CN211396849U - Four-wheel adjusting type automatic vehicle parking deviation correcting device - Google Patents

Abstract

The utility model discloses a four-wheel regulation formula vehicle parking automatic deviation rectification device belongs to the parking equipment field. The utility model discloses an automatic deviation rectification device, including rectifying actuating mechanism assembly and position detection mechanism assembly, rectifying actuating mechanism assembly utilizes four groups of rolling rectifying modules to cooperate the side direction adjustment mechanism to realize the rectifying adjustment of vehicle parking position, and structural design is simple compact, and the rectifying action is more reliable and more stable; the position detection mechanism assembly utilizes the distance sensor that can elevating movement to detect the parking position of vehicle, detect the vehicle through the distance sensor and come the distance deviation with one side and confirm the torsion angle that needs the regulation, the skew distance of vehicle front and back or left and right directions is confirmed to the detection numerical value through the distance sensor of opposite side, make the vehicle position detect comprehensively accurately, and use cost is lower, do not influence stopping of vehicle and get, provide good data support for the vehicle is automatic rectifies a deviation, the accuracy and the stability of the regulation of rectifying a deviation of vehicle have been improved.

Description

Four-wheel adjusting type automatic vehicle parking deviation correcting device

Technical Field

The utility model relates to a deviation correcting device of vehicle parking position, more specifically say, relate to a four-wheel regulation formula vehicle parking automatic deviation correcting device, are particularly useful for among the mechanical parking equipment.

Background

With the increase of the automobile holding capacity, the problem of insufficient parking space becomes obvious, and in recent years, mechanical parking equipment has been widely used. Mechanical parking equipment has been developed into large electromechanical equipment integrating mechanical, electrical and intelligence into one body. In order to fully utilize land resources, mechanical parking equipment is generally designed to be compact and is controlled by adopting automated technologies such as optomechanical and electrical technologies. Although the parking space can be effectively increased, the mechanical parking equipment usually requires an operator to park vehicles in a relatively narrow space with high quality, the parking position is accurate, and partial drivers cannot park vehicles accurately due to different driving levels of the drivers, so that adverse effects are brought to normal operation of the parking equipment, and the willingness of the user to use the mechanical parking equipment is also influenced.

In order to solve the problem of difficulty in parking a car in a mechanical parking device, a related solution is disclosed, for example, a method and a device for correcting the position of a car in a parking device disclosed in chinese patent No. ZL201610053066.6, wherein a detection unit and an analysis unit are matched to automatically detect whether the car is parked with a position deviation, and then data to be corrected is sent to a correction unit to automatically correct the position. The method comprises the steps of additionally arranging a photographing device in a space of a parking position where a vehicle of conventional parking equipment drives into for photographing the outline of the vehicle, extracting the current maximum outline of the vehicle by an image processing device and comparing the current maximum outline with standard parking space coordinate data to obtain a deviation-correcting value, and correcting the angle deviation, the longitudinal deviation and the transverse deviation of the original parked vehicle by utilizing a vehicle turntable, a longitudinal moving part and a transverse moving part which are commonly used and arranged in the parking equipment respectively. Also as disclosed in chinese patent application No. 201810308163.4, "a drum conveyor for mechanical parking equipment" includes a track plate, a front wheel deviation correcting mechanism and a rear wheel deviation correcting mechanism are respectively disposed at two ends of the track plate, the front wheel deviation correcting mechanism includes a front wheel force applying member for providing a driving force to a front wheel of the vehicle to move the vehicle in a left-right direction and a front wheel driving member for driving the front wheel force applying member to move, and the rear wheel deviation correcting mechanism includes a rear wheel force applying member for providing a driving force to a rear wheel of the vehicle to move the vehicle in a left-right direction and a rear wheel driving member for driving the rear wheel force applying member to move. The conveyor can correct the deviation of the automobile on the lane plate, so that the automobile can be smoothly parked in a parking space, and the degree of abrasion to the automobile wheels is small. In the above patent application, the former takes a picture of the vehicle outline through the camera device, and analyzes the deviation value of the vehicle by using the image processor, so that the equipment cost is relatively high, and the deviation rectifying action needs to be executed by designing the automobile turntable, the longitudinal moving part and the transverse moving part, and the required action executing mechanisms are more and the structure is relatively complex. The rear wheel utilizes a front wheel deviation correcting mechanism and a rear wheel deviation correcting mechanism to adjust the front wheel and the rear wheel of the vehicle left and right, the left and right adjusting position depends on the photoelectric sensors at the lower parts of the wheels, the requirement on the initial parking position of the vehicle is high, the positions of the photoelectric sensors of the front wheel and the rear wheel are relatively fixed, the applicability of the vehicle corresponding to different wheelbases is poor, and the deviation correcting position signals are difficult to accurately identify.

In a word, the existing vehicle deviation correcting system has the problems of complex deviation correcting mechanism, poor deviation correcting position signal identification accuracy, high cost and the like.

Disclosure of Invention

1. Technical problem to be solved by the utility model

The utility model aims to overcome current vehicle rectifying system and have that the mechanism of rectifying is complicated, the positional signal discernment accuracy of rectifying is relatively poor, the cost is not enough such as higher, provide a four-wheel regulation formula vehicle parking automatic deviation correcting device, adopt the technical scheme of the utility model, utilize four groups to roll the regulation of rectifying that module cooperation side direction adjustment mechanism realized the vehicle parking position, structural design is simple compact, the action of rectifying is more reliable and stable, utilize simultaneously rectifying actuating mechanism can elevating movement's distance sensor all around to detect the parking position of vehicle, vehicle position detects comprehensively accurately, sets up simple and conveniently, equipment cost is lower to do not influence stopping of vehicle and get, provide good data support for the vehicle is automatic rectifies, improved the accuracy and the stability of vehicle regulation of rectifying.

2. Technical scheme

In order to achieve the above purpose, the utility model provides a technical scheme does:

the utility model discloses a four-wheel regulation formula vehicle parking automatic deviation rectification device, including the actuating mechanism assembly of rectifying a deviation and with the position detection mechanism assembly of the actuating mechanism assembly cooperation work of rectifying a deviation, wherein:

the deviation rectifying actuating mechanism assembly comprises a bottom frame, a lateral adjusting mechanism and four groups of rolling deviation rectifying modules, wherein the four groups of rolling deviation rectifying modules are distributed in a rectangular array, and the rolling directions of the four groups of rolling deviation rectifying modules are consistent with the driving direction of the vehicle and are used for supporting corresponding wheels of the parked vehicle through the four groups of rolling deviation rectifying modules; the front and rear groups of rolling deviation rectifying modules arranged side by side are respectively arranged on the bottom frame through a group of lateral adjusting mechanisms, and the adjusting moving direction of the lateral adjusting mechanisms is vertical to the rolling direction of the rolling deviation rectifying modules and is used for carrying out position adjustment on the front and rear wheels of the parked vehicle in the left-right direction;

the position detection mechanism assembly is arranged at the periphery of the deviation correction execution mechanism assembly and comprises a rectangular outer frame, a lifting detection mechanism and a lifting driving mechanism, wherein the rectangular outer frame is arranged at the outer side of the deviation correction execution mechanism assembly, a group of lifting detection mechanisms are respectively arranged on four frames of the rectangular outer frame, each group of lifting detection mechanisms respectively comprise a cross rod and more than two distance sensors which are arranged on the cross rod at intervals along the length direction, the cross rod is arranged on the corresponding frame of the rectangular outer frame through a lifting connecting rod mechanism, and the lifting connecting rod mechanism is provided with a horizontal sliding connecting rod capable of controlling the lifting motion of the cross rod; the lifting driving mechanism comprises a double-output-shaft motor, ball screws, guide rails and a sliding block, the ball screws and the guide rails are arranged along the length direction of the frames on four frames of the rectangular outer frame respectively, the end parts of the ball screws on the adjacent frames are in meshing transmission through a group of bevel gears, a horizontal sliding connecting rod of the lifting connecting rod mechanism is slidably arranged on the guide rails of the corresponding frames through the sliding block, the sliding block and the corresponding ball screws are in transmission fit by adopting screw nut pairs, the double-output-shaft motor is arranged on one frame of the rectangular outer frame, and the output shafts of the double-output-shaft motor are in transmission connection with the ball screws on the frames and are used for driving transverse rods on the four frames of the rectangular outer frame to synchronously lift;

the outer side of the deviation rectifying actuating mechanism assembly is further provided with an inner frame, a platform panel is arranged between the inner frame and the rectangular outer frame, and the upper surface of the platform panel is flush with the upper rolling planes of the four groups of rolling deviation rectifying modules.

Furthermore, the lifting detection mechanism is arranged inside four frames of the rectangular outer frame, and the platform panel is further provided with an opening for enabling the corresponding cross rod to move up and down from the bottom of the platform panel.

Furthermore, the lifting link mechanism comprises a main support rod and an auxiliary support rod, wherein two ends of each cross rod are respectively hinged with one main support rod, the bottom ends of the main support rods are hinged on corresponding sliding blocks, the ball screws corresponding to the cross rods are respectively provided with two parts with opposite rotation directions, the sliding blocks at the bottoms of the main support rods at the two ends of the cross rods are respectively in transmission fit with the front and rear sections of the corresponding ball screws through screw nut pairs, so that the bottom ends of the main support rods at the two ends of each cross rod can move in the opposite direction or in the opposite direction on the ball screws on the same frame, one end of the auxiliary support rod is hinged with the middle part of the main support rod, and the other end of the auxiliary support rod is hinged with the rectangular outer frame to form the scissor type lifting mechanism.

Furthermore, the lateral adjusting mechanism comprises a lateral moving motor, a lateral moving support plate, a lateral moving sliding block, a lateral moving sliding rail, a lateral moving ball screw and a lateral moving ball nut seat, wherein two groups of rolling deviation correcting modules arranged side by side are fixedly arranged on the lateral moving support plate, the bottom of the lateral moving support plate is slidably arranged on the bottom frame through the lateral moving sliding block and the lateral moving sliding rail, the lateral moving motor is arranged on one side of the bottom frame, the lateral moving ball screw and the lateral moving sliding rail are arranged on the bottom frame in parallel, the lateral moving motor is in transmission connection with one end of the lateral moving ball screw, the lateral moving ball nut seat is fixed at the bottom of the lateral moving support plate, and the lateral moving ball nut seat is matched with the lateral moving ball screw.

Furthermore, the rolling deviation rectifying module comprises a module outer frame, rolling chain groups, rolling driving motors and chain plates, wherein a group of rolling chain groups which are parallel to each other are respectively installed on the left side and the right side of the module outer frame, the rolling driving motors are fixedly installed on the inner side of the module outer frame through motor supporting plates, the rolling driving motors are in transmission connection with the two groups of rolling chain groups, and two ends of each chain plate are fixedly installed on corresponding chain link lug plates along the length direction of a chain of each rolling chain group.

Furthermore, the output shaft of the rolling driving motor is connected with the wheel shaft of the driving chain wheel, the wheel shafts of the two rolling chain groups are connected through a transmission shaft, a driven chain wheel is installed on the transmission shaft, and a transmission chain is installed between the driving chain wheel and the driven chain wheel.

3. Advantageous effects

Adopt the technical scheme provided by the utility model, compare with existing well-known technique, have following apparent effect:

(1) the utility model discloses a four-wheel regulation formula vehicle parking automatic deviation rectification device, it includes deviation rectification actuating mechanism assembly and position detection mechanism assembly with deviation rectification actuating mechanism assembly cooperation work, deviation rectification actuating mechanism assembly utilizes four groups of rolling deviation rectification modules to cooperate side direction adjustment mechanism to realize the deviation rectification regulation of vehicle parking position, through controlling four groups of rolling deviation rectification modules to control the vehicle front and back or rotate and adjust, utilize side direction adjustment mechanism to control the vehicle about or rotate and adjust, structural design is simple compact, deviation rectification action is more reliable and stable, the regulation action is nimble accurate; the position detection mechanism assembly detects the parking position of a vehicle by utilizing the distance sensors which can move up and down around the deviation correction actuating mechanism, the distance sensors are arranged on the front, back, left and right sides of the vehicle, the distance deviation of the same side of the vehicle is detected by the distance sensors to determine the torsion angle required to be adjusted, the deviation distance in the front, back or left and right directions of the vehicle is determined by the detection value of the distance sensor on the opposite side, so that the position of the vehicle is comprehensively and accurately detected, the use cost of the distance sensors is lower, the setting is simpler and more convenient, the distance sensors arranged in a lifting way do not influence the stopping and taking of the vehicle, good data support is provided for the automatic deviation correction of the vehicle, and the accuracy and the;

(2) the utility model discloses a four-wheel regulation formula vehicle parking automatic deviation rectification device, its lift detection mechanism installs in four frame inboards of rectangle outer frame, still sets up the opening that is used for making the horizontal pole of correspondence move up and down by platform panel bottom on the platform panel, makes lift detection mechanism hide in the inside of deviation rectification device, and overall structure is more simple compact, has avoided the part to expose and has aroused the problem such as foreign matter collision damage;

(3) the utility model discloses a four-wheel regulation formula vehicle parking automatic deviation rectification device, its lifting linkage mechanism include main tributary vaulting pole and auxiliary support rod, main tributary vaulting pole and auxiliary support rod constitute the scissors formula elevating system of horizontal pole, and utilize bevel gear drive mechanism to realize the linkage of ball screw all around, a set of dual output shaft motor can drive four groups of horizontal poles elevating movement, the elevating movement is stable, the synchronism is good, and simple structure, the control of the elevating movement is simple and convenient;

(4) the utility model discloses a four-wheel regulation formula vehicle parking automatic deviation rectification device, its side direction adjustment mechanism adopts the side to move the motor drive screw-nut pair side band side and moves the side and move the layer board on the slide rail side direction, and the side moves the position adjustment conveniently accurate, and bearing capacity is strong, has satisfied the support needs that the vehicle parked;

(5) the utility model discloses a four-wheel adjusting type automatic vehicle parking deviation correcting device, the rolling deviation correcting module of which adopts the modular structure design and can be directly assembled in the deviation correcting device according to the design requirement, and the assembly is simple and flexible; in addition, the rolling deviation rectifying module adopts a chain plate structure design, so that the rolling is stable, the supporting performance is good, and the bearing capacity is strong; in addition, the rolling driving motor is arranged in the module, so that the outside space is not occupied, and the installation of each rolling deviation rectifying module is facilitated;

(6) the utility model discloses a four-wheel adjusting type automatic vehicle parking deviation correcting device, a rolling driving motor of which adopts a chain transmission mechanism to drive a chain plate to rotate, the transmission efficiency is high, and the transmission stability is good;

(7) the utility model discloses a four-wheel adjusting type automatic vehicle parking deviation correcting device, a distance sensor on each cross rod of which forms a sensor group, and the deviation angle and the deviation distance of a vehicle are determined by comparing the distance signals detected by the distance sensors on the same cross rod; the deviation of the front and back or left and right parking positions of the vehicle is determined by comparing the mean values of the distance signals detected by the sensor groups on the two opposite cross rods; according to the deviation correcting data detected by the distance sensor, the front-back distance of the vehicle parking position is adjusted by controlling the four groups of rolling deviation correcting modules to synchronously roll in the same direction, and the left-right distance of the vehicle parking position is adjusted by controlling the two groups of lateral adjusting mechanisms to synchronously move in the same direction; the horizontal inclination angle of the vehicle parking position is adjusted by controlling the synchronous same-direction relative movement of the two groups of rolling deviation rectifying modules on the same side and the relative movement of the two groups of lateral adjusting mechanisms; the deviation correction control is simple and convenient, automatic intelligent control is facilitated, the automatic deviation correction requirement of the vehicle in the mechanical parking equipment is met, and the normal operation of the mechanical parking equipment is guaranteed.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of an angle of a four-wheel adjustable automatic deviation correcting device for vehicle parking according to the present invention;

fig. 2 is a schematic view of a three-dimensional structure of another angle of the four-wheel adjustable automatic deviation correcting device for vehicle parking according to the present invention;

FIG. 3 is a schematic structural view of a deviation correcting actuator assembly according to the present invention;

FIG. 4 is a schematic structural view of a lateral adjustment mechanism in the middle deviation rectification actuator assembly of the present invention;

FIG. 5 is a schematic structural diagram of a rolling deviation rectifying module in the middle deviation rectifying actuator assembly of the present invention;

fig. 6 is a schematic structural diagram of the position detecting mechanism assembly according to the present invention.

The reference numerals in the schematic drawings illustrate:

100. a deviation rectifying actuating mechanism assembly; 11. an inner frame; 12. a rolling deviation rectifying module; 12-1, a module outer frame; 12-2, rolling chain groups; 12-3, a motor support plate; 12-4, rolling driving motor; 12-5, a drive sprocket; 12-6, a transmission chain; 12-7, a driven sprocket; 12-8, link plates; 13. a bottom frame; 14. a lateral adjustment mechanism; 14-1, a side shift motor; 14-2, a motor mounting rack; 14-3, a coupler; 14-4, laterally moving the supporting plate; 14-5, laterally moving the sliding block; 14-6, laterally moving a sliding rail; 14-7, laterally moving the ball screw; 14-8, laterally moving the ball nut seat;

200. a position detection mechanism assembly; 21. a rectangular outer frame; 22. a lift detection mechanism; 22-1, a cross bar; 22-2, main support rods; 22-3, auxiliary supporting rods; 22-4, a distance sensor; 23. a lifting drive mechanism; 23-1, a double output shaft motor; 23-2, ball screw; 23-3, guide rails; 23-4, a sliding block; 23-5 and bevel gears.

Detailed Description

For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Examples

Referring to fig. 1, 2, 3 and 6, the four-wheel adjustable automatic vehicle parking deviation correcting device of the present embodiment includes a deviation correcting actuator assembly 100 and a position detecting mechanism assembly 200 cooperating with the deviation correcting actuator assembly 100, wherein the position detecting mechanism assembly 200 is configured to detect position information of a vehicle parked on the deviation correcting actuator assembly 100, and send a control command to the deviation correcting actuator assembly 100 through a control system to correct a position of the vehicle. Wherein the content of the first and second substances,

the deviation rectifying actuating mechanism assembly 100 comprises a bottom frame 13, a lateral adjusting mechanism 14 and four groups of rolling deviation rectifying modules 12, wherein the four groups of rolling deviation rectifying modules 12 are distributed in a rectangular array, and the rolling directions of the four groups of rolling deviation rectifying modules 12 are all consistent with the driving direction of a vehicle and are used for supporting corresponding wheels of the parked vehicle through the four groups of rolling deviation rectifying modules 12; the four rolling deviation rectifying modules 12 can be respectively arranged in the approximate range of the vehicle wheels, and can also be close together to form the whole parking platform, the latter is preferred in the embodiment, so that the four wheels of the vehicle can be respectively positioned on the corresponding rolling deviation rectifying modules 12, and the position of the vehicle is adjusted on the horizontal plane by the matching motion of the rolling deviation rectifying modules 12. The front and rear groups of rolling deviation rectifying modules 12 arranged side by side are respectively installed on the bottom frame 13 through a group of lateral adjusting mechanisms 14, and the adjusting moving direction of the lateral adjusting mechanisms 14 is perpendicular to the rolling direction of the rolling deviation rectifying modules 12 and is used for carrying out position adjustment in the left-right direction on front and rear wheels of a parked vehicle. When the vehicle is parked well, the four groups of rolling deviation rectifying modules 12 synchronously move in the same direction to drive the vehicle to move in the front and rear directions, and the two groups of lateral adjusting mechanisms 14 synchronously move in the same direction to drive the vehicle to move in the left and right directions, so that the vehicle is moved to the center of a parking space; when the two rolling deviation rectifying modules 12 on the same side synchronously move relatively in the same direction and are matched with the two lateral adjusting mechanisms 14 to move relatively, the deflection motion on the plane is generated, so that the vehicle is driven to generate a certain angle of deviation on the plane, and the vehicle is straightened.

As shown in fig. 2 and 6, the position detection mechanism assembly 200 is disposed at the periphery of the deviation correction actuator assembly 100, and includes a rectangular outer frame 21, a lifting detection mechanism 22 and a lifting driving mechanism 23, the rectangular outer frame 21 is mounted at the outer side of the deviation correction actuator assembly 100 to form a peripheral frame of the whole parking space, a set of lifting detection mechanisms 22 is mounted on each of four frames of the rectangular outer frame 21, each set of lifting detection mechanisms 22 includes a cross bar 22-1 and more than two distance sensors 22-4 mounted on the cross bar 22-1 at intervals along the length direction, the cross bar 22-1 is mounted on a corresponding frame of the rectangular outer frame 21 through a lifting link mechanism, and the lifting link mechanism has a horizontal sliding link capable of controlling the lifting movement of the cross bar 22-1; the lifting driving mechanism 23 comprises a double-output-shaft motor 23-1, a ball screw 23-2, a guide rail 23-3 and a slide block 23-4, the four frames of the rectangular outer frame 21 are respectively provided with the ball screw 23-2 and the guide rail 23-3 which are arranged along the length direction of the frames, the end parts of the ball screws 23-2 on the adjacent frames are in meshing transmission through a group of bevel gears 23-5, a horizontal sliding connecting rod of the lifting connecting rod mechanism is slidably arranged on the guide rail 23-3 of the corresponding frame through the slide block 23-4, the slide block 23-4 is in transmission fit with the corresponding ball screw 23-2 through a screw nut pair, the double-output-shaft motor 23-1 is arranged on one frame of the rectangular outer frame 21, the output shaft of the double-output-shaft motor 23-1 is in transmission connection with the ball screw 23, used for driving the cross bars 22-1 on the four side frames of the rectangular outer frame 21 to synchronously move up and down. Because the ball screw rods 23-2 on the four frames of the rectangular outer frame 21 are meshed and driven by bevel gears, a group of ball screw rods 23-2 is driven to drive the other three ball screw rods 23-2 to synchronously rotate, the double-output-shaft motor 23-1 drives the slide block 23-4 to move through the ball screw rods 23-2, and further drives the horizontal sliding connecting rod of the lifting detection mechanism 22 to move, and drives the cross rod 22-1 to generate up-and-down lifting motion, so that the distance sensors 22-4 on the cross rod 22-1 are driven to perform up-and-down lifting motion. In the deviation rectifying process of the vehicle, the distance sensor 22-4 is lifted to detect the distance between the distance and the outer contour of the vehicle, the lifting height of the distance sensor 22-4 can be generally designed to be 40-60 cm and is close to the surrounding height of the side of the vehicle, and the lifting height of the distance sensor 22-4 can be controlled by the double-output-shaft motor 23-1, so that the position of the vehicle can be detected more accurately; the distance sensors 22-4 on the same cross bar 22-1 are preferably arranged at the positions deviated to the center, the distance between the distance sensors 22-4 on the cross bars 22-1 positioned at the two sides of the vehicle can be designed to be relatively larger, and the error influence on the distance detection caused by the smooth modeling of the head and the tail of the vehicle is avoided. 2-4 distance sensors 22-4 on each cross rod 22-1 are preferably arranged, the vehicle offset angle and distance are determined by comparing distance values detected by a plurality of distance sensors 22-4 on the same cross rod 22-1, the accuracy of the vehicle offset angle value detection is guaranteed by four groups of sensor groups around, generally speaking, when the detection values of the plurality of distance sensors 22-4 on the same cross rod 22-1 gradually change to be larger, the vehicle parking angle deviation is larger, the adjustment to the sensor direction with the largest distance is needed, and when the detection values of the plurality of distance sensors 22-4 on the same cross rod 22-1 reach the design range interval, the vehicle is considered to be in a correct position. The average value of the detection values of the distance sensors 22-4 on the two opposite cross bars 22-1 can represent the front, rear, left and right positions of the vehicle in the parking space, information such as left parking, right parking, upper parking, lower parking and the like can be determined by comparing the average values of the detection values of the distance sensors 22-4 on the two opposite cross bars 22-1, and the vehicle is considered to be adjusted to the center of the parking space if the detection values of the distance sensors 22-4 on the two opposite cross bars 22-1 are basically equal or within a design interval range.

The outer side of the deviation rectifying actuating mechanism assembly 100 is further provided with an inner frame 11, a platform panel is arranged between the inner frame 11 and the rectangular outer frame 21, the upper surface of the platform panel is flush with the upper rolling planes of the four groups of rolling deviation rectifying modules 12, and the platform panel is convenient for a vehicle to drive in or a user to get on or off the vehicle. Preferably, the lifting detection mechanisms 22 are installed inside four side frames of the rectangular outer frame 21, and the platform panel is further provided with an opening for enabling the corresponding cross rod 22-1 to move up and down from the bottom of the platform panel, so that the lifting detection mechanisms 22 are hidden inside the deviation correction device, the whole structure is simpler and more compact, and the problems of foreign body collision and damage caused by exposed parts are avoided.

Referring to fig. 2 and 6, in the four-wheel adjusting type automatic vehicle parking deviation correcting device of the present embodiment, the lifting link mechanism includes a main support rod 22-2 and an auxiliary support rod 22-3, two ends of each cross rod 22-1 are respectively hinged with the main support rod 22-2, the bottom end of the main support rod 22-2 is hinged with the corresponding slide block 23-4, the corresponding ball screw 23-2 of each cross rod 22-1 has two parts with opposite rotation directions, the slide blocks 23-4 at the bottom of the main support rods 22-2 at two ends of the cross rod 22-1 are respectively in transmission fit with the front and rear sections of the corresponding ball screw 23-2 by screw and nut pairs, so that the bottom ends of the main support rods 22-2 at two ends of each cross rod 22-1 can move in opposite directions or back directions on the ball screw 23-2 on the same frame, thereby realizing that the cross bar 22-1 can move up and down; in order to improve the lifting stability of the cross bar 22-1, one end of the auxiliary support bar 22-3 is hinged with the middle part of the main support bar 22-2, and the other end of the auxiliary support bar 22-3 is hinged with the rectangular outer frame 21, so as to form a scissor type lifting mechanism. When the lifting device works, the double-output-shaft motor 23-1 drives each ball screw 23-2 to rotate, so that the corresponding slide block 23-4 drives the bottom of the main support rod 22-2 to slide, the cross rod 22-1 carries out lifting motion in parallel, the lifting motion is stable, the synchronism is good, the structure is simple, and the lifting motion control is simple and convenient.

Referring to fig. 3 and 4, in the present embodiment, the lateral adjustment mechanism 14 includes a lateral movement motor 14-1, a lateral movement support plate 14-4, a lateral movement slider 14-5, a lateral movement slide rail 14-6, a lateral movement ball screw 14-7 and a lateral movement ball nut seat 14-8, two sets of rolling deviation correction modules 12 arranged side by side are fixedly mounted on the lateral movement support plate 14-4, the bottom of the lateral movement support plate 14-4 is slidably mounted on the bottom frame 13 through the lateral movement slider 14-5 and the lateral movement slide rail 14-6, specifically, the two lateral movement slide rails 14-6 can be mounted on the bottom frame 13 in parallel, the lateral movement sliders 14-5 are slidably mounted on the two lateral movement slide rails 14-6, the lateral movement slider 14-5 is fixed on the bottom of the lateral movement support plate 14-4, in order to improve the bearing capacity of the lateral movement support plate 14-4, a plurality of side-shifting sliding blocks 14-5 can be arranged on the side-shifting sliding rail 14-6, the side-shifting sliding blocks 14-5 can be connected through a connecting plate, and the bearing strength of the side-shifting sliding blocks 14-5 is improved by the connecting plate; the side shifting motor 14-1 is installed on one side of the bottom frame 13 through a motor installation frame 14-2, the side shifting ball screw 14-7 is installed on the bottom frame 13 in parallel with the side shifting slide rail 14-6, the side shifting motor 14-1 is in transmission connection with one end of the side shifting ball screw 14-7, specifically, an output shaft of the side shifting motor 14-1 is connected with one end of the side shifting ball screw 14-7 through a coupler 14-3, a side shifting ball nut seat 14-8 is fixed at the bottom of the side shifting supporting plate 14-4, the side shifting ball nut seat 14-8 is matched with the side shifting ball screw 14-7, and similarly, the side shifting ball nut seat 14-8 is preferably designed into a long columnar structure, and the pressure resistance of the side shifting ball screw 14-7 is further improved. By adopting the lateral adjusting mechanism 14, the lateral moving position is convenient and accurate to adjust, the bearing capacity is strong, and the supporting requirement of vehicle parking is met.

As shown in fig. 5, the rolling deviation rectifying module 12 of this embodiment includes a module outer frame 12-1, rolling chain groups 12-2, rolling driving motors 12-4 and chain plates 12-8, the cross-sectional shape of the module outer frame 12-1 is "i" shape, a group of mutually parallel rolling chain groups 12-2 are respectively installed on the left and right sides of the module outer frame 12-1, the rolling driving motors 12-4 are fixedly installed on the inner side of the module outer frame 12-1 through motor supporting plates 12-3, the rolling driving motors 12-4 are in transmission connection with the two groups of rolling chain groups 12-2, and both ends of the chain plates 12-8 are fixedly installed on corresponding link lug plates along the length direction of the chains of the rolling chain groups 12-2. Specifically, the rolling driving motor 12-4 is connected with two groups of rolling chain groups 12-2 through a chain transmission mechanism, an output shaft of the rolling driving motor 12-4 is connected with a wheel shaft of a driving chain wheel 12-5, the wheel shafts of the two groups of rolling chain groups 12-2 are connected through a transmission shaft, a driven chain wheel 12-7 is installed on the transmission shaft, a transmission chain 12-6 is installed between the driving chain wheel 12-5 and the driven chain wheel 12-7, the rolling driving motor 12-4 drives chain plates to rotate by adopting a chain transmission mechanism, the transmission efficiency is high, and the transmission stability is good. The rolling deviation correcting module 12 adopts a modular structure design, and can be directly assembled in the deviation correcting device according to the design requirement, so that the assembly is simple and flexible; in addition, the rolling deviation rectifying module 12 adopts a chain plate structure design, so that the rolling is stable, the supporting performance is good, and the bearing capacity is strong; in addition, the rolling driving motor 12-4 is arranged in the module, so that the outside space is not occupied, and the installation of each rolling deviation rectifying module 12 is facilitated.

Referring to fig. 2, the deviation rectifying method of the four-wheel adjustable automatic vehicle parking deviation rectifying device of the embodiment includes the following steps:

s1, driving the vehicle into the deviation correcting device along the rolling direction of the four groups of rolling deviation correcting modules 12 of the deviation correcting device by a user, enabling the four wheels of the vehicle to be respectively positioned on the four groups of rolling deviation correcting modules 12, and leaving the vehicle after parking; the process can be completed under voice broadcasting to help a user to stop and park correctly;

s2, deviation rectification detection is started, the process can be realized by a user operating switch, a detection module in the system can also be used for recognizing that the vehicle is stopped and the user leaves, after the system is started, the lifting driving mechanism 23 drives the lifting detection mechanisms 22 at the periphery to lift, and the parking positions of the vehicle are detected by utilizing the distance sensors 22-4 on the transverse rods 22-1 at the front, the rear, the left and the right of the vehicle; specifically, the distance sensor 22-4 on each cross bar 22-1 forms a sensor group, and the deviation angle and the deviation distance of the vehicle are determined by comparing the distance signals detected by the distance sensors 22-4 on the same cross bar 22-1; the deviation of the front and rear or left and right parking positions of the vehicle is determined by comparing the mean values of the distance signals detected by the sensor groups on the two opposite cross rods 22-1;

s3, the system sends control instructions to the deviation rectifying executing mechanism assembly 100 according to the vehicle deviation information detected by the distance sensor 22-4, the two groups of lateral adjusting mechanisms 14 and the four groups of rolling deviation rectifying modules 12 are respectively controlled to execute corresponding deviation rectifying actions, and meanwhile, the distance sensor 22-4 detects the vehicle deviation rectifying position in real time and synchronously corrects the vehicle deviation information until the vehicle stops; specifically, the front-rear distance of the vehicle parking position is adjusted by controlling the four groups of rolling deviation rectifying modules 12 to synchronously roll in the same direction, and the left-right distance of the vehicle parking position is adjusted by controlling the two groups of lateral adjusting mechanisms 14 to synchronously move in the same direction; the horizontal inclination angle of the vehicle parking position is adjusted by controlling the synchronous same-direction relative movement of the two groups of rolling deviation rectifying modules 12 on the same side and the relative movement of the two groups of lateral adjusting mechanisms 14;

and S4, after the deviation rectification of the deviation rectification actuating mechanism assembly 100 is finished, the lifting driving mechanism 23 drives the lifting detection mechanisms 22 at the periphery to descend.

After the user takes the vehicle away, the two sets of lateral adjustment mechanisms 14 and the four sets of rolling deviation correction modules 12 are reset, and the system initializes the vehicle position information detected by the distance sensor 22-4 for the next vehicle to stop.

The double output shaft motor 23-1 in the lifting driving mechanism 23, the side moving motor 14-1 in the lateral adjusting mechanism 14 and the rolling driving motor 12-4 in the rolling deviation rectifying module 12 are all controlled by a control system, in the deviation rectifying process, the control system controls the double output shaft motor 23-1 to work to drive the cross rod 22-1 to ascend, the distance sensor 22-4 is used for detecting the position of the vehicle, and the control system controls the side moving motor 14-1 and the rolling driving motor 12-4 to work according to a vehicle position signal detected by the distance sensor 22-4, so that the deviation rectifying adjustment of the position of the vehicle is realized. The deviation correction control is simple and convenient, automatic intelligent control is facilitated, the automatic deviation correction requirement of the vehicle in the mechanical parking equipment is met, and the normal operation of the mechanical parking equipment is guaranteed.

The utility model discloses a four-wheel regulation formula vehicle parking automatic deviation correcting device, utilize four groups to roll the regulation of rectifying that module cooperation side direction adjustment mechanism realized the vehicle parking position, structural design is simple compact, the action of rectifying is more reliable and more stable, utilize simultaneously rectifying the actuating mechanism and can elevating movement's distance sensor all around to detect the parking position of vehicle, the vehicle position detects comprehensively accurately, it is simple and convenient to set up, equipment cost is lower, and do not influence stopping of vehicle and get, provide good data support for the vehicle is automatic rectifies, the accuracy and the stability of the regulation of rectifying of vehicle have been improved.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention and its embodiments have been described above schematically, and the description is not intended to be limiting, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without creatively designing the similar structural modes and embodiments to the technical solutions, they should belong to the protection scope of the present invention.

Claims (6)

1. The utility model provides a four-wheel regulation formula vehicle automatic deviation correcting device that parks, including the actuating mechanism assembly (100) of rectifying and with the position detection mechanism assembly (200) of the actuating mechanism assembly (100) cooperation of rectifying, its characterized in that:

the deviation rectifying actuating mechanism assembly (100) comprises a bottom frame (13), a lateral adjusting mechanism (14) and four groups of rolling deviation rectifying modules (12), wherein the four groups of rolling deviation rectifying modules (12) are distributed in a rectangular array, and the rolling directions of the four groups of rolling deviation rectifying modules (12) are all consistent with the driving direction of a vehicle and are used for supporting corresponding wheels of the parked vehicle through the four groups of rolling deviation rectifying modules (12); the front and rear groups of rolling deviation rectifying modules (12) arranged side by side are respectively installed on the bottom frame (13) through a group of lateral adjusting mechanisms (14), and the adjusting moving direction of the lateral adjusting mechanisms (14) is vertical to the rolling direction of the rolling deviation rectifying modules (12) and is used for carrying out position adjustment on the left and right directions on the front and rear wheels of a parked vehicle;

the position detection mechanism assembly (200) is arranged on the periphery of the deviation rectifying actuating mechanism assembly (100) and comprises a rectangular outer frame (21), a lifting detection mechanism (22) and a lifting driving mechanism (23), the rectangular outer frame (21) is arranged on the outer side of the deviation rectifying actuating mechanism assembly (100), a group of lifting detection mechanisms (22) are respectively arranged on four frames of the rectangular outer frame (21), each group of lifting detection mechanisms (22) comprises a cross rod (22-1) and more than two distance sensors (22-4) which are arranged on the cross rod (22-1) at intervals along the length direction, the cross bar (22-1) is arranged on the corresponding frame of the rectangular outer frame (21) through a lifting connecting rod mechanism, the lifting connecting rod mechanism is provided with a horizontal sliding connecting rod capable of controlling the lifting motion of the cross rod (22-1); the lifting driving mechanism (23) comprises a double-output-shaft motor (23-1), ball screws (23-2), guide rails (23-3) and sliding blocks (23-4), the four frames of the rectangular outer frame (21) are respectively provided with the ball screws (23-2) and the guide rails (23-3) which are arranged along the length direction of the frames, the end parts of the ball screws (23-2) on the adjacent frames are in meshing transmission through a group of bevel gears (23-5), the horizontal sliding connecting rod of the lifting connecting rod mechanism is slidably arranged on the guide rails (23-3) of the corresponding frames through the sliding blocks (23-4), the sliding blocks (23-4) and the corresponding ball screws (23-2) are in transmission fit through screw-nut pairs, the double-output-shaft motor (23-1) is arranged on one frame of the rectangular outer frame (21), the output shafts of the double-output-shaft motor (23-1) are in transmission connection with ball screws (23-2) on the frames and are used for driving cross rods (22-1) on four frames of the rectangular outer frame (21) to synchronously lift;

the outer side of the deviation rectifying actuating mechanism assembly (100) is further provided with an inner frame (11), a platform panel is arranged between the inner frame (11) and the rectangular outer frame (21), and the upper surface of the platform panel is flush with the upper rolling planes of the four groups of rolling deviation rectifying modules (12).

2. The four-wheel adjustable automatic vehicle parking deviation correcting device according to claim 1, wherein: the lifting detection mechanism (22) is arranged at the inner sides of four frames of the rectangular outer frame (21), and the platform panel is also provided with an opening for enabling the corresponding cross rod (22-1) to move up and down from the bottom of the platform panel.

3. The four-wheel adjustable automatic vehicle parking deviation correcting device according to claim 1, wherein: the lifting connecting rod mechanism comprises main supporting rods (22-2) and auxiliary supporting rods (22-3), two ends of each transverse rod (22-1) are respectively hinged with one main supporting rod (22-2), the bottom ends of the main supporting rods (22-2) are hinged on corresponding sliding blocks (23-4), the ball screws (23-2) corresponding to each transverse rod (22-1) are respectively provided with two parts with opposite turning directions, the sliding blocks (23-4) at the bottoms of the main supporting rods (22-2) at the two ends of each transverse rod (22-1) are respectively in transmission fit with the front and rear sections of the corresponding ball screws (23-2) by adopting screw nut pairs, so that the bottom ends of the main supporting rods (22-2) at the two ends of each transverse rod (22-1) can move in opposite directions or back and forth on the ball screws (23-2) on the same frame, one end of the auxiliary supporting rod (22-3) is hinged with the middle part of the main supporting rod (22-2), and the other end of the auxiliary supporting rod (22-3) is hinged with the rectangular outer frame (21) to form a scissor type lifting mechanism.

4. The four-wheel adjustable automatic vehicle parking deviation correcting device according to claim 1, wherein: the lateral adjusting mechanism (14) comprises a lateral moving motor (14-1), a lateral moving support plate (14-4), a lateral moving sliding block (14-5), a lateral moving sliding rail (14-6), a lateral moving ball screw (14-7) and a lateral moving ball nut seat (14-8), two groups of rolling deviation correcting modules (12) arranged side by side are fixedly arranged on the lateral moving support plate (14-4), the bottom of the lateral moving support plate (14-4) is slidably arranged on a bottom frame (13) through the lateral moving sliding block (14-5) and the lateral moving sliding rail (14-6), the lateral moving motor (14-1) is arranged on one side of the bottom frame (13), the lateral moving ball screw (14-7) and the lateral moving sliding rail (14-6) are arranged on the bottom frame (13) in parallel, and the lateral moving motor (14-1) is in transmission connection with one end of the lateral moving ball screw (14-7), the lateral movement ball nut seat (14-8) is fixed at the bottom of the lateral movement supporting plate (14-4), and the lateral movement ball nut seat (14-8) is matched with the lateral movement ball screw (14-7).

5. The four-wheel adjustable automatic vehicle parking deviation correcting device according to claim 1, wherein: the rolling deviation rectifying module (12) comprises a module outer frame (12-1), rolling chain groups (12-2), rolling driving motors (12-4) and chain plates (12-8), wherein a group of rolling chain groups (12-2) which are parallel to each other are respectively installed on the left side and the right side of the module outer frame (12-1), the rolling driving motors (12-4) are fixedly installed on the inner side of the module outer frame (12-1) through motor supporting plates (12-3), the rolling driving motors (12-4) are in transmission connection with the two groups of rolling chain groups (12-2), and two ends of the chain plates (12-8) are fixedly installed on corresponding chain link lug plates along the length direction of chains of the rolling chain groups (12-2).

6. The four-wheel adjustable automatic vehicle parking deviation correcting device according to claim 5, wherein: the output shaft of the rolling driving motor (12-4) is connected with the wheel shafts of the driving chain wheels (12-5), the wheel shafts of the two rolling chain groups (12-2) are connected through a transmission shaft, driven chain wheels (12-7) are installed on the transmission shaft, and a transmission chain (12-6) is installed between the driving chain wheels (12-5) and the driven chain wheels (12-7).

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