CN208792847U - A kind of flat parking robot - Google Patents

A kind of flat parking robot Download PDF

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Publication number
CN208792847U
CN208792847U CN201821464254.9U CN201821464254U CN208792847U CN 208792847 U CN208792847 U CN 208792847U CN 201821464254 U CN201821464254 U CN 201821464254U CN 208792847 U CN208792847 U CN 208792847U
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China
Prior art keywords
main body
wheel
driven wheel
parking robot
hold
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CN201821464254.9U
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Chinese (zh)
Inventor
王军年
冯世荣
管畅洋
王肇聿
康方瑞
吴博宇
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Jilin University
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Jilin University
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Abstract

The utility model discloses a kind of flat parking robots, comprising: the first main body is tabular;Multiple Mecanum wheels are mounted in the first main body, and Mecanum wheel is driven by independent servo motor;Second main body is arranged above the first main body;Multiple first omnidirectionals driven wheel, lower end pass through the first main body, and upper end is connect by elevating mechanism with the second main body;Wherein, first omnidirectional's driven wheel includes: the first driven wheel sphere;First connector, above driven wheel sphere, connector is connect elastic connection with elevating mechanism;It is multiple to hold mechanism, it is movably disposed in the second main body;Wheel is held when for stopping.Flat parking robot provided by the utility model, it is cooperated by multiple omnidirectional's driven wheels and Mecanum wheel, it is equipped with movable type simultaneously and holds mechanism, stability, size adaptability and stronger bearing capacity with higher while realizing high efficiency aid parking.

Description

A kind of flat parking robot
Technical field
The utility model belongs to automatic parking technical field, in particular to a kind of flat parking robot.
Background technique
At present at home and abroad, with the improvement of living standards with the development of manufacturing industry level, the ownership of automobile constantly climbed It rises, the parking difficulty problem generated therewith has become the problem in each urban development planning, while with science and technology production The development of power, people's demand intelligentized for parking lot is also further strong, therefore some novel parking lot intellectualized technologies Exploitation and development are obtained.
The novel parking technology developed at present mainly has automatic parking robot and two kinds of forms of intelligent three-dimensional parking garage. Wherein intelligent three-dimensional garage parking efficiency is higher, but it has existing parking lot very big change, higher cost, medium and small Popularizing for type parking lot is relatively difficult to achieve.And develop omnidirectional's parking robot and be able to solve these problems, so that parking efficiency is higher While can make parking lot save great amount of cost, have higher use and promotional value.
Chinese patent " a kind of adjustable parking robot " (patent No.: 205089011 U of CN) proposes a kind of size Adjustable parking robot can be controlled separately the relative distance between each fork, to adapt to the vehicle to different wheelbases.This Scheme is primarily intended to be held front and back tire from the side of automobile, is then moved.But the volume of this parking robot It is larger, while side holds and higher to the mechanical property requirements of its own structure can will increase cost and accident risk.
Chinese patent " a kind of liftable parking robot " (patent No.: 104612437 A of CN) proposes a kind of liftable pool Vehicle robot can promote the effective height of wheel load carrier by multistage telescopic lifting mechanism, specify car body arrival Height and position achievees the purpose that multi-storied parking, but its stability of entire mechanism during the work time is poor.
Chinese patent " intelligent omnidirectional's shifting carrying platform parking robot " (patent No.: 206530117 U of CN) proposes a kind of intelligence Energy omnidirectional shifting carrying platform parking robot, realizes Omni-mobile using McCrum wheel, but its driven universal wheel is not Have adjustability, while it is not strong to the size adaptability of vehicle, and parking lot is needed to use a large amount of comb teeth load-bearing Frame increases parking lot improvement cost.
Utility model content
The purpose of this utility model is to develop a kind of novel flat parking robot, passes through multiple omnidirectional's driven wheels Cooperate with Mecanum wheel, while being equipped with movable type and holding mechanism, it is with higher while realizing high efficiency aid parking Stability, size adaptability and stronger bearing capacity.
Technical solution provided by the utility model are as follows:
A kind of flat parking robot, comprising:
First main body is tabular;
Multiple Mecanum wheels are mounted in first main body, and the Mecanum wheel is watched by independent Take motor driven;
Second main body is arranged above first main body;
Multiple first omnidirectionals driven wheel, lower end pass through first main body, and upper end passes through elevating mechanism and described second Main body connection;
Wherein, first omnidirectional driven wheel includes:
First connector, the upper end are connect with the elevating mechanism;
First driven wheel sphere connect lower end elastic connection, and the first driven wheel sphere energy with described first It is enough to be rotated along any direction;
It is multiple to hold mechanism, it is movably disposed in second main body, and the device that holds can stretch out For holding wheel outside the parking robot.
Preferably, the mechanism that holds includes:
Shell is connected in second main body by longitudinal translation mechanism;
Two hold bar, are symmetricly set on the shell two sides by holding bar telescoping mechanism, enable described to hold bar Enough crossing out to the hull outside or being retracted in the shell along the shell;
Wherein, the mechanism that holds is two groups, is separately positioned on the both ends of second main body, and every group holds mechanism Respectively include two be oppositely arranged hold mechanism, when it is described hold bar and extend out to the hull outside when, respectively to automobile Front vehicle wheel and rear wheel carry out holding operation.
Preferably, the longitudinal translation mechanism includes:
Lead screw, one end are connected through a screw thread the shell;
Spindle motor is connected to the other end of the lead screw, for driving the lead screw to rotate;
Wherein, longitudinally disposed lead screw guide rails in second main body, the lead screw matching peace turn in the lead screw guide rails It is interior.
Preferably, the bar telescoping mechanism that holds includes:
Two rack gears, are horizontally set in the shell, and the rack gear, which respectively corresponds to be fixedly connected, described holds bar Upper end;
Two symmetrically arranged chain mechanisms, engage connection with the rack gear respectively;
Wherein, one of chain mechanism is connected by gear engaged transmission between Liang Ge chain mechanism Driving motor is connect, another chain mechanism is driven to move synchronously.
Preferably, the elevating mechanism includes:
Electric pushrod is horizontally set in first main body;
Sliding block, one end are fixedly connected with the power output end of the electric pushrod;
Upper strut, the upper end and second main body are hinged, and lower end is side walls hinged with the sliding block;
Lower push-rod, on the slide block, lower end and first connector are hinged for the horizontally slidable connection in the upper end.
Preferably, rotation connection column inclusion enclave on the upside of the first driven wheel sphere, the inclusion enclave upside are fixed Multiple vertical guide rods are connected, first connector is set on the guide rod, and the inclusion enclave and described first connects Spring is equipped between junctor.
Preferably, the flat parking robot further includes multiple second omnidirectionals driven wheel, second omnidirectional from Driving wheel includes:
Second connector, the upper end are fixedly connected with second main body;
Second driven wheel sphere connect lower end elastic connection, and the second driven wheel sphere energy with described second It is enough to be rotated along any direction.
Preferably, the lower end for holding bar is horizontally disposed holds strut, and the strut that holds is close to the one of wheel Side is set as the globoidal structure to match with tire shape.
The beneficial effects of the utility model are:
(1) flat parking robot provided by the utility model is combined using Mecanum wheel and driven omni-directional wheel Mode avoids traditional approach and larger turning radius bring is needed to turn to mobile not flexible, inefficient problem of parking, together When avoid by single Mecanum wheel carrying it is excessive and make tire easily overload destroy the problem of.
(2) flat parking robot provided by the utility model use adjustable driven omni-directional wheel, avoid to In the biggish situation of mass change parked, robot driving wheel and driven wheel load-carrying distribute driving wheel that is uncontrollable and occurring The problem of overload.
(3) flat parking robot provided by the utility model is held using longitudinally movable four are mutually independent Mechanism avoids in the case where different wait the longitudinal size of parking, and holding mechanism cannot be held well, and make to The problem of entirety parked can not be fully raised, and robot loses its locomotive function.
(4) the bar initial position that holds of flat parking robot described in the utility model is avoided in body interior Since hold bar is present such that the lateral dimension of parking robot entirety is larger, so that it is to the lateral ruler parked It is very little require it is larger, and greatly reduce the vehicle class that can be serviced and increase parking robot disequilibrium the problem of.
(5) side for holding bar of flat parking robot described in the utility model is according to actual vehicle on ground Generated tire radian and design, can to avoid traditional approach during holding wheel to tire part force and So that the problem of tire is damaged.
Detailed description of the invention
Fig. 1 is parking robot axial direction exploded view described in the utility model.
Fig. 2 is parking robot front view described in the utility model.
Fig. 3 is parking robot top view described in the utility model.
Fig. 4 is parking robot bottom view described in the utility model.
Fig. 5 is Mecanum wheel schematic diagram described in the utility model.
Fig. 6 is omnidirectional's driven pulley mechanism schematic diagram described in the utility model.
Fig. 7 is omnidirectional's driven pulley mechanism axial direction exploded view described in the utility model.
Fig. 8 is the bottom view of connector in omnidirectional's driven pulley mechanism described in the utility model.
Fig. 9 is elevating mechanism integrated mechanism schematic diagram described in the utility model.
Figure 10 a-10d is the slide block schematic diagram of elevating mechanism integrated mechanism described in the utility model.
Figure 11 holds structural scheme of mechanism to be described in the utility model.
Figure 12 holds telescoping mechanism schematic diagram to be described in the utility model.
Figure 13 is rack gear front view described in the utility model.
Figure 14 holds bar schematic diagram to be described in the utility model.
Figure 15 holds mobile mechanism's schematic diagram to be described in the utility model.
Figure 16 holds mechanism shell schematic diagram to be described in the utility model
Figure 17 is parking robot operation schematic diagram described in the utility model.
Figure 18 is telescoping mechanism operation schematic diagram described in the utility model.
Figure 19 holds mobile mechanism's operation schematic diagram to be described in the utility model.
Figure 20 is lifting integrated mechanism operation schematic diagram described in the utility model.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation Book text can be implemented accordingly.
As shown in Figs. 1-2, the utility model provides a kind of flat parking robot, including main body 100 in robot, Main body 200 under robot, lifting integrated mechanism 400, holds mechanism 500 at traveling mechanism 300.
As shown in figure 3, main body 100 is that a both ends class is arc-shaped in robot, the rectangular thin-slab structure of middle category;Machine The two sides of the upper main body 100 of people are symmetrically arranged with multiple rectangular recess 100a and multiple rectangular recess 100e;Main body 100 in robot Middle position is transversely equipped with rectangular battery box space 100d, main body in the robot of the two sides of the battery box space 100d Multiple screw rod guide rail 100c are fixedly installed in 100 upsides along longitudinal direction, and lead screw guide rails 100c is provided with long trough guide rail 100b, institute It is parallel with lead screw guide rails 100c to state long trough guide rail 100b;Elevating lever hinge bracket 100f is fixed in the robot main The downside of body 100.
As shown in figure 4, main body 200 is that a both ends class is arc-shaped under robot, the rectangular thin plate frame structure of middle category, The downside of main body 100 in robot is set;Multiple circular through hole 200a are opened up under robot in main body 200;It is main under robot The two sides of body 200 are equipped with multiple square groove 200b, correspond with the position of the rectangular recess 100a;It is main under robot The two sides of body 200 are equipped with multiple rectangular recess 200c, correspond with the position of rectangular recess 100e;Meanwhile under robot Main body is equipped with cylindrical push rod guide rail 200d, battery box space 200e and push-rod electric machine space 200f.
As viewed in figures 5-8, the traveling mechanism 300 of flat parking robot mainly includes multiple 310 Hes of omnidirectional's driven wheel Multiple Mecanum wheels 320.Wherein, the position circular through hole 200a of omnidirectional's driven wheel 310 is corresponded;Mecanum wheel 320 The upper side and lower side respectively correspond rectangular recess 100a and square groove 200b.Mecanum wheel 320 is rotatably mounted on machine Under device people in main body 200, and independently driven by the servo motor in main body 200 under robot.Omnidirectional's driven wheel 310 include from Driving wheel sphere 311 is passed through from circular through hole 200a;The driven wheel sphere inclusion enclave 312 of class cylinder, rotation are connected to The upside of the driven wheel sphere 311;There is cylinder shape groove 312a in the upper end of inclusion enclave 312;The upside of inclusion enclave 312, which is equipped with, to be connected Junctor 315, the upper end of the downside connecting spring 313 of connector 315, the lower end of spring 313 is mounted in groove 312a;Make to connect Elastic connection is formed between body 315 and inclusion enclave 312.It is multiple vertical that the upper end of inclusion enclave 312 is equipped in the outside of groove 312a Guide post 314, the lower end of guide post 314 is connected on inclusion enclave 312 by threaded hole 312b, and correspondence is opened on connector 315 If multiple pilot hole 315a, and be set in guide post 314 by pilot hole 315a, through-hole is transversely opened up on connector 315 315b.Wherein, omnidirectional's driven wheel is divided into two classes, and first omnidirectional's driven wheel passes through main in lifting integrated mechanism 400 and robot Body 100 connects, and second omnidirectional's driven wheel is fixedly connected with main body 100 in robot.
As shown in Fig. 9-10d, lifting integrated mechanism 400 includes: electric push rod mechanism 410, sliding block 420, upper strut machine Structure 430, lower push-rod mechanism 440.
Sliding block 420 is made of the rectangular sliding block integration of 2 classes, and wherein the side of top shoe opens up in the horizontal direction Round slot rolling 420a, the side of sliding block open up circular through hole 420b, and one end of sliding block is equipped with groove 420c.Electronic push rod machine The power output end of structure 410 is fixedly connected by groove 420c with 420 sliding blocks.Sliding block 420 is pushed away under by circle slot rolling 420a Linkage 420 is connected, and is connected by circular through hole 420b with support rod mechanism on 430.
Holding mechanism 500 is two groups, is separately positioned on the both ends of main body 100 in robot;Every group holds the difference of mechanism 500 Longitudinally asymmetric setting including two main bodys 100 in the robot holds mechanism 500.Wherein, mechanism 500 is held for one group For holding the front-wheel of vehicle, another group for holding the rear-wheel of vehicle.
Holding mechanism 500 includes: to hold bar telescoping mechanism 510, hold plate mobile mechanism 520 and shell 530.
As illustrated in figs. 11-14, it holds bar telescoping mechanism 510 and includes: two and hold bar 518, be symmetricly set on the shell The left and right sides of body 530, it is described to hold bar 518 and be connected in the shell by holding bar telescoping mechanism 510, make described hold Bar 518 can be along the stretching of the laterally selectivity of the shell 530 or the retraction shell 530.Wherein, holding bar 518 is The Z-shaped bar of class is equipped with multiple groove structure 518a in the strut side for holding 518 top of bar.Hold the packet of bar telescoping mechanism 510 Include: the rear side of two rack gears 517, rack gear 517 is equipped with multiple link structure 517a, and rack gear 517 is fixed by link structure 517a It is connected to and holds in 518 groove structure 518a of bar;Two symmetrically arranged transmission gear chain mechanisms, the transmission gear chain Mechanism includes rack pinion 516, and one side is engaged with a rack gear 517, and the other side is engaged with transmission gear 515;First gear 512 downside is fixedly and coaxially connected second gear 513;Coaxially connected second transmission gear in the downside of first transmission gear 515 519, wherein linked between the first transmission gear 515 and the second transmission gear 519 by spline;Second gear 513 and second passes It is driven between moving gear 519 by chain 514.The middle gear arrangement of Liang Ge chain mechanism is identical, one of tooth The first gear of the first gear 512 of train and another chain mechanism engaged transmission, wherein a chain machine It is equipped with below the second gear of structure and holds mechanism driving-motor 511, hold the power output end connection the of mechanism driving-motor 511 The central axis of two gears 513 and first gear 512, to drive second gear 513 and first gear 512 to rotate synchronously.Another The first gear of chain mechanism rotates towards each other under the drive of first gear 512 with first gear 512.
Preferably, holding the holding on strut 518b of 518 lower part of bar, with the side close to automobile tire according to reality Camber line of the vehicle tyre on ground is designed to arc surfaced, to avoid traditional approach to the part of tire during holding wheel The problem of exerting a force and tire be damaged.
As shown in figure 15, holding mobile mechanism 520 includes: to hold mobile driving motor 521 and screw rod 522.Wherein, screw rod 522 one end connects driving motor 521, and the other end is threadedly attached on shell 530 after passing through screw rod guide rail 100c.
As shown in figure 16,530 shells are equipped with motor slot 530a, guide-track groove 530b and rectangular recess 530c.Wherein, it holds It telescoping mechanism 510 and holds mobile mechanism 520 and is combined together by 530 shells, hold telescoping mechanism 510 and be largely set to 530 enclosure interiors are held at motor slot 530a of the mobile mechanism 520 mainly by holding the mobile shell of driving motor 521 and 530 It is connected.It holds bar 518 to be arranged in rectangular recess 530c, and can be moved along setting rectangular recess 530c.
In addition, under robot in the rectangular recess 200c of the two sides of main body 200 and robot 100 two sides of main body rectangle Groove 100e is corresponding with the position for holding bar 518, and rectangular recess 200c and rectangular recess 100e is arranged in order to hold bar 518 Movement.
Main body 100 and the connection relationship for holding mechanism 500 in robot are as follows: the screw rod 522 held in mechanism 500 passes through silk Rod guide 100c is connected with main body 100 in robot;Meanwhile two of the long trough guide rail 100b in robot in main body 100 Frame matching is arranged in the guide-track groove 530b of shell 530, composition hold mechanism 500 can along guide rail 100b in robot main body The connection relationship moved on 100.
The integrated connection relationship of the flat parking robot are as follows: main body 200 under main body 100 and robot in robot Between connection mainly connected by lifting integrated mechanism 400, wherein elevating lever in robot in main body 100 hinge Chain bracket 100f is connect with 430 hinge of upper support rod mechanism in lifting integrated mechanism 400, the circle under robot in main body 200 Cylindricality push rod guide rail 200d is connected with the sliding block 420 in 400 lifting integrated mechanisms, meanwhile, electric push rod mechanism 410 pushes away Bar motor realizes fixation in the 200f of push-rod electric machine space.It is connected by the through-hole 315b of the first connector 315 with lower push-rod 440 (crossbeam of lower push-rod mechanism 440 is spindle rotationally arranged in through-hole 315b) realizes the lifting one of omnidirectional's driven wheel 310 and 400 Change mechanism to be connected;Meanwhile the circular through hole 200a under robot in main body 200 is the space of omnidirectional's driven wheel 310.
As in figs. 17-19, the working principle of the flat parking robot are as follows: when parking the vehicle, parking robot connects Instruction is received, the servo motor that driving wheel (Mecanum wheel 310) passes through main body 200 under robot drives setting in motion, makes described Parking robot reaches the tail portion of institute's service vehicle car body from designated position, by driving wheel (Mecanum wheel 310) Omni-mobile acts on the bottom for entering institute's service vehicle from tail portion, after reaching correct position, is operated by holding driving motor 511 Band moving gear-link chain mechanism and gear and rack teeth mechanism operate, and stretch out from shell 530 to drive and hold bar 518.Later, The shell 530 of mechanism is held by holding the effect of plate mobile mechanism 520 along long trough guide rail 100b to close to institute's service vehicle The direction of wheel vertically moves, until the bar 518 that holds reaches institute's service vehicle wheel designated position.
Later, as shown in figure 20, the electric push rod mechanism 410 under robot in main body 200 is set to start running, so that Sliding block 420 is moved to the direction close to first omnidirectional's driven wheel 310, and upper support rod mechanism 430 immediately begins to lifting movement, works as sliding block After 420 end round slot rolling 420a is contacted with lower push-rod mechanism 440, due to extruding so that 315 connectors move downward, spring 313 are compressed, and first omnidirectional's driven wheel 310 starts to share larger pressure, into parking robot load movement state above-mentioned. If the weight of institute's service vehicle is larger, second omnidirectional's driven wheel starts auxiliary and shares pressure.
Later, parking robot drives driving wheel (Mecanum by the servo motor of two sides in main body 200 under robot 310) institute's service vehicle is sent into specified parking position by wheel.
After the parking robot enters designated position, it is set to the electric pushrod under robot in main body 200 first Mechanism 410 starts antiport, and sliding block 420 is moved to far from the direction of first omnidirectional's driven wheel 310 so that connector 315 by Reduce in squeezing action power and move upwards, spring 313 releases stress elongation, to make to act on first omnidirectional's driven wheel 310 Pressure reduce, at the same time, upper support rod mechanism 430 slowly falls so that main body slowly declines in 100 robots, until vehicle Safety lands.
Later, hold the shell 530 of mechanism 500 by hold the effect of mobile mechanism 520 along long trough guide rail 100b to Direction far from institute's service vehicle wheel vertically moves, until shell 530 returns to its initial position, holds driving motor later 511 antiports band moving gear-link chain mechanism and gear and rack teeth mechanism operate, thus drive hold bar 518 be retracted into it is described In the rectangular recess 530c reserved on shell 530.The parking robot enters unloaded condition.
The driving wheel (Mecanum wheel 310) of the parking robot passes through the servo electricity of main body two sides under 200 robots The driving of machine is removed from institute's service vehicle tail portion.The parking robot returns to designated position by program later, waits to be received The instruction of next task.To which the flat parking robot completes one action circulation.
The side that flat parking robot provided by the utility model uses Mecanum wheel and driven omni-directional wheel to combine Formula avoids traditional approach and larger turning radius bring is needed to turn to mobile not flexible, inefficient problem of parking, simultaneously It avoids excessive by the carrying of single Mecanum wheel and tire is made easily to overload the problem of destroying.Flat parking robot uses Adjustable driven omni-directional wheel avoids in the biggish situation of mass change wait park, robot driving wheel and driven Wheel load reassigns the problem of driving wheel that is uncontrollable and occurring overloads.Machine is held using longitudinally movable four are mutually independent Structure avoids in the case where different wait a longitudinal size of parking, and holding mechanism cannot be held well, and be made wait moor The problem of entirety of vehicle can not be fully raised, and robot loses its locomotive function.Holding bar initial position is in main body Portion is avoided since hold bar is present such that the lateral dimension of parking robot entirety is larger, so that it is to parking Latter dimensional requirement it is larger, and greatly reduce the vehicle class that can be serviced and the disequilibrium that increases parking robot The problem of.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art, Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality It is not limited to specific details and legend shown and described herein with novel.

Claims (8)

1. a kind of flat parking robot characterized by comprising
First main body is tabular;
Multiple Mecanum wheels are mounted in first main body, and the Mecanum wheel passes through independent servo electricity Machine driving;
Second main body is arranged above first main body;
Multiple first omnidirectionals driven wheel, lower end pass through first main body, and upper end passes through elevating mechanism and second main body Connection;
Wherein, first omnidirectional driven wheel includes:
First connector, the upper end are connect with the elevating mechanism;
First driven wheel sphere connect lower end elastic connection with described first, and the first driven wheel sphere being capable of edge Any direction rotation;
It is multiple to hold mechanism, be movably disposed in second main body, and it is described hold mechanism can stretch out it is described For holding wheel outside parking robot.
2. flat parking robot according to claim 1, which is characterized in that the mechanism that holds includes:
Shell is connected in second main body by longitudinal translation mechanism;
Two hold bar, are symmetricly set on the shell two sides by holding bar telescoping mechanism, enable described to hold bar edge The shell crossing out to the hull outside or being retracted in the shell;
Wherein, the mechanism that holds is two groups, is separately positioned on the both ends of second main body, and every group holds mechanism difference Including two be oppositely arranged hold mechanism, when it is described hold bar and extend out to the hull outside when, respectively to the front truck of automobile Wheel and rear wheel carry out holding operation.
3. flat parking robot according to claim 2, which is characterized in that the longitudinal translation mechanism includes:
Lead screw, one end are connected through a screw thread the shell;
Spindle motor is connected to the other end of the lead screw, for driving the lead screw to rotate;
Wherein, longitudinally disposed lead screw guide rails in second main body, the lead screw matching peace turn in the lead screw guide rails.
4. flat parking robot according to claim 3, which is characterized in that the bar telescoping mechanism that holds includes:
Two rack gears, are horizontally set in the shell, and the rack gear, which respectively corresponds, is fixedly connected with the upper end for holding bar;
Two symmetrically arranged chain mechanisms, engage connection with the rack gear respectively;
Wherein, one of chain mechanism is connected and is driven by gear engaged transmission between Liang Ge chain mechanism Dynamic motor, drives another chain mechanism to move synchronously.
5. flat parking robot according to claim 1 or 4, which is characterized in that the elevating mechanism includes:
Electric pushrod is horizontally set in first main body;
Sliding block, one end are fixedly connected with the power output end of the electric pushrod;
Upper strut, the upper end and second main body are hinged, and lower end is side walls hinged with the sliding block;
Lower push-rod, on the slide block, lower end and first connector are hinged for the horizontally slidable connection in the upper end.
6. flat parking robot according to claim 5, which is characterized in that sidespin on the first driven wheel sphere Turn connection column inclusion enclave, is fixedly connected with multiple vertical guide rods on the upside of the inclusion enclave, first connector is set in On the guide rod, spring is equipped between the inclusion enclave and first connector.
7. flat parking robot according to claim 6, which is characterized in that further include that multiple second omnidirectionals are driven Wheel, second omnidirectional driven wheel include:
Second connector, the upper end are fixedly connected with second main body;
Second driven wheel sphere connect lower end elastic connection with described second, and the second driven wheel sphere being capable of edge Any direction rotation.
8. flat parking robot according to claim 2, which is characterized in that the lower end for holding bar is horizontally disposed Hold strut, it is described to hold strut and be set as the globoidal structure to match with tire shape in the side close to wheel.
CN201821464254.9U 2018-09-07 2018-09-07 A kind of flat parking robot Active CN208792847U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110424800A (en) * 2019-06-21 2019-11-08 罗彩燕 A kind of parking robot
CN111731236A (en) * 2020-06-22 2020-10-02 武汉理工大学 Auxiliary parking device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110424800A (en) * 2019-06-21 2019-11-08 罗彩燕 A kind of parking robot
CN111731236A (en) * 2020-06-22 2020-10-02 武汉理工大学 Auxiliary parking device

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