CN209366257U - A kind of automobile omnibearing automated parking system - Google Patents
A kind of automobile omnibearing automated parking system Download PDFInfo
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- CN209366257U CN209366257U CN201822140277.0U CN201822140277U CN209366257U CN 209366257 U CN209366257 U CN 209366257U CN 201822140277 U CN201822140277 U CN 201822140277U CN 209366257 U CN209366257 U CN 209366257U
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Abstract
The utility model discloses a kind of automobile omnibearing automated parking systems, including the control mechanism being mounted in Automobile operation platform and four automobile omnibearing parking assist apparatus for being controlled by control mechanism and being installed on automobile chassis, the control mechanism includes microcontroller and the memory connecting with the microcontroller, reset key, the first rotation control button, the second rotation control button and traveling control button.The utility model passes through setting rotating mechanism and walking mechanism, automobile is set to realize that the traveling of different direction and 360 ° omni-directional are mobile in situ, the interior steering and traveling for completing tire in a limited space simultaneously, also accommodate complicated topography environment, become the process of parking more efficiently, it is safe and simple.
Description
Technical field
The utility model belongs to automobile parking technical field, and in particular to a kind of automobile omnibearing automated parking system.
Background technique
With the sustainable growth of car ownership, the traffic burden on road surface is not only increased, causes traffic accident to take place frequently, city
The problems such as city's traffic congestion is aggravated, and the sharp increase stimulation parking stall of automobile quantity, the demand in parking lot greatly increase.It is true
On, city space is limited and dilatation is difficult, and crowded urban environment can not provide enough parking positions, and quantity is not caught up with far
The paces that automobile increases.Intensive park environment and narrow parking position, causes " parking difficulty " problem.With narrow parking
For berth, the control of distance and being affectedly bashful for many drivers for opportunity of steering are a no small challenges；Furthermore due to
Limited view, blind area when parking after vehicle will affect the judgement to control of parking, and cause accident of parking and dispute takes place frequently, result
It is not only difficult to estimate economic loss, also will cause the injures and deaths of personnel.
People spend in park on time be even more than and spend time on the way travelling, in order to solve facing
Traffic problems, auxiliary equipment of parking is widely used, on the one hand, auxiliary equipment of parking can be improved the efficiency parked and park
Safety not only saves the time, also reduces the pressure of driver, reduces the difficulty parked.On the other hand, it parks auxiliary
Equipment considerably reduces to park occurs the probability of traffic accident in the process, has a good transport and communication network to guarantee, safety has important meaning
Justice.But existing parking assist apparatus is only that driver provides obstacle information or clearly back visibibility, it is difficult to be solved
Therefore the case where small space is parked finds a kind of existing greater efficiency, and adapt to parking for narrow complex environment and be
System just becomes the task of top priority.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of automobile
Comprehensive automated parking system makes automobile realize the traveling of different direction in situ by setting rotating mechanism and walking mechanism
It is mobile with 360 ° omni-directional, at the same can also in a limited space in can complete the steering and traveling of tire, may also adapt to complexity
Topography environment, preferably assist automated parking system, become the process of parking more efficiently, safety and simple, convenient for promoting
It uses.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of automobile omnibearing automatic parking
System, it is characterised in that: controlled including the control mechanism being mounted in Automobile operation platform and four by control mechanism and pacified
Automobile omnibearing parking assist apparatus on automobile chassis, the control mechanism include microcontroller and with it is described micro-
Memory, reset key, the first rotation control button, the second rotation control button and the traveling control button of controller connection；
The automobile omnibearing parking assist apparatus includes rack and the rotating mechanism and walking mechanism that are mounted on the rack；Institute
Stating rack includes the lateral fixed frame connecting with automobile chassis and the longitudinal direction for being arranged in below lateral fixed frame and be hollow structure
Bracket, the longitudinal carrier are located on the inside of tire, and the tire centerline position is equipped with main shaft, and the main shaft is extended transversely into vertical
It is sequentially connected into bracket and with longitudinal carrier；
The walking mechanism includes the driving motor being mounted on lateral fixed frame, be mounted in lateral fixed frame first
Traveling belt wheel and it is mounted on the transmission shaft in longitudinal carrier and being located above main shaft, transmission shaft is parallel with main shaft, vertical pivot and the
A line belt pulley is coaxially connected and stretches in longitudinal carrier, and vertical pivot is equipped with the first cone tooth far from one end of the first row belt pulley
Wheel, one end of transmission shaft are equipped with the second bevel gear with first bevel gear cooperation, and the other end of transmission shaft is equipped with and is driven
The second coaxially connected traveling belt wheel of axis, coaxial sleeve is equipped with the third line belt pulley cooperate with the second traveling belt wheel, drive on main shaft
The output shaft of dynamic motor is stretched in lateral fixed frame and is sequentially connected with the first row belt pulley；
The rotating mechanism includes the rotation belt wheel being fixedly mounted on longitudinal carrier top plate and the drive rotation belt wheel
The rotary electric machine of rotation, rotation belt wheel are sleeved on vertical pivot, are rotated belt wheel by lower protruding block and are fixedly mounted on longitudinal carrier top,
There are gap between lower protruding block and vertical pivot, rotary electric machine is mounted on lateral fixed frame, and the output shaft of rotary electric machine passes through laterally
Fixed frame is connect with rotation belt wheel transmission；Driving motor and rotary electric machine are controlled by the microcontroller.
Above-mentioned a kind of automobile omnibearing automated parking system, it is characterised in that: the rotation belt wheel passes through multiple first
Fastener is fixed on the longitudinal carrier, and first fastener is consolidated after sequentially passing through rotation belt wheel and lower protruding block from top to bottom
It is scheduled on the longitudinal carrier, the rotary electric machine belt wheel of the rotation belt wheel and coaxial package on the rotary electric machine output shaft
It is sequentially connected by rotating belt.
Above-mentioned a kind of automobile omnibearing automated parking system, it is characterised in that: installed in the driving motor output shaft
There are driving motor belt wheel, the driving motor belt wheel and the first row belt pulley to be sequentially connected by the first traveling belt；Described
The bottom of a line belt pulley is provided with upper protruding block, and the upper protruding block is fixed on the top of the lower protruding block by multiple second fasteners
End；The second traveling belt wheel and the third line belt pulley are sequentially connected by the second traveling belt.
Above-mentioned a kind of automobile omnibearing automated parking system, it is characterised in that: the transverse direction fixed frame includes lower bearing bracket
With the upper spider being arranged in right above the lower bearing bracket, the upper spider and lower bearing bracket are connected as one by multiple square columns, on
Upper bearing (metal) is installed in rack, upper side plane bearing, the rotation band are provided between the first row belt pulley and lower bearing bracket
It is provided with underside plan bearing between wheel and lower bearing bracket, lower bearing is installed, the vertical pivot sequentially passes through on longitudinal carrier top plate
It is stretched in longitudinal carrier on the upper bearing (metal), upper side plane bearing, underside plan bearing and the lower bearing；The driving electricity
Machine belt wheel be arranged between the upper spider and lower bearing bracket, the axis of the vertical pivot, the driving motor axis sum axis
It is located in the same vertical plane；The output shaft of the rotary electric machine passes through lower bearing bracket and extends to above longitudinal carrier, the rotation
Electrical machine belt pulley is arranged between the lower bearing bracket and longitudinal carrier.
Above-mentioned a kind of automobile omnibearing automated parking system, it is characterised in that: coaxial sleeve is equipped with photoelectricity on the main shaft
Code-disc is equipped with photoelectric sender and photelectric receiver with photoelectric code disk cooperation, the photoelectric code disk setting on longitudinal carrier
In the longitudinal carrier.
Above-mentioned a kind of automobile omnibearing automated parking system, it is characterised in that: the upper spider and lower bearing bracket are to engrave
Hollow structure.
Compared with the prior art, the utility model has the following advantages:
1, the utility model setting rotating mechanism and walking mechanism, make automobile realize in situ different direction traveling and
360 ° omni-directional is mobile, at the same can also in a limited space in can complete the steering and traveling of tire, may also adapt to complicated
Topography environment, preferably assists automated parking system, becomes the process of parking more efficiently, and safety makes with simply convenient for promoting
With.
2, rotational angle of the utility model using the tire for storing automobile in memory, the angle of rotation of the tire of automobile
Degree includes the first rotational angle and the second rotational angle, and the first rotational angle can be turned directly to position, using starting walking mechanism,
Realize the transverse shifting of automobile；Second rotational angle can realize that wheel adjusts, and using starting walking mechanism, realize the original place of automobile
Rotation, reliable and stable, using effect is good.
3, the utility model present invention by one end of transmission shaft installation with first bevel gear cooperation second bevel gear,
Coaxial sleeve is equipped on the other end installation of transmission shaft and the second coaxially connected traveling belt wheel of transmission shaft, main shaft and second advances
Belt wheel cooperation the third line belt pulley, by can overload protection belt wheel, large torque can be carried six square shafts and bevel gear three
The kind of drive combined, not only changes the direction of rotation of driving motor output shaft, but also increases output revolving speed, practicability
By force, convenient for popularization and use.
4, the utility model is in rotating mechanism by combining vertical pivot and being sleeved on vertical pivot and be fixed on longitudinal carrier
Rotation belt wheel, not only meet the output of large torque, rotating mechanism made to become compact, and be easy to implement automobile turn
To structure is simple, and reliable and stable, using effect is good.
In conclusion the utility model makes automobile realize not Tongfang in situ by setting rotating mechanism and walking mechanism
The traveling and 360 ° omni-directional of position are mobile, at the same can also in a limited space in can complete the steering and traveling of tire, can be with
Complicated topography environment is adapted to, automated parking system is preferably assisted, becomes the process of parking more efficiently, it is safe and simple,
Convenient for promoting the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model automobile omnibearing parking assist apparatus.
Fig. 2 is the main view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the A-A cross-sectional view of Fig. 3.
Fig. 5 is the connection relationship diagram of the utility model walking mechanism, photoelectric code disk and longitudinal carrier.
Fig. 6 is that the connection relationship of the utility model rotating mechanism, photoelectric code disk, lateral fixed frame and longitudinal carrier is illustrated
Figure.
Fig. 7 is the top view of Fig. 6.
Fig. 8 is the B-B cross-sectional view of Fig. 7.
Fig. 9-1 is the initial positional relationship signal on park middle automobile and the parking stall on the utility model first kind parking stall
Figure.
Fig. 9-2 turns to for the middle automobile tire of parking on the utility model first kind parking stall and the positional relationship on parking stall is shown
It is intended to.
Figure 10-1 is the initial positional relationship signal on park middle automobile and the parking stall on the second class of the utility model parking stall
Figure.
Figure 10-2 is that the middle automobile tire of parking on the second class of the utility model parking stall turns to the positional relationship with parking stall
Schematic diagram.
Figure 10-3 is park middle automobile rotation and the positional relationship signal on parking stall on the second class of the utility model parking stall
Figure.
Figure 10-4 is that the middle automobile tire of parking on the second class of the utility model parking stall resets the positional relationship with parking stall
Schematic diagram.
Figure 11-1 is the initial positional relationship signal on park middle automobile and the parking stall on the utility model third class parking stall
Figure.
Figure 11-2 is that the middle automobile tire of parking on the utility model third class parking stall turns to the position with parking stall for the first time
Set relation schematic diagram.
Figure 11-3 is park middle automobile rotation and the positional relationship signal on parking stall on the utility model third class parking stall
Figure.
Figure 11-4 is second of position turned to parking stall of middle automobile tire of parking on the utility model third class parking stall
Set relation schematic diagram.
Figure 11-5 is that the middle automobile tire of parking on the utility model third class parking stall marches to the position immediately ahead of parking stall
Set relation schematic diagram.
Figure 11-6 is that the middle automobile tire of parking on the utility model third class parking stall resets the positional relationship with parking stall
Schematic diagram.
Figure 12 is the relation schematic diagram that the utility model automobile and automobile tire rotate the second rotational angle.
Description of symbols:
1-driving motor；2-rotary electric machines；4-lateral fixed frames；
4-1-lower bearing bracket；4-2-upper spider；5-transmission shafts；
6-the second traveling belt；7-square columns；8-the first traveling belt；
9-second bevel gears；10-lower protruding blocks；11-upper protruding blocks；
12-tires；12-1-left front tire；12-2-right front fire；
12-3-left rear tire；12-4-right rear fire；15-connectors；
16-the first row belt pulleys；17-rotation belt wheels；18-the third line belt pulleys；
19-the second traveling belt wheel；20-rotary electric machine belt wheels；22-1-upper side plane bearing；
22-2-underside plan bearing；23-driving motor belt wheels；24-photoelectric code disks；
25-rotating belts；26-first bevel gears；27-vertical pivots；
28-main shafts；29-longitudinal carriers；30-retaining rings；
33-photoelectric senders；34-photelectric receivers；35-the first fastener；
36-the second fastener；40-automobiles；41-parking stalls；
42-barriers.
Specific embodiment
As shown in Figures 1 to 12, a kind of automobile omnibearing automated parking system of the utility model, including it is mounted on automobile
Control mechanism on station and four, which are controlled by control mechanism and are installed in the automobile omnibearing on automobile chassis, to park
Auxiliary device, the control mechanism include microcontroller and the memory connecting with the microcontroller, reset key,
One rotation control button, the second rotation control button and traveling control button；The automobile omnibearing parking assist apparatus includes
Rack and the rotating mechanism and walking mechanism being mounted on the rack；The rack includes the transverse direction connecting with automobile chassis
Fixed frame 4 and the longitudinal carrier 29 for being arranged in below lateral fixed frame 4 and be hollow structure, the longitudinal carrier 29 are located at tire
12 insides, 12 center of tire are equipped with main shaft 28, the main shaft 28 extend transversely into in longitudinal carrier 29 and with it is vertical
It is sequentially connected to bracket 29；
The walking mechanism includes the driving motor 1 being mounted on lateral fixed frame 4, is mounted in lateral fixed frame 4
The first row belt pulley 16 and the transmission shaft 5 for being mounted in longitudinal carrier 29 and being located at 28 top of main shaft, transmission shaft 5 and 28 phase of main shaft
In parallel, vertical pivot 27 is coaxially connected with the first row belt pulley 16 and stretches in longitudinal carrier 29, and vertical pivot 27 is far from the first row forward (FWD)
One end of wheel 16 is equipped with first bevel gear 26, and one end of transmission shaft 5 is equipped with the second cone tooth cooperated with first bevel gear 26
Wheel 9, the other end of transmission shaft 5 is equipped with the second traveling belt wheel 19 coaxially connected with transmission shaft 5, and coaxial sleeve is equipped on main shaft 28
With the third line belt pulley 18 of the second traveling belt wheel 19 cooperation, the output shaft of driving motor 1 stretch in lateral fixed frame 4 and with
The first row belt pulley 16 is sequentially connected；
The rotating mechanism includes the rotation belt wheel 17 being fixedly mounted on 29 top plate of longitudinal carrier and the drive rotation
The rotary electric machine 2 that belt wheel 17 rotates, rotation belt wheel 17 are sleeved on vertical pivot 27, and rotation belt wheel 17 is fixedly mounted by lower protruding block 10
On 29 top of longitudinal carrier, there are gap between lower protruding block 10 and vertical pivot 27, rotary electric machine 2 is mounted on lateral fixed frame 4, is turned
The output shaft of dynamic motor 2 passes through lateral fixed frame 4 and is sequentially connected with rotation belt wheel 17；Driving motor 1 and rotary electric machine 2 are by institute
State microcontroller control.
It should be noted that the rotating mechanism drives the tire 12 to rotate, vapour can be realized by the rotating mechanism
The steering of vehicle, the walking mechanism drive tire 12 to advance, realize the traveling of automobile, achievable automobile is parked, and is being parked
Cheng Zhong absorbs cross force when tire turns to, subtracts described in installation on lateral fixed frame 4 for the abrasion for reducing tire when driving
Vibration mechanism.When the rotating mechanism adjustment direction, as shown in fig. 6, under the drive of rotary electric machine 2, the rotation belt wheel 17 with
Rotation because rotation belt wheel 17 is fixed on longitudinal carrier 29, the longitudinal carrier 29 is also rotated with it, and longitudinal branch
Frame 29 is mounted on the main shaft 28, and the tire 12 being connected with main shaft 28 is also just turned under the drive of rotary electric machine 2.Such as
Shown in Fig. 5, when the walking mechanism drives tire 12 to advance, power is provided by driving motor 1, is driven by three-level and passes power
Onto main shaft 28, so that tire 12 is realized rotation under the drive of main shaft 28, complete the traveling of automobile, the side being driven by three-level
Formula changes the direction of rotation of 1 output shaft of driving motor, increases revolving speed.
As shown in Figure 1, the longitudinal carrier 29 is mounted on the inside of the tire 12 by main shaft 28, in order to make longitudinal branch
Frame 29 does not influence the rotation of main shaft 28, is equipped with bearing in the junction of the longitudinal carrier 29 and main shaft 28, passes through bearing reality
The transmission connection of existing longitudinal carrier 29 and main shaft 28.As shown in Fig. 2, Fig. 4 and Fig. 5, the vertical pivot 27 hangs down with 5 phase of transmission shaft
Directly, the both ends of the transmission shaft 5 pass through bearing and are fixed on longitudinal carrier 29, and the vertical pivot 27 and transmission shaft 5 pass through first
Bevel gear 26 and second bevel gear 9, which are meshed, passes to power on transmission shaft 5.The third line belt pulley 18 in order to prevent simultaneously
Axial float occurs with the second traveling belt wheel 19, needs to be respectively mounted retaining ring in the left and right sides of the third line belt pulley 18
30, on the right side of the second traveling belt wheel 19 also installation locking ring 30.When the power of driving motor 1 passes to the of transmission shaft 5
When on two traveling belt wheels 19, by driving the third line belt pulley 18 being connected with the second traveling belt 6 to rotate, while main shaft is driven
28 rotation passes to power on main shaft 28, to drive the rotation of tire 12, realizes the traveling of tire 12.Wherein, institute is utilized
State the direction of rotation that walking mechanism not only changes 1 output shaft of driving motor, while by by main shaft 28, transmission shaft 5 and vertical pivot
27 are chosen for six square shafts, increase revolving speed when in use, and in parking process is facilitated to provide enough power for automobile.
In actual use, need all to install the utility model, two adjacent wheels of left and right on four tires 12 of automobile
The damper mechanism is connected by vehicle frame between the utility model between tire 12, it is same using the utility model when parking
When four tires 12 are controlled.When needing to stop, first according to the angle between parking stall and automobile, the rotation is utilized
Mechanism rotates the angle of tire 12, rotates to the angle of tire 12, is in order to facilitate traveling described in later use
Mechanism is adjusted the position of automobile；After tire 12 rotates a certain angle, recycle the walking mechanism to Automobile
Body is rotated, and makes the walking mechanism with the automobile chassis center center of circle, and the distance in the chassis center of circle to 12 center of tire is half
Diameter is advanced, and realizes adjustment to body of a motor car, make it is parallel between automobile and parking stall, when automobile and between parking stall it is flat
It after row, then is rotated by angle of the rotating mechanism to tire 12, keeps tire 12 vertical with parking stall, described in recycling
Walking mechanism stops automobile into parking stall.When specifically used, when needing side to stop, carried out by control rotary electric machine 2
It turns to, rotational angle is 90 °, and rotation belt wheel 17 rotates under the drive of rotating belt 25, makes to be fixedly connected with rotation belt wheel 17
Longitudinal carrier 29 also rotate with it, finally make 90 ° of 12 transverse rotation of tire；After the completion of steering, in 1 driving motor of driving motor
Under the drive of belt wheel 23, the first traveling belt 8 drives the first row belt pulley 16 to rotate, and power is passed to the using vertical pivot 27
On one bevel gear 26, power is passed on transmission shaft 5 by the second bevel gear 9 being meshed with the first bevel gear 26, most
Afterwards by the third line belt pulley 18 cooperated with the second traveling belt wheel 19, power is passed on main shaft 28 to drive 12 row of tire
Into the parking of completion side.When need it is oblique park when, by control rotary electric machine 2 turned to, make turn to after tire 12 with
It after parking stall is parallel, advances by driving motor 1, realizes automatic parking.Wherein vertical pivot 27 stretches in longitudinal carrier 29
One end be the one end of vertical pivot 27 far from the first row belt pulley 16.
In the present embodiment, the rotation belt wheel 17 is fixed on the longitudinal carrier 29 by multiple first fasteners 35,
First fastener 35 is fixed on the longitudinal carrier 29 after sequentially passing through rotation belt wheel 17 and lower protruding block 10 from top to bottom,
The rotary electric machine belt wheel 20 of the rotation belt wheel 17 and coaxial package on 2 output shaft of rotary electric machine passes through rotating belt 25
Transmission connection.
It should be noted that as shown in Figure 7 and Figure 8, first fastener 35 be bolt, the bolt from top to bottom according to
Secondary to be fixed on the longitudinal carrier 29 after rotation belt wheel 17 and lower protruding block 10, the quantity of the bolt is preferably six,
Six bolts are uniformly distributed along the circumferencial direction of vertical pivot 27, offer on the longitudinal carrier 29 and lower protruding block 10 for institute
State the bolt hole of the first fastener 35 installation.The bottom of the lower protruding block 10 and the upper surface flush of longitudinal carrier 29, are convenient for
The bolt will rotate belt wheel 17 and lower protruding block 10 is also secured on longitudinal carrier 29.In actual use, start rotary electric machine
2, the rotation of rotary electric machine belt wheel 20 drives the rotation belt wheel 17 being connected with rotating belt 25 to rotate, because rotation belt wheel 17 is to be fixed on
On longitudinal carrier 29, the longitudinal carrier 29 is rotated together with the rotation of rotation belt wheel 17, and the longitudinal carrier 29 passes through
The main shaft 28 is mounted on the inside of the tire 12, and the tire 12 is finally driven to rotate, and completes automobile during parking
Turn to work.
In the present embodiment, driving motor belt wheel 23, the driving motor belt wheel are installed on 1 output shaft of driving motor
23 and the first row belt pulley 16 pass through the first traveling belt 8 be sequentially connected；The bottom of the first row belt pulley 16 is provided with
Convex block 11, the upper protruding block 11 are fixed on the top of the lower protruding block 10 by multiple second fasteners 36；Described second advances
Belt wheel 19 and the third line belt pulley 18 are sequentially connected by the second traveling belt 6.
As shown in Fig. 2, the top that the rotation belt wheel 17 is arranged in the first row belt pulley 16 is opened in actual use
Dynamic driving motor 1, the rotation of driving motor belt wheel 23 drive the first row belt pulley 16 being connected with the first traveling belt 8 to rotate, because
The first row belt pulley 16 is mounted on the vertical pivot 27, so also will drive 27 turns of vertical pivot when the first row belt pulley 16 rotates
It is dynamic, by the power transmission of driving motor 1 to being arranged in the first bevel gear 26 of 27 end of vertical pivot, it is arranged in the transmission shaft 5
Second bevel gear 9 that is upper and being meshed with first bevel gear 26, passes to transmission shaft 5 for power under the drive of first bevel gear 26
On, rotate the second traveling belt wheel 19 that 5 other end of transmission shaft is set also under the drive of transmission shaft 5, finally by with
Two traveling belts 6 are connected and are located at the third line belt pulley 18 on main shaft 28, drive main shaft 28 to rotate, make to connect with main shaft 28
Tire 12 rotates, so that the power of driving motor 1 be passed on tire 12, realizes the traveling of tire 12.As shown in figure 4, described
Second fastener 36 is also bolt and is fixed on the lower protruding block 10 after passing through upper protruding block 11 from top to bottom, the number of the bolt
Amount preferably four, four bolts are uniformly distributed along the circumferencial direction of vertical pivot 27.
In the present embodiment, the transverse direction fixed frame 4 includes lower bearing bracket 4-1 and is arranged in right above the lower bearing bracket 4-1
Upper spider 4-2, the upper spider 4-2 and lower bearing bracket 4-1 are connected as one by multiple square columns 7, are equipped on upper spider 4-2
Bearing is provided with upper side plane bearing 22-1,17 He of rotation belt wheel between the first row belt pulley 16 and lower bearing bracket 4-1
Be provided with underside plan bearing 22-2 between lower bearing bracket 4-1, lower bearing be installed on 29 top plate of longitudinal carrier, the vertical pivot 27 according to
Secondary pass through stretches to longitudinal branch on the upper bearing (metal), upper side plane bearing 22-1, underside plan bearing 22-2 and the lower bearing
In frame 29；The driving motor belt wheel 23 is arranged between the upper spider 4-2 and lower bearing bracket 4-1, the axis of the vertical pivot 27,
The axis of the driving motor 1 and 28 axis are located in the same vertical plane；The output shaft of the rotary electric machine 2 passes through lower machine
Frame 4-1 extends to the top of longitudinal carrier 29, the setting of rotary electric machine belt wheel 20 the lower bearing bracket 4-1 and longitudinal carrier 29 it
Between.
As shown in figure 4, lateral fixed frame 4 is divide into upper part and lower part, by sharing the vertical pivot 27, by the rotating machine
The first row belt pulley 16 of structure and the walking mechanism is mounted on simultaneously on the lateral fixed frame 4, saves the utility model
Installation space so that vehicle in a limited space in meet the advance and rotation of wheel simultaneously, make automobile parking process it is simple,
Efficiently.
As shown in Figure 2 and Figure 4, it to prevent the first row belt pulley 16 from axial float occurs on vertical pivot 27, needs
The top of the first row belt pulley 16 passes through installation locking ring 30.The upper side plane bearing 22-1 and underside plan bearing
22-2 is separately mounted to the two sides up and down of the lower bearing bracket 4-1, by allowing upper side plane bearing 22-1 and underside plan bearing 22-
2 bear axial load, avoid the first row belt pulley 16 and rotation belt wheel 17 is directly contacted with lower bearing bracket 4-1, cause to wear.For
Support vertical pivot 27, reduces the coefficient of friction in its motion process, and guarantee the rotating accuracy of vertical pivot 27, in the vertical pivot 27
Top is equipped with bearing.
In the present embodiment, coaxial sleeve is equipped with photoelectric code disk 24 on the main shaft 28, is equipped on longitudinal carrier 29 and photoelectricity
The photoelectric sender 33 and photelectric receiver 34 that code-disc 24 cooperates, the photoelectric code disk 24 are arranged in the longitudinal carrier 29.
As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 5, the left side of the rotation belt wheel 17 is arranged in the photoelectric code disk 24, described
Photoelectric code disk 24 is the photoelectric code disks of homemade 150 indexing, homemade photoelectric code disk 24 above can there are many concentric code channels, each
Light transmission part and lightproof part are arranged on code channel according to certain rules, in actual use, by photoelectric sender 33 by light
It is incident upon on code-disc, the photoelectric code disk 24 is rotated with main shaft 28, and when turning to light transmission part, light is through light transmission part
It is received after slit by photelectric receiver 34, output signal is " 1 "；When turning to lightproof part, photelectric receiver 34 is then connect
Can not receive light, output signal is " 0 ", the digital quantity of certain rule is reflected by the combination of 34 output signal of photelectric receiver,
The angular displacement of 24 axis of photoelectric code disk is represented, so that actual vehicle speed when obtaining parking, realizes the survey to speed when parking in real time
Amount.The side of the photoelectric code disk 24 is equipped with connector 15, is to connect photoelectric code disk 24 and main shaft 28；Simultaneously in order to solid
Determine photoelectric code disk 24 and connector 15, prevents photoelectric code disk 24 and connector 15 from axial float occurs, need in photoelectric code disk 24
Right side and connector 15 left side installation locking ring 30.
In the present embodiment, the upper spider 4-2 and lower bearing bracket 4-1 are engraved structure.
As shown in figures 1 and 3, engraved structure is made in upper spider 4-2 and lower bearing bracket 4-1, on the one hand practical to this
Novel when being checked, personnel easy to repair detect inner case；On the other hand hollow design is used, transverse direction is alleviated
The weight of fixed frame 4 is easy to use.
When the utility model is used, the rotational angle of the tire 12 of automobile 40, the tire of automobile 40 are stored in memory
12 rotational angle includes the first rotational angle and the second rotational angle, and first rotational angle is 90 °, second rotation
Angle be β and β=90 °-α, wherein α be tire 12 geometric center in the projection of horizontal plane and automobile geometric center in level
The line of the projection in face and motor vehicle length direction center line are in the angle of the projection line of horizontal plane, and α is to meet: 0 ° of < α <
90 °, the tire 12 is left front tire 12-1, right front fire 12-2, left rear tire 12-3 or right rear fire 12-4, left front tire
The direction of the second rotational angle β of 12-1 and right rear fire 12-4 be it is clockwise, right front fire 12-2 and left rear tire 12-3's
The direction of second rotational angle β be it is counterclockwise, as shown in figure 12；
When the length direction on parking stall 41 is parallel with 40 direction of travel of automobile, parking stall 41 is first kind parking stall, will
The center line of 40 width of automobile passes through starting the first rotation control button, microcontroller close to the center line of 41 width of parking stall
The rotary electric machine 2 controlled on left front tire 12-1 works, and so that left front tire 12-1 is rotated 90 ° towards 41 direction of parking stall, microcontroller
Device controls the rotary electric machine 2 on right front fire 12-2 and works, and so that right front fire 12-2 is rotated 90 ° towards 41 direction of parking stall, micro-control
Rotary electric machine 2 on device control left rear tire 12-3 processed works, and so that left rear tire 12-3 is rotated 90 ° towards 41 direction of parking stall, together
When, microcontroller controls the rotary electric machine 2 on right rear fire 12-4 and works, and rotates right rear fire 12-4 towards 41 direction of parking stall
90 °, as shown in Fig. 9-1 and Fig. 9-2；By starting traveling control button, microcontroller controls on left front tire 12-1 simultaneously
The driving motor 1 in the work of driving motor 1, left rear tire 12-3 in the work of driving motor 1, right front fire 12-2 works and the right side
Driving motor 1 on rear tyre 12-4 works, and marches to automobile 40 laterally in parking stall 41；
When the length direction on parking stall 41 intersects and 41 edge of parking stall is there is no barrier 42 with 40 direction of travel of automobile
When, parking stall 41 is the second class parking stall, and the center line by the center line of 40 width of automobile close to 41 length of parking stall plays point
It sets, by starting the second rotation control button, microcontroller controls the rotary electric machine 2 on left front tire 12-1 and works, makes left front
Tire 12-1 rotates clockwise β angle, and microcontroller controls the rotary electric machine 2 on right front fire 12-2 and works, and makes right front fire
12-2 rotates counterclockwise β angle, and microcontroller controls the rotary electric machine 2 on left rear tire 12-3 and works, and makes left rear tire 12-3
β angle is rotated counterclockwise, meanwhile, microcontroller controls the rotary electric machine 2 on right rear fire 12-4 and works, and makes right rear fire 12-4
β angle is rotated clockwise, as shown in Figure 10-1；By starting traveling control button, microcontroller controls left front tire 12- simultaneously
The work of driving motor 1 in the work of driving motor 1, right front fire 12-2 on 1,1 work of driving motor on left rear tire 12-3
Make to work with the driving motor 1 on right rear fire 12-4, makes automobile 40 with the geometric center center rotation of itself, such as Figure 10-2
With shown in Figure 10-3；When 40 length direction center line of automobile and 41 length direction center line of parking stall are located along the same line,
Start reset key, make left front tire 12-1, right front fire 12-2, left rear tire 12-3 and right rear fire 12-4 with automobile 40
Length direction is parallel, as shown in Figure 10-4；By starting traveling control button, microcontroller controls on left front tire 12-1 simultaneously
The work of driving motor 1, the work of driving motor 1 on right front fire 12-2, the work of driving motor 1 on left rear tire 12-3 and
Driving motor 1 on right rear fire 12-4 works, and marches to automobile 40 in parking stall 41；
When the length direction on parking stall 41 intersects and 41 edge of parking stall is there are when barrier 42 with 40 direction of travel of automobile,
Parking stall 41 is third class parking stall, and automobile 40 is marched to side of the parking stall 41 far from barrier 42, passes through starting second
Control button is rotated, microcontroller controls the rotary electric machine 2 on left front tire 12-1 and works, and turns left front tire 12-1 clockwise
Dynamic β angle, microcontroller control the rotary electric machine 2 on right front fire 12-2 and work, and right front fire 12-2 is made to rotate counterclockwise the angle β
Degree, microcontroller control the rotary electric machine 2 on left rear tire 12-3 and work, and so that left rear tire 12-3 is rotated counterclockwise β angle, together
When, microcontroller controls the rotary electric machine 2 on right rear fire 12-4 and works, and so that right rear fire 12-4 is rotated clockwise β angle, such as
Shown in Figure 11-1 and Figure 11-2；By starting traveling control button, microcontroller controls the driving on left front tire 12-1 simultaneously
The driving motor 1 in the work of driving motor 1, left rear tire 12-3 in the work of motor 1, right front fire 12-2 works and off hind wheel
Driving motor 1 on tire 12-4 works, and makes automobile 40 with the geometric center center rotation of itself, as shown in Figure 11-3；Work as vapour
40 length direction center line of vehicle and when 41 length direction centerline parallel of parking stall, starts reset key, make left front tire 12-1,
Right front fire 12-2, left rear tire 12-3 and right rear fire 12-4 are parallel with 40 length direction of automobile, restart the first rotation
Control button, microcontroller control the rotary electric machine 2 on left front tire 12-1 and work, and make left front tire 12-1 towards 41 side of parking stall
To 90 ° of rotation, microcontroller controls the rotary electric machine 2 on right front fire 12-2 and works, and makes right front fire 12-2 towards parking stall 41
Direction rotates 90 °, and microcontroller controls the rotary electric machine 2 on left rear tire 12-3 and works, and makes left rear tire 12-3 towards parking stall
90 ° of 41 directions rotation, meanwhile, microcontroller controls the rotary electric machine 2 on right rear fire 12-4 and works, and makes right rear fire 12-4 court
41 direction of parking stall rotates 90 °, as shown in Figure 11-4；By starting traveling control button, microcontroller controls the near front wheel simultaneously
The work of driving motor 1 in the work of driving motor 1, right front fire 12-2 on tire 12-1, the driving electricity on left rear tire 12-3
Driving motor 1 in the work of machine 1 and right rear fire 12-4 works, and so that automobile 40 is laterally marched to the front on parking stall 41, such as
Shown in Figure 11-5；Start reset key, makes left front tire 12-1, right front fire 12-2, left rear tire 12-3 and right rear fire 12-
4 is parallel with 40 length direction of automobile, as shown in Figure 11-6；By starting traveling control button, microcontroller controls a left side simultaneously
The work of driving motor 1 in the work of driving motor 1, right front fire 12-2, the drive on left rear tire 12-3 on front tyre 12-1
Driving motor 1 in the dynamic work of motor 1 and right rear fire 12-4 works, and marches to automobile 40 in parking stall 41.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to any simple modification to the above embodiments of the utility model technical spirit, change and equivalent structural changes, still
Belong in the protection scope of technical solutions of the utility model.
Claims (6)
1. a kind of automobile omnibearing automated parking system, it is characterised in that: including the control mechanism being mounted in Automobile operation platform
The automobile omnibearing parking assist apparatus for being controlled by control mechanism and being installed on automobile chassis with four, the control machine
Structure includes microcontroller and the memory connecting with the microcontroller, reset key, the first rotation control button, second
Rotate control button and traveling control button；The automobile omnibearing parking assist apparatus includes rack and is mounted on the machine
Rotating mechanism and walking mechanism on frame；The rack includes the lateral fixed frame (4) connecting with automobile chassis and is arranged in cross
Longitudinal carrier (29) below to fixed frame (4) and for hollow structure, the longitudinal carrier (29) are located on the inside of tire (12), institute
Tire (12) center is stated to be equipped with main shaft (28), the main shaft (28) extend transversely into in longitudinal carrier (29) and with longitudinal direction
Bracket (29) transmission connection；
The walking mechanism includes the driving motor (1) being mounted on lateral fixed frame (4), is mounted in lateral fixed frame (4)
The first row belt pulley (16) and be mounted on the transmission shaft (5) in longitudinal carrier (29) and being located above main shaft (28), transmission shaft
(5) parallel with main shaft (28), vertical pivot (27) is coaxially connected with the first row belt pulley (16) and stretches in longitudinal carrier (29),
Vertical pivot (27) is equipped with first bevel gear (26) far from the one end of the first row belt pulley (16), and one end of transmission shaft (5) is equipped with
With the second bevel gear (9) of first bevel gear (26) cooperation, the other end of transmission shaft (5) is equipped with and transmission shaft (5) is coaxial connects
The the second traveling belt wheel (19) connect, coaxial sleeve is equipped with the third line belt pulley cooperated with the second traveling belt wheel (19) on main shaft (28)
(18), the output shaft of driving motor (1) is stretched in lateral fixed frame (4) and is sequentially connected with the first row belt pulley (16)；
The rotating mechanism includes the rotation belt wheel (17) being fixedly mounted on longitudinal carrier (29) top plate and the drive rotation
The rotary electric machine (2) of belt wheel (17) rotation, rotation belt wheel (17) are sleeved on vertical pivot (27), and rotation belt wheel (17) passes through lower protruding block
(10) it is fixedly mounted on longitudinal carrier (29) top, there are gap, rotary electric machine (2) peaces between lower protruding block (10) and vertical pivot (27)
On lateral fixed frame (4), the output shaft of rotary electric machine (2) passes through lateral fixed frame (4) and rotation belt wheel (17) transmission connects
It connects；Driving motor (1) and rotary electric machine (2) are controlled by the microcontroller.
2. a kind of automobile omnibearing automated parking system described in accordance with the claim 1, it is characterised in that: the rotation belt wheel
(17) it is fixed on the longitudinal carrier (29) by multiple first fasteners (35), first fastener (35) is from top to bottom
Sequentially pass through rotation belt wheel (17) and lower protruding block (10) after be fixed on the longitudinal carrier (29), the rotation belt wheel (17) and
Rotary electric machine belt wheel (20) of the coaxial package on the rotary electric machine (2) output shaft is sequentially connected by rotating belt (25).
3. a kind of automobile omnibearing automated parking system according to claim 2, it is characterised in that: the driving motor
(1) it is equipped on output shaft driving motor belt wheel (23), the driving motor belt wheel (23) and the first row belt pulley (16) pass through
The transmission connection of first traveling belt (8)；The bottom of the first row belt pulley (16) is provided with upper protruding block (11), the upper protruding block
(11) top of the lower protruding block (10) is fixed on by multiple second fasteners (36)；The second traveling belt wheel (19) and
Three traveling belt wheels (18) are sequentially connected by the second traveling belt (6).
4. a kind of automobile omnibearing automated parking system described in accordance with the claim 3, it is characterised in that: the transverse direction fixed frame
(4) upper spider (4-2) for including lower bearing bracket (4-1) and being arranged right above the lower bearing bracket (4-1), the upper spider (4-2)
It is connected as one with lower bearing bracket (4-1) by multiple square columns (7), upper bearing (metal) is installed on upper spider (4-2), described first advances
It is provided between belt wheel (16) and lower bearing bracket (4-1) upper side plane bearing (22-1), the rotation belt wheel (17) and lower bearing bracket (4-
1) be provided between underside plan bearing (22-2), lower bearing be installed on longitudinal carrier (29) top plate, the vertical pivot (27) according to
It is secondary pass through the upper bearing (metal), upper side plane bearing (22-1), underside plan bearing (22-2) and the lower bearing on stretch to it is vertical
Into bracket (29)；The driving motor belt wheel (23) is arranged between the upper spider (4-2) and lower bearing bracket (4-1), described
Axis, the axis of the driving motor (1) and the axis of (28) of vertical pivot (27) are located in the same vertical plane；The rotation electricity
The output shaft of machine (2) passes through lower bearing bracket (4-1) and extends to above longitudinal carrier (29), and rotary electric machine belt wheel (20) setting exists
Between the lower bearing bracket (4-1) and longitudinal carrier (29).
5. a kind of automobile omnibearing automated parking system described in accordance with the claim 1, it is characterised in that: on the main shaft (28)
Coaxial sleeve is equipped with photoelectric code disk (24), and the photoelectric sender (33) with photoelectric code disk (24) cooperation is equipped on longitudinal carrier (29)
With photelectric receiver (34), photoelectric code disk (24) setting is in the longitudinal carrier (29).
6. a kind of automobile omnibearing automated parking system according to claim 4, it is characterised in that: the upper spider (4-
2) and lower bearing bracket (4-1) is engraved structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822140277.0U CN209366257U (en) | 2018-12-19 | 2018-12-19 | A kind of automobile omnibearing automated parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822140277.0U CN209366257U (en) | 2018-12-19 | 2018-12-19 | A kind of automobile omnibearing automated parking system |
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| Publication Number | Publication Date |
|---|---|
| CN209366257U true CN209366257U (en) | 2019-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822140277.0U Expired - Fee Related CN209366257U (en) | 2018-12-19 | 2018-12-19 | A kind of automobile omnibearing automated parking system |
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| Country | Link |
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| CN (1) | CN209366257U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552405A (en) * | 2018-12-19 | 2019-04-02 | 西安科技大学 | A kind of automobile omnibearing automatic parking method |
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2018
- 2018-12-19 CN CN201822140277.0U patent/CN209366257U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552405A (en) * | 2018-12-19 | 2019-04-02 | 西安科技大学 | A kind of automobile omnibearing automatic parking method |
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Granted publication date: 20190910 Termination date: 20191219 |