Robot for flexible storage and taking of two-wheeled electric vehicle

Abstract

The robot comprises a top frame used for supporting and connecting, a lifting driving mechanism is installed at the bottom of the top frame, and a lifting frame assembly is installed at the output end of the lifting driving mechanism. A shear fork mechanism used for supporting lifting motion is further installed between the lifting driving mechanism and the lifting frame assembly, a walking driving mechanism is further installed at the position, located on the top of the lifting driving mechanism, of the top frame, and a walking mechanism is installed at the output end of the walking driving mechanism. The top frame is further provided with a transverse movement driving mechanism used for driving the lifting driving mechanism and the lifting frame assembly connected with the lifting driving mechanism to transversely move, and the output end of the transverse movement driving mechanism is connected with the lifting driving mechanism. According to the technical scheme, automatic storage and taking of the two-wheel electric vehicle are achieved, and the storage and taking efficiency and the space utilization rate are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of parking two-wheeled electric vehicles, and more specifically, to a robot used for flexibly storing and accessing two-wheeled electric vehicles. Background Art

[0002] As a flexible, fast and cheap non-motorized means of transportation, two-wheeled electric vehicles are very popular in my country. With the steady development of my country's two-wheeled electric vehicle industry, the number of two-wheeled electric vehicles has increased by leaps and bounds, and accordingly, more and more problems have arisen. First, the parking of two-wheeled electric vehicles is chaotic. Parking randomly or parking in an irregular manner makes it difficult to pick up the vehicle, which affects the number of parking lots; second, it is difficult to charge. In order to charge electric vehicles, many people park their electric vehicles in the corridor for charging, which poses a great safety hazard.

[0003] At present, the existing two-wheeled electric vehicle charging garages on the market are all equipped with charging piles for two-wheeled electric vehicles to park on the ground, but they occupy a large area, there are still random parking and irregular parking, and intelligent access cannot be achieved. Centralized parking, centralized charging management and standardized management of two-wheeled electric vehicles are issues that urgently need to be solved in residential areas and urban roads.

[0004] Traditional two-wheeled electric vehicles are mostly stored and retrieved manually, which is inefficient and prone to errors. It is also easy to cause safety accidents during manual storage and retrieval. Therefore, developing a device that can automatically store and retrieve two-wheeled electric vehicles is of great significance for improving the storage and retrieval efficiency of two-wheeled electric vehicles and reducing labor costs. Utility Model Content

[0005] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a robot for flexible storage and retrieval of two-wheeled electric vehicles, which can automatically complete the storage and retrieval operations of the two-wheeled electric vehicles and improve the storage and retrieval efficiency.

[0006] The above technical purpose of the utility model is achieved through the following technical solutions: a robot for flexible storage and retrieval of two-wheeled electric vehicles, comprising a top frame for support and connection, a lifting drive mechanism is installed at the bottom of the top frame, a lifting frame assembly is installed at the output end of the lifting drive mechanism, a scissors mechanism for supporting lifting movement is also installed between the lifting drive mechanism and the lifting frame assembly, a walking drive mechanism is also installed on the top frame at the top of the lifting drive mechanism, a walking mechanism is installed at the output end of the walking drive mechanism, a lateral movement drive mechanism is also installed on the top frame for driving the lifting drive mechanism and the lifting frame assembly connected thereto to move horizontally, and the output end of the lateral movement drive mechanism is connected to the lifting drive mechanism.

[0007] Further, the crosswise movement driving mechanism includes a crosswise movement motor installed at one end of the top frame. Belt pulleys are installed at the output end of the crosswise movement motor and at the other end of the top frame. A synchronous belt is sleeved on the two belt pulleys, and a toothed fixing piece is meshed and installed on the synchronous belt. At the same time, the toothed fixing piece is fixedly installed at one end of the lifting driving mechanism.

[0008] Further, crosswise movement support components are symmetrically installed at both ends of the lifting driving mechanism in the width direction of the top frame respectively, so as to support the lateral movement of the lifting driving mechanism on the top frame.

[0009] Further, the support component includes a bracket and a plurality of support wheels rotatably installed at both ends of the bracket.

[0010] Further, photoelectric sensors are installed at both ends of the top frame in the length direction respectively, and a light blocking plate for sensing is correspondingly installed on the lifting driving mechanism.

[0011] Further, the lifting driving mechanism includes a support, a lifting motor, a lifting wire rope drum and a wire rope. The lifting motor is installed at one end of the support, the lifting wire rope drum is installed at the output end of the lifting motor, and the wire rope can be wound around the lifting wire rope drum.

[0012] Further, the lifting frame assembly includes a frame body and hook members installed at the four corners of the frame body for grasping the tray of the two-wheel electric vehicle. A distance sensor is installed at one end of the frame body where the hook members are located, and a joint for connecting with the output end of the lifting driving mechanism is installed at the top of the frame body.

[0013] Further, the traveling driving mechanism includes a traveling motor, a main sprocket installed at the output end of the traveling motor, a driven sprocket installed at the input end of the traveling mechanism, a chain sleeved on the two sprockets, and a tensioning assembly installed on the traveling motor for tensioning the chain.

[0014] Further, the traveling mechanism includes traveling wheels installed at the four corners of the top frame. A transmission shaft is installed at one end of the top frame for connecting two traveling wheels on the same axis. Intermediate shafts are respectively installed on the two traveling wheels at the other end of the top frame for supporting their rotation. The transmission shaft is connected with the output end of the traveling driving mechanism.

[0015] Further, limit wheels are also installed at the four corners of the top frame.

[0016] In summary, the utility model has the following beneficial effects:

[0017] A robot for the flexible storage and retrieval of two-wheeled electric vehicles according to the present utility model realizes the automatic storage and retrieval of electric vehicles by integrating various driving mechanisms such as lifting, lateral translation, and walking, without manual intervention; the robot can quickly and accurately complete actions such as grasping, lifting, lateral translation, and releasing of electric vehicles, significantly improving the storage and retrieval efficiency; by flexibly adjusting the storage and retrieval positions, the robot can make full use of the storage space and improve the space utilization rate; at the same time, a variety of auxiliary components are provided, such as photoelectric sensors, distance sensors, and limit wheels, to ensure the safety and stability of the robot during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a schematic structural diagram of the robot for the flexible storage and retrieval of two-wheeled electric vehicles according to the present utility model;

[0019] Figure 2 FIG. is a schematic structural diagram of the lifting drive mechanism in the present utility model;

[0020] Figure 3 FIG. is a schematic structural diagram of the lifting frame assembly in the present utility model;

[0021] Figure 4 FIG. is a partial schematic structural diagram of the robot for the flexible storage and retrieval of two-wheeled electric vehicles according to the present utility model.

[0022] In the figure: 1, top frame; 2, lifting drive mechanism; 21, support; 22, lifting motor; 23, lifting wire rope drum; 24, wire rope; 3, lifting frame assembly; 31, frame body; 32, hook member; 33, distance sensor; 34, joint; 4, scissor mechanism; 5, walking drive mechanism; 51, walking motor; 52, main sprocket; 53, driven sprocket; 54, chain; 55, tensioning assembly; 6, walking mechanism; 61, walking wheel; 62, transmission shaft; 63, intermediate shaft; 7, lateral translation drive mechanism; 71, lateral translation motor; 72, belt pulley; 73, synchronous belt; 74, toothed fixing piece; 75, lateral translation support assembly; 751, support; 752, support wheel; 8, photoelectric sensor; 9, light blocking plate; 10, limit wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present utility model will be described in detail below with reference to the drawings and embodiments.

[0024] As Figures 1-4 shown, the present utility model provides a robot for the flexible storage and retrieval of two-wheeled electric vehicles, including a top frame 1 for support and connection, which is in the shape of a rectangular frame and serves as the support and connection foundation of the entire device. The top frame 1 stably bears each connection component. Further, the top frame 1 is made of high-strength and lightweight aluminum alloy material, which reduces the overall weight while ensuring sufficient bearing capacity.

[0025] A lifting drive mechanism 2 is installed at the bottom of the top frame 1 for finally driving the two-wheeled electric vehicle to lift. The lifting drive mechanism 2 includes a support 21, a lifting motor 22, a lifting wire rope drum 23, and a wire rope 24. The lifting motor 22 is installed at one end of the support 21, the lifting wire rope drum 23 is installed at the output end of the lifting motor 22, and the wire rope 24 can be wound around the lifting wire rope drum 23.

[0026] The support 21 is divided into a connecting part and a fixing part. The fixing part is used for fixing with the outside, and the connecting part is used for connecting the lifting motor 22 and the lifting wire rope drum 23. Further, a coupling is also installed between the lifting motor 22 and the lifting wire rope drum 23, which is used to connect the two shafts and rotate synchronously, and has the ability to compensate for axial, radial, and angular offsets, and can adapt to a certain degree of relative displacement of the two shafts.

[0027] The output end of the lifting drive mechanism 2 is installed with a lifting frame assembly 3, and the lifting frame assembly 3 is used to drive the two-wheeled electric vehicle tray to lift vertically. The lifting frame assembly 3 includes a frame body 31 and hook members 32 installed at the four corners of the frame body 31 for grasping the two-wheeled electric vehicle tray. A distance sensor 33 is installed at one end of the hook member 32 on the frame body 31, and a joint 34 for connecting with the output end of the lifting drive mechanism 2 is installed at the top of the frame body 31.

[0028] The frame body 31 is a rectangular frame, and its four corners all extend vertically downward into rectangular strips. Hanging members are fixedly installed at the bottom of the strips, and the hook members 32 are used to grasp the tray of the two-wheeled electric vehicle. At least two distance sensors 33 are installed at the bottom of the frame body 31 to detect the distance from the two-wheeled electric vehicle tray to ensure the accuracy of the grasping process. The joint 34 is specifically connected to the wire rope 24 of the lifting drive mechanism 2 to achieve power transmission.

[0029] A scissor mechanism 4 for supporting the lifting movement is also installed between the lifting drive mechanism 2 and the lifting frame assembly 3, which is used to support the lifting movement of the lifting frame assembly 3. The stability during the lifting process is maintained by the expansion and contraction of the scissors. The scissor mechanism 4 is composed of multiple cross-connected rods, forming a structure similar to scissors, and can provide a stable supporting force during the lifting process.

[0030] A traveling drive mechanism 5 is also installed above the lifting drive mechanism 2 on the top frame 1. The traveling drive mechanism 5 includes a traveling motor 51, a main sprocket 52 installed at the output end of the traveling motor 51, a driven sprocket 53 installed at the input end of the traveling mechanism 6, a chain 54 sleeved on the two sprockets, and a tensioning assembly 55 installed on the traveling motor 51 for tensioning the chain 54.

[0031] The traveling motor 51 is a geared motor that converts high-speed rotation into low-speed rotation while increasing torque, capable of outputting a relatively large torque force to meet the transfer requirements of the two-wheel electric vehicle. The traveling motor 51 drives the main sprocket 52 to rotate, and drives the driven sprocket 53 and the traveling mechanism 6 through the chain 54 to achieve the left and right movement of the device. The tensioning assembly 55 is used to maintain the tension state of the chain 54 to ensure the stability and reliability of the transmission.

[0032] The output end of the traveling drive mechanism 5 is equipped with a traveling mechanism 6. The traveling mechanism 6 includes traveling wheels 61 installed at the four corners of the top frame 1. One end of the top frame 1 is installed with a transmission shaft 62 for connecting the two traveling wheels 61 on the same axis. Intermediate shafts 63 are respectively installed on the two traveling wheels 61 at the other end of the top frame 1 to support their rotation. The transmission shaft 62 is connected to the output end of the traveling drive mechanism 5.

[0033] Connecting the traveling wheels 61 installed at both ends thereof with the transmission shaft 62 can enable the two traveling wheels 61 to rotate synchronously. The driven sprocket 53 fixedly connected to the transmission shaft 62 rotates, drives the transmission shaft 62 to rotate, and finally drives the two synchronous wheels to rotate synchronously. The two traveling wheels 61 at the other end of the top frame 1 rotate accordingly, and the intermediate shafts 63 connected to them are mainly used to support their rotation. Through the cooperation of the four traveling wheels 61, the stability and balance of the device during walking are ensured.

[0034] A transverse movement drive mechanism 7 for driving the lifting drive mechanism 2 and the connected lifting frame assembly 3 to perform transverse movement is also installed on the top frame 1. The output end of the transverse movement drive mechanism 7 is connected to the lifting drive mechanism 2.

[0035] The transverse movement drive mechanism 7 includes a transverse movement motor 71 installed at one end of the top frame 1. The transverse movement motor 71 is fixedly installed near the traveling drive mechanism 5. Belt pulleys 72 are installed at the output end of the transverse movement motor 71 and the other end of the top frame 1. The belt pulley 72 at the other end is rotatably installed on the adjustment seat, and the adjustment seat can adjust the horizontal position of the belt pulley 72 so that it can tension the synchronous belt 73. A synchronous belt 73 is sleeved on the two belt pulleys 72, and a toothed fixing piece 74 is meshed and installed on the synchronous belt 73. At the same time, the toothed fixing piece 74 is fixedly installed at one end of the lifting drive mechanism 2.

[0036] The synchronous belt 73 transmission has a relatively high transmission efficiency. Since the tooth shape of the synchronous belt 73 matches the tooth grooves of the belt pulleys 72, the sliding is small and the energy loss is low during the transmission process. The transverse movement motor 71 drives the belt pulley 72 to rotate, drives the toothed fixing piece 74 to move through the synchronous belt 73, and thus realizes the transverse movement of the lifting drive mechanism 2 and the connected lifting frame assembly 3.

[0037] On both ends of the lifting drive mechanism 2 in the width direction of the top frame 1, transverse support assemblies 75 are symmetrically installed respectively, which are used to support the transverse movement of the lifting drive mechanism 2 on the top frame 1, ensuring the stability of the lifting drive mechanism 2 during the transverse movement.

[0038] The support assembly includes a bracket 751 and a plurality of support wheels 752 rotatably installed at both ends of the bracket 751. The bracket 751 is a shell-like component with a uniform wall thickness. At both ends thereof, two groups of support wheels 752 are installed respectively. Each group of support wheels 752 includes two support wheels 752 in contact with the upper and lower ends of the cross beam of the top frame 1 and one support wheel 752 in contact with the side end of the cross beam of the top frame 1. In this way, the lifting drive mechanism 2 can be restricted to move only in the length direction of the top frame 1.

[0039] Photoelectric sensors 8 are installed at both ends of the top frame 1 in the length direction respectively, and a light blocking plate 9 for sensing is correspondingly installed on the lifting drive mechanism 2. The photoelectric sensor 8 is used to monitor the moving position of the lifting drive mechanism 2 in real time, and the light blocking plate 9 is installed on the lifting drive mechanism 2 and used in cooperation with the photoelectric sensor 8. Through the cooperation of the photoelectric sensor 8 and the light blocking plate 9, the moving position of the lifting drive mechanism 2 can be accurately controlled to ensure its operation within the specified range.

[0040] Limit wheels 10 are also installed at the four corners of the top frame 1. They are used to limit the moving range of the device and prevent it from exceeding the specified working area. Furthermore, the safety and stability of the device are improved, and accidents such as accidental collisions or falls are avoided.

[0041] The above is only the preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A robot for flexible storage and retrieval of two-wheeled electric vehicles, characterized in that: It includes a top frame for supporting and connecting, a lifting drive mechanism is installed at the bottom of the top frame, a lifting frame assembly is installed at the output end of the lifting drive mechanism, a scissors mechanism for supporting lifting movement is also installed between the lifting drive mechanism and the lifting frame assembly, a walking drive mechanism is also installed on the top of the lifting drive mechanism on the top of the top frame, a walking mechanism is installed at the output end of the walking drive mechanism, a transverse driving mechanism for driving the lifting drive mechanism and the connected lifting frame assembly to move transversely is also installed on the top frame, and the output end of the transverse driving mechanism is connected to the lifting drive mechanism.

2. A robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: The transverse driving mechanism includes a transverse motor installed at one end of the top frame, and pulleys are installed at the output end of the transverse motor and the other end of the top frame. Synchronous belts are installed on the two pulleys, and a toothed fixing plate is meshed and installed on the synchronous belt. At the same time, the toothed fixing plate is fixedly installed at one end of the lifting driving mechanism.

3. A robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: Transverse support components are symmetrically installed at both ends of the lifting drive mechanism in the width direction of the top frame to support the lateral movement of the lifting drive mechanism on the top frame.

4. A robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 3, characterized in that: The support assembly comprises a support and a plurality of support wheels rotatably mounted at two ends of the support.

5. The robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: Photoelectric sensors are respectively installed at both ends of the top frame in the length direction, and a light blocking plate for sensing is correspondingly installed on the lifting drive mechanism.

6. The robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: The lifting drive mechanism includes a support, a lifting motor, a lifting wire rope drum and a wire rope. The lifting motor is installed at one end of the support, the lifting wire rope drum is installed at the output end of the lifting motor, and the wire rope can be wound around the lifting wire rope drum.

7. The robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: The lifting frame assembly includes a frame body and hooks installed at the four corners of the frame body for grabbing the pallet of the two-wheeled electric vehicle. A distance sensor is installed on the frame body at one end of the hook, and a connector for connecting to the output end of the lifting drive mechanism is installed on the top of the frame.

8. The robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: The travel drive mechanism includes a travel motor, a main sprocket installed on the output end of the travel motor, a slave sprocket installed on the input end of the travel drive mechanism, a chain sleeved on the two sprockets, and a tensioning assembly installed on the travel motor for tensioning the chain.

9. The robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: The walking mechanism includes walking wheels installed at the four corners of the top frame, a transmission shaft is installed at one end of the top frame for connecting two walking wheels on the same axis, and intermediate shafts are respectively installed on the two walking wheels at the other end of the top frame for supporting their rotation, and the transmission shaft is connected to the output end of the walking drive mechanism.

10. The robot for flexible storage and retrieval of two-wheeled electric vehicles according to claim 1, characterized in that: Limiting wheels are also installed at the four corners of the top frame.

Images