CN113969680A - Parking robot with steering wheel driving fork arm of blocking arm and parking implementation method of parking robot - Google Patents

Parking robot with steering wheel driving fork arm of blocking arm and parking implementation method of parking robot Download PDF

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Publication number
CN113969680A
CN113969680A CN202111322348.9A CN202111322348A CN113969680A CN 113969680 A CN113969680 A CN 113969680A CN 202111322348 A CN202111322348 A CN 202111322348A CN 113969680 A CN113969680 A CN 113969680A
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China
Prior art keywords
arm
fork arm
distance
fork
gear
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Pending
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CN202111322348.9A
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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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Priority claimed from CN202011236247.5A external-priority patent/CN112240115A/en
Priority claimed from CN202011236414.6A external-priority patent/CN112360210A/en
Application filed by Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd filed Critical Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Publication of CN113969680A publication Critical patent/CN113969680A/en
Pending 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 parking robot with a steering wheel driving fork arm and a steering wheel driving fork arm with a baffle arm and a parking implementation method. 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 left retaining arm and a right retaining arm which are combined with the left and right fork arms, a retaining arm moving device, a fixing frame and a steering wheel; the two fixing frames are connected with the cross beam through a guide rail, one side of each fixing frame is connected with the steering wheel, and the other side of each fixing frame is connected with the left fork arm or the right fork arm; the left fork arm and the right fork arm are respectively provided with a universal wheel; the left retaining arm and the right retaining arm are arranged at the two ends or the middle part of the cross beam through the retaining arm moving device. The invention saves a fork arm moving device and simplifies the structure of the whole machine. The arm blocking structure can limit the front and back movement of the robot when the robot lifts the vehicle and confirm the stop position of the fork arm, so that the problem that the lighter end directly passes over the fork arm to cause failure in lifting the vehicle due to the fact that the front and back counterweight difference of the vehicle is large is avoided.

Description

Parking robot with steering wheel driving fork arm of blocking arm and parking implementation method of parking robot
Technical Field
The invention belongs to the technical field of parking robots, and relates to an automatic device for navigating and transporting vehicles to and from a parking space in a parking lot, in particular to a parking robot with a steering wheel driving fork arm and a blocking arm 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.
Double-tooth parking robots have appeared at present, but the two fork arms of the robot are positioned at two ends of a cross beam, 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. Meanwhile, when the double-tooth parking robot carries a vehicle with a large difference between the front and rear counterweights, the situation that the tire on the side with the lighter counterweight of the vehicle directly passes over the yoke and the tire on the side with the heavier counterweight is not pressed on the yoke 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, the invention aims to design a parking robot with a steering wheel driving fork arm with a blocking arm, aiming at the problems that the existing four-claw parking robot has redundant structure, high manufacturing cost, large occupied space and unsuitability for driving wheels at all installation positions, and cannot lift a vehicle when the vehicle with large difference between front and rear weights is transported.
The invention also aims to provide a parking robot parking method with the steering wheel driving fork arm with the blocking arm.
The technical scheme of the invention is as follows:
the invention provides a parking robot with a steering wheel driving fork arm of a baffle arm, which comprises: the steering wheel structure comprises a cross beam 100 in a straight-line structure, a pair of left and right forks 200 and 300 with symmetrical and identical structures, a pair of left and right blocking arms 400 and 500 with symmetrical and identical structures, a blocking arm moving device 410, 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 fork arm 200 and the right fork arm 300 are respectively provided with a universal wheel; the left and right stopper arms 400 and 500 are installed on the cross member 100 by the stopper arm moving means 410, movably installed at both ends of the cross member 100, respectively, or both movably installed at the middle of the left and right forks 200 and 300, i.e., the middle of the cross member 100, and used in combination with the left and right forks 200 and 300, respectively, for restricting the forward and backward movement of the vehicle and confirming the position where the forks should stop moving during the process of the left and right forks 200 and 300 gripping the vehicle.
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 is always a rectangle, and complex calculation and deduction are not needed when a parking robot traveling algorithm is designed.
Left yoke 200 and right yoke 300 can extend into the middle of the front wheels and the rear wheels at the bottom of the vehicle from the side of the vehicle or extend into the front of the front wheels and the rear of the rear wheels at the bottom of the vehicle, and can do the separation movement or the relative movement along the cross beam 100 to respectively press the front wheels and the rear wheels to cause the wheels to climb up the left fork arm 200 and the right fork arm 300, so that the vehicle is separated from the ground; meanwhile, the left and right stopper arms 400 and 500 can be extended from the side of the vehicle to the front of the front wheel and the rear of the rear wheel or to the middle of the front wheel and the rear wheel at the bottom of the vehicle and moved to the front wheel and the rear wheel, respectively, and stopped 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 400 and the right gear arm 500 are added. Since the left and right shift arms 400 and 500 are located on the same horizontal plane as the left and right yokes 200 and 300, when the left shift arm 400 and the left yoke 200 simultaneously touch the wheel, it is noted that the distance between the left shift arm 400 and the left yoke 200 is M1The center between the left arm 400 and the left yoke 200 and the center of the corresponding wheel are located on the same vertical line, and on the premise that the left arm 400 is not moved, if the distance from the left yoke 200 to the left yoke 400 is less than M1At/2, the center of the corresponding wheel falls on the left yoke 200, i.e. the wheel is already lifted by the left yoke 200 and does not need to be moved; similarly, when right arm 500 and right yoke 300 simultaneously contact the wheel, let the distance between right arm 500 and right yoke 300 be M2The center between the right shift arm 500 and the right yoke 300 and the center of the corresponding wheel are located on the same vertical line, and on the premise that the right shift arm 500 is not moved, if the distance from the right yoke 300 to the position between the right yoke 300 and the right shift arm 500 is less than M2At/2, the center of the corresponding wheel falls on the right yoke 300, i.e., the wheel is already lifted by the right yoke 300 and does not need to be moved. When both left yoke 200 and right yoke 300 are stopped, the entire vehicle is disengaged from the ground, thereby avoiding the lighter side of the vehicle from directly passing over left yoke 200 or right yoke 300.
In a further embodiment, the left arm 400 and the right arm 500 are located on the same horizontal plane as the left fork 200 and the right fork 300.
In a further embodiment, the length of the left and right retaining arms 400, 500 is at least such that one of the wheels can be reached when the vehicle is being gripped. In still further embodiments, the lengths of left and right shift arms 400 and 500 may be the same as the lengths of left and right yoke 200 and 300, or the lengths of left and right shift arms 400 and 500 may be longer than the lengths of left and right yoke 200 and 300, or the lengths of left and right shift arms 400 and 500 may be shorter than the lengths of left and right yoke 200 and 300. The left and right arms 400 and 500 can only satisfy the above length requirements to ensure the effect of limiting the movement of the vehicle and confirming whether the wheels have been lifted, otherwise, the vehicle may sideslip under the action of the arms and the pressing force, and the condition that the vehicle cannot be pressed onto the fork arms when the vehicle with large difference of the front and rear counterweights is carried occurs. When the lengths of the left and right stopper arms 400 and 500 can only limit the forward and backward movement of the tire on the side of the vehicle close to the cross beam 100, the effect of limiting the forward and backward movement of the whole vehicle and ensuring that the front and rear wheels are all lifted can be achieved, and the situation that the lighter 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 blocking arms 400 and 500 may be circular, oval, square, triangular, polygonal, or other irregular shapes. The cross-sectional shapes of left and right retaining arms 400 and 500 do not affect their effectiveness, but may affect the tread of the tire and even cause a tire puncture.
In a further technical scheme, the left blocking arm 400 and the right blocking arm 500 are sleeved with elastic protective sleeves. The elastic protection sleeve can avoid damage to the tires of the vehicle when the vehicle is clamped and damage to the left blocking arm 400 and the right blocking arm 500 caused by collision.
In a further technical solution, a blocking arm moving device 410 is connected to each of the left blocking arm 400 and the right blocking arm 500, and the movement of the left blocking arm 400 and the right blocking arm 500 on the cross beam 100 is realized through the blocking arm moving device 410. The arm-blocking moving device 410 comprises a moving motor 411, an L-shaped mounting plate 412, a first guide rail slider mechanism 413, a second guide rail slider mechanism 414 and a rack 415, wherein the L-shaped mounting plate 412 is connected with the left arm-blocking 400 or the right arm-blocking 300 and is also connected with the first guide rail slider mechanism 413 or the second guide rail slider mechanism 414, and the first guide rail slider mechanism 413 and the second guide rail slider mechanism 414 are fixed on the beam 100; the moving motor 411 is installed on the L-shaped installation plate 412, the output shaft of the moving motor 411 is installed with a driving gear, the driving gear is meshed with a rack 415 fixed on the beam 100, the moving motor 411 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped installation plate 412 to move on the beam 100.
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 embodiment, when the left arm 500 and the right arm 600 are installed at two ends of the cross beam, the roller hub stopper 330 of the left yoke 200 is located at the left side thereof, and the roller hub stopper 330 of the right yoke 300 is located at 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. When the left and right baffle arms 500 and 600 are installed in the middle of the cross beam, the roller hub stopper 330 of the left yoke 200 is located on the right side thereof, and the roller hub stopper 330 of the right yoke 300 is located on the left side thereof, so that the left yoke 200 and the right yoke 300 move relative to 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 in front of the front wheel and behind the rear wheel of the vehicle, and the left fork arm 200 and the right fork arm 300 move relatively to lift both rows of tires off the ground.
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 wheel base of the vehicle, the diameter of a tire and the like.
The invention also provides a parking implementation method of the parking robot based on the steering wheel drive fork arm with the blocking arm, which comprises the following steps:
after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
acquiring the wheel base and the wheel diameter of the vehicle, and calculating the stopping distance;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm are adjusted, so that the distance between the left gear arm and the right gear arm is greater than the axle distance of the vehicle and the difference value of the distance is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle and the difference value of the distance is greater than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoints of the left fork arm and the right fork arm; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm are adjusted, so that the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle and the difference value of the distance is larger than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is larger than the axle distance of the vehicle and the difference value of the distance is larger than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoints of the left fork arm and the right fork arm;
controlling the parking robot to adjust the position and drive towards the vehicle until the distance between the cross beam of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left gear arm and the right gear arm are simultaneously and respectively moved to the middle of the parking robot, and when the resistance force applied to the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm is stopped to move; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, the left gear arm and the right gear arm are moved to two ends of the parking robot respectively, and when the resistance on the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm is stopped to move;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left fork arm and the right fork arm are moved to two ends of the parking robot respectively, and when the fact that the distance between the left fork arm and the left gear arm or the distance between the right fork arm and the right gear arm is smaller than a stopping distance is detected, the left fork arm or the right fork arm is stopped to move; when the left gear arm and the right gear arm are installed in the middle of the cross beam, the left fork arm and the right fork arm are moved to the middle of the parking robot respectively, and when the fact that the distance between the left fork arm and the left gear arm or the distance between the right fork arm and the right gear arm is smaller than the stopping distance is detected, the left fork arm or the right fork arm stops moving.
In a further technical solution, the parking implementation method further includes:
driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left fork arm and the right fork arm are simultaneously and respectively moved towards the middle of the parking robot, the left gear arm and the right gear arm are simultaneously and respectively moved towards two ends of the parking robot, the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is larger than the axle distance of the vehicle, and the two difference values are both larger than or equal to a preset difference value; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, the left fork arm and the right fork arm are moved to two ends of the parking robot respectively at the same time, the left gear arm and the right gear arm are moved to the middle of the parking robot respectively at the same time, the distance between the left fork arm and the right fork arm is larger than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle, and the two 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.
In a further technical solution, the parking implementation method further includes:
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the middle of the parking robot; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the two ends of the parking robot;
and when the resistance force applied to the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving.
In a further technical solution, the calculation formula of the stopping distance is:
Figure BDA0003345963990000051
wherein, L is the stopping distance, D is the diameter of the corresponding tire, and h is the height of the fork arm and the stop arm.
In the parking implementation method, when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left fork arm and the right fork arm move away from each other to squeeze a 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 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 left gear arm and the right gear arm are arranged in the middle of the cross beam, the left fork arm and the right fork arm move relatively to extrude the tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm move towards two ends of the parking robot respectively, and the left gear arm and the right gear arm move towards the middle of the parking robot respectively; when the tire is extruded, 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 a vehicle is placed, 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.
Taking a left blocking arm and a left fork arm as an example, and the left blocking arm and the right blocking arm are arranged at two ends of a cross beam, when the left blocking arm is moved towards the middle of the parking robot, when the left blocking arm is subjected to resistance for the first time, the left blocking arm is shown to have touched wheels, and the left blocking arm can stop moving continuously. When the distance between the left yoke and the left catch arm is less than the stopping distance, the center of the wheel is already on the left yoke, and there is no need to move the left yoke further, otherwise the wheel may cross the left yoke and fall back to 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. 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 invention introduces the barrier arm structure, can limit the front and back movement of the vehicle when the parking robot lifts the vehicle and confirm the position where the fork arm should stop moving, so as to 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 back counterweight difference of the vehicle is larger.
4. 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 cross beam can be shortened, and the occupied space of the parking robot is further reduced.
Drawings
Fig. 1 is a schematic structural view of a parking robot according to embodiment 1 of the present invention;
fig. 2 is a side view of the parking robot according to embodiment 1 of the present invention (the arm is not shown);
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 parking robot according to embodiment 2 of the present invention;
fig. 7 is a schematic structural view of a parking robot according to embodiment 4 of the present invention;
the steering wheel structure comprises a cross beam 100, a fixed frame 110, a steering wheel 120, a guide rail structure 130, a photoelectric sensor 140, a left yoke 200, a right yoke 300, a hub limiting seat 330, a tire bracket 331, a rolling assembly 332, a fixed support 333, a fixed block 334, a first fixed block 3341, a second fixed block 3342, a third fixed block 3343, a spring 335, a rolling shaft sleeve 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 stop arm moving device 410, a moving motor 411, an L-shaped mounting plate 412, a first guide rail slider mechanism 413, a second guide rail slider mechanism 414, and a rack 415.
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 5, the present embodiment relates to a parking robot having a rudder wheel drive yoke with a barrier arm, the robot comprising: the steering wheel structure comprises a cross beam 100 in a straight-line structure, a pair of left and right forks 200 and 300 with symmetrical and identical structures, a pair of left and right blocking arms 400 and 500 with symmetrical and identical structures, a blocking arm moving device 410, 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 fork arm 200 and the right fork arm 300 are respectively provided with a universal wheel; the left and right stopper arms 400 and 500 are mounted on the cross member 100 by the stopper arm moving means 410, movably mounted at both ends of the cross member 100, respectively, and used in combination with the left and right forks 200 and 300, respectively, for restricting the forward and backward movement of the vehicle and confirming the position where the forks should stop moving during the process of the left and right forks 200 and 300 gripping the vehicle.
The left and right arm 400 and 500 are located on the same horizontal plane as the left and right yoke 200 and 300. The lengths of left and right shift arms 400 and 500 are shorter than the lengths of left and right yoke 200 and 300. The left and right blocking arms 400 and 500 have a rectangular cross section. The left blocking arm 400 and the right blocking arm 500 are sleeved with elastic protective sleeves.
The left and right blocking arms 400 and 500 are connected to a blocking arm moving device 410, and the movement of the left and right blocking arms 400 and 500 on the cross beam 100 is realized by the blocking arm moving device 410. The arm-blocking moving device 410 comprises a moving motor 411, an L-shaped mounting plate 412, a first guide rail slider mechanism 413, a second guide rail slider mechanism 414 and a rack 415, wherein the L-shaped mounting plate 412 is connected with the left arm-blocking 400 or the right arm-blocking 300 and is also connected with the first guide rail slider mechanism 413 or the second guide rail slider mechanism 414, and the first guide rail slider mechanism 413 and the second guide rail slider mechanism 414 are fixed on the beam 100; the moving motor 411 is installed on the L-shaped installation plate 412, the output shaft of the moving motor 411 is installed with a driving gear, the driving gear is meshed with a rack 415 fixed on the beam 100, the moving motor 411 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped installation plate 412 to move on the beam 100.
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 universal wheel is characterized in that wheels of the universal wheel are mounted on a wheel shaft, the wheel shaft is fixedly mounted in a wheel hub through a fixing piece, the rotating body is a crossed roller bearing, an outer ring of the crossed roller bearing is fixed on a left fork arm 200 or a right fork arm 300, the motor drives a pinion through a speed reducer and is mounted on a motor fixing frame, the motor fixing frame is mounted on the left fork arm 200 or the right fork arm 300, the bur wheel set is a spiral bevel gear with arc teeth, and an included angle between a central shaft of the pinion and a central shaft of the annular gear is 90 degrees.
When the universal wheel is used, the outer ring of the rotating body is fixedly arranged on a base of the equipment. When the motor is not started, the inner ring and the outer ring of the rotating body are relatively static, and the universal wheel cannot rotate freely. When the motor is started, the motor drives the pinion to rotate, and the pinion drives the annular gear to rotate by an angle alpha, the annular gear drives the inner ring of the rotating body and the hub to rotate by the angle alpha, and the outer ring of the rotating body is fixed on the equipment base and cannot rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. And the speed and the running time of the motor can be adjusted to control 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 wheel base of the vehicle, the diameter of a tire, and the like.
Example 2
The present embodiment relates to a parking robot having a steering wheel drive yoke with a fender arm, and as shown in fig. 6, the structure thereof is basically the same as that of embodiment 1, and only the lengths of the left fender arm 400 and the right fender arm 500 and the structure of the universal wheel are slightly different.
The lengths of the left and right shift arms 400 and 500 correspond to the lengths of the left and right yoke 200 and 300.
The universal wheel is an actively driven universal wheel.
Example 3
The embodiment relates to a parking implementation method of a parking robot with a steering wheel driving fork arm and a blocking arm in embodiments 1 and 2, and the method 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 and the wheel diameter of the vehicle, and calculating the stopping distance;
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.
The calculation formula of the stopping distance is as follows:
Figure BDA0003345963990000091
wherein, L is the stopping distance, D is the diameter of the corresponding tire, and h is the height of the fork arm and the stop arm.
From the calculation formula of the stopping distance, it can be known that the stopping distance is the distance between the left yoke and the left stopper arm or the distance between the right yoke and the right stopper arm when the center of the wheel just falls on the left yoke or the right yoke.
S3: adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left gear arm and the right gear arm is greater than the wheelbase of the vehicle and the difference value is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is less than the wheelbase of the vehicle and the difference value is greater than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
the parking robot adjusts the positions of the yoke and the stopper arm to ensure that the yoke and the stopper arm do not hit wheels or the like when inserted into the bottom of the vehicle.
S4: controlling the parking robot to adjust the position and drive towards the vehicle until the distance between the cross beam of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.
S5: simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
when the left retaining arm is moved towards the middle of the parking robot, when the left retaining arm is subjected to resistance for the first time, the left retaining arm is shown to touch the wheels, and the left retaining arm does not need to be moved continuously; when the right gear arm is moved towards the middle of the parking robot, the right gear arm is subjected to resistance for the first time, which indicates that the right gear arm touches the wheel and does not need to be moved continuously.
S6: simultaneously moving the left fork arm and the right fork arm to 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 the left fork arm and the left gear arm or the distance between the right fork arm and the right gear arm is smaller than a stopping distance;
when the distance between the left yoke and the left catch arm or the distance between the right yoke and the right catch arm is less than the stopping distance, it indicates that the center point of the wheel has fallen on the left yoke or the right yoke, i.e., the wheel has been lifted by the left yoke or the right yoke, and there is no need to continue to move the left yoke or the right yoke, otherwise the wheel may cross the left yoke and fall back to the ground.
S7: after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the middle of the parking robot, and when the resistance on the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving;
moving the left baffle arm to the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is transported; and the right baffle arm is moved to the middle of the parking robot again until the right baffle arm receives resistance for the second time, so that the right baffle arm touches the wheels again, and the forward and backward movement caused by bumping during vehicle carrying can be prevented.
S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.
S9: simultaneously and respectively moving the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously and respectively moving the left gear arm and the right gear arm to the two ends of the parking robot, wherein the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is more than the axle distance of the vehicle, and the two difference values are more than or equal to a preset difference value;
the positions of the fork arm and the baffle arm are adjusted, so that wheels of the vehicle fall off from the fork arm to a parking space, and the whole vehicle is parked on the parking space.
S10: and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
The parking robot moves the fork arm and the catch arm out of the bottom of the vehicle, and the first carrying distance can ensure that the parking robot cannot collide with the vehicle in subsequent movement.
Example 4
The present embodiment relates to a parking robot with a barrier arm, as shown in fig. 7. The parking robot has a similar structure to that of embodiment 1, and only the positions of the left and right shift arms 500 and 600 and the position of the hub stopper 330 are different.
Wherein the left and right stopper arms 500 and 600 are movably installed at the middle of the cross member 100. The roller hub limiting seat 330 of the left fork arm 200 is positioned on the right side of the left fork arm, and the roller hub limiting seat 330 of the right fork arm 300 is positioned on the left side of the left fork arm, so that the left fork arm 200 and the right fork arm 300 move relatively when a 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 in front of the front wheel or behind the rear wheel 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.
Example 5
The embodiment relates to a parking implementation method of a parking robot with a steering wheel driving fork arm and a blocking arm in embodiment 4, and the method 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 and the wheel diameter of the vehicle, and calculating the stopping distance;
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.
The calculation formula of the stopping distance is as follows:
Figure BDA0003345963990000111
wherein, L is the stopping distance, D is the diameter of the corresponding tire, and h is the height of the fork arm and the stop arm.
From the calculation formula of the stopping distance, it can be known that the stopping distance is the distance between the left yoke and the left stopper arm or the distance between the right yoke and the right stopper arm when the center of the wheel just falls on the left yoke or the right yoke.
S3: adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left gear arm and the right gear arm is less than the wheelbase of the vehicle and the difference value is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is greater than the wheelbase of the vehicle and the difference value is greater than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;
the parking robot adjusts the positions of the yoke and the stopper arm to ensure that the yoke and the stopper arm do not hit wheels or the like when inserted into the bottom of the vehicle.
S4: controlling the parking robot to adjust the position and drive towards the vehicle until the distance between the cross beam of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.
S5: simultaneously moving the left gear arm and the right gear arm to two ends of the parking robot respectively, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
when the left blocking arms are moved to the two ends of the parking robot, when the left blocking arms are subjected to resistance for the first time, the left blocking arms are shown to touch the wheels, and the left blocking arms do not need to be moved continuously; when the right gear arm is moved to the two ends of the parking robot, resistance is applied to the right gear arm for the first time, and the right gear arm is shown to touch the wheels and does not need to be moved continuously.
S6: simultaneously and respectively moving the left fork arm and the right fork arm to the middle of the parking robot, and stopping moving the left fork arm or the right fork arm when detecting that the distance between the left fork arm and the left gear arm or the distance between the right fork arm and the right gear arm is smaller than the stopping distance;
when the distance between the left yoke and the left catch arm or the distance between the right yoke and the right catch arm is less than the stopping distance, it indicates that the center point of the wheel has fallen on the left yoke or the right yoke, i.e., the wheel has been lifted by the left yoke or the right yoke, and there is no need to continue to move the left yoke or the right yoke, otherwise the wheel may cross the left yoke and fall back to the ground.
S7: after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the two ends of the parking robot, and when the resistance on the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving;
moving the left baffle arms to the two ends of the parking robot again until the left baffle arms receive resistance for the second time, which shows that the left baffle arms touch the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is carried; and moving the right baffle arms to the two ends of the parking robot again until the right baffle arms receive resistance for the second time, which indicates that the right baffle arms touch the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is carried.
S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.
S9: simultaneously and respectively moving a left fork arm and a right fork arm to two ends of the parking robot, and simultaneously and respectively moving a left gear arm and a right gear arm to the middle of the parking robot, wherein the distance between the left fork arm and the right fork arm is greater than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is less than the axle distance of the vehicle, and the two difference values are greater than or equal to a preset difference value;
the positions of the fork arm and the baffle arm are adjusted, so that wheels of the vehicle fall off from the fork arm to a parking space, and the whole vehicle is parked on the parking space.
S10: and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
The parking robot moves the fork arm and the catch arm out of the bottom of the vehicle, and the first carrying distance can ensure that the parking robot cannot collide with the vehicle in subsequent movement.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The 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 (9)

1. A steering wheel driven yoke parking robot with a catch arm, the robot comprising: the steering mechanism comprises a cross beam in a straight-line structure, a pair of left and right fork arms with symmetrical and same structures, a pair of left and right baffle arms with symmetrical and same structures, a baffle arm moving device, 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; the left fork arm and the right fork arm are respectively provided with a universal wheel; the left blocking arm and the right blocking arm are arranged on the cross beam through the blocking arm moving device and are respectively movably arranged at two ends of the cross beam, or are respectively movably arranged in the middle of the left fork arm and the right fork arm, namely in the middle of the cross beam and are respectively combined with the left fork arm and the right fork arm for use.
2. A steering wheel drive yoke parking robot as claimed in claim 1, wherein the left and right arms are located on the same horizontal plane.
3. A steering wheel drive yoke parking robot as claimed in claim 1, characterized in that the length of the left and right arm is at least such that one of the wheels can be reached when the vehicle is picked up.
4. The parking robot with the steering wheel drive yoke of the blocking arm according to claim 1, wherein the blocking arm moving device comprises a moving motor, an L-shaped mounting plate, a first guide rail slider mechanism, a second guide rail slider mechanism and a rack, the L-shaped mounting plate is connected with the left blocking arm or the right blocking arm and is also connected with the first guide rail slider mechanism or the second guide rail slider mechanism, and the first guide rail slider mechanism and the second guide rail slider mechanism are fixed on the cross beam; the movable motor is arranged on the L-shaped mounting plate, the output shaft of the movable motor is provided with a driving gear, the driving gear is meshed with a rack fixed on the cross beam, the movable motor drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate to move on the cross beam.
5. The parking robot with the rudder wheel-driving yoke having the catch arm as claimed in claim 1, wherein the left yoke and the right yoke are provided with a hub stopper seat corresponding to a tire, and a tire bracket is installed in the hub stopper seat; when the left baffle arm and the right baffle arm are arranged at two ends of the cross beam, the roller hub limiting seat of the left fork arm is positioned at the left side of the cross beam, the roller hub limiting seat of the right fork arm is positioned at the right side of the cross beam, and the left fork arm and the right fork arm move away when a vehicle is lifted off the ground; when the left baffle arm and the right baffle arm are arranged in the middle of the cross beam, the roller hub limiting seat of the left fork arm is positioned on the right side of the cross beam, the roller hub limiting seat of the right fork arm is positioned on the left side of the cross beam, and the left fork arm and the right fork arm move relatively when a vehicle is lifted off the ground.
6. A parking realization method based on a parking robot with a rudder wheel drive yoke of a shield arm as claimed in any one of claims 1 to 5, 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 and the wheel diameter of the vehicle, and calculating the stopping distance;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm are adjusted, so that the distance between the left gear arm and the right gear arm is greater than the axle distance of the vehicle and the difference value of the distance is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle and the difference value of the distance is greater than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoints of the left fork arm and the right fork arm; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm are adjusted, so that the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle and the difference value of the distance is larger than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is larger than the axle distance of the vehicle and the difference value of the distance is larger than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoints of the left fork arm and the right fork arm;
controlling the parking robot to adjust the position and drive towards the vehicle until the distance between the cross beam of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left gear arm and the right gear arm are simultaneously and respectively moved to the middle of the parking robot, and when the resistance force applied to the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm is stopped to move; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, the left gear arm and the right gear arm are moved to two ends of the parking robot respectively, and when the resistance on the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm is stopped to move;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left fork arm and the right fork arm are moved to two ends of the parking robot respectively, and when the fact that the distance between the left fork arm and the left gear arm or the distance between the right fork arm and the right gear arm is smaller than a stopping distance is detected, the left fork arm or the right fork arm is stopped to move; when the left gear arm and the right gear arm are installed in the middle of the cross beam, the left fork arm and the right fork arm are moved to the middle of the parking robot respectively, and when the fact that the distance between the left fork arm and the left gear arm or the distance between the right fork arm and the right gear arm is smaller than the stopping distance is detected, the left fork arm or the right fork arm stops moving.
7. The parking implementation method of claim 6, further comprising:
driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, the left fork arm and the right fork arm are simultaneously and respectively moved towards the middle of the parking robot, the left gear arm and the right gear arm are simultaneously and respectively moved towards two ends of the parking robot, the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is larger than the axle distance of the vehicle, and the two difference values are both larger than or equal to a preset difference value; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, the left fork arm and the right fork arm are moved to two ends of the parking robot respectively at the same time, the left gear arm and the right gear arm are moved to the middle of the parking robot respectively at the same time, the distance between the left fork arm and the right fork arm is larger than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is smaller than the axle distance of the vehicle, and the two 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.
8. The parking implementation method of claim 6, further comprising:
when the left gear arm and the right gear arm are arranged at two ends of the cross beam, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the middle of the parking robot; when the left gear arm and the right gear arm are arranged in the middle of the cross beam, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved towards the two ends of the parking robot; and when the resistance force applied to the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving.
9. The parking realization method according to claim 6, wherein the stopping distance is calculated by the formula:
Figure FDA0003345963980000031
wherein, L is the stopping distance, D is the diameter of the corresponding tire, and h is the height of the fork arm and the stop arm.
CN202111322348.9A 2020-11-09 2021-11-09 Parking robot with steering wheel driving fork arm of blocking arm and parking implementation method of parking robot Pending CN113969680A (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202011236247.5A CN112240115A (en) 2020-11-09 2020-11-09 Novel interpolation double-tooth parking robot with baffle arm and parking implementation method thereof
CN202011236414.6A CN112360210A (en) 2020-11-09 2020-11-09 Novel externally-inserted double-tooth parking robot with blocking arm and parking implementation method thereof
CN2020112362475 2020-11-09
CN2020112364146 2020-11-09

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114590573A (en) * 2022-05-09 2022-06-07 民航成都物流技术有限公司 Self-adaptive luggage loading and unloading device, system and receiving method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114590573A (en) * 2022-05-09 2022-06-07 民航成都物流技术有限公司 Self-adaptive luggage loading and unloading device, system and receiving method
CN114590573B (en) * 2022-05-09 2022-08-19 民航成都物流技术有限公司 Luggage self-adaptive loading and unloading device, system and receiving method

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