CN110588596A - Ultra-low clearance automobile carrying machine - Google Patents

Abstract

The application belongs to the technical field of vehicle mobile equipment, and in particular relates to an ultra-low headroom vehicle handling machine, which includes: two carriages, each of which includes a frame, an active traveling mechanism, a driven traveling mechanism and a clip mounted on the frame. The wheel mechanism, the frame is left and right symmetrically provided with the clamping wheel mechanism, each clamping wheel mechanism includes a clamp driving servo motor and two clamping arms, the two clamping arms are rotatably connected to the frame, and the clamping drive servo The motor controls the opening and closing of the two clamping arms through the transmission mechanism; the folding wire tube is connected between the two vehicle frames. The ultra-low headroom car handling machine of the present application has a small overall thickness, greatly reduces the headroom height required for berths, and has relatively low headroom height requirements, which can save a lot of cost for civil construction; The components are exactly the same, which greatly facilitates the modularization and standardization of equipment, and also improves the convenience of equipment maintenance.

Description

Ultra-low headroom vehicle handling machine

technical field

The invention belongs to the technical field of vehicle mobile equipment, in particular to an ultra-low headroom vehicle handling machine.

Background technique

Planar mobile parking equipment, as a high-end equipment in the parking market, has a complex structure, various forms, flexible access, and a high degree of intelligence. This type of equipment is the most adaptable equipment in the parking equipment market. Plane mobile parking equipment has various access forms and access mechanisms, including comb-tooth-type handling robots, vehicle-carrying plate-type handling robots, and gripping tire-type handling robots. Due to the large thickness of the comb-tooth handling robot (about 215mm), the berth requires a clearance height of 1.95m to 2.0m, and the clearance height requirement is relatively large. The headroom height requirement of the vehicle-carrying plate handling robot is not very high, but because it needs to return the vacant vehicle-carrying plate to the berth, and then pick up the car, the access time is relatively long, and the efficiency of car access is not high. The thickness of the carrier of the clamping tire-type handling robot is also relatively large (about 200mm), and the headroom height requirement is relatively high, which consumes high civil construction costs. At the same time, it is difficult for traditional handling robots to achieve modularization and standardization of equipment, and it is inconvenient for equipment assembly and maintenance.

Contents of the invention

The purpose of the present invention is to provide an ultra-low headroom vehicle handling machine, which aims to solve the technical problems of the prior art that the headroom height of the handling robot is relatively large, it is difficult to achieve modularization and standardization, and the assembly and maintenance of the equipment are inconvenient.

In order to achieve the above object, the technical solution adopted by the present invention is: an ultra-low headroom vehicle handling machine, comprising:

Two vehicle frames, each vehicle frame includes a frame, an active traveling mechanism, a driven traveling mechanism and a clamping wheel mechanism arranged on the frame, the active traveling mechanism can drive the driven traveling mechanism to walk, and then drive The vehicle frames on both sides move toward each other or move away from each other, so as to be suitable for vehicles with different wheelbases. The frame is symmetrically provided with the clamping wheel mechanisms, and each of the clamping wheel mechanisms includes a clamp driving servo. A motor and two clamp arms, the two clamp arms are rotatably connected to the frame, and the clamp drives the servo motor to control the opening and closing of the two clamp arms through a transmission mechanism;

The folding wire pipe is connected between the two vehicle frames, and the folding wire pipe can be expanded and folded to be suitable for the relative movement of the two vehicle frames.

Further, the transmission mechanism includes a chain transmission assembly, a ball screw assembly and a connecting rod assembly, the connecting rod assembly is movably arranged on the frame, and the ball screw assembly is connected to the connecting rod assembly and the connecting rod assembly respectively. The chain drive assembly is connected, and the clip drive servo motor is connected with the chain drive assembly, and the link assembly is driven to move relative to the frame through the chain drive assembly and the ball screw assembly, thereby driving two The arms are opened and closed.

Further, the ball screw assembly includes a ball screw rotatably mounted on the frame and a screw nut mounted on the ball screw, one end of the connecting rod assembly is rotatably connected to the screw nut The chain transmission assembly includes a first motor sprocket arranged on the output shaft of the clamp servo motor, a first transmission sprocket installed on the end of the ball screw away from the connecting rod assembly and a transmission connection to the The first chain between the first motor sprocket and the first transmission sprocket.

Further, the clamping arm includes an arm shaft, a clamping arm roller and a plurality of clamping arm rotating wheels, one end of the arm shaft is rotatably connected to the frame through a pin shaft, and the multiple clamping arms rotate The wheel sleeve is arranged on the arm shaft, and the clamping arm roller is rotatably mounted on the other end of the arm shaft; the connecting rod assembly includes a first connecting rod and a second connecting rod, and the first connecting rod One end is rotatably connected to the screw nut, one end of the second connecting rod is rotatably connected to the first connecting rod, and the arm shaft is fixed to the other end of the second connecting rod.

Further, the bottom of the frame is provided with a plurality of bracket arm sliders, and the bracket arm sliders are provided with receiving grooves. When the two clamp arms are opened, the rotation wheels of the clamp arms are accommodated in the corresponding and the entire clamping arm is separated from the ground.

Further, the frame is provided with a traveling cable connection seat, and the traveling cable connection seat includes a fixed frame, a hollow swing joint, a lock nut and a hollow clamping joint, and the fixed frame is installed on the frame, The swing joint is installed on the fixing frame, the lock nut is fixed on one end of the swing joint, and one end of the clamping joint is embedded in the lock nut and extends into the swing joint. The clamp joint and the swing joint together form a mounting hole for cables to pass through; the clamp joint is elastic, and the inner wall of the swing joint near the bottom is in the shape of a trumpet up and down, and an inner wall is formed. An inclined surface, an outer inclined surface adapted to the inner inclined surface is formed near the top of the outer wall of the clamp joint, and the outer inclined surface is pressed against the inner inclined surface to lock the cable passing through the installation hole .

Further, the clamping joint is a nylon joint, the inner wall of the locking nut near the bottom is recessed to form an annular groove, and the outer wall of the clamping joint protrudes to form a snap ring, and the snap ring is embedded in the annular groove to The clamping joint is fixed relative to the locking nut.

Further, the active traveling mechanism includes a traveling servo motor, a second motor sprocket, a second transmission sprocket, a second chain, a first transmission shaft, a second transmission shaft, a transition gear, a transmission gear and an active travel wheel; The left and right sides of the vehicle frame are symmetrically provided with a pair of the active traveling wheels, the two ends of the first transmission shaft are respectively connected with a second transmission shaft through a coupling, and each of the active traveling wheels passes through bearings and The installation shaft is rotatably installed on the frame, and one end of each installation shaft is installed with one of the transmission gears; the transition gear is installed on the second transmission shaft, and the second motor sprocket is installed on the On the output shaft of the walking servo motor, the second chain is drive-connected between the second transmission sprocket and the second motor sprocket, and the transition gear is meshed with the transmission gear.

Further, the driven traveling mechanism includes driven traveling wheels, the driven traveling wheels are rotatably mounted on the frame through a mandrel, and a pair of the driven traveling wheels are arranged on both sides in the width direction of the vehicle frame. wheel.

Further, the folding wire tube includes a retractable first folding arm, a second folding arm, and a connecting head, one end of the first folding arm is hinged to the connecting head, and the other end of the first folding arm Hinged with one of the frames, one end of the second folding arm is hinged with the connecting head, the other end of the second folding arm is hinged with the other frame, and the connecting head is fixed with a roller shaft , the roller shaft is rotatably connected with a roller, and the roller is used for rolling contact with the ground.

Beneficial effects of the present invention: the total thickness of the ultra-low headroom vehicle handling machine of the present invention can be only 95mm, and can be flexibly drilled under the chassis of the vehicle, and the vehicle can be lifted up and transported to its On the target parking space; the berth of the ultra-low headroom vehicle handling machine requires a headroom height of 1.70m, and the headroom height requirement is relatively low. Compared with traditional handling equipment, the height of each floor of the ultra-low headroom vehicle handling machine can be reduced by 30cm, which can save a lot of cost for civil construction. In some areas, the same height planning can even increase one One floor to several floors of parking spaces can reduce costs and increase efficiency; the clamping wheel mechanism uses an independent left-right symmetrical clamp to drive the servo motor, and the transmission mechanism drives the clamping arm to rotate to lift the vehicle. The structure of the clamping wheel mechanism is compact , small size, reasonable structural force, good stability; the clamping wheel mechanism adopts independent left and right symmetrical power arrangement, compared with the structure that uses a single motor to drive two ball screw assemblies, the left and right parts of the clamping wheel mechanism are exactly the same, It greatly benefits the modularization and standardization of equipment, and also improves the convenience of equipment maintenance.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is the structural representation of the ultra-low headroom vehicle handling machine that the embodiment of the present invention provides;

Fig. 2 is a schematic diagram of the structure of the ultra-low headroom vehicle handling machine shown in Fig. 1 after adjusting the distance between the two frames;

Fig. 3 is a schematic diagram of part of the structure of the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 4 is a structural schematic diagram of the ultra-low headroom vehicle handling machine shown in Fig. 1 when the clamp arm is fully expanded;

Fig. 5 is a structural schematic diagram of the active traveling mechanism in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 6 is a schematic structural view of the driven traveling mechanism in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 7 is a schematic cross-sectional structural view of the accompanying cable connection seat in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 8 is a top view structural diagram of the accompanying cable connection seat in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 9 is a structural schematic diagram 1 of the folded wire tube in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 10 is a structural schematic diagram 2 of the folded wire tube in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 11 is a schematic cross-sectional structural view of the folded wire tube in the ultra-low headroom vehicle handling machine shown in Fig. 1;

Fig. 12 is a structural schematic diagram of the guide mechanism in the ultra-low headroom vehicle handling machine shown in Fig. 1 .

Wherein, each reference sign in the figure:

1-frame; 2-frame; 3-cover plate; 4-cable; 5-guide rail; 6-electric control mechanism; 10-active running mechanism; Folding wire tube; 50-chain transmission assembly; 60-ball screw assembly; 70-connecting rod assembly; 80-traveling cable connection seat; 110-travel servo motor; 120-second motor sprocket; Wheel; 140-the second chain; 150-the first transmission shaft; 151-coupling; 160-driving wheel; 170-transition gear; 180-the second transmission shaft; 190-transmission gear; 210-spindle; 220 - driven walking wheel; 310-clamp drive servo motor; 320-clamp arm; 321-arm shaft; 322-clamp arm roller; 323-clamp arm rotating wheel; One folding arm; 420-second folding arm; 430-connector; 440-roller shaft; 450-roller; 510-first motor sprocket; 520-first transmission sprocket; 530-first chain; 610-ball Screw; 620-screw nut; 710-first connecting rod; 720-second connecting rod; 324-first pin; 711-second pin; 810-fixed frame; 820-swing joint; 830-lock Tightening nut; 840-clip joint; 831-annular groove; 821-inner slope; 841-clip; 842-outer slope; 90-guiding mechanism; 910-guiding roller;

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

As shown in FIGS. 1 to 3 , the ultra-low headroom vehicle handling machine provided by the embodiment of the present invention includes two vehicle frames 1 and a folded wire tube 40 . Each frame 1 includes a frame 2 , an active traveling mechanism 10 , a driven traveling mechanism 20 and a clamping wheel mechanism 30 arranged on the frame 2 . The frame 2 can be welded by steel plates. The cross-section of the frame 2 is roughly rectangular, and the various mechanisms are fixed and carried, and the vehicle is carried. part. The active traveling mechanism 10 can drive the driven traveling mechanism 20 to walk, and then drive the vehicle frames 1 on both sides to move towards each other or move away from each other, so that the holding arms 320 on the two vehicle frames 1 can be adapted to vehicles with different wheelbases, That is, the distance between the two vehicle frames 1 can be adjusted. According to the wheelbase of different models, the center of the clamping mechanism 30 of the two vehicle frames 1 is aligned with the center of the wheel, so as to ensure that the wheelbase of the vehicle is consistent with that of the two vehicle frames 1. The center distances of the pinch wheel mechanisms 30 are the same. The frame 2 is symmetrically arranged with clamping wheel mechanisms 30, and each clamping wheel mechanism 30 includes a clamping drive servo motor 310 and two clamping arms 320, and the two clamping arms 320 are rotatably connected to the frame 2, and the clamping drive servo The motor 310 controls the opening and closing of the two holding arms 320 through the transmission mechanism. When the two holding arms 320 are closed, they are parallel to each other, and when fully opened, they rotate 90 degrees or more than 90 degrees respectively. The folding wire tube 40 is connected between the two frames 1. The folding wire tube 40 can be expanded and folded to be suitable for the relative movement of the two sides of the frame 1. The folding wire tube 40 is arranged horizontally, and the folding wire tube 40 is located on the frame 1 below the top surface.

The ultra-low headroom car handling machine provided in this embodiment has a total thickness of only 95 mm, can flexibly drill under the car chassis, and use the method of holding and clamping the tires to lift the car and transport it to its target parking space; The berth requirement of the ultra-low headroom vehicle handling machine can achieve a headroom height of 1.70m, and the headroom height requirement is relatively low. Compared with traditional handling equipment, the height of each floor of the ultra-low headroom vehicle handling machine can be reduced by 30cm, which can save a lot of cost for civil construction. In some areas, the same height planning can even increase one One floor to several floors of parking spaces to achieve cost reduction and efficiency increase; the clamping wheel mechanism 30 uses an independent left-right symmetrical clamping drive servo motor 310, and drives the clamping arm 320 to rotate through the transmission mechanism, thereby lifting the vehicle, the clamping wheel mechanism 30 has a compact and small structure design, reasonable structural force, and good stability; the clamping wheel mechanism 30 adopts an independent left and right symmetrical power arrangement. Compared with the structure that uses a single motor to drive two ball screw assemblies 60, the clamping wheel mechanism 30 The left and right parts are exactly the same, which greatly facilitates the modularization and standardization of the equipment, and also improves the convenience of equipment maintenance.

In one embodiment, as shown in Figure 3, the transmission mechanism includes a chain transmission assembly 50, a ball screw assembly 60, and a connecting rod assembly 70, the connecting rod assembly 70 is movably arranged on the frame 2, and the clamp drives the servo motor 310 and the chain The transmission assembly 50 is connected, the ball screw 610 is respectively connected with the connecting rod assembly 70 and the chain transmission assembly 50, and the chain transmission assembly 50 and the ball screw assembly 60 drive the connecting rod assembly 70 to move relative to the frame 2, and then drive the two holding clips The arms 320 open and close. The left and right clamping wheel mechanisms 30 on each vehicle frame 1 are arranged symmetrically, that is, the left and right chain drive assemblies 50 , ball screw assemblies 60 , connecting rod assemblies 70 and clamping arms 320 are all symmetrically arranged.

In one embodiment, as shown in FIGS. 3 and 4 , the ball screw assembly 60 includes a ball screw 610 rotatably mounted on the frame 2 and a screw nut 620 mounted on the ball screw 610 , and the connecting rod assembly 70 One end of which is rotatably connected to the screw nut 620; the chain transmission assembly 50 includes a first motor sprocket 510 arranged on the output shaft of the clamp servo motor, and a first transmission sprocket installed on the end of the ball screw 610 away from the connecting rod assembly 70 520 and the first chain 530 connected between the first motor sprocket 510 and the first transmission sprocket 520 through transmission.

In one embodiment, as shown in FIG. 3 and FIG. 4 , the clamp arm 320 includes an arm shaft 321 , a clamp arm roller 322 and a plurality of clamp arm rotating wheels 323 , and one end of the arm shaft 321 passes through a first pin shaft 324 Rotationally connected to the frame 2, a plurality of clamping arm rotating wheels 323 are sleeved on the arm shaft 321, and the clamping arm roller 322 is rotatably mounted on the other end of the arm shaft 321; the connecting rod assembly 70 includes a first connecting rod 710 and a second connecting rod 710 Two connecting rods 720, one end of the first connecting rod 710 is rotatably connected to the screw nut 620 through the second pin shaft 711, one end of the second connecting rod 720 is rotatably connected to the first connecting rod 710, and the arm shaft 321 is fixed on the second connecting rod The other end of the rod 720.

The clamp wheel mechanism 30 uses an independent left-right symmetrical clamp to drive the servo motor 310 and the chain, and then transmits the power to the ball screw assembly 60. The linear motion of the screw assembly 60 is changed into a 90° rotational motion of the clamp arm 320 . This lifts the vehicle up. This mechanism is compact and small in design. Compared with the external connecting rod mechanism, the connecting rod formed by the clamping wheel mechanism 30 is located inside the holding arm 320, and the connecting rod mechanism can provide greater thrust and pulling force when it operates, and the structure has reasonable force and good stability.

The clamping wheel mechanism 30 adopts an independent left and right symmetrical power arrangement. Compared with the existing single motor on the market, which drives the structure of two ball screw assemblies 60, the clamping wheel mechanism 30 can make the left and right parts exactly the same, which greatly facilitates the maintenance of the equipment. Modularization and standardization, while increasing the convenience of maintenance.

The upper end of the holding arm 320 of the clamping wheel mechanism 30 is provided with a holding arm roller 322. During the contraction process of the clamping wheel mechanism 30, the holding arm rolling wheel 322 is in contact with the ground to form an effective support for the wheels of the vehicle, and the force situation is better than that without Set the cantilever arm with the rollers of the arm. The holding arm rotating wheel 323 is set on the holding arm 320 at the same time. During the contraction process of the holding wheel mechanism 30, the holding arm rotating wheel 323 is in contact with the vehicle tire, so the vehicle tire has been locked by the hand brake, and the holding arm rotating wheel 323 Forming a relative rotational movement with the tire, the rotation of the clamping arm rotating wheel 323 is beneficial to protect the vehicle tire and is not easy to scratch the tire.

Compared with the existing external linkage mechanism, the linkage formed by the clamping wheel mechanism 30 is located inside the pin shaft connected to the clamping arm 320, and the linkage mechanism can provide greater thrust and pulling force when it operates.

In one embodiment, as shown in Fig. 1 and Fig. 2, a plurality of bracket arm sliders 324 are arranged at the bottom of the frame 2, and each bracket arm slider 324 is respectively provided with a receiving groove (not shown in the figure), and two bracket arms When the clamp arm 320 is opened, the clamp arm rotating wheel 323 is accommodated in the receiving groove of the corresponding support arm slider 324 . That is to say, the bracket arm slider 324 is installed and fixed on the frame 2. When the clamping wheel mechanism 30 is fully opened, the clamp arm rotating wheel 323 rolls into the receiving groove of the bracket arm slider 324, so that the clamp arm 320 as a whole Separated from the ground, when the ultra-low headroom vehicle handling machine is walking, it can avoid friction between the protective holding arm 320 and the ground to prevent damage to the holding arm 320.

In one embodiment, as shown in Fig. 1, Fig. 7 and Fig. 8, a traveling cable connection seat 80 is provided on the frame 2, and the traveling cable connection seat 80 includes a fixed frame 810, a hollow swing joint 820, a locking nut 830 and The hollow clamp joint 840, the fixed frame 810 is installed on the frame 2, the swing joint 820 can be rotated and installed on the fixed frame 810 through the pin shaft, the lock nut 830 is connected to one end of the swing joint 820, and one end of the clamp joint 840 is embedded It is fixed in the locking nut 830 and extends into the swing joint 820. The clamp joint 840 and the swing joint 820 together form a mounting hole for the cable 4 to pass through. The clamp joint 840 is elastic. The inner wall of the swing joint 820 near the bottom is in the shape of a trumpet with a small top and a big bottom. The inner wall of the swing joint 820 is formed with an inner slope 821 . 842 is pressed against the inner inclined surface 821, so that the inner diameter of the clamping joint 840 is reduced, and the cable can be locked.

Specifically, as shown in FIG. 7, the clamp joint 840 can be a nylon joint, and the lock nut 830 is screwed and fastened to the bottom end of the swing joint 820. The inner wall of the lock nut 830 near the bottom is recessed to form an annular groove 831. The outer wall of the cable joint 840 protrudes to form a snap ring 841, and the snap ring 841 is embedded in the annular groove 831. In this way, the clamping joint 840 can be fixed relative to the lock nut 830 in conjunction with the tight structure of the inner slope 821 and the outer slope 842. .

The accompanying cable connection seat 80 on the traditional carrier is mostly bent and pressed directly on the cable to fix it. Although this structure fixes the cable, it is not flexible, and due to the force on both sides of the cable, it will easily damaged. The clamp joint 840 in this embodiment is made of nylon, and moves up and down under the rotation of the lock nut 830; The inner diameter of the wire connector 840 is reduced to lock the cable, the cable is stressed in the circumferential direction, fixed evenly, and the cable is not easy to be damaged.

In one embodiment, as shown in Fig. 3 and Fig. 5, the active traveling mechanism 10 includes a traveling servo motor 110, a second motor sprocket 120, a second transmission sprocket 130, a second chain 140, a first transmission shaft 150 and Active traveling wheel 160. A pair of active traveling wheels 160 are installed symmetrically on both sides of the vehicle frame 1 width direction, that is, one vehicle frame 1 has four active traveling wheels 160, the traveling servo motor 110 is fixed on the frame 2, and the second motor sprocket 120 is installed on the traveling servo. On the output shaft of the motor 110 , the second chain 140 is transmission connected between the second transmission sprocket 130 and the second motor sprocket 120 , and the axis of the output shaft of the walking servo motor 110 is parallel to the axis of the first transmission shaft 150 . The two ends of the first transmission shaft 150 are respectively connected with a second transmission shaft 180 through a shaft coupling 151, and each driving wheel 160 is mounted on the frame 2 through bearings and installation shafts, and the installation shafts are inserted into the bearings. One end of the installation shaft is equipped with a transmission gear 190, the transmission gear 190 is meshed with the transition gear 170, the walking servo motor 110 is driven by the second chain 140 and the second transmission shaft 180 drives the transition gear 170 to rotate, and then drives the transmission gear 190 to rotate, In this way, each driving wheel 160 is driven to rotate.

In one embodiment, as shown in Fig. 3 and Fig. 6, the driven traveling mechanism 20 includes a mandrel 210 fixed on the frame 2 and a driven traveling wheel 220 rotatably mounted on the mandrel 210, and the vehicle frame 1 width direction A pair of driven road wheels 220 are arranged on both sides of the car.

The active walking mechanism 10 is driven by a servo motor, and the control of the walking position is more precise. The chain is used to transmit the power to the second transmission shaft 180, and then to the transition gear 170. The transmission gear 190 is respectively arranged and meshed on the front and rear sides of the transition gear 170. The front and rear two driving wheels 160 can realize synchronous operation. The advantage of this arrangement Yes: When the ultra-low clearance vehicle handling machine needs to walk through the ground with gaps and gaps or other transitional mechanisms, it can prevent the single wheel from getting stuck in the gaps and gaps. At the same time, the walking power can be provided continuously at any time, thereby reducing the risk of the walking wheels slipping and being unable to walk, and greatly improving the reliability of the equipment walking. The driven traveling mechanism 20 also has correspondingly two driven traveling wheels 220 serially front and back, and the difference is that these two wheels are free wheels and do not have a synchronous function. The two front and rear driven road wheels 220 are connected in series, which can also ensure that the ultra-low headroom vehicle handling machine needs to walk through the ground with gaps and gaps or other transition mechanisms are stuck, greatly improving the passability and smooth operation of the equipment.

As shown in Figures 1 and 2, each vehicle frame 1 of the ultra-low headroom vehicle handling machine has 4 driving wheels 160, 4 driven wheels 220 and 4 arm rollers 322, so that the ultra-low headroom The vehicle handling machine has 24 rolling support points as a whole, which can reasonably disperse the vehicle load, reduce the material specifications of the frame 2, improve the strength and rigidity of the frame 2, and provide a strong support for the scope of application of the ultra-low headroom vehicle handling machine. support. The overall height of the ultra-low clearance car handling machine is only 95mm, which is suitable for most types of vehicles on the market. At the same time, when the vehicle is parked, there is no need to add additional berth steel structures under the wheels to raise the vehicle, and the clearance height of the parking space only needs to be 1700mm. At the same time, the structure of the frame 2 is simple to process and simple in appearance. The ultra-low clearance vehicle handling machine uses a rationalized layout and an ingenious transmission structure to increase the applicability of the vehicle, reduce the cost from the aspects of civil construction floor height and berth without steel structure bearing vehicles, and achieve the purpose of cost reduction and efficiency increase.

The ultra-low headroom car handling machine has a compact structure and a reasonable layout. It makes full use of the 24-point rolling support method to differentiate the vehicle load and reduce the force requirements of the bearing frame 2. Multiple times of finite element analysis, calculation and optimization of the frame 2 can be carried out first, so that the stiffness and strength of the frame 2 can meet the requirements, that is, the deformation of the frame 2 can meet the use requirements of the equipment mechanism. At the same time, the ultra-low headroom car handling machine provided by the embodiment of the present application is different from the traditional comb-tooth-type handling robot, vehicle-carrying plate-type handling robot, and clamp-type tire-type handling robot. It uses a large number of servo motors for driving, and the output torque is large. At the same time, it can improve the accuracy of equipment operation and reduce the thickness of the equipment, so that the ultra-low headroom car handling machine can enter under most of the vehicles. At the same time, there is no need to make steel structure berth frames on the berth. Reduce the cost of the overall equipment and improve the market competitiveness of the product.

In one embodiment, as shown in FIG. 9 and FIG. 10 , the folding wire tube 40 includes a retractable first folding arm 410 and a second folding arm 420, and a connecting head 430, and one end of the first folding arm 410 is connected to the connecting head. 430 is hinged, the other end of the first folding arm 410 is hinged with one of the frame 1 , one end of the second folding arm 420 is hinged with the connector 430 , and the other end of the second folding arm 420 is hinged with the other frame 1 . The first folding arm 410 and the second folding arm 420 can be hinged to the corresponding frame 1 through the pin shaft respectively, the two folding arms can use pipes of the same specification and size, and the two folding arms can be hinged to the connecting head 430 through the connecting shaft respectively .

As shown in FIGS. 9-11 , a roller shaft 440 can be fixed on the connecting head 430 , and the roller shaft 440 is rotatably connected with a roller 450 , and the roller 450 is used for rolling contact with the ground.

As shown in FIG. 1 , an electric control mechanism 6 is also provided on the frame 2 , and the electric control mechanism 6 is electrically connected with each clamp driving servo motor 310 and walking servo motor 110 to control the operation of each servo motor.

As shown in Fig. 1 and Fig. 12, guide mechanisms 90 can be respectively provided at the bottoms of the two ends of each vehicle frame 1 along the length direction. Guide rail 5, guide mechanism 90 comprises the guide shaft 920 that is fixed on the frame 2 and the guide roller 910 that rotation is installed in guide shaft 920 bottoms, and the axial direction of guide roller 910 is parallel with vertical direction, and guide roller 910 is with the guide rail 5 on the ground. The vertical wall of the guide rail 5 is in rolling contact, and the guide roller 910 has an interval with the horizontal wall of the guide rail 5 . Two vehicle frames 1 travel along the guide rail 5 laid on the berth ground, and when the center of the clamping wheel mechanism 30 of one vehicle frame 1 is at the same position as the front wheel of the vehicle, the vehicle frame 1 stops moving; the clamping mechanism 30 of the other vehicle frame 1 When the center of the wheel mechanism 30 is at the same position as the rear wheel of the vehicle, the vehicle frame 1 stops moving.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. An ultra-low headroom vehicle transfer machine, characterized in that: the method comprises the following steps:

the driving travelling mechanism can drive the driven travelling mechanism to travel so as to drive the frames on two sides to move in the opposite direction or in the opposite direction, so that the two frames are suitable for vehicles with different wheelbases, the wheel clamping mechanisms are symmetrically arranged on the left and right of the frames, each wheel clamping mechanism comprises a clamping driving servo motor and two clamping arms, the two clamping arms are rotationally connected to the frames, and the clamping driving servo motor controls the two clamping arms to open and close through a transmission mechanism;

and the folding line pipe is connected between the two frames and can be unfolded and folded to be suitable for the relative movement of the two frames.

2. The ultra low headroom vehicle transfer machine of claim 1, wherein: the transmission mechanism comprises a chain transmission assembly, a ball screw assembly and a connecting rod assembly, the connecting rod assembly is movably arranged on the frame, the ball screw assembly is respectively connected with the connecting rod assembly and the chain transmission assembly, the holding clamp driving servo motor is connected with the chain transmission assembly, and the connecting rod assembly is driven by the chain transmission assembly and the ball screw assembly to move relative to the frame so as to drive the holding clamp arms to open and close.

3. The ultra low headroom vehicle transfer machine of claim 2, wherein: the ball screw assembly comprises a ball screw rotatably mounted on the frame and a screw nut mounted on the ball screw, and one end of the connecting rod assembly is rotatably connected to the screw nut; the chain transmission assembly comprises a first motor chain wheel arranged on an output shaft of the holding and clamping servo motor, a first transmission chain wheel arranged at one end, far away from the connecting rod assembly, of the ball screw and a first chain connected between the first motor chain wheel and the first transmission chain wheel in a transmission mode.

4. The ultra low headroom vehicle transfer machine of claim 2, wherein: the clamping arm comprises an arm shaft, a clamping arm roller and a plurality of clamping arm rotating wheels, one end of the arm shaft is rotatably connected to the frame through a pin shaft, the plurality of clamping arm rotating wheels are sleeved on the arm shaft, and the clamping arm roller is rotatably arranged at the other end of the arm shaft; the connecting rod assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected with the screw nut, one end of the second connecting rod is rotatably connected with the first connecting rod, and the arm shaft is fixed at the other end of the second connecting rod.

5. The ultra low headroom vehicle transfer machine of claim 4, wherein: the bottom of frame is equipped with a plurality of trailing arm sliders, the trailing arm slider is equipped with the accepting groove, two when embracing the arm lock and opening, embrace the arm lock swiveling wheel and accept in the corresponding accepting groove of trailing arm slider, and whole it breaks away from with ground to embrace the arm lock.

6. The ultra low headroom vehicle transfer machine of claim 1, wherein: the cable connector comprises a frame, a fixing frame, a hollow swinging joint, a locking nut and a hollow wire clamping joint, wherein the fixing frame is arranged on the frame; the wire clamping connector is elastic, the inner wall of the swinging connector is in a horn shape with the upper part and the lower part being larger and is provided with an inner inclined plane, the outer wall of the wire clamping connector is provided with an outer inclined plane matched with the inner inclined plane at the position close to the top, and the outer inclined plane is abutted against the inner inclined plane so as to lock the cable penetrating through the mounting hole.

7. The ultra low headroom vehicle transfer machine of claim 6, wherein: the wire clamping connector is a nylon connector, an annular groove is formed in the inner wall, close to the bottom, of the locking nut in a concave mode, a clamping ring is formed on the outer wall of the wire clamping connector in a protruding mode, and the clamping ring is embedded into the annular groove to enable the wire clamping connector to be fixed relative to the locking nut.

8. The ultra low headroom vehicle transfer machine of any one of claims 1 to 7, wherein: the driving travelling mechanism comprises a travelling servo motor, a second motor chain wheel, a second transmission chain wheel, a second chain, a first transmission shaft, a second transmission shaft, a transition gear, a transmission gear and a driving travelling wheel; the left side and the right side of the frame are symmetrically provided with a pair of driving travelling wheels, two ends of the first transmission shaft are respectively connected with one second transmission shaft through a coupler, each driving travelling wheel is rotatably installed on the frame through a bearing and an installation shaft, and one end of each installation shaft is provided with one transmission gear; the transition gear is mounted on the second transmission shaft, the second motor chain wheel is mounted on an output shaft of the walking servo motor, the second chain is in transmission connection between the second transmission chain wheel and the second motor chain wheel, and the transition gear is meshed with the transmission gear.

9. The ultra low headroom vehicle transfer machine of any one of claims 1 to 7, wherein: the driven travelling mechanism comprises driven travelling wheels, the driven travelling wheels are rotatably installed on the frame through mandrels, and the driven travelling wheels are arranged on two sides of the frame in the width direction.

10. The ultra low headroom vehicle transfer machine of any one of claims 1 to 7, wherein: folding spool includes that the telescopic is first rolls over the arm and the second rolls over the arm to and the connector, first roll over the one end of arm with the connector is articulated, first roll over the other end and one of them of arm the frame is articulated, the second roll over the one end of arm with the connector is articulated, the second roll over the other end and another of arm the frame is articulated, the connector is fixed with the roller shaft, the roller shaft rotates and is connected with the gyro wheel, the gyro wheel is used for with ground rolling contact.