CN112091931A - Outer fork vehicle transfer robot capable of moving fork teeth simultaneously - Google Patents
Outer fork vehicle transfer robot capable of moving fork teeth simultaneously Download PDFInfo
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- CN112091931A CN112091931A CN202010950589.7A CN202010950589A CN112091931A CN 112091931 A CN112091931 A CN 112091931A CN 202010950589 A CN202010950589 A CN 202010950589A CN 112091931 A CN112091931 A CN 112091931A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention belongs to the technical field of vehicle carrying robots, and discloses an external fork vehicle carrying robot capable of moving fork teeth simultaneously and a parking method. The robot includes: the frame is of a straight-line structure; the driving walking device is arranged on two ends of the frame and used for driving the frame to move; the left fork tooth and the right fork tooth are symmetrically arranged on the same side of the frame, and the distance between the left fork tooth and the right fork tooth is adjustable; the universal wheel is arranged on the left fork tooth and the right fork tooth and comprises a wheel, a rotating body, a bevel gear set and a motor; the bevel gear group comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is located in the central hole of the rotating body, the inner ring of the rotating body and the inner side of the annular gear are fixedly connected with the wheel hub respectively, and the driving motor drives the wheel to steer actively by driving the bevel gear set. The robot occupies a small space, the fork teeth are provided with the active driving universal wheels, the structure is simple, the weighing is strong, and the operation is stable.
Description
Technical Field
The invention belongs to the technical field of vehicle carrying robots, and relates to automation equipment for navigating and carrying vehicles to or from parking spaces in a parking lot, in particular to an external fork vehicle carrying robot capable of moving fork teeth simultaneously.
Background
At present, a single-layer shipping robot of a parking lot basically adopts a four-grab structure, a walking arm and two clamping arms are arranged in the middle of the walking arm and the right walking arm respectively, tires of a vehicle are clamped by the movement of the walking arm and the clamping arm, and the vehicle is transported by the movement of the walking arm. The mechanism needs to separately design a set of moving mechanism for each of the two middle clamping arms, which not only increases the complexity of the structure, but also increases the weight and the manufacturing cost, and needs to be improved.
At present, a two-claw vehicle carrying robot appears, but the robot drives steering wheels on fork teeth by using a motor on a frame, and an adopted steering device has a complex structure, is small in bearing and easy to damage, and causes unstable operation. Meanwhile, the fork teeth are simple in structure and not easy to enable tires to climb onto the fork teeth through extrusion force, and therefore the vehicle is lifted.
Disclosure of Invention
In view of the technical problems in the prior art, the invention aims to design an external fork vehicle transfer robot capable of moving fork teeth simultaneously, aiming at the problems that the existing four-grab vehicle transfer robot has redundant structure and high manufacturing cost, and the existing four-grab vehicle transfer robot has the problems that a fork tooth steering wheel driven by a motor on a frame is easy to damage and a tire is difficult to climb onto the fork tooth through extrusion force.
The technical scheme of the invention is as follows:
the present invention provides an external fork vehicle transfer robot with simultaneous movement of the tines, the robot comprising:
a frame 100, the frame 100 having a straight-line structure;
the active walking device 140 is installed on two ends of the frame 100, and is used for driving the frame 100 to move;
the left fork tooth 200 and the right fork tooth 300 are symmetrically arranged on the same side of the frame 100, and the distance between the left fork tooth 200 and the right fork tooth 300 is adjustable, so that the wheels can be lifted off the ground by moving away from each other after being inserted into the bottom of the vehicle;
a caster 340, the caster 340 being mounted on the left 200 and right 300 tines;
the vehicle wheel base detection device 400 is positioned on one side facing the vehicle and used for detecting the position of the vehicle and the wheel base of the vehicle, and comprises a binocular camera 401 which is vertically arranged and has a distance measurement function, wherein the binocular camera 401 is arranged on a rotating shaft 402 which is vertical to the ground; the shaft 402 can rotate around the axis under the driving of the servo motor 403.
Further, the universal wheel 340 comprises a wheel 341, a rotating body 344, a bevel gear set 345 and a motor 348; the bevel gear group 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348; the wheel 341 is located in the central hole of the rotating body 344, the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected with the hub 342 of the wheel 341, and the driving motor 348 drives the wheel 341 to actively steer by driving the bevel gear set 345, so as to meet the driving requirements of the vehicle transfer robot;
the wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in a wheel hub 342 through a fixing member 349, the rotating body 344 is a cross roller bearing, an outer ring of the cross roller bearing is fixed on the left fork 200 or the right fork 300, the motor 348 drives a pinion gear 3452 through a speed reducer 7 and is mounted on a motor fixing frame 346, the motor fixing frame 346 is mounted on the left fork 200 or the right fork 300, the bevel gear set is a spiral bevel gear with spiral curved teeth, and an included angle between a central axis of the pinion gear 3452 and a central axis of the ring gear 3451 is 90 °.
When the universal wheel 340 is used, the outer ring of the rotating body 344 is fixedly mounted on the base of the device. When the motor 348 is not activated, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is turned on, the motor 348 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, while the outer ring of the rotating body 344 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the operation time of the motor 348 can be adjusted to control the magnitude of the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.
Further, the positions of the left fork tooth 200 and the right fork tooth 300 corresponding to the tire are provided with a hub limiting seat 330, and a tire bracket 331 is installed in the hub limiting seat 330; the roller hub limiting seat 330 of the left fork tooth 200 is positioned on the right side of the left fork tooth, the roller hub limiting seat 330 of the right fork tooth 300 is positioned on the left side of the right fork tooth, and the left fork tooth 200 and the right fork tooth 300 move oppositely when a vehicle is lifted off the ground;
the tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 comprises a rolling sleeve 336, a roller shaft 337 and a pedestal 338; the rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338; the pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The transverse support 3381 is located at the rear side of the rolling assembly 332; all the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other; the first longitudinal support 3382 is two sheet-shaped structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-shaped structures which are rotatably connected, namely a second rear support 3386 and a front support 3385; the first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets; a first fixed block 3341 is fixedly installed on the outer side of the first rear side support 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly installed on the outer side of the front side support 3385 end of the first longitudinal support 3382, and a second fixed block 3342 is fixedly installed on the outer side of the position, close to the rotary connecting structure, of the front side support 3385 of the first longitudinal support 3382; one end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343;
the tire bracket 331 is fixedly connected with the upper surface of the tire bracket 331 and the upper surface of the left fork tooth 200 or the right fork tooth 300 through the first rear side support 3384 and the hub limiting seat 330, and a height difference larger than or equal to 10mm exists; the outermost row of rolling sleeves 336 is a triangular cushion block 339; the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are provided at the bottom of the first rear support 3384 and the second rear support 3386.
Further, the roller hub limiting seat 330 of the left fork tooth 200 is located on the left side of the left fork tooth, and the roller hub limiting seat 330 of the right fork tooth 300 is located on the right side of the left fork tooth, so that the left fork tooth 200 and the right fork tooth 300 move away when a vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork tooth 200 and the right fork tooth 300 are inserted between two rows of wheels of the vehicle, and the left fork tooth 200 and the right fork tooth 300 move away from each other to lift two rows of tires off the ground.
Further, the frame 100 is composed of a front plate 110, a rear plate 120 and a middle connecting member 130, wherein the middle connecting member 130 is located in the middle of the frame 110, and two sides of the middle connecting member 130 are respectively fixedly connected with the middle of the front plate 110 and the middle of the rear plate 120.
The invention also provides a parking method of the outer fork vehicle transfer robot based on the simultaneously moving fork teeth, which comprises the following steps:
after receiving a signal that a user determines that the vehicle is parked, the vehicle carrying robot approaches one side of the vehicle;
detecting the distance between the vehicle transfer robot and the vehicle, and adjusting the position and the posture of the vehicle transfer robot until the vehicle transfer robot is parallel to the vehicle and the distance between the vehicle transfer robot and the vehicle is slightly larger than the length of the left fork tooth and the right fork tooth;
driving the vehicle transfer robot to move towards the vehicle direction until the distance between the vehicle transfer robot and the vehicle is less than or equal to a preset transfer distance;
detecting the wheel base of the vehicle, and simultaneously moving the left fork tooth and the right fork tooth to the two ends of the vehicle carrying robot respectively until the difference between the distance between the inner edges of the two fork teeth and the wheel base of the vehicle is larger than or equal to a preset difference;
simultaneously moving the left fork tooth and the right fork tooth to the middle part of the vehicle carrying robot respectively until the tire climbs onto the left fork tooth and the right fork tooth under the action of extrusion force;
driving the vehicle transfer robot to a parking space where the vehicle is to be parked;
simultaneously moving the left fork tooth and the right fork tooth to the two ends of the vehicle carrying robot until the tire climbs down from the left fork tooth and the right fork tooth;
and controlling the vehicle transfer robot to leave the vehicle.
Further, the detecting the wheel base of the vehicle comprises:
s1: the rotating shaft 402 is controlled to rotate, and the binocular cameras 401 are respectively obtainedTaking an image of which the center point of the front wheel or the rear wheel is positioned at the transverse center of the image to obtain the distance l between the center point of the front wheel and the first camera lens when the front wheel image is obtained1And the distance l between the center point of the rear wheel and the first camera lens when the rear wheel image is acquired2Acquiring a rotation angle alpha between the front wheel image and the rear wheel image; the camera above the binocular camera is a first camera, and the camera below the binocular camera is a second camera;
s2: according to the cosine law, the wheel base L of the vehicle is calculated by the following formula:
wherein l0The distance between the first camera lens and the axis of the rotating shaft.
The invention has the following beneficial effects:
1. the method is simple to operate, easy to control and short in carrying time;
2. according to the invention, on the premise of ensuring the power and mechanical properties of the transfer robot, two existing fork teeth for clamping the tire are omitted, so that the structure of the whole machine is simplified, the flexibility of the whole machine is improved, and the production cost is greatly reduced.
3. The anti-falling fork tooth for the vehicle transfer robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the tire from sliding on the fork tooth, so as to realize the purpose of preventing the vehicle from falling;
4. the four-wheel drive universal wheel has the advantages that a four-wheel drive motion structure is adopted, particularly, independent active drive universal wheels are adopted on the fork teeth, the universal wheels do not adopt structures such as chains, worm gears and worms, the structure is simple, weighing is strong, and operation is stable.
5. The tire bracket can deflect to the ground after contacting with the tire, so that the force required by the tire to climb onto the tire bracket is reduced, and a heavier vehicle or a vehicle with larger difference of front and rear counterweights can be easily lifted;
6. the tire bracket designed by the invention is a self-adaptive structure, and a driving device is not required to be additionally designed, so that the energy is saved, and the cost is reduced;
7. the rolling shaft sleeve at the outermost edge is replaced by the triangular cushion block with the sharp angle, and the triangular cushion block can be plugged into a gap between a tire and the ground, so that the tire can easily climb up the tire bracket under the assistance of a gentle slope formed by the sharp angle surface.
Drawings
Fig. 1 is a perspective view of a vehicle transfer robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of a vehicle transfer robot tine according to an embodiment of the present invention;
FIG. 3 is a perspective view of one tire carrier of the vehicle transfer robot tine of an embodiment of the present invention;
FIG. 4 is a bottom view of another tire carrier of the vehicle transfer robot tine of an embodiment of the present invention;
FIG. 5 is a schematic diagram of the gimbal structure of the vehicle transfer robot tine of an embodiment of the present invention;
FIG. 6 is a cross-sectional view of the gimbaled wheel of a vehicle transfer robot tine in accordance with an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a vehicle wheel base detecting device according to an embodiment of the present invention;
wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle connecting piece, 140 is an active walking device, 200 is a left fork tooth, 300 is a right fork tooth, 310 is a fork tooth moving device, 311 is a moving motor, 312 is an L-shaped mounting plate, 313 is a first guide rail slider mechanism, 314 is a second guide rail slider mechanism, 315 is a rack, 330 is a hub limiting seat, 331 is a tire carrier, 332 is a rolling component, 333 is a fixed bracket, 334 is a fixed block, 3341 is a first fixed block, 3342 is a second fixed block, 3343 is a third fixed block, 335 is a spring, 336 is a rolling bushing, 337 is a roller shaft, 338 is a shaft bracket, 3381 is a transverse bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear side bracket, 3385 is a front side bracket, 3386 is a second rear side bracket, 339 is a cushion block, 340 is a universal wheel, 341 is a wheel, 342 is a wheel hub, 343 is a wheel hub, 344 is a wheel hub, and a rotating body is a universal wheel, 345 is a bevel gear set, 3451 is a ring gear, 3452 is a pinion, 346 is a motor fixing frame, 347 is a speed reducer, 348 is a motor, 349 is a fixing piece, 400 is a vehicle wheel base detection device, 401 is a binocular camera, 402 is a rotating shaft, and 403 is a servo motor.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained according to these embodiments without any inventive work.
Example 1
As shown in fig. 1 to 7, the present embodiment relates to a four-wheel drive two-claw vehicle transfer robot, which, as shown in fig. 6, includes: a frame 100, the frame 100 having a straight-line structure; the active walking device 140 is installed on two ends of the frame 100, and is used for driving the frame 100 to move; the left fork tooth 200 and the right fork tooth 300 are symmetrically arranged on the same side of the frame 100, and the distance between the left fork tooth 200 and the right fork tooth 300 is adjustable, so that the wheel can be lifted off the ground by moving in the opposite direction or in the opposite direction after being inserted into the wheel; a universal wheel 340, the universal wheel 340 is mounted on the left fork 200 and the right fork 300 to meet the driving requirements of the vehicle transfer robot; the vehicle wheel base detection device 400 is positioned on one side facing the vehicle and used for detecting the position of the vehicle and the wheel base of the vehicle, and comprises a binocular camera 401 which is vertically arranged and has a distance measurement function, wherein the binocular camera 401 is arranged on a rotating shaft 402 which is vertical to the ground; the shaft 402 can rotate around the axis under the driving of the servo motor 403.
The middle of the frame 100 on the same side with the left fork 200 and the right fork 300 is provided with a photoelectric sensor 400 for detecting parameters such as the position of a vehicle, the tire distance of the vehicle and the like.
The left fork tooth 200 and the right fork tooth 300 are respectively provided with a hub limiting seat 330 at the positions opposite to the wheel. As shown in fig. 2, a tire holder 331 is mounted in the hub stopper 330.
As shown in fig. 3 and 4, the tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343. The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. The diameters of all or two or more rows of the rolling sleeves 336 far from the transverse support 3381 are gradually reduced as the distance from the transverse support 3381 increases. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 331 and the upper surface of the left fork tooth 200 or the right fork tooth 300. The outermost row of rolling sleeves 336 is a triangular pad 339. The transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are provided at the bottom of the first rear support 3384 and the second rear support 3386. When the tire bracket 331 is used, under the action of the extrusion force, the portion of the tire bracket 331 close to the tire deflects to the ground (because the front bracket and the rear bracket are rotatably connected, the front bracket close to the tire is pressed downwards, so that the front bracket portion rotates downwards by a certain angle); the tire climbs onto the tire holder 331 by the pressing force, and the deflection of the tire holder 331 is partially restored by the spring, so that the tire is separated from the ground to lift the vehicle.
The roller hub limiting seat 330 of the left fork tooth 200 is positioned on the right side of the left fork tooth, and the roller hub limiting seat 330 of the right fork tooth 300 is positioned on the left side of the right fork tooth, so that the left fork tooth 200 and the right fork tooth 300 do relative movement when a vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork tooth 200 and the right fork tooth 300 are inserted into the outer sides of two rows of wheels of the vehicle, and the left fork tooth 200 and the right fork tooth 300 do relative motion to lift two rows of tires off the ground.
The left fork tooth 200 and the right fork tooth 300 are connected with a fork tooth moving device 310 in a manner of being in contact with each other, the distance between the left fork tooth 200 and the right fork tooth 300 can be adjusted through the fork tooth moving device 310, the fork tooth moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail sliding block mechanism 313, a second guide rail sliding block mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left fork tooth 200 or the right fork tooth 300 and is simultaneously connected with the first guide rail sliding block mechanism 313 and the second guide rail sliding block mechanism 314, and the first guide rail sliding block mechanism 313 and the second guide rail sliding block mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110.
The frame 100 is composed of a front plate 110, a rear plate 120 and a middle connecting member 130, wherein the middle connecting member 130 is located in the middle of the frame 110, and two sides of the middle connecting member 130 are respectively fixedly connected with the middle of the front plate 110 and the middle of the rear plate 120.
As shown in fig. 3, the universal wheel 340 of the present embodiment includes a wheel 341, a hub 342, an axle 343, a rotating body 344, a bevel gear set 345, and a motor 348. The wheel 341 is mounted on an axle 343, and the axle 343 is fixedly mounted within the hub 342 by fasteners 349. The bevel gear set 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348. The hub 342 is located in the central hole of the rotating body 344, and the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected with the hub 342 of the wheel 341. The rotating body 344 is a cross roller bearing, and the outer ring of the cross roller bearing is fixed on the left fork tooth 200 or the right fork tooth 300. The motor 348 drives the pinion gear 3452 through the reducer 347, and is mounted on the motor mount 346. The motor mount 346 is mounted on the left tine 200 or the right tine 300. The bevel and spur wheel set is a spiral bevel gear with spiral teeth. The central axis of the pinion gear 3452 and the central axis of the ring gear 3451 are at an angle of 90 °.
When the universal wheel is used, the outer ring of the rotating body 4 is fixedly arranged on a base of equipment. When the motor 8 is not started, the inner ring and the outer ring of the rotating body 4 are relatively static, and the universal wheel cannot rotate freely. When the motor 8 is started, the motor 8 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 4 and the hub 2 to rotate by the angle α, while the outer ring of the rotating body 4 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the running time of the motor 8 can be adjusted to control the size of alpha at will, and the purpose of rotating the rolling direction of the wheel in any direction is achieved.
The using method of the embodiment is as follows: when the vehicle transfer robot receives a dispatching instruction of a control center, namely, the vehicle transfer robot reaches a waiting parking area according to a navigation path, the distance between the two forklift arms is adjusted at first, then the vehicle is moved to the vehicle at a low speed until the transferred vehicle completely enters the robot transfer area, the two forklift arms move relatively afterwards until the wheel hub limiting seats on the forklift arms are contacted with the tire, the two forklift arms continue to work to lift the tire gradually, the two forklift arms stop moving, and the vehicle can be dragged after the clamping action is completed.
The parking method of the vehicle transfer robot specifically includes:
s1: after receiving a signal that a user determines that the vehicle is parked, the vehicle carrying robot approaches one side of the vehicle;
s2: detecting the distance between the vehicle transfer robot and the vehicle, and adjusting the position and the posture of the vehicle transfer robot until the vehicle transfer robot is parallel to the vehicle and the distance between the vehicle transfer robot and the vehicle is slightly larger than the length of the left fork tooth and the right fork tooth;
s3: driving the vehicle transfer robot to move towards the vehicle direction until the distance between the vehicle transfer robot and the vehicle is less than or equal to a preset transfer distance;
s4: detecting the wheel base of the vehicle, and simultaneously moving the left fork tooth and the right fork tooth to the two ends of the vehicle carrying robot respectively until the difference between the distance between the inner edges of the two fork teeth and the wheel base of the vehicle is larger than or equal to a preset difference;
s5: simultaneously moving the left fork tooth and the right fork tooth to the middle part of the vehicle carrying robot respectively until the tire climbs onto the left fork tooth and the right fork tooth under the action of extrusion force;
s6: driving the vehicle transfer robot to a parking space where the vehicle is to be parked;
s7: simultaneously moving the left fork tooth and the right fork tooth to the two ends of the vehicle carrying robot until the tire climbs down from the left fork tooth and the right fork tooth;
s8: and controlling the vehicle transfer robot to leave the vehicle.
In step S4, the detecting a wheel base of the vehicle includes:
s4.1: the rotating shaft 402 is controlled to rotate, the binocular camera 401 respectively obtains images of which the center points of the front wheel or the rear wheel are located at the transverse center of the images, and the distance l between the center point of the front wheel and the lens of the first camera when the front wheel images are obtained1And the distance l between the center point of the rear wheel and the first camera lens when the rear wheel image is acquired2Acquiring a rotation angle alpha between the front wheel image and the rear wheel image; the camera above the binocular camera is a first camera, and the camera below the binocular camera is a second camera;
s4.2: according to the cosine law, the wheel base L of the vehicle is calculated by the following formula:
wherein l0The distance between the first camera lens and the axis of the rotating shaft.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. An outer fork vehicle transfer robot that moves tines simultaneously, the robot comprising:
the frame is of a straight-line structure;
the driving walking device is arranged on two ends of the frame and used for driving the frame to move;
the left fork tooth and the right fork tooth are symmetrically arranged on the same side of the frame, and the distance between the left fork tooth and the right fork tooth is adjustable;
a universal wheel mounted on the left and right tines;
the vehicle wheel base detection device is positioned on one side facing the vehicle, is used for detecting the position of the vehicle and the wheel base of the vehicle, and comprises two vertically arranged binocular cameras with a distance measurement function, and the two binocular cameras are arranged on a rotating shaft vertical to the ground; the rotating shaft can rotate by taking the shaft center as a circle center under the driving of the servo motor.
2. The simultaneous movement tine external fork vehicle handling robot of claim 1, wherein said gimbaled wheel includes wheels, a rotating body, a bevel gear set and a motor; the bevel gear set comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is positioned in the central hole of the rotating body, the inner ring of the rotating body and the inner side of the annular gear are respectively and fixedly connected with the wheel hub, and the driving motor drives the wheel to actively steer by driving the bevel gear set; the wheel of the universal wheel is arranged on a wheel shaft, and the wheel shaft is fixedly arranged in the wheel hub through a fixing piece; the rotating body is a crossed roller bearing, an outer ring of the crossed roller bearing is fixed on the left fork tooth or the right fork tooth, the motor drives the pinion through the speed reducer and is installed on a motor fixing frame, the motor fixing frame is installed on the left fork tooth or the right fork tooth, the conical spur gear set is a spiral bevel gear with spiral teeth, and an included angle between a central shaft of the pinion and a central shaft of the annular gear is 90 degrees.
3. The simultaneous movement tine outer fork vehicle transfer robot of claim 1 wherein each of said left and right tines is mounted with a hub restraint mount at a location opposite the wheel, the hub restraint mounts having tire carriers mounted therein; the roller hub limiting seat of the left fork tooth is positioned on the right side of the left fork tooth, the roller hub limiting seat of the right fork tooth is positioned on the left side of the right fork tooth, and the left fork tooth and the right fork tooth move oppositely when a vehicle is lifted off the ground
The tire bracket comprises a rolling assembly, a fixed block and a spring;
the rolling assembly comprises a rolling shaft sleeve, roller shafts and a shaft bracket, the rolling shaft sleeve is sleeved on the roller shafts, and the roller shafts are arranged in two rows or more than two rows and are arranged on the shaft bracket;
the shaft bracket comprises a transverse bracket, two first longitudinal brackets and one or more second longitudinal brackets; the transverse bracket is positioned at the rear side of the rolling assembly; all the first longitudinal supports and the second longitudinal supports are parallel to each other; the first longitudinal support is two sheet structures which are in rotary connection and respectively comprises a first rear side support and a front side support, and the second longitudinal support is two sheet structures which are in rotary connection and respectively comprises a second rear side support and a second front side support; the first rear side brackets are positioned at the left side and the right side of the rolling assembly, and the second rear side brackets are positioned in the middle of the rolling assembly and are fixedly connected with the transverse bracket; the roller shaft is arranged between the two longitudinal brackets;
a first fixed block is fixedly arranged on the outer side of the first rear side bracket end of the first longitudinal bracket, a third fixed block is fixedly arranged on the outer side of the front side bracket end of the first longitudinal bracket, and a second fixed block is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket of the first longitudinal bracket; one end of the sheet spring is fixed on the first fixing block and penetrates through the second fixing block and the third fixing block;
the tire bracket is fixedly connected with the hub limiting seat through the first rear side bracket; the height difference of more than or equal to 10mm exists between the upper surface of the tire bracket and the upper surface of the left fork tooth or the right fork tooth; the outermost row of rolling shaft sleeves are triangular cushion blocks; the transverse support is of a block structure, and one or more transverse fixing supports are arranged at the bottoms of the first rear side support and the second rear side support.
4. The simultaneous movement tine external fork vehicle transfer robot of claim 1 wherein the frame is comprised of a front plate, a rear plate and a middle link member, the middle link member being located in the middle of the frame and having both sides fixedly connected to the middle of the front plate and the rear plate, respectively.
5. A method of parking an externally forked vehicle handling robot based on the simultaneous movement of tines as claimed in any one of claims 1 to 4,
the method comprises the following steps:
after receiving a signal that a user determines that the vehicle is parked, the vehicle carrying robot approaches one side of the vehicle;
detecting the distance between the vehicle transfer robot and the vehicle, and adjusting the position and the posture of the vehicle transfer robot until the vehicle transfer robot is parallel to the vehicle and the distance between the vehicle transfer robot and the vehicle is slightly larger than the length of the left fork tooth and the right fork tooth;
driving the vehicle transfer robot to move towards the vehicle direction until the distance between the vehicle transfer robot and the vehicle is less than or equal to a preset transfer distance;
detecting the wheel base of the vehicle, and simultaneously moving the left fork tooth and the right fork tooth to the two ends of the vehicle carrying robot respectively until the difference between the distance between the inner edges of the two fork teeth and the wheel base of the vehicle is larger than or equal to a preset difference;
simultaneously moving the left fork tooth and the right fork tooth to the middle part of the vehicle carrying robot respectively until the tire climbs onto the left fork tooth and the right fork tooth under the action of extrusion force;
driving the vehicle transfer robot to a parking space where the vehicle is to be parked;
simultaneously moving the left fork tooth and the right fork tooth to the two ends of the vehicle carrying robot until the tire climbs down from the left fork tooth and the right fork tooth;
and controlling the vehicle transfer robot to leave the vehicle.
6. The parking method according to claim 5, wherein the detecting a wheel base of the vehicle includes:
s1: the rotating shaft 402 is controlled to rotate, the binocular camera 401 respectively obtains images of which the center points of the front wheel or the rear wheel are located at the transverse center of the images, and the distance l between the center point of the front wheel and the lens of the first camera when the front wheel images are obtained1And the distance l between the center point of the rear wheel and the first camera lens when the rear wheel image is acquired2Acquiring a rotation angle alpha between the front wheel image and the rear wheel image; the camera above the binocular camera is a first camera, and the camera below the binocular camera is a second camera;
s2: according to the cosine law, the wheel base L of the vehicle is calculated by the following formula:
wherein l0The distance between the first camera lens and the axis of the rotating shaft.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330332A (en) * | 2023-05-31 | 2023-06-27 | 中国科学院沈阳自动化研究所 | Large flexible body posture adjustment manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330332A (en) * | 2023-05-31 | 2023-06-27 | 中国科学院沈阳自动化研究所 | Large flexible body posture adjustment manipulator |
| CN116330332B (en) * | 2023-05-31 | 2023-08-08 | 中国科学院沈阳自动化研究所 | Large flexible body posture adjustment manipulator |
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