Robot for automobile carrying

Abstract

The utility model discloses a robot for automobile carrying, which relates to the technical field of automobile carrying and comprises a frame, a lifting component, a lifting platform, a carrying trolley and a walking component, the lifting component mounted on the frame is provided with a liftable connecting plate, the connecting plate is connected with the lifting platform, the lifting platform ascends and descends along with the connecting plate, and the carrying trolley is connected with the walking component. The number of the carrying trolleys is two, the two carrying trolleys are oppositely arranged, the two carrying trolleys are connected through a movable part, the movable part comprises at least three threading pipes which are sequentially connected, every two adjacent threading pipes are connected through a hinge, the threading pipes located on the two sides are connected with the two carrying trolleys through hinges, the walking assembly is installed on the frame, and the walking assembly enables the frame to move. According to the robot, automobile carrying operation of the double-layer parking space can be conducted, the distance between the two carrying trolleys can be adjusted through the movable part, and therefore the robot can adapt to different types of automobiles to be carried, and the application range of the scheme is widened.

Description

Technical Field

[0001] This utility model relates to the field of automobile handling technology, and in particular to a robot for automobile handling. Background Technology

[0002] Currently, most existing car handling equipment operates on a single level, making it difficult to utilize the upper level space. However, with the increasing demand for parking, there is a need to improve space utilization.

[0003] CN214996433U discloses a two-layer mother-daughter parking robot, comprising a lifting parking robot and a clamping car transporter fixedly mounted on the lifting frame of the lifting parking robot. The clamping car transporter is lifted and lowered via a lifting system, and the clamping car transporter clamps the vehicle to be parked. However, this solution has limitations on the span between the front and rear wheels of the car to be transported, which adversely affects the product's application range. Utility Model Content

[0004] To address the aforementioned problems, this application provides a robot for car handling.

[0005] This application provides a robot for car handling, including a frame, a lifting assembly, a lifting platform, a transport trolley, and a walking assembly. The lifting assembly is mounted on the frame and has a liftable connecting plate. The lifting platform is connected to the connecting plate and moves up and down with the connecting plate. Two transport trolleys are arranged opposite each other and are connected by a movable component. The movable component includes at least three conduits connected in sequence, and two adjacent conduits are connected by a hinge. The conduits on both sides are connected to the two transport trolleys by hinges respectively. The walking assembly is mounted on the frame and enables the frame to move.

[0006] In some implementations, the transport trolley includes:

[0007] Chassis;

[0008] The walking mechanism, mounted on the chassis, is used to make the chassis movable;

[0009] The clamping mechanism is installed on the chassis and has a working state and a standby state. In the working state, the clamping mechanism lifts and clamps the wheels of the car.

[0010] The clamping transmission mechanism is connected to the clamping mechanism to enable the clamping mechanism to switch between working and standby states.

[0011] In some embodiments, the clamping mechanism includes:

[0012] The clamping arms are provided in two pairs, which are located on both sides of the width of the chassis. The clamping arms are rotatably connected to the chassis.

[0013] There are four connecting rods, and each clamping arm is rotatably connected to one end of a connecting rod. The rotatable connection positions of the clamping arms to the chassis and the clamping arms to the connecting rods are different.

[0014] There are two support plates, each of which is rotatably connected to two connecting rods. The clamping transmission mechanism is used to drive the support plate to move back and forth along the length of the chassis.

[0015] In some implementations, the clamping drive mechanism uses a screw and nut structure to drive the support plate to reciprocate along the length of the chassis.

[0016] In some implementations, the lifting platform is provided with a running track, along which the transport trolley can move.

[0017] In some implementations, the lifting platform includes:

[0018] Platform;

[0019] The connector is installed on the side of the platform and is used for detachable connection with the connecting plate.

[0020] In some implementations, the lifting assembly includes a lead screw and nut structure that drives the connecting plate to rise and fall.

[0021] In some implementations, the lifting assembly includes a guide rail slider structure that guides the lifting and lowering of the connecting plate.

[0022] In some embodiments, the frame includes:

[0023] The traveling frame is arranged in two rows, each row of which has two column frames and a control cabinet frame connected between the two column frames.

[0024] The crossbeams include a top crossbeam and a bottom crossbeam that connect to the two rows of traveling frames.

[0025] In some implementations, the control cabinet frame is equipped with a control component that serves as the central control unit, which is connected to the lifting component, the transport trolley, and the traveling component.

[0026] The beneficial effects of this application are as follows: It provides a robot for car handling, including a frame, a lifting assembly, a lifting platform, a transport trolley, and a walking assembly. It can perform car handling operations in double-layer parking spaces. The two transport trolleys are connected by a movable component, which includes at least three conduits connected in sequence, with adjacent conduits connected by a hinge. The conduits on both sides are connected to the two transport trolleys by hinges respectively. The movable component allows the distance between the two transport trolleys to be adjusted, thereby adapting to different car models to be transported and improving the application scope of this application. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model.

[0028] Figure 1 A schematic diagram of the overall structure of a robot for car handling provided in this application;

[0029] Figure 2 A schematic diagram of the vehicle frame provided for this application;

[0030] Figure 3 A schematic diagram of the lifting components provided in this application;

[0031] Figure 4 A schematic diagram of a partial structure of the lifting component provided in this application;

[0032] Figure 5 A schematic diagram of the lifting platform provided in this application;

[0033] Figure 6 A schematic diagram of the transport trolley provided in this application;

[0034] Figure 7 A schematic diagram of the clamping transmission mechanism of the transport trolley provided in this application;

[0035] Figure 8 This is a schematic diagram of two relative transport trolleys provided in this application.

[0036] Attached diagram labels: 1-Car frame, 11-Traveling frame, 12-Top crossbeam, 13-Bottom crossbeam, 2-Lifting assembly, 21-Lifting motor, 22-Motor mount, 23-First connector, 24-Lifting screw, 25-Linear guide rail, 26-Lifting connecting frame, 27-Connecting plate, 28-Lifting frame, 29-First stop, 210-Guide rail slider, 211-First nut, 212-First support seat, 3-Lifting platform, 31-Connector, 32-Running track, 33-Second stop, 34-Dating roller, 4-Transporting trolley, 41-Clamping mechanism, 411-Support plate 412-Connecting rod, 413-Clamping arm, 42-Traveling mechanism, 421-Traveling motor, 422-Traveling motor bracket, 423-Third connector, 424-Traveling wheel, 425-Third sprocket, 426-Fourth sprocket, 43-Clamping transmission mechanism, 430-Second transmission screw, 431-First transmission screw, 432-Second nut, 433-Transmission slider, 434-Second connector, 435-Clamping motor, 436-Clamping motor bracket, 437-First drive sprocket, 438-Second drive sprocket, 439-Second support seat, 44-Chassis, 5-Traveling assembly. Detailed Implementation

[0037] Most car-moving robots used in underground parking garages operate on a single floor. When the floor height is high, the space above the cars cannot be effectively utilized, resulting in wasted space. With parking demand increasing daily, maximizing the use of available space is essential. Furthermore, the manufacturing cost of existing equipment is relatively high and the structure is complex, requiring optimization.

[0038] This application provides a robot for car handling, hereinafter referred to as a robot, please refer to... Figure 1 The robot includes a frame 1, a lifting assembly 2, a lifting platform 3, a transport trolley 4, and a walking assembly 5.

[0039] The frame 1 serves as the basic frame, the lifting assembly 2 is mounted on the frame 1, the lifting platform 3 is connected to the lifting assembly 2, and the lifting platform 3 is raised and lowered through the lifting assembly 2. The transport trolley 4 is movably mounted on the lifting platform 3 and can be raised and lowered along with the lifting platform 3. The transport trolley 4 is used to directly transport the car. The frame is moved in the spatial plane through the traveling assembly 5. The wheels of the traveling assembly 5 are mounted on the bottom of the frame 1, and the traveling assembly 5 is also equipped with a drive mechanism to drive the wheels to rotate.

[0040] The robot provided in this application is used for storing and retrieving vehicles in underground multi-level parking garages. It is an unmanned device capable of transporting cars on one or two levels. A lifting mechanism is installed on the ground. After a car enters the lifting mechanism and personnel leave, the lifting mechanism lowers the car until it is moved underground. The robot provided in this application automatically travels to the location of the car and docks with the lifting mechanism. The robot's transport trolley moves to the lifting mechanism and lifts the car. The transport trolley 4 and the car move back to the robot's lifting platform 3. Then, the robot walks to the designated parking space, and the transport trolley 4 transports the car to the designated parking space. The transport trolley 4 then returns to the lifting platform 3. The lifting component 2 can be used to move the car to a parking space on the first or second level.

[0041] Multiple robots can be deployed in the parking lot to perform parking and retrieval operations simultaneously, which can improve the efficiency of parking and retrieval.

[0042] Please refer to Figure 2 In some embodiments, the frame 1 includes a running frame 11, a top crossbeam 12, and a bottom crossbeam 13. The running frames 11 are arranged in two rows, with the top crossbeam 12 and the bottom crossbeam 13 connected between the two rows of running frames 11. The top crossbeam 12 is connected to the top of the running frame 11, and the bottom crossbeam 13 is connected to the bottom of the running frame 11. Please refer to the reference. Figure 1 and Figure 2 The lifting component 2 is vertically mounted on the traveling frame 11, and the wheels of the traveling component 5 are mounted on the bottom of the traveling frame 11.

[0043] Please refer to Figure 2 In some embodiments, the walking frame 11 includes two sets of column frames, and a control cabinet frame is connected between the two sets of column frames. The control cabinet frame is used to install control components. The control components are the main controller of the robot. The control components include, but are not limited to, the control lifting component 2, the transport trolley 4, and the walking component 5.

[0044] Please refer to Figure 1 The lifting component 2 exists in multiple columns. In some embodiments, the lifting component 2 is set to 4 columns, and the lifting component 2 has 4 connection positions with the lifting platform 3, ensuring that the lifting platform 3 can be smoothly raised and lowered.

[0045] Please refer to Figure 3 In some embodiments, the lifting assembly 2 uses a lead screw and nut structure to drive the connecting plate 27 for lifting and lowering. Specifically, the lifting assembly 2 is equipped with a lifting motor 21, which is mounted on a motor base 22. The motor base 22 is mounted on the traveling frame 11. The lifting motor 21 is driven to the lifting lead screw 24 via a first connector 23. The lifting motor 21 causes the lifting lead screw 24 to rotate. The lifting lead screw 24 is vertically distributed, and the lifting motor 21 is higher than the lifting lead screw 24. Figure 4 The bottom of the lifting screw 24 shown is rotatably connected to a first support seat 212, which is installed on the walking frame 11, thus forming a vertical installation method in which the lower end of the lifting screw 24 is rotatably installed and the upper end is connected to the first connector 23.

[0046] Please refer to the reference. Figure 3 and Figure 4 The lifting screw 24 is threadedly connected to the first nut 211, which in turn is connected to the lifting frame 28. The lifting frame 28 is connected to the lifting connecting frame 26 and is located on one vertical side of the lifting frame 28. The lifting connecting frame 26 is connected to the connecting plate 27, which in turn is connected to the guide rail slider 210. The guide rail slider 210 is slidably mounted on the linear guide rail 25, which is vertically distributed and mounted on the traveling frame 11. When the lifting motor 21 drives the lifting screw 24 to rotate, the first nut 211 moves up or down along the lifting screw 24, causing the lifting frame 28 to move up and down. The guide rail slider 210 and the linear guide rail 25 guide the lifting of the lifting frame 28, thus forming a guide rail slider structure that guides the lifting of the connecting plate 27, which is beneficial to the smoothness of the lifting movement. (See reference...) Figures 2 to 4 The side of the connecting plate 27 away from the lifting connecting frame 26 is fixedly connected to the lifting platform 3. When the lifting frame 28 moves up and down, it will lift the lifting platform 3 together.

[0047] Please refer to Figure 4In some embodiments, a first stop 29 is connected to the end of the linear guide 25 to prevent the guide slider 210 from slipping off the end of the linear guide 25.

[0048] Please refer to Figure 5 The lifting platform 3 includes a platform body, and multiple connectors 31 are connected to the edge of the platform body. The multiple connectors 31 are located on opposite sides of the platform body. The connectors 31 are connected to the connecting plates 27. The multiple connectors 31 correspond one-to-one with the multiple connecting plates 27 of the lifting assembly 2. The connectors 31 are located on the side of the connecting plate 27 away from the lifting connecting frame 26, thereby realizing the connection between the lifting platform 3 and the lifting assembly 2.

[0049] In some embodiments, the connector 31 is presented as Figure 5 The shape of the hanging lugs.

[0050] In some implementations, the connector 31 is detachably connected to the connector plate 27, for example, by hooking or bolting.

[0051] Please refer to Figure 5 In some embodiments, the lifting platform 3 is provided with a running track 32 installed on the platform body. The running track 32 can be arranged as two opposite tracks. The running track 32 assists in the movement of the transport trolley 4 on the lifting platform 3. The transport trolley 4 can move along the running track 32.

[0052] Please refer to Figure 5 In some embodiments, the lifting platform 3 is provided with a second stop 33 installed on the platform body. The second stop 33 is located on one side of the length of the running track 32, which serves to prevent the transport trolley from going out of control and leaving the lifting platform 3.

[0053] Please refer to Figure 5 In some embodiments, the lifting platform 3 is equipped with docking rollers 34, which are installed on one side of the platform's width. The docking rollers 34 are used in conjunction with the docking mechanism of the lifting mechanism, which is used to move a car from the ground to the underground. When it is necessary to move a car from the lifting mechanism to the robot, the robot automatically docks with the lifting mechanism until the docking rollers 34 and the docking mechanism of the lifting mechanism achieve precise docking. Then, the transport trolley 4 moves away from the lifting platform 3 and enters the track of the lifting mechanism. The transport trolley 4 enters under the car and lifts it up. Subsequently, the transport trolley 4 carries the car back to the lifting platform 3, thus completing the transfer of the car from the lifting mechanism to the robot.

[0054] Please refer to Figure 1 , Figures 6 to 8 , Figure 1 The diagram shows two transport trolleys 4 positioned on the lifting platform 3, with the two transport trolleys 4 spaced apart from each other. Figure 8This is also reflected in the text. Figure 6 This demonstrates the specific structure of the transport trolley 4. Figure 7 This further demonstrates Figure 6 A schematic diagram of part of the structure.

[0055] Please refer to Figure 6 The transport trolley 4 is equipped with a clamping mechanism 41, a traveling mechanism 42, a clamping transmission mechanism 43, and a chassis 44. The clamping mechanism 41, the traveling mechanism 42, and the clamping transmission mechanism 43 are all mounted on the chassis 44. The traveling mechanism 42 enables the transport trolley 4 to move. The clamping transmission mechanism 43 adjusts the state of the clamping mechanism 41. The clamping mechanism 41 lifts and clamps the wheels of the vehicle.

[0056] Please refer to Figure 6 The clamping mechanism 41 has two pairs of clamping arms 413, which are located on both sides of the width of the chassis 44. The clamping mechanism 41 also includes a support plate 411 and connecting rods 412. Each clamping arm 413 is connected to a connecting rod 412, and the connecting rods 412 are connected to the support plate 411. The two clamping arms 413 located on both sides of the width of the chassis 44 can share a support plate 411. In this application, the support plate 411 can move back and forth along the length of the chassis 44 under the drive of the clamping transmission mechanism 43. For details, please refer to... Figure 6 One end of the clamping arm 413 is rotatably connected to the chassis 44, and the clamping arm 413 is also rotatably connected to one end of the connecting rod 412. The rotatable connection positions of the clamping arm 413 and the chassis 44 are different from those of the clamping arm 413 and the connecting rod 412. The end of the connecting rod 412 furthest from the clamping arm 413 is rotatably connected to the support plate 411. When the position of the support plate 411 changes along the length of the chassis 44, the position of the clamping arm 413 also changes. The clamping arm 413 can be adjusted by adjusting the support plate 411.

[0057] Clamping arm 413 includes, but is not limited to, working and standby states, such as Figure 8 As shown, in the standby state, the clamping arms 413 are distributed along the length of the chassis 44, as follows: Figure 6 As shown, in the working state, the clamping arms 413 are distributed along the width direction of the chassis 44. By adjusting the position of the support plate 411 in the length direction of the chassis 44, the clamping arms 413 can be switched between the working state and the standby state.

[0058] Multiple casters are installed on the clamping arms 413. The transport trolley 4 is moved under the car, so that two of the pair of clamping arms 413 of the transport trolley 4 are positioned on either side of the car's wheels. Then, the clamping arms 413 are... Figure 8 The standby state shown is rotated to Figure 6As shown in the diagram, during this process, the clamping arm 413 slowly contacts the car wheel until it moves under the wheel and lifts it. While the clamping arm 413 is in contact with the car wheel and continues to move relative to it, the friction between the clamping arm 413 and the car wheel is rolling friction due to the multiple rollers mounted on the clamping arm 413. Each pair of clamping arms 413 can lift one wheel, and each transport trolley 4 can lift a pair of wheels. A car generally has two pairs of wheels, namely the front wheels and the rear wheels. Therefore, in this application, two transport trolleys 4 are used to transport one car.

[0059] Please refer to Figure 8 The two transport carts 4 are connected by a movable component, which includes at least three conduits 45 connected in sequence. Adjacent conduits 45 are rotatably connected by hinges 46. The conduits 45 on both sides are connected to the two transport carts 4 by hinges. The movable component allows the spacing between the two transport carts 4 to be adjusted, thus accommodating different types of vehicles and improving the application range of this solution. Specifically, the control component, serving as the robot's central control unit, has a control line connected to the transport carts 4. This control line passes through the conduits 45, and the control component controls both transport carts 4 together.

[0060] Please refer to Figure 6 and Figure 7The clamping transmission mechanism 43 uses a screw and nut structure to drive the support plate 411 to reciprocate along the length of the chassis 44. Specifically, the clamping transmission mechanism 43 is equipped with a clamping motor 435, which is mounted on the side wall of the chassis 44 via a clamping motor bracket 436. The drive end of the clamping motor 435 is connected to the first sprocket 437, and the first drive sprocket 437 and the second drive sprocket 438 are connected by a chain for transmission. The clamping motor 435 drives the second drive sprocket 438 to rotate. The second drive sprocket 438 is mounted on one end of the first transmission screw 431, and the other end of the first transmission screw 431 is rotatably mounted on the second support base 439, which is fixedly connected to the chassis 44. The end of the second drive sprocket 438 furthest from the first transmission screw 431 is connected to the second connector 434, which in turn is connected to the second transmission screw 430. The end of the second transmission screw 430 furthest from the second connector 434 is also mounted on the chassis 44 via the second support seat 439. Both the first and second transmission screws 431 and 430 are threaded with a second nut 432, which is connected to a transmission slider 433. The transmission slider 433 is connected to the support plate 411 of the clamping mechanism 41. When the clamping motor 435 drives the second drive sprocket 438 to rotate, it drives the first and second transmission screws 431 and 430 to rotate. Under the action of the screw threads, the support plate 411 moves along the length of the screw, which is the same as the length of the chassis 44, thus realizing the reciprocating motion of the support plate 411 along the length of the chassis 44.

[0061] Please refer to Figure 6 Guide wheels are installed on both sides of the chassis 44. The guide wheels cooperate with the grid bars in the chassis 44 and play a guiding role when the transport trolley 4 moves.

[0062] Please refer to Figure 6 The traveling mechanism 42 is equipped with a traveling motor 421, which is connected to a traveling motor bracket 422. The traveling motor bracket 422 is connected to a chassis 44, and the traveling motor 421 is mounted on the chassis 44 via the traveling motor bracket 422. The drive end of the traveling motor 421 is connected to a third connector 423, which is connected to a first traveling wheel axle (not shown in the figure). The first traveling wheel axle is equipped with a third sprocket 425 and a traveling wheel 424. The third sprocket 425 is connected to a fourth sprocket 426 via chain drive. The fourth sprocket 426 is mounted on a second traveling wheel axle (not shown in the figure), which is also equipped with a traveling wheel 424. The traveling wheels 424 are all rolled on the running track 32 of the lifting platform 3. When the traveling motor 421 is working, it can drive the traveling wheels 424 to roll along the running track 32.

[0063] Please refer to Figure 6The traveling mechanism 42 has two sets of traveling motors 421, which are arranged side by side. Traveling wheels 424 are located on both sides of the length of each traveling motor 421. The two sets of traveling motors 421 are arranged in opposite directions, and each set drives the traveling wheels 424 on both sides of its length. These traveling wheels 424 are the drive wheels. Please refer to... Figure 6 A driven wheel is also provided on the side of the chassis 44 away from the traveling wheel 424, and the driven wheel is also rolled on the running track 32 of the lifting platform 3.

[0064] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0065] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A robot for transporting automobiles, characterized in that, include: Frame; A lifting assembly, mounted on the vehicle frame, is equipped with a liftable connecting plate; The lifting platform is connected to the connecting plate and moves up and down along with the connecting plate; Two transport trolleys are arranged opposite each other and connected by a movable component. The movable component includes at least three conduits connected in sequence and two adjacent conduits are connected by a hinge. The conduits on both sides are connected to the two transport trolleys by hinges respectively. A walking assembly is mounted on the frame, enabling the frame to move.

2. The robot as described in claim 1, characterized in that, The transport trolley includes: Chassis; A walking mechanism, mounted on the chassis, is used to make the chassis movable; The clamping mechanism is installed on the chassis and has a working state and a standby state. In the working state, the clamping mechanism lifts and clamps the wheels of the vehicle. A clamping transmission mechanism is connected to the clamping mechanism to enable the clamping mechanism to switch between the working state and the standby state.

3. The robot as described in claim 2, characterized in that, The clamping mechanism includes: Two pairs of clamping arms are provided opposite each other, and the two pairs of clamping arms are respectively located on both sides of the width of the chassis. The clamping arms are rotatably connected to the chassis. There are four connecting rods, and each clamping arm is rotatably connected to one end of a connecting rod. The rotatable connection positions of the clamping arms to the chassis and the rotatable connection positions of the clamping arms to the connecting rods are different. Two support plates are provided opposite to each other, and each support plate is rotatably connected to the two connecting rods. The clamping transmission mechanism is used to drive the support plate to move back and forth along the length direction of the chassis.

4. The robot as described in claim 3, characterized in that, The clamp transmission mechanism uses a screw and nut structure to drive the support plate to move back and forth along the length of the chassis.

5. The robot as described in claim 1, characterized in that, The lifting platform is equipped with a running track, and the transport trolley can move along the running track.

6. The robot as described in claim 1, characterized in that, The lifting platform includes: Platform; A connector is installed on the side of the platform and is used for detachable connection with the connecting plate.

7. The robot as described in claim 1, characterized in that, The lifting assembly includes a lead screw and nut structure that drives the connecting plate to rise and fall.

8. The robot as described in claim 7, characterized in that, The lifting assembly includes a guide rail slider structure that guides the connecting plate during lifting and lowering.

9. The robot as described in any one of claims 1-8, characterized in that, The vehicle frame includes: The traveling frame is arranged in two rows, each row of which has two column frames and a control cabinet frame connected between the two column frames. The crossbeams include a top crossbeam and a bottom crossbeam that connect to the two rows of traveling frames.

10. The robot as described in claim 9, characterized in that, The control cabinet frame is equipped with a control component that serves as the central controller. The control component is connected to the lifting component, the transport trolley, and the traveling component.

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