CN113982330A - Method for realizing accurate control parking of lateral clamping parking robot - Google Patents

Method for realizing accurate control parking of lateral clamping parking robot Download PDF

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Publication number
CN113982330A
CN113982330A CN202111322368.6A CN202111322368A CN113982330A CN 113982330 A CN113982330 A CN 113982330A CN 202111322368 A CN202111322368 A CN 202111322368A CN 113982330 A CN113982330 A CN 113982330A
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China
Prior art keywords
arm
fork arm
gear
fork
gear arm
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Pending
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CN202111322368.6A
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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 CN202011236270.4A external-priority patent/CN112360202A/en
Priority claimed from CN202011236340.6A external-priority patent/CN112360206A/en
Priority claimed from CN202011236346.3A external-priority patent/CN112360209A/en
Priority claimed from CN202011236563.2A external-priority patent/CN112360211A/en
Application filed by Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd filed Critical Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Publication of CN113982330A publication Critical patent/CN113982330A/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 method for realizing accurate parking control of a lateral clamping parking robot. The accurate control parking implementation method is characterized in that for a lateral clamping parking robot with two stop arms and two fork arms, the distance between the fork arms matched with each other when a tire is lifted is obtained through a data calculation mode, so that when a vehicle is lifted, the stop arms or the fork arms are accurately controlled to move, and wheels are clamped between the stop arms and the fork arms matched with each other and cannot fall off from the fork arms. The arm blocking structure can limit the forward and backward movement of the vehicle and confirm the position where the fork arm should stop when the parking robot lifts the vehicle, so that the situation that the lighter end directly passes over the fork arm to cause failure in lifting the vehicle due to the fact that the difference between the front counterweight and the rear counterweight of the vehicle is large is avoided.

Description

Method for realizing accurate control parking of lateral clamping parking robot
Technical Field
The invention belongs to the technical field of parking robots, relates to an automatic device for moving vehicles to or from a parking space in a parking lot, and particularly relates to a method for realizing accurate control of parking of a lateral clamping parking robot.
Background
With the development of society, the economy is improved, the number of automobiles is increased sharply, household automobiles are indispensable vehicles for each family, the problem of difficult parking in each city is solved, the parking queue and the parking space finding time are long, and the traditional method for drivers to find the parking space by themselves cannot meet the parking requirements in each city at present. In order to reduce the time for finding a parking space, parking robots having different structures are available on the market.
Among them, a parking robot that lifts a vehicle by inserting the bottom of the vehicle from the side and sandwiching a tire has a wide application prospect. Generally, such a parking robot employs a four-claw structure including a U-shaped frame body with moving wheels and four holding arms slidable on a long side of the frame body. The parking robot with the structure has large occupied space and high weight, and the problem of vehicle sideslip is easy to occur because the structure is unstable because no supporting structure is arranged below the fork arms. In addition, a parking robot with a two-claw structure is also available in the market, and comprises a frame body shaped like a Chinese character 'yi' and two fork arms with universal wheels and capable of sliding on the frame body. The parking robot with the structure changes the shape of the frame body, reduces the number of the fork arms, and increases the universal wheel supporting structure below the fork arms. However, when the vehicle is subjected to a large bump, the vehicle still has the potential of slipping. Meanwhile, when a vehicle with a large difference between the front and rear counterweights is transported, the situation that the tire on the side with the lighter counterweight of the vehicle directly passes over the fork arm and the tire on the side with the heavier counterweight is not pressed on the fork arm can occur in the process of pressing the tire, and the application range of the parking robot with the structure is limited.
Disclosure of Invention
In view of the technical problems in the prior art, one of the objectives of the present invention is to provide a method for implementing a lateral-clamping parking robot to accurately control parking, which is designed for solving the technical problems that the existing two-claw parking robot cannot press a vehicle onto a yoke when transporting a vehicle with a large difference between front and rear weights, and the vehicle is easy to slip off
The technical scheme of the invention is as follows:
the invention also provides a parking implementation method of the lateral clamping parking robot, which comprises the following steps:
after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
acquiring the wheel base and the wheel diameter of the vehicle, and calculating the stopping distance;
when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, 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 midpoint between the left fork arm and the right fork arm; or when the left gear arm and the right gear arm are positioned between the left fork arm and the right fork arm, the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm are adjusted to ensure that the distance between the left gear arm and the right gear arm is less than the axle base 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 axle base of the vehicle and the difference value is greater than or equal to a 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, wherein the distance between the frame 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 respectively positioned at two sides of the left fork arm or the right fork arm, the left gear arm and the right gear arm are respectively moved to the middle of the parking robot at the same time, 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 be moved; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left gear arm and the right gear arm are simultaneously moved towards the 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 be moved;
when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, the left fork arm and the right fork arm are simultaneously and respectively moved towards two ends of the parking robot, and when 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, the left fork arm or the right fork arm is stopped to move; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left fork arm and the right fork arm are simultaneously moved towards 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 respectively positioned at two sides of the left fork arm or the right fork arm, 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; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left fork arm and the right fork arm are simultaneously and respectively moved towards the two ends of the parking robot, the left gear arm and the right gear arm are simultaneously and respectively moved towards the middle of the parking robot, 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;
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 respectively positioned at two sides of the left fork arm or the right fork arm, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved to the middle of the parking robot; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved to 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 parking implementation method further includes:
if be equipped with the spacing seat of wheel hub on left side fender arm or the right fender arm, then: when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, the left gear arm or the right gear arm is moved to the middle of the parking robot while the left fork arm or the right fork arm is stopped moving, and the left gear arm or the right gear arm is stopped moving when the resistance applied to the left gear arm or the right gear arm is detected to be larger than or equal to the preset maximum resistance; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left gear arm or the right gear arm is moved to two ends of the parking robot while the left fork arm or the right fork arm is stopped, and the left gear arm or the right gear arm is stopped when the resistance applied to the left gear arm or the right gear arm is detected to be greater than or equal to the preset maximum resistance.
In a further technical solution, the parking implementing method further includes:
the length of the frame is adjusted while the positions of the left and right baffle arms and the positions of the left and right fork arms are adjusted.
In a further technical solution, the calculation formula of the stopping distance is:
Figure BDA0003345968840000031
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.
The lateral-clamping parking robot includes:
the frame is of a straight-line structure, and the length of the frame is fixed or adjustable;
the active walking device is arranged on the frame and used for driving the frame to move;
the left fork arm and the right fork arm are respectively arranged on the same side of the frame, and the distance between the left fork arm and the right fork arm is adjustable;
the universal wheels are arranged on the left fork arm and the right fork arm to meet the driving requirement of the parking robot and serve as a supporting structure;
the left gear arm and the right gear arm are movably arranged on the frame, are respectively positioned on two sides of the left fork arm and the right fork arm or are both positioned in the middle of the left fork arm and the right fork arm, are respectively combined with the left fork arm and the right fork arm for use, and are used for limiting the front and back movement of the vehicle and confirming whether the wheels are lifted or not in the process of clamping the vehicle by the left fork arm and the right fork arm;
the left blocking arm and the right blocking arm are both connected with a blocking arm moving device, the left fork arm and the right fork arm are both connected with a fork arm moving device, and the left blocking arm and the right blocking arm are located on the same horizontal plane with the left fork arm and the right fork arm.
For the parking robot, the left fork arm and the right fork arm can extend into the middle of a front wheel and a rear wheel at the bottom of the vehicle or extend into the front of the front wheel and the rear of the rear wheel at the bottom of the vehicle from the side surface of the vehicle, and can do separated motion or relative motion along the vehicle frame to respectively extrude the front wheel and the rear wheel to make the wheels climb onto the left fork arm and the right fork arm, so that the vehicle is separated from the ground; meanwhile, the left gear arm and the right gear arm can stretch into the front of a front wheel and the rear of a rear wheel at the bottom of the vehicle or the middle of the front wheel and the rear wheel at the bottom of the vehicle from the side of the vehicle, move towards the front wheel and the rear wheel respectively, and stop moving when contacting with the wheels. In order to avoid the situation that the lighter side of the vehicle directly crosses the left fork arm or the right fork arm when the tire is extruded due to the fact that the front-back weight difference of the vehicle is large, the left baffle arm and the right baffle arm are additionally arranged, when the tire on the lighter side of the vehicle is extruded by the left fork arm or the right fork arm, the tire climbs the left fork arm or the right fork arm, at the moment, the left baffle arm or the right baffle arm which originally contacts the tire can not contact the tire any more due to the fact that the position of the tire is raised, at the moment, the left fork arm or the right fork arm does not need to be moved, only the other fork arm needs to be moved, so that the other tire is extruded to the other fork arm, the whole vehicle is separated from the ground, and the lighter side of the vehicle is prevented from directly crossing the left fork arm or the right fork arm. When the other fork arm is moved, the wheel is limited between the fork arm and the blocking arm due to the blocking of the blocking arm matched with the fork arm, and the whole vehicle can not be moved again due to the extrusion of the fork arm, so that the wheel which climbs the fork arm falls off the fork arm.
In a further technical scheme, the left fork arm and the right fork arm are provided with a wheel hub limiting seat corresponding to the position of a tire, and a tire bracket is arranged in the wheel hub limiting seat; when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm and the right fork arm, the roller hub limiting seat of the left fork arm is positioned at the left side of the left gear arm, the roller hub limiting seat of the right fork arm is positioned at the right side of the right gear arm, and the left fork arm and the right fork arm move away from each other when a vehicle is lifted off the ground; when the left baffle arm and the right baffle arm are positioned between the left fork arm and the right fork arm, the roller hub limiting seat of the left fork arm is positioned on the right side of the left fork arm, the roller hub limiting seat of the right fork arm is positioned on the left side of the right fork arm, and the left fork arm and the right fork arm move relatively when a vehicle is lifted off the ground.
In a further technical scheme, the positions of the left retaining arm and the right retaining arm corresponding to the tire are also provided with a hub limiting seat, and a tire bracket is arranged in the hub limiting seat; when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm and the right fork arm, the hub limiting seat of the left gear arm is positioned at the right side of the left gear arm, and the hub limiting seat of the right gear arm is positioned at the left side of the right gear arm; when the left gear arm and the right gear arm are both positioned in the middle of the left fork arm and the right fork arm, the hub limiting seat of the left gear arm is positioned on the left side of the hub limiting seat, and the hub limiting seat of the right gear arm is positioned on the right side of the hub limiting seat.
In the parking implementation method, when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, 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 positioned between the left fork arm and the right fork arm, the left fork arm and the right fork arm move relatively to squeeze a tire, the left fork arm and the right fork arm move towards two ends of the parking robot respectively after the wheel base of the vehicle is obtained, 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 the left blocking arm and the left fork arm as an example, and the left blocking arm and the right blocking arm are respectively positioned at two sides of the left fork arm or the right fork arm, when the left blocking arm moves 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 wheel, 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 move the left fender arm to the middle of the car parking robot again until receiving the resistance for the second time, show that the left fender arm has touched the wheel again, further, if keep off the arm and be equipped with the spacing seat of tire, when detecting that the resistance that left fender arm or right fender arm received is greater than or equal to predetermined maximum resistance, show that the tire bracket of left fender arm or right fender arm has held in the palm one side of wheel, because of the back-and-forth movement that jolts produced when can prevent the transport vehicle.
The invention has the following beneficial effects:
1. the invention introduces the barrier arm structure, can limit the front and back movement of the vehicle and confirm the position where the fork arm should stop moving when the parking robot lifts the vehicle, so as to avoid that the lighter end directly passes over the fork arm because the front and back counterweight difference of the vehicle is larger, and the failure of lifting the vehicle is caused;
2. the fork arm of the parking robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the lateral sliding of the tire on the fork arm, so as to realize the purpose of preventing the vehicle from falling;
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 fork arm of the parking robot according to the embodiment of the present invention;
fig. 3 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. 4 is a bottom view of another tire carrier of a parking robot yoke according to an embodiment of the present invention;
fig. 5 is a perspective view of a parking robot according to embodiment 2 of the present invention;
fig. 6 is a perspective view of a parking robot according to embodiment 3 of the present invention; fig. 7 is a perspective view of a parking robot according to embodiment 6 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 an active traveling device, 150 is a middle connector, 200 is a left yoke, 300 is a right yoke, 310 is a yoke moving device, 311 is a moving motor, 312 is an L-shaped mounting plate, 313 is a first guide slider mechanism, 314 is a second guide slider mechanism, 315 is a rack, 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 bushing, 337 is a roller shaft, 338 is a shaft bracket, 3381 is a lateral bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear side bracket, 3385 is a front side bracket, 3386 is a second rear side bracket, 339 is a spacer, 400 is a photoelectric sensor, 500 is a left yoke, 510 is a yoke moving device, 511 is a moving motor, 512 is an L-shaped mounting plate, 513 is a third guide rail sliding block mechanism, 514 is a fourth guide rail sliding block mechanism, 515 is a rack, and 600 is a right gear 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 parking robot having a barrier arm structure, as shown in fig. 1, the robot including:
the bicycle frame 100, the bicycle frame 100 is a straight-line structure, and the length of the bicycle frame is fixed;
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 installed on the left and right yokes 200 and 300 to meet the driving requirements of the parking robot and serving as a support structure;
the left and right blocking arms 500 and 600 are symmetrically and identically structured, and the left and right blocking arms 500 and 600 are movably installed on the frame 100, are respectively located at both sides of the left and right forks 200 and 300, and are respectively used in combination with the left and right forks 200 and 300, for limiting the forward and backward movement of the vehicle and confirming whether the wheels have been lifted during the process of clamping the vehicle by the left and right forks 200 and 300.
The left blocking arm 500 and the right blocking arm 600 are located on the same horizontal plane as the left fork arm 200 and the right fork arm 300, the left blocking arm 500 and the left fork arm 200 share a slide rail, and the right blocking arm 600 and the right fork arm 300 share a slide rail. 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 blocking moving device 510 comprises a moving motor 511, an L-shaped mounting plate 512, a third guide rail sliding block mechanism 513, a fourth guide rail sliding block mechanism 514 and a rack 515, wherein the L-shaped mounting plate 512 is connected with the left blocking arm 500 or the right blocking arm 600 and is also connected with the third guide rail sliding block mechanism 513 or the fourth guide rail sliding block mechanism 514, and the third guide rail sliding block mechanism 513 and the fourth guide rail sliding block mechanism 514 are fixed on the frame 100; the movable motor 511 is installed on the L-shaped mounting plate 512, a driving gear is installed on an output shaft of the movable motor 511, the driving gear is meshed with a rack 515 fixed on the frame 110, the movable motor 511 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate 512 to move on the frame 110.
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 by the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. In a further embodiment, the left arm 500 and the left yoke 200 share a rail and a rack, and the right arm 600 and the right yoke 300 share a rail and a rack.
The first rail slider mechanism 313 of the left yoke 200 and the third rail slider mechanism 513 of the left stopper arm 500 share a rail, the second rail slider mechanism 314 of the left yoke 200 and the fourth rail slider mechanism 514 of the left stopper arm 500 share a rail, and the left yoke 200 and the left stopper arm 500 share a rack 315/515. Similarly, the first rail slider mechanism 313 of the right yoke 200 shares a rail with the third rail slider mechanism 513 of the right arm 500, the second rail slider mechanism 314 of the right yoke 200 shares a rail with the fourth rail slider mechanism 514 of the right arm 500, and the right yoke 200 and the right arm 500 share one rack 315/515. In other embodiments, the yoke and the catch arm may not share a slide or rack.
The universal wheel comprises a wheel, a rotating body, a bevel gear set and a motor; the bevel gear set comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is located the centre bore of rotator, just the inner circle of rotator and ring gear inboard respectively with the wheel hub fixed connection of wheel, driving motor drives the initiative of wheel through driving the bevel gear group and turns to.
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 7 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.
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.
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, the wheel base of the vehicle, the diameter of the wheel, and the like.
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 parking robot having a barrier arm structure, as shown in fig. 5. The parking robot has a similar structure to that of embodiment 1, except for the structures or positions of the vehicle frame 100 and the photoelectric sensor 400.
Wherein, the length of the carriage 100 is adjustable, and the position of the adjustable length is in the middle position of the in-line carriage 100. The length-adjustable position is provided with an intermediate connecting member 150, and two ends of the intermediate connecting member 150 are inserted and positioned in the middle of the corresponding frame 110.
The front plate 110 of the frame 100 is provided with two photoelectric sensors 400 at a position near the adjustable length.
Example 3
The present embodiment relates to a parking robot with a barrier arm, as shown in fig. 6. This parking robot has a similar structure to that of embodiment 1, and only the structures of the left range arm 500 and the right range arm 600 are different.
The positions of the left and right arms 500 and 600 corresponding to the tire are provided with a hub limiting seat 330, and the tire bracket 331 is arranged in the hub limiting seat 330.
Example 4
The present embodiment relates to a parking implementation method for a parking robot with a barrier arm structure in embodiment 1, where the method includes the following steps:
s1: after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
when a user sends a parking or taking signal through the parking management system, if the user parks the vehicle, the management system acquires information such as the position of a parking exchange position, the position of a parking space to be parked, the traveling route of the parking robot and the like. Therefore, the parking robot can be controlled to move to one side close to the vehicle according to the position of the parking exchange position, and the distance between the parking robot and the vehicle is smaller than or equal to the preset first carrying distance. The first carrying distance is a distance that ensures that the parking robot does not collide with the vehicle and that can adjust the positions of the yoke and the stopper arm.
S2: acquiring the wheel base 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 BDA0003345968840000091
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, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.
S5: simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
when the left retaining arm is moved towards the middle of the parking robot, when the left retaining arm is subjected to resistance for the first time, the left retaining arm is shown to touch the wheels, and the left retaining arm does not need to be moved continuously; when the right gear arm is moved towards the middle of the parking robot, the right gear arm is subjected to resistance for the first time, which indicates that the right gear arm touches the wheel and does not need to be moved continuously.
S6: and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, 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 less 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.
And S7, after the left fork arm or the right fork arm stops moving, moving the left gear arm or the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when the resistance applied to the left gear arm or the right gear arm is detected.
Moving the left baffle arm to the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is transported; and the right baffle arm is moved to the middle of the parking robot again until the right baffle arm receives resistance for the second time, so that the right baffle arm touches the wheels again, and the forward and backward movement caused by bumping during vehicle carrying can be prevented.
S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.
S9: simultaneously and respectively moving the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously and respectively moving the left gear arm and the right gear arm to the two ends of the parking robot, wherein the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is more than the axle distance of the vehicle, and the two difference values are more than or equal to a preset difference value;
the positions of the fork arm and the baffle arm are adjusted, so that wheels of the vehicle fall off from the fork arm to a parking space, and the whole vehicle is parked on the parking space.
S10: and controlling the parking robot to move away from one side of the vehicle until the distance between the parking robot and the vehicle is greater than or equal to a preset first conveying distance.
The parking robot moves the fork arm and the catch arm out of the bottom of the vehicle, and the first carrying distance can ensure that the parking robot cannot collide with the vehicle in subsequent movement.
In addition, the parking method for the parking robot in embodiment 3 is similar to that described above, except that S6 is different, and the specific contents are:
s6: and simultaneously moving the left fork arm and the right fork arm towards the two ends of the parking robot respectively, 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, moving the left gear arm or the right gear arm towards the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting that the resistance on the left gear arm or the right gear arm is larger than or equal to the preset maximum resistance.
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.
Moving the left retaining arm to the middle of the parking robot again until the left retaining arm is subjected to resistance for the second time, indicating that the left retaining arm touches the wheel again, and further indicating that the tire bracket of the left retaining arm or the right retaining arm already supports one side of the wheel when the resistance applied to the left retaining arm or the right retaining arm is detected to be greater than or equal to the maximum resistance, so that the front and back movement caused by bumping can be prevented 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.
Example 5
The present embodiment relates to a parking implementation method of the parking robot with the arm structure in embodiment 2, which is basically the same as the method in embodiment 4, and only differs in step S3. Step S3 in this embodiment specifically includes the following contents:
s3: adjusting the positions of the left gear arm and the right gear arm, the positions of the left fork arm and the right fork arm, and adjusting the length of the frame to ensure that the distance between the left gear arm and the right gear arm is greater than the axle base of the vehicle and the difference value thereof 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 base of the vehicle and the difference value thereof is greater than or equal to a 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.
Example 6
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 blocking arm 500 and the right blocking arm 600 are both located in the middle of the left fork arm 200 and the right fork arm 300. 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 7
The present embodiment relates to a parking implementation method for a parking robot with a barrier arm structure in embodiment 6, where the method includes the following steps:
s1: after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
when a user sends a parking or taking signal through the parking management system, if the user parks the vehicle, the management system acquires information such as the position of a parking exchange position, the position of a parking space to be parked, the traveling route of the parking robot and the like. Therefore, the parking robot can be controlled to move to one side close to the vehicle according to the position of the parking exchange position, and the distance between the parking robot and the vehicle is smaller than or equal to the preset first carrying distance. The first carrying distance is a distance that ensures that the parking robot does not collide with the vehicle and that can adjust the positions of the yoke and the stopper arm.
S2: acquiring the wheel base 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 BDA0003345968840000121
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, wherein the distance between the frame of the parking robot and the vehicle is less than or equal to a preset second carrying distance;
after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.
S5: simultaneously moving the left gear arm and the right gear arm to two ends of the parking robot respectively, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;
when the left blocking arms are moved towards the two ends of the parking robot, when the left blocking arms are subjected to resistance for the first time, the left blocking arms are shown to touch the wheels, and the left blocking arms do not need to be moved continuously; when the right gear arm is moved to the two ends of the parking robot, resistance is applied to the right gear arm for the first time, and the right gear arm is shown to touch the wheels and does not need to be moved continuously.
S6: and simultaneously moving the left fork arm and the right fork arm towards the middle of the parking robot respectively, and stopping moving the left fork arm or the right fork arm when detecting that the distance between the 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.
And S7, after the left fork arm or the right fork arm stops moving, moving the left gear arm or the right gear arm to the two ends of the parking robot, and stopping moving the left gear arm or the right gear arm when the resistance applied to the left gear arm or the right gear arm is detected.
Moving the left baffle arms to the two ends of the parking robot again until the left baffle arms receive resistance for the second time, which shows that the left baffle arms touch the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is carried; and moving the right baffle arms to the two ends of the parking robot again until the right baffle arms receive resistance for the second time, which indicates that the right baffle arms touch the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is carried.
S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;
and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.
S9: simultaneously and respectively moving 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 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 parking implementation method of a lateral clamping parking robot is characterized by comprising the following steps:
after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;
acquiring the wheel base and the wheel diameter of the vehicle, and calculating the stopping distance;
when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, 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 midpoint between the left fork arm and the right fork arm; or when the left gear arm and the right gear arm are positioned between the left fork arm and the right fork arm, the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm are adjusted to ensure that the distance between the left gear arm and the right gear arm is less than the axle base 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 axle base of the vehicle and the difference value is greater than or equal to a 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, wherein the distance between the frame 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 respectively positioned at two sides of the left fork arm or the right fork arm, the left gear arm and the right gear arm are respectively moved to the middle of the parking robot at the same time, 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 be moved; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left gear arm and the right gear arm are simultaneously moved towards the 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 be moved;
when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, the left fork arm and the right fork arm are simultaneously and respectively moved towards two ends of the parking robot, and when 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, the left fork arm or the right fork arm is stopped to move; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left fork arm and the right fork arm are simultaneously moved towards 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.
2. The parking implementing method according to claim 1, wherein the lateral-grip parking robot includes:
the frame is of a straight-line structure, and the length of the frame is fixed or adjustable;
the active walking device is arranged on the frame and used for driving the frame to move;
the left fork arm and the right fork arm are respectively arranged on the same side of the frame, and the distance between the left fork arm and the right fork arm is adjustable;
the universal wheels are arranged on the left fork arm and the right fork arm to meet the driving requirement of the parking robot and serve as a supporting structure;
the left gear arm and the right gear arm are movably arranged on the frame, are respectively positioned on two sides of the left fork arm and the right fork arm or are both positioned in the middle of the left fork arm and the right fork arm, are respectively combined with the left fork arm and the right fork arm for use, and are used for limiting the front and back movement of the vehicle and confirming whether the wheels are lifted or not in the process of clamping the vehicle by the left fork arm and the right fork arm;
the left blocking arm and the right blocking arm are both connected with a blocking arm moving device, the left fork arm and the right fork arm are both connected with a fork arm moving device, and the left blocking arm and the right blocking arm are located on the same horizontal plane with the left fork arm and the right fork arm.
3. The parking implementing method according to claim 2, wherein the left fork arm and the right fork arm are provided with a hub limiting seat corresponding to the position of the tire, and a tire bracket is installed in the hub limiting seat; when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm and the right fork arm, the roller hub limiting seat of the left fork arm is positioned at the left side of the left gear arm, the roller hub limiting seat of the right fork arm is positioned at the right side of the right gear arm, and the left fork arm and the right fork arm move away from each other when a vehicle is lifted off the ground; when the left baffle arm and the right baffle arm are positioned between the left fork arm and the right fork arm, the roller hub limiting seat of the left fork arm is positioned on the right side of the left fork arm, the roller hub limiting seat of the right fork arm is positioned on the left side of the right fork arm, and the left fork arm and the right fork arm move relatively when a vehicle is lifted off the ground.
4. The parking implementing method according to claim 3, wherein the positions of the left and right baffle arms corresponding to the tires are also provided with hub limiting seats, and tire brackets are installed in the hub limiting seats; when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm and the right fork arm, the hub limiting seat of the left gear arm is positioned at the right side of the left gear arm, and the hub limiting seat of the right gear arm is positioned at the left side of the right gear arm; when the left gear arm and the right gear arm are both positioned in the middle of the left fork arm and the right fork arm, the hub limiting seat of the left gear arm is positioned on the left side of the hub limiting seat, and the hub limiting seat of the right gear arm is positioned on the right side of the hub limiting seat.
5. The parking implementation method of claim 1, further comprising:
when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, 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; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left fork arm and the right fork arm are simultaneously and respectively moved towards the two ends of the parking robot, the left gear arm and the right gear arm are simultaneously and respectively moved towards the middle of the parking robot, 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;
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.
6. The parking implementation method of claim 1, further comprising:
when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved to the middle of the parking robot; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, after the left fork arm or the right fork arm stops moving, the left gear arm or the right gear arm is moved to 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.
7. The parking implementation method of claim 1, further comprising: if be equipped with the spacing seat of wheel hub on left side fender arm or the right fender arm, then: when the left gear arm and the right gear arm are respectively positioned at two sides of the left fork arm or the right fork arm, the left gear arm or the right gear arm is moved to the middle of the parking robot while the left fork arm or the right fork arm is stopped moving, and the left gear arm or the right gear arm is stopped moving when the resistance applied to the left gear arm or the right gear arm is detected to be larger than or equal to the preset maximum resistance; or when the left gear arm and the right gear arm are both positioned between the left fork arm and the right fork arm, the left gear arm or the right gear arm is moved to two ends of the parking robot while the left fork arm or the right fork arm is stopped, and the left gear arm or the right gear arm is stopped when the resistance applied to the left gear arm or the right gear arm is detected to be greater than or equal to the preset maximum resistance.
8. The parking implementation method of claim 1, further comprising:
the length of the frame is adjusted while the positions of the left and right baffle arms and the positions of the left and right fork arms are adjusted.
9. The parking realization method according to claim 1, wherein the stopping distance is calculated by the formula:
Figure FDA0003345968830000031
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.
CN202111322368.6A 2020-11-09 2021-11-09 Method for realizing accurate control parking of lateral clamping parking robot Pending CN113982330A (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN202011236270.4A CN112360202A (en) 2020-11-09 2020-11-09 External forklift parking robot with gear structure and parking implementation method thereof
CN202011236340.6A CN112360206A (en) 2020-11-09 2020-11-09 External forklift parking robot with barrier arm structure and parking implementation method thereof
CN202011236346.3A CN112360209A (en) 2020-11-09 2020-11-09 Inner forklift parking robot with baffle arm structure and parking implementation method thereof
CN2020112365632 2020-11-09
CN202011236563.2A CN112360211A (en) 2020-11-09 2020-11-09 Inner forklift parking robot with gear structure and parking implementation method thereof
CN2020112363406 2020-11-09
CN2020112363463 2020-11-09
CN2020112362704 2020-11-09

Publications (1)

Publication Number Publication Date
CN113982330A true CN113982330A (en) 2022-01-28

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Application Number Title Priority Date Filing Date
CN202111322368.6A Pending CN113982330A (en) 2020-11-09 2021-11-09 Method for realizing accurate control parking of lateral clamping parking robot

Country Status (1)

Country Link
CN (1) CN113982330A (en)

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