CN112240117A - Novel double-tooth lateral parking robot and parking implementation method thereof - Google Patents

Novel double-tooth lateral parking robot and parking implementation method thereof Download PDF

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Publication number
CN112240117A
CN112240117A CN202011236265.3A CN202011236265A CN112240117A CN 112240117 A CN112240117 A CN 112240117A CN 202011236265 A CN202011236265 A CN 202011236265A CN 112240117 A CN112240117 A CN 112240117A
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CN
China
Prior art keywords
fork arm
parking robot
vehicle
parking
bracket
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Withdrawn
Application number
CN202011236265.3A
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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 CN202011236265.3A priority Critical patent/CN112240117A/en
Publication of CN112240117A publication Critical patent/CN112240117A/en
Priority to CN202111277179.1A priority patent/CN113958170A/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Withdrawn legal-status Critical Current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 novel double-tooth lateral parking robot and a parking implementation method thereof. The robot includes: the steering mechanism comprises a cross beam in a linear structure, a pair of left and right fork arms with the same structure, a pair of fixing frames and a pair of steering wheels; the two fixing frames are connected with the left side, the right side, the upper side or the lower side of the cross beam through one or a plurality of guide rail structures, one side of each fixing frame is fixedly connected with a steering wheel, and the other side of each fixing frame is fixedly connected with the left fork arm or the right fork arm; the left fork arm and the right fork arm are respectively arranged on the same side of the cross beam; and the left fork arm and the right fork arm are respectively provided with a universal wheel. The invention omits the prior two fork arms used for clamping the tire and the fork arm moving device, simplifies the structure of the whole machine, improves the flexibility, reduces the production cost, and does not need complex calculation and deduction for the advancing algorithm.

Description

Novel double-tooth lateral parking robot and parking implementation method thereof
Technical Field
The invention belongs to the technical field of parking robots, and relates to an automatic device for shipping vehicles to or from parking spaces in a parking lot, in particular to a novel double-tooth lateral parking robot and a parking implementation method thereof.
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.
Two-claw parking robots have appeared at present, but two fork arms of the robot are positioned at two ends of a frame, so that the occupied space is still large. Moreover, if the two driving wheels and the universal wheel are used as the driving wheels, the advancing algorithm is complex.
Disclosure of Invention
In view of the technical problems in the prior art, the invention aims to design a novel double-tooth lateral parking robot aiming at the problems that the existing four-claw parking robot has redundant structure and high manufacturing cost and the existing two-claw parking robot occupies large space and is not suitable for driving wheels of all installation positions.
The invention also aims to provide a parking implementation method of the novel double-tooth lateral parking robot.
The technical scheme of the invention is as follows:
the invention provides a novel double-tooth lateral parking robot, which comprises: the steering wheel comprises a cross beam 100 in a straight-line structure, a pair of left and right forks 200 and 300 with the same structure, a pair of fixing frames 110 and a pair of steering wheels 120; the two fixing frames 110 are connected with the left side, the right side, the upper side or the lower side of the beam 100 through one or more guide rail structures 130, one side of each fixing frame 110 is fixedly connected with one steering wheel 120, and the other side of each fixing frame 110 is fixedly connected with the left fork arm 200 or the right fork arm 300; the left yoke 200 and the right yoke 300 are respectively arranged on the same side of the cross beam 100; the left yoke 200 and the right yoke 300 are respectively provided with a universal wheel 340.
In the above technical solution, the steering wheel is directly used as a driving structure for the left yoke 200 and the right yoke 300 to move on the cross beam, so that additional yoke driving devices are reduced, and the cost is saved. In addition, the number of the four fork arms is reduced to two, so that the occupied space of the parking robot is reduced, and the structure is simple. Meanwhile, the connection line between the two steering wheels 140 and the two universal wheels 340 is always a rectangle, so that complicated calculation and deduction are not needed when a parking robot traveling algorithm is designed.
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, there is a height difference of 10mm or more between the upper surface of the tire bracket 331 and the upper surface of the left yoke 200 or the right yoke 300. 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 technical scheme, the roller hub limiting seat 330 of the left fork arm 200 is positioned on the left side of the left fork arm, the roller hub limiting seat 330 of the right fork arm 300 is positioned on the right side of the right fork arm, and the left fork arm 200 and the right fork arm 300 move away when a vehicle is lifted off the ground; or the roller hub limiting seat 330 of the left fork arm 200 is positioned at the right side of the left fork arm 200, and the roller hub limiting seat 330 of the right fork arm 300 is positioned at the left side of the right fork arm 300, so that the left fork arm 200 and the right fork arm 300 move relatively when the vehicle is lifted off the ground. In the former way, 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 the latter case, when the vehicle is lifted off the ground, the left yoke 200 and the right yoke 300 are inserted to the outer sides of the two rows of wheels of the vehicle, and the left yoke 200 and the right yoke 300 move relatively to each other, thereby lifting both rows of tires off the ground.
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 the pinion gear 3452 through the 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 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 embodiment, the universal wheel 340 is an active driving universal wheel. Thus, the four wheels of the parking robot are actively driven.
In a further technical scheme, a photoelectric sensor 140 is arranged in the middle of the cross beam 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 distance between tires of the vehicle and the like.
The invention also provides a parking implementation method based on the novel double-tooth lateral parking robot, 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;
adjusting the positions of 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 smaller than or larger than the wheel base of the vehicle and the difference value is larger than or equal to a preset difference value;
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;
and simultaneously moving the left fork arm and the right fork arm towards the two ends or the middle of the parking robot respectively, and stopping moving the left fork arm or the right fork arm when detecting that the distance between one side of the left fork arm contacting the tire and one side of the right fork arm contacting the tire is larger than the wheel base.
In a further aspect, the method 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 or two ends of the parking robot respectively until the distance between the left fork arm and the right fork arm is smaller than or larger than the wheel base of the vehicle, wherein the difference values are larger than or equal to a 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.
The invention has the following beneficial effects:
1. according to the invention, on the premise of ensuring the power and mechanical properties of the transfer robot, two fork arms for clamping the tire are omitted, the steering wheel is used as a driving device of the fork arms, and a fork arm moving device is omitted, so that the structure of the whole transfer robot is simplified, the flexibility is improved, and the production cost is greatly reduced.
2. The connecting line of the two steering wheels and the two universal wheels is always a rectangle, in the moving process of the fork arm, the length of only one side of the rectangle is changed, and when a parking robot moving algorithm is designed, complex calculation and deduction are not needed.
3. The mode that the fork arms are inserted into the inner sides of the two rows of tires is adopted to lift the vehicle off the ground, the length of the frame can be shortened, and the occupied space of the parking robot is further reduced.
4. The anti-falling fork arm for 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 tire from sliding on the fork arm so as to achieve the aim of preventing the vehicle from falling;
5. the tire bracket can deflect to the ground after contacting with the tire, reduces the force required by the tire to climb on the tire bracket, can easily lift a heavy vehicle or a vehicle with larger difference of front and rear counterweights, is of a self-adaptive structure, does not need to additionally design a driving device, saves energy and reduces cost.
Drawings
Fig. 1 is a plan view of a parking robot according to embodiment 1 of the present invention;
fig. 2 is a side view of the parking robot of embodiment 1 of the present invention;
fig. 3 is a perspective view of a fork arm of the parking robot according to the embodiment of the present invention;
fig. 4 is a perspective view of a tire bracket of a fork arm of a parking robot according to an embodiment of the present invention;
fig. 5 is a bottom view of another tire carrier of a parking robot yoke according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a universal wheel of a parking robot yoke according to an embodiment of the present invention;
fig. 7 is a sectional view of the universal wheel of the parking robot yoke according to the embodiment of the present invention;
fig. 8 is a plan view of the parking robot according to embodiment 2 of the present invention;
the steering wheel structure comprises a beam 100, a fixed frame 110, a steering wheel 120, a guide rail 130, a photoelectric sensor 140, a left yoke 200, a right yoke 300, a hub retainer 330, a tire carrier 331, a rolling assembly 332, a fixed support 333, a fixed support 334, a first fixed block 3341, a second fixed block 3342, a third fixed block 3343, a spring 335, a rolling bushing 336, a roller shaft 337, a shaft bracket 338, a transverse support 3381, a first longitudinal support 3382, a second longitudinal support 3383, a first rear support 3384, a front support 3385, a second rear support 3386, a cushion 339, a universal wheel 340, a wheel 341, a wheel hub 342, a wheel axle 343, a wheel axle 344, a rotating body 345, a bevel gear set 3451, a ring gear 3452, a motor 346, a reducer 347, a motor 349 and a fixed member 349.
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 novel double-geared lateral parking robot, which includes: the steering wheel comprises a cross beam 100 in a straight-line structure, a pair of left and right forks 200 and 300 with the same structure, a pair of fixing frames 110 and a pair of steering wheels 120; the two fixing frames 110 are connected with the left side, the right side, the upper side or the lower side of the beam 100 through one or more guide rail structures 130, one side of each fixing frame 110 is fixedly connected with one steering wheel 120, and the other side of each fixing frame 110 is fixedly connected with the left fork arm 200 or the right fork arm 300; the left yoke 200 and the right yoke 300 are respectively arranged on the same side of the cross beam 100; the left yoke 200 and the right yoke 300 are respectively provided with a universal wheel 340.
The positions of the left fork arm 200 and the right fork arm 300 corresponding to the tires are provided with a hub limiting seat 330, and a tire bracket 331 is installed in the hub limiting seat 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, there is a height difference of 10mm or more between the upper surface of the tire bracket 331 and the upper surface of the left yoke 200 or the right yoke 300. 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.
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 middle of the cross beam 100, which is on the same side as the left yoke 200 and the right yoke 300, is provided with a photoelectric sensor 140 for detecting parameters such as the position of a vehicle, the distance between tires of the vehicle, and the like.
In this embodiment, the steering wheel is directly used as a driving structure for the movement of the yoke 200 and the yoke 300 on the cross beam, so that additional yoke driving devices are reduced, and the cost is saved. In addition, the number of the four fork arms is reduced to two, so that the occupied space of the parking robot is reduced, and the structure is simple. Meanwhile, the connection line between the two steering wheels 140 and the two universal wheels 340 is always a rectangle, so that complicated calculation and deduction are not needed when a parking robot traveling algorithm is designed.
Example 2
The embodiment relates to a novel double-tooth lateral parking robot, the structure of which is basically the same as that of the embodiment 1, and only the structures of a left fork arm 200, a right fork arm 300 and a universal wheel 340 are slightly different.
As shown in fig. 3, 4 and 8, the roller hub stopper 330 of the left yoke 200 is located at the right side thereof, and the roller hub stopper 330 of the right yoke 300 is located at the left side thereof, so that the left yoke 200 and the right yoke 300 relatively move 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 into the outer sides of the two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move relatively to lift the two rows of tires off the ground.
The universal wheel 340 is an active drive universal wheel.
Example 3
The embodiment relates to a parking implementation method of a novel double-tooth lateral parking robot in embodiment 1, which comprises 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 position of the yoke.
S2: acquiring the wheel base of the vehicle;
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.
S3: adjusting the positions of 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 preset difference;
the parking robot adjusts the position of the yoke to ensure that the yoke does 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 position of the fork arm is adjusted, the parking robot drives to the vehicle so as to insert the fork arm into the bottom of the vehicle. The second carrying distance is to ensure that the parking robot can not collide with the vehicle, and the fork arms can smoothly lift all wheels.
S5: and simultaneously moving the left fork arm and the right fork arm towards the two ends of the parking robot respectively, and stopping moving the left fork arm or the right fork arm when detecting that the distance between one side of the left fork arm contacting the tire and one side of the right fork arm contacting the tire is larger than the wheel base.
When the distance between the tire-contacting side of the left yoke and the tire-contacting side of the right yoke is greater than the wheel base, it indicates that the centers of both the front wheel and the rear wheel of the vehicle have fallen on the left yoke 200 or the right yoke 300, i.e., the vehicle has been lifted.
S6: 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.
S7: simultaneously moving the left fork arm and the right fork arm to the middle of the parking robot respectively until the distance between the left fork arm and the right fork arm is smaller than or larger than the wheel base of the vehicle, wherein the difference values are larger than or equal to a preset difference value;
the position of the fork arm is adjusted, so that wheels of the vehicle fall onto a parking space from the fork arm, and the whole vehicle is parked on the parking space.
S8: 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 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 4
The embodiment relates to a parking implementation method of a novel double-tooth lateral parking robot in the embodiment 2, which comprises 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 position of the yoke.
S2: acquiring the wheel base of the vehicle;
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.
S3: adjusting the positions of 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 greater than the wheel base of the vehicle and the difference value is greater than or equal to a preset difference value;
the parking robot adjusts the position of the yoke to ensure that the yoke does 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 position of the fork arm is adjusted, the parking robot drives to the vehicle so as to insert the fork arm into the bottom of the vehicle. The second carrying distance is to ensure that the parking robot can not collide with the vehicle, and the fork arms can smoothly lift all wheels.
S5: and simultaneously moving the left fork arm and the right fork arm towards the middle of the parking robot respectively, and stopping moving the left fork arm or the right fork arm when detecting that the distance between the side of the left fork arm contacting the tire and the side of the right fork arm contacting the tire is larger than the wheel base.
When the distance between the tire-contacting side of the left yoke and the tire-contacting side of the right yoke is greater than the wheel base, it indicates that the centers of both the front wheel and the rear wheel of the vehicle have fallen on the left yoke 200 or the right yoke 300, i.e., the vehicle has been lifted.
S6: 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.
S7: simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively until the distance between the left fork arm and the right fork arm is smaller than or larger than the wheel base of the vehicle, wherein the difference values are larger than or equal to a preset difference value;
the position of the fork arm is adjusted, so that wheels of the vehicle fall onto a parking space from the fork arm, and the whole vehicle is parked on the parking space.
S8: 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 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 novel double-geared lateral parking robot, characterized in that the robot comprises: the steering mechanism comprises a cross beam in a linear structure, a pair of left and right fork arms with the same structure, a pair of fixing frames and a pair of steering wheels; the two fixing frames are connected with the left side, the right side, the upper side or the lower side of the cross beam through one or a plurality of guide rail structures, one side of each fixing frame is fixedly connected with a steering wheel, and the other side of each fixing frame is fixedly connected with the left fork arm or the right fork arm; the left fork arm and the right fork arm are respectively arranged on the same side of the cross beam; and the left fork arm and the right fork arm are respectively provided with a universal wheel.
2. A novel double-tooth lateral parking robot as claimed in 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.
3. A novel dual geared lateral parking robot as claimed in claim 2 wherein the tire carriage 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-shaped spring is fixed on the first fixing block and penetrates through the second fixing block and the third fixing block.
4. A novel double-geared lateral parking robot as claimed in claim 3, wherein the tire carrier is fixedly connected with the hub limiting seat through a first rear 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 height difference of more than or equal to mm exists between the upper surface of the tire bracket and the upper surface of the left fork arm or the right fork arm; 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.
5. A novel double-tooth lateral parking robot as claimed in claim 2, wherein the roller hub limiting seat of the left fork arm is positioned on the left side of the left fork arm, the roller hub limiting seat of the right fork arm is positioned on the right side of the right fork arm, and the left fork arm and the right fork arm move away from each other when a vehicle is lifted off the ground; or the roller hub limiting seat of the left fork arm is positioned on the right side of the left fork arm, the roller hub limiting seat of the right fork arm is positioned on the left side of the right fork arm, and the left fork arm and the right fork arm move relatively when the vehicle is lifted off the ground.
6. A novel double-tooth lateral parking robot as claimed in claim 1, wherein the wheel of the universal wheel is mounted on a wheel shaft, the wheel shaft is fixedly mounted in the wheel hub through a fixing member, the rotating body is a crossed roller bearing, the outer ring of the crossed roller bearing is fixed on the left fork arm or the right fork arm, the motor drives the pinion through a speed reducer and is mounted on a motor fixing frame, the motor fixing frame is mounted on the left fork arm or the right fork arm, the bevel gear group is a spiral bevel gear with arc teeth, and the included angle between the central axis of the pinion and the central axis of the annular gear is 90 °.
7. A novel double-geared lateral parking robot as claimed in claim 1 wherein the universal wheels are actively driven universal wheels.
8. A novel double-tooth lateral parking robot as claimed in claim 1, wherein a photoelectric sensor is arranged in the middle of the cross beam on the same side as the left fork arm and the right fork arm.
9. A parking implementation method based on a novel double-geared lateral parking robot as claimed in any one of claims 1 to 8, characterized in that the method 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;
adjusting the positions of 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 smaller than or larger than the wheel base of the vehicle and the difference value is larger than or equal to a preset difference value;
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;
and simultaneously moving the left fork arm and the right fork arm towards the two ends or the middle of the parking robot respectively, and stopping moving the left fork arm or the right fork arm when detecting that the distance between one side of the left fork arm contacting the tire and one side of the right fork arm contacting the tire is larger than the wheel base.
10. The parking implementation method of claim 9, further comprising:
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 or two ends of the parking robot respectively until the distance between the left fork arm and the right fork arm is smaller than or larger than the wheel base of the vehicle, wherein the difference values are larger than or equal to a 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.
CN202011236265.3A 2020-11-09 2020-11-09 Novel double-tooth lateral parking robot and parking implementation method thereof Withdrawn CN112240117A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011236265.3A CN112240117A (en) 2020-11-09 2020-11-09 Novel double-tooth lateral parking robot and parking implementation method thereof
CN202111277179.1A CN113958170A (en) 2020-11-09 2021-10-30 Parking robot with fork arm driven by steering wheel and parking implementation method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011236265.3A CN112240117A (en) 2020-11-09 2020-11-09 Novel double-tooth lateral parking robot and parking implementation method thereof

Publications (1)

Publication Number Publication Date
CN112240117A true CN112240117A (en) 2021-01-19

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Application Number Title Priority Date Filing Date
CN202011236265.3A Withdrawn CN112240117A (en) 2020-11-09 2020-11-09 Novel double-tooth lateral parking robot and parking implementation method thereof
CN202111277179.1A Withdrawn CN113958170A (en) 2020-11-09 2021-10-30 Parking robot with fork arm driven by steering wheel and parking implementation method thereof

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Application publication date: 20210119