CN214942896U - Automobile clamping wheel type transfer robot - Google Patents
Automobile clamping wheel type transfer robot Download PDFInfo
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- CN214942896U CN214942896U CN202120091891.1U CN202120091891U CN214942896U CN 214942896 U CN214942896 U CN 214942896U CN 202120091891 U CN202120091891 U CN 202120091891U CN 214942896 U CN214942896 U CN 214942896U
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- trolley
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- transfer robot
- trolley body
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Abstract
A wheel clamping type carrying robot for automobiles belongs to the technical field of mechanical three-dimensional parking equipment. The automobile chassis height detection device comprises two identical trolley units, wherein each trolley unit comprises a trolley body, a travelling mechanism, a clamping mechanism, a guide mechanism and a control system, the two trolley units are connected through a connecting rod to form a carrying robot, the trolley units further comprise a scratch-resistant chassis mechanism, one end of the trolley body is a connecting end, the connecting rod is connected, the other end of the trolley body is a free end, the scratch-resistant chassis mechanism is arranged to detect the height of an automobile chassis, the two sides of the trolley body are driving beams, the travelling mechanisms are symmetrically arranged close to the two ends of the driving beams, and the clamping mechanisms are arranged on the two sides of the trolley body to clamp automobile tires; the guide mechanism is arranged on the inner sides of the driving beams on the two sides of the trolley body and is matched with the preset walking track of the transfer robot. The automobile wheel base has the advantages of wide compatible range of automobile wheel bases, high carrying efficiency and the like.
Description
Technical Field
The invention belongs to the technical field of mechanical three-dimensional parking equipment, and particularly relates to an automobile clamping wheel type carrying robot.
Background
With the increase of automobiles, the demand of a stereo garage is more and more urgent. The plane mobile garage, the round tower type garage and the roadway stacking garage generally need to be realized by an automobile carrying robot, comb teeth or carrying trolleys in a car carrying plate form are common in the market, the required layer height of equipment is high, and the automobile inlet structure is complex and poor in flatness, so that the comfort level of use of a user is influenced. At present, the pinch roller type transfer robot is a core component part in intelligent mechanical three-dimensional parking equipment, is an ideal automobile transfer mode due to good adaptability, small damage to tires, simple structure and good stability, is easy to realize ultrathin structural design, becomes a preferred scheme of the intelligent three-dimensional parking equipment more and more, and is highly valued in the industry.
Disclosure of Invention
Aiming at the technical problems, the invention provides the automobile clamping wheel type transfer robot which is stable in walking and clamping, small in tire damage, simple in structure, good in stability and good in customer experience effect.
The purpose of the invention is realized by the following technical scheme:
the invention relates to an automobile clamping wheel type transfer robot, which comprises two same trolley units, wherein each trolley unit comprises a trolley body, a travelling mechanism, a clamping mechanism, a guide mechanism and a control system, the two trolley units are connected through a connecting rod to form the transfer robot, the trolley units further comprise an anti-scraping chassis mechanism, one end of each trolley body is a connecting end and is connected with the connecting rod, the other end of each trolley body is a free end, the anti-scraping chassis mechanism is arranged to detect the height of an automobile chassis, driving beams are arranged on two sides of each trolley body, the travelling mechanisms are symmetrically arranged close to two ends of each driving beam, and the clamping mechanisms are arranged on two sides of each trolley body to clamp automobile tires; the guide mechanism is arranged on the inner sides of the driving beams on the two sides of the trolley body and is matched with the preset walking track of the transfer robot.
Further, prevent scraping chassis mechanism including folding paper, tilting mechanism and prevent scraping proximity sensor, fold paper one end and be connected with the bottom plate of dolly automobile body free end, the other end is connected with tilting mechanism, prevents scraping proximity sensor and passes through the mounting bracket and install on the bottom plate, responds to with tilting mechanism to with control system communication, the detection signal of feedback vehicle chassis height transfinite.
Further, tilting mechanism includes mounting panel, installation axle and two running rollers, sets up the mounting panel of being connected with folding paper at installation axle middle part, is provided with the running roller on the installation axle of mounting panel both sides, the mounting panel have with prevent scraping the board of bending of proximity sensor response.
And furthermore, the clamping arm manual opening mechanism is also arranged and comprises a manual driving shaft, a bevel gear I arranged at one end of the manual driving shaft and a bevel gear II arranged on a left-handed or right-handed screw rod of the clamping mechanism, wherein a manual driving shaft mounting hole is formed in the driving beam, when the clamping arm needs to be driven manually, one end of the manual driving shaft is mounted on the mounting hole in the driving beam, one end of the mounting bevel gear I is meshed with the bevel gear II, the manual driving shaft is rotated, and the two clamping arms are driven to open or close through the meshing transmission of the bevel gear I and the bevel gear II.
Furthermore, an anti-contracting brake interface connected with a walking drive motor is also arranged on the trolley body; after the walking driving motor is self-locked due to faults, the band-type brake is unlocked by connecting the band-type brake releasing device with the band-type brake releasing interface, and the walking driving motor is started.
And furthermore, a drag chain mechanism is arranged at the connecting end of the trolley body, the drag chain mechanism comprises a drag chain, a slide rail and a connecting piece, the drag chain is connected with a connecting rod arranged along the slide rail through the connecting piece, the slide rail is arranged on the trolley body, and when the wheelbase of the trolley is adjusted, the connecting rod stretches and retracts along the slide rail in a follow-up manner to adjust the wheelbase.
Furthermore, the guide mechanism comprises a guide support and guide wheels, and the guide wheels are connected to the driving beam through the guide support, are matched with the preset track and run along the preset running track.
Furthermore, a walking proximity sensor is arranged in the middle of the trolley body, an induction plate is arranged on the parking space to be detected, the walking proximity sensor and the induction plate are induced, the motor is in band-type brake self-locking, and the carrier stops releasing the trolley and turns to the next parking space. The front end of the trolley body of the trolley unit is provided with an anti-stacking sensor, whether a vehicle is parked in a parking space or not is detected in advance, if the vehicle is parked, the transfer robot stops moving forwards, and a control system feeds back a fault.
Furthermore, a laser ranging sensor is arranged at the connecting end of the trolley body of one trolley unit, and a reflecting plate is correspondingly arranged on the trolley body of the other trolley unit to detect the wheelbase of the trolley.
Furthermore, a wheel detection sensor and a clamping arm proximity sensor are arranged on the outer side of the driving beam between the two clamping arms on the same side, and the wheel detection sensor is used for detecting whether wheels to be clamped and conveyed exist on the parking space; whether clamping arms of the clamping mechanism are clamped in place or not is detected through the clamping arm proximity sensor.
The invention has the beneficial effects that:
1. the automobile clamping wheel type carrying robot provided by the invention has the advantages that two independent trolley units are connected through the middle connecting rod to realize automobile carrying, each trolley unit is provided with an anti-scraping chassis mechanism, a traveling mechanism, a clamping mechanism, a drag chain mechanism and a guide mechanism, and the anti-scraping chassis mechanism can detect an automobile chassis; the travelling mechanism drives the trolley unit to travel; the clamping arms of the clamping mechanism complete the functions of clamping and withdrawing through the clamping arm driving motor, so that the automobile is carried; the guide mechanism is arranged on the inner side of the driving beam of the vehicle body, ensures that the trolley unit runs in the track, and has the advantages of wide vehicle wheelbase compatible range, high carrying efficiency and the like.
2. The clamp arm device is provided with a clamping mechanism and a walking driving mechanism, and two motion processes of translational clamping and swinging expansion of the clamp arm and a process of forward and backward walking of a main body are realized under the action of a power source; the structure is compact, the reliability is good, and the height of the structure is convenient to reduce under the same requirements of motion and output force.
3. The anti-scraping chassis mechanism is provided, one end of a hinge of the anti-scraping chassis mechanism is connected with a bottom plate at the free end of a trolley body, the other end of the hinge is connected with a turnover mechanism, an anti-scraping proximity sensor is installed on the bottom plate through an installation frame and is induced with the turnover mechanism, an installation plate connected with the hinge is arranged in the middle of an installation shaft of the turnover mechanism, rollers are arranged on installation shafts at two sides of the installation plate, and the installation plate is provided with a bending plate induced with the anti-scraping proximity sensor; when waiting the chassis striking tilting mechanism of transport, fold paper and drive mounting panel and installation axle upset, running roller and the chassis frictional contact of transport prevent scraping proximity sensor and the board response of bending of mounting panel, feedback signal to control system realizes the detection of vehicle chassis height transfinite.
4. The invention is also provided with a clamping arm manual opening mechanism, when the clamping arm is required to be driven manually, one end of a manual driving shaft is arranged on the mounting hole on the driving beam, one end of the manual driving shaft for mounting the bevel gear I is meshed with a bevel gear II mounted on a screw rod of the clamping mechanism, the manual driving shaft is rotated, and the bevel gear I and the bevel gear II are meshed for transmission to drive the two clamping arms to open or close. When the clamping driving motor fails, the clamping arm is driven to open or close through the manual opening mechanism of the manual clamping arm.
5. The trolley body is also provided with an anti-contracting brake interface connected with a walking driving motor; after the walking driving motor is self-locked due to faults, the band-type brake is unlocked by connecting the band-type brake releasing device with the band-type brake releasing interface, and the walking driving motor is started.
6. The invention is provided with the drag chain mechanism, the drag chain of the drag chain mechanism is connected with the connecting rod arranged along the sliding rail through the connecting piece, and when the wheelbase of the trolley is adjusted, the adjustment is carried out through the following extension and contraction of the connecting rod along the sliding rail.
7. The guide mechanism arranged in the invention is matched with the preset track, so that the trolley unit runs along the preset running track.
8. The invention is also provided with a walking proximity sensor, an anti-stacking sensor, a laser ranging sensor, a wheel detection sensor and a clamping arm proximity sensor, has the functions of vehicle transportation, outage walking position self-locking, anti-stacking detection, axle distance automatic detection, automatic wheel searching, clamping arm clamping in-place detection and the like, and has the advantages of wide automobile axle distance compatible range, high transportation efficiency and the like.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a schematic view of the scratch resistant chassis mechanism in fig. 1.
Fig. 4 is a schematic view of the drag chain mechanism of the present invention.
Fig. 5 is a schematic view of the installation principle of the clamping arm manual opening mechanism.
In the figure: 1. the anti-scraping mechanism comprises an anti-scraping chassis mechanism, 11 folding paper, 12 turning mechanisms, 13 bottom plates, 14 mounting plates, 15 mounting shafts, 16 rollers, 17 mounting frames, 18 bending plates, 2 travelling mechanisms, 21 driving wheels, 22 driving shafts, 23 travelling driving motors, 24 follower wheels, 25 follower shafts, 3 clamping mechanisms, 31 clamping arms, 32 clamping arm driving motors, 33 lead screws, 34 manual driving shafts, 35 bevel gears I and 36 bevel gears II, 4 drag chain mechanisms, 41 drag chains, 42 sliding rails, 43 connecting pieces, 5 connecting rods, 6 driving beams, 7 guiding mechanisms and 8 control systems.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
Example (b): as shown in fig. 1 and 2, the automobile wheel clamping type transfer robot comprises two identical trolley units, wherein each trolley unit comprises a trolley body, a traveling mechanism 2, a clamping mechanism 3, a guide mechanism 7 and a control system, the two trolley units are connected through a connecting rod 5 to form the transfer robot, the trolley units further comprise a scratch-proof chassis mechanism 1, the trolley bodies are of a frame structure, one end of each trolley body is a connecting end and is connected with the connecting rod 5, the other end of each trolley body is a free end, the scratch-proof chassis mechanisms 1 are arranged, the two sides of each trolley body are provided with driving beams 6, the traveling mechanisms 2 are symmetrically arranged near the two ends of the driving beams 6, and the clamping mechanisms 3 are arranged at the two sides of the trolley bodies to clamp automobile tires; the guide mechanism 7 is arranged on the inner side of the driving beam 6 at two sides of the trolley body and is matched with the scheduled walking track of the transfer robot.
As shown in fig. 3, the scratch-proof chassis mechanism 1 comprises a hinge 11, a turnover mechanism 12 and a scratch-proof proximity sensor, wherein one end of the hinge 11 is connected with a bottom plate 13 at the free end of the trolley body, the other end of the hinge is connected with the turnover mechanism 12, the scratch-proof proximity sensor is installed on the bottom plate 13 through an installation frame 17, is induced by the turnover mechanism 12, communicates with a control system, and feeds back a detection signal indicating that the height of the vehicle chassis exceeds the limit.
The clamping mechanism 3 adopts a tire clamping mechanical arm with the patent application number of 201910868778.7 and is symmetrically arranged at two sides of a trolley body; and a proximity sensor connected with the control system is arranged in the middle of the outer side of the driving beam, the clamping state of the proximity sensor is fed back to the control system 8 through the proximity sensor, and whether the clamping of the clamping arm 31 is in place is detected.
As shown in fig. 5, the present embodiment is further provided with a manual opening mechanism for the clamping arm, which includes a manual driving shaft 34, a bevel gear i 35 disposed thereon, and a bevel gear ii 36 disposed on the left-handed or right-handed screw of the clamping mechanism, wherein a mounting hole for the manual driving shaft is formed on the driving beam 6, when the clamping arm 31 needs to be driven manually, one end of the manual driving shaft 34 is mounted on the mounting hole on the driving beam 6, and one end of the manual driving shaft 34 is engaged with the bevel gear ii 36, so as to rotate the manual driving shaft 34, and drive the two clamping arms 31 to open or close through the engagement transmission of the bevel gear i 35 and the bevel gear ii 36.
The traveling mechanism 2 comprises a driving wheel 21, a driving shaft 22, a traveling driving motor 23, a following wheel 24, a following shaft 25 and a transmission mechanism, wherein the driving wheel 21 is installed at two ends of the driving shaft 22, the traveling driving motor 23 is connected with the driving shaft 22 through the transmission mechanism, the driving shaft 22 is in transmission connection with the following shaft 25 through a chain wheel and a chain, and the traveling driving motor 23 drives the driving shaft 22, the following shaft 25, the driving wheel 21 and the following wheel 24 to rotate so as to achieve the purpose of traveling of the vehicle; the walking driving motor and the encoder are both connected with the control system, and the control system 9 controls the walking driving motor 23 to rotate forward and backward so as to realize the forward and backward walking of the trolley; the running position of the trolley is judged through the encoder arranged on the walking driving motor 23, and accurate parking positioning is realized. The walking driving motor 23 adopts a servo motor, and is provided with a coder, so that the walking distance of the trolley is detected, the trolley can interact with the control system 9 in real time according to the walking state of the trolley, and high positioning precision is realized by combining the coder.
In the embodiment, a walking proximity sensor (with the model number of E2B-M30KS 15-WZ-B1) is arranged in the middle of the trolley body, an induction plate is arranged on the parking space to be detected, the induction plate induces the walking proximity sensor, a motor is locked by a brake, the carrier stops releasing the trolley, and the trolley turns to the next parking space.
The transmission mechanism in this example comprises chain wheels respectively arranged on the output shaft of the walking drive motor 23 and the driving shaft 22, and the two chain wheels are connected with a chain.
In the embodiment, the trolley body is also provided with an anti-contracting brake interface which is connected with a walking driving motor of the walking mechanism 2; after the walking driving motor 23 is self-locked, the band-type brake is unlocked by connecting a band-type brake releasing device (purchased from outsourcing at present) at the band-type brake releasing interface, and the walking driving motor 23 is started.
The guide mechanism 7 comprises a guide support and guide wheels, and the guide wheels are connected to the driving beam 6 through the guide support, matched with the preset track and run along the preset running track.
As shown in fig. 4, a tow chain mechanism 4 is arranged at the connecting end of the trolley body, the tow chain mechanism 4 comprises a tow chain 41, a slide rail 42 and a connecting piece 43, the tow chain 41 is connected with a connecting rod 5 arranged along the slide rail 42 through the connecting piece 43, the slide rail 42 is arranged on the trolley body, and when the wheelbase of the trolley is adjusted, the connecting rod 5 stretches along the slide rail 42 in a follow-up manner to adjust the wheelbase.
The trolley unit of the embodiment is also provided with a detection system which comprises an anti-stacking sensor, a laser ranging sensor, a wheel detection sensor, a clamp arm proximity sensor and a walking motor encoder, wherein the anti-stacking sensor is an ultrasonic sensor (model T30 series:) which is arranged at the advancing front end of a trolley body of the trolley unit and used for detecting whether a vehicle is parked in a parking space; the connecting part of the trolley body of one trolley unit is provided with a laser ranging sensor (model DT35 series), and the trolley body of the other trolley unit is correspondingly provided with a reflecting plate for detecting the wheelbase of the two trolley units; the wheel detection sensor is an ultrasonic sensor (model RURURU 40U:), is arranged on the outer side of the driving beam between the two clamping arms on the same side, and detects whether a wheel to be clamped and carried exists on the parking space; a clamping arm proximity sensor (model IME 18-12 BPOZW2S) is arranged at the middle part of the outer side of the driving beam 6 and close to the clamping arm and is used for detecting whether the clamping arm 31 of the clamping mechanism 3 is clamped in place; the walking driving motor 23 of the walking mechanism 2 is provided with a coder for detecting the walking distance of the trolley; and signal lines of the anti-stacking sensor, the laser ranging sensor, the walking motor encoder, the wheel detection sensor and the clamping arm proximity sensor are respectively connected with a control system 8 of the trolley unit, and the operation of the trolley unit is controlled according to detected trolley state signals. The walking motor encoder and various sensors in the embodiment are all existing outsourcing parts.
The control system 8 adopts the existing structure, consists of a servo controller and a PLC, and controls the operation of the carrier according to a trolley state signal fed back by the detection system.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (10)
1. The utility model provides a car presss from both sides wheeled transfer robot, includes two the same dolly units, the dolly unit includes dolly automobile body, running gear, fixture, guiding mechanism and control system, its characterized in that: the two trolley units are connected through a connecting rod to form the transfer robot, the trolley units further comprise a scratch-resistant chassis mechanism, one end of a trolley body is a connecting end and is connected with the connecting rod, the other end of the trolley body is a free end, the scratch-resistant chassis mechanism is arranged to detect the height of an automobile chassis, two sides of the trolley body are provided with driving beams, walking mechanisms are symmetrically arranged close to two ends of the driving beams, and clamping mechanisms are arranged on two sides of the trolley body to clamp automobile tires; the guide mechanism is arranged on the inner sides of the driving beams on the two sides of the trolley body and is matched with the preset walking track of the transfer robot.
2. The automobile wheel clamping type transfer robot as claimed in claim 1, wherein: prevent scraping chassis mechanism including folding paper, tilting mechanism and prevent scraping proximity sensor, fold paper one end and be connected with the bottom plate of dolly automobile body free end, the other end is connected with tilting mechanism, prevents scraping proximity sensor and installs on the bottom plate through the mounting bracket, with tilting mechanism response to with control system communication, the detection signal of feedback vehicle chassis height transfinite.
3. The truck wheel clamping type transfer robot as claimed in claim 2, wherein: tilting mechanism includes mounting panel, installation axle and two running rollers, sets up the mounting panel of being connected with folding paper at installation axle middle part, is provided with the running roller at the installation epaxial of mounting panel both sides, the mounting panel have with prevent scraping the board of bending of proximity sensor response.
4. The automobile wheel clamping type transfer robot as claimed in claim 1, wherein: the clamping mechanism is further provided with a manual opening mechanism of the clamping arms, the manual opening mechanism comprises a manual driving shaft, a bevel gear I and a bevel gear II, the bevel gear I is arranged at one end of the manual driving shaft, the bevel gear II is arranged on a left-handed or right-handed screw of the clamping mechanism, a manual driving shaft mounting hole is formed in the driving beam, when the clamping arms need to be driven manually, one end of the manual driving shaft is mounted in the mounting hole in the driving beam, one end of the mounting bevel gear I is meshed with the bevel gear II, the manual driving shaft is rotated, and the bevel gear I and the bevel gear II are in meshed transmission to drive the two clamping arms to open or close.
5. The truck wheel clamping type transfer robot as claimed in claim 4, wherein: a walking proximity sensor is arranged in the middle of the trolley body, an induction plate is arranged on a parking space to be detected, the walking proximity sensor and the induction plate are induced, a motor is in a contracting brake for self-locking, and the carrier stops releasing the trolley and turns to the next parking space; the front end of the trolley body of the trolley unit is provided with an anti-stacking sensor, whether a vehicle is parked in a parking space or not is detected in advance, if the vehicle is parked, the transfer robot stops moving forwards, and a control system feeds back a fault.
6. The truck wheel clamping type transfer robot as claimed in claim 4, wherein: a wheel detection sensor and a clamping arm proximity sensor are arranged on the outer side of the driving beam between the two clamping arms on the same side, and the wheel detection sensor is used for detecting whether wheels to be clamped and conveyed exist on the parking space; whether clamping arms of the clamping mechanism are clamped in place or not is detected through the clamping arm proximity sensor.
7. The automobile wheel clamping type transfer robot as claimed in claim 1, wherein: the trolley body is also provided with an anti-contracting brake interface connected with a walking driving motor; after the walking driving motor is self-locked due to faults, the band-type brake is unlocked by connecting the band-type brake releasing device with the band-type brake releasing interface, and the walking driving motor is started.
8. The automobile wheel clamping type transfer robot as claimed in claim 1, wherein: the trolley is characterized in that a drag chain mechanism is arranged at the connecting end of the trolley body and comprises a drag chain, a slide rail and a connecting piece, the drag chain is connected with a connecting rod arranged along the slide rail through the connecting piece, the slide rail is arranged on the trolley body, and when the wheelbase of the trolley is adjusted, the connecting rod stretches and retracts along the slide rail in a follow-up manner to adjust the wheelbase.
9. The automobile wheel clamping type transfer robot as claimed in claim 1, wherein: the guide mechanism comprises a guide support and guide wheels, and the guide wheels are connected to the driving beam through the guide support, matched with the preset track and run along the preset running track.
10. The automobile wheel clamping type transfer robot as claimed in claim 1, wherein: the laser ranging sensor is arranged at the connecting end of the trolley body of one trolley unit, and the reflecting plate is correspondingly arranged on the trolley body of the other trolley unit to detect the wheelbase of the trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120091891.1U CN214942896U (en) | 2021-01-13 | 2021-01-13 | Automobile clamping wheel type transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120091891.1U CN214942896U (en) | 2021-01-13 | 2021-01-13 | Automobile clamping wheel type transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214942896U true CN214942896U (en) | 2021-11-30 |
Family
ID=79122009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120091891.1U Active CN214942896U (en) | 2021-01-13 | 2021-01-13 | Automobile clamping wheel type transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214942896U (en) |
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2021
- 2021-01-13 CN CN202120091891.1U patent/CN214942896U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230322 Address after: No. 36-3, Huahai Road, Shenyang Economic and Technological Development Zone, Shenyang, Liaoning Province, 110027 762 Patentee after: Shenyang Shengke Intelligent Robot Technology Co.,Ltd. Address before: 110013 no.18-43, Puwen Road, Shenbei New District, Shenyang City, Liaoning Province Patentee before: Zongheng intelligent (Shenyang) robot technology Co.,Ltd. |
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| TR01 | Transfer of patent right |