CN209535026U - A kind of running gear and the robot that stops - Google Patents
A kind of running gear and the robot that stops Download PDFInfo
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- CN209535026U CN209535026U CN201920198783.7U CN201920198783U CN209535026U CN 209535026 U CN209535026 U CN 209535026U CN 201920198783 U CN201920198783 U CN 201920198783U CN 209535026 U CN209535026 U CN 209535026U
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Abstract
This application provides a kind of running gear and parking robots, are related to robot field.Running gear includes matrix, first driving device and the second driving device.First driving device includes the first actuator and the first runner.Second driving device includes the second actuator and the second runner.First runner and the second runner are respectively arranged the two sides in matrix on preset direction, and the first runner and the second runner are rotatably connected at matrix.First actuator is configured as the first runner of driving and rotates relative to matrix.Second actuator is configured as the second runner of driving and rotates relative to matrix.When speed difference is not present in the first runner and the second runner, running gear keeps straight trip.When the first runner and the second runner are there are when speed difference, the direction of travel of running gear changes.The drive assembly design structure of the running gear is simple, the long service life of running gear.
Description
Technical field
This application involves robot fields, in particular to a kind of running gear and parking robot.
Background technique
Currently, automobile is more more and more universal, so that parking problem becomes each city urgent problem, stop robot
It comes into being, structure is complicated in the design of its drive module for existing parking robot, and service life is not grown, correspondingly, making
The structure of parking robot is also more complicated, and docking process medium sensitivity is inadequate.
Utility model content
The embodiment of the present application provides a kind of running gear and the robot that stops, to improve existing parking machine drive module knot
The problem of structure complexity.
The application first aspect embodiment provides a kind of running gear, including matrix, first driving device and the second driving
Device, first driving device include the first actuator and the first runner, and the second driving device includes the second actuator and second turn
Wheel, the first runner and the second runner are respectively arranged the two sides in matrix on preset direction, the first runner and the second runner
It is rotationally connected with matrix, the first actuator is configured as the first runner of driving and rotates relative to matrix, and the second actuator is configured
It is rotated for the second runner of driving relative to matrix；When speed difference is not present in the first runner and the second runner, running gear keeps straight
Row；When the first runner and the second runner are there are when speed difference, the direction of travel of running gear changes.
In above-mentioned technical proposal, the running gear provided includes the first driving device and the second drive that can generate speed difference
Dynamic device, when speed difference is not present in first driving device and the second driving device, first driving device and the second driving device
Collective effect is so that the running gear keeps straight trip, when first driving device and the second driving device are there are when speed difference, first
Driving device and the second driving device collective effect change the direction of travel of the running gear, i.e., the running gear, which is realized, turns
To such driving design structure is simple, realizes that the mode of steering is simple, the long service life of running gear.
In addition, the running gear of the application first aspect embodiment also has following additional technical characteristic:
In some embodiments of first aspect, first driving device includes the first transmission mechanism, the first actuator and the
One runner is sequentially connected by the first transmission mechanism, and the power of the first actuator is transferred to the first runner；And/or second drive
Dynamic device includes that the second transmission mechanism, the second actuator and the second runner are sequentially connected by the second transmission mechanism, by second
The power of actuator is transferred to the second runner.
In above-mentioned technical proposal, the first actuator and the second actuator are that first turn is imparted power to by transmission mechanism
Wheel and the second runner, so that running gear be driven to keep straight on or turn to, avoid driving to drive the first runner and the rotation of the second runner
Direct effect between moving part and runner, the problems such as reducing the vibration because of actuator, is damaging caused by runner, and actuator
It is connect between runner by transmission mechanism, the transmission mechanism of different structure has different transmission ratios, so that actuator exports
Power be transmitted to the power of runner and can be adjusted by the transmission ratio of transmission mechanism.
In some embodiments of first aspect, the first transmission mechanism and/or the second transmission mechanism are tape handler.
In above-mentioned technical proposal, the first transmission mechanism and/or the second transmission mechanism are V belt translation, and belt drive structure is simple,
At low cost, working service is convenient, long service life, and by V belt translation, so that power transmitting is more steady.
In some embodiments of first aspect, the first runner is relative to the rotation axis base opposite with the second runner that matrix rotates
The rotation axis of body rotation is coaxially arranged.
In above-mentioned technical proposal, the first runner turns relative to the rotation axis that matrix rotates with the second runner relative to what matrix rotated
Moving axis is coaxially arranged, so that synchronization, running gear walking are realized in the rotation of the first runner and the second runner in positional relationship
More steady and preferably realization straight trip or steering.
In some embodiments of first aspect, the first actuator and the ipsilateral arrangement of the first runner, the second actuator and
The ipsilateral arrangement of two runners.
In above-mentioned technical proposal, actuator is arranged in the ipsilateral of matrix with corresponding runner, can reduce power
Loss facilitates the stable delivery of power, improves the stability of running gear walking.
The application second aspect embodiment provides a kind of parking robot, implements offer including supporting body and first aspect
Running gear, supporting body are rotationally connected with matrix, and when running gear direction of travel changes, supporting body can be with respect to described matrix
Rotation.
In above-mentioned technical proposal, parking robot includes the running gear provided in first aspect embodiment, therefore this stops
Vehicle robot is that the first driving device and the second driving device collective effect by that can generate speed difference make the parking machine
Device man-powered vehicle and direction of travel change, i.e., the parking robot realizes straight trip and turns to, such robotically-driven design knot of parking
Structure is simple, and driving method is simple, the long service life of driving device；Supporting body is rotatably connected at matrix, when walking fills
After the direction of travel set changes, supporting body can be rotated relative to matrix, so that the vehicle parked on the carrier can be diverted to
It is in the same direction with running gear direction of travel, so that parking robot can smoothly stop vehicle into garage.
In some embodiments of second aspect, matrix includes the first matrix, the second matrix and jacking apparatus, the first matrix
It is connect with the second matrix by jacking apparatus, jacking apparatus is configured as the second matrix of driving relative to the movement of the first matrix, to change
Become the height and position of the second matrix；Wherein, the first runner and the second runner are rotatably connected at the first matrix, and supporting body can
It is rotationally connected with the second matrix.
In above-mentioned technical proposal, matrix is equipped with jacking apparatus, so that the height of supporting body is adjustable, the parking robot is suitable
Garage for different height.
In some embodiments of second aspect, parking robot includes angle detection device, and angle detection device is matched
It is set to rotational angle of the detection matrix with respect to supporting body.
In above-mentioned technical proposal, angle detection device real-time detection matrix with respect to supporting body rotational angle so that parking
The steering of robot is more accurate, and then enables the vehicle to accurately be stopped into specified garage.
In some embodiments of second aspect, parking robot includes rotor, and rotor, which is rotatablely arranged at, to be held
Carrier, rotor and matrix are sequentially connected, and matrix is able to drive rotor relative to supporting body rotation and rotates relative to supporting body, angle
Detection device is configured as detection rotor with respect to supporting body rotational angle.
In above-mentioned technical proposal, it is equipped with the rotor that can be rotated relative to supporting body, angle detection device on the carrier
By the rotational angle of the opposite carrying of detection rotor, so that detection obtains rotational angle of the matrix with respect to supporting body indirectly, then
The information of rotational angle is transferred to control system, control system is judged according to rotational angle information, is then issued into one
Step instruction, so that the steering of parking robot is more accurate；In addition, rotor is set on supporting body, angle can be facilitated to detect
The installation of device.
In some embodiments of second aspect, matrix be equipped with first gear portion, rotor be equipped with second gear portion, first
Gear part is engaged with second gear portion, and when matrix is rotated relative to supporting body, first gear portion is able to drive rotor rotation.
In above-mentioned technical proposal, the rotation of matrix is transferred to rotor by gear drive, and angle detection device is by obtaining
The rotational angle of rotor is obtained, then by gear-driven transmission ratio to obtain rotational angle of the matrix with respect to supporting body, is passed
Dynamic structure is simple, and the rotational angle error of acquisition is smaller, can provide for control system and accurately judge information.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram at the first visual angle of running gear that the application first aspect embodiment provides；
Fig. 2 is the structural schematic diagram at the second visual angle of running gear that the application first aspect embodiment provides；
Fig. 3 is the structural schematic diagram for second of possible running gear that the application first aspect embodiment provides；
Fig. 4 is the structural schematic diagram for the third possible running gear that the application first aspect embodiment provides；
Fig. 5 is the structural schematic diagram for the 4th kind of possible running gear that the application first aspect embodiment provides；
Fig. 6 is the structural scheme of mechanism for the first possible parking robot that the application second aspect embodiment provides；
Fig. 7 is the structural scheme of mechanism for second of possible parking robot that the application second aspect embodiment provides.
Icon: 100- running gear；10- matrix；The first matrix of 11-；The second matrix of 12-；13- jacking apparatus；14-
One gear part；20- first driving device；The first actuator of 21-；The first runner of 22-；The first transmission mechanism of 23-；231- first
Synchronous pulley；The second synchronous pulley of 232-；The first synchronous belt of 233-；24- connector；The second driving device of 30-；31- second drives
Moving part；The second runner of 32-；The second transmission mechanism of 33-；331- third synchronous pulley；The 4th synchronous pulley of 332-；333- second
Synchronous belt；40- rotation axis；50- balance shaft；200- parking robot；210- supporting body；220- distance detection device；The angle 230-
Spend detection device；240- rotor；241- second gear portion；242- transmission shaft；A- preset direction.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present application, it should be noted that indicating position or positional relationship is based on shown in attached drawings
Orientation or positional relationship this application product using when the orientation or positional relationship usually put or this field
Orientation or positional relationship that technical staff usually understands or this application product using when the orientation usually put or position close
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the embodiment of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be and be directly connected to, can also be indirectly connected with by intermediary.For those of ordinary skill in the art and
Speech, can understand the concrete meaning of above-mentioned term in this application with concrete condition.
Embodiment
The running gear 100 of the application first aspect embodiment is described below with reference to FIG. 1 to FIG. 4.
As shown in Figure 1 and Figure 2, according to the running gear of the embodiment of the present application 100, including matrix 10, first driving device 20
With the second driving device 30.
First driving device 20 includes the first actuator 21 and the first runner 22, and the second driving device 30 includes the second driving
Part 31 and the second runner 32, the first runner 22 and the second runner 32 are respectively arranged the two sides in matrix 10 on preset direction A,
First runner 22 and the second runner 32 are rotatably connected at matrix 10, and the first actuator 21 is configured as the first runner of driving
22 rotate relative to matrix 10, and the second actuator 31 is configured as the second runner 32 of driving and rotates relative to matrix 10；When the first runner
22 and second runner 32 be not present speed difference when, running gear 100 keep straight trip；When the first runner 22 and the second runner 32 exist
When speed difference, the direction of travel of running gear 100 changes.
In the present embodiment, matrix 10 is the frame-type structure of cuboid, and preset direction A is the length direction of matrix 10, i.e.,
First runner 22 and the second runner 32 are respectively arranged in the two sides of the length direction of matrix 10, and the first runner 22 and second
Runner 32 can be rotated relative to matrix 10, and the first runner 22 and the second runner 32 rotate relative to matrix 10 and refer to the first runner
22 and second runner 32 be rotatablely connected respectively by rotation axis 40 and matrix 10, can be rotation axis 40 and matrix 10 be fixed, the
One runner 22 and the second runner 32 relatively rotate the rotation of axis 40 respectively；Or first runner 22 and the second runner 32 respectively with turn
Moving axis 40 is fixedly connected, and rotation axis 40 and matrix 10 are rotatablely connected.In the present embodiment, rotation axis 40 and the fixed company of matrix 10
It connects, the first runner 22 and the second runner 32 are rotatablely connected by bearing and rotation axis 40 respectively, so that the first actuator 21 can
It drives the first runner 22 to relatively rotate axis 40 to rotate, the second actuator 31 can drive the second runner 32 to relatively rotate 40 turns of axis
It is dynamic, enable the first runner 22 and the stable realization rotation of the second runner 32, reduces the vibration in rotation process, reduce to row
The integrally-built influence of walking apparatus 100.First actuator 21 and the second actuator 31 are motor, and 21 He of the first actuator
Second actuator 31 is connected to matrix 10.In other specific embodiments, the first actuator 21 and the second actuator 31 can also be with
It is the dynamic structure that other can drive the first runner 22 and the second runner 32 to rotate.
It should be noted that running gear 100 is the first driving device by that can generate speed difference in the present embodiment
20 and 30 collective effect of the second driving device realize straight trip and change direction of travel, when the first runner of first driving device 20
22 and second driving device 30 the second runner 32 be not present speed difference when, running gear 100 keep straight trip, when first driving dress
Set 20 the first runner 22 and the second driving device 30 the second runner 32 there are when speed difference, the walking of the running gear 100
Direction changes.
It should be noted that the first runner 22 exists with the second runner 32 or there is no speed differences to each mean, when first
When being contacted with ground, the contact point on the first runner 22 and ground and the second runner 32 connect with ground for runner 22 and the second runner 32
The linear velocity of contact is identical or not identical.In the present embodiment, the first runner 22 is identical with 32 size of the second runner, and first turn
Wheel 22 and 32 outer profile of the second runner are regular circle.There is no speed differences to refer to for first runner 22 and the second runner 32
The rotation direction and revolving speed size of one runner 22 and the second runner 32 are all the same；There are speed for first runner 22 and the second runner 32
It then include two kinds of situations: the first situation when poor, the first runner 22 is identical as 32 velocity of rotation of the second runner, rotation direction phase
Instead, running gear 100 does not generate the movement of advance in steering procedure at this time, only realizes that running gear 100 turns to, i.e. pirouette
To；Second situation, the first runner 22 is different from 32 velocity of rotation of the second runner, and rotation direction is identical, at this time running gear 100
Divertical motion is generated while advancing.First actuator 21 and the second actuator 31 are by rotating forward or inverting first turn of control
The rotation direction of wheel 22 and the second runner 32；When the transmission ratio of transmission mechanism is fixed, the first actuator 21 and the second actuator
The revolving speed size of 31 revolving speed size control the first runner 22 and the second runner 32.
Further, what the axis and the second runner 32 that the first runner 22 is rotated relative to matrix 10 were rotated relative to matrix 10
Axis is overlapped.So that the first runner 22 realized in positional relationship with the second runner 32 it is synchronous, the running gear 100 walk more
Steadily.In other specific embodiments, the first runner 22 is also possible to the second runner 32 in the two sides of 10 preset direction A of matrix
It is staggeredly arranged, i.e. the axis and the second runner 32 that the first runner 22 is rotated relative to matrix 10 are flat relative to the axis that matrix 10 rotates
Row setting.
According to some embodiments of the application first aspect, the first actuator 21 and the ipsilateral arrangement of the first runner 22, second
Actuator 31 and the ipsilateral arrangement of the second runner 32.Actuator and corresponding runner are arranged ipsilateral with matrix 10, can subtract
The loss of few power transmitting, facilitates the stable delivery of power, improves the stability that running gear 100 is walked.It is specific real at other
It applies in example, it is contemplated that easy for installation or other factors, one in the first actuator 21 and the second actuator 31 can be not
And the ipsilateral arrangement of corresponding runner or the second actuator 31 and the second actuator 31 not with the ipsilateral arrangement of corresponding runner.
According to some embodiments of the application first aspect, as shown in Figure 1, first driving device 20 includes the first transmission
Mechanism 23, the first actuator 21 and the first runner 22 are sequentially connected by the first transmission mechanism 23, by the first actuator 21
Power is transferred to the first runner 22；Second driving device 30 includes the second transmission mechanism 33, the second actuator 31 and the second runner
32 are sequentially connected by the second transmission mechanism 33, and the power of the second actuator 31 is transferred to the second runner 32.Pass through transmission
The power of actuator is passed to runner by mechanism, avoids the direct effect between actuator and runner, is reduced actuator rotation and is produced
Raw vibration etc. is damaged caused by runner, and is connected between actuator and runner by transmission mechanism, so that actuator is defeated
The power that power out is transmitted to runner can be adjusted by the transmission ratio of transmission mechanism.
In other embodiments, as shown in figure 3, can be the first actuator 21 and the first runner 22 passes through the first driver
Structure 23 is sequentially connected, and the second runner 32 is directly driven by the second actuator 31 or the second actuator 31 and the second runner
32 are sequentially connected by the second transmission mechanism 33, and the first runner 22 is directly driven by the first actuator 21.
In the present embodiment, the first actuator 21 is connect by L shape mounting rack with matrix 10, and L shape mounting rack includes
First connecting portion and second connecting portion, first connecting portion are detachably connected with matrix 10, and second connecting portion is parallel to the first transmission
The transmission direction of mechanism 23, the first actuator 21 are connected to second connecting portion so that the first actuator 21 and the first runner 22 it
Between have suitable transmission space, likewise, the second actuator 31 is connect also by L shape mounting rack with matrix 10.In other tools
In body embodiment, the first actuator 21 and the second actuator 31 can be directly connected to matrix 10.
Further, the first transmission mechanism 23 and the second transmission mechanism 33 are tape handler.
In the present embodiment, tape handler is synchronous belt drive mechanism, and the first transmission mechanism 23 includes the first synchronous belt
The 231, second synchronous pulley 232 and the first synchronous belt 233 are taken turns, the first synchronous pulley 231 and the second synchronous pulley 232 pass through first
Synchronous belt 233 is sequentially connected, and the first synchronous pulley 231 is connected to the first actuator 21, and the second synchronous pulley 232 is connected to first
Runner 22；Second transmission mechanism 33 includes third synchronous pulley 331, the 4th synchronous pulley 332 and the second synchronous belt 333, third
Synchronous pulley 331 and the 4th synchronous pulley 332 are sequentially connected by the second synchronous belt 333, and third synchronous pulley 331 is connected to the
Two actuators 31, the 4th synchronous pulley 332 are connected to the second runner 32.
Specifically, the first synchronous pulley 231 is connected to the output shaft of the first actuator 21, when the rotation of the first actuator 21
It is able to drive the rotation of the first synchronous pulley 231, the second synchronous pulley 232 is connect with the first runner 22, so that the second synchronous pulley
232 rotations are able to drive the rotation of the first runner 22；Third synchronous pulley 331 is connected to the output shaft of the second actuator 31, when
Two actuators 31 are able to drive the rotation of third synchronous pulley 331 when rotating, the 4th synchronous pulley 332 is connect with the second runner 32,
So that the rotation of the 4th synchronous pulley 332 is able to drive the rotation of the second runner 32.In addition, the second synchronous pulley 232 rotationally connects
It is connected to rotation axis 40, so that the rotation of the first synchronous pulley 231 is able to drive the second synchronous pulley 232 by the first synchronous belt 233
It relatively rotates axis 40 to rotate, the 4th synchronous pulley 332 is rotatably connected at rotation axis 40, so that 331 turns of third synchronous pulley
Dynamic to be able to drive the relative rotation rotation of axis 40 of the 4th synchronous pulley 332 by the second synchronous belt 333, the first runner 22 and second is same
It walks between belt wheel 232, is connected by connector 24 between the second runner 32 and the 4th synchronous pulley 332, when the second runner 32
When relatively rotating the rotation of axis 40 with the 4th synchronous pulley 332, the power of the second runner 32 can be passed to first by connector 24
The power of 4th synchronous pulley 332 is passed to the second runner 32 by runner 22.In the present embodiment, toothed belt transmission structure is simple,
At low cost, working service is convenient, long service life, and by toothed belt transmission, so that power transmitting is more steady, avoids same
Phenomenon is had skidded between step band and synchronous pulley.In other specific embodiments, the first transmission mechanism 23 and the second driver
Structure 33 can also be other drive mechanisms such as chain conveyer, gear drive.In other embodiments, the first transmission mechanism 23 and
Two transmission mechanisms 33 are also possible to different transmission mechanisms, for example the first transmission mechanism 23 is synchronous belt drive mechanism, and second passes
Motivation structure 33 is chain-drive mechanism.
Certainly, according to other embodiments of the application first aspect, as shown in figure 4, first driving device 20 and second
Driving device 30 can be not provided with transmission mechanism, and the first runner 22 is connected to the output shaft of the first actuator 21；Second driving
Part 31 directly drives the rotation of the second runner 32, and the second runner 32 is connected to the output shaft of the second actuator 31, the second actuator 31
Directly drive the rotation of the second runner 32.
In the application first aspect embodiment, as shown in figure 5, running gear 100 further includes balance shaft 50, balance shaft 50
Set on matrix 10, balance shaft 50 is equipped with eccentric weight, when 100 body vibrations of running gear, is generated using eccentric weight anti-
To vibration force, running gear 100 is enable to obtain good counterbalance effect, reduces running gear 100 and vibrate；In addition, balance shaft
50 increase can change the mass center of running gear 100, finally reduce the center of gravity of running gear 100, can be improved walking dress
Set 100 stability.
Below with reference to the accompanying drawings the parking robot 200 of the application second aspect embodiment is described.
Fig. 6~Fig. 7 is the structural schematic diagram for the parking robot 200 for applying for that some embodiments of second aspect provide.
As shown in fig. 6, according to the parking robot 200 that the application second aspect embodiment provides, including 210 He of supporting body
Running gear 100 provided by the above embodiment, supporting body 210 are rotationally connected with matrix 10, when 100 direction of travel of running gear changes
When change, supporting body 210 can be rotated relative to described matrix 10.
Since parking robot 200 includes the running gear 100 provided in above-described embodiment, the parking robot
200 be the parking machine that first driving device 20 by that can generate speed difference and 30 collective effect of the second driving device make
The walking of people 200 changes direction of travel.Carrier is rotatably connected at matrix 10, when the direction of travel of running gear 100 changes
Afterwards, supporting body 210 can be rotated relative to matrix 10, the dress so that vehicle being parked on supporting body 210 can be diverted to and walk
It is in the same direction to set 100 direction of travel, so that parking robot 200 can smoothly stop vehicle into garage.
According to some embodiments of the application second aspect, matrix 10 includes the first matrix 11, the second matrix 12 and jacking
Device 13, the first matrix 11 are connect with the second matrix 12 by jacking apparatus 13, and jacking apparatus 13 is configured as the second base of driving
Body 12 is mobile relative to the first matrix 11, to change the height and position of the second matrix 12；Wherein, the first runner 22 and the second runner
32 are rotatably connected at the first matrix 11, and supporting body 210 is rotatably connected at the second matrix 12.Matrix 10 is equipped with jacking
Device 13, so that the height of supporting body 210 is adjustable, which is suitable for the garage of different height.
In the present embodiment, jacking apparatus 13 is hydraulic cylinder, and jacking apparatus 13 is vertically arranged, one end of jacking apparatus 13 with
The connection of first matrix 11, the other end of jacking apparatus 13 are connect with the second matrix 12, and jacking apparatus 13 drives the second matrix 12 to exist
Vertical direction is mobile so that the height and position of the second matrix 12 changes, due to supporting body 210 be rotatably coupled by with
Second matrix 12, after the height and position of the second matrix 12 changes, the height and position of supporting body 210 also changes, from
And it can will be parked in the garage of the vehicle parking on supporting body 210 and different height.In other specific embodiments, jacking
Device 13 can be other structures form, for example the first matrix 11 is equipped with the guide rail for the sliding of the second matrix 12, jacking apparatus
13 include motor and screw rod, and motor body is connected to the first matrix 11, the output axis connection of screw rod and motor, screw rod and the second base
Body 12 is rotatablely connected, and when the motor rotates, the second matrix 12 can be moved relative to the first matrix 11 in vertical direction along guide rail.
In some embodiments of the application second aspect, parking robot 200 further includes distance detection device 220, away from
From detection device 220 for detect the second matrix 12 relative to the first matrix 11 it is mobile with a distance from.Generally, stop robot
200 be to realize Automatic Control by closed-loop control system, and the range information that distance detection device 220 will test is transferred to
Control system, control system compares according to the pre-determined distance value of the range information and control system that receive, judges, if connecing
The distance information value received is identical as systemic presupposition distance value or to the extent permitted by the error, then control system issues instruction
Jacking apparatus 13 is set to stop movement；If the distance information value that control system receives and systemic presupposition distance value be not identical or not
To the extent permitted by the error, then control system can then issue adjustment instruction, and jacking apparatus 13 is made to continue to drive the second matrix 12
Rise or decline, so that the distance of opposite first matrix 11 of the second matrix 12 is reached systemic presupposition value, so that parking robot
200 positioning in height is more accurate, and then enables the vehicle to accurately be stopped the garage into different height.In this implementation
In example, distance detection device 220 is range sensor, and distance detection device 220 is set on the first matrix 11, at other
Specifically in embodiment, distance detection device 220 can also be set on the second matrix 12, to be able to detect that 12 phase of the second matrix
To the distance of the first matrix 11.In other specific embodiments, distance detection device 220 be also possible to laser range finder etc. its
His range unit.
According to some embodiments of the application second aspect, the robot 200 that stops includes angle detection device 230, angle
Detection device 230 is configured as rotational angle of the detection matrix 10 with respect to supporting body 210.
In the present embodiment, the rotational angle of the opposite supporting body 210 of 230 real-time detection matrix of angle detection device 10, and
The angle information transfer that will test is to control system, and control system is according to the default of the angle information and control system received
Corner value compares, judges, if the angle information value received is identical as systemic presupposition corner value or in error permission
In range, then control system, which issues instruction, makes the first actuator 21 and the second actuator 31 continue to keep respectively existing revolving speed；
If the angle information value that control system receives and systemic presupposition corner value be not identical or not to the extent permitted by the error,
Control system can then issue adjustment instruction, be adjusted to the revolving speed of the first actuator 21 and the second actuator 31, make matrix 10
The rotational angle of opposite supporting body 210 can reach systemic presupposition value, so that the steering of parking robot 200 is more accurate, in turn
It enables the vehicle to accurately be stopped into specified garage.In the present embodiment, angle detection device 230 is angular encoder.
In some embodiments of the application second aspect, parking robot 200 includes rotor 240, rotor 240
It is rotatablely arranged at supporting body 210, supporting body 210 is rotated with the rotation connection of matrix 10, matrix 10 is stated relative to supporting body 210
It is able to drive rotor 240 to rotate relative to supporting body 210, angle detection device 230 is configured as detection rotor 240 and holds relatively
210 rotational angle of carrier.
By being equipped with the rotor 240 that can be rotated relative to supporting body 210, angle detection device on supporting body 210
230 rotational angle by detection rotor 240 with respect to supporting body 210, so that detection obtains matrix 10 with respect to supporting body indirectly
The information of rotational angle is transferred to control system again by 210 rotational angle, angle detection device 230, and control system is according to turning
Dynamic angle information is judged, further instruction is then issued, so that the steering of parking robot 200 is more accurate；In addition,
Rotor 240 is set on supporting body 210, can facilitate the installation of angle detection device 230.
Further, matrix 10 is equipped with first gear portion 14, and rotor 240 is equipped with second gear portion 241, first gear portion
14 engage with second gear portion 241, and when matrix 10 is rotated relative to supporting body 210, first gear portion 14 is able to drive rotor 240
Rotation.
In above scheme, the rotation of matrix 10 is transferred to rotor 240 by gear drive, since gear drive has admittedly
Fixed transmission ratio, angle detection device 230 passes through the rotational angle for obtaining rotor 240, then passes through gear-driven transmission ratio
To obtain rotational angle of the matrix 10 with respect to supporting body 210, drive mechanism is simple, and the rotational angle error of acquisition is smaller, energy
It is enough provided for control system and accurately judges information.
In the present embodiment, rotation connection is realized by pivoting support between supporting body 210 and the second matrix 12, generally
Ground, pivoting support include inner ring and with cogged outer ring, are rotatably connected between outer ring and inner ring.In the present embodiment, it returns
The one end for turning the inner ring axial direction of bearing is detachably connected with supporting body 210, one end of the outer ring axial direction of pivoting support and the second base
Body 12 is detachably connected, and outer ring is set to the first gear portion 14 on the second matrix 12, dismantling connection can make by bolt,
The modes such as screw are realized.In other embodiments, between the inner ring of pivoting support and supporting body 210, the outer ring of pivoting support with
It is also possible to be fixedly connected between second matrix 12, for example welds.Rotor 240 equipped with second gear portion 241 is gear,
Rotor 240 is rotatablely connected by transmission shaft 242 and supporting body 210, and transmission shaft 242 is fixedly connected with supporting body 210, rotor
240 can rotate around transmission shaft 242.The outer ring of pivoting support and revolving body external toothing, due to the outer ring and second of pivoting support
Matrix 12 is detachably connected, therefore when running gear 100 turns to, and the outer ring of pivoting support can be rotated relative to inner ring, thus band
The dynamic rotor 240 being engaged with rotates.With continued reference to Fig. 6, the body of angle detection device 230 is connected to rotor 240,
The output shaft of angle detection device 230 is connect with transmission shaft 242.In other specific embodiments, angle detection device 230
Body also can connect on supporting body 210, and the output shaft of angle detection device 230 is connect with rotor 240.Or angle inspection
The body for surveying device 230 is connected to rotor 240, and the output shaft of angle detection device 230 is connect with supporting body 210.Such angle
Degree detection device 230 is able to detect that rotational angle of the revolving body with respect to supporting body 210, and similarly, angle detection device 230 will
The corner information of the rotor 240 detected is transferred to control system, and control system will be according to first gear portion 14 and the second tooth
Gear ratio calculation between wheel portion 241 goes out the rotational angle of outer ring, to obtain the rotational angle of running gear 100 indirectly.
In the present embodiment, as shown in fig. 7, can also be passed by other between the outer ring of pivoting support and rotor 240
Flowing mode transmission connection, for example does not have meshing relation between pivoting support outer ring and rotor 240, the outer ring of pivoting support with
Rotor 240 does not have on rotor 240 by chain conveyer, or when the outer ring of pivoting support is not provided with first gear portion 14
Second gear portion 241 is set, then can be connected by V belt translation between pivoting support and rotor 240, chain conveyer and V belt translation
All have stable transmission ratio, angle detection device 230 can also be by measuring the rotational angle of rotor 240, further according to band
Transmission or chaindriven transmission ratio obtain the steering angle of accurate running gear 100.
In other specific embodiments, matrix can not also be obtained indirectly by detecting the rotational angle of rotor 240
The rotational angle of 10 opposite supporting bodies 210 can be and directly detect matrix 10 by angular encoder relative to the rotation of supporting body 210
Angle, i.e. supporting body 210 connect with matrix 10 by angular encoder, and the body of angular encoder is connected in supporting body 210,
The output shaft of angular encoder is connect with matrix 10, when matrix 10 is that angular encoder is defeated with respect to 210 rotational angle of supporting body
The rotational angle of shaft, the rotational angle for enabling angular encoder directly to measure matrix 10 with respect to supporting body 210.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of running gear characterized by comprising
Matrix；
First driving device, the first driving device include the first actuator and the first runner；And
Second driving device, second driving device include the second actuator and the second runner；
First runner and second runner are respectively arranged the two sides in described matrix on preset direction, and described first turn
Wheel and second runner are rotatably connected at described matrix, and first actuator is configured as driving described first turn
Wheel is rotated relative to described matrix, and second actuator is configured as that second runner is driven to rotate relative to described matrix；
When speed difference is not present in first runner and second runner, the running gear keeps straight trip；When described
There are when speed difference, the direction of travel of the running gear changes for one runner and second runner.
2. running gear according to claim 1, which is characterized in that the first driving device includes the first driver
Structure, first actuator and first runner are sequentially connected by first transmission mechanism, and described first is driven
The power of part is transferred to first runner；And/or second driving device includes the second transmission mechanism, second driving
Part and second runner are sequentially connected by second transmission mechanism, and the power of second actuator is transferred to institute
State the second runner.
3. running gear according to claim 2, which is characterized in that first transmission mechanism and/or second biography
Motivation structure is tape handler.
4. running gear according to claim 1-3, which is characterized in that first runner is with respect to described matrix
The axis of rotation is overlapped with second runner relative to the axis that described matrix rotates.
5. running gear according to claim 4, which is characterized in that first actuator and first runner are ipsilateral
Arrangement, second actuator and the ipsilateral arrangement of the second runner.
6. a kind of parking robot, which is characterized in that filled including supporting body and walking according to claim 1-5
It sets, the supporting body is rotationally connected with described matrix, and when the running gear direction of travel changes, the supporting body being capable of phase
Described matrix is rotated.
7. parking robot according to claim 6, which is characterized in that described matrix includes the first matrix, the second matrix
And jacking apparatus, first matrix are connect with second matrix by the jacking apparatus, the jacking apparatus is configured
To drive second matrix mobile relative to first matrix, to change the height and position of second matrix；
Wherein, first runner and second runner are rotatably connected at first matrix, and the supporting body can
It is rotationally connected with second matrix.
8. parking robot according to claim 6, which is characterized in that the parking robot includes angle detection dress
It sets, the angle detection device is configured as the rotational angle of the detection relatively described supporting body of described matrix.
9. parking robot according to claim 8, which is characterized in that the parking robot includes rotor, described
Rotor is rotatablely arranged at the supporting body, and the rotor and described matrix are sequentially connected, and described matrix is relatively described
Supporting body rotation is able to drive the rotor and rotates relative to the supporting body, and the angle detection device is configured as detection institute
State the relatively described supporting body rotational angle of rotor.
10. parking robot according to claim 9, which is characterized in that described matrix be equipped with first gear portion, described turn
Kinetoplast is equipped with second gear portion, and the first gear portion is engaged with the second gear portion, when the relatively described carrying of described matrix
Body rotation, the first gear portion are able to drive the rotor rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920198783.7U CN209535026U (en) | 2019-02-14 | 2019-02-14 | A kind of running gear and the robot that stops |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920198783.7U CN209535026U (en) | 2019-02-14 | 2019-02-14 | A kind of running gear and the robot that stops |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112721875A (en) * | 2021-02-05 | 2021-04-30 | 王建锋 | Rotating mechanism for in-situ turning and lateral moving of automobile |
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2019
- 2019-02-14 CN CN201920198783.7U patent/CN209535026U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112721875A (en) * | 2021-02-05 | 2021-04-30 | 王建锋 | Rotating mechanism for in-situ turning and lateral moving of automobile |
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