CN107605207A - Intelligent parking robot and control method thereof - Google Patents

Intelligent parking robot and control method thereof Download PDF

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Publication number
CN107605207A
CN107605207A CN201711045062.4A CN201711045062A CN107605207A CN 107605207 A CN107605207 A CN 107605207A CN 201711045062 A CN201711045062 A CN 201711045062A CN 107605207 A CN107605207 A CN 107605207A
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China
Prior art keywords
arm
load bearing
motor
robot
mainframe
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Pending
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CN201711045062.4A
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Chinese (zh)
Inventor
郭雨
曹力
王晨
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Hangzhou Jimu Technology Co ltd
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Hangzhou Jimu Technology Co ltd
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Priority to CN201711045062.4A priority Critical patent/CN107605207A/en
Publication of CN107605207A publication Critical patent/CN107605207A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an intelligent parking robot and a control method thereof, wherein the parking robot comprises a main frame, clamping units are symmetrically arranged on two sides of the main frame, and each clamping unit comprises a front clamping arm and a rear clamping arm; the front clamping arm comprises a first driving motor, a worm gear reducer, a first bearing arm and a switch sensor; the rear clamping arm comprises a second driving motor, a planetary reducer, a screw rod, a guide rail, a slide block, a second bearing arm, a rotary connecting plate and a third driving motor; a driving system is arranged on the main frame. The robot can complete the lifting and moving of the vehicle without building special platform structures in both the cross-connection area and the parking area, thereby achieving the highest space utilization rate; when two robots work in coordination to clamp the vehicle, different clamping modes can be adopted, and the robot can adapt to different occasions.

Description

A kind of intelligent parking robot and its control method
Technical field
The invention belongs to robotic technology field, more particularly to a kind of intelligent parking robot and its control method.
Background technology
With social high speed development, automobile is increasingly popularized, but thing followed parking problem turns into major, middle city Problem.In order to solve existing storage parking lot and car parking area parking difficulty, the problem of efficiency is low, intelligent parking robot Using more and more common.Transport Vehicle intelligent robot mainly has with vehicle-carrying plate at present, broach, several forms of track.It is existing Have in technology, the board-like robot of carrier vehicle will head on vehicle-carrying plate always, be minimum in space utilization rate and conevying efficiency.Broach Formula robot is needed to build special landing, and car is lifted, then carries out lifting delivery, thereby results in space availability ratio less It is economical.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of intelligent parking robot, cancel and build spy Different landing, robot can be directly entered vehicle bottom and carry out vehicle conveying.
The purpose of the present invention is achieved through the following technical solutions:A kind of intelligent parking robot, including mainframe, The both sides of mainframe are arranged symmetrically catching unit, and each catching unit includes preceding gripping arm and rear gripping arm;
The preceding gripping arm includes the first motor, worm type of reduction gearing, the first load bearing arm and travel switch sensing Device;The output shaft of first motor and the worm screw of worm type of reduction gearing connect, the snail of the worm type of reduction gearing Wheel is fixedly connected with the first load bearing arm, the expansion of the first load bearing arm of driving or closure;First load bearing arm opens closing position point An Zhuan not travel switch sensor;
Gripping arm includes the second motor, planetary reducer, leading screw, guide rail, sliding block, the second load bearing arm, rotation after described Turn connecting plate and the 3rd motor;The guide rail is fixed on mainframe, and the leading screw is supported on mainframe, the sliding block It is slidably arranged on guide rail, can be slided along the fore-and-aft direction of parking robot, sliding block is engaged with leading screw simultaneously, and described second The output axis connection planetary reducer of motor, the output end connection leading screw of the planetary reducer, driving leading screw movement, institute The 3rd motor of setting is stated on sliding block, the output shaft of the 3rd motor is fixedly connected with rotary connection plate, and described the Two load bearing arms are fixed in rotary connection plate;
Drive system is set on the mainframe, and the drive system includes Mecanum wheel, the 4th motor, slowed down Device and draft hitch, the output shaft connection reducer of the 4th motor, the output axis connection Mike of the decelerator receive Nurse wheel, the decelerator are connected on mainframe by draft hitch.
Further, the outermost of first load bearing arm and the second load bearing arm fixes heavy-duty universal by stiffener Heavy-duty universal wheel is fixed in wheel, the front-end and back-end of mainframe by suspension respectively;Load is shared by heavy-duty universal wheel, by outstanding Frame ensures that machine stress is uniform, operates steadily.
Further, gripping arm is additionally provided with lockable mechanism after described, is provided with locking hole in the rotary connection plate, and second After load bearing arm is deployed into set angle, lockable mechanism springs into locking hole, realizes the locking of the second load bearing arm.
Further, the parking robot also includes perceiving unit, computing system and electrical apparatus control system, described to perceive list Member is distributed in around complete machine, including ultrasound, vision, laser, TOF, IMU, UWB, GPS, and the computing system, which is used to handle, to be perceived The data that unit obtains, obtain surrounding enviroment information and the positional information of itself, identify the object content perceived, do path rule Draw and navigate, control instruction is sent to electrical apparatus control system;The electrical apparatus control system includes electric machine control system and power supply pipe Reason system;The control instruction that the electric machine control system is sent according to computing system, drive gripping arm and complete machine motion.
A kind of control method of intelligent parking robot, including:Using two intelligent parking machine person cooperative works, each Intelligent parking robot deploys by deploying and locking preceding gripping arm, rear gripping arm and locks backward preceding gripping arm movement, clamp And wheel is lifted, Liang Ge intelligent parkings robot grips the front wheels and rear wheels of vehicle respectively, by changing two Intelligent stop vehicle devices The distance of device people and front and rear posture, realize the automobile for gripping different wheelbases.
The beneficial effects of the invention are as follows:It is special that intelligent parking robot of the present invention need not be built in cross-connecting area and parking area Platform structure, lifting and moving for vehicle can be completed, so as to reach highest space availability ratio;Work is cooperateed with Liang Ge robots When making gripping vehicle, different gripping modes can be used, is adapted to different occasions.
Brief description of the drawings
Fig. 1 is present invention parking robot overall structure diagram;
Fig. 2 is preceding gripping arm configuration schematic diagram;
Fig. 3 is rear gripping arm structural representation;
Fig. 4 is driving system structure schematic diagram;
In figure, mainframe 1, preceding gripping arm 2, the first motor 21, worm type of reduction gearing 22, the first load bearing arm 23, Travel switch sensor 24, rear gripping arm 3, the second motor 31, planetary reducer 32, leading screw 33, guide rail 34, sliding block 35, Second load bearing arm 36, rotary connection plate 37, heavy-duty universal wheel 4, lockable mechanism 5, drive system 6, Mecanum wheel 61,4 wheel driven Dynamic motor 62, decelerator 63, draft hitch 64.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As Figure 1-4, a kind of intelligent parking robot provided by the invention, including mainframe 1, the both sides of mainframe 1 Catching unit is arranged symmetrically, each catching unit includes preceding gripping arm 2 and rear gripping arm 3;
The preceding gripping arm 2 is opened including the first motor 21, worm type of reduction gearing 22, the first load bearing arm 23 and stroke Close sensor 24;The output shaft of first motor 21 is connected with the worm screw of worm type of reduction gearing 22, the worm gear snail The worm gear of bar decelerator 22 is fixedly connected with the first load bearing arm 23, and the first load bearing arm 23 of driving deploys or closed;Described first holds The closing position of opening of load arm 23 installs travel switch sensor 24 respectively;
Gripping arm 3 includes the second motor 31, planetary reducer 32, leading screw 33, guide rail 34, sliding block 35, the after described Two load bearing arms 36, the motor of rotary connection plate 37 and the 3rd;The guide rail 34 is fixed on mainframe 1, the leading screw 33 Hold on mainframe 1, the sliding block 35 is slidably arranged on guide rail 34, can be slided along the fore-and-aft direction of parking robot, sliding Block 35 is engaged with leading screw 33 simultaneously, and the output axis connection planetary reducer 32 of second motor 31, the planet subtracts The output end connection leading screw 33 of fast machine 32, driving leading screw 33 move, the 3rd motor of setting on the sliding block 35, and the described 3rd The output shaft of motor is fixedly connected with rotary connection plate 37, and second load bearing arm 36 is fixed in rotary connection plate 37;
Drive system 6 is set on the mainframe 1, and the drive system 6 includes Mecanum wheel 61, the 4th motor 62nd, decelerator 63 and draft hitch 64, the output shaft connection reducer 63 of the 4th motor 62, the decelerator 63 Axis connection Mecanum wheel 61 is exported, the decelerator 63 is connected on mainframe 1 by draft hitch 64.Using Mecanum Take turns as driver element, it is possible to achieve unit/two-shipper/multimachine is movable, transverse shifting, the motion for rotating in place, turning, narrow In narrow space, vehicle is moved into, removed.
One intelligent parking robot can grip two front-wheels or two trailing wheels of vehicle, and two intelligent parking machines are artificial One group, one vehicle of gripping can be achieved, and be moved to specified location.
Further, the outermost of the load bearing arm 36 of the first load bearing arm 23 and second fixes heavy duty ten thousand by stiffener To wheel 4, heavy-duty universal wheel 4 is fixed in the front-end and back-end of mainframe 1 by suspension respectively;Load is shared by heavy-duty universal wheel 4, Ensure that machine stress is uniform by suspension, operate steadily.
Further, the rear gripping arm 3 is additionally provided with lockable mechanism 5, and locking hole is provided with the rotary connection plate 37, After second load bearing arm 36 is deployed into set angle, lockable mechanism 5 springs into locking hole, realizes the locking of the second load bearing arm 36.
Further, the parking robot also includes perceiving unit, computing system and electrical apparatus control system, described to perceive list Member is distributed in around complete machine, including ultrasound, vision, laser, TOF, IMU, UWB, GPS, and the computing system, which is used to handle, to be perceived The data that unit obtains, obtain surrounding enviroment information and the positional information of itself, identify the object content perceived, do path rule Draw and navigate, control instruction is sent to electrical apparatus control system;The electrical apparatus control system includes electric machine control system and power supply pipe Reason system;The control instruction that the electric machine control system is sent according to computing system, drive gripping arm and complete machine motion.
The control method of present invention parking robot includes:Using two intelligent parking machine person cooperative works, Mei Gezhi Robot can be stopped by deploying and locking preceding gripping arm, gripping arm movement, is clamped simultaneously before rear gripping arm is deployed and locked backward Wheel is lifted, Liang Ge intelligent parkings robot grips the front wheels and rear wheels of vehicle respectively, by changing two intelligent parking machines The distance of people and front and rear posture, realize the automobile for gripping different wheelbases.
The present invention is not only limited to above-mentioned embodiment, and persons skilled in the art are according to disclosed by the invention interior Hold, other a variety of specific embodiments can be used to implement the present invention.Therefore, every design structure and think of using the present invention Road, some simple designs for changing or changing are done, both fall within the scope of the present invention.

Claims (5)

1. a kind of intelligent parking robot, it is characterised in that including mainframe, the both sides of mainframe (1) are arranged symmetrically gripping list Member, each catching unit include preceding gripping arm (2) and rear gripping arm (3);
The preceding gripping arm (2) includes the first motor (21), worm type of reduction gearing (22), the first load bearing arm (23) and row Journey switch sensor (24);The output shaft of first motor (21) is connected with the worm screw of worm type of reduction gearing (22), The worm gear of the worm type of reduction gearing (22) is fixedly connected with the first load bearing arm (23), driving the first load bearing arm (23) expansion or Closure;The closing position of opening of first load bearing arm (23) installs travel switch sensor (24) respectively;
Gripping arm (3) includes the second motor (31), planetary reducer (32), leading screw (33), guide rail (34), sliding block after described (35), the second load bearing arm (36), rotary connection plate (37) and the 3rd motor;The guide rail (34) is fixed on mainframe (1) On, the leading screw (33) is supported on mainframe (1), and the sliding block (35) is slidably arranged on guide rail (34), can be along parking The fore-and-aft direction of robot slides, and sliding block (35) while is engaged with leading screw (33), the output of second motor (31) Axis connection planetary reducer (32), the output end connection leading screw (33) of the planetary reducer (32), driving leading screw (33) is mobile, 3rd motor, output shaft and rotary connection plate (37) the fixed company of the 3rd motor are set on the sliding block (35) Connect, second load bearing arm (36) is fixed in rotary connection plate (37);
Drive system (6) is set on the mainframe (1), and the drive system (6) includes Mecanum wheel (61), the 4th driving Motor (62), decelerator (63) and draft hitch (64), the output shaft connection reducer (63) of the 4th motor (62), The output axis connection Mecanum wheel (61) of the decelerator (63), the decelerator (63) are connected to by draft hitch (64) On mainframe (1).
2. a kind of intelligent parking robot according to claim 1, it is characterised in that first load bearing arm (23) and The outermost of two load bearing arms (36) fixes heavy-duty universal wheel (4) by stiffener, and the front-end and back-end of mainframe (1) lead to respectively Cross suspension and fix heavy-duty universal wheel (4);Load is shared by heavy-duty universal wheel (4), ensures that machine stress is uniform by suspension, fortune Row is steady.
3. a kind of intelligent parking robot according to claim 1, it is characterised in that gripping arm (3) is also set up after described There is lockable mechanism (5), locking hole is provided with the rotary connection plate (37), after the second load bearing arm (36) is deployed into set angle, Lockable mechanism (5) springs into locking hole, realizes the locking of the second load bearing arm (36).
4. a kind of intelligent parking robot according to claim 1, it is characterised in that the parking robot also includes perceiving Unit, computing system and electrical apparatus control system, it is described perception cell distribution around complete machine, including ultrasound, vision, laser, TOF, IMU, UWB, GPS, the computing system be used for handle perceive unit obtain data, obtain surrounding enviroment information and itself Positional information, identify the object content perceived, do path planning and navigation, to electrical apparatus control system send control instruction; The electrical apparatus control system includes electric machine control system and power-supply management system;The electric machine control system is sent out according to computing system The control instruction sent, drive gripping arm and complete machine motion.
A kind of 5. control method of any one of claim 1-4 intelligent parking robots, it is characterised in that including:Using Two intelligent parking machine person cooperative works, each intelligent parking robot is by deploying and locking preceding gripping arm, rear gripping arm Deploy and lock backward preceding gripping arm movement, clamp and lift wheel, before Liang Ge intelligent parkings robot grips vehicle respectively Wheel and trailing wheel, by the distance for changing Liang Ge intelligent parkings robot and front and rear posture, realize the automobile for gripping different wheelbases.
CN201711045062.4A 2017-10-31 2017-10-31 Intelligent parking robot and control method thereof Pending CN107605207A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711045062.4A CN107605207A (en) 2017-10-31 2017-10-31 Intelligent parking robot and control method thereof

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Application Number Priority Date Filing Date Title
CN201711045062.4A CN107605207A (en) 2017-10-31 2017-10-31 Intelligent parking robot and control method thereof

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CN107605207A true CN107605207A (en) 2018-01-19

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CN (1) CN107605207A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109229078A (en) * 2018-08-08 2019-01-18 南京理工大学 A method of it assisting side parking device and is stopped using the device
CN109339541A (en) * 2018-11-22 2019-02-15 杭州极木科技有限公司 Omnidirectional-movement automobile carrying robot and control method thereof
CN109403683A (en) * 2018-12-14 2019-03-01 云南昆船智能装备有限公司 A kind of pincers act for intelligent parking robot holds/clamp device
CN109681015A (en) * 2019-01-16 2019-04-26 深圳怡丰机器人科技有限公司 Control method, carrier and the device with store function of carrier
CN112627610A (en) * 2020-12-04 2021-04-09 安徽蓝鸟智能停车科技产业化有限公司 Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof
CN112627611A (en) * 2020-12-04 2021-04-09 安徽蓝鸟智能停车科技产业化有限公司 Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof

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CN105888338A (en) * 2016-05-26 2016-08-24 山东建筑大学 UWB-positioning-based intelligent automobile transfer robot and control method thereof
CN105971338A (en) * 2016-07-01 2016-09-28 山东天辰智能停车设备有限公司 Self-locating integral type intelligent carrier with double holding clamps for automobile tires
CN207513271U (en) * 2017-10-31 2018-06-19 杭州极木科技有限公司 Intelligent parking robot

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CN101915003A (en) * 2010-04-21 2010-12-15 北京航天汇信科技有限公司 Robot clamping carrier
CN103590634A (en) * 2012-06-28 2014-02-19 米姗姗 Ultra-thin transverse vehicle transfer robot
CN202788089U (en) * 2012-09-21 2013-03-13 北京宏地车港科技有限公司 Wheel lifting and clamping mechanism for automobile carrying
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109229078A (en) * 2018-08-08 2019-01-18 南京理工大学 A method of it assisting side parking device and is stopped using the device
CN109339541A (en) * 2018-11-22 2019-02-15 杭州极木科技有限公司 Omnidirectional-movement automobile carrying robot and control method thereof
CN109403683A (en) * 2018-12-14 2019-03-01 云南昆船智能装备有限公司 A kind of pincers act for intelligent parking robot holds/clamp device
CN109403683B (en) * 2018-12-14 2023-09-01 云南昆船智能装备有限公司 Clamp holding/clamping device for intelligent parking robot
CN109681015A (en) * 2019-01-16 2019-04-26 深圳怡丰机器人科技有限公司 Control method, carrier and the device with store function of carrier
CN112627610A (en) * 2020-12-04 2021-04-09 安徽蓝鸟智能停车科技产业化有限公司 Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof
CN112627611A (en) * 2020-12-04 2021-04-09 安徽蓝鸟智能停车科技产业化有限公司 Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof

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