Following mechanism and vehicle transportation line body

Abstract

The utility model discloses an accompanying mechanism and a vehicle transportation line body. The following mechanism comprises a guide structure, a walking structure and a first detection assembly. The walking structure is installed on the guiding structure and can move in the first direction relative to the guiding structure. The first detection assembly is used for detecting the moving distance of the walking structure in the first direction relative to the guiding structure. According to the following mechanism, the first detection assembly is arranged to detect the moving distance L1 of the walking structure in the first direction, the second detection assembly detects the moving distance L2 of the plate chain in the first direction, and the distance difference between the walking structure and the vehicle receiving position on the plate chain can be obtained by combining the moving distance L1 and the moving distance L2; therefore, the moving speed of the walking structure in the first direction can be adjusted, and the walking structure can accurately place the vehicle at the vehicle receiving position on the plate link chain. According to the following mechanism, the vehicle can be accurately placed at the vehicle receiving position on the plate link chain, and the placement position of the vehicle on the plate link chain is accurate.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and more specifically, to a traveling mechanism and a vehicle transport line. Background Art

[0002] In the process of automobile manufacturing, the vehicle assembly line is a key link. It involves assembling and installing various components of the car so that the vehicle can gradually complete the final assembly work. In the assembly line, various conveying equipment and transfer equipment are needed to realize the movement and transfer of components and vehicles. The final line of the vehicle transportation line usually uses a plate chain to transport the vehicle, and the plate chain is provided with a tire slot to limit the vehicle. Since the plate chain of the final line is always moving, a follower mechanism is usually provided to assist the vehicle transfer. However, when the line stops, the follower mechanism and the plate chain will continue to move forward for a distance due to the existence of inertia. When the line starts again, the final drop position of the vehicle driven by the follower mechanism on the plate chain is inconsistent with the vehicle receiving position on the plate chain (the position with the tire slot), and the placement position of the vehicle on the plate chain is deviated. Utility Model Content

[0003] The embodiments of the present application provide a traveling mechanism and a vehicle transport line.

[0004] The accompanying mechanism of the embodiment of the present application includes a guide structure, a walking structure and a first detection component. The walking structure is installed on the guide structure and can move along a first direction relative to the guide structure. The first detection component is used to detect the movement distance of the walking structure relative to the guide structure along the first direction.

[0005] In some embodiments, the first detection component includes a laser rangefinder and a laser reflector plate, one of the laser reflector plate or the laser rangefinder is installed on the walking structure, and the other of the laser reflector plate or the laser rangefinder is installed on the guide structure or fixed relative to the ground, and the laser rangefinder is used to receive the signal reflected back by the laser reflector plate to obtain the moving distance of the walking structure along the first direction.

[0006] In some embodiments, the walking structure includes a walking assembly, at least two supporting arm assemblies and a wheelbase adjustment assembly. The walking assembly is installed on the guide structure, and the walking assembly can move relative to the guide structure along the first direction. At least two supporting arm assemblies are arranged at intervals along the first direction, the supporting arm assembly is connected to the walking assembly, and the supporting arm assembly can move relative to the walking assembly along a second direction, and the second direction is perpendicular to the first direction. The wheelbase adjustment assembly is installed on the walking assembly and connected to at least one supporting arm assembly, and the wheelbase adjustment assembly is used to adjust the spacing between at least two supporting arm assemblies.

[0007] In some embodiments, the guide structure includes a track assembly, at least a portion of the travel assembly cooperates with the track assembly, and the travel assembly is capable of moving in the first direction along the track assembly.

[0008] In some embodiments, the track assembly includes a track; the walking assembly includes a frame and a walking wheel, the walking wheel is installed at one end of the frame, the walking wheel cooperates with the track, and the walking wheel can drive the frame to move relative to the track along the first direction.

[0009] In some embodiments, the guide structure also includes a first limit member, the track assembly includes a track, and the first limit member is connected to the outer wall of the track; the walking assembly includes a frame and a mating member, the mating member is installed on the frame and includes a first mating portion, the first mating portion cooperates with the first limit member to limit the first extreme position of the reverse movement of the frame along the first direction.

[0010] In some embodiments, the guide structure also includes a second limit member, which is connected to the outer side wall of the track and spaced apart from the first limit member; the mating member also includes a second mating portion spaced apart from the first mating portion, and the second mating portion cooperates with the second limit member to limit the second extreme position of the forward movement of the frame along the first direction.

[0011] In some embodiments, the guide structure further includes a guide component, and at least a portion of the walking component cooperates with the guide component, and the guide component can guide the movement of the walking component along the first direction.

[0012] In some embodiments, the guide assembly includes a guide frame and a slide rail, and the slide rail is installed on the top of the guide frame; the walking assembly includes a frame and a coupling, and the coupling includes a coupling part and a guide wheel, one end of the coupling part is connected to the frame, and the guide wheel is installed at the other end of the coupling part, and the guide wheel cooperates with the slide rail to guide the movement of the frame along the first direction.

[0013] In some embodiments, the walking assembly includes a frame and a lifting frame, the lifting frame is connected to the frame, and the lifting frame can move along a second direction relative to the frame; the arm assembly is connected to the lifting frame, and the lifting frame can drive the arm assembly to move along the second direction.

[0014] In some embodiments, the walking assembly also includes a lifting motor and a lifting belt, the lifting motor is installed on the frame, the lifting motor is used to drive the lifting belt to rotate, the lifting belt is connected to the lifting frame, and the lifting belt is used to drive the lifting frame to move along the second direction.

[0015] In some embodiments, the support arm assembly includes a connecting member and a supporting member, the connecting member connects the lifting frame and the supporting member, the lifting frame can drive the supporting member to move along the second direction, and the supporting member is used to carry the vehicle.

[0016] In some embodiments, the support arm assembly also includes a cylinder, which is installed on the connecting member and connected to the supporting member, and the cylinder can drive the supporting member to be in a first position and a second position. When the supporting member is in the first position, the supporting member is used to carry the vehicle, and when the supporting member is in the second position, the supporting member is used to lower the vehicle.

[0017] In some embodiments, the wheelbase adjustment assembly is connected to one of the support arm assemblies, and the wheelbase adjustment assembly can drive the support arm assembly to move along the first direction.

[0018] In some embodiments, the wheelbase adjustment assembly is connected to at least two of the support arm assemblies, and the wheelbase adjustment assembly can drive at least two of the support arm assemblies to move along the first direction.

[0019] In some embodiments, the wheelbase adjustment assembly includes a wheelbase adjustment motor, a transmission member and a connecting block. The transmission member is installed on the walking assembly. The wheelbase adjustment motor is connected to the transmission member and can drive the transmission member to rotate. One end of the connecting block is connected to the transmission member, and the other end is connected to at least one of the support arm assemblies. When the transmission member rotates, the connecting block can drive at least one of the support arm assemblies to move in the first direction.

[0020] In some embodiments, the wheelbase adjustment assembly further includes a first limiting member and a second limiting member, wherein the first limiting member cooperates with the connecting block to place the connecting block in a first position, and the second limiting member cooperates with the connecting block to place the connecting block in a second position.

[0021] In some embodiments, the guide structure includes two, the two guide structures are arranged at intervals, the walking structure includes two, one walking structure is installed on one guide structure, and the other walking structure is installed on the other guide structure; the accompanying mechanism also includes a linkage structure, which is used to connect the two walking structures and can drive the two walking structures to move along the first direction.

[0022] In some embodiments, the linkage structure includes a linkage member and a drive motor, both ends of the linkage member are respectively connected to the two walking structures, the drive motor is connected to the linkage member, and the linkage member transmits the driving force of the drive motor to the two walking structures.

[0023] The vehicle transport line body of the embodiment of the present application includes the accompanying mechanism and the plate chain described in the above embodiment.

[0024] In some embodiments, the plate chain includes a second detection component, and the second detection component is used to detect the movement distance of the plate chain along the first direction.

[0025] In some embodiments, the second detection component includes a driving wheel and an encoder, the driving wheel is connected to the plate chain, the plate chain can drive the driving wheel to rotate, and the encoder can record the number of rotations of the driving wheel, thereby obtaining the moving distance of the plate chain.

[0026] In certain embodiments, an installation space is formed between the two guide structures, and the plate chain is installed in the installation space.

[0027] The accompanying mechanism and vehicle transport line of the embodiment of the present application are provided with a first detection component to detect the moving distance L1 of the walking structure relative to the guide structure along the first direction, and the moving distance L2 of the plate chain along the first direction is detected by the second detection component. The distance difference between the walking structure and the vehicle receiving position on the plate chain can be obtained by combining the moving distance L1 and the moving distance L2, so that the speed of the walking structure moving along the first direction can be adjusted so that the walking structure can accurately place the vehicle at the vehicle receiving position on the plate chain. Compared with the current accompanying mechanism, the accompanying mechanism of the present application can accurately place the vehicle at the vehicle receiving position on the plate chain, and the placement position of the vehicle on the plate chain is more accurate.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a three-dimensional schematic diagram of a vehicle transport line body according to certain embodiments of the present application;

[0031] Figure 2 is a three-dimensional schematic diagram of an accompanying mechanism in certain embodiments of the present application;

[0032] Figure 3 yes Figure 2 A top view schematic diagram of the accompanying mechanism;

[0033] Figure 4 yes Figure 2 A side view schematic diagram of the accompanying mechanism;

[0034] Figure 5 yes Figure 2 A front view schematic diagram of the accompanying mechanism.

[0035] Description of main component symbols:

[0036] 1000, vehicle transport line body; 100, accompanying mechanism; 300, plate chain; 301, second detection component; 3011, driving wheel; 3013, encoder; 10, guide structure; 11, track component; 111, track; 113, fixing member; 13, first limit member; 15, second limit member; 17, guide component; 171, guide frame; 173, slide rail; 1731, protrusion; 175, locking member; 19, installation space; 30, walking structure; 31, walking component; 311, frame; 312, walking wheel; 3121, first walking wheel; 3123, second walking wheel; 313, matching member ;3131, first matching part;3133, second matching part;315, coupling part;3151, coupling part;3153, guide wheel;317, lifting frame;318, lifting motor;319, lifting belt;33, support arm assembly;331, connecting part;333, supporting part;335, cylinder;35, wheelbase adjustment assembly;351, wheelbase adjustment motor;353, transmission part;355, connecting block;357, first limiting part;359, second limiting part;50, first detection assembly;51, laser rangefinder;53, laser reflection plate;70, linkage structure;71, linkage part;73, drive motor. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0038] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] 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 the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0043] In the automobile manufacturing process, the vehicle assembly line is a key link. It involves assembling and installing the various components of the automobile so that the vehicle can gradually complete the final assembly work. In the final assembly line, various conveying equipment and transfer equipment are needed to achieve the movement and transfer of components and vehicles. The final line of the vehicle transportation line usually uses a plate chain to transport the vehicle, and the plate chain is provided with a tire slot to limit the vehicle. Since the plate chain of the final line is always moving, a follow-up mechanism is usually provided to assist in vehicle transfer. However, when the line stops, the follow-up mechanism and the plate chain will continue to move forward for a distance due to the existence of inertia. When the line starts again, the final drop position of the vehicle driven by the follow-up mechanism on the plate chain is inconsistent with the pick-up position on the plate chain (the position where the tire slot is provided), and there is a deviation in the placement position of the vehicle on the plate chain. In order to solve this problem, an embodiment of the present application provides a follow-up mechanism 100 ( Figure 2 As shown) and vehicle transport line body 1000 ( Figure 1 shown).

[0044] See also Figure 1 and Figure 2 The accompanying mechanism 100 of the embodiment of the present application includes a guide structure 10, a walking structure 30 and a first detection component 50. The walking structure 30 is installed on the guide structure 10 and can move relative to the guide structure 10 along a first direction X. The first detection component 50 is used to detect the moving distance of the walking structure 30 relative to the guide structure 10 along the first direction X.

[0045] Specifically, see Figure 1 The accompanying mechanism 100 is a structure used in the vehicle transport line 1000 to assist in vehicle transfer. The vehicle transport line 1000 also includes a plate chain 300, which usually moves along the first direction X to transport vehicles. The plate chain 300 is provided with a plurality of vehicle receiving positions, and the vehicle receiving positions are provided with tire slots. When the vehicle is placed at the vehicle receiving position, the tire slot can limit the vehicle so that the vehicle will not shift relative to the plate chain 300. When the accompanying mechanism 100 receives a vehicle transported from the previous production line, part of the structure of the accompanying mechanism 100 will move along the first direction X, and another part of the structure of the accompanying mechanism 100 will move (descend) along the second direction Y. The first direction X is perpendicular to the second direction Y, so that the accompanying mechanism 100 can drive the vehicle to descend while accompanying (moving with the plate chain 300) to place the vehicle at the vehicle receiving position on the plate chain 300.

[0046] See also Figure 2The guide structure 10 is used to guide the walking structure 30 so that the walking structure 30 can move along the first direction X to prevent the walking structure 30 from being displaced during movement. The guide structure 10 can be fixedly installed on a bearing surface, and the bearing surface of the present application can be the ground, that is, the guide structure 10 can be fixedly installed on the ground, so that the overall structure of the guide structure 10 is relatively stable.

[0047] The walking structure 30 is used to receive the vehicle transported from the previous production line, and can drive the vehicle to move relative to the guide structure 10 along the first direction X. When the walking structure 30 drives the vehicle to move along the first direction X, both the walking structure 30 and the vehicle can travel with the plate chain 300, so that the walking structure 30 can place the vehicle at the vehicle receiving position on the plate chain 300.

[0048] When the line stops, the accompanying mechanism 100 and the plate chain 300 will continue to move a certain distance along the first direction X due to inertia. When the line starts again, during the movement of the walking structure 30 along the first direction X, the first detection component 50 can detect the moving distance L1 of the walking structure 30 relative to the guide structure 10 along the first direction X. After obtaining the moving distance L1 of the walking structure 30 along the first direction X, the first detection component 50 detects the moving distance L2 of the plate chain 300 along the first direction X through the second detection component 301. Combining the moving distance L1 and the moving distance L2, the distance difference between the walking structure 30 and the vehicle receiving position on the plate chain 300 can be obtained, so that the speed of the walking structure 30 moving along the first direction X can be adjusted so that the position of the vehicle on the walking structure 30 corresponds to the vehicle receiving position on the plate chain 300, so that the walking structure 30 can accurately place the vehicle at the vehicle receiving position on the plate chain 300. During the entire transportation process, the transition between each step of the accompanying mechanism 100 is smooth and fluent, and the accuracy of the transfer positioning is high.

[0049] The accompanying mechanism 100 of the embodiment of the present application is provided with a first detection component 50 to detect the moving distance L1 of the walking structure 30 relative to the guide structure 10 along the first direction X, and the moving distance L2 of the plate chain 300 along the first direction X is detected by the second detection component 301. The distance difference between the walking structure 30 and the vehicle receiving position on the plate chain 300 can be known by combining the moving distance L1 and the moving distance L2, so that the speed of the walking structure 30 moving along the first direction X can be adjusted so that the walking structure 30 can accurately place the vehicle at the vehicle receiving position on the plate chain 300. Compared with the current accompanying mechanism 100, the accompanying mechanism 100 of the present application can accurately place the vehicle at the vehicle receiving position on the plate chain 300, and the placement position of the vehicle on the plate chain 300 is more accurate.

[0050] The accompanying mechanism 100 is further described below with reference to the accompanying drawings.

[0051] See also Figure 1 In some embodiments, the first detection component 50 includes a laser rangefinder 51 and a laser reflection plate 53. One of the laser reflection plate 53 or the laser rangefinder 51 is installed on the walking structure 30, and the other of the laser reflection plate 53 or the laser rangefinder 51 is installed on the guide structure 10 or fixed relative to the ground. The laser rangefinder 51 is used to receive the signal reflected back by the laser reflection plate 53 to obtain the moving distance of the walking structure 30 along the first direction X.

[0052] In one embodiment, the laser reflector plate 53 is installed on the walking structure 30, and the laser rangefinder 51 is installed on the guide structure 10. When the walking structure 30 moves along the first direction X, the laser reflector plate 53 follows the walking structure 30 and moves along the first direction X together. At this time, the laser rangefinder 51 is stationary relative to the laser reflector plate 53. The laser rangefinder 51 can obtain the distance moved by the walking structure 30 along the first direction X by receiving the light reflected by the laser reflector plate 53. The position of the laser reflector plate 53 changes with the movement of the walking structure 30, so that the distance detected by the laser rangefinder 51 will also change, thereby obtaining the real-time distance moved by the accompanying mechanism 100 along the first direction X.

[0053] In another embodiment, the laser reflector plate 53 is mounted on the walking structure 30, and the laser rangefinder 51 is fixed relative to the ground. In this case, the laser rangefinder 51 can be mounted on the ground. When the walking structure 30 moves along the first direction X, the laser reflector plate 53 follows the walking structure 30 and moves along the first direction X together. In this case, the laser rangefinder 51 is stationary relative to the laser reflector plate 53. The laser rangefinder 51 can obtain the distance moved by the walking structure 30 along the first direction X by receiving the light reflected by the laser reflector plate 53. The position of the laser reflector plate 53 changes with the movement of the walking structure 30, so that the distance detected by the laser rangefinder 51 will also change, thereby obtaining the real-time distance moved by the accompanying mechanism 100 along the first direction X.

[0054] In another embodiment, the laser rangefinder 51 is installed on the walking structure 30, and the laser reflector 53 is installed on the guide structure 10. When the walking structure 30 moves along the first direction X, the laser rangefinder 51 follows the walking structure 30 and moves along the first direction X. At this time, the laser reflector 53 is stationary relative to the laser rangefinder 51. The laser rangefinder 51 can obtain the real-time distance of the walking structure 30 moving along the first direction X by receiving the light reflected by the laser reflector 53.

[0055] In another embodiment, the laser rangefinder 51 is installed on the walking structure 30, and the laser reflector 53 is fixed relative to the ground. In this case, the laser reflector 53 can be installed on the ground. When the walking structure 30 moves along the first direction X, the laser rangefinder 51 follows the walking structure 30 and moves along the first direction X together. In this case, the laser reflector 53 is stationary relative to the laser rangefinder 51. The laser rangefinder 51 can obtain the real-time distance of the walking structure 30 moving along the first direction X by receiving the light reflected by the laser reflector 53.

[0056] The laser reflector 53 of the embodiment of the present application is installed on the walking structure 30, and the laser rangefinder 51 is fixed relative to the ground. Among them, the laser rangefinder 51 can be fixedly installed on the ground, so that the position of the laser rangefinder 51 will not move relative to the walking structure 30, and the detection result of the laser rangefinder 51 is more accurate.

[0057] See also Figure 1 and Figure 2 In some embodiments, the guide structure 10 includes two guide structures 10, and the two guide structures 10 are arranged at intervals. The walking structure 30 includes two walking structures 30, one walking structure 30 is installed on one guide structure 10, and the other walking structure 30 is installed on the other guide structure 10. The two guide structures 10 are respectively used to guide the two walking structures 30, and the two walking structures 30 are used to carry the vehicle. Preferably, the two walking structures 30 are respectively located on both sides of the vehicle, and the two walking structures 30 lift both sides of the vehicle, so that the vehicle can be stably carried on the walking structures 30, and the transportation of the vehicle is relatively smooth. It should be noted that the walking structure 30 of the dotted line structure and the walking structure 30 of the solid line structure are the same structure. Figure 1 and Figure 2 The dashed line structure represents the position of the walking structure 30 after moving along the first direction.

[0058] See also Figure 1 and Figure 2 In some embodiments, an installation space 19 is formed between the two guide structures 10, and the plate chain 300 is installed in the installation space 19. The two walking structures 30 are respectively located on both sides of the plate chain 300, so that the two walking structures 30 can easily place the vehicles carried on the plate chain 300.

[0059] See also Figure 2 and Figure 3Furthermore, in some embodiments, the accompanying mechanism 100 further includes a linkage structure 70, which is used to connect the two walking structures 30 and can drive the two walking structures 30 to move along the first direction X. Specifically, in some embodiments, the linkage structure 70 includes a linkage member 71 and a drive motor 73, the two ends of the linkage member 71 are respectively connected to the two walking structures 30, the drive motor 73 is connected to the linkage member 71, and the linkage member 71 transmits the driving force of the drive motor 73 to the two walking structures 30. It should be noted that Figure 3 The walking structure 30 in the dashed line structure and the walking structure 30 in the solid line structure are the same structure, and the dashed line structure represents the position of the walking structure 30 after moving along the first direction.

[0060] After the walking structure 30 is received by the vehicle, the driving motor 73 is started, and the driving motor 73 transmits the driving force to the linkage member 71, and the linkage member 71 transmits the driving force to the walking structure 30, thereby driving the walking structure 30 to move along the first direction X. The linkage member 71 is also used to keep the two walking structures 30 synchronized during the movement along the first direction X, so that the accompanying mechanism 100 can transport the vehicle more stably and reliably.

[0061] See also Figure 2 and Figure 3 In some embodiments, the walking structure 30 includes a walking assembly 31, at least two supporting arm assemblies 33, and a wheelbase adjustment assembly 35. The walking assembly 31 is installed on the guide structure 10, and the walking assembly 31 can move relative to the guide structure 10 along the first direction X. At least two supporting arm assemblies 33 are arranged at intervals along the first direction X, and the supporting arm assembly 33 is connected to the walking assembly 31, and the supporting arm assembly 33 can move relative to the walking assembly 31 along the second direction Y. The wheelbase adjustment assembly 35 is installed on the walking assembly 31 and connected to at least one supporting arm assembly 33. The wheelbase adjustment assembly 35 is used to adjust the distance between the at least two supporting arm assemblies 33.

[0062] Specifically, the traveling assembly 31 is used to drive the vehicle to move along the first direction X, and the supporting arm assembly 33 is used to support the tire of the vehicle. When the supporting arm assembly 33 receives the vehicle transported from the previous production line, the supporting arm assembly 33 can drive the vehicle to descend (along the second direction Y). Since the supporting arm assembly 33 is connected to the traveling assembly 31, while the supporting arm assembly 33 drives the vehicle to descend along the second direction Y, the supporting arm assembly 33 can also drive the vehicle to move along the first direction X following the traveling assembly 31, so that the vehicle can move along the first direction X and the second direction Y at the same time, that is, the vehicle can descend (along the second direction Y) while following (following the plate chain 300 to move along the first direction X). Under the joint action of the traveling assembly 31 and the supporting arm assembly 33, the vehicle can be accurately placed in the parking position on the plate chain 300. The traveling structure 30 of the present application includes two supporting arm assemblies 33, and the two supporting arm assemblies 33 are respectively used to carry the front wheels and rear wheels of the vehicle, so that the vehicle can be stably carried on the supporting arm assembly 33, which can improve the flexible and smooth transportation of the vehicle.

[0063] Since the wheelbases between the front and rear wheels of vehicles of different models are different, the present application can adjust the distance between the two support arm assemblies 33 by setting the wheelbase adjustment assembly 35, so that the accompanying mechanism 100 can be suitable for different models. The wheelbase adjustment assembly 35 of the present application can achieve high-precision wheelbase adjustment, which can improve the automation efficiency and flexibility of the transfer.

[0064] In one embodiment, the wheelbase adjustment assembly 35 is connected to one of the arm assemblies 33, and the wheelbase adjustment assembly 35 can drive the arm assembly 33 to move along the first direction X to adjust the distance between the two arm assemblies 33. At this time, the structure of the walking structure 30 is relatively simple, and the connection between the wheelbase adjustment assembly 35 and the arm assembly 33 is relatively easy to achieve.

[0065] See also Figure 2 and Figure 4 In some embodiments, the guide structure 10 includes a track assembly 11, and at least part of the travel assembly 31 cooperates with the track assembly 11, and the travel assembly 31 can move along the track assembly 11 in the first direction X. The track assembly 11 is used to guide the travel assembly 31 so that the travel assembly 31 can move along the first direction X to avoid the problem of the travel assembly 31 being offset during the movement. It should be noted that Figure 4 The walking structure 30 in the dashed line structure and the walking structure 30 in the solid line structure are the same structure, and the dashed line structure represents the position of the walking structure 30 after moving along the first direction.

[0066] Specifically, in some embodiments, the track assembly 11 includes a track 111; the walking assembly 31 includes a frame 311 and a walking wheel 312, the walking wheel 312 is installed at one end of the frame 311, the walking wheel 312 cooperates with the track 111, and the walking wheel 312 can drive the frame 311 to move relative to the track 111 along the first direction X.

[0067] The track 111 extends along the first direction X, so that the track 111 can guide the travel assembly 31 to move along the first direction X. The track assembly 11 may further include a fixing member 113, and the fixing member 113 may fix the track 111 on the bearing surface. The fixing member 113 of the present application is used to lock the track 111 on the ground, so that the overall structure of the track assembly 11 is relatively stable, and the track 111 is not easy to loosen relative to the ground.

[0068] The travel wheel 312 is installed at one end of the frame 311 close to the track 111. When the driving motor 73 transmits the driving force to the travel assembly 31 through the linkage 71, the travel wheel 312 can roll on the track 111, so that the travel wheel 312 can drive the frame 311 to move relative to the track 111 along the first direction X. The travel wheel 312 may include a first travel wheel 3121 and at least two second travel wheels 3123. The roller surface of the first travel wheel 3121 contacts the upper surface of the track 111, and the first travel wheel 3121 can roll on the upper surface of the track 111. The second travel wheel 3123 of the present application includes two, and the roller surfaces of the two second travel wheels 3123 contact the outer sides of the two side walls of the track 111 respectively, and the two second travel wheels 3123 can roll along the outer sides of the side walls of the track 111. The first travel wheel 3121 can drive the frame 311 to move along the first direction X during the rolling process. At least two second running wheels 3123 jointly clamp the outer sides of the two side walls of the track 111 . The at least two second running wheels 3123 can ensure that the running component 31 moves along the track 111 , thereby preventing the running component 31 from deviating relative to the track 111 .

[0069] See also Figure 2 and Figure 4 Furthermore, in some embodiments, the guide structure 10 also includes a first limit member 13, which is connected to the outer wall of the track 111; the walking assembly 31 includes a matching member 313, which is installed on the frame 311 and includes a first matching portion 3131, and the first matching portion 3131 cooperates with the first limit member 13 to limit the first extreme position of the reverse movement of the frame 311 along the first direction X.

[0070] The first stopper 13 may be installed on the outer side of the side wall of the rail 111 away from the installation space 19. The matching member 313 is installed on the side of the frame 311 away from the installation space 19, the main body of the matching member 313 may extend along the first direction X, and the first matching portion 3131 is provided at one end of the main body close to the first stopper 13. The extension direction of the first matching portion 3131 intersects with the extension direction of the main body, thereby facilitating the matching between the first matching portion 3131 and the first stopper.

[0071] The reverse direction of the first direction X refers to the opposite direction of the movement direction of the plate chain 300. The positive direction of the first direction X refers to the direction in which the plate chain 300 moves. When the traveling assembly 31 moves in the positive direction of the first direction X and places the vehicle on the plate chain

[0072] After reaching the vehicle receiving position on 300, the travel assembly 31 needs to move in the reverse direction of the first direction X to return to the initial position. The first limiter 13 of the present application is a travel switch. When the travel assembly 31 moves in the reverse direction of the first direction X, the first matching portion 3131 contacts the travel switch, and the travel switch is activated, thereby preventing the travel assembly 31 from continuing to move in the reverse direction of the first direction X.

[0073] See also Figure 2 and Figure 4 Furthermore, in some embodiments, the guide structure 10 also includes a second limit member 15, which is connected to the outer wall of the track 111 and is spaced apart from the first limit member 13; the mating member 313 also includes a second mating portion 3133 spaced apart from the first mating portion 3131, and the second mating portion 3133 cooperates with the second limit member 15 to limit the second extreme position of the positive movement of the frame 311 along the first direction X.

[0074] The second stopper 15 can be installed on the outer side of the side wall of the track 111 away from the installation space 19. The second matching portion 3133 is arranged at one end of the main body close to the second stopper 15, and the extension direction of the second matching portion 3133 intersects with the extension direction of the main body, thereby facilitating the matching between the second matching portion 3133 and the second stopper. The second stopper 15 of the present application is also a travel switch. During the forward movement of the walking component 31 along the first direction X, after the second matching portion 3133 contacts the travel switch, the travel switch is activated, thereby preventing the walking component 31 from continuing to move forward in the first direction X. When the second matching portion 3133 contacts the second stopper 15, the frame 311 is in the second extreme position. The second stopper 15 is used to limit the moving range of the frame 311 in the forward movement of the first direction X, so as to prevent the frame 311 from exceeding the moving range when moving forward in the first direction X, so that the walking component 31 cannot accurately place the vehicle in the receiving position on the plate chain 300. When one of the first limiter 13 and the second limiter is triggered, the accompanying mechanism 100 can alarm and stop the line to handle the fault.

[0075] See also Figure 1 , Figure 2 and Figure 4 In some embodiments, the guide structure 10 further includes a guide assembly 17, and at least a portion of the walking assembly 31 cooperates with the guide assembly 17, and the guide assembly 17 can guide the movement of the walking assembly 31 along the first direction X. The guide assembly 17 is used to guide the walking assembly 31 so that the walking assembly 31 can move along the first direction X, thereby avoiding the problem of deviation and shaking of the walking assembly 31 during the movement.

[0076] Specifically, in some embodiments, the guide assembly 17 includes a guide frame 171 and a slide rail 173, and the slide rail 173 is installed on the top of the guide frame 171; the walking assembly 31 includes a coupling 315, and the coupling 315 includes a coupling portion 3151 and a guide wheel 3153, one end of the coupling portion 3151 is connected to the frame 311, and the guide wheel 3153 is installed at the other end of the coupling portion 3151, and the guide wheel 3153 cooperates with the slide rail 173 to guide the movement of the frame 311 along the first direction X.

[0077] Among them, the guide frame 171 is used to install the slide rail 173. The guide assembly 17 may also include a locking member 175, and the locking member 175 can fix the guide frame 171 on the bearing surface. The locking member 175 of the present application is used to lock the guide frame 171 on the ground, so that the overall structure of the guide assembly 17 is relatively stable, and the guide frame 171 is not easy to loosen relative to the ground. In the second direction Y, the slide rail 173 and the track 111 are spaced apart. The track 111 is installed on the ground, and the track 111 is used to guide the bottom of the frame 311. Due to the large size of the frame 311, when only the track 111 is used to guide the frame 311, the main part of the frame 311 is prone to shaking, and the overall structure of the walking assembly 31 is not stable enough. The slide rail 173 of the present application is connected to the portion of the rack 311 close to the top of the rack 311. On the one hand, the slide rail 173 can guide the movement of the rack 311 along the first direction X. On the other hand, the slide rail 173 can also fix the rack 311, thereby avoiding the problem of shaking of the rack 311 during the movement along the first direction X.

[0078] The coupling member 315 is used to connect the frame 311 and the slide rail 173. One end of the coupling portion 3151 is connected to the frame 311, and the other end of the coupling portion 3151 extends to the slide rail 173. The guide wheel 3153 is installed on the side of the coupling portion 3151 facing the slide rail 173. The guide wheels 3153 of the present application include two, and the slide rail 173 includes a protrusion 1731. The two guide wheels 3153 clamp the protrusion 1731 together, and the two guide wheels 3153 respectively cooperate with the two side walls of the protrusion 1731 to guide the movement of the frame 311.

[0079] See also Figures 2 to 5 In some embodiments, the walking assembly 31 includes a lifting frame 317, which is connected to the frame 311 and can move along the second direction Y relative to the frame 311; the arm assembly 33 is connected to the lifting frame 317, and the lifting frame 317 can drive the arm assembly 33 to move along the second direction Y.

[0080] Furthermore, in some embodiments, the walking component 31 also includes a lifting motor 318 and a lifting belt 319. The lifting motor 318 is installed on the frame 311. The lifting motor 318 is used to drive the lifting belt 319 to rotate. The lifting belt 319 is connected to the lifting frame 317. The lifting belt 319 is used to drive the lifting frame 317 to move along the second direction Y.

[0081] When the arm assembly 33 is connected to the vehicle, the lifting motor 318 is started, and the lifting motor 318 drives the lifting belt 319 to rotate, so that the lifting belt 319 drives the lifting frame 317 to move along the second direction Y, thereby, the lifting frame 317 can drive the arm assembly 33 to descend (along the second direction Y), so that the arm assembly 33 can place the vehicle on the plate chain 300. Figure 4 The dotted arm assembly 33 in the figure is a schematic diagram of the position of the arm assembly 33 after it is lowered. After the arm assembly 33 places the vehicle on the plate chain 300, during the process of the travel assembly 31 moving in the reverse direction of the first direction X to return to the initial position of the travel assembly 31, the lifting belt 319 drives the lifting frame 317 to rise (along the second direction Y), so that the lifting frame 317 can drive the arm assembly 33 to rise, and the arm assembly 33 can quickly return to the starting position. The accompanying mechanism 100 does not need to add an additional structure to drive the arm assembly 33 to rise, and the accompanying mechanism 100 has a high transfer efficiency and can save costs.

[0082] See also Figures 2 to 5 In some embodiments, the arm assembly 33 includes a connecting member 331 and a supporting member 333. The connecting member 331 connects the lifting frame 317 and the supporting member 333. The lifting frame 317 can drive the supporting member 333 to move along the second direction Y. The supporting member 333 is used to support the vehicle.

[0083] One end of the connecting member 331 is connected to the lifting frame 317, and the other end of the connecting member 331 is connected to the supporting member 333. When the lifting frame 317 is raised or lowered, the lifting frame 317 can drive the supporting member 333 to rise or fall through the connecting member 331. There are two supporting members 333 on the supporting arm assembly 33 of the present application, and the two supporting members 333 are installed at intervals on the connecting member 331, and the two supporting members 333 are used to support a tire of the vehicle. When there are two supporting members 333, the supporting members 333 can stably carry the vehicle, and the transportation process of the vehicle is relatively smooth.

[0084] See also Figure 2 , Figure 3 and Figure 5 Furthermore, in some embodiments, the arm assembly 33 also includes a cylinder 335, which is installed on the connecting member 331 and connected to the supporting member 333. The cylinder 335 can drive the supporting member 333 to be in a first position and a second position. When the supporting member 333 is in the first position, the supporting member 333 is used to carry the vehicle. When the supporting member 333 is in the second position, the supporting member 333 is used to lower the vehicle.

[0085] When the supporting member 333 is in the first position, the supporting member 333 is in a supporting state, and the extension direction of the supporting member 333 may be perpendicular to the first direction X. At this time, the supporting member 333 can carry the vehicle. When the supporting member 333 is in the second position, the supporting member 333 is in a released state, and the extension direction of the supporting member 333 may be parallel to or intersect with the first direction X. When the supporting member 333 of the present application is in the second position, the extension direction of the supporting member 333 is parallel to the first direction X. It should be noted that Figure 2 The dotted line of the supporting member 333 in the figure indicates that the supporting member 333 is in the second position. Figure 2 The supporting member 333 indicated by the solid line in FIG. 3 represents a state where the supporting member 333 is in the first position. Figure 3 The first position and the second position of the supporting member 333 are also shown.

[0086] When the arm assembly 33 needs to carry a vehicle, the cylinder 335 drives the supporting member 333 to the first position, so that the supporting member 333 can support the tire of the vehicle. After the arm assembly 33 places the vehicle on the plate chain 300, the cylinder 335 can drive the supporting member 333 to the second position, so that the supporting member 333 can release the tire of the vehicle to completely place the vehicle on the plate chain 300. When the arm assembly 33 rises back to the starting position along the second direction Y, the cylinder 335 can drive the supporting member 333 to switch to the first position again.

[0087] See also Figure 2 , Figure 3 and Figure 5 In some embodiments, the wheelbase adjustment assembly 35 includes a wheelbase adjustment motor 351, a transmission member 353 and a connecting block 355. The transmission member 353 is installed on the travel assembly 31. The wheelbase adjustment motor 351 is connected to the transmission member 353 and can drive the transmission member 353 to rotate. One end of the connecting block 355 is connected to the transmission member 353, and the other end is connected to at least one supporting arm assembly 33. When the transmission member 353 rotates, the connecting block 355 can drive at least one supporting arm assembly 33 to move along the first direction X. It should be noted that Figure 3 The two supporting members 333 in the lower left corner are schematic diagrams of the supporting members 333 before and after moving along the first direction X.

[0088] Specifically, the transmission member 353 of the present application is a wheelbase adjustment belt, which can be installed on the lifting frame 317. The wheelbase adjustment motor 351 can drive the wheelbase adjustment belt to rotate, so that the wheelbase adjustment belt can drive the connecting block 355 to move along the first direction X. The connecting block 355 of the present application is an L-shaped structure, one end of the connecting block 355 is connected to the wheelbase adjustment belt, and the other end of the connecting block 355 is connected to the connecting member 331 of the supporting arm assembly 33.

[0089] In one embodiment, when the wheelbase adjustment assembly 35 is connected to one of the support arm assemblies 33, the connecting block 355 is connected to the connecting piece 331 of the support arm assembly 33. When the wheelbase adjustment motor 351 drives the wheelbase adjustment belt to rotate, the connecting block 355 can drive the support arm assembly 33 to move along the first direction X, so that the distance between the two support arm assemblies 33 can be adjusted. In another embodiment, when the wheelbase adjustment assembly 35 is connected to both of the support arm assemblies 33, the wheelbase adjustment assembly 35 may include two connecting blocks 355, and the two connecting blocks 355 are respectively connected to the two support arm assemblies 33, so that both of the two support arm assemblies 33 can move along the first direction X to adjust the distance between the two support arm assemblies 33.

[0090] See also Figure 3 Furthermore, in some embodiments, the wheelbase adjustment assembly 35 also includes a first limiting member 357 and a second limiting member 359, the first limiting member 357 cooperates with the connecting block 355 to place the connecting block 355 in the first position, and the second limiting member 359 cooperates with the connecting block 355 to place the connecting block 355 in the second position.

[0091] The first limiting member 357 can be installed on the lifting frame 317, and the second limiting member 359 can also be installed on the lifting frame 317. The first limiting member 357 and the second limiting member 359 of the present application can both be travel switches. When the connecting block 355 moves along the first direction X to contact the first limiting member 357, the connecting block 355 can be in the first position, and the first limiting member 357 is used to limit the connecting block 355 to continue to move in the reverse direction of the first direction X, so as to limit the moving range of the supporting arm assembly 33 to move in the reverse direction of the first direction X. When the connecting block 355 moves along the first direction X to contact the second limiting member 359, the connecting block 355 can be in the second position, and the second limiting member 359 is used to limit the connecting block 355 to continue to move in the forward direction of the first direction X. The first limiting member 357 and the second limiting member 359 can jointly limit the moving range of the supporting arm assembly 33 to move in the first direction X.

[0092] See also Figure 1 and Figure 2 The vehicle transport line body 1000 of the embodiment of the present application includes the accompanying mechanism 100 and the plate chain 300 of the above-mentioned embodiment.

[0093] The vehicle transport line 1000 of the embodiment of the present application is provided with a first detection component 50 to detect the moving distance L1 of the walking structure 30 relative to the guide structure 10 along the first direction X, and the moving distance L2 of the plate chain 300 along the first direction X is detected by the second detection component 301. The distance difference between the walking structure 30 and the vehicle receiving position on the plate chain 300 can be known by combining the moving distance L1 and the moving distance L2, so that the speed of the walking structure 30 moving along the first direction X can be adjusted so that the walking structure can accurately place the vehicle at the vehicle receiving position on the plate chain 300. Compared with the current accompanying mechanism 100, the accompanying mechanism 100 of the present application can accurately place the vehicle at the vehicle receiving position on the plate chain 300, and the placement position of the vehicle on the plate chain 300 is more accurate.

[0094] See also Figure 1 and Figure 2 In some embodiments, the plate chain 300 includes a second detection component 301, and the second detection component 301 is used to detect the moving distance L2 of the plate chain 300 moving along the first direction X. Specifically, in some embodiments, the second detection component 301 includes a driving wheel 3011 and an encoder 3013, the driving wheel 3011 is connected to the plate chain 300, the plate chain 300 can drive the driving wheel 3011 to rotate, and the encoder 3013 can record the number of rotations of the driving wheel 3011, so as to obtain the moving distance of the plate chain 300. Among them, the driving wheel 3011 can contact with the lower surface of the plate chain 300, when the plate chain 300 moves along the first direction X, the plate chain 300 can drive the driving wheel 3011 to rotate, and the encoder 3013 can obtain the moving distance L2 of the plate chain 300 along the first direction X by recording the number of rotations of the driving wheel 3011.

[0095] The vehicle transport line 1000 may also include a processor, which may be in communication connection with both the laser rangefinder 51 and the encoder 3013, and the moving distance information of the walking structure 30 detected by the laser rangefinder 51 and the moving distance information of the plate chain 300 detected by the encoder 3013 are both transmitted to the processor. The processor of the present application may be a programmable logic controller (PLC).

[0096] The plate chain 300 may include multiple vehicle receiving positions, and the distance between two adjacent vehicle receiving positions is the same. After the PLC obtains the moving distance L2 of the plate chain 300 along the first direction X, the distance L3 to the next vehicle receiving position can be obtained. Combined with the moving distance L1 of the accompanying mechanism 100 along the first direction C, the distance difference between the accompanying mechanism 100 and the next vehicle receiving position can be obtained, and then the PLC can adjust the moving speed of the accompanying mechanism 100 so that the accompanying mechanism 100 catches up with the vehicle receiving position on the plate chain 300. When the position of the vehicle carried on the accompanying mechanism 100 corresponds to the vehicle receiving position on the plate chain 300, the PLC can make the speed of the accompanying mechanism 100 the same as the speed of the plate chain 300, and the accompanying mechanism 100 starts to follow the plate chain 300. At this time, the accompanying mechanism 100 can accurately place the vehicle at the vehicle receiving position on the plate chain 300.

[0097] The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. At the same time, other implementation methods can be derived from the above-mentioned embodiments, so that structural and logical replacements and changes can be made without departing from the scope of this disclosure.

[0098] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A travelling mechanism (100), characterized in that: include: A guide structure (10); A walking structure (30), the walking structure (30) being mounted on the guide structure (10) and being capable of moving relative to the guide structure (10) along a first direction; and A first detection component (50), wherein the first detection component (50) is used to detect a moving distance of the walking structure (30) relative to the guide structure (10) along the first direction.

2. The accompanying mechanism (100) according to claim 1, characterized in that: The first detection component (50) comprises a laser rangefinder (51) and a laser reflection plate (53); one of the laser reflection plate (53) or the laser rangefinder (51) is mounted on the walking structure (30); the other of the laser reflection plate (53) or the laser rangefinder (51) is mounted on the guide structure (10) or fixed relative to the ground; the laser rangefinder (51) is used to receive a signal reflected by the laser reflection plate (53) to obtain a moving distance of the walking structure (30) along the first direction.

3. The accompanying mechanism (100) according to claim 1, characterized in that: The walking structure (30) comprises: A walking assembly (31), wherein the walking assembly (31) is mounted on the guide structure (10), and the walking assembly (31) is capable of moving relative to the guide structure (10) along the first direction; at least two supporting arm assemblies (33), at least two supporting arm assemblies (33) are arranged at intervals along the first direction, the supporting arm assemblies (33) are connected to the walking assembly (31), and the supporting arm assemblies (33) can move relative to the walking assembly (31) along a second direction, the second direction being perpendicular to the first direction; and A wheelbase adjustment assembly (35), the wheelbase adjustment assembly (35) being mounted on the traveling assembly (31) and connected to at least one of the supporting arm assemblies (33), the wheelbase adjustment assembly (35) being used to adjust the distance between at least two of the supporting arm assemblies (33).

4. The accompanying mechanism (100) according to claim 3, characterized in that: The guide structure (10) comprises a track assembly (11), at least a portion of the travel assembly (31) cooperates with the track assembly (11), and the travel assembly (31) is capable of moving in the first direction along the track assembly (11).

5. The accompanying mechanism (100) according to claim 4, characterized in that: The track assembly (11) comprises a track (111); the walking assembly (31) comprises a frame (311) and a walking wheel (312); the walking wheel (312) is mounted on one end of the frame (311); the walking wheel (312) cooperates with the track (111); and the walking wheel (312) can drive the frame (311) to move relative to the track (111) along the first direction.

6. The accompanying mechanism (100) according to claim 4, characterized in that: The guide structure (10) further comprises a first limit member (13), the track assembly (11) comprises a track (111), and the first limit member (13) is connected to the outer side wall of the track (111); the travel assembly (31) comprises a frame (311) and a matching member (313), the matching member (313) is mounted on the frame (311) and comprises a first matching portion (3131), and the first matching portion (3131) matches with the first limit member (13) to limit the frame (311) to a first extreme position of reverse movement along the first direction.

7. The accompanying mechanism (100) according to claim 6, characterized in that: The guide structure (10) further includes a second limit member (15), the second limit member (15) being connected to the outer side wall of the track (111) and spaced apart from the first limit member (13); the mating member (313) further includes a second mating portion (3133) spaced apart from the first mating portion (3131), the second mating portion (3133) mating with the second limit member (15) to limit the second extreme position of the forward movement of the frame (311) along the first direction.

8. The accompanying mechanism (100) according to claim 3, characterized in that: The guide structure (10) further comprises a guide component (17), at least part of the travel component (31) cooperates with the guide component (17), and the guide component (17) can guide the movement of the travel component (31) along the first direction.

9. The accompanying mechanism (100) according to claim 8, characterized in that: The guide assembly (17) comprises a guide frame (171) and a slide rail (173), wherein the slide rail (173) is mounted on the top of the guide frame (171); the walking assembly (31) comprises a frame (311) and a coupling member (315), wherein the coupling member (315) comprises a coupling portion (3151) and a guide wheel (3153), wherein one end of the coupling portion (3151) is connected to the frame (311), and the guide wheel (3153) is mounted on the other end of the coupling portion (3151), and the guide wheel (3153) cooperates with the slide rail (173) to guide the movement of the frame (311) along the first direction.

10. The accompanying mechanism (100) according to claim 3, characterized in that: The walking assembly (31) comprises a frame (311) and a lifting frame (317); the lifting frame (317) is connected to the frame (311), and the lifting frame (317) can move relative to the frame (311) along a second direction; the supporting arm assembly (33) is connected to the lifting frame (317), and the lifting frame (317) can drive the supporting arm assembly (33) to move along the second direction.

11. The accompanying mechanism (100) according to claim 10, characterized in that: The walking assembly (31) further comprises a lifting motor (318) and a lifting belt (319); the lifting motor (318) is mounted on the frame (311); the lifting motor (318) is used to drive the lifting belt (319) to rotate; the lifting belt (319) is connected to the lifting frame (317); the lifting belt (319) is used to drive the lifting frame (317) to move along the second direction.

12. The accompanying mechanism (100) according to claim 10, characterized in that: The support arm assembly (33) comprises a connecting member (331) and a supporting member (333); the connecting member (331) connects the lifting frame (317) and the supporting member (333); the lifting frame (317) can drive the supporting member (333) to move along the second direction; and the supporting member (333) is used to support a vehicle.

13. The accompanying mechanism (100) according to claim 12, characterized in that: The support arm assembly (33) also includes a cylinder (335), which is installed on the connecting member (331) and connected to the supporting member (333), and the cylinder (335) can drive the supporting member (333) to be in a first position and a second position. When the supporting member (333) is in the first position, the supporting member (333) is used to carry the vehicle, and when the supporting member (333) is in the second position, the supporting member (333) is used to lower the vehicle.

14. The accompanying mechanism (100) according to claim 3, characterized in that: The wheelbase adjustment component (35) is connected to one of the support arm components (33), and the wheelbase adjustment component (35) can drive the support arm component (33) to move along the first direction; or The wheelbase adjustment component (35) is connected to at least two of the support arm components (33), and the wheelbase adjustment component (35) can drive at least two of the support arm components (33) to move along the first direction.

15. The accompanying mechanism (100) according to claim 3, characterized in that: The wheelbase adjustment assembly (35) comprises a wheelbase adjustment motor (351), a transmission member (353) and a connecting block (355); the transmission member (353) is installed on the travel assembly (31); the wheelbase adjustment motor (351) is connected to the transmission member (353) and can drive the transmission member (353) to rotate; one end of the connecting block (355) is connected to the transmission member (353), and the other end is connected to at least one of the support arm assemblies (33); when the transmission member (353) rotates, the connecting block (355) can drive at least one of the support arm assemblies (33) to move along a first direction.

16. The accompanying mechanism (100) according to claim 15, characterized in that: The wheelbase adjustment assembly (35) further comprises a first limiting member (357) and a second limiting member (359), wherein the first limiting member (357) cooperates with the connecting block (355) so that the connecting block (355) is in a first position, and the second limiting member (359) cooperates with the connecting block (355) so that the connecting block (355) is in a second position.

17. The accompanying mechanism (100) according to claim 1, characterized in that: The guide structures (10) include two, the two guide structures (10) are arranged at intervals, the walking structures (30) include two, one walking structure (30) is installed on one guide structure (10), and the other walking structure (30) is installed on the other guide structure (10); the accompanying mechanism (100) also includes: A linkage structure (70), wherein the linkage structure (70) is used to connect the two walking structures (30) and can drive the two walking structures (30) to move along the first direction.

18. The accompanying mechanism (100) according to claim 17, characterized in that: The linkage structure (70) comprises a linkage member (71) and a drive motor (73); two ends of the linkage member (71) are respectively connected to the two walking structures (30); the drive motor (73) is connected to the linkage member (71); and the linkage member (71) transmits the driving force of the drive motor (73) to the two walking structures (30).

19. A vehicle transport line, characterized in that: include: The accompanying mechanism (100) according to any one of claims 1 to 18; and Plate chain (300).

20. The vehicle transport line according to claim 19, characterized in that: The plate chain (300) comprises a second detection component (301), and the second detection component (301) is used to detect the moving distance of the plate chain (300) along the first direction.

21. The vehicle transport line according to claim 20, characterized in that: The second detection component (301) includes a driving wheel (3011) and an encoder (3013), wherein the driving wheel (3011) is connected to the plate chain (300), the plate chain (300) can drive the driving wheel (3011) to rotate, and the encoder (3013) can record the number of rotations of the driving wheel (3011), thereby obtaining the moving distance of the plate chain (300).

22. The vehicle transport line according to claim 19, characterized in that: An installation space (19) is formed between the two guide structures (10), and the plate chain (300) is installed in the installation space (19).

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