CN118481395A

CN118481395A - Vehicle transfer robot

Info

Publication number: CN118481395A
Application number: CN202410513791.1A
Authority: CN
Inventors: 车世强
Original assignee: Chongqing Hongtou Technology Co ltd
Current assignee: Chongqing Hongtou Technology Co ltd
Priority date: 2024-04-26
Filing date: 2024-04-26
Publication date: 2024-08-13

Abstract

The invention discloses a vehicle transfer robot, which comprises a transfer trolley, wherein the transfer trolley comprises a trolley head and a frame connected with the trolley head, and wheels are arranged at the bottoms of the trolley head and the frame; the frame includes two at least crossbeams that set up along the direction around the transfer car, is equipped with the backplate respectively in two crossbeams relative or one side of being on the back mutually, the backplate passes through lifting mechanism and crossbeam cooperation and is connected install at least a set of vehicle fixed establishment on the backplate, vehicle fixed establishment includes at least one arm and at least a set of rotation actuating mechanism of being connected with the arm cooperation, arm one end and backplate rotatable coupling, rotation actuating mechanism can drive the arm rotation, makes the other end of arm can be by the position that is close to the crossbeam move to the chassis below of waiting to transfer the vehicle or with wait to transfer the wheel contact of vehicle. The invention has higher transfer efficiency, stability, universality and adaptability.

Description

Vehicle transfer robot

Technical Field

The invention relates to the technical field of automatic parking, in particular to a vehicle transfer robot.

Background

Parking garages are usually large places for parking vehicles, in which vehicles coming off the line from new production need to be temporarily parked; in life, parking garages in places such as large commercial buildings and office buildings are mainly used for parking vehicles by owners entering and exiting the places.

At present, in a parking garage, a worker or a car owner drives a car onto a parking space or drives the car out of the parking space in the parking and taking process, so that the parking and taking efficiency is low; this brings great inconvenience to parking and taking out. Therefore, a vehicle transfer robot is developed and processed for automatically transferring vehicles and moving the vehicles to a designated position, so that the vehicles are transferred conveniently and quickly.

In the automatic warehouse-in scene, the vehicles are placed on the tray or the bracket, the vehicles need to be fixed manually, accidents can be caused in the moving process of the tray or the bracket under the condition of ascending and descending slopes or sudden braking under the condition of not fixing the vehicles, and the vehicles leave the tray or the bracket generally and need to be operated manually, so that the automatic warehouse-in scene can not be completed automatically.

The technology of adopting agv robot transfer vehicles generally drives robots below automobile chassis to support automobiles for transfer, so that the wheels of agv robots are smaller in diameter and generally not more than 10cm, the driving speed is generally 1m/s, the efficiency is lower, meanwhile, due to the fact that the size is limited, the battery capacity is smaller, the working time is limited, if a large number of commodity vehicles need to be automatically transferred, the number of agv robots is high, the input cost is high, the scheduling algorithm of agv robots is relatively complex, the field requirements are high, the robots can only be operated indoors, the field leveling is required, and the outdoor environment cannot be adapted.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the vehicle transfer robot which has high efficiency, better stability and better adaptability.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the vehicle transfer robot comprises a transfer trolley, wherein the transfer trolley comprises a trolley head with power and a trolley frame connected with the trolley head, the trolley frame comprises at least two cross beams arranged along the front-rear direction of the transfer trolley, back plates are respectively arranged on one sides of the two opposite or opposite cross beams, and the back plates are connected with the cross beams in a matched manner through a lifting mechanism and can move up and down under the action of the lifting mechanism; the vehicle fixing mechanism comprises at least one mechanical arm and at least one group of rotary driving mechanism which is connected with the mechanical arm in a matched mode, one end of the mechanical arm is rotatably connected with the backboard, and the rotary driving mechanism can drive the mechanical arm to rotate, so that the other end of the mechanical arm can move to the position close to the cross beam below a chassis of the vehicle to be transported or contact with wheels of the vehicle to be transported.

As the optimization, the rotation driving mechanism comprises a screw rod parallel to the backboard and a sliding block sleeved on the screw rod in a threaded fit manner, the screw rod is driven to rotate by a motor, the sliding block is connected with the backboard in a sliding fit manner, one end of the mechanical arm is rotatably arranged on the sliding block through a rotating shaft, a sector gear is arranged at the end of the mechanical arm, a steering rack is correspondingly arranged on the backboard, and when the sliding block moves along the screw rod under the action of the screw rod, the sector gear can be meshed with the steering rack to drive the mechanical arm to rotate around the rotating shaft.

As optimization, wheels are arranged at the bottoms of the headstock and the frame; the locomotive is in the outside of waiting the transfer vehicle, can install the battery of great capacity, provides longer operating time, locomotive and frame clearance fit connection to be equipped with the removal actuating mechanism on locomotive or frame, the frame can follow the fore-and-aft direction relative movement of frame under this removal actuating mechanism's effect, and can be fixed in the optional position of locomotive.

As optimization, the sliding blocks comprise a first sliding block and a second sliding block which are arranged up and down oppositely, the first sliding block is connected with the second sliding block through the rotating shaft, correspondingly, two first sliding rails extending along the front and rear directions of the transfer cart are arranged on the back plate, and the first sliding block and the second sliding block are respectively connected with the two first sliding rails in a sliding fit manner; the lower part of the second sliding block is provided with a screw hole in threaded fit connection with the screw rod, the upper end face of the second sliding block is provided with an expansion in-place switch and a reset switch which are connected with a controller, when one end of the mechanical arm, which is far away from the cross beam, is located at a position close to the cross beam, the mechanical arm can be in contact with the reset switch, the reset switch sends a reset signal to the controller, and when one end of the mechanical arm, which is far away from the cross beam, moves to the lower part of the chassis of the vehicle to be transported or is in contact with the wheels of the vehicle to be transported, the mechanical arm can be in contact with the expansion in-place switch, so that the expansion in-place switch sends an expansion in-place signal to the controller.

As optimization, the upper end face of the second sliding block is further provided with a groove, a first electric control bolt is installed in the groove, the first electric control bolt is connected with the controller and can retract or pop up the groove under the action of an electric control signal of the controller, and when the first electric control bolt pops up, the first electric control bolt can be in contact with the mechanical arm and prevent the mechanical arm from rotating.

As optimization, the vehicle fixing mechanism comprises two mechanical arms and two groups of corresponding rotation driving mechanisms, and the two groups of rotation driving mechanisms are symmetrically arranged, so that sliding blocks of the two groups of rotation driving mechanisms can synchronously move towards or away from each other under the drive of a screw rod, and the mechanical arms synchronously rotate towards or away from each other.

As an optimization, a supporting disc which can be contacted with a chassis of the vehicle to be transported or a backstop which can be contacted with wheels of the vehicle to be transported is arranged at one end of the mechanical arm far away from the cross beam, the backstop is provided with an arc-shaped contact surface which is the same as the radian of the wheels of the vehicle to be transported, and when the backstop is contacted with the wheels of the vehicle to be transported, the contact surface is contacted with the wheel surfaces of the wheels of the vehicle to be transported.

As optimization, the arc contact surface of the backstop is provided with a contact sensor for judging whether the backstop is in close contact with the wheels of the vehicle to be transported.

As optimization, the lifting mechanism comprises second sliding rails which are respectively arranged at two ends of the cross beam, two ends of the backboard are respectively connected with the second sliding rails in a sliding fit manner, and the backboard moves up and down along the second sliding rails through a gear driving mechanism or a screw driving mechanism or a hydraulic driving mechanism.

As optimization, a plurality of second elastic bolts are arranged on one side, close to the backboard, of the cross beam, the second elastic bolts are vertically distributed, are connected with the controller and can retract or pop up under the action of an electric control signal of the controller, and when the second elastic bolts pop up, the second elastic bolts can be in contact with the backboard at proper positions and prevent the backboard from moving.

As optimization, a plurality of limit sensors which are distributed vertically are further arranged on one side, close to the backboard, of the cross beam, the limit sensors are connected with the controller, and when the backboard moves to a designated position, position signals of the backboard can be sent to the controller, so that the controller can send signals to enable the second electric control bolt to pop up or retract.

Compared with the prior art, the application has the following advantages: through open crossbeam design, make the frame can remove to the side of waiting to transport the vehicle to through the rotation of arm, make the arm can hold up the vehicle by waiting to transport the chassis below of vehicle or cooperate the centre gripping wheel through multiunit arm, thereby stable support is waited to transport the vehicle, accomplishes the vehicle and transport. Because the vehicle head is positioned outside the vehicle to be transported and is not under the chassis, the diameter of the wheels of the transport vehicle is not limited by the height of the chassis of the vehicle to be transported, and therefore, the diameter of the vehicle can be larger, so that the transport speed and efficiency of the transport vehicle are improved, meanwhile, along with the increase of the diameter of the wheels, the adaptability of the vehicle is also improved, various road surface environments can be adapted, the vehicle head has better stability, and meanwhile, the vehicle head is movably connected with the vehicle frame and can relatively move, the turning radius of the transport vehicle can be reduced, the occupied space is reduced, and the transport efficiency is improved.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a schematic illustration of the relative movement of the vehicle head along the vehicle frame to a neutral position in accordance with the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic view of another arrangement of the present invention;

FIG. 5 is a schematic side view of one side of the back plate of the beam of the present invention;

FIG. 6 is a schematic view of the mechanical arm of the present invention when the mechanical arm is folded;

FIG. 7 is a schematic view of a slider according to the present invention;

FIG. 8 is a schematic view of the structure of the stopping device of the present invention;

In the figure: 1 locomotive, 2 crossbeams, 3 backplate, 4 robotic arms, 5 screw rods, 6 sliders, 601 first sliders, 602 second sliders, 7 motors, 8 rotating shafts, 9 sector gears, 10 steering racks, 11 first sliding rails, 12 reset switches, 13 stretching in-place switches, 14 first electric control bolts, 15 backstop, 16 second sliding rails, 17 second elastic bolts and 18 limit sensors.

Detailed Description

The invention will be further described with reference to the drawings and examples.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Examples: referring to fig. 1 to 8, a vehicle transfer robot includes a transfer vehicle including a head 1 and a frame connected thereto, wheels being installed at the bottoms of the head 1 and the frame. The vehicle head 1 is movably connected with the vehicle frame in a matched manner, a movable driving mechanism is arranged on the vehicle head 1 or the vehicle frame, and the vehicle frame can relatively move along the front-back direction of the vehicle frame under the action of the movable driving mechanism and can be fixed at any position of the vehicle head 1. Specifically, the frame includes at least two crossbeams 2 that set up along the front and back direction of the transfer car, is equipped with backplate 3 respectively in two crossbeam 2 relative or opposite one side, backplate 3 is connected with crossbeam 2 cooperation through lifting mechanism to can reciprocate under lifting mechanism's effect. The movable rack is arranged on one side or the upper side of the cross beam 2, which is away from the backboard 3, along the length of the movable rack, a chute which is in sliding fit with the cross beam 2 is arranged at the bottom of the vehicle head 1, a movable gear meshed with the movable rack is arranged on one side of the chute at the bottom of the vehicle head 1, the movable gear is driven to rotate by power equipment, when the movable gear rotates, the movable gear drives the cross beam 2 to move along the chute, relative movement is generated between the vehicle head 1 and the vehicle frame, the vehicle frame can move to any position of the vehicle head 1, when the movable gear stops rotating, the vehicle frame is kept fixed by virtue of the meshing fixing effect of the movable gear and the rack, or a fixing hole is arranged at a proper position on the vehicle frame, and an electric control bolt is arranged on the vehicle head 1 and used for fixing the position of the vehicle frame. Like this, can make locomotive 1 follow frame relative movement (actually the frame removes, locomotive 1 relative movement) as required to shorten the length of whole transfer car (buggy), and like this the wheel track of locomotive 1's wheel and the wheel of frame shortens, has reduced turning radius, and then has reduced the occupation space of transfer car (buggy) when idle, improves the availability factor and the transport efficiency of transfer space. In specific implementation, the wheels on the vehicle head 1 are driving wheels and steering wheels, and the wheels on the vehicle frame can be the driving wheels and the steering wheels so as to realize in-situ steering, or can adopt passive universal wheels, and the vehicle head 1 is used for traction steering, so that the vehicle head can be specifically selected according to actual needs. Meanwhile, the vehicle head 1 can relatively move along the vehicle frame, the steering times can be reduced, and the vehicle head can reciprocate at the two ends of the vehicle frame according to actual conditions when in use, so that the reversing movement of the transfer vehicle can be conveniently realized without rotary steering, the transfer efficiency is further improved, and the transfer operation space is reduced. Furthermore, in implementation, the vehicle head 1 can also be of a door-shaped structure, so that the vehicle frame can still be moved when a transfer vehicle exists on the vehicle frame, the steering times are reduced, and the efficiency is improved. In order to improve the stability of the cross beam 2, the device further comprises a connecting frame, and the two cross beams 2 are connected to form a whole through the connecting frame, so that the integrity and the strength are better.

Specifically, the lifting mechanism includes second sliding rails 16 respectively disposed at two ends of the beam 2, two ends of the back plate 3 are respectively connected with the second sliding rails 16 in a sliding fit manner, the back plate 3 moves up and down along the second sliding rails 16 through a gear driving mechanism or a screw 5 driving mechanism or a hydraulic driving mechanism, and the gear driving mechanism or the screw 5 driving mechanism or the hydraulic driving mechanism are mature lifting mechanisms.

A plurality of second electric control bolts 17 are arranged on one side of the cross beam 2, which is close to the backboard 3, and the second electric control bolts 17 are connected with the controller and can retract or pop up under the action of an electric control signal of the controller, and when the controller pops up, the second electric control bolts 17 can contact with the backboard 3 and prevent the backboard 3 from moving.

The beam 2 is further provided with a plurality of limit sensors 18 which are distributed vertically on one side close to the backboard 3 and are connected with the controller, when the backboard 3 moves to a certain position, a position signal of the backboard 3 can be sent to the controller, so that the movement condition of the backboard 3 is fed back through the limit sensors 18, the backboard 3 on two sides is ensured to be synchronous and move to a specified position, and after the backboard 3 on two sides is controlled to move to the specified position, the second electric control plug 17 is controlled by the controller to pop out, so that the position of the backboard 3 is fixed, namely, lifting to the specified height and then stopping can be carried out, and the safety of the backboard is improved.

At least one group of vehicle fixing mechanisms are installed on the back plate 3, each vehicle fixing mechanism comprises at least one mechanical arm 4 and at least one group of rotating driving mechanisms which are matched and connected with the mechanical arm 4, one end of each mechanical arm 4 is rotatably connected with the back plate 3, each rotating driving mechanism can drive the corresponding mechanical arm 4 to rotate, the other end of each mechanical arm 4 can move to the position close to the corresponding cross beam 2 to the position below a chassis of the vehicle to be transported or contact with wheels of the vehicle to be transported, and in the embodiment, the mechanical arm 4 moves to the position perpendicular to the corresponding cross beam 2 in a 90-degree range in a position parallel to the corresponding cross beam 2.

Specifically, the rotation driving mechanism comprises a screw 5 parallel to the back plate 3 and a sliding block 6 sleeved on the screw 5 in a threaded fit manner, the screw 5 is driven to rotate by a motor 7, the sliding block 6 is connected with the back plate 3 in a sliding fit manner, one end of the mechanical arm 4 is rotatably arranged on the sliding block 6 through a rotating shaft 8, the end of the mechanical arm 4 is provided with a sector gear 9, a steering rack 10 is correspondingly arranged on the back plate 3, and when the sliding block 6 moves along the screw 5 under the action of the screw 5, the sector gear 9 can be meshed with the steering rack 10 to drive the mechanical arm 4 to rotate around the rotating shaft 8. The central angle of the sector gear 9 can be any angle of 90-360 degrees, preferably 90 degrees, the volume and the weight can be reduced to the greatest extent, the materials and the cost are saved, and when the steering rack 10 is used, the mechanical arm 4 can be separated from the steering rack 10 after rotating in place, and the influence on the service life caused by scraping teeth due to further movement of the sliding block 6 after the mechanical arm 4 is limited is prevented.

The sliding block 6 comprises a first sliding block 601 and a second sliding block 602 which are arranged up and down oppositely, the first sliding block 601 and the second sliding block 602 are connected through the rotating shaft 8, correspondingly, two first sliding rails 11 extending along the front and rear directions of the transfer cart are arranged on the back plate 3, and the first sliding block 601 and the second sliding block 602 are respectively connected with the two first sliding rails 11 in a sliding fit manner; the lower part of the second slider 602 is provided with a screw hole in threaded fit connection with the screw 5, the upper end face of the second slider is provided with an expansion in-place switch 13 and a reset switch 12 which are connected with a controller, when one end of the mechanical arm 4, which is far away from the cross beam 2, is located at a position close to the cross beam 2, the mechanical arm 4 can be contacted with the reset switch 12 to send a reset signal, when one end of the mechanical arm 4, which is far away from the cross beam 2, is moved to the lower part of a chassis of a vehicle to be transported or is contacted with a wheel of the vehicle to be transported, the mechanical arm 4 can be contacted with the expansion in-place switch 13 to send an expansion in-place signal, and then the position of the mechanical arm 4 can be perceived through the signal, so that the first electric control plug 14 is controlled by the controller to pop out, the mechanical arm 4 is fixed, and safety is improved.

In order to fix the mechanical arm 4 in a position perpendicular to the cross beam 2 so that it cannot rotate accidentally during operation, a groove is further provided in the upper end surface of the second slider 602, in which groove a first electrically controlled latch 14 is mounted, the first electrically controlled latch 14 being able to retract or eject the groove and, when it ejects, being able to contact the mechanical arm 4 and prevent the mechanical arm 4 from rotating.

The mechanical arm 4 is provided with a supporting disc which can be contacted with the chassis of the vehicle to be transported at one end far away from the cross beam 2, and is used for supporting the vehicle through the chassis of the vehicle to be transported, or can be contacted with the wheels of the vehicle to be transported, the backstop 15 is provided with an arc contact surface which is the same as the radian of the wheels of the vehicle to be transported, when the backstop 15 is contacted with the wheels of the vehicle to be transported, the contact surface is contacted with the wheel surface of the wheels of the vehicle to be transported, the vehicle is supported by clamping the wheels of the vehicle to be transported, and a contact sensor is arranged on the arc contact surface, and is used for judging the contact condition of the backstop 15 and the wheels. In practical use, the cross beam 2 in the present application is preferably located on both sides of the vehicle in consideration of the low chassis of the vehicle and the interference of the structure such as the wheel guard, and the backstop 15 mainly contacts the front and rear lower positions of the wheels, so that the wheels can be prevented from rotating. Of course, in practical application, the cross beam 2 may also extend below the chassis of the vehicle, as shown in fig. 4, and the mechanical arm 4 stretches from the inside to the outside to clamp the wheels of the vehicle to be transported, although the diameter of the wheels on the cross beam 2 is limited, the large wheels of the vehicle head 1 can still ensure the transportation speed of the transportation vehicle, and the transverse width of the mode is small, so that the mode is more suitable for the environment with narrower transportation channels, and therefore, the application can be flexibly selected according to application environments.

More specifically, the transfer robot is also provided with various sensors and other sensing components so as to finish the identification, position sensing and the like of the vehicle to be transferred, belongs to a mature technology and is not redundant.

In the specific use of the present application,

1. Vehicle transfer robot travels to take over vehicle position

After receiving the transfer command sent by the control center, the vehicle transfer robot runs near the vehicle to be transferred (commodity vehicle), in the approaching process, the relative position is analyzed in real time through the self-contained image sensor or the laser sensor, the running route of the vehicle transfer robot is adjusted in real time according to errors, two cross beams of the transfer robot can accurately run to the left side and the right side of the vehicle to be transferred, meanwhile, the proximity sensor is also installed on the inner sides of the two cross beams, the distance between the vehicle body and the commodity vehicle is fed back in real time, the running direction is adjusted, the dimension of the left side and the right side from the commodity vehicle is guaranteed to be consistent, meanwhile, the distance between the vehicle head of the transfer robot and the commodity vehicle is enabled to be in a reasonable dimension according to the distance sensor of the transfer robot, for example, the vehicle stops running after 5cm to 10cm, and the relative position of the transfer robot and the commodity vehicle meets the requirements.

2. Goods holding or supporting vehicle

One or more second electric control bolts retract, a lifting mechanism on the backboard is started to drive the backboard to descend, and the backboard stops descending until a specified limit sensor on the backboard is triggered. The two motor drive screws drive the slider to move oppositely, the slider drives the mechanical arm to move when moving, the sector gear at one end of the mechanical arm is meshed with the steering rack on the backboard to drive the mechanical arm to rotate, when the mechanical arm rotates to be vertical to the backboard, the first electric control bolt immediately stretches out of the bolt to lock the mechanical arm to fix the mechanical arm, and after the tire sensor on the backstop on the two mechanical arms is triggered in tight contact with the tire, the motor stops moving, and then the backstop holds tightly the tire of the vehicle to be transported.

3. Goods lifting vehicle

And the lifting mechanism on the backboard drives the backboard to lift, when the backboard triggers the appointed limit sensor, the lifting mechanism stops moving, and simultaneously two or more second electric control bolts extend out to fix the backboard.

4. Delivery vehicle

The operation indicator at the top of the head of the transfer robot is changed from an idle green normal-bright state to a green flashing state, and the transfer robot automatically navigates to a target parking space according to a route instruction sent by a control center.

5. Unloading vehicle

After reaching appointed parking stall, the lifting mechanism drives the backplate to rise a little distance earlier, and then withdraw one or more second automatically controlled bolts, then lifting mechanism drives the backplate to descend and stop descending after triggering appointed spacing inductor, and first automatically controlled bolt on the slider is withdrawn, and two motors reverse motion drive backstop leaves the tire, and after sector gear and the steering rack interlock on the backplate of one end of arm, the arm is folding motion, until triggering reset switch, and first automatically controlled bolt on the slider stretches out, fixes the arm.

The lifting mechanism drives the backboard to ascend until the appointed limit sensor is triggered, one or more fixed second electric control bolts extend out of the fixed backboard,

The lifting mechanism stops moving. The running indicator on the vehicle head is changed from green flashing to green constant, and the vehicle is driven away from the target parking space.

6. Idle state

After the unloading vehicle of the transfer robot is finished, if a next task instruction sent by the control center exists, the transfer robot continues to execute, otherwise, the transfer robot automatically drives to the charging pile to charge, and waits for the task instruction sent by the control center.

Compared with the prior art, the application has the following advantages: through open crossbeam design, make the frame can remove to the side of waiting to transport the vehicle to through the rotation of arm, make the arm can hold up the vehicle by waiting to transport the chassis below of vehicle or cooperate the centre gripping wheel through multiunit arm, thereby stable support is waited to transport the vehicle, accomplishes the vehicle and transport. In the application, the cross beam moves to the side of the vehicle, so the diameter of the wheels of the transfer trolley is not limited by the height of the chassis of the vehicle to be transferred, and the diameter of the cross beam can be larger, thereby the transfer speed and efficiency of the transfer trolley are improved, meanwhile, along with the increase of the diameter of the wheels, the adaptability of the cross beam is also improved, the cross beam can adapt to various road surface environments, has better stability, and meanwhile, the vehicle head and the vehicle frame are movably connected and can move relatively, the turning radius of the transfer trolley is reduced, the occupied space is reduced, and the transfer efficiency is improved.

Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all such modifications and equivalents are included in the scope of the claims.

Claims

1. A vehicle transfer robot comprises a transfer trolley, wherein the transfer trolley comprises a trolley head and a trolley frame connected with the trolley head, and wheels are arranged at the bottoms of the trolley head and the trolley frame; the method is characterized in that: the frame comprises at least two cross beams arranged along the front-back direction of the transfer cart, back plates are respectively arranged on one sides of the two cross beams opposite to each other or opposite to each other, and the back plates are connected with the cross beams in a matched manner through a lifting mechanism and can move up and down under the action of the lifting mechanism; the vehicle fixing mechanism comprises at least one mechanical arm and at least one group of rotary driving mechanism which is connected with the mechanical arm in a matched mode, one end of the mechanical arm is rotatably connected with the backboard, and the rotary driving mechanism can drive the mechanical arm to rotate, so that the other end of the mechanical arm can move to the position close to the cross beam below a chassis of the vehicle to be transported or contact with wheels of the vehicle to be transported.

2. A vehicle transfer robot as claimed in claim 1, wherein: the vehicle head is movably connected with the vehicle frame in a matched manner, a movable driving mechanism is arranged on the vehicle head or the vehicle frame, and the vehicle frame can relatively move along the front-back direction of the vehicle frame under the action of the movable driving mechanism and can be fixed at any position of the vehicle head.

3. A vehicle transfer robot according to claim 1 or 2, characterized in that: the rotary driving mechanism comprises a screw rod parallel to the back plate and a sliding block sleeved on the screw rod in a threaded fit manner, the screw rod is driven to rotate by a motor, the sliding block is connected with the back plate in a sliding fit manner, one end of the mechanical arm is rotatably installed on the sliding block through a rotating shaft, a sector gear is arranged at the end of the mechanical arm, a steering rack is correspondingly arranged on the back plate, and when the sliding block moves along the screw rod under the action of the screw rod, the sector gear can be meshed with the steering rack to drive the mechanical arm to rotate around the rotating shaft.

4. A vehicle transfer robot according to claim 3, characterized in that: the sliding block comprises a first sliding block and a second sliding block which are arranged up and down oppositely, the first sliding block is connected with the second sliding block through the rotating shaft, correspondingly, two first sliding rails extending along the front-back direction of the transfer cart are arranged on the back plate, and the first sliding block and the second sliding block are respectively connected with the two first sliding rails in a sliding fit manner; the lower part of the second sliding block is provided with a screw hole in threaded fit connection with the screw rod, the upper end face of the second sliding block is provided with an expansion in-place switch and a reset switch which are connected with a controller, when one end of the mechanical arm, which is far away from the cross beam, is located at a position close to the cross beam, the mechanical arm can be in contact with the reset switch, the reset switch sends a reset signal to the controller, and when one end of the mechanical arm, which is far away from the cross beam, moves to the lower part of the chassis of the vehicle to be transported or is in contact with the wheels of the vehicle to be transported, the mechanical arm can be in contact with the expansion in-place switch, so that the expansion in-place switch sends an expansion in-place signal to the controller.

5. A vehicle transfer robot as claimed in claim 4, wherein: the upper end face of the second sliding block is also provided with a groove, a first electric control bolt is arranged in the groove, the first electric control bolt is connected with the controller and can retract or pop out of the groove under the action of an electric control signal of the controller, and when the groove pops out, the groove can be contacted with the mechanical arm and prevent the mechanical arm from rotating.

6. A vehicle transfer robot according to claim 3, characterized in that: the vehicle fixing mechanism comprises two mechanical arms and two groups of corresponding rotation driving mechanisms, and the two groups of rotation driving mechanisms are symmetrically arranged, so that sliding blocks of the two groups of rotation driving mechanisms can synchronously move in opposite directions or in opposite directions under the drive of a screw rod, and the mechanical arms can synchronously rotate in opposite directions or in opposite directions.

7. The vehicle transfer robot of claim 6, wherein: the mechanical arm is provided with a supporting disc which can be contacted with the chassis of the vehicle to be transported or a backstop which can be contacted with the wheels of the vehicle to be transported at one end far away from the cross beam, the backstop is provided with an arc-shaped contact surface which is the same as the radian of the wheels of the vehicle to be transported, and when the backstop is contacted with the wheels of the vehicle to be transported, the contact surface is contacted with the wheel surfaces of the wheels of the vehicle to be transported.

8. The vehicle transfer robot of claim 6, wherein: the lifting mechanism comprises second sliding rails which are respectively arranged at two ends of the cross beam, two ends of the backboard are respectively connected with the second sliding rails in a sliding fit manner, and the backboard moves up and down along the second sliding rails through a gear driving mechanism or a screw driving mechanism or a hydraulic driving mechanism.

9. The vehicle transfer robot of claim 6, wherein: the side of the beam, which is close to the backboard, is provided with a plurality of second elastic bolts which are distributed vertically, the second electric control bolts are connected with the controller and can retract or pop up under the action of an electric control signal of the controller, and when the second electric control bolts pop up, the second electric control bolts can contact with the backboard and prevent the backboard from moving.

10. The vehicle transfer robot of claim 6, wherein: and a plurality of limit sensors which are distributed vertically are further arranged on one side of the cross beam, which is close to the backboard, and the limit sensors are connected with the controller and can send position signals of the backboard to the controller when the backboard moves to a designated position.