CN112459571A

CN112459571A - Double-tooth parking robot control system and method with gear arms

Info

Publication number: CN112459571A
Application number: CN202011236267.2A
Authority: CN
Inventors: 贾宝华
Original assignee: Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Current assignee: Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-03-09
Also published as: CN115263057A

Abstract

The invention belongs to the technical field of parking robots and discloses a control system and a control method of a double-tooth parking robot with a baffle arm. The control system comprises a traveling module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller; the traveling module is used for driving the parking robot to move according to a traveling control instruction sent by the master controller; the fork arm moving module is used for driving the fork arm to move; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheel base of the vehicle; the navigation module is used for calculating a traveling route of the parking robot; the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit. The blocking arm structure can help the fork arm of the parking robot to center when lifting the vehicle, so that the fork arm can be controlled to stop moving in time, and the problem that the lifting of the vehicle fails due to the fact that the fork arm is directly crossed by the lighter end due to the fact that the front counterweight difference and the rear counterweight difference of the vehicle are large is avoided.

Description

Double-tooth parking robot control system and method with gear arms

Technical Field

The invention belongs to the technical field of parking robots, and relates to automation equipment for moving vehicles to or from parking spaces in a parking lot, in particular to a double-tooth parking robot control system with a baffle arm and a control method.

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, an object of the present invention is to design a double-claw parking robot with a barrier arm and a control system and method thereof, in order to solve the technical problems that when the existing two-claw parking robot carries a vehicle with a large difference between front and rear weights, the vehicle cannot be pressed onto the yoke, and the vehicle is easy to slip.

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 light side of the vehicle directly passes over the left fork arm 200 or the right fork arm 300 when the tire is pressed due to the large difference of the front and rear weights of the vehicle, the left gear arm 500 and the right gear arm 600 are added. When left shift arm 500 and right shift arm 600 simultaneously contact the tire, if the midpoint between left shift arm 500 and right shift arm 600 coincides with the midpoint of left yoke 200 and right yoke 300, and simultaneously move the left yoke 200 and the right yoke 300 toward both ends of the parking robot, respectively, and keep the same displacement of the left yoke 200 and the right yoke 300, when the distance between the left yoke 200 and the right yoke 300 is greater than the difference of the wheel base of the vehicle minus the widths of the two yokes, indicating that the distance between the tire contact position of the left yoke 200 and the tire contact position of the right yoke 300 is greater than the wheel base of the vehicle, i.e., the vehicle has been entirely lifted by the left and

right forks

200 and 300, there is no need to move the left and

right forks

200 and 300, otherwise the vehicle may fall off again over the left fork 200 or the right fork 300, thereby avoiding the lighter side of the vehicle to directly pass over the left fork 200 or the right fork 300.

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 control system of the double-tooth parking robot with the stop arms, which comprises a traveling module, a fork arm moving module, a stop arm moving module, a measuring module, a navigation module and a master controller.

The traveling module comprises an active traveling device and universal wheels and is used for driving the parking robot to move according to a traveling control instruction sent by the master controller;

the fork arm moving module comprises a fork arm moving device and is used for driving the fork arm to move;

the blocking arm moving module comprises a blocking arm moving device and is used for driving the blocking arm to move;

the measuring module comprises a photoelectric sensor and is used for detecting the wheel base of the vehicle;

the navigation module is used for calculating a traveling route of the parking robot;

the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit;

the input and output unit is used for acquiring a signal for determining parking or picking up a vehicle from a user;

the control instruction unit is used for sending a control instruction so as to control the measuring module to measure the wheel base, control the fork arm moving module to drive the fork arm to move, control the baffle arm moving module to drive the baffle arm to move, control the navigation module to calculate the traveling route of the parking robot and control the traveling module to drive the parking robot to move;

the distance determination unit is used for determining whether the wheel base of the vehicle is larger than a preset maximum wheel base or not and sending a determination result to the control command unit; the parking robot is used for acquiring the distance between the vehicle and the parking robot and judging whether the distance between the vehicle and the parking robot is smaller than or equal to a first carrying distance or a second carrying distance; used for obtaining the distance between the two fork arms and the distance between the two baffle arms, judging whether the middle point between the left baffle arm and the right baffle arm is coincident with the middle point between the left fork arm and the right fork arm or not, judging whether the distance between the two fork arms is larger than the difference value of the wheel base of the vehicle minus the width of the two fork arms or not, and sends the determination result to the control command unit, and determines whether the difference between the wheel base of the vehicle and the distance between the two forks is greater than or equal to a first predetermined difference, and whether the difference between the wheel base of the vehicle and the distance between the two arms is greater than or equal to a second predetermined difference in a first parking process, judging whether the difference between the wheel base of the vehicle and the distance between the two fork arms is larger than or equal to a first preset difference and whether the difference between the distance between the two baffle arms and the wheel base of the vehicle is larger than or equal to a second preset difference in a second parking process, and sending a judgment result to a control instruction unit;

and the resistance judging unit is used for judging whether the movement of the left gear arm or the right gear arm is subjected to resistance or not and sending the obtained result and the judged result to the control command unit.

The invention also provides a control method of the double-tooth parking robot control system with the gear arm, which comprises the following steps:

s1: after the input and output unit receives a signal that a user determines to store or take a car, the control instruction unit controls the advancing module to drive the parking robot to approach one side of the car;

the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is smaller than or equal to a first carrying distance or not, if yes, the control instruction unit controls the advancing module to stop driving the parking robot, and if not, whether the distance between the vehicle and the parking robot is smaller than or equal to the first carrying distance or not is continuously judged;

the preset first carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle and cannot be too far away from the vehicle;

s2: the control instruction unit controls the measuring module to measure the wheel base of the vehicle and sends the wheel base to the distance judging unit;

the distance determination unit determines whether the wheel base of the vehicle is larger than a preset maximum wheel base, if so, the control command unit executes the following steps S3.1-S3.6, and if not, the control command unit executes the following steps S4.1-S4.6;

s3.1: the control instruction unit controls the blocking arm moving module and the fork arm moving module to simultaneously adjust the positions of the left blocking arm, the right blocking arm, the left fork arm and the right fork arm;

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms is larger than or equal to a first preset difference value or not, and whether the difference value between the axle distance of the vehicle and the distance between the two blocking arms is larger than or equal to a second preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, if all judgment results are yes, the control instruction unit controls the fork arm moving module to stop driving the fork arms to move, and controls the blocking arm moving module to stop driving the blocking arms to move, and if one or two judgment results are not, the current situation is maintained;

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;

s3.2: the control instruction unit controls the traveling module to drive the parking robot to drive the vehicle;

the distance judging unit obtains the distance between the vehicle and the frame of the parking robot, judges whether the distance between the vehicle and the parking robot is smaller than or equal to a preset second carrying distance or not, sends a judgment result to the control instruction unit, controls the advancing module to stop driving the parking robot if the judgment result is positive, and judges next time if the judgment result is negative;

the second carrying distance is used for ensuring that the parking robot can clamp and hold four tires on the left side and the right side of the vehicle and cannot collide with the vehicle;

s3.3: the control instruction unit controls the gear arm moving module to simultaneously move the left gear arm and the right gear arm to two ends of the parking robot respectively;

the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm, and if not, the next judgment is carried out;

s3.4: the control instruction unit controls the fork arm moving module to adjust the positions of the left fork arm and the right fork arm, so that the middle point between the left gear arm and the right gear arm is coincided with the middle points of the left fork arm and the right fork arm, the left fork arm and the right fork arm are moved to the two ends of the parking robot respectively, and the moving displacement of the left fork arm and the moving displacement of the right fork arm are kept the same;

the distance judging unit judges whether the distance between the two fork arms is larger than a difference value obtained by subtracting the widths of the two fork arms from the wheel base of the vehicle, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, and if not, the next judgment is carried out;

when the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, the blocking arm moving module is controlled to move the left blocking arm and the right blocking arm to the two ends of the parking robot; the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if not, the next judgment is carried out, and if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm;

s3.5: the control instruction unit controls the navigation module to calculate the traveling route of the parking robot and sends the traveling route to the control instruction unit, and then the traveling module is controlled to drive the parking robot to a parking space where the vehicle is to be parked;

s3.6: the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the middle of the parking robot;

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the wheel base of the vehicle and the distance between the two fork arms is larger than or equal to a first preset difference value or not, and whether the difference value between the wheel base of the vehicle and the distance between the two blocking arms and the wheel base of the vehicle is larger than or equal to a second preset difference value or not, and sends the judgment result to the control instruction unit, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;

s4.1: the control instruction unit controls the blocking arm moving module and the fork arm moving module to simultaneously adjust the positions of the left blocking arm, the right blocking arm, the left fork arm and the right fork arm;

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, controls the command unit to control the fork arm moving module to stop driving the fork arms to move if all judgment results are yes, controls the blocking arm moving module to stop driving the blocking arms to move, and maintains the current situation if one or two judgment results are not;

the preset difference value is used for ensuring that the fork arm or the catch arm cannot collide with the tire of the vehicle when the parking robot drives to the vehicle;

s4.2: the control instruction unit controls the traveling module to drive the parking robot to drive the vehicle;

s4.3: the control instruction unit controls the gear arm moving module to simultaneously and respectively move the left gear arm and the right gear arm to the middle of the parking robot;

s4.4: the control instruction unit controls the fork arm moving module to adjust the positions of the left fork arm and the right fork arm, so that the middle point between the left gear arm and the right gear arm is coincided with the middle points of the left fork arm and the right fork arm, the left fork arm and the right fork arm are moved to the two ends of the parking robot respectively, and the moving displacement of the left fork arm and the moving displacement of the right fork arm are kept the same;

s4.5: the control instruction unit controls the navigation module to calculate the traveling route of the parking robot and sends the traveling route to the control instruction unit, and then the traveling module is controlled to drive the parking robot to a parking space where the vehicle is to be parked;

s4.6: the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the two ends of the parking robot;

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and the difference value between the distance between the two blocking arms and the axle distance of the vehicle are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if yes, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;

s5: the control instruction unit controls the traveling module to drive the parking robot away from the vehicle from the side.

In the step S4.4, after the control instruction unit controls the yoke moving module to stop driving the left yoke and the right yoke, the barrier arm moving module is controlled to move the left barrier arm and the right barrier arm to the middle of the parking robot; the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control command unit, if not, the next judgment is carried out, and if so, the control command unit controls the gear arm moving module to stop driving the left gear arm or the right gear arm.

In step S5, the method further includes: the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.

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.

When the first parking process is executed and 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 can stop moving continuously. When the left gear arm and the right gear arm contact the tire at the same time, if the midpoint between the left gear arm and the right gear arm is coincident with the midpoint between the left fork arm and the right fork arm, and simultaneously and respectively moving the left fork arm and the right fork arm to the two ends of the parking robot, and keeping the moving displacement of the left fork arm and the right fork arm the same, when the distance between the left fork arm and the right fork arm is larger than the difference value of the wheel base of the vehicle minus the width of the two fork arms, indicating that the distance between the tire contact position of the left yoke and the tire contact position of the right yoke is greater than the wheel base of the vehicle, and therefore, when it is detected that the distance between the left yoke and the right yoke is greater than the difference between the wheel base of the vehicle minus the width of the two yokes, it indicates that the entire vehicle has been lifted by the left and right forks without the need to continue moving the left and right forks, otherwise the wheel may fall back over the left fork onto the ground. 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.

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 left gear arm and the right gear arm contact the tire at the same time, if the midpoint between the left gear arm and the right gear arm is coincident with the midpoint between the left fork arm and the right fork arm, and simultaneously and respectively moving the left fork arm and the right fork arm to the two ends of the parking robot, and keeping the moving displacement of the left fork arm and the right fork arm the same, when the distance between the left fork arm and the right fork arm is larger than the difference value of the wheel base of the vehicle minus the width of the two fork arms, indicating that the distance between the tire contact position of the left yoke and the tire contact position of the right yoke is greater than the wheel base of the vehicle, and therefore, when it is detected that the distance between the left yoke and the right yoke is greater than the difference between the wheel base of the vehicle minus the width of the two yokes, it indicates that the entire vehicle has been lifted by the left and right forks without the need to continue moving the left and right forks, otherwise the wheel may fall back over the left fork onto the ground. 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, which can help the fork arm of the parking robot to center when lifting the vehicle, so as to control the fork arm to stop moving in time, and avoid the failure of lifting the vehicle caused by the fact that the lighter end directly passes over the fork arm because the front and rear counterweight difference of the vehicle is larger;

2. the control system and the control method comprehensively consider various collisions and errors which may occur in the parking process, have high feasibility, and particularly determine the central point between two wheels after the stop arm is firstly contacted with the tire (namely, the movement is subjected to resistance), and the left fork arm and the right fork arm move away from each other with the same displacement, so that the left fork arm and the right fork arm can be easily judged at which positions to stop moving, the states of the tire and the corresponding fork arm are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arm is avoided;

3. 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;

4. 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;

5. 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;

fig. 8 is a schematic structural diagram of a parking robot control system according to an embodiment of the present invention;

wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle 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 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

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 the control system and method of the double-tooth parking robot in embodiments 1 to 3 described above.

As shown in fig. 8, the control system of the double-tooth parking robot with the barrier arm includes a traveling module, a yoke moving module, a barrier arm moving module, a measuring module, a navigation module, and a general controller.

The present embodiment further includes a control method of the double-tooth parking robot control system having the barrier arm, where the method includes:

in the present embodiment, the distance determination unit determines that the wheel base of the vehicle is larger than a predetermined maximum wheel base, and the control instruction unit executes the steps of:

s5: the control instruction unit controls the traveling module to drive the parking robot to drive away from the vehicle from the side;

the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.

Example 5

The control system of the double-tooth parking robot in this embodiment is the same as that in embodiment 4, and the control method of the control system includes:

in the present embodiment, the distance determination unit determines that the wheel base of the vehicle is smaller than a predetermined maximum wheel base, and the control instruction unit executes the steps of:

the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, and then controls the gear arm moving module to move the left gear arm and the right gear arm to the middle of the parking robot; the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if not, the next judgment is carried out, and if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm;

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

1. A control system of a double-tooth parking robot with a blocking arm is characterized by comprising a traveling module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller;

2. A control method of a double-tooth parking robot control system with a barrier arm according to claim 1, characterized by comprising:

3. The control method according to claim 2, wherein in step S4.4, after the control command unit controls the yoke moving module to stop driving the left yoke and the right yoke, the barrier arm moving module is controlled to move the left barrier arm and the right barrier arm toward the middle of the parking robot; the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control command unit, if not, the next judgment is carried out, and if so, the control command unit controls the gear arm moving module to stop driving the left gear arm or the right gear arm.

4. The control method according to claim 2, characterized by further comprising, in step S5: the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.