CN217994632U

CN217994632U - High-universality automobile carrying robot

Info

Publication number: CN217994632U
Application number: CN202221772958.9U
Authority: CN
Inventors: 韦亮; 赵文博; ***
Original assignee: Zhejiang Nuoli Garage Equipment Manufacturing Co ltd
Current assignee: Zhejiang Nuoli Garage Equipment Manufacturing Co ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-12-09
Anticipated expiration: 2032-07-11

Abstract

The utility model relates to an automatic change mechanical equipment field, the design of the spare part of concretely relates to car transport. The utility model discloses a can realize through following technical scheme: a high-universality automobile transfer robot comprises a first transfer robot, a second transfer robot and a connecting assembly for connecting the first transfer robot and the second transfer robot; the connecting assembly comprises a first connecting seat and a second connecting seat which are respectively installed on the first carrying robot and the second carrying robot, the first connecting seat and the second connecting seat are respectively and movably connected with a first connecting arm and a second connecting arm, and the first connecting arm and the second connecting arm are rotatably connected. The utility model aims at providing a high-pass automobile transfer robot of usefulness, the transfer task in the face of the car of different wheel bases need not to change transfer robot, can satisfy vehicle size requirement through self structural change, and the suitability is strong.

Description

High-universality automobile carrying robot

Technical Field

The utility model relates to an automatic change mechanical equipment field, the design of the spare part of concretely relates to car transport.

Background

With the intelligent popularization of mechanical automatic equipment, more and more traditional processes are changed from manual operation to mechanical operation. The automobile is used as a large part, needs to be transported and moved in the processes of production, processing, logistics, maintenance and intelligent parking, and is often operated by adopting automatic transporting equipment, such as a transporting robot.

In order to achieve zero damage and zero deformation of a vehicle body in the conveying process, the contact point between the conveying robot and the vehicle is often the automobile tire, and at the moment, components such as a tire clamping arm or a tire supporting arm need to be used.

For example, chinese patent publication No. CN113605766A discloses a transfer robot, in which a pallet fork is mounted on a limit fork arm, a traveling device such as a traveling wheel is mounted on a robot arm, and the pallet fork laterally approaches a vehicle body, and clamps tires in tandem, thereby achieving the technical effects of contacting and moving the vehicle.

However, the technical solution has a certain defect that in practical use, the transfer robot faces different brands and different types of automobiles, and the wheelbases are naturally different when the types of the automobiles are different, that is, the distances from the front wheels to the rear wheels of the automobiles are different. The carrying robot has poor universality when facing automobile carrying tasks with different wheelbases.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a high versatility's car transfer robot, the transfer task in the face of the car of different wheel bases need not to change transfer robot, can satisfy the vehicle size requirement through self structural change, and the suitability is strong.

A high-universality automobile transfer robot comprises a first transfer robot, a second transfer robot and a connecting assembly for connecting the first transfer robot and the second transfer robot;

the connecting assembly comprises a first connecting seat and a second connecting seat which are respectively installed on the first carrying robot and the second carrying robot, the first connecting seat and the second connecting seat are respectively and movably connected with a first connecting arm and a second connecting arm, and the first connecting arm and the second connecting arm are rotatably connected.

Preferably, a joint bearing is further installed between the first connecting arm and the second connecting arm.

As the utility model discloses a preferred, the linking arm has seted up the axle hole on two, joint bearing contains and is used for inserting the butt joint axle in axle hole.

As the utility model discloses a preferred, joint bearing with install the spacer between the linking arm one.

As the utility model discloses a preferred, linking arm one with linking arm two is frame type structure, wherein by the space that supplies the cable to settle, linking arm one with set up the line hole of crossing that supplies the cable to pass on the linking arm two.

As the utility model discloses a preferred, the connecting seat one include with a transfer robot fixed mounting's attaching plate and with the installation section of thick bamboo that the attaching plate is connected, the linking arm one still contains inserts the section of thick bamboo axle of going into of installation section of thick bamboo, it extends at vertical direction to go into the section of thick bamboo axle.

As the utility model discloses a preferred, go into the bobbin shaft with install wear-resisting axle sleeve between the installation section of thick bamboo.

Preferably, the present invention further comprises a distance measuring device for measuring a distance between the first transfer robot and the second transfer robot.

As the utility model discloses a preferred, transfer robot one with transfer robot two all go straight line on predetermineeing the track, range unit is for being used for measuring linking arm one or linking arm two swing angle's angle sensor.

As the utility model discloses a prefer, transfer robot one or transfer robot two all contain the frame and install drive wheel external member on the frame still contains travel drive, the drive wheel external member is two sets, distributes and is in the width direction's of frame both sides, every set the drive wheel external member all contains drive wheel one and drive wheel two, travel drive drives the drive wheel one with drive wheel two are rotatory, drive wheel one with the direction of travel of drive wheel two does the length direction of frame, drive wheel one with the direction of arranging of drive wheel two also does the length direction of frame.

As the utility model discloses a preferred, drive wheel one with drive wheel two is connected with axle one and axle two respectively, connect the transmission through the synchronizing chain between axle one and the axle two, the travel drive device drive axle one is rotatory.

As the utility model discloses a preferred, the travel drive contain the walking motor and with the final drive chain that the power take off end of walking motor is connected, the final drive chain with a transmission connection.

Preferably, the first shaft is connected with the second shaft through a coupling.

As the utility model discloses a preferred, still install from the driving wheel external member on the frame, install from the driving wheel external member length direction one side on the frame, the driving wheel external member is installed length direction opposite side on the frame.

As the utility model discloses a preferred, install the touching gasbag on the frame.

As the utility model discloses a preferred, the touching gasbag is installed the ascending one end of frame length direction.

As the utility model discloses a preferred, the extending direction of touching gasbag is the top extension to one side, just touching gasbag is higher than in the direction of height the height of frame more lean on in the front and back direction of going of drive wheel external member in the frame.

As the utility model discloses a preferred, install pressure wave sensor in the touching gasbag, pressure wave sensor with walking drive device communication connection.

To sum up, the utility model discloses following beneficial effect has:

1. the automobile carrying robot with high universality comprises two robots with the same structure, and is respectively responsible for fixing the front wheels and the rear wheels, the two robots are connected by virtue of the connecting assembly, and the total extension length of the connecting assembly is flexible and adjustable, so that the requirements of automobiles with different wheelbases are met.

2. The two connecting arms are connected through the knuckle bearing to buffer and absorb vertical force applied in the driving process, so that the two connecting arms are prevented from being subjected to rigid impact.

3. A wear-resistant shaft sleeve, such as a wear-resistant shaft sleeve made of copper materials, is arranged between the barrel entering shaft and the mounting barrel, so that the two parts rotating relatively have better wear-resistant effect and longer service life.

4. The distance measuring device is used for measuring the distance between the two robots and improves automation and intellectualization of a control process.

5. Each set of driving wheel external member is designed in a mode of 'double-wheel cooperation and front-back arrangement'. In the process that the robot moves forwards or backwards, no matter which driving wheel meets the gap of the guide rail and the hanging situation occurs, the other driving wheel still has power, so that the robot can continue to run.

6. Two sets of driving wheel kits obtain power from the same walking motor, and the synchronism is good.

7. If the vehicle chassis is too low, the soft touch airbag can be touched firstly, the pressure wave sensor sends out a signal, the walking motor stops running, and the whole robot stops moving forward to protect the vehicle chassis.

Description of the drawings:

FIG. 1 is a schematic diagram of example 1;

FIG. 2 is a schematic view of the installation of the connecting arm I and the connecting seat I;

FIG. 3 is a schematic view of the installation of the first and second link arms;

FIG. 4 is a schematic view of the installation of the distance measuring device;

FIG. 5 is a schematic view of a transfer robot one or a transfer robot two;

FIG. 6 is an enlarged schematic view of the right hand side components of FIG. 5;

FIG. 7 is a side view of FIG. 5;

fig. 8 is an enlarged detail view at a in fig. 7.

In the figure:

3. the device comprises a frame 61, a driving wheel set 611, a driving wheel I, 612, a driving wheel II, 613, a shaft I, 614, a shaft II, 615, a synchronous chain, 62, a walking driving device, 621, a walking motor, 622, a main transmission chain, 63, a driven wheel set, 64, a touch air bag, 65, a coupling, 71, a connecting seat I, 711, a fitting plate, 712, an installation cylinder, 72, a connecting arm I, 723, a cylinder inlet shaft, 73, a connecting arm II, 731, an arm I, 732, a connecting shaft hole, 724, a spacer bush, 74, a connecting seat II, 75, a distance measuring device, 76, a joint bearing, 761, a butt joint shaft, 91, a first carrying robot, 92 and a second carrying robot.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The specific embodiments are only for explaining the present invention, and it is not a limitation to the present invention, and those skilled in the art can make modifications to the embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent law within the scope of the claims of the present invention.

Embodiment 1, a highly versatile automobile transfer robot, as shown in fig. 1, includes a first transfer robot 91 and a second transfer robot 92, which may be identical in structure and travel in a front-back direction within a predetermined track (the track is not shown in the figure) by means of a traveling device, and the specific structure of the robots is described in detail below.

The two robots are connected by a connecting assembly, specifically, a first connecting seat 71 and a second connecting seat 74 are fixedly mounted on the two robots respectively, and the two connecting seats are respectively connected with a first connecting arm 71 and a second connecting arm 73 in a rotating manner. The two connecting bases and the two connecting arms can be the same in structure and connection mode, and the connection mode of the connecting base one 71 and the connecting arm one 72 is taken as an example for explanation.

As shown in fig. 2, the attachment plate 711 is directly attached to the outer wall of the first transfer robot 91, and the attachment cylinder 712 has a cylindrical structure. The cylinder-in shaft 723 passes through the mounting cylinder 712 and is fixedly connected to the first connecting arm 72. The cylinder inlet shaft 723 extends in the vertical direction, and thus the connecting arm one 72 and the connecting seat one 71 are rotatably connected and rotate in the horizontal direction. A wear-resistant shaft sleeve, such as a wear-resistant shaft sleeve made of copper material, is arranged between the barrel-entering shaft 723 and the mounting barrel 712, so that the two relatively rotating components have better wear-resistant effect and longer service life.

In addition, the first connecting arm 72 and the second connecting arm 73 are both of frame-type hollow design, and their inner cavities can be used for accommodating the wires of the two robots. As shown in fig. 2, a wire through hole 722 is formed on the first arm 721 for the cable to enter or exit.

As shown in fig. 3, the first connecting arm 72 and the second connecting arm 73 are also connected to each other by a rotating shaft, so that they rotate in the horizontal direction. Further, the two are connected by a joint bearing 76, which includes a butt-joint shaft 761 for being inserted into the shaft hole 732. The knuckle bearing 76 is directly connected to the first connecting arm 72 by a pin or the like. The arrangement is characterized in that the two connecting arms can be opened and closed on one hand to adjust the distance between the two connecting arms. On the other hand, when two robots encounter jolts during traveling, non-horizontal forces, such as vertical forces, exist on the two connecting arms. This force is cushioned and absorbed by the knuckle bearing 76 to avoid a rigid impact on the two link arms.

To accommodate vehicles of different wheelbases, a distance measuring device 75 is used to measure the distance between the two robots. The distance measuring device 75 may employ a distance sensing device known in the art, such as a laser distance meter. In the scheme, the two robots move back and forth on the preset track, and the lengths of the two connecting arms are fixed, so that the two connecting arms are synchronously and uniformly opened. In this case, the distance measuring device 75 of this embodiment uses an angle sensor to calculate the distance between the two robots by measuring the rotation angle of the first connecting arm 72 relative to the first connecting base 71, or by measuring the rotation angle of the second connecting arm 73 relative to the second connecting base 74, or by combining the lengths of the two connecting arms with the relative rotation angles of the two connecting arms.

In the embodiment shown in fig. 4, the distance measuring device 75 is an angle sensor, and is mounted on the second connecting arm 73 for measuring a relative rotation angle of the second connecting arm 73 with respect to the second connecting base 74.

Fig. 5 to 8 are schematic views of the first transfer robot 91 or the second transfer robot 92, which are identical in structure. As shown in fig. 5, the single carrier robot includes a carriage 3, and the carriage 3 may have a frame-shaped structure and be substantially rectangular. Clamping sleeve pieces for clamping automobile wheels are arranged on two sides of the frame 3 in the width direction, and the clamping sleeve pieces extend in the width direction of the frame 3.

Two sets of driven wheel kits 63 and two sets of driving wheel kits 61 are provided on the frame 3. The driven wheel set 63 is located on one longitudinal side of the frame 3, and the driving wheel set 61 is located on the other longitudinal side of the frame 3. The former is not connected with a power system, and the latter obtains the driving force for walking through the walking driving device 62.

As shown in fig. 6, the power output end of the walking motor 621 is connected to the main transmission chain 622. The main transmission chain 622 is sleeved on one of the first shafts 613. The two shafts 613 of the two sets of driving wheel set members 61 are connected through the coupling 65, so that the two sets of driving wheel set members 61 obtain power from the same traveling motor 621, and the synchronism is good.

Each set of driving wheel set 61 is designed in a mode of 'double-wheel cooperation and front-back arrangement'. Comprises a first driving wheel 611 and a second driving wheel 612 which are arranged in the length direction of the frame 3, namely the running direction of the wheels. The two driving wheels are respectively connected with a first shaft 613 and a second shaft 614, and the two shafts are in transmission connection through a synchronous chain 615. The timing chain 615 may be a chain mating sprocket as in the prior art, or in the form of a timing belt. At this point, the power of the travel motor 621 is transmitted to the first driving wheel 611 and the second driving wheel 612. In the process that the robot moves forwards or backwards, no matter which driving wheel meets the gap of the guide rail and the hanging situation occurs, the other driving wheel still has power, so that the robot can continue to run.

As shown in fig. 7, a touch airbag 64 is provided in the traveling direction of the robot, that is, the longitudinal direction of the frame 3, that is, the left-right direction in fig. 7. As shown in fig. 4, the touch airbag 64 extends obliquely upward, is higher than the vehicle body frame 3, and is also located further forward than the vehicle body frame 3. When the frame 3 needs to be submerged below the chassis of the vehicle, there is a risk of touch damage if the vehicle chassis is too low. At this time, the chassis of the vehicle will touch the soft touch air bag 64 first, and the air bag body will deform and the internal air pressure will change. This change in air pressure is captured by a pressure wave sensor mounted within the balloon body. The pressure wave sensor is in communication connection with the walking motor 621, and the walking motor 621 stops running, so that the whole robot stops moving forwards.

Claims

1. A high-versatility automobile transfer robot is characterized in that: comprises a first transfer robot (91), a second transfer robot (92) and a connecting assembly for connecting the two; the connecting assembly comprises a first connecting seat (71) and a second connecting seat (74) which are respectively installed on the first carrying robot (91) and the second carrying robot (92), the first connecting seat (71) and the second connecting seat (74) are respectively and movably connected with a first connecting arm (72) and a second connecting arm (73), and the first connecting arm (72) and the second connecting arm (73) are rotatably connected.

2. The high versatility automobile transfer robot of claim 1, wherein: and a joint bearing (76) is further arranged between the first connecting arm (72) and the second connecting arm (73).

3. The high versatility automobile transfer robot as claimed in claim 2, wherein: an axle connecting hole (732) is formed in the second connecting arm (73), and the joint bearing (76) comprises a butt joint shaft (761) inserted into the axle connecting hole (732).

4. A high versatility of the automobile transfer robot as claimed in claim 3, wherein: and a spacer bush (724) is arranged between the joint bearing (76) and the first connecting arm (72).

5. The high versatility of the automobile transfer robot according to any one of claims 1 to 4, wherein: the first connecting arm (72) and the second connecting arm (73) are of frame-shaped structures, spaces for accommodating cables are formed in the frame-shaped structures, and wire passing holes for allowing the cables to pass through are formed in the first connecting arm (72) and the second connecting arm (73).

6. The high versatility of the automobile transfer robot according to any one of claims 1 to 4, wherein: the first connecting seat (71) comprises a laminating plate (711) fixedly mounted with the first handling robot (91) and a mounting cylinder (712) connected with the laminating plate (711), the first connecting arm (72) further comprises a cylinder inlet shaft (723) inserted into the mounting cylinder (712), and the cylinder inlet shaft (723) extends in the vertical direction.

7. The high versatility automobile transfer robot of claim 6, wherein: and a wear-resistant shaft sleeve is arranged between the cylinder inlet shaft (723) and the mounting cylinder (712).

8. The high versatility of the automobile transfer robot according to any one of claims 1 to 4, wherein: further comprising a distance measuring device (75) for measuring the distance between the first transfer robot (91) and the second transfer robot (92).

9. The high versatility of automobile transfer robot as claimed in claim 8, wherein: the first carrying robot (91) and the second carrying robot (92) both run on a preset track in a straight line, and the distance measuring device (75) is an angle sensor for measuring the swing angle of the first connecting arm (72) or the second connecting arm (73).