal direction and is arranged on the connecting beams and the vehicle bodies in a penetrating mode so that the two vehicle bodies can move relatively along the guide rod assembly, and therefore the distance between the two vehicle bodies can be adjusted. Meanwhile, a rack part is arranged at the end of the guide rod assembly, and the rack part extends in the longitudinal direction. The brake locking assembly is installed on the connecting beam and matched with the rack part, so that the brake locking assembly can conduct braking and locking through the rack part, then the distance between the two vehicle bodies is locked, and the stability between the two vehicle bodies of the vehicle carrying robot is kept.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile transport, in particular to a telescopic locking mechanism and an automobile transport robot. Background Art

[0002] The car handling robot is used to carry cars to facilitate parking. In the existing car handling robots, the distance between the front and rear handling bodies is adjusted by the telescopic scissor structure to adapt to different car models. The remarkable feature of this scissor structure is that it can achieve long-distance parallel telescopic extension, that is, the length is small when contracted, and the extension amount can reach several times the length when extended. In addition, the scissor structure can also ensure the synchronization or parallelism of the structure.

[0003] However, the existing scissor-type structure has a certain elasticity or structural gap. At the same time, the scissor-type structure has a certain extension and contraction when locked, which causes the relative position between the front and rear bodies to change or deform, making the operation state of the handling robot unstable and affecting the navigation accuracy and positioning accuracy of the handling robot. Utility Model Content

[0004] The utility model aims to provide a telescopic locking mechanism, which can lock the distance between the front and rear vehicle bodies, so that the running state of the transport robot remains stable.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] 14. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 13, wherein the two guide rails are connected along the longitudinal direction of the wood-planer and the two guide rails have the theatrical shape and the theatrical shape are pivotally connected to each other with respect to the two guide rails. The guide rails are connected along the longitudinal direction of the wood-planer and the two guide rails are pivotally connected to each other with respect to the two guide rails.

[0007] In one embodiment of the present application, the brake locking assembly includes a mounting seat, a transmission shaft, and an electromagnetic brake; the mounting seat is fixed on the connecting beam, and the rack portion can pass through the mounting seat; the electromagnetic brake is installed on the mounting seat; the transmission shaft is installed on the mounting seat, and one end of the transmission shaft is engaged with the rack portion, and the other end is connected to the electromagnetic brake, so that the electromagnetic brake can brake and lock the movement of the rack portion relative to the mounting seat through the transmission shaft.

[0008] In one embodiment of the present application, the telescopic locking mechanism further includes a positioning assembly; the positioning assembly is fixed to the guide rod assembly and is located between the two connecting beams; the positioning assembly extends laterally to stabilize the guide rod assembly.

[0009] In one embodiment of the present application, the telescopic locking mechanism also includes two sets of scissor-type assemblies; one end of the scissor-type assembly is connected to the connecting beam, and the other end is connected to the positioning assembly, so that the scissor-type assembly can be extended or compressed when the vehicle body moves.

[0010] In one embodiment of the present application, a connecting section and an articulated section are provided at the end of the scissor lift assembly, the articulated section is hinged to the connecting beam or the positioning assembly, and the connecting section is connected to the connecting beam or the positioning assembly via a sliding assembly, so that the scissor lift assembly can be extended or compressed as the vehicle body moves.

[0011] In one embodiment of the present application, the sliding assembly includes a sliding rail and a slider; the sliding rail is installed on the connecting beam or the positioning assembly and extends laterally; the slider is connected to the sliding rail and can slide along the sliding rail; the slider is used to be hinged with the connecting section.

[0012] In one embodiment of the present application, the telescopic locking mechanism further includes a synchronous connecting plate; the synchronous connecting plate is arranged in the longitudinal direction and fixed on two sliders arranged on the positioning assembly, so that the two groups of the scissor fork assemblies are extended or compressed synchronously.

[0013] In one embodiment of the present application, the telescopic locking mechanism also includes a limit assembly; the limit assembly is installed on the positioning assembly and is located at both ends of the slide rail in the horizontal direction; the synchronous connecting plate is located between the limit assemblies so that the limit assembly can limit the synchronous connecting plate.

[0014] In one embodiment of the present application, an obstacle avoidance sensor is provided on the positioning component; the obstacle avoidance sensor is provided at both ends of the positioning component in the lateral direction to identify obstacles.

[0015] The present application also discloses a car transporting robot for transporting cars, the car transporting robot comprising two car bodies and any one of the telescopic locking mechanisms; the telescopic locking mechanism is connected between the two car bodies to adjust the distance between the two car bodies.

[0016] It can be seen from the above technical solution that the utility model has at least the following advantages and positive effects:

[0017] In the utility model, the telescopic locking mechanism includes a guide rod assembly, a brake locking assembly and two connecting beams. The two connecting beams are respectively connected to the two car bodies, and the guide rod assembly extends in the longitudinal direction and is arranged on the connecting beams and the car bodies, so that the two car bodies can move relative to each other along the guide rod assembly, thereby adjusting the distance between the two car bodies. At the same time, a rack portion is provided at the end of the guide rod assembly, and the rack portion extends in the longitudinal direction. The brake locking assembly is installed on the connecting beam and cooperates with the rack portion, so that the brake locking assembly can brake and lock through the rack portion, thereby controlling and locking the distance between the two car bodies, and maintaining the stability between the two car bodies of the automobile handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of a car transport robot according to an embodiment of the utility model.

[0019] Figure 2 yes Figure 1 A magnified view of point A.

[0020] Figure 3 yes Figure 1 Another schematic diagram of the car handling robot.

[0021] Figure 4 It is a schematic exploded view of the connecting beam and the brake locking assembly of the telescopic locking mechanism of the embodiment of the utility model.

[0022] Figure 5 yes Figure 4 Schematic diagram of the connecting beam and brake locking assembly of the telescopic locking mechanism.

[0023] Figure 6 yes Figure 5 Cross-sectional view at BB.

[0024] Figure 7 yes Figure 6 Enlarged view of point C.

[0025] Figure 8 It is a schematic diagram of the telescopic locking mechanism of an embodiment of the utility model.

[0026] Fig. 9 yes Figure 8Schematic diagram of the exploded view of the telescopic locking mechanism.

[0027] The following are the descriptions of the reference numerals:

[0028] 1-body; 10-connecting beam; 20-guide rod assembly; 21-rack portion; 22-guide rod; 30-brake locking assembly; 31-mounting seat; 32-drive shaft; 33-electromagnetic brake; 40-positioning assembly; 50-scissor assembly; 51-connecting section; 52-hinge section; 60-sliding assembly; 61-slide rail; 62-slider; 63-synchronous connecting plate; 64-limiting assembly; 65-obstacle avoidance sensor; 66-QR code reader; 67-wire encoder. DETAILED DESCRIPTION

[0029] Typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and illustrations therein are essentially for illustrative purposes rather than for limiting the present invention.

[0030] In the description of the present invention, it should be understood that in the embodiments shown in the drawings, the indications of directions or positional relationships (such as up, down, left, right, front and back, etc.) are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the descriptions of the positions of these elements change, the indications of these directions also change accordingly.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] The existing scissor-type structure has a certain elasticity or structural gap. At the same time, the scissor-type structure has a certain extension and contraction when locked, which causes the relative position between the front and rear bodies to change or deform, resulting in an unstable operation state of the transport robot and affecting the navigation accuracy and positioning accuracy of the transport robot. Therefore, a telescopic locking mechanism is proposed to solve the above problems.

[0033] The scheme is further illustrated by the following examples:

[0034] In this embodiment, Figure 1The left and right sides of the figure are the longitudinal directions of the automobile transport robot; the up and down directions of the vehicle body 1 in the figure are the lateral directions of the automobile transport robot.

[0035] See also Figure 1 The automobile transport robot of this embodiment is used to transport automobiles. Specifically, the automobile transport robot includes a telescopic locking mechanism and two vehicle bodies 1. The telescopic locking mechanism is connected between the two vehicle bodies 1 to lock the distance between the two vehicle bodies 1, so that the automobile transport robot can adapt to different models of automobiles and complete the transportation of automobiles.

[0036] See also Figure 1 and Figure 2 In this embodiment, the telescopic locking mechanism includes a guide rod assembly 20, a brake locking assembly 30 and two connecting beams 10. The two connecting beams 10 are respectively fixed to the longitudinal ends of the two car bodies 1, and the connecting beams 10 extend in the transverse direction. The guide rod assembly 20 extends in the longitudinal direction and is located between the two car bodies 1. Both ends of the guide rod assembly 20 are passed through the connecting beam 10 and can move relative to the connecting beam 10, so that the two car bodies 1 can move longitudinally relative to the guide rod assembly 20. In addition, rack portions 21 are provided at both ends of the guide rod assembly 20, and the length direction of the rack portion 21 extends in the longitudinal direction. The brake locking assembly 30 is respectively installed on the two connecting beams 10 and cooperates with the rack portion 21, so that when the vehicle body 1 and the connecting beam 10 move relative to the guide rod assembly 20, the brake locking assembly 30 can brake and lock the vehicle body 1 and the connecting beam 10 on the guide rod assembly 20 through cooperation with the rack portion 21, thereby locking the distance between the two vehicle bodies 1.

[0037] Specifically, when the automobile handling robot adjusts the distance between the two car bodies 1, the brake locking assembly 30 releases the grip on the guide rod assembly 20, that is, the brake locking assembly 30 releases the locking of the rack portion 21, so that the car body 1 and the connecting beam 10 can move relative to the guide rod assembly 20. At the same time, the car body 1 drives the car body 1 and the connecting beam 10 to move through its own power system, so that the two car bodies 1 move relative to or away from each other along the guide rod assembly 20, thereby adjusting the distance between the two car bodies 1. After the distance between the two car bodies 1 is adjusted, the brake locking assembly 30 holds the guide rod assembly 20, that is, the brake locking assembly 30 locks the rack portion 21, thereby fastening the two car bodies 1 to the guide rod assembly 20, preventing the car body 1 from moving relative to the guide rod assembly 20 and affecting the distance between the two car bodies 1.

[0038] like Figure 1 As shown, the state of the two bodies 1 of the transport robot is fully unfolded; Figure 3The figure shows the state when the two bodies 1 of the handling robot are fully retracted. It should be noted that during the extension or retraction process of the handling robot, the brake locking assembly 30 will brake and lock the guide rod assembly 20 through the rack portion 21 to hold the body 1 tightly against the guide rod assembly 20 to prevent the body 1 from moving relative to the guide rod assembly 20.

[0039] In addition, it should be noted that, in the present embodiment, the guide rod assembly 20 includes two guide rods 22, and the two guide rods 22 are arranged in parallel and spaced apart in the transverse direction, so as to be stably connected between the two vehicle bodies 1. Of course, in some other embodiments, the guide rods 22 may be provided as one or more than two, so that the guide rod assembly 20 can be stably connected between the two vehicle bodies 1 and prevent the two vehicle bodies 1 from rotating relative to the axis of the guide rod assembly 20.

[0040] Meanwhile, in the present embodiment, rack portions 21 are provided at both ends of the guide rod 22 in the length direction, so that the rack portion 21 can be connected and matched with the vehicle body 1 through the brake locking assembly 30 .

[0041] See also Figure 4-7 The brake locking assembly 30 includes a mounting seat 31, a transmission shaft 32 and an electromagnetic brake 33. The mounting seat 31 is fixed on the connecting beam 10 and is located at both ends of the connecting beam 10 in the horizontal direction. At the same time, the rack portion 21 of the guide rod assembly 20 can be inserted into the mounting seat 31 so that the connecting beam 10 and the vehicle body 1 can move relative to the guide rod assembly 20. The electromagnetic brake 33 is mounted on the mounting seat 31, and the transmission shaft 32 is vertically mounted on the mounting seat 31. One end of the transmission shaft 32 is meshed with the rack portion 21 through a gear, and the other end is connected to the electromagnetic brake 33, so that the electromagnetic brake 33 can brake and lock the movement of the rack portion 21 relative to the mounting seat 31 through the transmission shaft 32, thereby achieving braking and locking of the connecting beam 10 and the vehicle body 1, and preventing the vehicle body 1 and the connecting beam 10 from moving relative to the guide rod assembly 20.

[0042] Specifically, when the electromagnetic brake 33 releases the lock on the end of the transmission shaft 32, the transmission shaft 32 can rotate under the drive of the rack portion 21, so that the vehicle body 1 and the connecting beam 10 can move relative to the guide rod assembly 20. When the electromagnetic brake 33 holds the end of the transmission shaft 32 tightly, one end of the transmission shaft 32 is engaged with the rack portion 21 through the gear, so that the vehicle body 1 and the connecting beam 10 cannot move relative to the guide rod assembly 20, thereby fixing the vehicle body 1 and the connecting beam 10 on the guide rod assembly 20 to prevent the vehicle body 1 from automatically moving.

[0043] See also Figure 8 and Fig. 9In this embodiment, the telescopic locking mechanism further includes a positioning assembly 40. The positioning assembly 40 is fixed to the guide rod assembly 20 and is located between the two connecting beams 10. Specifically, the positioning assembly 40 extends in the transverse direction and is connected to the two guide rods 22 to stabilize the guide rod assembly 20, enhance the structural rigidity of the guide rod assembly 20, prevent the two guide rods 22 from shaking, and ensure the stability of the telescopic locking mechanism.

[0044] At the same time, the telescopic locking mechanism also includes two sets of scissor fork assemblies 50. One end of the scissor fork assembly 50 is connected to the connecting beam 10, and the other end is connected to the positioning assembly 40, that is, the scissor fork assembly 50 is connected between the connecting beam 10 and the positioning assembly 40, so that when the vehicle body 1 and the connecting beam 10 move, the scissor fork assembly 50 can follow the movement of the vehicle body 1 and the connecting beam 10 to extend or compress, and enable the vehicle body 1 to move smoothly relative to the guide rod assembly 20.

[0045] In this embodiment, the end of the scissor assembly 50 is provided with a connecting section 51 and an articulated section 52. The articulated section 52 is hinged to the connecting beam 10 or the positioning assembly 40, and the connecting section 51 is connected to the connecting beam 10 or the positioning assembly 40 through the sliding assembly 60, so that the scissor assembly 50 can be extended or compressed with the movement of the vehicle body 1, thereby ensuring that the vehicle body 1 can move smoothly relative to the guide rod assembly 20.

[0046] Specifically, both ends of the scissor assembly 50 are provided with a connecting section 51 and an articulated section 52. The connecting section 51 at the same end of the scissor assembly 50 is connected to the vehicle body 1 or the positioning assembly 40 through the sliding assembly 60, while the articulated section 52 is directly articulated to the vehicle body 1 or the positioning assembly 40, so that when the vehicle body 1 and the connecting beam 10 move relative to the guide rod assembly 20, the connecting section 51 can move in the lateral direction driven by the sliding assembly 60, and the scissor assembly 50 can be extended or compressed.

[0047] It should be noted that the sliding assembly 60 includes a slide rail 61 and a slider 62. The slide rail 61 is mounted on the connecting beam 10 or the positioning assembly 40 and extends in the lateral direction. The slider 62 is connected to the slide rail 61 and can slide along the slide rail 61. In this embodiment, the slider 62 is used to be hinged with the connecting section 51 so that the connecting section 51 can move in the lateral direction driven by the slider 62.

[0048] See also Fig. 9The telescopic locking mechanism further includes a synchronous connecting plate 63. Specifically, the synchronous connecting plate 63 is disposed in the longitudinal direction and connected to two sliders 62 disposed on the positioning assembly 40, that is, two sliders 62 disposed on the positioning assembly 40 and arranged in parallel in the longitudinal direction, so that the two groups of scissor fork assemblies 50 are synchronously extended or compressed, and then the two scissor fork assemblies 50 located on both sides of the positioning assembly 40 are synchronously extended or compressed, so that the two vehicle bodies 1 can synchronously move toward or away from each other.

[0049] In addition, in this embodiment, the telescopic locking mechanism further includes a limit assembly 64. Specifically, the limit assembly 64 is mounted on the positioning assembly 40 and is located at both ends of the slide rail 61 in the transverse direction. The synchronous connecting plate 63 is located between the limit assemblies 64, so that the limit assembly 64 can limit the synchronous connecting plate 63, thereby preventing the scissor assembly 50 from being over-extended or compressed due to excessive movement of the slider 62 and the connecting section 51.

[0050] See also Fig. 9 In this embodiment, an obstacle avoidance sensor 65 is provided on the positioning component 40. The obstacle avoidance sensor 65 is provided at both ends of the positioning component 40 in the lateral direction to identify obstacles, so as to guide the automobile transport robot to avoid obstacles.

[0051] See also Figure 3 A two-dimensional code reader 66 is also provided on the positioning component 40. The two-dimensional code reader 66 is used to read the navigation two-dimensional code on the ground, and cooperates with the laser navigation and gyroscope carried by the car handling robot to improve the navigation and positioning accuracy of the equipment.

[0052] See also Figure 2 , a wire encoder 67 is also provided on the positioning assembly 40. One end of the wire encoder 67 is connected to the positioning assembly 40, and the other end is connected to the connecting beam 10, so that when the scissor assembly 50 is extended, the wire encoder 67 is stretched; and when the scissor assembly 50 is retracted, the wire encoder 67 automatically retracts, so that the wire encoder 67 can feedback the actual distance between the two car bodies 1, ensuring that the distance between the two car bodies 1 meets the actual demand.

[0053] In summary, the two car bodies 1 of the car handling robot are connected through the guide rod assembly 20, and the brake locking assembly 30 is used to cooperate with the rack portion 21 on the guide rod assembly 20, so that the relative movement between the car body 1 and the guide rod assembly 20 can be locked by the brake locking assembly 30, thereby ensuring that the distance between the two car bodies 1 remains stable.

[0054] Although the utility model has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the utility model can be implemented in a variety of forms without departing from the spirit or essence of the utility model, it should be understood that the above-mentioned embodiments are not limited to any of the aforementioned details, but should be widely interpreted within the spirit and scope defined by the attached claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the attached claims.

Claims

1. A telescopic locking mechanism connected between two bodies of a car handling robot, characterized in that: The telescopic locking mechanism comprises: Two connecting beams, which are respectively fixed to the two longitudinal ends of the vehicle body; the connecting beams extend in the transverse direction; A guide rod assembly extending in the longitudinal direction; the guide rod assembly is located between the two vehicle bodies, and both ends of the guide rod assembly are passed through the connecting beam and can move relative to the connecting beam, so that the two vehicle bodies can move longitudinally relative to the guide rod assembly; rack parts are provided at both ends of the guide rod assembly, and the length direction of the rack parts extends in the longitudinal direction; and A brake locking assembly is respectively mounted on the two connecting beams and cooperates with the rack portion so that when the vehicle body and the connecting beam move relative to the guide rod assembly, the brake locking assembly can brake the vehicle body and the connecting beam and lock them on the guide rod assembly to lock the distance between the two vehicle bodies.

2. The telescopic locking mechanism according to claim 1, characterized in that: The brake locking assembly includes a mounting seat, a transmission shaft, and an electromagnetic brake; the mounting seat is fixed on the connecting beam, and the rack portion can pass through the mounting seat; the electromagnetic brake is installed on the mounting seat; the transmission shaft is installed on the mounting seat, and one end of the transmission shaft is engaged with the rack portion, and the other end is connected to the electromagnetic brake, so that the electromagnetic brake can brake and lock the movement of the rack portion relative to the mounting seat through the transmission shaft.

3. The telescopic locking mechanism according to claim 1, characterized in that: It also includes a positioning assembly; the positioning assembly is fixed on the guide rod assembly and is located between the two connecting beams; the positioning assembly extends in the transverse direction to stabilize the guide rod assembly.

4. The telescopic locking mechanism according to claim 3, characterized in that: It also includes two groups of scissor fork assemblies; one end of the scissor fork assembly is connected to the connecting beam, and the other end is connected to the positioning assembly, so that when the vehicle body moves, the scissor fork assembly can be extended or compressed.

5. The telescopic locking mechanism according to claim 4, characterized in that: The ends of the scissor-fork assembly are provided with a connecting section and an articulated section, the articulated section is hinged to the connecting beam or the positioning assembly, and the connecting section is connected to the connecting beam or the positioning assembly via a sliding assembly, so that the scissor-fork assembly can be extended or compressed as the vehicle body moves.

6. The telescopic locking mechanism according to claim 5, characterized in that: The sliding assembly includes a sliding rail and a sliding block; the sliding rail is installed on the connecting beam or the positioning assembly and extends in the transverse direction; the sliding block is connected to the sliding rail and can slide along the sliding rail; the sliding block is used to be hinged with the connecting section.

7. The telescopic locking mechanism according to claim 6, characterized in that: It also includes a synchronous connecting plate; the synchronous connecting plate is arranged in the longitudinal direction and connected to two sliding blocks arranged on the positioning assembly, so that the two groups of scissor fork assemblies can be extended or compressed synchronously.

8. The telescopic locking mechanism according to claim 7, characterized in that: It also includes a limiting component; the limiting component is installed on the positioning component and is located at both ends of the slide rail in the horizontal direction; the synchronous connecting plate is located between the limiting components, so that the limiting component can limit the synchronous connecting plate.

9. The telescopic locking mechanism according to claim 3, characterized in that: The positioning component is provided with obstacle avoidance sensors; the obstacle avoidance sensors are arranged at both ends of the positioning component in the lateral direction to identify obstacles.

10. A car transport robot for transporting cars, characterized in that: The automobile transport robot comprises the telescopic locking mechanism described in any one of claims 1 to 9, and two vehicle bodies; the telescopic locking mechanism is connected between the two vehicle bodies to adjust the distance between the two vehicle bodies.

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