CN216380775U

CN216380775U - Parking robot and system thereof

Info

Publication number: CN216380775U
Application number: CN202122815212.3U
Authority: CN
Inventors: 白寒; 傅翼; 吕王彪
Original assignee: Hangzhou Qianjiang Xincheng Investment Group Co ltd; Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Qianjiang Xincheng Investment Group Co ltd; Hangzhou Hikrobot Co Ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-04-26
Anticipated expiration: 2031-11-15

Abstract

The utility model provides a parking robot and a system thereof. Each set of clamping arm mechanism comprises two clamping arms and a driving assembly. The second end of each clamping arm is provided with a universal caster. The driving assembly is used for driving the two clamping arms to rotate towards the outer side of the frame so as to clamp and lift the tire of the vehicle to be carried. The hydraulic system is characterized by further comprising at least one driving wheel set, wherein each driving wheel set comprises a driving wheel and a hydraulic cylinder which are installed on the frame in a floating mode, and the hydraulic cylinder comprises a hydraulic bar for adjusting the ground pressure of the driving wheel. The universal caster wheel at the second end of the clamping arm can also be used as a pivot point to reduce the downward deformation of the two clamping arms. The left and right inclination of the vehicle to be transferred is not serious. The parking robot is prevented from deviating due to sudden instability in operation. Through the flexible of hydraulic pressure thick stick, increase or reduce the pressure of driving wheel pair ground, guarantee that the driving wheel group has sufficient pressure to the ground, avoid the drive wheel to be maked somebody a mere figurehead, or take place the phenomenon of skidding.

Description

Parking robot and system thereof

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a parking robot and a system thereof.

Background

The parking robot is an intelligent robot designed aiming at parking problems, in particular to a parking type automatic guided vehicle for transporting vehicles. The vehicle is lifted off the ground through clamping tires or lifting the tires in modes of two-dimensional codes, laser, visual navigation and the like, and automatic driving can be realized and the vehicle can be carried to a specified position through autonomous unmanned intelligent control.

The parking robot in the prior art has a mode that a tire of a vehicle to be carried is clamped and lifted by two clamping arms, so that the tire of the vehicle to be carried is lifted off the ground. However, when the two clamping arms clamp and lift the tire of the vehicle to be carried, the two clamping arms are equal to the cantilever beam structure, one end of each clamping arm is fixed on the vehicle frame, and the other end of each clamping arm is suspended outside the vehicle frame. Therefore, the clamping arms can generate larger deformation, thereby reducing the height of the tire from the ground. And when there is a difference about the centre of gravity of the vehicle that waits to shift, whole vehicle that waits to shift can incline to one side to lead to one side height of arm lock one side low. When the ground is uneven, the height difference of the left clamping arm and the right clamping arm is more obvious. Therefore, in the running process, the clamping arm or the tire easily touches the ground, the ground can be abraded, and meanwhile, the running of the parking robot is suddenly unstable, and the parking robot deviates.

SUMMERY OF THE UTILITY MODEL

The utility model provides a parking robot and a system thereof, which are used for reducing the deformation amount of clamping arms, enabling the clamping arms on the left side and the right side to be at the same height as much as possible and ensuring that the clamping arms or tires cannot touch the ground in the parking process.

In a first aspect, the present invention provides a parking robot, which includes a frame, and a set of clamping arm mechanisms respectively disposed at two sides of the frame. Each clamping arm mechanism comprises two clamping arms and a driving assembly arranged on the frame. Each clamping arm is provided with a first end and a second end which are opposite, the first end of each clamping arm is rotatably connected to the frame, and the rotating shafts of the two clamping arms are parallel; the second end of each clamping arm is provided with a universal caster. The driving assembly is used for driving the two clamping arms to rotate towards the outer side of the frame so as to clamp and lift the tire of the vehicle to be carried; the driving assembly is also used for driving the two clamping arms to rotate towards the inner side of the frame so as to release clamping of the tire. The parking robot further comprises at least one driving wheel set, each driving wheel set comprises a driving wheel and a hydraulic cylinder, the driving wheel is installed on the frame in a floating mode, the hydraulic cylinder is arranged on the frame, and the hydraulic cylinder comprises a hydraulic bar which abuts against the driving wheel to adjust the ground pressure of the driving wheel.

In foretell scheme, through the second end increase at every arm lock be provided with the casters, rotate to the outside of frame at two arm locks of drive assembly drive, when the centre gripping and lifting treat haulage vehicle's tire, the casters of the second end of arm lock can be as a fulcrum equally to reduce the decurrent deformation volume of two arm locks, guarantee the lifting effect to the tire. Compared with the mode that only adopt two arm lock centre gripping tires and lifting tire among the prior art, the cantilever beam bearing structure of two arm lock is optimized for simple beam bearing structure to this application to reduce the decurrent deformation volume of two arm lock, guaranteed the lifting effect to the tire, thereby guaranteed the liftoff height of tire, avoid catching touch ground at arm lock or tire in the in-process of parking. And the universal casters are arranged on the clamping arms of each clamping arm mechanism on the left side and the right side, so that the deformation of the clamping arms on the left side and the right side is smaller even if the gravity center of the vehicle to be transferred is different from left side to right side, and the phenomenon that the whole vehicle to be transferred inclines left and right is not serious. The phenomenon of deviation caused by sudden instability of the operation of the parking robot is prevented. And this application still through addding the pneumatic cylinder, through the flexible of hydraulic pressure thick stick in the pneumatic cylinder, increase or reduce the pressure that the driving wheel set ground, guarantee that the driving wheel group has sufficient pressure to the ground, avoid the drive wheel to be built on stilts, or take place the phenomenon of skidding, make and park and can the steady operation.

In a particular embodiment, two receiving notches are provided on each of the two sides of the frame. The two accommodating notches positioned on the same side correspond to the universal casters on the two clamping arms one by one; and when the two clamping arms rotate to the inner side of the frame, the universal caster on each clamping arm is positioned in the corresponding accommodating notch. So as to draw in two arm lock in the frame completely, reduce parking robot's horizontal width, be convenient for parking robot gets into the bottom of waiting to carry the vehicle and shifts out from waiting to carry the vehicle bottom.

In one particular embodiment, the drive assembly includes two worm and gear mechanisms, a drive motor, and a speed reducer. The two worm and gear mechanisms correspond to the two clamping arms one by one; each worm wheel and worm mechanism comprises a worm wheel which is coaxial with and fixedly connected with the rotating shaft of the corresponding clamping arm and a worm which is arranged on the frame and meshed with the worm wheel; the worms of the two worm gear mechanisms are coaxial and fixedly connected, and the rotation directions of the two worm gear mechanisms are opposite. The driving motor is arranged on the frame. An input shaft of the speed reducer is fixedly connected with an output shaft of the driving motor, and an output shaft of the speed reducer is coaxial and fixedly connected with the worms in the two worm gear mechanisms. So as to simplify the structure of the driving assembly and facilitate the arrangement.

In a particular embodiment, each drive wheel set further comprises a bearing having an inner race and an outer race. Wherein the driving wheel is connected to the inner ring. The outer race has an outwardly turned shoulder that is floatingly connected to the frame by at least three springs circumferentially surrounding the outer race. The floating installation of the driving wheel is realized by connecting at least three springs on the bearing outer ring in the steering mechanism, and the structure is simplified.

In a specific embodiment, the hydraulic cylinder comprises at least three hydraulic rods, the at least three hydraulic rods are distributed circumferentially around the outer ring of the bearing, and the telescopic direction of each hydraulic rod is parallel to the rotating shaft of the clamping arm. And the at least three hydraulic levers correspond to the at least three springs one by one, one end of each spring is pressed against the convex shoulder, and the other end of each spring is pressed against the corresponding hydraulic lever. The compression amount of each spring is changed by adjusting the stroke of the hydraulic lever, so that the ground pressure of the driving wheel is adjusted, and the structure is simplified.

In a specific implementation mode, an annular hydraulic cavity and an annular hydraulic plate which is assembled in the annular hydraulic cavity in a sliding mode are arranged in the hydraulic cylinder, and at least three hydraulic rods are fixedly connected with the annular hydraulic plate, so that the at least three hydraulic rods stretch and retract at the same time, the strokes of the at least three hydraulic rods tend to be consistent, and the compression amount of each spring tends to be consistent.

In a specific embodiment, each driving wheel set further comprises a guide slider fixed on the hydraulic cylinder and connected with the bearing outer ring in a sliding manner, and the extension direction of the guide slider is parallel to the rotating shaft of the clamping arm. The guide sliding block limits the bearing outer ring to float up and down relative to the frame, so that the driving wheel has enough pressure on the ground and can adapt to the fluctuation of the road surface.

In a specific embodiment, the parking robot further comprises a control chip, and the control chip is used for adjusting the ground pressure exerted on the corresponding driving wheel by the hydraulic bar in each driving wheel set according to the weight of the vehicle to be carried. The ground pressure of the driving wheel can be adjusted conveniently in an automatic mode.

In a specific embodiment, a weighing sensor used for weighing the weight of the vehicle to be carried is further arranged on the vehicle frame, and the weighing sensor is in communication connection with the control chip so as to transmit the weight information of the vehicle to be carried to the control chip. And/or the first and/or second light sources,

the frame is also provided with a laser sensor, an automobile database storage module and a weight estimation module; the laser sensor is used for acquiring length, width, height and size information of a vehicle to be carried; the automobile database storage module stores automobile type information and length, width, height, size and weight information corresponding to each automobile type; the weight pre-estimating module is used for determining the automobile type of the vehicle to be carried according to the length, width, height and size information of the vehicle to be carried, and determining the weight information of the vehicle to be carried according to the automobile type of the vehicle to be carried; and the weight estimation module is also in communication connection with the control chip so as to transmit the weight information of the vehicle to be carried to the control chip. In order to obtain the weight of the vehicle to be handled.

In a second aspect, the present invention also provides a parking robot system comprising at least two of any of the above parking robots. And at least two parking robots are corresponding to at least two axles of the vehicle to be carried, and two sets of clamping arm mechanisms in each parking robot are used for clamping and lifting two sets of left and right tires on the corresponding axles. Through the second end increase at every arm lock be provided with universal castor, rotate to the outside of frame at two arm locks of drive assembly drive, when the centre gripping and lifting treat haulage vehicle's tire, the universal castor of the second end of arm lock can regard as a fulcrum equally to reduce the decurrent deformation volume of two arm locks, guarantee the lifting effect to the tire. Compared with the mode that only adopt two arm lock centre gripping tires and lifting tire among the prior art, the cantilever beam bearing structure of two arm lock is optimized for simple beam bearing structure to this application to reduce the decurrent deformation volume of two arm lock, guaranteed the lifting effect to the tire, thereby guaranteed the liftoff height of tire, avoid catching touch ground at arm lock or tire in the in-process of parking. And the universal casters are arranged on the clamping arms of each clamping arm mechanism on the left side and the right side, so that the deformation of the clamping arms on the left side and the right side is smaller even if the gravity center of the vehicle to be transferred is different from left side to right side, and the phenomenon that the whole vehicle to be transferred inclines left and right is not serious. The phenomenon of deviation caused by sudden instability of the operation of the parking robot is prevented. And this application still through addding the pneumatic cylinder, through the flexible of hydraulic pressure thick stick in the pneumatic cylinder, increase or reduce the pressure that the driving wheel set ground, guarantee that the driving wheel group has sufficient pressure to the ground, avoid the drive wheel to be built on stilts, or take place the phenomenon of skidding, make and park and can the steady operation.

Drawings

Fig. 1 is a structural diagram of two sets of clamping arm mechanisms of a parking robot, which are folded into a frame according to an embodiment of the present invention;

fig. 2 is a plan view of the parking robot shown in fig. 1;

FIG. 3 is a schematic structural view of two clamping arm frames of the parking robot shown in FIG. 1 rotating to the outer side of a frame;

fig. 4 is a schematic cross-sectional structural view of a driving wheel set according to an embodiment of the present invention;

FIG. 5 is a perspective view, in cross-section, of a drive wheel assembly according to an embodiment of the present invention;

FIG. 6 is an enlarged view of a driving wheel assembly according to an embodiment of the present invention;

FIG. 7 is an assembly view of a floating frame and a drive wheel according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a driving wheel according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a parking robot system according to an embodiment of the present invention.

Reference numerals:

10-frame 11-accommodating notch 12-frame caster

21-gripper arm 211-universal caster 212-roller

221-turbine 222-worm 223-driving motor

224-reducer 30-driving wheel group 31-driving wheel

311-rotation plate 312-articulated shaft 313-bush

32-column 33-hydraulic cylinder 331-annular hydraulic chamber

332-annular hydraulic plate 34-spring 35-guide sliding block

36-bearing 361-inner ring 362-outer ring 363-shoulder

37-hydraulic lever 38-hydraulic pump 40-tire

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to facilitate understanding of the parking robot provided in the embodiment of the present invention, an application scenario of the parking robot provided in the embodiment of the present invention is first described below, where the parking robot is applied to a process of transporting a vehicle to be transported. The parking robot will be described in detail with reference to the accompanying drawings.

Referring to fig. 1, 2, 3 and 9, a parking robot according to an embodiment of the present invention includes a frame 10, and a set of clamping arm 21 mechanisms are respectively disposed on two sides of the frame 10. Wherein, each set of clamping arm 21 mechanism comprises two clamping arms 21 and a driving component arranged on the frame 10. Each clamping arm 21 is provided with a first end and a second end which are opposite to each other, the first end of each clamping arm 21 is rotatably connected to the frame 10, and the rotating shafts of the two clamping arms 21 are parallel; the second end of each of the clamp arms 21 is provided with a castor 211. The driving assembly is used for driving the two clamping arms 21 to rotate towards the outer side of the frame 10 so as to clamp and lift the tire 40 of the vehicle to be carried; the driving assembly is also used for driving the two clamping arms 21 to rotate towards the inner side of the frame 10 so as to release the clamping of the tire 40. The parking robot further comprises at least one driving wheel set 30, wherein each driving wheel set 30 comprises a driving wheel 31 which is arranged on the frame 10 in a floating mode, and a hydraulic cylinder 33 arranged on the frame 10, and the hydraulic cylinder 33 comprises a hydraulic rod 37 which is pressed against the driving wheel 31 to adjust the pressure of the driving wheel 31 to the ground.

In the above scheme, the universal caster 211 is additionally arranged at the second end of each clamping arm 21, and when the driving assembly drives the two clamping arms 21 to rotate towards the outer side of the frame 10 and clamp and lift the tire 40 of the vehicle to be carried, the universal caster 211 at the second end of each clamping arm 21 can also serve as a pivot to reduce the downward deformation of the two clamping arms 21 and ensure the lifting effect on the tire 40. Compared with the mode that only adopt two arm lock 21 centre gripping tire 40 and lifting tire 40 among the prior art, this application optimizes the cantilever beam bearing structure of two arm lock 21 for simple beam bearing structure to reduce the decurrent deformation volume of two arm lock 21, guaranteed the lifting effect to tire 40, thereby guaranteed the height that tire 40 is liftoff, avoid touchhing ground at parking in-process arm lock 21 or tire 40. And the universal caster wheels 211 are arranged on the clamping arms 21 of each clamping arm 21 mechanism on the left side and the right side, so that the deformation of the clamping arms 21 on the left side and the right side is smaller even if the gravity center of the vehicle to be transferred is different from left to right, and the phenomenon that the whole vehicle to be transferred inclines left and right is not serious. The phenomenon of deviation caused by sudden instability of the operation of the parking robot is prevented. In addition, the hydraulic cylinder 33 is additionally arranged, the pressure of the driving wheel 31 to the ground is increased or reduced through the extension and retraction of the hydraulic rod 37 in the hydraulic cylinder 33, the driving wheel set 30 is guaranteed to have enough pressure to the ground, the driving wheel 31 is prevented from being overhead or slipping, and the parking can be stably operated. The above-described respective structures will be described in detail with reference to the accompanying drawings.

When frame 10 is provided, as shown in fig. 1-3, frame 10 may include a plate structure as a support structure for other structures. Of course, frame 10 may also employ other support structures such as frame structures, truss structures, and the like. The frame 10 has left and right opposite sides and front and rear opposite sides. Here, the left-right direction and the front-back direction are relative concepts, and are not intended as a limitation of structural features. The definition of the left-right direction and the front-back direction is determined according to the arrangement position of two clamping arm 21 mechanisms. When the vehicle stands at the angle of the vehicle to be carried, the left and right wheel sets of the vehicle can be defined as the left and right directions of the parking robot, and correspondingly, the two sets of clamping arm 21 mechanisms are arranged on the left and right sides of the frame 10.

As shown in fig. 1 to 3 and 9, a set of gripper arm 21 mechanisms is provided on each of two sides of the frame 10 for gripping and lifting a set of tires 40 on the same side of the vehicle to be handled. When each set of clamping arms 21 is arranged, each set of clamping arms 21 comprises two clamping arms 21 and a driving assembly arranged on the frame 10. Each clamping arm 21 is provided with a first end and a second end which are opposite to each other, the first end of each clamping arm 21 is rotatably connected to the frame 10, and the rotating shafts of the two clamping arms 21 are parallel to each other, so that the two clamping arms 21 can rotate relative to the vehicle, and the clamping function and the unclamping function of the clamping arms 21 are realized. When each clamping arm 21 is rotatably connected to the frame 10, the first end of each clamping arm 21 can be rotatably connected to the frame 10 through a rotating shaft, and the rotating shafts of the two clamping arms 21 are parallel to each other, so that the function that the two clamping arms 21 can clamp the tire 40 is realized. A universal caster 211 is provided at the second end of each of the clip arms 21 to support the clip arms 21 as a fulcrum at the distal end when each clip arm 21 is rotated to the outside of the frame 10. When the driving assembly drives the two clamping arms 21 to rotate towards the outer side of the frame 10 to clamp and lift the tire 40 of the vehicle to be carried, the universal caster 211 at the second end of the clamping arm 21 can also be used as a pivot so as to reduce the downward deformation of the two clamping arms 21 and ensure the lifting effect on the tire 40.

Compare with the mode that only adopts two arm lock 21 centre gripping tire 40 and lifting tire 40 among the prior art, this application optimizes the cantilever beam bearing structure of two arm lock 21 for simple beam bearing structure, and when the centre gripping was treated the tire 40 of haulage vehicle, casters 211 helps arm lock 21 to bear the partial weight of waiting haulage vehicle to reduce the decurrent deformation volume of two arm lock 21, guaranteed the lifting effect to tire 40. Therefore, the height of the tire 40 from the ground is ensured, and the clamping arms 21 or the tire 40 are prevented from touching the ground in the parking process. And the universal caster wheels 211 are arranged on the clamping arms 21 of each clamping arm 21 mechanism on the left side and the right side, so that the deformation of the clamping arms 21 on the left side and the right side is smaller even if the gravity center of the vehicle to be transferred is different from left to right, and the phenomenon that the whole vehicle to be transferred inclines left and right is not serious. The universal caster 211 ensures that the clamping arm 21 has enough ground clearance, so that the clamping arm 21 or the tire 40 cannot touch the ground in the driving process even under the working condition that the gravity center of the vehicle to be carried is eccentric or the road surface is uneven, and the phenomenon that the parking robot runs and is unstable suddenly and deviates is prevented.

When the casters 211 are provided, a single caster shown in fig. 1 to 3 may be used to form the casters 211, and at least two coaxial casters may be used to form the casters 211. As shown in fig. 1 to 3, rollers 212 are disposed on two opposite sides of the two clamping arms 21, and when the two clamping arms 21 are driven by the driving assembly to rotate towards the outside of the frame 10 to clamp and lift the tire 40 of the vehicle to be carried, the rollers 212 on the two clamping arms 21 contact the tire 40, so that the sliding friction between the clamping arms 21 and the tire 40 is optimized to be a rolling friction, so as to reduce the friction between the two clamping arms 21 and the tire 40, thereby facilitating the two clamping arms 21 to clamp and lift the tire 40.

Referring to fig. 1 to 3, two receiving notches 11 may be further disposed on each of two sides of the frame 10, and the two receiving notches 11 on the same side and the casters 211 on the two clamping arms 21 correspond to each other one by one. When the two clamping arms 21 rotate to the inner side of the frame 10 and enter the frame 10, the caster 211 on each clamping arm 21 is located in the corresponding receiving notch 11. So that the two clamping arms 21 are completely folded into the frame 10, the transverse width of the parking robot is reduced, and the parking robot can conveniently enter the bottom of the vehicle to be carried and move out of the bottom of the vehicle to be carried.

When the driving assembly is provided, a plurality of sets of driving mechanisms may be used to drive the two clamping arms 21 to rotate towards the outside of the frame 10, so as to clamp and lift the tire 40. A drive assembly as shown in fig. 1 to 3 includes two worm gear mechanisms, a drive motor 223 and a speed reducer 224. The two worm and gear mechanisms correspond to the two clamping arms 21 one by one, and each worm and gear mechanism corresponds to one clamping arm 21 and is used for driving the corresponding clamping arm 21 to rotate towards the outer side of the frame 10 or rotate towards the inner side of the frame 10. As shown in fig. 1, each worm gear mechanism includes a worm gear 221 and a worm 222. The worm wheel 221 is coaxial with and fixedly connected with the rotating shaft of the corresponding clamping arm 21, so that the worm wheel 221 can drive the corresponding clamping arm 21 to rotate when rotating. When the clamping arm 21 is arranged, the first end of the clamping arm 21 can be fixed on the corresponding turbine 221, so that the turbine 221 and the rotating shaft of the corresponding clamping arm 21 are coaxial and fixedly connected. The worm 222 is disposed on the frame 10 and engaged with the worm gear 221. The worms 222 of the two worm gear mechanisms are coaxial and fixedly connected, and the rotation directions of the two worm gear mechanisms are opposite, so that the rotation directions of the two clamping arms 21 are opposite while the two worms 222 are driven to rotate synchronously, and the clamping and lifting of the two clamping arms 21 to the tire 40 are realized. Referring to fig. 1 to 3, a driving motor 223 is provided on the vehicle frame 10. An input shaft of the speed reducer 224 is fixedly connected with an output shaft of the driving motor 223, and an output shaft of the speed reducer 224 is coaxial and fixedly connected with the worm 222 in the two worm gear mechanisms. When the driving motor 223 drives the worm 222 to rotate in one direction, both the clamping arms 21 can be driven to rotate towards the outer side of the frame 10, so as to clamp and lift the tire 40 of the vehicle to be carried. When the driving motor 223 drives the worm 222 to rotate in the other direction, the two clamp arms 21 can be driven to rotate towards the inner side of the frame 10, so that the clamping of the tire 40 can be released. The output shaft of the driving motor 223 is fixedly connected with the two worms 222 coaxially through the reducer 224, so as to provide enough driving force to drive the two clamping arms 21 to clamp and lift the tire 40, and meanwhile, the structure of the driving assembly is simplified, and the arrangement is convenient. Of course, it should be noted that the arrangement of the driving assembly is not limited to the above arrangement. In addition, other approaches may be used.

As shown in fig. 1, 2, 3, 4, 5 and 6, at least one driving wheel set 30 may be further disposed on the frame 10, and the number of the driving wheel sets 30 may be specifically 1, 2, 3, 4, etc. to drive the entire frame 10 to operate, so as to implement transfer and parking of the vehicle to be transported. The number of the driving wheel sets 30 is determined based on the driving force of each driving wheel set 30, the weight of the vehicle to be carried, the road friction and the like. When the number of sets of driving wheel sets 30 is small, referring to fig. 1 to 3, the frame caster 12 may be additionally provided to ensure support of the frame 10. As shown in fig. 1 to 3, the number of the sets of the driving wheel sets 30 is two, the number of the sets of the frame casters 12 is also two, the two driving wheel sets 30 are distributed diagonally, and the frame casters 12 are also distributed diagonally. It should be understood that the number of drive wheel sets 30 is not limited to the two illustrated in the figures, nor is the number of sets of corresponding frame casters 12 limited to the number of sets illustrated in fig. 1-3.

In providing each driving wheel set 30, referring to fig. 4, 5, 6, 7 and 8, each driving wheel set 30 may include: a drive wheel 31 floatingly mounted on the frame 10, and a hydraulic cylinder 33 provided on the frame 10. The hydraulic cylinder 33 includes a hydraulic lever 37, and the hydraulic lever 37 presses against the driving wheel 31 to adjust the ground pressure of the driving wheel 31. The drive wheel 31 is attached to the vehicle body frame 10 via a floating frame, so that the drive wheel 31 can float up and down, and the ground pressure is applied to the drive wheel 31 via the hydraulic lever 37 in the hydraulic cylinder 33, so that the drive wheel 31 can be brought into contact with the ground even when the ground is uneven. And the pressure of the driving wheel 31 to the ground is increased or reduced through the expansion and contraction of the hydraulic rod 37 in the hydraulic cylinder 33, so that the driving wheel set 30 can be ensured to have enough pressure to the ground, the driving wheel 31 is prevented from being overhead or slipping, and the parking can be stably operated.

In floating the drive wheel assembly 30 on the frame 10, various means may be employed. For example, referring to one arrangement illustrated in fig. 4-7, relative floating of drive wheel 31 relative to frame 10 is achieved by at least three springs 34. Also included in each drive wheel set 30 is a bearing 36, which bearing 36 is a component of the steering mechanism. The drive wheel 31 is coupled to the inner race 361 of the bearing 36. An outward-turned shoulder 363 is provided on the outer race 362 of the bearing 36, and the shoulder 363 is floatingly coupled to the frame 10 by at least three springs 34 circumferentially surrounding the outer race 362 of the bearing 36, thereby allowing the drive wheel 31 to float up and down relative to the frame 10. The floating mounting of the drive wheel 31 is achieved by at least three springs 34 attached to the outer race 362 of the bearing 36 in the steering mechanism, while simplifying construction.

Referring to fig. 7 and 8, the number of the driving wheels 31 is two, and the two driving wheels 31 are connected through a differential driving system to enable differential driving and guarantee stable operation of parking. Specifically, when the differential drive system is provided, the differential drive system includes two drive motors 223 and two speed reducers 224, wherein an output shaft of each drive motor 223 is connected with an input shaft of the corresponding speed reducer 224, an output shaft of the speed reducer 224 is connected with the corresponding drive wheel 31, and the rotation speed of each drive wheel 31 is adjusted by the two drive motors 223 to realize differential drive. As shown in fig. 7 and 8, the two driving motors 223 and the speed reducer 224 are assembled together by the rotation stay 311. Specifically, when the driving wheel 31 is connected to the inner ring 361 of the bearing 36, as shown in fig. 5, 6, 7 and 8, the driving wheel 31 may be hinged to the inner ring 361 of the bearing 36, the axial direction of the hinge shaft 312 is perpendicular to the rotation axis of the driving wheel 31, and the axial direction of the hinge shaft 312 is also perpendicular to the rotation axis of the arm, so that when the ground is uneven, the two driving wheels 31 can rotate left and right, each driving wheel 31 can be grounded, and the driving wheel 31 is prevented from being overhead. Specifically, referring to fig. 5 to 8, a hinge shaft 312 may be fixedly connected to each of front and rear sides of the rotation plate 311, and each hinge shaft 312 is hinged to the inner ring 361 of the bearing 36 through a bushing 313.

When the hydraulic cylinder 33 is provided, various manners may be adopted. For example, as shown in fig. 4 to 7, in one arrangement of the hydraulic cylinder 33, the hydraulic cylinder 33 is fixed to the frame 10 by a plurality of stays 32. The hydraulic cylinder 33 includes at least three hydraulic rods 37 circumferentially distributed around an outer ring 362 of the bearing 36, and the extension and retraction manner of each hydraulic rod 37 is parallel to the rotation axis of the clamp arm 21, so that each hydraulic rod 37 can extend and retract up and down. The at least three hydraulic levers 37 are in one-to-one correspondence with the at least three springs 34, with one end of each spring 34 bearing against the shoulder 363 and the other end bearing against the corresponding hydraulic lever 37. The compression amount of each spring 34 is changed by adjusting the stroke of the hydraulic rod 37, so that the pressure of the driving wheel 31 to the ground is adjusted, and the structure is simplified. Specifically, the number of the hydraulic levers 37 is equal to the number of the springs 34, each spring 34 corresponds to one hydraulic lever 37, each hydraulic lever 37 abuts against the corresponding spring 34, the other end of each spring 34 abuts against a shoulder 363 of an outer ring 362 of the bearing 36, and the compression amount of each spring 34 is adjusted through the expansion stroke of the hydraulic levers 37; the pressure of the drive wheel 31 against the ground is adjusted by the amount of compression of the spring 34. If the stroke of the hydraulic lever 37 is large, the compression amount of the spring 34 is also large, and the pressure of the driving wheel 31 to the ground is also large; if the stroke of the hydraulic lever 37 is small, the compression amount of the spring 34 is small, and the pressure of the driving wheel 31 against the ground is small. It should be noted that the arrangement of the hydraulic cylinder 33 is not limited to the arrangement shown in the foregoing, and other arrangements may be adopted.

Referring to fig. 4 to 7, an annular hydraulic chamber 331 is provided in each hydraulic cylinder 33, an annular hydraulic plate 332 is slidably fitted in the annular hydraulic chamber 331, and the annular hydraulic plate 332 is parallel to the rotation axis of the arm with respect to the sliding direction of the annular hydraulic chamber 331, so that each annular hydraulic plate 332 can slide up and down. And at least three hydraulic bars 37 are all fixedly connected with the annular hydraulic plate 332, so as to realize simultaneous extension and contraction of at least three hydraulic bars 37, and the strokes of at least three hydraulic bars 37 tend to be consistent, so that the compression amount of each spring 34 tends to be consistent. As shown in fig. 4 to 7, a hydraulic pump 38 may be further provided on the frame 10, the hydraulic cylinders of all the driving wheel sets 30 may be connected to the hydraulic pump 38, and the hydraulic pump 38 is used to control the extension and contraction of all the hydraulic rods 37 of each hydraulic cylinder 33. To simplify the structure.

With continued reference to fig. 4-7, each driving wheel set 30 may further include a guide block 35 fixed on the hydraulic cylinder 33 and slidably connected to the outer ring 362 of the bearing 36, and the extension direction of the guide block 35 is parallel to the rotation axis of the clamping arm 21, so that the outer ring 362 of the bearing 36 can only float up and down along the extension direction of the guide block 35. The outer ring 362 of the bearing 36 is limited by the guide slide block 35 to float up and down relative to the frame 10, so that the driving wheel 31 has enough pressure on the ground and can adapt to the undulation of the road surface. Specifically, when the guide slider 35 is provided, an annular structure having an inner diameter slightly larger than the outer diameter of the outer race 362 of the bearing 36 may be used as the guide slider 35, and the outer race 362 of the bearing 36 is fitted into the guide slider 35 so that the outer race 362 of the bearing 36 can only slide in the guide slider 35. At least three independent guide sliders 35 can be adopted, the extending directions of the at least three guide sliders 35 are the same, and the at least three guide sliders 35 are distributed around the circumference of the outer ring 362 of the bearing 36 to limit that the outer ring 362 of the bearing 36 can only float along the extending direction of the guide sliders 35. The material of the guide slider 35 may be nylon material to reduce friction.

The hydraulic pressure lever 37 in the hydraulic cylinder 33 can be adjusted according to the weight of the vehicle to be transported when adjusting the pressure of the driving wheel 31 against the ground. In particular, if the weight of the vehicle to be handled is light, the ground pressure distributed to each driving wheel 31 is also small, and the ground pressure requirement of the driving wheel 31 may not be met, and the small ground pressure of the driving wheel 31 can be adjusted by the hydraulic bar 37 in the hydraulic cylinder 33 to meet the corresponding requirement. If the ground pressure distributed to each driving wheel 31 is also large when the weight of the vehicle to be handled is heavy, the ground pressure requirement of the driving wheel 31 may still not be met, and at this time, the large ground pressure of the driving wheel 31 can be adjusted by the hydraulic bar 37 in the hydraulic cylinder 33 to meet the corresponding requirement. Of course, even if the weight of the vehicle to be transported can make the driving wheel 31 generate a large ground pressure, the ground pressure can be additionally applied to the driving wheel 31 through the hydraulic lever 37 in the hydraulic cylinder 33, so that the ground pressure of the driving wheel 31 is larger than that of other non-driving wheels 31, and the driving wheel 31 is prevented from being lifted. When the parking robot is in an empty state (i.e. a state without carrying the vehicle), the self weight is light, so that the hydraulic rod 37 can be contracted in stroke, the compression amount of the spring 34 is reduced, the pressure of the driving wheel 31 to the ground is properly reduced, and the phenomenon that the driving wheel 31 lifts the whole vehicle and the rest frame casters 12 lift off the ground due to overlarge compression amount of the spring 34 is avoided.

In addition, when the adjustment of the ground pressure of the driving wheel 31 in each driving wheel set 30 is realized, a control chip may be provided, and specifically, the control chip may be provided on the frame 10. The ground pressure exerted by the hydraulic bar 37 of each driving wheel set 30 on the corresponding driving wheel 31 is adjusted by the control chip according to the weight of the vehicle to be handled. It is convenient to adjust the ground pressure of the driving wheel 31 in an automated manner. And facilitates calculation of the appropriate hydraulic lever 37 stroke by the control chip to apply sufficient and appropriate ground pressure to the drive wheel 31.

Specifically, when the weight of the vehicle to be transported is acquired, a weighing sensor for weighing the weight of the vehicle to be transported may be provided on the frame 10, and the weight of the vehicle to be transported is acquired by the weighing sensor. And the weighing sensor is in communication connection with the control chip so as to transmit the weight information of the vehicle to be carried to the control chip. Of course, other ways of acquiring the weight of the vehicle to be transported are also possible. For example, a laser sensor, a data receiving module, a vehicle database storage module, and a weight estimation module may be further provided on the vehicle frame 10. The laser sensor is used for scanning the vehicle to be transported to acquire length, width, height and size information of the vehicle to be transported before the parking robot drives into the vehicle to be transported. The automobile database storage module stores automobile type information and length, width, height, size and weight information corresponding to each automobile type. The weight estimation module is used for determining the type of the vehicle to be transported according to the length, width and height dimension information of the vehicle to be transported, namely the weight estimation module estimates that the vehicle to be transported belongs to a sedan or an SUV according to the obtained length, width and height dimension information of the vehicle to be transported, and can be further subdivided into a mini vehicle, a small vehicle, a compact vehicle, a medium-sized vehicle, a large vehicle and the like. And then, determining the weight information of the vehicle to be transported according to the type of the vehicle to be transported by utilizing the characteristic that each type of vehicle has the weight range section. And the weight estimation module is also in communication connection with the control chip so as to transmit the weight information of the vehicle to be carried to the control chip. In order to obtain the weight of the vehicle to be handled. Of course, the two ways of acquiring the weight information of the vehicle to be transported may be both provided, when in use, the weight of the vehicle to be transported is estimated by a laser sensor and the like, then when the parking robot lifts the whole vehicle to be transported to a place away from the ground, the specific weight information of the vehicle to be transported is acquired by the weighing sensor, and then the control chip controls the hydraulic lever 37 in the hydraulic cylinder 33 to adjust the pressure of the driving wheel 31 to the ground.

Through increasing at the second end of every arm lock 21 and being provided with universal castor 211, rotate to the outside of frame 10 at two arm lock 21 of drive assembly drive, when centre gripping and lifting treat the tire 40 of transport vehicle, universal castor 211 of the second end of arm lock 21 can also be as a fulcrum to reduce the decurrent deformation volume of two arm lock 21, guarantee the lifting effect to tire 40. Compared with the mode that only adopt two arm lock 21 centre gripping tire 40 and lifting tire 40 among the prior art, this application optimizes the cantilever beam bearing structure of two arm lock 21 for simple beam bearing structure to reduce the decurrent deformation volume of two arm lock 21, guaranteed the lifting effect to tire 40, thereby guaranteed the height that tire 40 is liftoff, avoid touchhing ground at parking in-process arm lock 21 or tire 40. And the universal caster wheels 211 are arranged on the clamping arms 21 of each clamping arm 21 mechanism on the left side and the right side, so that the deformation of the clamping arms 21 on the left side and the right side is smaller even if the gravity center of the vehicle to be transferred is different from left to right, and the phenomenon that the whole vehicle to be transferred inclines left and right is not serious. The phenomenon of deviation caused by sudden instability of the operation of the parking robot is prevented. In addition, the hydraulic cylinder 33 is additionally arranged, the pressure of the driving wheel 31 to the ground is increased or reduced through the extension and retraction of the hydraulic rod 37 in the hydraulic cylinder 33, the driving wheel set 30 is guaranteed to have enough pressure to the ground, the driving wheel 31 is prevented from being overhead or slipping, and the parking can be stably operated.

In addition, embodiments of the present invention further provide a parking robot system, and referring to fig. 1 to 9, the parking robot system includes at least two parking robots of any one of the above parking robots. And at least two parking robots are corresponding to at least two axles of the vehicle to be carried, and two sets of clamping arm 21 mechanisms in each parking robot are used for clamping and lifting two sets of left and right tires 40 on the corresponding axles. Through increasing at the second end of every arm lock 21 and being provided with universal castor 211, rotate to the outside of frame 10 at two arm lock 21 of drive assembly drive, when centre gripping and lifting treat the tire 40 of transport vehicle, universal castor 211 of the second end of arm lock 21 can also be as a fulcrum to reduce the decurrent deformation volume of two arm lock 21, guarantee the lifting effect to tire 40. Compared with the mode that only adopt two arm lock 21 centre gripping tire 40 and lifting tire 40 among the prior art, this application optimizes the cantilever beam bearing structure of two arm lock 21 for simple beam bearing structure to reduce the decurrent deformation volume of two arm lock 21, guaranteed the lifting effect to tire 40, thereby guaranteed the height that tire 40 is liftoff, avoid touchhing ground at parking in-process arm lock 21 or tire 40. And the universal caster wheels 211 are arranged on the clamping arms 21 of each clamping arm 21 mechanism on the left side and the right side, so that the deformation of the clamping arms 21 on the left side and the right side is smaller even if the gravity center of the vehicle to be transferred is different from left to right, and the phenomenon that the whole vehicle to be transferred inclines left and right is not serious. The phenomenon of deviation caused by sudden instability of the operation of the parking robot is prevented. In addition, the hydraulic cylinder 33 is additionally arranged, the pressure of the driving wheel 31 to the ground is increased or reduced through the extension and retraction of the hydraulic rod 37 in the hydraulic cylinder 33, the driving wheel set 30 is guaranteed to have enough pressure to the ground, the driving wheel 31 is prevented from being overhead or slipping, and the parking can be stably operated.

The following overall description will be made of the entire movement process of the parking robot for transporting the vehicle to be transported, taking the number of axles of the vehicle to be transported as an example. First, the weight information of the vehicle to be transported is acquired by the above-described laser sensor or the like. Next, the parking robot drives into the bottom of the car. Specifically, the two parking robots respectively clamp and lift the front wheels and the rear wheels of the vehicle to be carried, and the weighing sensors acquire the actual weight of the vehicle to be carried. Then, the control chip calculates an appropriate stroke of the hydraulic lever 37 based on the weight information of the vehicle to be carried, so as to apply an appropriate ground pressure to the driving wheel 31. Then, the two parking robots operate simultaneously, and carry the vehicle to be carried to a specified proper position by using the motion modes of straight movement, lateral movement, rotation and the like. Then, the two sets of clamping arms 21 of each parking robot release the clamping of the tire 40, and the vehicle to be carried is placed on the ground. And then, the parking robot drives away from the bottom of the vehicle to be transported to complete the transportation, so that a new vehicle to be transported can be transported.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A parking robot, comprising:

a frame;

two sets of arm lock mechanisms that are listed as frame both sides separately, wherein, every set of arm lock mechanism includes:

two clamp arms, wherein each clamp arm has a first end and a second end opposite to each other; the first end of each clamping arm is rotatably connected to the frame, and the rotating shafts of the two clamping arms are parallel; the second end of each clamping arm is provided with a universal caster;

the driving assembly is arranged on the frame and used for driving the two clamping arms to rotate towards the outer side of the frame so as to clamp and lift the tire of the vehicle to be carried; the driving assembly is also used for driving the two clamping arms to rotate towards the inner side of the frame so as to release the clamping of the tire;

the parking robot further comprises at least one driving wheel set; each driving wheel set comprises a driving wheel and a hydraulic cylinder, wherein the driving wheel is installed on the frame in a floating mode, the hydraulic cylinder is arranged on the frame, and the hydraulic cylinder comprises a hydraulic rod which abuts against the driving wheel to adjust the ground pressure of the driving wheel.

2. The parking robot as claimed in claim 1, wherein two receiving notches are provided at each of both sides of the frame;

the two accommodating notches positioned on the same side correspond to the universal casters on the two clamping arms one by one; and when the two clamping arms rotate towards the inner side of the frame into the frame, the universal caster on each clamping arm is positioned in the corresponding accommodating notch.

3. The parking robot of claim 1, wherein the drive assembly comprises:

the two worm and gear mechanisms correspond to the two clamping arms one by one; each worm gear and worm mechanism comprises a worm gear which is coaxial with and fixedly connected with the rotating shaft of the corresponding clamping arm and a worm which is arranged on the frame and meshed with the worm gear; the worms of the two worm gear mechanisms are coaxial and fixedly connected, and the rotation directions of the two worm gear mechanisms are opposite;

the driving motor is arranged on the frame;

and an input shaft of the speed reducer is fixedly connected with an output shaft of the driving motor, and an output shaft of the speed reducer is coaxial and fixedly connected with the worms in the two worm gear mechanisms.

4. The parking robot of claim 1, wherein each drive wheel set further comprises a bearing having an inner race and an outer race;

wherein the driving wheel is connected with the inner ring; the outer race has an out-turned shoulder floatingly connected to the frame by at least three springs circumferentially surrounding the outer race.

5. The parking robot as claimed in claim 4, wherein said hydraulic cylinder comprises at least three said hydraulic bars, said at least three hydraulic bars being circumferentially distributed around said outer race, each hydraulic bar being extendable and retractable in a manner parallel to the rotational axis of said gripping arms;

and the at least three hydraulic levers correspond to the at least three springs one by one, one end of each spring is pressed against the convex shoulder, and the other end of each spring is pressed against the corresponding hydraulic lever.

6. The parking robot as claimed in claim 5, wherein an annular hydraulic chamber and an annular hydraulic plate slidably fitted in the annular hydraulic chamber are provided in the hydraulic cylinder, and the at least three hydraulic bars are fixedly connected to the annular hydraulic plate.

7. The parking robot of claim 5, wherein each drive wheel set further comprises:

and the guide sliding block is fixed on the hydraulic cylinder and is in sliding connection with the outer ring, and the extension direction of the guide sliding block is parallel to the rotating shaft of the clamping arm.

8. The parking robot of claim 1, further comprising:

and the control chip is used for adjusting the ground pressure exerted on the corresponding driving wheel by the hydraulic bar in each driving wheel set according to the weight of the vehicle to be carried.

9. The parking robot as claimed in claim 8, wherein a load cell for weighing the vehicle to be transported is further provided on the frame, and the load cell is in communication connection with the control chip to transmit the weight information of the vehicle to be transported to the control chip; and/or the first and/or second light sources,

the frame is provided with a laser sensor, an automobile database storage module and a weight estimation module; the laser sensor is used for acquiring length, width, height and size information of the vehicle to be carried; the automobile database storage module stores automobile type information and length, width, height, size and weight information corresponding to each automobile type; the weight pre-estimating module is used for determining the automobile type of the vehicle to be carried according to the length, width and height size information of the vehicle to be carried, and determining the weight information of the vehicle to be carried according to the automobile type of the vehicle to be carried; and the weight estimation module is also in communication connection with the control chip so as to transmit the weight information of the vehicle to be carried to the control chip.

10. A parking robot system comprising at least two parking robots as claimed in any one of claims 1 to 9;

and the at least two parking robots correspond to at least two axles of the vehicle to be carried, and two sets of clamping arm mechanisms in each parking robot are used for clamping and lifting two sets of left and right tires on the corresponding axles.