CN111910977A - a parking robot - Google Patents

Abstract

The invention discloses a parking robot, which comprises a front bottom plate and a rear bottom plate, wherein universal wheels are respectively and downwards mounted on the front bottom plate and the rear bottom plate through universal wheel fixing plates; the front bottom plate is fixedly provided with a front framework through a front lifting mechanism, and the front framework is provided with a front clamping mechanism; a rear framework is fixedly arranged on the rear bottom plate through a rear lifting mechanism, and a rear clamping mechanism is arranged on the rear framework; the front framework and the rear framework are in transmission connection through a telescopic mechanism. When automobiles with different wheelbases are encountered, the parking robot can adjust the length of the parking robot according to the wheelbases of the different automobiles; the front bottom plate and the rear bottom plate of the robot are very low, and can enter the bottom of a vehicle; the robot clamping mechanism can clamp the tires of small and medium-sized vehicles on the market; when the clamping mechanism of the robot clamps the vehicle, the vehicle lifts the vehicle off the ground through the lifting mechanism to perform mobile parking.

Description

a parking robot

technical field

The invention relates to the technical field of robots, in particular to a parking robot.

Background technique

With the rapid development of my country's automobile manufacturing industry, the number of automobiles has maintained a steady and rapid growth, but the construction of parking facilities cannot keep up with the growth rate of automobiles and the low utilization efficiency of parking facilities. Parking difficulties have become a common problem faced by cities.

The application of intelligent parking robots can effectively solve the problem of low utilization rate of parking facilities caused by artificial parking, and play an important role in improving the parking capacity of the garage and alleviating the problem of difficult parking. The parking robot can be used in the existing parking lot without major changes to the parking lot. Since there is no need for human participation in the whole process, it saves the parking lot personnel, saves the space for opening the door, and saves the parking time. Moreover, the adjustment of position and orientation of the robot requires less space than human adjustment. Therefore, the application of intelligent parking robot system to improve the existing garage capacity is an effective method to alleviate the current parking problem.

Through the research on the current situation of parking robots at home and abroad, there are mainly three types of vehicle handover technologies for parking robots: gripping tire-type vehicle handover technology, comb-type vehicle handover technology, and car lift plate handover technology. However, these methods have their own shortcomings: the clamping tire-type vehicle exchange technology realizes the car lifting function by means of the clamping device to clamp the tires and lift them off the ground, which may cause damage to the tires of the car. The comb-tooth vehicle handover technology is to place the tires on the comb-tooth frame on both sides, and lift the car off the ground through the lifting device. This method effectively solves the problem of tire wear caused by the clamping device, but the comb-tooth belongs to the cantilever. Structure, comb structure needs to be fixedly installed in each parking space; the car lift plate handover technology is to park the car on the car platform, the robot lifts the car and the car platform together through the lifting device, and the parking lot will correspond to the parking space. Parking boards, which add to the fixed cost of parking.

SUMMARY OF THE INVENTION

Aiming at the above-mentioned deficiencies of the prior art, the technical problem to be solved by this patent application is: how to provide a parking robot that can realize the handling of vehicles, has high efficiency, can adapt to vehicles of different lengths, and has a high degree of automation.

In order to achieve the above object, the present invention adopts the following technical solutions:

A parking robot comprises a front bottom plate and a rear bottom plate, wherein the front bottom plate and the rear bottom plate are respectively equipped with a universal wheel downward through a universal wheel fixing plate; a front frame is fixedly installed on the front bottom plate through a front lifting mechanism, A front clamping mechanism is installed on the front frame; a rear frame is fixedly installed on the rear bottom plate through a rear lifting mechanism, and a rear clamping mechanism is installed on the rear frame; the front frame and the rear frame are driven by a telescopic mechanism connect.

In this way, when encountering cars with different wheelbases, the parking robot can adjust its length according to the wheelbases of different cars; the front floor and rear floor of the robot are very low and can enter the bottom of the vehicle; the robot clamping mechanism can Clamp the tires of the car; when the robot's clamping mechanism clamps the vehicle, the lifting mechanism lifts the car off the ground for mobile parking. It can realize lifting and clamping through low space. The parking robot has a "bridge" structure as a whole, which can better realize the distribution of force and make the overall force of the robot more uniform.

Wherein, the front lifting mechanism includes a cylinder block of a front vertical hydraulic cylinder fixedly installed on the front bottom plate, the piston rod of the front vertical hydraulic cylinder is upwardly arranged and fixedly installed with a front top cover, the front top cover is connected with The front frame is fixedly connected; the rear lifting mechanism includes a cylinder body of a rear vertical hydraulic cylinder that is fixedly installed on the rear bottom plate, the piston rod of the rear vertical hydraulic cylinder is upwardly arranged and a rear top cover is fixedly installed, and the rear The top cover is fixedly connected with the rear frame.

In this way, the front vertical hydraulic cylinder and the rear vertical hydraulic cylinder act synchronously, and the front and rear frames, as well as the front and rear clamping mechanisms, are moved up and down through the front top cover and the rear top cover, and the vehicle wheels can be driven off the ground.

Wherein, two front lifting mechanisms are provided along both sides of the front bottom plate; two rear lifting mechanisms are provided along both sides of the rear bottom plate. Improve stability.

The telescopic mechanism includes a lead screw motor and a ball screw, the lead screw motor is fixedly installed on the front frame and is fixedly connected to one end of the lead screw through a coupling, and a horizontally arranged guide is fixedly installed on the front frame. The rear frame has a guide rail that is slidably fitted with the guide rod, the guide rod is slidably fitted in the guide rail, and a nut block is fitted on the lead screw, and the nut block is fixedly connected to the rear frame .

In this way, the rotation of the lead screw motor drives the lead screw to rotate, and the front frame and the rear frame are driven to expand and contract through the nut block.

The rear clamping mechanism includes four rear horizontal hydraulic cylinders hinged on the rear frame and four rear clamping arms hinged on the rear frame, and rear sliders are slidably installed on the rear clamping arms. The rear sliding block is hinged with the end of the piston rod of the rear horizontal hydraulic cylinder, and the four rear clamping arms are symmetrically arranged along the center line of the rear frame.

In this way, the extension and retraction of the piston rod of the rear horizontal hydraulic cylinder drives the rear clamping arm through the rear sliding block to realize clamping and reset.

The front clamping mechanism includes two front fixed arms fixedly connected with the front frame, two front clamping arms hinged with the front frame, and two front horizontal hydraulic cylinders, and the cylinder bodies of the front horizontal hydraulic cylinders are hinged On the front frame, a front slider is slidably fitted on the front clamping arm, the piston rod of the front horizontal hydraulic cylinder is hinged with the front slider, and the front fixed arm is symmetrically arranged along the center line of the front frame, The front clamping arm is symmetrically arranged along the center line of the front frame, and the front clamping arm is located between the rear clamping arm and the front fixing arm.

In this way, the expansion and contraction of the piston rod of the front horizontal hydraulic cylinder drives the front clamping arm through the front slider to realize clamping and reset.

Wherein, the front end of the front frame is connected with a car head, and a power wheel, a differential gear and a differential motor connected with the differential gear are installed downward on the vehicle head. The walking and steering of the entire robot can be realized.

To sum up, the parking robot has the following beneficial effects: when encountering cars with different wheelbases, the parking robot can adjust its length according to the wheelbases of different cars; the front and rear bottoms of the robot are very low and can enter The bottom of the vehicle; the robot clamping mechanism can clamp the tires of the car; when the robot clamping mechanism clamps the vehicle, the vehicle lifts the car off the ground through the lifting mechanism for mobile parking. It can realize lifting and clamping through low space. The parking robot has a "bridge" structure as a whole, which can better realize the force distribution and make the overall force of the robot more uniform.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the specific embodiments or the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. In the drawings, each element or section is not necessarily drawn to actual scale.

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

FIG. 2 is a bottom view of FIG. 1 .

FIG. 3 is a schematic view of FIG. 1 after the rear bottom plate and the structure installed on the rear bottom plate are removed.

FIG. 4 is a schematic view of FIG. 1 after removing the front bottom plate and the structure installed on the front bottom plate.

Detailed ways

The technical solutions in 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. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. In this embodiment, the azimuth or positional relationship indicated by the terms "upper", "bottom", "left", "right", "front", "rear", "upper end", "lower end", etc. are based on the azimuth or positional relationship shown in the accompanying drawings, It is only for the convenience of description, rather than indicating or implying that the referred device or element must have a particular orientation, be constructed or operate in a particular orientation, and therefore should not be construed as a limitation of the present invention.

Referring to Figures 1-4, a parking robot includes a front bottom plate 2 and a rear bottom plate 1, and the front bottom plate and the rear bottom plate are respectively equipped with a universal wheel 4 downward through a universal wheel fixing plate 3; A front frame 6 is fixedly installed through the front lifting mechanism, and a front clamping mechanism is installed on the front frame; a rear frame 5 is fixedly installed on the rear bottom plate through the rear lifting mechanism, and a rear clamping mechanism is installed on the rear frame. ; The front frame and the rear frame are connected through a telescopic mechanism.

In this way, when encountering cars with different wheelbases, the parking robot can adjust its length according to the wheelbases of different cars; the front floor and rear floor of the robot are very low and can enter the bottom of the vehicle; the robot clamping mechanism can Clamp the tires of small and medium-sized vehicles on the market; when the clamping mechanism of the robot clamps the vehicle, the vehicle lifts the vehicle off the ground through the lifting mechanism for mobile parking. It can realize lifting and clamping through low space. The parking robot has a "bridge" structure as a whole, which can better realize the distribution of force and make the overall force of the robot more uniform.

The front lifting mechanism includes a cylinder block of a front vertical hydraulic cylinder 9 fixedly installed on the front bottom plate, the piston rod of the front vertical hydraulic cylinder is upwardly arranged and fixedly installed with a front top cover 10, and the front top cover 10 is fixedly installed. The cover is fixedly connected to the front frame; the rear lifting mechanism includes the cylinder body of the rear vertical hydraulic cylinder 7 fixedly installed on the rear bottom plate, and the piston rod of the rear vertical hydraulic cylinder is set upward and fixedly installed with the rear top cover 8 , the rear top cover is fixedly connected with the rear frame.

In this way, the front vertical hydraulic cylinder and the rear vertical hydraulic cylinder act synchronously, and the front and rear frames, as well as the front and rear clamping mechanisms, are moved up and down through the front top cover and the rear top cover, and the vehicle wheels can be driven off the ground.

Wherein, two front lifting mechanisms are provided along both sides of the front bottom plate; two rear lifting mechanisms are provided along both sides of the rear bottom plate. Improve stability.

The telescopic mechanism includes a lead screw motor 11 and a ball screw 12. The lead screw motor is fixedly installed on the front frame and is fixedly connected to one end of the lead screw through a coupling. The front frame is fixedly installed with a horizontally arranged The rear frame has a guide rail slidably fitted with the guide rod, the guide rod is slidably fitted in the guide rail, and a nut block 13 is fitted on the lead screw, and the nut block 13 is fitted with the guide rod. After the skeleton is fixedly connected.

In this way, the rotation of the lead screw motor drives the lead screw to rotate, and the front frame and the rear frame are driven to expand and contract through the nut block.

The rear clamping mechanism includes four rear horizontal hydraulic cylinders 15 hinged to the rear frame and four rear clamping arms 16 hinged to the rear frame, and rear sliders are slidably installed on the rear clamping arms 16 17. The rear sliding block is hinged with the end of the piston rod of the rear horizontal hydraulic cylinder, and the four rear clamping arms are symmetrically arranged along the center line of the rear frame.

In this way, the extension and retraction of the piston rod of the rear horizontal hydraulic cylinder drives the rear clamping arm through the rear sliding block to realize clamping and reset.

The front clamping mechanism includes two front fixed arms 18 fixedly connected to the front frame, two front clamping arms 19 hinged to the front frame, and two front horizontal hydraulic cylinders 20. The cylinder body is hinged on the front frame, the front gripper arm is slidably fitted with a front slider 21, the piston rod of the front horizontal hydraulic cylinder is hinged with the front slider, and the front fixed arm is along the front frame. The midline is symmetrically arranged, the front clamping arm is symmetrically arranged along the midline of the front frame, and the front clamping arm is located between the rear clamping arm and the front fixing arm.

In this way, the expansion and contraction of the piston rod of the front horizontal hydraulic cylinder drives the front clamping arm through the front slider to realize clamping and reset.

Wherein, the front end of the front frame is connected with a car head (not shown), and a power wheel, a differential gear and a differential motor connected with the differential gear are installed downward on the vehicle head. The walking and steering of the entire robot can be realized.

Specifically, a control device and a battery are installed on the front bottom plate and the rear bottom plate, which are used to identify the position of the car, the wheels of the car and the parking space, and the battery supplies power.

The robot is pushed by the front of the car and enters the bottom of the car. When the fixed arm touches the wheel of the car, the retractable mechanism of the parking robot adjusts the rear part of the parking robot to find the other two wheel positions of the car. The mechanism works, lift the car to a certain height such as 6mm, and then the parking robot is pulled by the head force to walk and transport the car to the designated position. Then the lifting mechanism descends, the clamping knot mechanism is loosened and the clamping mechanism is retracted, and the head of the parking robot is driven to pull out from under the chassis of the car.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand; Modifications are made to the technical solutions recorded in the foregoing embodiments, or some or all of the technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. It should be covered within the scope of the claims and description of the present invention.

Claims (7)

1. a parking robot, is characterized in that, comprises front bottom plate and rear bottom plate, described front bottom plate and rear bottom plate are respectively equipped with universal wheel downward by universal wheel fixing plate; A front frame is fixedly installed, and a front clamping mechanism is installed on the front frame; a rear frame is fixedly installed on the rear base plate through a rear lifting mechanism, and a rear clamping mechanism is installed on the rear frame; the front frame and the The rear frame is connected by a telescopic mechanism. 2 . The parking robot according to claim 1 , wherein the front lifting mechanism comprises a cylinder block of a front vertical hydraulic cylinder fixedly installed on the front bottom plate, and a piston of the front vertical hydraulic cylinder The rod is upwardly arranged and fixedly installed with a front top cover, and the front top cover is fixedly connected with the front frame; the rear lifting mechanism includes a cylinder block of a rear vertical hydraulic cylinder that is fixedly installed on the rear bottom plate, and the rear vertical hydraulic cylinder is The piston rod of the cylinder is upwardly arranged and fixedly mounted with a rear top cover, and the rear top cover is fixedly connected with the rear frame. 3 . The parking robot according to claim 2 , wherein two front lifting mechanisms are provided along both sides of the front bottom plate; and two rear lifting mechanisms are provided along both sides of the rear bottom plate. 4 . 4 . The parking robot according to claim 1 , wherein the telescopic mechanism comprises a lead screw motor and a ball screw, and the lead screw motor is fixedly installed on the front frame and is connected with the lead screw through a coupling. 5 . One end of the lever is fixedly connected, a horizontally arranged guide rod is fixedly installed on the front frame, the rear frame has a guide rail that is slidably fitted with the guide rod, the guide rod is slidably fitted in the guide rail, and the lead screw The upper screw joint is fitted with a nut block, and the nut block is fixedly connected with the rear frame. 5 . The parking robot according to claim 1 , wherein the rear clamping mechanism comprises four rear horizontal hydraulic cylinders hinged on the rear frame and four rear clamping arms hinged on the rear frame, 6 . A rear slider is slidably installed on the rear clamping arms, the rear slider is hinged with the end of the piston rod of the rear horizontal hydraulic cylinder, and the four rear clamping arms are symmetrically arranged along the center line of the rear frame . 6 . The parking robot according to claim 5 , wherein the front clamping mechanism comprises two front fixing arms fixedly connected with the front frame, two front clamping arms hinged with the front frame, and 6 . Two front horizontal hydraulic cylinders, the cylinder body of the front horizontal hydraulic cylinder is hinged on the front frame, the front clamping arm is slidably fitted with a front sliding block, and the piston rod of the front horizontal hydraulic cylinder is connected to the front sliding block. The front fixing arm is symmetrically arranged along the midline of the front frame, the front clamping arm is symmetrically arranged along the midline of the front frame, and the front clamping arm is located between the rear clamping arm and the front fixing arm between. 7 . The parking robot according to claim 1 , wherein the front end of the front frame is connected with a head, and the head is downwardly installed with a power wheel, a differential, and a differential connected with the differential. 8 . speed motor.

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