CN214195746U

CN214195746U - Forklift parking robot with telescopic stop arm

Info

Publication number: CN214195746U
Application number: CN202022559620.2U
Authority: CN
Inventors: 贾宝华
Original assignee: Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Current assignee: Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-09-14
Anticipated expiration: 2030-11-09

Abstract

The utility model belongs to the technical field of the robot of parking, a fork truck parking robot in fender arm telescopic is disclosed. The robot includes: the device comprises a frame in a straight-line structure, an active walking device, a left fork arm and a right fork arm which are symmetrical and identical in structure, universal wheels arranged on the left fork arm and the right fork arm, and a left blocking arm and a right blocking arm which are symmetrical and identical in structure. The telescopic left gear arm and the telescopic right gear arm are movably arranged on the frame, are respectively positioned on two sides of the left fork arm and the right fork arm and are respectively combined with the left fork arm and the right fork arm for use, and are used for limiting the front and back movement of the vehicle and confirming whether the wheel is lifted or not in the process of clamping the vehicle by the left fork arm and the right fork arm. The arm blocking structure can limit the front and back movement of the vehicle when the parking robot lifts the vehicle and confirm whether the wheels are lifted, so that the situation that the lighter end directly passes over the fork arm and the vehicle lifting failure is caused due to the fact that the front and back counterweight difference of the vehicle is large is avoided.

Description

Forklift parking robot with telescopic stop arm

Technical Field

The utility model belongs to the technical field of the robot that parks, a parking area is with carrying the vehicle to or remove from the automation equipment on parking stall, and specifically speaking is fork truck parking robot in fender arm telescopic and parks implementation method thereof.

Background

With the development of society, the economy is improved, the number of automobiles is increased sharply, household automobiles are indispensable vehicles for each family, the problem of difficult parking in each city is solved, the parking queue and the parking space finding time are long, and the traditional method for drivers to find the parking space by themselves cannot meet the parking requirements in each city at present. In order to reduce the time for finding a parking space, parking robots having different structures are available on the market.

Among them, a parking robot that lifts a vehicle by inserting the bottom of the vehicle from the side and sandwiching a tire has a wide application prospect. Generally, such a parking robot employs a four-claw structure including a U-shaped frame body with moving wheels and four holding arms slidable on a long side of the frame body. The parking robot with the structure has large occupied space and high weight, and the problem of vehicle sideslip is easy to occur because the structure is unstable because no supporting structure is arranged below the fork arms. In addition, a parking robot with a two-claw structure is also available in the market, and comprises a frame body shaped like a Chinese character 'yi' and two fork arms with universal wheels and capable of sliding on the frame body. The parking robot with the structure changes the shape of the frame body, reduces the number of the fork arms, and increases the universal wheel supporting structure below the fork arms. However, when the vehicle is subjected to a large bump, the vehicle still has the potential of slipping. Meanwhile, when a vehicle with a large difference between the front and rear counterweights is transported, the situation that the tire on the side with the lighter counterweight of the vehicle directly passes over the fork arm and the tire on the side with the heavier counterweight is not pressed on the fork arm can occur in the process of pressing the tire, and the application range of the parking robot with the structure is limited.

Disclosure of Invention

In view of the technical problem existing in the prior art, one of the purposes of the utility model is to design a fork truck parking robot in fender arm telescopic to the technical problem that can not extrude the vehicle on the yoke that appears when carrying the great vehicle of counter weight difference around current two claw parking robot to and the problem that the vehicle slipped easily.

The technical scheme of the utility model as follows:

the utility model provides a fork truck parking robot in fender arm telescopic, the robot includes:

the bicycle frame 100, the bicycle frame 100 is a straight-line structure, and the length of the bicycle frame is fixed or adjustable;

the active walking device 140 is mounted on the frame 100, and is used for driving the frame 100 to move;

the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable;

universal wheels 340, the universal wheels 340 being installed on the left yoke 200 and the right yoke 300 to meet the driving requirements of the parking robot and serving as a support structure;

the left gear arm 500 and the right gear arm 600 are symmetrically and identically structured, and the left gear arm 500 and the right gear arm 600 are movably mounted on the frame 100, are respectively positioned at two sides of the left fork arm 200 and the right fork arm 300, and are respectively used in combination with the left fork arm 200 and the right fork arm 300 for limiting the front and back movement of the vehicle and confirming whether wheels are lifted or not in the process of clamping the vehicle by the left fork arm 200 and the right fork arm 300; the left and

right shift arms

500 and 600 may be extended and shortened by the driving of the motor.

In the above technical solution, the left yoke 200 and the right yoke 300 can extend into the middle of the front wheel and the rear wheel at the bottom of the vehicle from the side of the vehicle, and can move away from each other along the frame 100 to squeeze the front wheel and the rear wheel respectively, so as to make the wheels climb on the left yoke 200 and the right yoke 300, thereby making the vehicle separate from the ground; meanwhile, the left and right stopper

arms

500 and 600 can be extended from the side of the vehicle to the front of the front wheel and the rear of the rear wheel at the bottom of the vehicle and moved to the front wheel and the rear wheel, respectively, and stopped when contacting the wheels. In order to avoid the situation that the lighter side of the vehicle directly crosses the left fork arm 200 or the right fork arm 300 when the tire is pressed due to the large difference between the front weight and the rear weight of the vehicle, the left catch arm 500 and the right catch arm 600 are added, when the tire on the lighter side of the vehicle is pressed by the left fork arm 200 or the right fork arm 300, the tire climbs the left fork arm 200 or the right fork arm 300, at the moment, the left catch arm 500 or the right catch arm 600 which originally contacts the tire can not contact the tire any more due to the rising position of the tire, at the moment, the left fork arm 200 or the right fork arm 300 does not need to be moved any more, and only the other fork arm needs to be moved to press the other tire to the other fork arm, so that the whole vehicle is separated from the ground, and the lighter side of the vehicle is prevented from directly crossing the left fork arm 200 or the right fork arm 300.

In a further embodiment, the left arm 500 and the right arm 600 are located on the same horizontal plane as the left fork 200 and the right fork 300. In a further technical solution, the left arm 500 and the left yoke 200 may share a slide rail, and the right arm 600 and the right yoke 300 may share a slide rail, or the left arm 500 and the left yoke 200 are respectively connected to different moving structures, and the right arm 600 and the right yoke 300 are respectively connected to different moving structures. When the left blocking arm 500 and the right blocking arm 600 are located on the same horizontal plane as the left yoke 200 and the right yoke 300, the left-right position relationship among the left blocking arm 500, the right blocking arm 600, the left yoke 200 and the right yoke 300 is not changed, which is convenient for control. If the left gear arm 500 and the left fork arm 200 share a slide rail and the right gear arm 600 and the right fork arm 300 share a slide rail, the structure is simple, the weight of equipment is reduced, and the manufacturing process is optimized; if the left blocking arm 500 and the left yoke 200 are respectively connected with different moving structures, and the right blocking arm 600 and the right yoke 300 are respectively connected with different moving structures, the control can be respectively performed, and the machine is not easy to stop due to faults.

In a further technical scheme, the left arm 500 and the right arm 600 include a front arm plate 501 and a rear arm plate 502, and the front arm plate 501 and the rear arm plate 502 are connected by a multi-stage telescopic motor. The arm back 502 can be extended and retracted outward by the driving of the multi-stage telescopic motor, so that the left arm 500 or the right arm 600 is extended and shortened.

In a further embodiment, the left arm 500 and the right arm 600 should be shortened to a length that ensures that a wheel closer to the vehicle can be touched when the vehicle is picked up, and the lengthened length should ensure that a wheel farther from the vehicle can be touched when the vehicle is picked up. The left arm 500 and the right arm 600 can only satisfy the length requirement, and the effect of limiting the movement of the vehicle and confirming whether the wheel is lifted can be guaranteed, otherwise, the vehicle can sideslip under the action of the arm and the extrusion force, and the condition that the vehicle can not be extruded onto the fork arm can be realized when the vehicle with large counterweight difference is carried.

In a further embodiment, the cross-sections of the left and right retaining

arms

500 and 600 are circular, oval, square, or triangular. The cross-sectional shapes of left and

right arms

500 and 600 do not affect the effect, but may affect the tire tread and even cause a tire puncture.

In a further technical scheme, elastic protection sleeves are sleeved on the left blocking arm 500 and the right blocking arm 600. The elastic protection sleeve can avoid damage to the tires of the vehicle when the vehicle is clamped and damage to the left retaining arm 500 and the right retaining arm 600 caused by collision.

In a further embodiment, a blocking arm moving device 510 is connected to each of the left blocking arm 500 and the right blocking arm 600, and the movement of the left blocking arm 500 and the right blocking arm 600 on the vehicle frame 100 is realized through the blocking arm moving device 510. The arm blocking moving device 510 comprises a moving motor 511, an L-shaped mounting plate 512, a third guide rail sliding block mechanism 513, a fourth guide rail sliding block mechanism 514 and a rack 515, wherein the L-shaped mounting plate 512 is connected with the left blocking arm 500 or the right blocking arm 600 and is also connected with the third guide rail sliding block mechanism 513 or the fourth guide rail sliding block mechanism 514, and the third guide rail sliding block mechanism 513 and the fourth guide rail sliding block mechanism 514 are fixed on the frame 100; the movable motor 511 is installed on the L-shaped mounting plate 512, a driving gear is installed on an output shaft of the movable motor 511, the driving gear is meshed with a rack 515 fixed on the frame 110, the movable motor 511 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate 512 to move on the frame 110.

In a further technical scheme, a hub limiting seat 330 is arranged at a position of the left fork arm 200 and the right fork arm 300 corresponding to a tire, and a tire bracket 331 is installed in the hub limiting seat 330.

In a further aspect, the tire support 331 includes a rolling assembly 332, a fixed block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the spring 335, which has a plate shape, is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343.

In a further embodiment, the tire holder 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.

In a further embodiment, the roller hub limiting seat 330 of the left yoke 200 is located on the left side thereof, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side thereof, so that the left yoke 200 and the right yoke 300 move away from each other when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.

In a further technical scheme, the left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 is adjustable through the yoke moving device 310, the yoke moving device 310 includes a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. In a further embodiment, the left arm 500 and the left yoke 200 share a rail and a rack, and the right arm 600 and the right yoke 300 share a rail and a rack.

In a further technical scheme, the universal wheel 340 comprises a wheel 341, a rotating body 344, a bevel gear set 345 and a motor 348; the bevel gear group 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348; the wheel 341 is located in the central hole of the rotating body 344, the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected to the hub 342 of the wheel 341, and the driving motor 348 drives the bevel gear set 345 to drive the wheel 341 to actively steer.

In a further embodiment, the wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the hub 342 by a fixing member 349, the rotating body 344 is a cross roller bearing, an outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300, the motor 348 drives a pinion gear 3452 through a speed reducer 7 and is mounted on a motor mount 346, the motor mount 346 is mounted on the left yoke 200 or the right yoke 300, the bevel gear set is a spiral bevel gear with arc teeth, and an included angle between a central axis of the pinion gear 3452 and a central axis of the ring gear 3451 is 90 °. When the universal wheel 340 is used, the outer ring of the rotating body 344 is fixedly mounted on the base of the device. When the motor 348 is not activated, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is turned on, the motor 348 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, while the outer ring of the rotating body 344 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the operation time of the motor 348 can be adjusted to control the magnitude of the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.

In a further technical scheme, a photoelectric sensor 400 is arranged on the frame 100 on the same side as the left fork arm 200 and the right fork arm 300 and is used for detecting parameters such as the position of a vehicle, the wheel base of the vehicle and the like.

In a further technical solution, the frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, and the middle plate 130 is fixedly connected to the front plate 110 and the rear plate 120 respectively. In a further aspect, the frame 100 includes an intermediate connector 150, and the intermediate connector 150 is located at a middle position of the frame 100.

The parking implementation method of the internal forklift parking robot with the telescopic blocking arm comprises the following steps:

after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;

acquiring the wheel base of the vehicle;

controlling the parking robot to adjust the position and drive towards the vehicle, enabling the distance between the frame of the parking robot and the vehicle to be smaller than or equal to a preset second carrying distance, and extending the left gear arm and the right gear arm;

simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;

and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm.

In a further technical solution, the parking implementation method further includes:

driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;

simultaneously and respectively moving the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously and respectively moving the left gear arm and the right gear arm to the two ends of the parking robot, wherein the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is more than the axle distance of the vehicle, and the two difference values are more than or equal to a preset difference value;

and controlling the parking robot to move away from one side of the vehicle, wherein the distance between the parking robot and the vehicle is larger than or equal to a preset first conveying distance, and the left gear arm and the right gear arm are shortened.

after the left fork arm or the right fork arm stops moving, moving the left gear arm or the right gear arm to the middle of the parking robot;

and when the resistance force applied to the left gear arm or the right gear arm is detected, the left gear arm or the right gear arm stops moving.

In a further technical solution, the parking implementing method further includes:

the length of the frame is adjusted while the positions of the left and right baffle arms and the positions of the left and right fork arms are adjusted.

In the parking implementation method, the left fork arm and the right fork arm move away from each other to extrude the tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when the tire is extruded, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot.

Taking the left blocking arm and the left fork arm as an example, when the left blocking arm moves towards the middle of the parking robot, when the left blocking arm receives resistance for the first time, the left blocking arm is shown to touch the wheel, and the left blocking arm can stop moving continuously. When the wheel is subjected to extrusion force of the left fork arm and climbs the left fork arm, the position of the wheel rises because of leaving the ground, so that the wheel can not be touched due to the fact that the wheel originally touches the left blocking arm of the wheel, and the wheel can not be touched any more and can not be subjected to resistance when moving towards the middle of the parking robot. Therefore, when the left arm is detected to move to the middle of the parking robot, resistance is not applied, which indicates that the wheel is lifted by the left fork arm, and the left fork arm does not need to be moved, otherwise the wheel may cross the left fork arm and fall onto the ground again. And the left baffle arm is moved towards the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is transported.

The utility model discloses following beneficial effect has:

1. the utility model introduces the baffle arm structure, which can limit the back-and-forth movement of the vehicle when the parking robot lifts the vehicle and confirm whether the wheel is lifted, so as to avoid that the lighter end directly passes over the fork arm because the front counterweight and the rear counterweight of the vehicle are different greatly, and the failure of lifting the vehicle is caused;

2. the baffle arm is designed to be a telescopic structure, the longer baffle arm can contact all wheels simultaneously, the vehicle can be safely lifted, and the shortened baffle arm can reduce the turning radius of the parking robot and save space;

3. the fork arm of the parking robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the lateral sliding of the tire on the fork arm, so as to realize the purpose of preventing the vehicle from falling;

4. the utility model can deflect to the ground after contacting with the tire, reduces the force required by the tire to climb on the tire bracket, and can easily lift a heavier vehicle or a vehicle with larger difference of front and rear counterweights;

5. the utility model discloses a tire bracket is a self-adaptation structure, does not need design drive arrangement in addition, the energy saving, reduce cost.

Drawings

Fig. 1 is a three-dimensional structure view of a parking robot according to embodiment 1 of the present invention;

fig. 2 is a three-dimensional structure diagram of a parking robot yoke according to an embodiment of the present invention;

fig. 3 is a perspective view of a tire bracket of a fork arm of a parking robot according to an embodiment of the present invention;

fig. 4 is a bottom view of another tire bracket of a parking robot yoke according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a universal wheel of a fork arm of a parking robot according to an embodiment of the present invention;

fig. 6 is a cross-sectional view of the universal wheel of the parking robot yoke according to the embodiment of the present invention;

fig. 7 is a perspective view of a parking robot according to embodiment 2 of the present invention;

wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle plate, 140 is an active traveling device, 150 is a middle connector, 200 is a left yoke, 300 is a right yoke, 310 is a yoke moving device, 311 is a moving motor, 312 is an L-shaped mounting plate, 313 is a first guide slider mechanism, 314 is a second guide slider mechanism, 315 is a rack, 330 is a hub stopper seat, 331 is a tire carrier, 332 is a rolling member, 333 is a fixed bracket, 334 is a fixed block, 3341 is a first fixed block, 3342 is a second fixed block, 3343 is a third fixed block, 335 is a spring, 336 is a rolling bushing, 337 is a roller shaft, 338 is a shaft bracket, 3381 is a lateral bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear side bracket, 3385 is a front side bracket, 3386 is a second rear side bracket, 339 is a pad, 340 is a wheel, 341 is a universal wheel, and 341 is a hub, 343 is a wheel shaft, 344 is a rotating body, 345 is a bevel gear set, 3451 is a ring gear, 3452 is a pinion, 346 is a motor fixing frame, 347 is a speed reducer, 348 is a motor, 349 is a fixing member, 400 is a photoelectric sensor, 500 is a left arm, 501 is a front plate of the arm, 502 is a rear plate of the arm, 510 is a current arm moving device, 511 is a moving motor, 512 is an L-shaped mounting plate, 513 is a third guide rail slider mechanism, 514 is a fourth guide rail slider mechanism, 515 is a rack, and 600 is a right arm.

Detailed Description

In order to more clearly illustrate the technical solution of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other examples can be obtained according to these embodiments without inventive labor.

Example 1

The present embodiment relates to a parking robot with a barrier arm, as shown in fig. 1, the robot including:

the bicycle frame 100, the bicycle frame 100 is a straight-line structure, and the length of the bicycle frame is fixed;

the left gear arm 500 and the right gear arm 600 are symmetrically and identically structured, and the left gear arm 500 and the right gear arm 600 are movably mounted on the frame 100, are respectively positioned at two sides of the left fork arm 200 and the right fork arm 300, and are respectively used in combination with the left fork arm 200 and the right fork arm 300 for limiting the front and back movement of the vehicle and confirming whether wheels are lifted or not in the process of clamping the vehicle by the left fork arm 200 and the right fork arm 300; the left and right shift

arms

500 and 600 may be extended and shortened by the driving of the motor.

The left blocking arm 500 and the right blocking arm 600 are located on the same horizontal plane as the left fork arm 200 and the right fork arm 300, the left blocking arm 500 and the left fork arm 200 share a slide rail, and the right blocking arm 600 and the right fork arm 300 share a slide rail. The left arm 500 and the right arm 600 include a front arm plate 501 and a rear arm plate 502, and the front arm plate 501 and the rear arm plate 502 are connected by a multi-stage telescopic motor (not shown in the drawings). The length of the left and

right arms

500 and 600 when they are shortened should ensure that a wheel closer to the vehicle can be touched when the vehicle is picked up, and the length when they are lengthened should ensure that a wheel farther from the vehicle can be touched when the vehicle is picked up. The cross sections of the left and right blocking

arms

500 and 600 are rectangular. In other embodiments, the cross-section of the left and

right arm

500, 600 is circular, oval, square, or triangular. The left blocking arm 500 and the right blocking arm 600 are sleeved with elastic protective sleeves.

The left and right blocking

arms

500 and 600 are connected to a blocking arm moving device 510, and the movement of the left and right blocking

arms

500 and 600 on the frame 100 is realized by the blocking arm moving device 510. The arm blocking moving device 510 comprises a moving motor 511, an L-shaped mounting plate 512, a third guide rail sliding block mechanism 513, a fourth guide rail sliding block mechanism 514 and a rack 515, wherein the L-shaped mounting plate 512 is connected with the left blocking arm 500 or the right blocking arm 600 and is also connected with the third guide rail sliding block mechanism 513 or the fourth guide rail sliding block mechanism 514, and the third guide rail sliding block mechanism 513 and the fourth guide rail sliding block mechanism 514 are fixed on the frame 100; the movable motor 511 is installed on the L-shaped mounting plate 512, a driving gear is installed on an output shaft of the movable motor 511, the driving gear is meshed with a rack 515 fixed on the frame 110, the movable motor 511 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate 512 to move on the frame 110.

The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 can be adjusted by the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. In a further embodiment, the left arm 500 and the left yoke 200 share a rail and a rack, and the right arm 600 and the right yoke 300 share a rail and a rack.

The first rail slider mechanism 313 of the left yoke 200 and the third rail slider mechanism 513 of the left stopper arm 500 share a rail, the second rail slider mechanism 314 of the left yoke 200 and the fourth rail slider mechanism 514 of the left stopper arm 500 share a rail, and the left yoke 200 and the left stopper arm 500 share a rack 315/515. Similarly, the first rail slider mechanism 313 of the right yoke 200 shares a rail with the third rail slider mechanism 513 of the right stopper arm 500, the second rail slider mechanism 314 of the right yoke 200 shares a rail with the fourth rail slider mechanism 514 of the right stopper arm 500, and the right yoke 200 and the right stopper arm 500 share one rack 315/515. In other embodiments, the yoke and the catch arm may not share a slide or rack.

As shown in fig. 5 and 6, the universal wheel 340 includes a wheel 341, a rotating body 344, a bevel gear set 345, and a motor 348; the bevel gear group 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348; the wheel 341 is located in the central hole of the rotating body 344, the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected to the hub 342 of the wheel 341, and the driving motor 348 drives the bevel gear set 345 to drive the wheel 341 to actively steer.

The wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the wheel hub 342 by a fixing member 349, the rotating body 344 is a cross roller bearing, the outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300, the motor 348 drives a pinion gear 3452 by a speed reducer 7 and is mounted on a motor mount 346, the motor mount 346 is mounted on the left yoke 200 or the right yoke 300, the bevel gear set is a spiral bevel gear with arc teeth, and the central axis of the pinion gear 3452 forms an angle of 90 ° with the central axis of the ring gear 3451.

When the universal wheel 340 is used, the outer ring of the rotating body 344 is fixedly mounted on the base of the device. When the motor 348 is not activated, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is turned on, the motor 348 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, while the outer ring of the rotating body 344 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the operation time of the motor 348 can be adjusted to control the magnitude of the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.

As shown in fig. 2, 3 and 4, the left yoke 200 and the right yoke 300 are provided with a hub stopper 330 at positions corresponding to the tire, and a tire bracket 331 is installed in the hub stopper 330.

The tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the spring 335, which has a plate shape, is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343.

The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.

The roller hub limiting seat 330 of the left yoke 200 is located on the left side, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side, so that the left yoke 200 and the right yoke 300 move away when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.

The frame 100 is provided with a photoelectric sensor 400 on the same side as the left yoke 200 and the right yoke 300 for detecting parameters such as the position of the vehicle and the wheel base of the vehicle.

The frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, wherein the middle plate 130 is fixedly connected with the front plate 110 and the rear plate 120 respectively.

Example 2

The present embodiment relates to a parking robot with a barrier arm, as shown in fig. 7. The parking robot has a similar structure to that of embodiment 1, except for the structures or positions of the vehicle frame 100 and the photoelectric sensor 400.

Wherein, the length of the carriage 100 is adjustable, and the position of the adjustable length is in the middle position of the in-line carriage 100. The length-adjustable position is provided with an intermediate connecting member 150, and two ends of the intermediate connecting member 150 are inserted and positioned in the middle of the corresponding frame 110.

The front plate 110 of the frame 100 is provided with two photoelectric sensors 400 at a position near the adjustable length.

Example 3

The present embodiment relates to a parking implementation method of the parking robot with a retractable catch arm in embodiment 1, where the method includes the following steps:

s1: after receiving a signal that a user determines to park or pick up a car, controlling the parking robot to be close to one side of the car, and enabling the parking robot to travel to a position where the distance between the parking robot and the car is smaller than or equal to a preset first carrying distance;

when a user sends a parking or taking signal through the parking management system, if the user parks the vehicle, the management system acquires information such as the position of a parking exchange position, the position of a parking space to be parked, the traveling route of the parking robot and the like. Therefore, the parking robot can be controlled to move to one side close to the vehicle according to the position of the parking exchange position, and the distance between the parking robot and the vehicle is smaller than or equal to the preset first carrying distance. The first carrying distance is a distance that ensures that the parking robot does not collide with the vehicle and that can adjust the positions of the yoke and the stopper arm.

S2: acquiring the wheel base of the vehicle;

the parking robot can measure the wheel base of the vehicle through the self-contained photoelectric sensing device, and can also call the wheel base of the vehicle according to information such as user records, vehicle types, license plates and the like through calling information in the database.

S3: adjusting the positions of the left gear arm, the right gear arm, the left fork arm and the right fork arm to ensure that the distance between the left gear arm and the right gear arm is greater than the wheelbase of the vehicle and the difference value is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is less than the wheelbase of the vehicle and the difference value is greater than or equal to the preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;

the parking robot adjusts the positions of the yoke and the stopper arm to ensure that the yoke and the stopper arm do not hit wheels or the like when inserted into the bottom of the vehicle.

S4: controlling the parking robot to adjust the position and drive towards the vehicle, enabling the distance between the frame of the parking robot and the vehicle to be smaller than or equal to a preset second carrying distance, and extending the left gear arm and the right gear arm;

after the positions of the fork arm and the baffle arm are adjusted, the parking robot drives to the vehicle so as to insert the fork arm and the baffle arm into the bottom of the vehicle. The second carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle, all wheels can be smoothly lifted by the fork arms, and the stop arms can touch the wheels.

S5: simultaneously and respectively moving the left gear arm and the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when detecting the resistance force applied to the left gear arm or the right gear arm;

when the left retaining arm is moved towards the middle of the parking robot, when the left retaining arm is subjected to resistance for the first time, the left retaining arm is shown to touch the wheels, and the left retaining arm does not need to be moved continuously; when the right gear arm is moved towards the middle of the parking robot, the right gear arm is subjected to resistance for the first time, which indicates that the right gear arm touches the wheel and does not need to be moved continuously.

S6: and simultaneously moving the left fork arm and the right fork arm to the two ends of the parking robot respectively, when the resistance on the left fork arm or the right fork arm is detected, continuously moving the left fork arm or the right fork arm, and detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot, if so, detecting whether the resistance is applied when the left gear arm or the right gear arm moves to the middle of the parking robot again, and if not, stopping moving the left fork arm or the right fork arm.

When the left gear arm is detected to move towards the middle of the parking robot, resistance is not applied any more, the wheel is indicated to be lifted by the left fork arm, the left fork arm does not need to be moved continuously, otherwise the wheel may cross the left fork arm and fall onto the ground again; when the right arm is detected to move towards the middle of the parking robot and is not subjected to resistance any more, the wheel is indicated to be lifted by the right fork arm, the right fork arm does not need to be moved continuously, and otherwise the wheel can cross the right fork arm and fall onto the ground again.

And S7, after the left fork arm or the right fork arm stops moving, moving the left gear arm or the right gear arm to the middle of the parking robot, and stopping moving the left gear arm or the right gear arm when the resistance applied to the left gear arm or the right gear arm is detected.

Moving the left baffle arm to the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, and can prevent the front and back movement caused by bumping when the vehicle is transported; and the right baffle arm is moved to the middle of the parking robot again until the right baffle arm receives resistance for the second time, so that the right baffle arm touches the wheels again, and the forward and backward movement caused by bumping during vehicle carrying can be prevented.

S8: driving the parking robot to drive the parking robot to a parking space where the vehicle is to be parked;

and the parking robot transports the vehicle to the parking space to be parked according to the acquired information of the position of the parking space to be parked, the traveling route of the parking robot and the like.

S9: simultaneously and respectively moving the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously and respectively moving the left gear arm and the right gear arm to the two ends of the parking robot, wherein the distance between the left fork arm and the right fork arm is less than the axle distance of the vehicle, the distance between the left gear arm and the right gear arm is more than the axle distance of the vehicle, and the two difference values are more than or equal to a preset difference value;

the positions of the fork arm and the baffle arm are adjusted, so that wheels of the vehicle fall off from the fork arm to a parking space, and the whole vehicle is parked on the parking space.

S10: and controlling the parking robot to move away from one side of the vehicle, wherein the distance between the parking robot and the vehicle is larger than or equal to a preset first conveying distance, and the left gear arm and the right gear arm are shortened.

The parking robot moves the fork arm and the catch arm out of the bottom of the vehicle, and the first carrying distance can ensure that the parking robot cannot collide with the vehicle in subsequent movement.

Example 4

The present embodiment relates to a parking implementation method of the parking robot with the barrier arm in embodiment 2, which is substantially the same as the method in embodiment 3, and only differs in step S3. Step S3 in this embodiment specifically includes the following contents:

s3: adjusting the positions of the left gear arm and the right gear arm, the positions of the left fork arm and the right fork arm, and adjusting the length of the frame to ensure that the distance between the left gear arm and the right gear arm is greater than the axle base of the vehicle and the difference value thereof is greater than or equal to a preset difference value, the distance between the left fork arm and the right fork arm is less than the axle base of the vehicle and the difference value thereof is greater than or equal to a preset difference value, and the midpoint between the left gear arm and the right gear arm is coincided with the midpoint between the left fork arm and the right fork arm;

The utility model discloses the part that does not relate to all is the same with prior art or can adopt prior art to realize.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An internal forklift parking robot with retractable arms, the robot comprising:

the frame is of a straight-line structure, and the length of the frame is fixed or adjustable;

the active running gear is arranged on the frame;

the left fork arm and the right fork arm are respectively arranged on the same side of the frame, and the distance between the left fork arm and the right fork arm is adjustable;

the universal wheels are arranged on the left fork arm and the right fork arm;

the left blocking arm and the right blocking arm are movably mounted on the frame, are respectively located on two sides of the left fork arm and the right fork arm and are respectively used in combination with the left fork arm and the right fork arm, and the left blocking arm and the right blocking arm can be extended and shortened under the driving of the motor.

2. The retractable-arm internal forklift parking robot as recited in claim 1 wherein said left and right arm stops are located on the same horizontal plane as said left and right arms.

3. The retractable arm internal forklift parking robot of claim 1, wherein the left and right arms include arm front plates and arm rear plates, the arm front plates and the arm rear plates being connected by a multi-stage retractable motor.

4. The retractable arm internal forklift parking robot as recited in claim 1 wherein said left and right arms are shortened to a length that ensures access to a wheel closer when picking up a vehicle and are lengthened to a length that ensures access to a wheel farther when picking up a vehicle.

5. The retractable-arm endo-forklift parking robot of claim 1 wherein said left and right arm blocks are circular, oval, square or triangular in cross-section.

6. The internal forklift parking robot with the retractable blocking arm as claimed in claim 1, wherein the left blocking arm and the right blocking arm are both connected with a blocking arm moving device, and the left blocking arm and the right blocking arm are moved on the frame by the blocking arm moving device; the stop arm moving device comprises a moving motor, an L-shaped mounting plate, a third guide rail slider mechanism, a fourth guide rail slider mechanism and a rack, wherein the L-shaped mounting plate is connected with the left stop arm or the right stop arm and is also connected with the third guide rail slider mechanism or the fourth guide rail slider mechanism, and the third guide rail slider mechanism and the fourth guide rail slider mechanism are fixed on the frame; the movable motor is arranged on the L-shaped mounting plate, the output shaft of the movable motor is provided with a driving gear, the driving gear is meshed with a rack fixed on the frame, the movable motor drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate to move on the frame.

7. The internal forklift parking robot with the retractable stop arm as claimed in claim 1, wherein the left and right fork arms are provided with wheel hub limiting seats corresponding to the positions of tires, and tire brackets are mounted in the wheel hub limiting seats;

the tire bracket comprises a rolling assembly, a fixed block and a spring; the rolling assembly comprises a rolling shaft sleeve, a roller shaft and a shaft bracket; the rolling shaft sleeves are sleeved on roller shafts, and the roller shafts are arranged in two rows or more than two rows and are arranged on the shaft bracket; the shaft bracket comprises a transverse bracket, two first longitudinal brackets and one or more second longitudinal brackets; the transverse bracket is positioned at the rear side of the rolling assembly; all the first longitudinal supports and the second longitudinal supports are parallel to each other; the first longitudinal support is two sheet structures which are in rotary connection and respectively comprises a first rear side support and a front side support, and the second longitudinal support is two sheet structures which are in rotary connection and respectively comprises a second rear side support and a second front side support; the first rear side brackets are positioned at the left side and the right side of the rolling assembly, and the second rear side brackets are positioned in the middle of the rolling assembly and are fixedly connected with the transverse bracket; the roller shaft is arranged between the two longitudinal brackets; a first fixed block is fixedly arranged on the outer side of the first rear side bracket end of the first longitudinal bracket, a third fixed block is fixedly arranged on the outer side of the front side bracket end of the first longitudinal bracket, and a second fixed block is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket of the first longitudinal bracket; one end of the sheet spring is fixed on the first fixing block and penetrates through the second fixing block and the third fixing block;

the tire bracket is fixedly connected with the hub limiting seat through the first rear side bracket; the diameters of all or more than two rows of the rolling shaft sleeves far away from the transverse bracket are gradually reduced along with the distance between the rolling shaft sleeves and the transverse bracket; the outermost row of rolling shaft sleeves are triangular cushion blocks; the transverse bracket is of a block structure, and one or more transverse fixed brackets are arranged at the bottoms of the first rear side bracket and the second rear side bracket;

the roller hub limiting seat of the left fork arm is positioned on the left side of the roller hub limiting seat, the roller hub limiting seat of the right fork arm is positioned on the right side of the roller hub limiting seat, and the left fork arm and the right fork arm move away when a vehicle is lifted off the ground.

8. The internal forklift parking robot with the retractable barrier arm as recited in claim 1, wherein the left and right barrier arms are connected with a barrier arm moving device, and the distance between the left and right barrier arms is adjustable through the barrier arm moving device, the barrier arm moving device comprises a moving motor, an L-shaped mounting plate, a first guide rail slider mechanism, a second guide rail slider mechanism and a rack, the L-shaped mounting plate is connected with the left or right barrier arm and is simultaneously connected with the first guide rail slider mechanism and the second guide rail slider mechanism, and the first guide rail slider mechanism and the second guide rail slider mechanism are fixed on the frame; the movable motor is arranged on the L-shaped mounting plate, the output shaft of the movable motor is provided with a driving gear, the driving gear is meshed with a rack fixed on the frame, the movable motor drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate to move on the frame.

9. The retractable-arm internal-fork-lift parking robot of claim 1, wherein the universal wheels comprise wheels, a rotating body, a bevel gear set and a motor; the bevel gear set comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is positioned in the central hole of the rotating body, the inner ring of the rotating body and the inner side of the annular gear are respectively and fixedly connected with a wheel hub of the wheel, and the driving motor drives the wheel to actively steer by driving the bevel gear set;

the universal wheel is characterized in that wheels of the universal wheel are mounted on a wheel shaft, the wheel shaft is fixedly mounted in a wheel hub through a fixing piece, the rotating body is a crossed roller bearing, an outer ring of the crossed roller bearing is fixed on a left fork arm or a right fork arm, the motor drives a pinion through a speed reducer and is mounted on a motor fixing frame, the motor fixing frame is mounted on the left fork arm or the right fork arm, the bevel gear set is a spiral bevel gear with arc teeth, and an included angle between a central shaft of the pinion and a central shaft of the annular gear is 90 degrees.

10. The retractable-arm internal-fork-lift parking robot as recited in claim 1 wherein said frame is comprised of a front plate, a rear plate, and a middle plate fixedly attached to said front and rear plates, respectively.