阅读说明：本技术 一种汽车搬运装置及其搬运方法 (A kind of automobile carrying device and its method for carrying ) 是由 王伟 常金波 雷春 赵彦伟 于 2019-08-27 设计创作，主要内容包括：本发明公开了机器人技术领域内的一种汽车搬运装置及其搬运方法,包括两个搬运器,搬运器包括中间架,中间架的前后两侧分别连接有至少一个超声波传感器一,中间架的左右两侧分别连接有一个红外传感器、至少一个超声波传感器二和超声波传感器三,中间架的左右两侧分别设有执行组件,执行组件包括可相向转动且可将车轮夹紧的夹臂一和夹臂二,两个执行组件之间的中间架上连接有两个主动轮组件和两个从动轮组件,两个主动轮组件在前后方向上间隔设置,两个从动轮组件在前后方向上间隔设置,在左右方向上,两个主动轮组件相对中间架的中心成180°设置,两个从动轮组件相对中间架的中心成180°设置；本发明可自由的将小汽车搬运至需要的位置。(The invention discloses a kind of automobile carrying devices and its method for carrying in robotic technology field, including two carriers, carrier includes middle frame, the front and rear sides of middle frame are connected separately at least one ultrasonic sensor one, an infrared sensor is connected separately at left and right sides of middle frame, at least one ultrasonic sensor two and ultrasonic sensor three, middle frame is respectively arranged on the left side and the right side executive module, executive module includes the clamp arm one and clamp arm two that can be rotated towards each other and can clamp wheel, there are two drive wheel assemblies and two driven wheel assemblys for connection on middle frame between two executive modules, two drive wheel assemblies are spaced setting in the longitudinal direction, two driven wheel assemblys are spaced setting in the longitudinal direction, in the lateral direction, two drive wheel assemblies are set at 180 ° with respect to the center of middle frame, two A driven wheel assembly is set at 180 ° with respect to the center of middle frame；Car can be freely carried to the position of needs by the present invention.)

1. a kind of automobile carrying device, including two carriers, it is characterised in that: the carrier includes middle frame, it is described in The front and rear sides of a structure of an essay are connected separately at least one ultrasonic sensor one, are connected separately with one at left and right sides of middle frame Infrared sensor, at least one ultrasonic sensor two and ultrasonic sensor three, the left and right sides point of the middle frame Not She You executive module, the executive module includes the clamp arm one and clamp arm two that can be rotated towards each other, and ultrasonic sensor three connects On middle frame between clamp arm one and clamp arm two, clamp arm one and clamp arm two clamp wheel when rotating towards each other, two execution groups There are two the drive wheel assemblies for driving automobile traveling and steering and two with drive wheel assemblies for connection on middle frame between part The driven wheel assembly of walking, two drive wheel assemblies are spaced setting in the longitudinal direction, and two driven wheel assemblys are in front-rear direction Upper interval setting, in the lateral direction, two drive wheel assemblies are set at 180 ° with respect to the center of middle frame, two driven wheel groups Part is set at 180 ° with respect to the center of middle frame.

2. a kind of automobile carrying device according to claim 1, it is characterised in that: have two on the middle frame The holding tank one and two for accommodating drive wheel assemblies accommodates the holding tank two of driven wheel assembly, and the drive wheel assemblies include fixing Gear ring on middle frame, gear ring side directed downwardly are fixedly connected with the outer ring of fixing bearing, and the inner ring of fixing bearing is coupled There is mounting plate, the mounting plate side directed downwardly is connected with driving motor and steering motor frame, the output end of the driving motor It is connected with driving wheel, is equipped with steering motor in middle frame, steering motor is fixedly connected on steering motor frame, and steering motor uploads Dynamic connection sprocket drive spindle is connected with tooth sector, the output shaft of the steering motor on the gear shaft outside stretching mounting plate upwards On be connected with tooth sector, the tooth sector is engaged with the inner ring of gear ring, and driving wheel extends downwardly middle frame through holding tank one Outside, the extreme lower position of driving wheel revolution circumference is lower than the extreme lower position of clamp arm one.

3. a kind of automobile carrying device according to claim 1 and its method for carrying, it is characterised in that: the middle frame court Under side be fixedly connected with bottom cover, car bonnet is fixedly connected on the upside of the middle frame, is connected with and holds between car bonnet and bottom cover Row component；The executive module includes the actuating motor being fixedly connected on middle frame, is sequentially connected on the actuating motor Rotatable worm driver gear, the car bonnet side directed downwardly are fixedly connected with connection component one and connection component two, the connection The lower part of component one and connection component two is fixedly connected on bottom cover, has been rotatably coupled drive sprocket on connection component one, Drive sprocket side directed downwardly is fixedly connected with the rotation seat one that can be rotated in the horizontal plane, and the clamp arm one is connected to rotation seat One side outwardly, the drive sprocket are connected with driven sprocket, the transmission ratio of drive sprocket and driven sprocket through chain drive For 1:1, it is fixedly connected with gear connection component on the chassis, has been rotatably coupled driving tooth on the gear connection component Wheel, driven sprocket are rotatably connected on gear connection component, and driven sprocket is fixedly connected with driving gear, the connection group Driven gear is rotatably coupled on part two, the driven gear is engaged with driving gear, driven gear and driving gear Transmission ratio is 1:1, and rotation seat two is fixedly connected on driven gear, and the clamp arm two is connected to the side of rotation seat two outwardly.

4. a kind of automobile carrying device according to claim 3, it is characterised in that: in the longitudinal direction, the rotation seat One side outwardly is fixedly connected with clamp arm bracket one, and fixing axle one, one end of fixing axle one are fixedly connected on rotation seat one It is connected to one end of clamp arm bracket one, clamp arm one includes clamping inner roller one and clamping outer roller one, the other end of fixing axle one It stretches out one other end of clamp arm bracket to extend outwardly, clamping inner roller one is rotatably connected to the fixation of one place section of clamp arm bracket On axis one, clamping outer roller one is rotatably connected in the outwardly extending fixing axle one of clamp arm bracket one.

5. a kind of automobile carrying device according to claim 3, it is characterised in that: in the longitudinal direction, the rotation seat Two sides outwardly is fixedly connected with clamp arm bracket two, and fixing axle two, the side of fixing axle two are fixedly connected on rotation seat two It is connected to the side of clamp arm bracket two, clamp arm two includes clamping inner roller two and clamping outer roller two, the other side of fixing axle two It stretches out two other side of clamp arm bracket to extend outwardly, clamping inner roller two is rotatably connected to the fixation of two place section of clamp arm bracket On axis two, clamping outer roller two is rotatably connected in the outwardly extending fixing axle two of clamp arm bracket two.

6. according to a kind of described in any item automobile carrying devices of claim 2~5, it is characterised in that: the driven wheel assembly Including the driven wheel support being fixedly connected on the upside of bottom cover, described driven wheel support one end directed downwardly is provided with mounting groove, mounting groove Interior to be equipped with mounting base, the mounting base is fixedly connected on driven wheel support, and driven wheel, institute have been rotatably coupled in mounting base The minimum point for stating the revolution circumference of driven wheel and driving wheel flushes.

7. using the method for the described in any item automobile carrying device carrier vehicles of claim 1~6, which is characterized in that including Following steps:

(1) carrier acts, and carrier one is run to below the automobile of front-wheel position, and carrier two is run to where rear-wheel Below the automobile of position；

(2) the infrared sensor work on carrier one, the position adjusting method of carrier one is specifically, work as the red of carrier one When outer sensor starts to sense vehicle front, driving motor is demarcated, position l1, carrier moves on, hot Outer sensor senses when leaving wheel, demarcates to driving motor, position l2 enables carrier move to (l1+l2)/2 Position, as at front-wheel axis；The position adjusting method of carrier two is specifically, the infrared sensor when carrier two starts When sensing automobile back wheel, driving motor is demarcated, position l3, carrier moves on, when infrared sensor incudes To when leaving rear-wheel, driving motor is demarcated, position l4 enables carrier move to the position of (l3+l4)/2, as after At wheel axis；

(3) position of carrier is adjusted, specifically, the ultrasonic sensor three at left and right sides of a middle frame detects carrier one The distance between front-wheel, the distance detected are respectively d1 and d2, the ultrasonic sensor at left and right sides of another middle frame Three detection the distance between carriers two and rear-wheel, the distance detected is respectively d3 and d4, if | d1-d2 |≤△ d, The reversing motor of carrier one is failure to actuate, otherwise the reversing motor of carrier one and driving motor movement, until | d1-d2 |≤ Until △ d, start the front-rear position for adjusting carrier one；If | d3-d4 |≤△ d, the reversing motor of carrier two are motionless Make；Otherwise, the reversing motor of carrier two and driving motor movement start to adjust carrier until meeting above-mentioned condition Two front-rear position；

(4) the actuating motor movement on actuating motor movement carrier one and carrier two, clamp arm one and clamp arm two are turned out, When clamp arm one and clamp arm two clamp wheel, actuating motor stopping movement, carrier one and carrier two have removed automobile；

(5) carrier one and carrier two start carrier vehicle, driving motor movement, and reversing motor is acted as needed, carried When device one and carrier two are mobile, the dropproof sensor on bottom cover is detected when increasing at a distance from ground, driving motor and Reversing motor stopping movement, otherwise driving motor continues to act, the position that carrier one and carrier two extremely need car carrying It sets；Meanwhile ultrasonic sensor one detects the distance between carrier one and carrier two, d5 is set as, if d- △ d≤d5≤d+ △ d(condition one), driving motor does not do new element；If d5 > d+ △ d, driving motor movement makes carrier two towards carrier One direction is mobile, and until the condition that meets one, driving motor does not do new element；Otherwise, driving motor counteragent is removed It is mobile away from one direction of carrier to transport device two, until the condition that meets one, driving motor does not do new element；

Wherein, one face front-wheel of carrier and when clamp arm one and clamp arm two rotate towards each other, clamp arm one and clamp arm two are just by wheel It clamps, clamp arm one is identical with the structure of clamp arm two；△ d is the range difference threshold value of setting, and 0≤△ d≤10mm, r are front-wheel with after The radius of wheel, d are the distance threshold of setting, and d is determined by wheel base before and after the automobile to be carried；There are four the downside arrangements of bottom cover Dropproof sensor in rectangular layout, dropproof sensor is close to the edge of bottom cover；For convenience of description, two carriers Respectively carrier one and carrier two, carrier one is corresponding with the position of front-wheel, and carrier two is corresponding with the position of rear-wheel.

Technical field

The invention belongs to robotic technology field, in particular to a kind of automobile carrying device and its method for carrying.

Background technique

With the development of logistic industry, the weight and size that can be carried for carrier have increasingly higher demands, and The thorny problems such as consumption manpower, time-consuming when in real life there is also for carrying small and medium-sized car.

Summary of the invention

It is an object of the present invention to overcome shortcoming in the prior art, a kind of automobile carrying device is provided and its is removed Transportation method, solves unhandy technical problem in the prior art, the present invention can automatic transporting play automobile, it is easy to operate.

The object of the present invention is achieved like this: a kind of automobile carrying device, including two carriers, the carrier packet Middle frame is included, the front and rear sides of the middle frame are connected separately at least one ultrasonic sensor one, the left and right two of middle frame Side is connected separately with an infrared sensor, at least one ultrasonic sensor two and ultrasonic sensor three, it is described in The two sides of a structure of an essay are respectively equipped with executive module, and the executive module includes the clamp arm one and clamp arm two that can be rotated towards each other, ultrasonic wave Sensor three is connected on the middle frame between clamp arm one and clamp arm two, and clamp arm one and clamp arm two press from both sides wheel when rotating towards each other Tightly, on the middle frame between two executive modules connect there are two driving automobile traveling and steering drive wheel assemblies and two with The driven wheel assembly of drive wheel assemblies walking, two drive wheel assemblies are spaced setting, two driven wheel groups in the longitudinal direction Part is spaced setting in the longitudinal direction, and in the lateral direction, two drive wheel assemblies are set at 180 ° with respect to the center of middle frame, Two driven wheel assemblys are set at 180 ° with respect to the center of middle frame.

When carrying car using the present invention, it is placed with a carrier respectively in the front and rear sides of car, front Carrier clamps two front-wheels, and the carrier at rear clamps two rear-wheels, is specifically, two executive modules move simultaneously To make, clamp arm one and clamp arm two rotate towards each other, and clamp arm one and clamp arm two clamp each wheel, so that car is carried, Two driving mechanism simultaneously operations, i.e. two drive wheel assemblies simultaneously operations, drive wheel assemblies are walked or are turned to forward, realize Walking or steering of the invention, diagonally arranged and two driven wheel assemblys diagonally arranged, the carrying of two drive wheel assemblies Device can be moved towards all directions, automobile can be straight under the action of carrier storage, save parking bit space；It can apply In the work for carrying car, it is particularly suitable for carrying car.

In order to further realize walking and steering of the invention, two receiving active wheels are had on the middle frame The holding tank one and two of part accommodates the holding tank two of driven wheel assembly, and the drive wheel assemblies include being fixed on middle frame Gear ring, gear ring side directed downwardly are fixedly connected with the outer ring of fixing bearing, and the inner ring of fixing bearing is fitted with mounting plate, institute It states mounting plate side directed downwardly and is connected with driving motor and steering motor frame, the output end of the driving motor is connected with actively Wheel, middle frame is interior to be equipped with steering motor, and steering motor is fixedly connected on steering motor frame, and tooth is sequentially connected in steering motor Wheel shaft is connected with tooth sector on the gear shaft outside stretching mounting plate upwards, is connected with and turns on the output shaft of the steering motor To gear, the tooth sector is engaged with the inner ring of gear ring, and driving wheel extends downwardly outside middle frame through holding tank one, active circulation The extreme lower position for turning circumference is lower than the extreme lower position of clamp arm one；In this design, two drive wheel assemblies are separately positioned on middle frame Holding tank one in, occupy little space, it is compact-sized；When walking, driving motor directly drives the rotation of driving wheel, needs to turn to When, steering motor movement, rotation of the steering motor with movable gear shaft, the rotation of the rotation drive tooth sector of gear shaft, installation Plate rotation, tooth sector omnidirectional under the action of gear ring rotate.

In order to realize the holding action of clamp arm one and clamp arm two, the middle frame side directed downwardly is fixedly connected with bottom cover, It is fixedly connected with car bonnet on the upside of the middle frame, executive module is connected between car bonnet and bottom cover；The executive module includes The actuating motor being fixedly connected on middle frame is sequentially connected with rotatable worm driver gear, the vehicle on the actuating motor It covers side directed downwardly and is fixedly connected with connection component one and connection component two, the lower part of the connection component one and connection component two It is fixedly connected on bottom cover, drive sprocket has been rotatably coupled on connection component one, drive sprocket side directed downwardly is fixed to be connected It is connected to the rotation seat one that can be rotated in the horizontal plane, the clamp arm one is connected to the side of rotation seat one outwardly, the drive chain Wheel is connected with driven sprocket through chain drive, and the transmission ratio of drive sprocket and driven sprocket is 1:1, is fixedly connected on the chassis There is gear connection component, has been rotatably coupled driving gear on the gear connection component, driven sprocket is rotatably coupled On gear connection component, driven sprocket is fixedly connected with driving gear, be rotatably coupled on the connection component two from Moving gear, the driven gear are engaged with driving gear, and the transmission ratio of driven gear and driving gear is 1:1, on driven gear It is fixedly connected with rotation seat two, the clamp arm two is connected to the side of rotation seat two outwardly.

The dry grinding of clamp arm one and tire in order to prevent, in the longitudinal direction, the side of the rotation seat one outwardly is fixed to be connected It is connected to clamp arm bracket one, fixing axle one is fixedly connected on rotation seat one, one end of fixing axle one is connected to clamp arm bracket one One end, clamp arm one include clamping inner roller one and clamping outer roller one, and it is another that the other end of fixing axle one stretches out clamp arm bracket one End extends outwardly, and clamping inner roller one is rotatably connected in the fixing axle one of one place section of clamp arm bracket, clamps outer roller One is rotatably connected in the outwardly extending fixing axle one of clamp arm bracket one；In this design, automobile tire and clamp arm can be reduced Between friction, convenient for picking up and putting down, avoid damage tire.

The dry grinding of clamp arm two and tire in order to prevent, the side of the rotation seat two outwardly are fixedly connected with clamp arm bracket Two, fixing axle two is fixedly connected on rotation seat two, the side of fixing axle two is connected to the side of clamp arm bracket two, and clamp arm two is wrapped Clamping inner roller two and clamping outer roller two are included, the other side of fixing axle two stretches out two other side of clamp arm bracket and extends outwardly, presss from both sides It holds inner roller two to be rotatably connected in the fixing axle two of two place section of clamp arm bracket, clamping outer roller two is rotatably coupled In the outwardly extending fixing axle two of clamp arm bracket two.

In order to further realize the rotation of driven wheel, the driven wheel assembly include be fixedly connected on it is driven on the upside of bottom cover Wheel support, described driven wheel support one end directed downwardly are provided with mounting groove, and mounting base is equipped in mounting groove, and the mounting base is fixed to be connected It connects on driven wheel support, has been rotatably coupled driven wheel in mounting base, the revolution circumference of the driven wheel and driving wheel Minimum point flushes.

Use the method for automobile carrying device carrier vehicle, comprising the following steps:

(1) carrier acts, and carrier one is run to below the automobile of front-wheel position, and carrier two is run to where rear-wheel Below the automobile of position；

(2) the infrared sensor work on carrier one, the position adjusting method of carrier one is specifically, work as the red of carrier one When outer sensor starts to sense vehicle front, driving motor is demarcated, position l1, carrier moves on, hot Outer sensor senses when leaving wheel, demarcates to driving motor, position l2 enables carrier move to (l1+l2)/2 Position, as at front-wheel axis；The position adjusting method of carrier two is specifically, the infrared sensor when carrier two starts When sensing automobile back wheel, driving motor is demarcated, position l3, carrier moves on, when infrared sensor incudes To when leaving rear-wheel, driving motor is demarcated, position l4 enables carrier move to the position of (l3+l4)/2, as after At wheel axis；

(3) position of carrier is adjusted, specifically, the ultrasonic sensor three at left and right sides of a middle frame detects carrier one The distance between front-wheel, the distance detected are respectively d1 and d2, the ultrasonic sensor at left and right sides of another middle frame Three detection the distance between carriers two and rear-wheel, the distance detected is respectively d3 and d4, if | d1-d2 |≤△ d, The reversing motor of carrier one is failure to actuate, otherwise the reversing motor of carrier one and driving motor movement, until | d1-d2 |≤ Until △ d, start the front-rear position for adjusting carrier one；If | d3-d4 |≤△ d, the reversing motor of carrier two are motionless Make；Otherwise, the reversing motor of carrier two and driving motor movement start to adjust carrier until meeting above-mentioned condition Two front-rear position；

(4) the actuating motor movement on actuating motor movement carrier one and carrier two, clamp arm one and clamp arm two are turned out, When clamp arm one and clamp arm two clamp wheel, actuating motor stopping movement, carrier one and carrier two have removed automobile；

(5) carrier one and carrier two start carrier vehicle, driving motor movement, and reversing motor is acted as needed, carried When device one and carrier two are mobile, the dropproof sensor on bottom cover is detected when increasing at a distance from ground, driving motor and Reversing motor stopping movement, otherwise driving motor continues to act, the position that carrier one and carrier two extremely need car carrying It sets；Meanwhile ultrasonic sensor one detects the distance between carrier one and carrier two, d5 is set as, if d- △ d≤d5≤d+ △ d(condition one), driving motor does not do new element；If d5 > d+ △ d, driving motor movement makes carrier two towards carrier One direction is mobile, and until the condition that meets one, driving motor does not do new element；Otherwise, driving motor counteragent is removed It is mobile away from one direction of carrier to transport device two, until the condition that meets one, driving motor does not do new element；

Wherein, one face front-wheel of carrier and when clamp arm one and clamp arm two rotate towards each other, clamp arm one and clamp arm two are just by wheel It clamps, clamp arm one is identical with the structure of clamp arm two；△ d is the range difference threshold value of setting, and 0≤△ d≤10mm, r are front-wheel with after The radius of wheel, d are the distance threshold of setting, and d is determined by wheel base before and after the automobile to be carried；There are four the downside arrangements of bottom cover Dropproof sensor in rectangular layout, dropproof sensor is close to the edge of bottom cover；For convenience of description, two carriers Respectively carrier one and carrier two, carrier one is corresponding with the position of front-wheel, and carrier two is corresponding with the position of rear-wheel.

Detailed description of the invention

Fig. 1 is the structure chart when present invention has carried automobile.

Fig. 2 is the top view of carrier in the present invention.

Fig. 3 is the bottom view of carrier in the present invention.

Fig. 4 is that carrier hides the top view after car bonnet in the present invention.

Fig. 5 is the A-A direction view in the present invention.

Fig. 6 is the partial enlarged view in Fig. 5 at C.

Fig. 7 is the partial enlarged view in Fig. 5 at D.

Fig. 8 is the B-B direction view in the present invention.

Fig. 9 is the partial enlarged view in Fig. 8 at E.

Figure 10 is the partial enlarged view in Fig. 3 at F.

Figure 11 is the three-dimensional structure diagram that carrier hides after breaking off the base lid in the present invention.

Figure 12 is the partial enlarged view in Figure 11 at G.

Figure 13 is the top view of the drive wheel assemblies of carrier in the present invention.

Figure 14 is the H-H direction view in the present invention.

Figure 15 is the three-dimensional structure diagram of the drive wheel assemblies of carrier in the present invention.

Figure 16 is the three-dimensional structure diagram of the executive module of carrier in the present invention.

Figure 17 is the I-I direction view in the present invention.

Figure 18 is the partial enlarged view in Fig. 3 at J.

Figure 19 is the main view of carrier in the present invention.

Figure 20 is the partial enlarged view in Fig. 2 at K.

Wherein, L carrier, 1 car bonnet, 2 executive modules, 201 clamp arm two, 201a clamp outer roller two, rolling in 201b clamping Cylinder two, 202 clamp arm one, 202a clamping outer roller one, 202b clamping inner roller one, 203 connectors one, 204 connectors two, 205 Clamp arm bracket one, 206 clamp arm brackets two, 207 mandrels one, 208 bearings one, 208a lower limit rank one, 208b upper limit rank one, 209 rotation seats one, 210 fixing bolts one, 211 drive sprockets, 212 worm driver gears, 213 mandrels two, 214 driven gears, 214a Vertical portion, 215 bearings two, 215a lower limit rank two, 215b upper limit rank two, 216 fixing bolts two, 217 rotation seats two, 218 Fastening bolt, 219 compress gaskets, 220 Spindle nose covers, 221 driven sprockets, 222 gear shafts, 223 driving gears, 224 bearings three, 224a upper limit rank three, 224b lower limit rank three, 225 adapter sleeves one, 226 adapter sleeves two, 227 adapter sleeves three, 228 execute electricity Machine, 229 right-angle reduction devices one, 230 chains, 231 shaft couplings, 232 bearing blocks one, 233 worm screws, 234 bearing blocks two, 235 shaft ends Baffle one, 236 positioning bolts one, 237 fixing axles one, 238 tight fixed bolts one, 239 tight fixed bolts two, 240 fixing axles two, 241 Shaft end baffle two, 242 positioning bolts two, 3 bottom covers, 4 drive wheel assemblies, 401 right-angle reduction devices two, 402 driving wheels, 403 turn to Motor, 404 driving motors, 405 active wheel supports, 406 installing ports, 407 driven wheel of differential, 408 drive bevel gears, 409 turn to Motor rack, 410 mounting plates, 411 gear rings, 412 tooth sectors, 413 fixed plates, 414 shafts, 415 fixing sleeves, 416 spring bearings, 417 fixing bearings, 5 driven wheel assemblys, 501 driven wheel supports, 502 driven wheels, 503 mounting grooves, 504 mounting bases, 6 tensioning groups Part, 601 adjustable plates, 601a tensioning block, 602 adjusting blocks, 603 adjusting screw rods, 604 sliding grooves, 605 connection bolts, 606 connections Plate, 607 link slots, 7 control systems, 8 middle frames, 801 holding tanks one, 802 holding tanks three, 803 holding tanks two, 804 holding tanks Four, 9 ultrasonic sensors three, 10 infrared sensors, 11 ultrasonic sensors two, 12 ultrasonic sensors one, 13 dropproof biographies Sensor.

Specific embodiment

Invention is further explained with reference to the accompanying drawing.

A kind of automobile carrying device as shown in FIG. 1 to FIG. 20, including two carrier L, carrier L include middle frame 8, The front and rear sides of middle frame 8 are separately connected that there are four the ultrasonic sensor 1 that is arranged in a staggered manner in the lateral direction, middle frames 8 Any ultrasonic sensor 1 of 8 rear side of any ultrasonic sensor 1 and middle frame of front side is staggered in the lateral direction Setting, the left and right sides of middle frame 8 is connected separately with an infrared sensor 10, ultrasonic sensor 2 11 and supersonic sensing Device 39, two infrared sensors 10 are arranged in a staggered manner in the longitudinal direction, and the two sides of middle frame 8 are respectively equipped with executive module 2, hold Row component 2 includes the clamp arm 1 and clamp arm 2 201 that can be rotated towards each other, and ultrasonic sensor 39 is arranged in one 202 He of clamp arm On middle frame 8 between clamp arm 2 201, ultrasonic sensor 2 11 is arranged in clamp arm 1 or the corresponding centre of clamp arm 2 201 On frame 8, whether ultrasonic sensor 2 11 is mainly for detection of having barrier, and ultrasonic sensor 39 is mainly for detection of in The distance between a structure of an essay 8 and wheel, infrared sensor 10 is close to ultrasonic sensor 2 11,2 201 phase of clamp arm 1 and clamp arm Wheel is clamped to when rotating, there are two driving automobile travelings and steering for connection on the middle frame 8 between two executive modules 2 Drive wheel assemblies 4 and two driven wheel assemblys 5 walked with drive wheel assemblies 4, two drive wheel assemblies 4 are in the longitudinal direction Interval setting, two driven wheel assemblys 5 are spaced setting in the longitudinal direction, and in the lateral direction, two drive wheel assemblies 4 are opposite The center of middle frame 8 is set at 180 °, and two driven wheel assemblys 5 are set at 180 ° with respect to the center of middle frame 8；Wherein, in reality Border is in use, all ultrasonic sensors play the role of avoidance, so that carrier L can avoid barrier in all directions Hinder object.

In order to further realize walking and steering of the invention, two receiving drive wheel assemblies 4 are had on middle frame 8 Holding tank 1 and two receiving driven wheel assembly 5 holding tank 2 803, drive wheel assemblies 4 include be arranged in holding tank one Gear ring 411 in 801 is fixedly connected with active wheel support 405 on the upside of bottom cover 3, installation directed downwardly is provided on active wheel support 405 Mouth 406, gear ring 411 are fixedly connected on 405 upside of active wheel support, and the side directed downwardly of gear ring 411 is fixedly connected with fixing bearing 417 outer ring, fixing bearing 417 are preferably crossed roller bearing, and the inner ring and mounting plate 410 of fixing bearing 417 cooperate, installation The side directed downwardly of plate 410 is fixedly connected with the fixed plate 413 extended downwardly and steering motor frame 409, fixed company in fixed plate 413 It is connected to driving motor 404, the output end of driving motor 404 is connected with driving wheel 402, is equipped with steering motor 403 in middle frame 8, The right-angle reduction device 2 401 for slowing down and commutating is fixedly connected on steering motor frame 409, steering motor 403 subtracts for right angle Fast device 2 401 provides power input, and the output end of right-angle reduction device 2 401 is connected with drive bevel gear 408,410 court of mounting plate Under side be fixedly connected with fixing sleeve 415,415 inside of fixing sleeve has been rotatably coupled shaft 414 through spring bearing 416, The lower part of shaft 414 is connected with driven wheel of differential 407, and drive bevel gear 408 and driven wheel of differential 407 engage, drive sprocket 211 Transmission ratio with driven sprocket 221 is 1:1, and the downside of driven wheel of differential 407 is equipped with limit baffle, is first limited using caging bolt Baffle and shaft 414 are fixed together, and limit baffle is pressed on the downside of driven wheel of differential 407 by caging bolt, upwards It is connected with tooth sector 412 in the shaft 414 stretched out outside fixing sleeve 415, tooth sector 412 is engaged with the inner ring of gear ring 411, main Driving wheel 402 extends downwardly outside middle frame 8 through holding tank 1, and the extreme lower position that driving wheel 402 turns round circumference is lower than clamp arm one 202 extreme lower position；Driven wheel assembly 5 includes the driven wheel support 501 for being fixedly connected on 3 upside of bottom cover, driven wheel support 501 One end directed downwardly is provided with mounting groove 503, is equipped with mounting base 504 in mounting groove 503, mounting base 504 is fixedly connected on driven wheel branch On frame 501, driven wheel 502 has been rotatably coupled in mounting base 504, driven wheel 502 is universal wheel (this is the prior art), from The minimum point of the revolution circumference of driving wheel 502 and driving wheel 402 flushes.

In order to realize the holding action of clamp arm 1 and clamp arm 2 201, the side directed downwardly of middle frame 8 is fixedly connected with bottom Lid 3, the upside of middle frame 8 are fixedly connected with car bonnet 1, executive module 2 are connected between car bonnet 1 and bottom cover 3；Executive module 2 wraps The actuating motor 228 being fixedly connected on middle frame 8 is included, is sequentially connected with rotatable worm driver gear on actuating motor 228 212, the structure that worm driver gear 212 rotates is realized specifically, accommodating two actuating motors 228 there are two opening on middle frame 8 respectively Holding tank 3 802, be fixedly connected with 228 frame of actuating motor, one 232 and of bearing block on the corresponding middle frame 8 of holding tank 3 802 Bearing block 2 234 is fixedly connected with right-angle reduction device 1, actuating motor 228 and right-angle reduction device on 228 frame of actuating motor One 229 are fixedly connected, and actuating motor 228 is that right-angle reduction device 1 provides power input, and the output end of right-angle reduction device connects One end of shaft coupling 231 is connect, the other end of shaft coupling 231 is connected with worm screw 233, and the worm screw 233 close to shaft coupling 231 can be rotated Ground is connected in bearing block 1, and the worm screw 233 far from shaft coupling 231 is rotatably connected in bearing block 2 234, bearing Worm screw 233 and worm driver gear 212 between seat 1 and bearing block 2 234 cooperate；The side directed downwardly of car bonnet 1 is fixedly connected with The lower part of connection component one and connection component two, connection component one and connection component two is fixedly connected on bottom cover 3, connection component Drive sprocket 211 is rotatably coupled on one, the side directed downwardly of drive sprocket 211 is fixedly connected with and can rotate in the horizontal plane Rotation seat 1, clamp arm 1 is connected to the side of rotation seat 1 outwardly, and drive sprocket 211 is driven through chain 230 to be connected 230, the chain being connected in driven sprocket 221(attached drawing has drawn one section, and actually whole chain 230, the structure of chain 230 are The prior art), gear connection component is fixedly connected on chassis, has been rotatably coupled driving gear on gear connection component 223, driven sprocket 221 is rotatably connected on gear connection component, and driven sprocket 221 is fixedly connected with driving gear 223, Driven gear 214 is rotatably coupled on connection component two, driven gear 214 is engaged with driving gear 223, driven gear 214 and the transmission ratio of driving gear 223 be 1:1, driven gear 214, which is equipped with, facilitates the vertical portion 214a of connection, vertical portion Rotation seat 2 217 is fixedly connected on 214a, clamp arm 2 201 is connected to the side of rotation seat 2 217 outwardly；Clamp arm in order to prevent 1 and clamp arm 2 201 and ground dry grind, in the longitudinal direction, the side of rotation seat 1 outwardly is fixedly connected with clamp arm branch Frame 1 is fixedly connected with fixing axle 1 on rotation seat 1, and one end of fixing axle 1 is connected to clamp arm bracket one 205 one end, clamp arm 1 include clamping one 202b of inner roller and clamping one 202a of outer roller, the other end of fixing axle 1 It stretches out one 205 other end of clamp arm bracket to extend outwardly, clamping one 202b of inner roller is rotatably connected to one 205 institute of clamp arm bracket In the fixing axle 1 of section, clamping one 202a of outer roller is rotatably connected to the outwardly extending fixation of clamp arm bracket 1 On axis 1, rotation seat 1, clamp arm bracket 1 are fixedly connected with fixing axle 1 using tight fixed bolt 1 Together, the outside for clamping one 202a of outer roller is equipped with shaft end baffle 1, using positioning bolt 1 by shaft end baffle one 235 are pressed on the outside of clamping one 202a of outer roller, and positioning bolt 1 is threadedly coupled with fixing axle 1；Rotation seat two 217 side outwardly is fixedly connected with clamp arm bracket 2 206, and fixing axle 2 240 is fixedly connected on rotation seat 2 217, uses Rotation seat 2 217, clamp arm bracket 2 206 and fixing axle 2 240 are fixed together by tight fixed bolt 2 239, fixing axle two 240 side is connected to the side of clamp arm bracket 2 206, and clamp arm 2 201 includes clamping two 201b of inner roller and clamping outer roller Two 201a, the other side of fixing axle 2 240 stretch out 2 206 other side of clamp arm bracket and extend outwardly, and clamping two 201b of inner roller can It is rotationally connected in the fixing axle 2 240 of 2 206 place section of clamp arm bracket, clamping two 201a of outer roller is rotatably connected to In the outwardly extending fixing axle 2 240 of clamp arm bracket 2 206, the outside of clamping two 201a of outer roller is equipped with shaft end baffle 2 241, Using positioning bolt 2 242 by shaft end baffle 2 241 be pressed on clamping two 201a of outer roller outside, positioning bolt 2 242 with Fixing axle 2 240 is threadedly coupled.

In order to further increase the stability of the rotation of drive sprocket 211, connection component one includes being connected to 1 downside of car bonnet Connector 1 and the mandrel 1 for being fixedly connected on 3 upside of bottom cover, the outside of mandrel 1 are connected with bearing 1, even Fitting 1 is contradicted in the upside of bearing 1, and the downside of bearing 1 is contradicted in the lower part of mandrel 1, drive sprocket 211 are rotatably connected to the outside of bearing 1, and drive sprocket 211 contradicts one 208b of upper limit rank in bearing 1 On, the downside of rotation seat 1 is fixedly connected with adapter sleeve 1, and the side of adapter sleeve 1 upward is contradicted in bearing one On 208 one 208a of lower limit rank, connector 1 and mandrel 1 are linked together using fixing bolt 1.

In order to further increase the stability of the rotation of driven gear 214, connection component two includes being connected to 1 downside of car bonnet Connector 2 204 and the mandrel 2 213 for being fixedly connected on 3 upside of bottom cover, the outside of mandrel 2 213 are connected with bearing 2 215, even Fitting 2 204 is contradicted in the upside of bearing 2 215, and the downside of bearing 2 215 is contradicted in the lower part of mandrel 2 213, driven gear 214 are rotatably connected to the outside of bearing 2 215, and the lower part of rotation seat 2 217 contradicts the upper limit rank two in bearing 2 215 On 215b, the downside of driven gear 214 is fixedly connected with adapter sleeve 2 226, and the side of adapter sleeve 2 226 upward is contradicted in bearing On 2 215 two 215a of lower limit rank, connector 2 204 and mandrel 2 213 are linked together using fixing bolt 2 216.

In order to further increase the stability that driven sprocket 221 and driving gear 223 rotate, gear connection component includes solid Surely it is connected to the gear shaft 222 of 3 upside of bottom cover, is connected with bearing 3 224 on the outside of gear shaft 222, driving gear 223 is rotationally It is connected to the outside of bearing 3 224, driven sprocket 221 contradicts the driving gear on three 224a of upper limit rank of bearing 3 224 223 downside is fixedly connected with adapter sleeve 3 227, and adapter sleeve 3 227 contradicts on three 224b of lower limit rank of bearing 3 224, The upside of bearing 3 224 is equipped with Spindle nose cover 220, is threadedly coupled using fastening bolt 218 with gear shaft 222, in fastening bolt 218 It is set with compress gasket 219, compress gasket 219, will through compress gasket 219 using fastening bolt 218 in the upside of Spindle nose cover 220 Bearing cap is pressed on the upside of bearing 3 224.

Wherein, it is provided with holding tank 4 804 on the middle frame 8 between two driving mechanisms, is equipped with control in holding tank 4 804 System 7, control system 7 control and drive the movement of actuating motor 228, driving motor 404 and steering motor 403；In addition, intermediate Frame 8 is also connected with the tension assembly 6 for tension chain 230, and tension assembly 6 is provided with two groups, respectively with two executive modules 2 It is corresponding, opened on middle frame 8 there are two run through bottom cover 3 regulating tank；Tension assembly 6 includes being fixedly connected on 3 downside of bottom cover Connecting plate 606, the downside of connecting plate 606 are fixedly connected with adjusting block 602, are threaded with adjusting screw rod on adjusting block 602 603, link slot 607 is provided on connecting plate 606, and link slot 607 is connected to regulating tank, and the downside of connecting plate 606 slideably connects It is connected to adjustable plate 601, is opened on adjustable plate 601 there are two sliding groove 604, is each passed through two cunnings using two connection bolts 605 Dynamic slot 604 is connect with connecting plate 606, and adjustable plate 601 is equipped with the tensioning block 601a being oppositely arranged with adjusting block 602, adjusts spiral shell One end that bar 603 stretches out adjusting block 602 contradicts on tensioning block 601a, is fixedly connected on adjustable plate 601 and extends upwardly into centre Connecting rod in frame 8, the top of connecting rod have been rotatably coupled tensioning wheel, and tensioning wheel and chain 230 cooperate, and chain 230 is opened Before tight, connection bolt 605 is unclamped, adjustable plate 601 is through mobile, 603 precession of adjusting screw rod relative to connection bolt 605 of sliding groove 604 Adjusting block 602, adjusting screw rod 603 pushes tensioning block 601a sliding, is tensioned tensioning wheel by chain 230, after chain 230 is tensioned, Adjustable plate 601 and connecting plate 606 are fixed together using connection bolt 605.

Use the method for automobile carrying device carrier vehicle, comprising the following steps:

(1) carrier L is acted, and carrier L mono- is run to below the automobile of front-wheel position, and carrier L bis- runs to rear-wheel Below the automobile of position；

(2) infrared sensor 10 on carrier L mono- works, and the position adjusting method of carrier L mono- is specifically, work as carrier L When one infrared sensor 10 starts to sense vehicle front, driving motor 404 is demarcated, position l1, carrier L after It is continuous to advance, when infrared sensor 10, which senses, leaves wheel, driving motor 404 is demarcated, position l2 enables carrier L moves to the position of (l1+l2)/2, as at front-wheel axis；The position adjusting method of carrier L bis- is specifically, work as carrier L When two infrared sensor 10 starts to sense automobile back wheel, driving motor 404 is demarcated, position l3, carrier L after It is continuous to advance, when infrared sensor 10, which senses, leaves rear-wheel, driving motor 404 is demarcated, position l4 enables carrier L moves to the position of (l3+l4)/2, as at rear-wheel axis；

(3) position of carrier L is adjusted, specifically, the ultrasonic sensor 39 of 8 left and right sides of middle frame is detected and carried The distance between device L mono- and front-wheel, the distance detected are respectively d1 and d2, the ultrasonic wave of another 8 left and right sides of middle frame Sensor 39 detects the distance between carrier L bis- and rear-wheel, and the distance detected is respectively d3 and d4, if | d1-d2 | ≤ △ d, then the reversing motor of carrier L mono- is failure to actuate, and otherwise the reversing motor of carrier L mono- and driving motor 404 act, directly To | d1-d2 | until≤△ d, start the front-rear position for adjusting carrier L mono-；If | d3-d4 |≤△ d, carrier L bis- Reversing motor be failure to actuate；Otherwise, the reversing motor of carrier L bis- and driving motor 404 act, and are up to meeting above-mentioned condition Only, start the front-rear position of adjusting carrier L bis-；

(4) actuating motor 228 acts the actuating motor 228 on carrier L mono- and carrier L bis- and acts, clamp arm 1 and clamp arm 2 201 are turned out, when clamp arm 1 and clamp arm 2 201 clamp wheel, 228 stopping of actuating motor movement, and carrier L mono- Automobile has been removed with carrier L bis-；

(5) carrier L mono- and carrier L bis- starts carrier vehicle, and driving motor 404 acts, and reversing motor acts as needed, When carrier L mono- and carrier L bis- is mobile, when the dropproof sensor 13 on bottom cover 3 detects the increase at a distance from ground, drive Dynamic motor 404 and reversing motor stopping movement, otherwise driving motor 404 continues to act, and carrier L mono- and carrier L bis- are by vapour Vehicle is carried to the position of needs；Meanwhile ultrasonic sensor 1 detects the distance between carrier L mono- and carrier L bis-, if For d5, if d- △ d≤d5≤d+ △ d(condition one), driving motor 404 does not do new element；If d5 > d+ △ d, driving motor 404 Movement keeps carrier L bis- mobile towards mono- direction of carrier L, and until the condition that meets one, driving motor 404 is not done New element；Otherwise, 404 counteragent of driving motor, carrier L bis- is mobile away from mono- direction of carrier L, until full Until sufficient condition one, driving motor 404 does not do new element；

Wherein, mono- face front-wheel of carrier L and when clamp arm 1 and clamp arm 2 201 rotate towards each other, clamp arm 1 and clamp arm two 201 just clamp wheel, and clamp arm 1 is identical with the structure of clamp arm 2 201；△ d is the range difference threshold value of setting, 0≤△ d ≤ 10mm, r are the radius of front wheels and rear wheels, and d is the distance threshold of setting, and d is determined by wheel base before and after the automobile to be carried；Bottom There are four dropproof sensors 13 in rectangular layout for the downside arrangement of lid 3, and dropproof sensor 13 is close to the edge of bottom cover 3； For convenience of description, two carrier L are respectively carrier L mono- and carrier L bis-, the position pair of carrier L mono- and front-wheel It answers, carrier L bis- is corresponding with the position of rear-wheel.

Wherein, further comprising the steps of between step (1) and step (2): to detect whether to hinder carrier L movement Barrier, driving motor 404 act, and are moved forward and backward carrier L mono- and carrier L bis-, if the supersonic sensing of carrier L mono- Device 2 11 detects barrier and the barrier is in the corresponding position of front-wheel, and the direction of action for controlling driving motor 404 makes to carry Device L mono- shrinks back, and when rear of the middle frame 8 in barrier, 404 stopping of driving motor movement controls the execution of barrier side Motor 228 acts, and is flared out clamp arm 1 and clamp arm 2 201, the middle frame 8 detected according to ultrasonic sensor 2 11 The distance between barrier controls clamp arm 1 and the outward angle of clamp arm 2 201, when clamp arm 1 or clamp arm two 201 can completely with bar contact when, 228 stopping of actuating motor movement, 404 counteragent of driving motor, clamp arm 1 or folder Arm 2 201 releases barrier outside automobile, and 228 counteragent of actuating motor makes the clamp arm 1 and clamp arm two of carrier L mono- 201 withdraw；Otherwise, position of the adjustment carrier L mono- below automobile；If the ultrasonic sensor 2 11 of carrier L bis- detects To barrier and the barrier is in the corresponding position of rear-wheel, and the direction of action for controlling driving motor 404 makes carrier L bis- forward Into when rear of the middle frame 8 in barrier, the actuating motor 228 of 404 stopping of driving motor movement, control barrier side is dynamic Make, be flared out clamp arm 1 and clamp arm 2 201, according to ultrasonic sensor 2 11 detect middle frame 8 and barrier it Between distance, clamp arm 1 and the outward angle of clamp arm 2 201 are controlled, when clamp arm 1 or clamp arm 2 201 can be completely When with bar contact, 228 stopping of actuating motor movement, 404 counteragent of driving motor, clamp arm 1 or clamp arm 2 201 will Barrier is released outside automobile, 228 counteragent of actuating motor, withdraws the clamp arm 1 of carrier L mono- and clamp arm 2 201；It is no Then, position of the adjustment carrier L bis- below automobile.

Process when executive module 2 acts is specifically, clamp arm 1 and clamp arm 2 201 rotate towards each other, one 202 He of clamp arm Clamp arm 2 201 clamps each wheel, so that car be carried, the movement of holding-wheel is specifically, actuating motor 228 Movement, actuating motor 228 output power after right-angle reduction device 1 slows down and turns to worm screw 233, the rotation of worm screw 233 The rotation of worm driver gear 212 is driven, the rotation of worm driver gear 212 drives the rotation of drive sprocket 211, and drive sprocket 211 turns The dynamic rotation for driving driven sprocket 221, the rotation of the rotation driving gear 223 of driven sprocket 221, the rotation of driving gear 223 The rotation of driven gear 214 is driven, the rotation of drive sprocket 211 drives the rotation of rotation seat 1, and rotation seat 1 turns The dynamic rotation for driving clamp arm bracket 1 and clamp arm 1, the rotation of driven gear 214 drive the rotation of rotation seat 2 217, The rotation of rotation seat 2 217 drives the rotation of clamp arm bracket 2 206 and clamp arm 2 201, controls the movement side of actuating motor 228 To rotating clamp arm 1 and clamp arm 2 201 away from the direction of middle frame 8 simultaneously, 2 201 phase of clamp arm 1 and clamp arm Wheel is clamped to rotation, clamp arm 1 or clamp arm 2 201 are rotatable, prevent clamp arm 1 and clamp arm 2 201 and ground It dry grinds between clamp arm 1 and clamp arm 2 201 and ground when touching, makes clamp arm 1 and clamp arm 2 201 more successfully Wheel is clamped；The action process of driving mechanism is specifically, two drive wheel assemblies 4 move at the same time, when walking, driving motor 404 movements, driving wheel 402 rotate, and driven wheel 502 is rotated with driving wheel 402, realizes the movement of entire carrier L, need to turn Xiang Shi, steering motor 403 act, and steering motor 403 is that right-angle reduction device 2 401 provides power, and right-angle reduction device 2 401 is realized Slow down and commutation, right-angle reduction device 2 401 drive the rotation of drive bevel gear 408, the rotation of drive bevel gear 408 drives driven The rotation of bevel gear 407, the rotation of driven wheel of differential 407 drive the rotation of shaft 414, and the rotation of shaft 414, which drives, turns to tooth The rotation of wheel 412, omnidirectional under the action of gear ring 411 of tooth sector 412 rotates, and makes the direction of automobile constant, carrier L Can by automobile it is straight storage, save parking space；Structure of the invention is ingenious and compact, and car has been removed and will by executive module 2 Car clamps, and realizes walking by the setting of driving mechanism and turns to, car can be freely carried to the position of needs； When using method carrier vehicle in the present invention, automatic identification front wheels and rear wheels position enables clamp arm 1 and clamp arm 2 201 More smoothly wheel is clamped；It can be applied in the work for carrying car, be particularly suitable for carrying car.

The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor A little replacements and deformation, these replacements and deformation are within the scope of the invention.