CN217232937U

CN217232937U - Clamping parking robot utilizing gear and rack to stretch

Info

Publication number: CN217232937U
Application number: CN202122267776.8U
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: 2021-09-18
Filing date: 2021-09-18
Publication date: 2022-08-19
Anticipated expiration: 2031-09-18

Abstract

The utility model belongs to the technical field of intelligence is parked, a centre gripping robot of parking that utilizes rack and pinion to stretch out and draw back is provided. The parking robot comprises two split robots which are identical in structure and symmetrically arranged and are connected through a gear rack; the split robot comprises a clamping arm clamping mechanism and a driving mechanism; the middle part of the mounting plate is provided with a square groove or a square hole which has the same clamping direction with the clamping arm; a bidirectional screw nut transmission structure and a slider slide rail guide structure are arranged in the square groove or the square hole, so that the two fixing plates can slide relatively at the same time; the two fixing plates are provided with clamping arm motors which output oppositely, and the output ends of the clamping arm motors are connected with one ends of the clamping arms through a steering box; the driving mechanism comprises a horizontal steering wheel and a steering wheel. The clamping arm can extend out and retract, can be inserted into the bottom of the vehicle from the front or the back of the vehicle, and is widely applied as a telescopic gear rack is arranged between the two split robots.

Description

Clamping parking robot utilizing gear and rack to stretch

Technical Field

The utility model belongs to the technical field of intelligence is parked, in particular to utilize flexible centre gripping of rack and pinion to park robot.

Background

With the increase of the popularity of household vehicles, the number of urban vehicles is increased, but the number of parking spaces in cities is limited, and the urban land is more and more scarce, so that the parking is increasingly tense, and with the improvement of the living standard of people, the parking mode with small floor area and high automation level is gradually increased. Adopt intelligent parking robot to carry the vehicle to the parking stall, replace the manual work and look for the parking stall, can effectively increase the parking quantity under the same area, and also can not appear the situation of jam in the parking lot at the peak period of getting the car in the parking, this kind of parking mode and intelligent parking robot receive expectation and favor of many people. Among them, the most important device is an intelligent parking robot.

The intelligent parking robot with various structures appears in the market at present, can enter the bottom of a vehicle, adopts a fork arm to clamp a tire of the vehicle to enable the vehicle to leave the ground, and has wide application prospect due to small volume, flexible movement and no need of great modification of a field. However, such a parking robot is generally bulky, is inserted into the bottom of the vehicle from the side of the vehicle, and is not suitable for use in a parking lot where many existing parking spaces are arranged side by side.

SUMMERY OF THE UTILITY MODEL

In view of the above technical problems in the prior art, the present invention provides a clamping parking robot using rack and pinion extension, which is small in size and can enter the bottom of a vehicle from the front or the back of the vehicle.

The technical scheme of the utility model as follows:

the utility model provides an utilize flexible centre gripping of rack and pinion robot of parking, the robot of parking contains the components of a whole that can function independently robot that two structures identical symmetry set up, and two components of a whole that can function independently robots are connected through telescopic machanism 11.

The telescopic mechanism 11 comprises a telescopic motor 14, a pinion 15, a bull gear 16, a gear arm 17, a cross slide rail 18 and a telescopic mounting plate 19; the telescopic motor 14 is fixed on the telescopic mounting plate 19 and passes through a hole on the telescopic mounting plate 9 to drive the pinion gear 15 to rotate, and the pinion gear 15 is meshed with the bull gear 16; the bull gear 16 is fixed on the telescopic mounting plate 19 and matched with racks on two parallel toothed arms 17 with opposite directions, cross slide rails 20 are mounted at the positions where the toothed arms 17 are connected with the telescopic mounting plate 19, and the other ends of the cross slide rails are fixedly connected with the two split robots respectively.

The split robot comprises a clamping arm clamping mechanism and a driving mechanism.

The clamping arm clamping mechanism comprises a ball screw 1, a sliding rail 2, an installation plate 3, a clamping arm motor 4, a clamping arm 5, a screw motor 6, a fixing plate 7 and a steering box 8. The middle part of the mounting plate 3 is provided with a square groove or a square hole 9 which has the same clamping direction with the clamping arm. The ball screw 1 is a bidirectional screw, is fixedly installed in the square groove or the square hole 9, and one end of the ball screw is coaxially connected with the screw motor 6. Two screw nuts are sleeved at two end parts of the ball screw 1. The two fixing plates 7 are respectively fixedly installed with the two lead screw nuts. The edge of square groove or square hole 9 is installed slide rail 2, two fixed plate 7 is equipped with the matched with slider with slide rail 2. Two opposite ends of the two fixing plates 7 are fixedly provided with opposite output clamping arm motors 4, and the output ends of the clamping arm motors 4 are connected with one ends of the clamping arms 5 through a steering box 8, so that the clamping arms 5 can freely rotate on a plane parallel to the mounting plate 3.

The driving mechanism comprises a horizontal steering wheel 12 fixedly arranged at two adjacent corners of the same surface of the mounting plate 3 as the clamping arm and a steering wheel 13 fixedly arranged at the other two corners.

Furthermore, the steering box 8 and the fixing plate 7 are provided with limiting blocks 10 for limiting the rotation range of the clamping arm, so that the clamping arm can only rotate within a 90-degree range of the extending and retracting position.

In the above technical scheme, the screw motor 6 is started to drive the ball screw 1 to rotate clockwise or counterclockwise, and two screw nuts are driven to move relatively or move away from each other, so that two fixing plates 7 and structures (such as clamping arms) mounted on the fixing plates are driven to move linearly and relatively or move away from each other along the ball screw 1 and the slide rail 2, and extrusion and release of the clamping arms are realized.

The clamping arm motor 4 is started, the clamping arm is driven to rotate through the steering box 8 and limited by the limiting block 10, and the clamping arm is in an extending or withdrawing state.

The horizontal steering wheel 12 and the steering wheel 13 are started, and the parking robot can be driven to move along a certain route by combining a navigation mechanism.

For the two-part parking robot, the initial state is as follows: two fixed plates slide to the both ends of lead screw along the slide rail, and all centre gripping arms are in the state of withdrawing, and two components of a whole that can function independently robots are close to. When the vehicle is lifted, the parking robot enters a proper position at the bottom of the vehicle, so that the clamping arms of the two split robots can respectively clamp the front wheel or the rear wheel of the vehicle; starting a clamping arm motor to enable all clamping arms to extend out; and starting the screw motor to enable the fixing plate to drive the clamping arm to apply extrusion force to the front wheel or the rear wheel of the vehicle until the front wheel or the rear wheel of the vehicle is extruded onto the clamping arm. When the clamping arm is not in contact with the front wheel or the rear wheel of the vehicle, the screw motor is started, and the fixing plate drives the clamping arm to release the front wheel or the rear wheel of the vehicle until the clamping arm is not in contact with the front wheel or the rear wheel of the vehicle; starting a clamping arm motor to enable all clamping arms to be retracted; and driving the parking robot to leave from the bottom of the vehicle and returning to the initial state.

The utility model discloses following beneficial effect has:

1. the height of the highest position is slightly higher than that of the horizontal steering wheel, the clamping arm is positioned below the mounting plate and is not higher than the ground, the clamping arm cannot be extruded and exploded when extruding the wheel, and the wheel is easily extruded to the clamping arm;

2. the clamping arm can extend and retract, can be inserted into the bottom of the vehicle from the front or the back of the vehicle, and is suitable for most of the existing parking lots; 3. a telescopic gear rack is arranged between the two split robots, so that the split robot is widely suitable for vehicle types with different wheelbases.

Drawings

Fig. 1 is a schematic view of an initial state of a clamp arm clamping mechanism in an embodiment of the present invention;

fig. 2 is a schematic view of an extended state of the clamp arm clamping mechanism in the embodiment of the present invention;

fig. 3 is a bottom view of the parking robot according to the embodiment of the present invention;

the steering mechanism comprises a ball screw 1, a sliding rail 2, a mounting plate 3, a clamping arm motor 4, a clamping arm 5, a screw motor 6, a fixing plate 7, a steering box 8, a square groove or a square hole 9, a limiting block 10, a telescopic mechanism 11, a horizontal steering wheel 12, a steering wheel 13, a telescopic motor 14, a pinion 15, a gearwheel 16, a toothed arm 17, a cross sliding rail 18 and a telescopic mounting plate 19.

Detailed Description

In order to more clearly illustrate the technical solution of the present invention, the following description is made in conjunction with 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 clamping parking robot using rack and pinion extension, as shown in fig. 3, the parking robot includes two split robots with identical structures and symmetrically arranged, and the two split robots are connected by an extension mechanism 11.

The telescopic mechanism 11 comprises a telescopic motor 14, a pinion 15, a gearwheel 16, a toothed arm 17, a cross slide rail 18 and a telescopic mounting plate 19; the telescopic motor 14 is fixed on the telescopic mounting plate 19 and passes through a hole on the telescopic mounting plate 9 to drive the pinion gear 15 to rotate, and the pinion gear 15 is meshed with the bull gear 16; the bull gear 16 is fixed on the telescopic mounting plate 19 and matched with racks on two parallel toothed arms 17 with opposite directions, cross slide rails 20 are mounted at the positions where the toothed arms 17 are connected with the telescopic mounting plate 19, and the other ends of the cross slide rails are fixedly connected with the two split robots respectively.

The clamp arm clamping mechanism, as shown in fig. 1 and 2, includes a ball screw 1, a slide rail 2, a mounting plate 3, a clamp arm motor 4, a clamp arm 5, a screw motor 6, a fixing plate 7, and a steering box 8. The middle part of the mounting plate 3 is provided with a square groove or a square hole 9 which has the same clamping direction with the clamping arm. The ball screw 1 is a bidirectional screw, is fixedly installed in the square groove or the square hole 9, and one end of the ball screw is coaxially connected with the screw motor 6. Two screw nuts are sleeved at two end parts of the ball screw 1. The two fixing plates 7 are respectively fixedly installed with the two lead screw nuts. The edge of square groove or square hole 9 is installed slide rail 2, two fixed plate 7 is equipped with the matched with slider with slide rail 2. Two opposite ends of the two fixing plates 7 are fixedly provided with opposite output clamping arm motors 4, and the output ends of the clamping arm motors 4 are connected with one ends of the clamping arms 5 through steering boxes 8, so that the clamping arms 5 can freely rotate on a plane parallel to the mounting plate 3. The steering box 8 and the fixing plate 7 are provided with limiting blocks 10 for limiting the rotation range of the clamping arm so that the clamping arm can only rotate within a range of 90 degrees of the position where the clamping arm extends out and retracts, fig. 1 is a schematic diagram of an initial state of the clamping arm clamping mechanism, and fig. 2 is a schematic diagram of an extending state of the clamping arm clamping mechanism.

For the two-part parking robot, the initial state is as follows: two fixed plates slide to the two ends of the lead screw along the slide rail, all the clamping arms are in a withdrawing state, and the two split robots are close to each other. When the parking robot lifts the vehicle, the parking robot enters a proper position at the bottom of the vehicle, so that the clamping arms of the two split robots can respectively clamp the front wheel or the rear wheel of the vehicle; starting a clamping arm motor to enable all clamping arms to extend out; and starting the screw motor to enable the fixing plate to drive the clamping arm to apply extrusion force to the front wheel or the rear wheel of the vehicle until the front wheel or the rear wheel of the vehicle is extruded onto the clamping arm. When the clamping arm is not in contact with the front wheel or the rear wheel of the vehicle, the screw motor is started, and the fixing plate drives the clamping arm to release the front wheel or the rear wheel of the vehicle until the clamping arm is not in contact with the front wheel or the rear wheel of the vehicle; starting a clamping arm motor to enable all clamping arms to be retracted; and driving the parking robot to leave from the bottom of the vehicle and returning to the initial state.

The above-mentioned embodiments are intended to illustrate the technical concept and structural features of the present invention, and the present invention is not limited to the above embodiments, and all equivalent changes or modifications made according to the spirit of the present invention should fall within the protection scope of the present invention. The utility model discloses the part that does not relate to is the same with prior art or can adopt prior art to realize.

Claims

1. A clamping parking robot utilizing the expansion of a gear rack is characterized by comprising two symmetrically arranged split robots with the same structure, wherein the two split robots are connected through an expansion mechanism;

the telescopic mechanism comprises a telescopic motor, a pinion, a gearwheel, a gear arm, a cross slide rail and a telescopic mounting plate; the telescopic motor is fixed on the telescopic mounting plate and penetrates through a hole in the telescopic mounting plate to drive the pinion to rotate, and the pinion is meshed with the bull gear; the large gear is fixed on the telescopic mounting plate and matched with two parallel toothed arms in opposite directions, crossed slide rails are arranged at the positions where the toothed arms are connected with the telescopic mounting plate, and the other ends of the toothed arms are fixedly connected with the two split robots respectively;

the split robot comprises a clamping arm clamping mechanism and a driving mechanism;

the clamping arm clamping mechanism comprises a ball screw, a sliding rail, a mounting plate, a clamping arm motor, a clamping arm, a screw motor, a fixing plate and a steering box; the middle part of the mounting plate is provided with a square groove or a square hole which has the same clamping direction with the clamping arm; the ball screw is a bidirectional screw, is fixedly arranged in the square groove or the square hole, and one end of the ball screw is coaxially connected with the screw motor; two lead screw nuts are sleeved at two end parts of the ball screw; the two fixing plates are respectively fixedly installed with the two lead screw nuts; the edges of the square grooves or the square holes are provided with slide rails, and the two fixing plates are provided with slide blocks matched with the slide rails; two ends of the opposite positions of the two fixing plates are fixedly provided with clamping arm motors which output oppositely, and the output ends of the clamping arm motors are connected with one ends of the clamping arms through a steering box, so that the clamping arms can rotate freely on a plane parallel to the mounting plate;

the driving mechanism comprises a horizontal steering wheel fixedly arranged at two adjacent corners of the same surface of the mounting plate as the clamping arm and a steering wheel fixedly arranged at the other two corners.

2. The parking robot using the rack and pinion telescopic clamp according to claim 1, wherein the steering box and the fixing plate are provided with stoppers.