CN112240116A - Double-tooth parking robot with baffle arm and parking implementation method thereof - Google Patents

Double-tooth parking robot with baffle arm and parking implementation method thereof Download PDF

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Publication number
CN112240116A
CN112240116A CN202011236261.5A CN202011236261A CN112240116A CN 112240116 A CN112240116 A CN 112240116A CN 202011236261 A CN202011236261 A CN 202011236261A CN 112240116 A CN112240116 A CN 112240116A
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CN
China
Prior art keywords
arm
fork arm
vehicle
parking robot
parking
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Withdrawn
Application number
CN202011236261.5A
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Chinese (zh)
Inventor
贾宝华
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Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
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Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
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Application filed by Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd filed Critical Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Priority to CN202011236261.5A priority Critical patent/CN112240116A/en
Publication of CN112240116A publication Critical patent/CN112240116A/en
Priority to CN202111315027.6A priority patent/CN113982328A/en
Withdrawn legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of parking robots and discloses a double-tooth parking robot with a baffle arm and a parking implementation method thereof. The robot includes: the device comprises a frame in a straight-line structure, an active walking device, a left fork arm and a right fork arm which are symmetrical and identical in structure, universal wheels arranged on the left fork arm and the right fork arm, and a left blocking arm and a right blocking arm which are symmetrical and identical in structure. The left gear arm and the right gear arm are installed on the frame and are respectively combined with the left fork arm and the right fork arm for use, and the left gear arm and the right gear arm can freely move on the frame and are not limited and influenced by the left fork arm or the right fork arm. The arm blocking structure can limit the front and back movement of the vehicle when the parking robot lifts the vehicle and confirm whether the wheels are lifted, so that the situation that the lighter end directly passes over the fork arm and the vehicle lifting failure is caused due to the fact that the front and back counterweight difference of the vehicle is large is avoided.

Description

Double-tooth parking robot with baffle arm and parking implementation method thereof
Technical Field
The invention belongs to the technical field of parking robots, and relates to an automatic device for moving vehicles to or from a parking space in a parking lot, in particular to a double-tooth parking robot with a baffle arm and a parking implementation method thereof.
Background
With the development of society, the economy is improved, the number of automobiles is increased sharply, household automobiles are indispensable vehicles for each family, the problem of difficult parking in each city is solved, the parking queue and the parking space finding time are long, and the traditional method for drivers to find the parking space by themselves cannot meet the parking requirements in each city at present. In order to reduce the time for finding a parking space, parking robots having different structures are available on the market.
Among them, a parking robot that lifts a vehicle by inserting the bottom of the vehicle from the side and sandwiching a tire has a wide application prospect. Generally, such a parking robot employs a four-claw structure including a U-shaped frame body with moving wheels and four holding arms slidable on a long side of the frame body. The parking robot with the structure has large occupied space and high weight, and the problem of vehicle sideslip is easy to occur because the structure is unstable because no supporting structure is arranged below the fork arms. In addition, a parking robot with a two-claw structure is also available in the market, and comprises a frame body shaped like a Chinese character 'yi' and two fork arms with universal wheels and capable of sliding on the frame body. The parking robot with the structure changes the shape of the frame body, reduces the number of the fork arms, and increases the universal wheel supporting structure below the fork arms. However, when the vehicle is subjected to a large bump, the vehicle still has the potential of slipping. Meanwhile, when a vehicle with a large difference between the front and rear counterweights is transported, the situation that the tire on the side with the lighter counterweight of the vehicle directly passes over the fork arm and the tire on the side with the heavier counterweight is not pressed on the fork arm can occur in the process of pressing the tire, and the application range of the parking robot with the structure is limited.
Disclosure of Invention
In view of the technical problems in the prior art, one of the purposes of the present invention is to design a double-claw parking robot with a catch arm, which aims at solving the technical problems that when the existing two-claw parking robot carries a vehicle with a large difference between the front and rear weights, the vehicle cannot be pressed onto the fork arm, and the vehicle is easy to slip.
The invention also aims to provide a parking implementation method of the double-tooth parking robot with the stop arms.
The technical scheme of the invention is as follows:
the invention provides a double-tooth parking robot with a baffle arm, comprising:
a frame 100, the frame 100 having a straight-line structure;
the active walking device 140 is mounted on the frame 100, and is used for driving the frame 100 to move;
the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable;
universal wheels 340, the universal wheels 340 being installed on the left yoke 200 and the right yoke 300 to meet the driving requirements of the parking robot and serving as a support structure;
the left gear arm 500 and the right gear arm 600 are symmetrically and identically structured, and the left gear arm 500 and the right gear arm 600 are mounted on the frame 100 and are respectively used in combination with the left fork arm 200 and the right fork arm 300 for limiting the forward and backward movement of the vehicle and confirming whether wheels are lifted or not in the process of clamping the vehicle by the left fork arm 200 and the right fork arm 300; left and right shift arms 500 and 600 may move freely on frame 100 without being constrained or affected by left yoke 200 or right yoke 300.
In the above technical solution, the left yoke 200 and the right yoke 300 can extend into the middle of the front wheel and the rear wheel at the bottom of the vehicle from the side of the vehicle, and can move away from each other along the frame 100 to squeeze the front wheel and the rear wheel respectively, so as to make the wheels climb on the left yoke 200 and the right yoke 300, thereby making the vehicle separate from the ground; meanwhile, the left and right stopper arms 500 and 600 can be simultaneously inserted from the side of the vehicle into the front of the front wheel and the rear of the rear wheel at the bottom of the vehicle, or simultaneously inserted into the middle of the front wheel and the rear wheel at the bottom of the vehicle, and move toward the front wheel and the rear wheel, respectively, and stop moving when contacting the wheels. In order to avoid the situation that the lighter side of the vehicle directly crosses the left fork arm 200 or the right fork arm 300 when the tire is pressed due to the large difference between the front weight and the rear weight of the vehicle, the left catch arm 500 and the right catch arm 600 are added, when the tire on the lighter side of the vehicle is pressed by the left fork arm 200 or the right fork arm 300, the tire climbs the left fork arm 200 or the right fork arm 300, at the moment, the left catch arm 500 or the right catch arm 600 which originally contacts the tire can not contact the tire any more due to the rising position of the tire, at the moment, the left fork arm 200 or the right fork arm 300 does not need to be moved any more, and only the other fork arm needs to be moved to press the other tire to the other fork arm, so that the whole vehicle is separated from the ground, and the lighter side of the vehicle is prevented from directly crossing the left fork arm 200 or the right fork arm. When a tire on the lighter side of the vehicle is pressed by the left fork arm 200 or the right fork arm 300 and climbs the left fork arm 200 or the right fork arm 300, the left catch arm 500 or the right catch arm 600 is moved to be in contact with the tire, so that no matter the left catch arm 500 and the right catch arm 600 are respectively positioned in front of a front wheel and behind a rear wheel or are positioned between the front wheel and the rear wheel at the bottom of the vehicle, when the other fork arm is moved, the left catch arm 500 and the right catch arm 600 can play a role of limiting the front and back movement of the vehicle, and the lighter side of the vehicle is prevented from falling off from the left fork arm 200 or the right fork arm 300. When the wheel base of the vehicle is too long and exceeds the limit which can be reached by the parking robot, the left gear arm 500 and the right gear arm 600 can simultaneously extend into the middle of the front wheel and the rear wheel at the bottom of the vehicle from the side of the vehicle, otherwise, simultaneously extend into the front of the front wheel and the rear of the rear wheel at the bottom of the vehicle from the side of the vehicle.
In a further aspect, the positions of left and right shift arms 500 and 600 are higher than the positions of left and right yoke 200 and 300. Only when left and right shift arms 500 and 600 are not in the same horizontal plane as left and right yokes 200 and 300, it is ensured that left and right shift arms 500 and 600 can move freely on frame 100 without being restricted or influenced by left and right yokes 200 and 300. Also, since the left and right shift arms 500 and 600 are mainly used to restrict the forward and backward movement of the vehicle and to determine whether the wheel has been lifted by the left and right yokes 200 and 300, the left and right shift arms 500 and 600 should be higher than the left and right yokes 200 and 300, otherwise the above effect cannot be achieved.
In a further embodiment, the length of the left and right arm 500, 600 is at least such that one of the wheels can be touched when the vehicle is picked up. In a further embodiment, the lengths of the left and right shift arms 500 and 600 are the same as the lengths of the left and right yoke 200 and 300, or the lengths of the left and right shift arms 500 and 600 are longer than the lengths of the left and right yoke 200 and 300, or the lengths of the left and right shift arms 500 and 600 are shorter than the lengths of the left and right yoke 200 and 300. The left arm 500 and the right arm 600 can only satisfy the length requirement, and the effect of limiting the movement of the vehicle and confirming whether the wheel is lifted can be guaranteed, otherwise, the vehicle can sideslip under the action of the arm and the extrusion force, and the condition that the vehicle can not be extruded onto the fork arm can be realized when the vehicle with large counterweight difference is carried. When the lengths of the left and right arm 500 and 600 can only limit the forward and backward movement of the tire on the side of the vehicle close to the frame 100 and confirm whether the wheel is lifted, the effect of limiting the forward and backward movement of the whole vehicle and ensuring that the front and rear wheels are lifted can be achieved, and the condition that the light side of the vehicle directly passes over the left fork arm 200 or the right fork arm 300 is avoided.
In a further embodiment, the cross-section of the left and right retaining arms 500 and 600 may be circular, oval, square, triangular, polygonal, or other irregular shapes. The cross-sectional shapes of left and right arms 500 and 600 do not affect the effect, but may affect the tire tread and even cause a tire puncture.
In a further technical scheme, elastic protection sleeves are sleeved on the left blocking arm 500 and the right blocking arm 600. The elastic protection sleeve can avoid damage to the tires of the vehicle when the vehicle is clamped and damage to the left retaining arm 500 and the right retaining arm 600 caused by collision.
In a further embodiment, a blocking arm moving device 510 is connected to each of the left blocking arm 500 and the right blocking arm 600, and the movement of the left blocking arm 500 and the right blocking arm 600 on the vehicle frame 100 is realized through the blocking arm moving device 510. The arm moving device 510 includes a moving motor 511, a mounting plate 512, a second nut 513, and a second lead screw 514. The mounting plate 512 is connected with the left stop arm 500 or the right stop arm 600 and is also connected with a second nut 513, a second lead screw 514 is fixed on the frame 100, and the second nut 513 is matched with the second lead screw 514 for use; the moving motor 511 is installed at one end of the second lead screw 514, and the moving motor 511 drives the second lead screw 514 to rotate, so as to drive the second nut 513 and the mounting plate 512 to move along the second lead screw 514.
In a further technical scheme, a hub limiting seat 330 is arranged at a position of the left fork arm 200 and the right fork arm 300 corresponding to a tire, and a tire bracket 331 is installed in the hub limiting seat 330.
In a further aspect, the tire support 331 includes a rolling assembly 332, a fixed 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.
In a further embodiment, the tire holder 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.
In a further embodiment, the roller hub limiting seat 330 of the left yoke 200 is located on the left side thereof, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side thereof, so that the left yoke 200 and the right yoke 300 move away from each other when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.
In a further technical solution, the left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 is adjustable through the yoke moving device 310. The yoke moving device 310 comprises a moving motor 311, a mounting plate 312, a first nut 313 and a first lead screw 314, wherein the mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is also connected with the first nut 313, the second lead screw 314 is fixed on the frame 100, and the first nut 513 is matched with the first lead screw 514 for use; the moving motor 311 is installed at one end of the first lead screw 314, and the moving motor 311 drives the first lead screw 314 to rotate, so as to drive the first nut 314 and the mounting plate 312 to move along the first lead screw 314.
In a further technical scheme, 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 to the hub 342 of the wheel 341, and the driving motor 348 drives the bevel gear set 345 to drive the wheel 341 to actively steer.
In a further technical solution, the wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the 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 yoke 200 or the right yoke 300, the motor 348 drives a pinion gear 3452 through a speed reducer 7 and is mounted on a motor mount 346, the motor mount 346 is mounted on the left yoke 200 or the right yoke 300, the set of spur gears is a spiral bevel gear with arc 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.
In a further technical scheme, a photoelectric sensor 400 is arranged on the frame 100 on the same side as the left fork arm 200 and the right fork arm 300 and is used for detecting parameters such as the position of a vehicle, the wheel base of the vehicle and the like.
In a further technical solution, the frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, and the middle plate 130 is fixedly connected to the front plate 110 and the rear plate 120 respectively.
The invention also provides a parking implementation method of the double-tooth parking robot with the baffle arm, which comprises the following steps:
after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
acquiring the wheel base of the vehicle, judging whether the wheel base of the vehicle is larger than a preset maximum wheel base or not, if so, executing a first parking process, and if not, executing a second parking process;
the first parking process includes:
a) adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left fork arm and the right fork arm is less than the wheel base of the vehicle and the difference is greater than or equal to a first preset difference, the distance between the left gear arm and the right gear arm is less than the wheel base of the vehicle and the difference is greater than or equal to a second preset difference, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
b) controlling the parking robot to adjust the position and drive towards the vehicle, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
c) simultaneously moving the left gear arm and the right gear arm to two ends of the parking robot respectively, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
d) simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm;
e) after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the two ends of the parking robot, and when the resistance on the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving;
the second parking process includes:
a) adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left fork arm and the right fork arm is less than the wheel base of the vehicle and the difference is greater than or equal to a first preset difference, the distance between the left gear arm and the right gear arm is greater than the wheel base of the vehicle and the difference is greater than or equal to a second preset difference, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
b) controlling the parking robot to adjust the position and drive towards the vehicle, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
c) simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
d) and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm.
In a further technical solution, the first parking process further includes:
driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
simultaneously and respectively moving the left fork arm and the right fork arm, and the left gear arm and the right gear arm to the middle of the parking robot, so that the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle and the difference is larger than or equal to a first preset difference, and the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle and the difference is larger than or equal to a second preset difference;
and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
In a further technical solution, the second parking process further includes:
driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
simultaneously moving the left fork arm and the right fork arm to the middle of the parking robot respectively, and moving the left gear arm and the right gear arm to the two ends of the parking robot respectively, so that the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle and the difference value is larger than or equal to a first preset difference value, and the distance between the left gear arm and the right gear arm is larger than the axle distance of the vehicle and the difference value is larger than or equal to a second preset difference value;
and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
In a further technical solution, the second parking process further includes:
e) and after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the middle of the parking robot, and the left gear arm or the right gear arm stops moving when the resistance applied to the left gear arm or the right gear arm is detected.
In a first parking process, the left fork arm and the right fork arm move away from each other to extrude tires, and after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when the tire is extruded, the left fork arm, the right fork arm, the left gear arm and the right gear arm respectively move towards two ends of the parking robot; when a vehicle is placed, the left fork arm, the right fork arm, the left gear arm and the right gear arm respectively move towards the middle of the parking robot.
In the second parking process, the left fork arm and the right fork arm move away from each other to extrude the tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when the tire is extruded, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot.
Taking the left blocking arm and the left fork arm as an example, when the first parking process is executed and the left blocking arm is moved towards the two ends of the parking robot, when the left blocking arm is subjected to resistance for the first time, it indicates that the left blocking arm has touched the wheel, and the continuous movement can be stopped. When the wheel is subjected to extrusion force of the left fork arm and climbs the left fork arm, the position of the wheel rises because the wheel leaves the ground, and therefore the wheel can not be touched when the wheel originally touches the left blocking arm of the wheel, and the wheel can not be touched any more when the wheel moves to the two ends of the parking robot. Therefore, when the left arm is detected to move to the two ends of the parking robot, resistance is not applied, which indicates that the wheel is lifted by the left fork arm, and the left fork arm does not need to be moved continuously, otherwise the wheel may cross the left fork arm and fall onto the ground again. And the left baffle arms are moved towards the two ends of the parking robot again until the left baffle arms receive resistance for the second time, so that the left baffle arms touch the wheels again, and the front and back movement caused by bumping can be prevented when the vehicle is conveyed.
Taking the left blocking arm and the left fork arm as an example, when the second parking process is executed and the left blocking arm is moved towards the middle of the parking robot, when the left blocking arm receives resistance for the first time, the left blocking arm is shown to touch the wheels, and the left blocking arm can stop moving continuously. When the wheel is subjected to extrusion force of the left fork arm and climbs the left fork arm, the position of the wheel rises because of leaving the ground, so that the wheel can not be touched due to the fact that the wheel originally touches the left blocking arm of the wheel, and the wheel can not be touched any more and can not be subjected to resistance when moving towards the middle of the parking robot. Therefore, when the left arm is detected to move to the middle of the parking robot, resistance is not applied, which indicates that the wheel is lifted by the left fork arm, and the left fork arm does not need to be moved, otherwise the wheel may cross the left fork arm and fall onto the ground again. And the left baffle arm is moved towards the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is transported.
The invention has the following beneficial effects:
1. the invention introduces the barrier arm structure, can limit the front and back movement of the vehicle and confirm whether the wheel is lifted when the parking robot lifts the vehicle, so as to avoid that the lighter end directly passes over the fork arm because the front and back counterweight difference of the vehicle is larger, and the vehicle lifting fails;
2. the fork arm of the parking robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the lateral sliding of the tire on the fork arm, so as to realize the purpose of preventing the vehicle from falling;
3. 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;
4. 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.
Drawings
Fig. 1 is a perspective view of a parking robot according to embodiment 1 of the present invention;
fig. 2 is a perspective view of a parking robot yoke according to embodiment 2 of the present invention;
fig. 3 is a perspective view showing a tire bracket of a parking robot yoke according to embodiment 2 of the present invention;
fig. 4 is a bottom view of another tire carrier of a parking robot yoke according to embodiment 2 of the present invention;
FIG. 5 is a schematic diagram of a universal wheel structure of a parking robot yoke according to an embodiment of the present invention;
fig. 6 is a sectional view of the universal wheel of the parking robot yoke according to the embodiment of the present invention;
fig. 7 is a perspective view of a parking robot according to embodiment 3 of the present invention;
wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle plate, 140 is a driving traveling device, 200 is a left yoke, 300 is a right yoke, 310 is a yoke moving device, 311 is a moving motor, 312 is a mounting plate, 313 is a first nut, 314 is a first lead screw, 330 is a hub stopper, 331 is a tire carrier, 332 is a rolling member, 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 sleeve, 337 is a roller shaft, 338 is a pedestal, 3381 is a lateral bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear bracket, 3385 is a front bracket, 3386 is a second rear bracket, 339 is a spacer, 340 is a universal wheel, 341 is a wheel, 342 is a hub, 343 is an axle, 344 is a bevel gear set, 3451 is a ring gear set, 3452 is a pinion, 346 is a motor holder, 347 is a reducer, 348 is a motor, 349 is a fixture, 400 is a photoelectric sensor, 500 is a left arm, 510 is a yoke moving device, 511 is a moving motor, 512 is a mounting plate, 513 is a second nut, 514 is a second lead screw, and 600 is a right arm.
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
The present embodiment relates to a double-tooth parking robot, as shown in fig. 1, including:
a frame 100, the frame 100 having a straight-line structure;
the active walking device 140 is mounted on the frame 100, and is used for driving the frame 100 to move;
the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable;
universal wheels 340, the universal wheels 340 being installed on the left yoke 200 and the right yoke 300 to meet the driving requirements of the parking robot and serving as a support structure;
the left gear arm 500 and the right gear arm 600 are symmetrically and identically structured, and the left gear arm 500 and the right gear arm 600 are mounted on the frame 100 and are respectively used in combination with the left fork arm 200 and the right fork arm 300 for limiting the forward and backward movement of the vehicle and confirming whether wheels are lifted or not in the process of clamping the vehicle by the left fork arm 200 and the right fork arm 300; left and right shift arms 500 and 600 may move freely on frame 100 without being constrained or affected by left yoke 200 or right yoke 300.
The left and right shift arms 500 and 600 are located higher than the left and right yoke 200 and 300. The lengths of the left and right shift arms 500 and 600 are shorter than the lengths of the left and right yoke 200 and 300. The cross sections of the left and right blocking arms 500 and 600 are rectangular. In other embodiments, the cross-section of the left and right retaining arms 500 and 600 may be circular, oval, square, triangular, polygonal, or other irregular shapes. The left blocking arm 500 and the right blocking arm 600 are sleeved with elastic protective sleeves.
The left and right blocking arms 500 and 600 are connected to a blocking arm moving device 510, and the movement of the left and right blocking arms 500 and 600 on the frame 100 is realized by the blocking arm moving device 510. The arm moving device 510 includes a moving motor 511, a mounting plate 512, a second nut 513, and a second lead screw 514. The mounting plate 512 is connected with the left stop arm 500 or the right stop arm 600 and is also connected with a second nut 513, a second lead screw 514 is fixed on the frame 100, and the second nut 513 is matched with the second lead screw 514 for use; the moving motor 511 is installed at one end of the second lead screw 514, and the moving motor 511 drives the second lead screw 514 to rotate, so as to drive the second nut 513 and the mounting plate 512 to move along the second lead screw 514.
The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 can be adjusted through the yoke moving device 310. The yoke moving device 310 comprises a moving motor 311, a mounting plate 312, a first nut 313 and a first lead screw 314, wherein the mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is also connected with the first nut 313, the second lead screw 314 is fixed on the frame 100, and the first nut 513 is matched with the first lead screw 514 for use; the moving motor 311 is installed at one end of the first lead screw 314, and the moving motor 311 drives the first lead screw 314 to rotate, so as to drive the first nut 314 and the mounting plate 312 to move along the first lead screw 314. .
As shown in fig. 5 and 6, the universal wheel 340 includes 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 to the hub 342 of the wheel 341, and the driving motor 348 drives the bevel gear set 345 to drive the wheel 341 to actively steer.
The wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the wheel hub 342 by a fixing member 349, the rotating body 344 is a cross roller bearing, the outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300, the motor 348 drives a pinion gear 3452 by a speed reducer 7 and is mounted on a motor fixing frame 346, the motor fixing frame 346 is mounted on the left yoke 200 or the right yoke 300, the set of the bevel gears is a spiral bevel gear with arc teeth, and the central axis of the pinion gear 3452 forms an angle of 90 ° with the central axis of the ring gear 3451.
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.
The frame 100 is provided with a photoelectric sensor 400 on the same side as the left yoke 200 and the right yoke 300 for detecting parameters such as the position of the vehicle and the wheel base of the vehicle.
The frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, wherein the middle plate 130 is fixedly connected with the front plate 110 and the rear plate 120 respectively.
Example 2
The present embodiment relates to a double-tooth parking robot. The parking robot has a similar structure to that of embodiment 1, and only the left yoke 200 and the right yoke 300 have different structures. The yoke of the parking robot is shown in fig. 2-4.
As shown in fig. 2, 3 and 4, the left yoke 200 and the right yoke 300 are provided with a hub stopper 330 at positions corresponding to the tire, and a tire bracket 331 is installed in the hub stopper 330.
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. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.
The roller hub limiting seat 330 of the left yoke 200 is located on the left side, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side, so that the left yoke 200 and the right yoke 300 move away when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.
Example 3
The present embodiment relates to a double-tooth parking robot, as shown in fig. 7. This parking robot has a similar structure to that of embodiment 1, except that the lengths of the left and right shift arms 500 and 600 are different.
Wherein, the lengths of the left and right blocking arms 500 and 600 are similar to the lengths of the left and right yoke 200 and 300.
Example 4
The present embodiment relates to a parking implementation method for a double-tooth parking robot in the foregoing embodiments 1 to 3, where the method includes the following steps:
s1: after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
when a user sends a parking or taking signal through the parking management system, if the user parks the vehicle, the management system acquires information such as the position of a parking exchange position, the position of a parking space to be parked, the traveling route of the parking robot and the like. Therefore, the parking robot can be controlled to move to one side close to the vehicle according to the position of the parking exchange position, and the distance between the parking robot and the vehicle is smaller than or equal to the preset first carrying distance. The first carrying distance is a distance that ensures that the parking robot does not collide with the vehicle and that can adjust the positions of the yoke and the stopper arm.
S2: acquiring the wheel base of the vehicle, judging whether the wheel base of the vehicle is larger than a preset maximum wheel base or not, if so, executing a first parking process, and if not, executing a second parking process;
the parking robot can measure the wheel base of the vehicle through the self-contained photoelectric sensing device, and can also call the wheel base of the vehicle according to information such as user records, vehicle types, license plates and the like through calling information in the database. And determining that the wheel base of the vehicle is larger than the preset maximum wheel base, and executing a first parking process. The preset maximum wheel base is the maximum wheel base which is obtained by subtracting the error set for ensuring that the tire cannot be collided from the maximum distance between the left gear arm and the right gear arm and ensures that the left gear arm and the right gear arm can simultaneously extend into the front of the front wheel and the rear of the rear wheel.
S3: adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left fork arm and the right fork arm is less than the wheel base of the vehicle and the difference is greater than or equal to a first preset difference, the distance between the left gear arm and the right gear arm is less than the wheel base of the vehicle and the difference is greater than or equal to a second preset difference, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
the first preset difference and the second preset difference are used for ensuring that the fork arm or the catch arm cannot collide with a tire of the vehicle when the parking robot drives to the vehicle;
the parking robot adjusts the positions of the yoke and the stopper arm to ensure that the yoke and the stopper arm do not hit wheels or the like when inserted into the bottom of the vehicle.
S4: controlling the parking robot to adjust the position and drive towards the vehicle, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.
S5: simultaneously moving the left gear arm and the right gear arm to two ends of the parking robot respectively, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
when the left blocking arms are moved towards the two ends of the parking robot, when the left blocking arms are subjected to resistance for the first time, the left blocking arms are shown to touch the wheels, and the left blocking arms do not need to be moved continuously; when the right gear arm is moved to the two ends of the parking robot, resistance is applied to the right gear arm for the first time, and the right gear arm is shown to touch the wheels and does not need to be moved continuously.
S6: and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm.
When the left gear arm is detected to move towards the middle of the parking robot, resistance is not applied any more, the wheel is indicated to be lifted by the left fork arm, the left fork arm does not need to be moved continuously, otherwise the wheel may cross the left fork arm and fall onto the ground again; when the right arm is detected to move towards the middle of the parking robot and is not subjected to resistance any more, the wheel is indicated to be lifted by the right fork arm, the right fork arm does not need to be moved continuously, and otherwise the wheel can cross the right fork arm and fall onto the ground again.
And S7, after the left fork arm or the right fork arm stops moving, moving the left gear arm or the right gear arm to the two ends of the parking robot, and stopping moving the left gear arm or the right gear arm when the resistance applied to the left gear arm or the right gear arm is detected.
Moving the left baffle arms to the two ends of the parking robot again until the left baffle arms receive resistance for the second time, which shows that the left baffle arms touch the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is carried; and moving the right baffle arms to the two ends of the parking robot again until the right baffle arms receive resistance for the second time, which indicates that the right baffle arms touch the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is carried.
S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.
S9: simultaneously and respectively moving the left fork arm and the right fork arm, and the left gear arm and the right gear arm to the middle of the parking robot, so that the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle and the difference is larger than or equal to a first preset difference, and the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle and the difference is larger than or equal to a second preset difference;
the positions of the fork arm and the baffle arm are adjusted, so that wheels of the vehicle fall off from the fork arm to a parking space, and the whole vehicle is parked on the parking space.
S10: and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
The parking robot moves the fork arm and the catch arm out of the bottom of the vehicle, and the first carrying distance can ensure that the parking robot cannot collide with the vehicle in subsequent movement.
Example 5
The present embodiment relates to a parking implementation method for a double-tooth parking robot in the above embodiments 1 to 3, where the method includes the following steps:
the present embodiment relates to a parking implementation method for a double-tooth parking robot in the foregoing embodiments 1 to 3, where the method includes the following steps:
s1: after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
when a user sends a parking or taking signal through the parking management system, if the user parks the vehicle, the management system acquires information such as the position of a parking exchange position, the position of a parking space to be parked, the traveling route of the parking robot and the like. Therefore, the parking robot can be controlled to move to one side close to the vehicle according to the position of the parking exchange position, and the distance between the parking robot and the vehicle is smaller than or equal to the preset first carrying distance. The first carrying distance is a distance that ensures that the parking robot does not collide with the vehicle and that can adjust the positions of the yoke and the stopper arm.
S2: acquiring the wheel base of the vehicle, judging whether the wheel base of the vehicle is larger than a preset maximum wheel base or not, if so, executing a first parking process, and if not, executing a second parking process;
the parking robot can measure the wheel base of the vehicle through the self-contained photoelectric sensing device, and can also call the wheel base of the vehicle according to information such as user records, vehicle types, license plates and the like through calling information in the database. And determining that the wheel base of the vehicle is smaller than or equal to the preset maximum wheel base, and executing a second parking process. The preset maximum wheel base is the maximum wheel base which is obtained by subtracting the error set for ensuring that the tire cannot be collided from the maximum distance between the left gear arm and the right gear arm and ensures that the left gear arm and the right gear arm can simultaneously extend into the front of the front wheel and the rear of the rear wheel.
S3: adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left gear arm and the right gear arm is greater than the wheelbase of the vehicle and the difference value is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is less than the wheelbase of the vehicle and the difference value is greater than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
the parking robot adjusts the positions of the yoke and the stopper arm to ensure that the yoke and the stopper arm do not hit wheels or the like when inserted into the bottom of the vehicle.
S4: controlling the parking robot to adjust the position and drive towards the vehicle, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.
S5: simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
when the left retaining arm is moved towards the middle of the parking robot, when the left retaining arm is subjected to resistance for the first time, the left retaining arm is shown to touch the wheels, and the left retaining arm does not need to be moved continuously; when the right gear arm is moved towards the middle of the parking robot, the right gear arm is subjected to resistance for the first time, which indicates that the right gear arm touches the wheel and does not need to be moved continuously.
S6: and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm.
When the left gear arm is detected to move towards the middle of the parking robot, resistance is not applied any more, the wheel is indicated to be lifted by the left fork arm, the left fork arm does not need to be moved continuously, otherwise the wheel may cross the left fork arm and fall onto the ground again; when the right arm is detected to move towards the middle of the parking robot and is not subjected to resistance any more, the wheel is indicated to be lifted by the right fork arm, the right fork arm does not need to be moved continuously, and otherwise the wheel can cross the right fork arm and fall onto the ground again.
And S7, after the left fork arm or the right fork arm stops moving, moving the left gear arm or the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when the resistance applied to the left gear arm or the right gear arm is detected.
Moving the left baffle arm to the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is transported; and the right baffle arm is moved to the middle of the parking robot again until the right baffle arm receives resistance for the second time, so that the right baffle arm touches the wheels again, and the forward and backward movement caused by bumping during vehicle carrying can be prevented.
S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.
S9: simultaneously and respectively moving the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously and respectively moving the left gear arm and the right gear arm to the two ends of the parking robot, wherein the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is more than the axle distance of the vehicle, and the two difference values are more than or equal to a preset difference value;
the positions of the fork arm and the baffle arm are adjusted, so that wheels of the vehicle fall off from the fork arm to a parking space, and the whole vehicle is parked on the parking space.
S10: and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
The parking robot moves the fork arm and the catch arm out of the bottom of the vehicle, and the first carrying distance can ensure that the parking robot cannot collide with the vehicle in subsequent movement.
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 (10)

1. A double-tooth parking robot with a barrier arm, the robot comprising:
the frame is of a straight-line structure, and the length of the frame is fixed or adjustable;
the active running gear is arranged on the frame;
the left fork arm and the right fork arm are respectively arranged on the same side of the frame, and the distance between the left fork arm and the right fork arm is adjustable;
the universal wheels are arranged on the left fork arm and the right fork arm;
the left gear arm and the right gear arm are symmetrically and identically structured, are arranged on the frame and are respectively combined with the left fork arm and the right fork arm for use; the left gear arm and the right gear arm can move freely on the frame and are not limited and influenced by the left fork arm or the right fork arm.
2. A double-tooth parking robot with a barrier arm according to claim 1, wherein the positions of the left and right barrier arms are higher than the positions of the left and right yokes.
3. A double-tooth parking robot with a catch arm according to claim 1, wherein the length of the left catch arm and the right catch arm is at least such that one of the wheels can be touched when the vehicle is picked up.
4. A double-tooth parking robot with a baffle arm according to claim 1, wherein the cross section of the left baffle arm and the right baffle arm can be circular, oval, square, triangular, polygonal or other irregular shapes.
5. A double-tooth parking robot with a barrier arm according to claim 1, wherein the left barrier arm and the right barrier arm are both connected with a barrier arm moving device, and the movement of the left barrier arm and the right barrier arm on the vehicle frame is realized through the barrier arm moving device; the stop arm moving device comprises a moving motor, a mounting plate, a second nut and a second lead screw; the mounting plate is connected with the left gear arm or the right gear arm and is also connected with a second nut, a second screw rod is fixed on the frame, and the second nut is matched with the second screw rod for use; the moving motor is installed at the one end of second lead screw, and the moving motor drives the second lead screw and rotates to drive second nut and mounting panel to remove along the second lead screw.
6. A double-tooth parking robot with a baffle arm according to claim 1, wherein the left fork arm and the right fork arm are provided with wheel hub limiting seats corresponding to the positions of tires, and tire brackets are mounted in the wheel hub limiting seats;
the tire bracket comprises a rolling assembly, a fixed block and a spring; the rolling assembly comprises a rolling shaft sleeve, a roller shaft and a shaft bracket; the rolling shaft sleeves are sleeved on 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 diameters of all or more than two rows of the rolling shaft sleeves far away from the transverse bracket are gradually reduced along with the distance between the rolling shaft sleeves and the transverse bracket; the outermost row of rolling shaft sleeves are triangular cushion blocks; the transverse bracket is of a block structure, and one or more transverse fixed brackets are arranged at the bottoms of the first rear side bracket and the second rear side bracket;
the roller hub limiting seat of the left fork arm is positioned on the left side of the roller hub limiting seat, the roller hub limiting seat of the right fork arm is positioned on the right side of the roller hub limiting seat, and the left fork arm and the right fork arm move away when a vehicle is lifted off the ground.
7. A parking implementation method of a double-tooth parking robot with a barrier arm according to any one of claims 1-6, characterized by comprising the following steps:
after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
acquiring the wheel base of the vehicle, judging whether the wheel base of the vehicle is larger than a preset maximum wheel base or not, if so, executing a first parking process, and if not, executing a second parking process;
the first parking process includes:
a) adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left fork arm and the right fork arm is less than the wheel base of the vehicle and the difference is greater than or equal to a first preset difference, the distance between the left gear arm and the right gear arm is less than the wheel base of the vehicle and the difference is greater than or equal to a second preset difference, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
b) controlling the parking robot to adjust the position and drive towards the vehicle, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
c) simultaneously moving the left gear arm and the right gear arm to two ends of the parking robot respectively, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
d) simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm;
e) after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the two ends of the parking robot, and when the resistance on the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving;
the second parking process includes:
a) adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left fork arm and the right fork arm is less than the wheel base of the vehicle and the difference is greater than or equal to a first preset difference, the distance between the left gear arm and the right gear arm is greater than the wheel base of the vehicle and the difference is greater than or equal to a second preset difference, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
b) controlling the parking robot to adjust the position and drive towards the vehicle, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
c) simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
d) and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm.
8. The parking implementation method of claim 7, wherein the first parking procedure further comprises:
driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
simultaneously and respectively moving the left fork arm and the right fork arm, and the left gear arm and the right gear arm to the middle of the parking robot, so that the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle and the difference is larger than or equal to a first preset difference, and the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle and the difference is larger than or equal to a second preset difference;
and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
9. The parking implementation method of claim 7, wherein the second parking procedure further comprises:
driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
simultaneously moving the left fork arm and the right fork arm to the middle of the parking robot respectively, and moving the left gear arm and the right gear arm to the two ends of the parking robot respectively, so that the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle and the difference value is larger than or equal to a first preset difference value, and the distance between the left gear arm and the right gear arm is larger than the axle distance of the vehicle and the difference value is larger than or equal to a second preset difference value;
and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
10. The parking implementation method of claim 7, wherein the second parking procedure further comprises:
e) and after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the middle of the parking robot, and the left gear arm or the right gear arm stops moving when the resistance applied to the left gear arm or the right gear arm is detected.
CN202011236261.5A 2020-11-09 2020-11-09 Double-tooth parking robot with baffle arm and parking implementation method thereof Withdrawn CN112240116A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011236261.5A CN112240116A (en) 2020-11-09 2020-11-09 Double-tooth parking robot with baffle arm and parking implementation method thereof
CN202111315027.6A CN113982328A (en) 2020-11-09 2021-11-08 Forklift parking robot in free-range arm and parking implementation method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011236261.5A CN112240116A (en) 2020-11-09 2020-11-09 Double-tooth parking robot with baffle arm and parking implementation method thereof

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CN202111315027.6A Pending CN113982328A (en) 2020-11-09 2021-11-08 Forklift parking robot in free-range arm and parking implementation method thereof

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