CN218406772U - Towed clamping parking robot - Google Patents

Abstract

The utility model belongs to the technical field of intelligence is parked, a drag formula centre gripping robot of parking is proposed. The towed gripper parking robot includes: the whole frame is T-shaped, the middle part of the frame is provided with a telescopic mechanism, the wider part of the frame is a front frame, and the narrower part of the frame is a rear frame; the driving walking device is used for driving the rack to move; the telescopic mechanism is used for adjusting the length of the rack and the distance between the two groups of clamping arms; a clamp arm comprising a front clamp arm and a rear clamp arm for squeezing the tire to urge the vehicle off the ground; the steering device is used for supporting the rack and steering; and the clamping arm clamping mechanism is positioned below the rack, comprises a single-arm clamping mechanism and a double-arm clamping mechanism and is used for controlling the ejection and retraction of the clamping arm. The front fork truck and the rear fork truck of the automobile are adopted, so that the automobile parking garage can be suitable for the existing parking lot or stereo garage which only can longitudinally enter the automobile; the frame is telescopic, and the clamping arm can be popped out and retracted, and is suitable for most vehicles.

Description

Towed clamping parking robot

Technical Field

The utility model belongs to the technical field of intelligence is parked, in particular to drag formula centre gripping robot of parking.

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 clamping arm to clamp a tire of the vehicle to enable the vehicle to leave the parking robot on the ground, and has wide application prospect due to the fact that the intelligent parking robot is small in size, flexible in movement and free of great transformation on the field. However, the current parking robots, which use gripping arms to grip the tires of the vehicle to lift the vehicle off the ground, insert the tires laterally into the bottom of the vehicle, and grip the tires to lift the vehicle off the ground. This is contradictory to the situation that parking spaces are arranged side by side in most of the existing parking lots, and this arrangement of parking spaces is more suitable for a parking robot that is inserted into the bottom of a vehicle from the front or the rear of the vehicle, but there is no parking robot that is inserted into the bottom of a vehicle from the front or the rear of the vehicle and uses a holding arm to hold a tire of the vehicle to urge the vehicle to leave the ground.

SUMMERY OF THE UTILITY MODEL

In view of the above technical problems in the prior art, the present invention provides a towed type clamping parking robot, which can be inserted into a bottom of a vehicle from the front or the rear of the vehicle, and which uses a clamping arm to clamp a tire of the vehicle to urge the vehicle to leave the ground.

The technical scheme of the utility model as follows:

the utility model provides a drag formula centre gripping robot of parking, drag formula centre gripping robot of parking includes:

the device comprises a rack 1, a front frame 11 and a rear frame 12, wherein the rack is integrally T-shaped, a telescopic mechanism 3 is arranged in the middle of the rack, the wider part of the two parts connected by the telescopic mechanism 3 is the front frame, and the narrower part of the two parts is the rear frame;

the driving walking device 2 is arranged at two sides in front of the front frame 11 and is used for supporting the frame 1 and driving the frame 1 to move;

the telescopic mechanism 3 is arranged in the middle of the rack 1 and used for adjusting the length of the rack 1 and adjusting the distance between the two groups of clamping arms;

a gripping arm 4 comprising a front gripping arm 41 located on the front frame 11 and a rear gripping arm 42 located on the rear frame 12, the distance between which is adjustable, for squeezing the tyre to urge the vehicle away from the ground; the distance between the two gripping arms 4 of the front 41 and rear 42 arms is sufficient to disengage the wheel from the ground;

a steering device 6 installed at both sides of the rear frame 12 for supporting the frame 1 and steering;

the gripper arm clamping mechanism 5, located below the frame 1, includes a single arm gripper clamping mechanism 51 connected to the front gripper arm 41 and a double arm gripper clamping mechanism 52 connected to the rear gripper arm 42 for controlling the ejection and retraction of the gripper arms.

Further, the active traveling device 2 includes two steering wheels 21, the steering wheels 21 are fixedly mounted on the foremost end of the frame 1 through a steering wheel mounting frame 22, and the steering wheel mounting frame 22 is located in the middle of the steering wheels 21. The driving of the steering wheel 21 can drive the parking robot to advance. The steering wheel mounting 22 in the middle part makes the frame closer to the ground.

Further, the telescopic mechanism 3 includes a telescopic motor 31, a motor fixing frame 32, a telescopic lead screw 33, a lead screw nut 34, and a cross guide rail 35. The telescopic motor 31 is fixedly mounted on the front frame 11 through a motor fixing frame 32 and drives a telescopic lead screw 33 to rotate. The telescopic lead screw 33 passes through a hole in the rear frame 12 on the center line of the front frame 11. The rear frame 12 is fixedly connected with a lead screw nut 34, and the lead screw nut 34 is matched with a telescopic lead screw 33. A cross guide 35 is provided in a portion where the front frame 11 and the rear frame 12 are in sliding contact with each other, and is parallel to the telescopic screw 33. The telescopic motor 31 is used for providing power, the telescopic lead screw 33 and the lead screw nut 34 are used for power transmission, and the cross guide rail 35 is used for guiding and loading. When the telescopic motor 31 is started, the telescopic screw 33 is driven to rotate clockwise or counterclockwise, and the screw nut 34 is driven to make linear motion along the telescopic screw, that is, the rear rack 12 is driven to make linear motion along the cross guide rail 35, so that the length of the rack 1 and the distance between the front clamping arm 41 and the rear clamping arm 42 are adjusted.

Further, a roller 43 is mounted on a portion of the grip arm 4 contacting the tire. The roller 43 changes the sliding friction force into the rolling friction force, and can effectively reduce the force required for extruding the tire onto the clamping arm when the tire of the vehicle is extruded.

Further, the front clamp arm 41 includes a fixed clamp arm 44 and a movable clamp arm 45 which are fixedly installed on both sides of the front frame 11 from the wide-narrow position and can be ejected and retracted; the rear clamping arm 42 comprises two symmetrically arranged movable clamping arms 45.

Further, the double-arm clamping mechanism 52 comprises a clamping motor 53, a screw 54, a positioning rotating shaft 55, a fixing plate 56, a movable clamping arm 45, a nut 57 and a connecting rod 59. The clamping motor 53 drives the screw 54 to rotate. The screw 54 is a bidirectional screw 541, and the two nuts 57 are respectively and symmetrically sleeved at two opposite ends of the bidirectional screw 541. The two nuts 57 are rotatably connected with a connecting rod 59, and the connecting rod 59 is rotatably connected with one end of the movable clamping arm 45. The middle part of the movable clamping arm 45 is provided with a positioning rotating shaft 55 near the connecting rod 59, and the movable clamping arm 45 can rotate around the positioning rotating shaft 55. The positioning 55 rotating shaft is fixedly connected with the frame 1 through a fixing plate 56. When the clamping motor 53 is started, the bidirectional screw rod 541 is driven to rotate clockwise or anticlockwise, and the two nuts 57 are driven to move in opposite directions or in opposite directions along the bidirectional screw rod 541; under the driving of the connecting rod 59 and the fixed rotation of the positioning rotating shaft 55, the movable clamping arm 45 is driven to rotate around the positioning rotating shaft 55. When the clamping arm 45 rotates to be completely retracted below the rack 1, the movable clamping arm is in a retracted state, and when the movable clamping arm 45 rotates to be perpendicular to the rack 1, the movable clamping arm is in an ejected state.

Further, the single-arm clamping mechanism 51 comprises a clamping motor 53, a screw 54, a positioning rotating shaft 55, a fixing plate 56, a movable clamping arm 45, a nut 57, a fixing seat 58 and a connecting rod 59. The clamping motor 53 drives the screw 54 to rotate. The nut 57 is sleeved on the screw rod 54. The screw 57 is rotatably connected with a connecting rod 59, and the connecting rod 59 is rotatably connected with one end of the movable clamping arm 45. The middle part of the movable clamping arm 45 is provided with a positioning rotating shaft 55 near the connecting rod 59, and the movable clamping arm 45 can rotate around the positioning rotating shaft 55. The rotating shaft of the positioning 55 is fixedly connected with the frame 1 through a fixing plate 56. When the clamping motor 53 is started, the screw rod 54 is driven to rotate clockwise or anticlockwise, and the screw nut 57 is driven to do linear motion along the screw rod 54; under the driving of the connecting rod 59 and the fixed rotation of the positioning rotating shaft 55, the movable clamping arm 45 is driven to rotate around the positioning rotating shaft 55. When the clamping arm 45 rotates to be fully retracted below the rack 1, the movable clamping arm is in a retracted state, and when the movable clamping arm 45 rotates to be perpendicular to the rack 1, the movable clamping arm is in an ejected state.

Further, the clamping motor 53 drives the screw 54 to rotate through the speed reducer 531.

Furthermore, the clamping motor 53 and the lead screw 54 are mounted on the frame 1 through a fixing seat 58.

Further, the steering device 6 includes a wheel 61, a hub 62, an axle 63, a cross roller bearing 64, a bevel gear set 65, and a steering motor 68. The wheel 61 is mounted on an axle 63, the axle 63 is fixedly mounted in a hub 62 by a fixing block 69, and the hub 62 is positioned in a central hole of an inner ring of a crossed roller bearing 64. The outer ring of the crossed roller bearing 64 is fixedly arranged on the frame 1. The bevel gear set 65 is a spiral bevel gear with spiral teeth, and includes a ring gear 651 horizontally disposed and a pinion 652 driven by a steering motor 68, the ring gear 651 and the pinion 652 are engaged with each other, and an angle between central axes of the ring gear 651 and the pinion 652 is 90 °. The inner ring of the cross roller bearing 64 and the inner side of the ring gear 651 are fixedly connected to the hub 62, respectively. The steering motor 68 is activated to rotate the pinion 652 clockwise or counterclockwise through the reduction gear 67, the pinion 652 rotates the ring gear 651, the hub 62, the axle 62, the wheel 61, and the inner ring portion of the cross roller bearing 64 are rotated by the pinion 652, and the outer ring portion of the cross roller bearing 54 is not rotated, so that the forward direction of the wheel 51 is changed (i.e., the wheel 51 is steered).

Further, the steering motor 68 drives the pinion 652 through the steering reducer 67.

Further, the steering motor 68 is mounted on the steering motor mount 66.

Further, the towed parking clamp robot further includes:

the laser obstacle avoidance navigation device is positioned at the most front part of the front rack 11 and is used for obstacle avoidance and navigation of the parking robot;

and the power supply is used for supplying power to each structure of the parking robot.

The initial state of the dragging type clamping parking robot is that the telescopic mechanism is contracted to the shortest state, and the movable clamping arm is in a retracting state. When the vehicle is lifted, the active walking device and the steering device are controlled to be inserted into the lower part of the vehicle from the front or the rear of the vehicle, and when the fixed clamping arm touches the wheel, the insertion action is not carried out any more, and the extension mechanism is controlled to extend; and controlling the clamping arm clamping mechanism to pop up the movable clamping arm, and pressing the wheel to enable the wheel to be pressed onto the clamping arm, so that the tires of the vehicle are all separated from the ground, and finishing the action of lifting the vehicle. When the vehicle is put down, the clamping arm clamping mechanism is controlled to retract the movable clamping arm so that the tire of the vehicle falls on the ground; controlling the telescopic mechanism to contract to the shortest state, and controlling the active walking device and the steering device to leave from the front or the rear of the vehicle.

The utility model discloses following beneficial effect has:

1. the robot adopts the front fork truck and the rear fork truck of the automobile, and can be suitable for the existing parking lot or stereo garage which can only longitudinally enter the automobile;

2. the frame is telescopic, the clamping arm can be popped out and retracted, the device is suitable for most vehicles, and meanwhile, the occupied space in a non-working state is reduced;

3. the mode of extruding the tires to enable the vehicle to leave the ground is adopted, a lifting mechanism is not arranged, the cost is saved, and the height of the parking robot is reduced;

4. the vehicle does not need to be taken by means of an auxiliary tool, so that the time is more convenient and more saved, and the cost and the resource are more saved;

5. the gyro wheel that can roll is installed to the centre gripping arm, has reduced the frictional force of extrusion wheel in-process, has reduced the damage to the wheel promptly.

Drawings

Fig. 1 is a schematic structural view of a towed type clamping parking robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a dual-arm clamping mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a single-arm clamping mechanism according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a steering device in an embodiment of the present invention;

fig. 5 is a plan view of a steering device in an embodiment of the present invention;

the steering mechanism comprises a frame 1, a front frame 11, a rear frame 12, a driving traveling device 2, a steering wheel 21, a steering wheel mounting frame 22, a telescopic mechanism 3, a telescopic motor 31, a motor fixing frame 32, a telescopic lead screw 33, a lead screw nut 34, a cross guide rail 35, a clamping arm 4, a front clamping arm 41, a rear clamping arm 42, a roller 43, a fixed clamping arm 44, a movable clamping arm 45, a clamping arm clamping mechanism 5, a single-arm clamping mechanism 51, a double-arm clamping mechanism 52, a clamping motor 53, a speed reducer 531, a lead screw 54, a bidirectional lead screw 541, a positioning rotating shaft 55, a fixing plate 56, a nut 57, a fixing seat 58, a connecting rod 59, a steering device 6, a wheel 61, a wheel hub 62, a wheel shaft 63, a cross roller bearing 64, a bevel gear set 65, an annular gear 651, a pinion 652, a steering motor fixing frame 66, a steering motor 68, and a fixing block 69.

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 towed gripper parking robot, as shown in fig. 1, including:

the device comprises a rack 1, a front frame 11 and a rear frame 12, wherein the rack is integrally T-shaped, a telescopic mechanism 3 is arranged in the middle of the rack, the wider part of the two parts connected by the telescopic mechanism 3 is the front frame, and the narrower part of the two parts is the rear frame;

the driving walking device 2 is arranged on two sides in front of the front frame 11 and is used for supporting the frame 1 and driving the frame 1 to move;

the telescopic mechanism 3 is arranged in the middle of the rack 1 and used for adjusting the length of the rack 1 and adjusting the distance between the two groups of clamping arms;

a gripping arm 4 comprising a front gripping arm 41 located on the front frame 11 and a rear gripping arm 42 located on the rear frame 12, the distance between which is adjustable, for squeezing the tyre to urge the vehicle away from the ground; the distance between the two gripping arms 4 of the front gripping arm 41 and the rear gripping arm 42 is sufficient to disengage the wheel from the ground. The portion of the gripper arm 4 that contacts the tire is fitted with a roller 43. The roller 43 changes the sliding friction force into the rolling friction force, so that the force required for extruding the tire onto the clamping arm when the tire of the vehicle is extruded can be effectively reduced;

a steering device 6 installed at both sides of the rear frame 12 for supporting the frame 1 and steering;

the gripper arm clamping mechanism 5, located below the frame 1, includes a single arm gripper clamping mechanism 51 connected to the front gripper arm 41 and a double arm gripper clamping mechanism 52 connected to the rear gripper arm 42 for controlling the ejection and retraction of the gripper arms.

The active running gear 2 comprises two steering wheels 21, the steering wheels 21 are fixedly mounted at the foremost end of the frame 1 through a steering wheel mounting frame 22, and the steering wheel mounting frame 22 is located in the middle of the steering wheels 21. The driving of the steering wheel 21 can drive the parking robot to advance. The steering wheel mount 22 in the middle part makes the frame closer to the ground.

The telescopic mechanism 3 comprises a telescopic motor 31, a motor fixing frame 32, a telescopic lead screw 33, a lead screw nut 34 and a cross guide rail 35. The telescopic motor 31 is fixedly mounted on the front frame 11 through a motor fixing frame 32, and drives a telescopic lead screw 33 to rotate. The telescopic lead screw 33 passes through a hole in the rear frame 12 on the center line of the front frame 11. The rear frame 12 is fixedly connected with a lead screw nut 34, and the lead screw nut 34 is matched with a telescopic lead screw 33. A cross guide 35 is provided in a portion where the front frame 11 and the rear frame 12 are in sliding contact with each other, and is parallel to the telescopic screw 33. The telescopic motor 31 is used for providing power, the telescopic lead screw 33 and the lead screw nut 34 are used for power transmission, and the cross guide rail 35 is used for guiding and loading. When the telescopic motor 31 is started, the telescopic screw 33 is driven to rotate clockwise or counterclockwise, and the screw nut 34 is driven to make linear motion along the telescopic screw, that is, the rear rack 12 is driven to make linear motion along the cross guide rail 35, so that the length of the rack 1 and the distance between the front clamping arm 41 and the rear clamping arm 42 are adjusted.

The front clamping arm 41 comprises a fixed clamping arm 44 and a movable clamping arm 45, wherein the fixed clamping arm 44 and the movable clamping arm 45 can be ejected and retracted and are fixedly arranged on two sides of the width-narrowed position of the front frame 11; the rear clamping arm 42 comprises two symmetrically arranged movable clamping arms 45.

The double-arm clamping mechanism 52, as shown in fig. 2, includes a clamping motor 53, a screw 54, a positioning shaft 55, a fixing plate 56, a movable clamping arm 45, a nut 57 and a connecting rod 59. The clamping motor 53 drives the screw 54 to rotate. The screw 54 is a bidirectional screw 541, and the two nuts 57 are respectively and symmetrically sleeved at two opposite ends of the bidirectional screw 541. The two nuts 57 are rotatably connected with a connecting rod 59, and the connecting rod 59 is rotatably connected with one end of the movable clamping arm 45. The middle part of the movable clamping arm 45 is provided with a positioning rotating shaft 55 near the connecting rod 59, and the movable clamping arm 45 can rotate around the positioning rotating shaft 55. The positioning 55 rotating shaft is fixedly connected with the frame 1 through a fixing plate 56. When the clamping motor 53 is started, the bidirectional screw rod 541 is driven to rotate clockwise or anticlockwise, and the two nuts 57 are driven to move in opposite directions or in opposite directions along the bidirectional screw rod 541; under the driving of the connecting rod 59 and the fixed rotation of the positioning rotating shaft 55, the movable clamping arm 45 is driven to rotate around the positioning rotating shaft 55. When the clamping arm 45 rotates to be fully retracted below the rack 1, the movable clamping arm is in a retracted state, and when the movable clamping arm 45 rotates to be perpendicular to the rack 1, the movable clamping arm is in an ejected state.

The single-arm clamping mechanism 51, as shown in fig. 3, includes a clamping motor 53, a screw 54, a positioning shaft 55, a fixing plate 56, a movable clamping arm 45, a nut 57, a fixing seat 58 and a connecting rod 59. The clamping motor 53 drives the screw 54 to rotate. The nut 57 is sleeved on the screw rod 54. The screw 57 is rotatably connected with a connecting rod 59, and the connecting rod 59 is rotatably connected with one end of the movable clamping arm 45. A positioning rotating shaft 55 is arranged at the middle part of the movable clamping arm 45 close to the connecting rod 59, and the movable clamping arm 45 can rotate around the positioning rotating shaft 55. The positioning 55 rotating shaft is fixedly connected with the frame 1 through a fixing plate 56. When the clamping motor 53 is started, the screw rod 54 is driven to rotate clockwise or anticlockwise, and the nut 57 is driven to do linear motion along the screw rod 54; under the driving of the connecting rod 59 and the fixed rotation of the positioning rotating shaft 55, the movable clamping arm 45 is driven to rotate around the positioning rotating shaft 55. When the clamping arm 45 rotates to be fully retracted below the rack 1, the movable clamping arm is in a retracted state, and when the movable clamping arm 45 rotates to be perpendicular to the rack 1, the movable clamping arm is in an ejected state. The clamp motor 53 drives the screw 54 to rotate through the speed reducer 531. The clamping motor 53 and the screw rod 54 are installed on the frame 1 through a fixing seat 58.

The steering device 6, as shown in fig. 4 and 5, includes wheels 61, a hub 62, an axle 63, a cross roller bearing 64, a bevel gear set 65, and a steering motor 68. The wheel 61 is mounted on an axle 63, the axle 63 is fixedly mounted in a hub 62 by a fixing block 69, and the hub 62 is positioned in a central hole of an inner ring of a crossed roller bearing 64. The outer ring of the crossed roller bearing 64 is fixedly arranged on the frame 1. The bevel gear set 65 is a spiral bevel gear having a spiral curved tooth, and includes a ring gear 651 disposed horizontally and a pinion 652 driven by a steering motor 68, the ring gear 651 and the pinion 652 being engaged with each other with an angle of 90 ° between their central axes. The inner ring of the cross roller bearing 64 and the inner side of the ring gear 651 are fixedly connected to the hub 62, respectively. The steering motor 68 is activated to rotate the pinion 652 clockwise or counterclockwise through the speed reducer 67, and the pinion 652 rotates the ring gear 651, thereby rotating the inner ring portion of the hub 62, the axle 62, the wheel 61, and the cross roller bearing 64, and the outer ring portion of the cross roller bearing 54 does not rotate, so that the forward direction of the wheel 51 is changed (i.e., the wheel 51 is steered). The steering motor 68 drives a pinion 652 via a steering gear reducer 67. The steering motor 68 is mounted on the steering motor mount 66.

In this embodiment, the initial state of the towed clamping parking robot is the state in which the telescopic mechanism is contracted to the shortest, and the movable clamping arm is in the retracted state. When the vehicle is lifted, the active walking device and the steering device are controlled to be inserted into the lower part of the vehicle from the front or the rear of the vehicle, and when the fixed clamping arm touches the wheel, the insertion action is not carried out any more, and the extension mechanism is controlled to extend; and controlling the clamping arm clamping mechanism to pop up the movable clamping arm, and pressing the wheel to enable the wheel to be pressed onto the clamping arm, so that the tires of the vehicle are all separated from the ground, and finishing the action of lifting the vehicle. When the vehicle is put down, the clamping arm clamping mechanism is controlled to retract the movable clamping arm so that the tire of the vehicle falls on the ground; and controlling the telescopic mechanism to contract to the shortest state, and controlling the active walking device and the steering device to move away from the front or the rear of the vehicle.

The foregoing detailed description of the embodiments is provided for the purpose of illustrating the technical concept and structural features of the present invention, and is not intended to limit the scope of the present invention, which is defined by the claims and the accompanying drawings. 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 (10)

1. A towed grip parking robot, comprising:

the whole rack is T-shaped, the middle part of the rack is provided with a telescopic mechanism, the wider part of the two parts connected by the telescopic mechanism is a front rack, and the narrower part of the two parts connected by the telescopic mechanism is a rear rack;

the driving walking device is arranged on two sides in front of the front frame and is used for supporting the frame and driving the frame to move;

the telescopic mechanism is arranged in the middle of the rack and used for adjusting the length of the rack and adjusting the distance between the two groups of clamping arms;

the clamping arm comprises a front clamping arm positioned on the front frame and a rear clamping arm positioned on the rear frame, the distance between the front clamping arm and the rear clamping arm is adjustable, and the clamping arm is used for squeezing the tire to urge the vehicle to leave the ground; the distance between the two clamping arms of the front clamping arm and the rear clamping arm is enough to separate the wheel from the ground;

the steering device is arranged on two sides of the rear rack and used for supporting the rack and steering;

and the clamping arm clamping mechanism is positioned below the rack, comprises a single-arm clamping mechanism connected with the front clamping arm and a double-arm clamping mechanism connected with the rear clamping arm and is used for controlling the ejection and retraction of the clamping arms.

2. The towed trapped parking robot of claim 1 wherein said active locomotion means comprises two steering wheels fixedly mounted to the forward-most end of the frame by a steering wheel mount, and wherein the steering wheel mount is located in the middle of the steering wheels.

3. The towed gripper parking robot of claim 1, wherein said telescoping mechanism comprises a telescoping motor, a motor mount, a telescoping lead screw, a lead screw nut, a cross-track; the telescopic motor is fixedly arranged on the front frame through a motor fixing frame and drives the telescopic lead screw to rotate; the telescopic lead screw penetrates through a hole in the rear rack on the center line of the front rack; the rear rack is fixedly connected with a screw nut, and the screw nut is matched with a telescopic screw; the part of the front frame in sliding contact with the rear frame is provided with a cross guide rail which is parallel to the telescopic screw rod; the telescopic motor is used for providing power, the telescopic lead screw and the lead screw nut are used for driving the power, and the cross guide rail is used for guiding and loading.

4. The towed gripper parking robot according to claim 1, wherein said front gripper arms include a fixed gripper arm and a movable gripper arm that can be ejected and retracted, which are fixedly installed at both sides of a width-narrowed position of the front frame; the back clamping arm comprises two movable clamping arms which are symmetrically arranged.

5. The towed clamping parking robot as claimed in claim 4, wherein said double-arm clamping mechanism comprises a clamping motor, a screw, a positioning rotating shaft, a fixed plate, a movable clamping arm, a nut and a connecting rod; the clamping motor drives the screw rod to rotate; the screw rod is a bidirectional screw rod, and the two nuts are respectively and symmetrically sleeved at two ends of the bidirectional screw rod with opposite threads; the two nuts are rotatably connected with a connecting rod, and the connecting rod is rotatably connected with one end of the movable clamping arm; a positioning rotating shaft is arranged at the middle part of the movable clamping arm close to the connecting rod, and the movable clamping arm can rotate around the positioning rotating shaft; the positioning rotating shaft is fixedly connected with the rack through a fixing plate.

6. The towed clamping parking robot as claimed in claim 4, wherein said single-arm clamping mechanism includes a clamping motor, a screw rod, a positioning shaft, a fixing plate, a movable clamping arm, a nut, a fixing seat and a connecting rod; the clamping motor drives the screw rod to rotate; the screw nut is sleeved on the screw rod; the screw nut is rotatably connected with a connecting rod, and the connecting rod is rotatably connected with one end of the movable clamping arm; a positioning rotating shaft is arranged at the middle part of the movable clamping arm close to the connecting rod, and the movable clamping arm can rotate around the positioning rotating shaft; the positioning rotating shaft is fixedly connected with the rack through a fixing plate.

7. The towed gripper parking robot of claim 6, wherein said gripper motor drives a lead screw to rotate through a speed reducer; the clamping motor and the screw rod are installed on the rack through the fixing seat.

8. The towed gripper parking robot of claim 1, wherein said steering means comprises wheels, hubs, axles, cross roller bearings, bevel gear sets and steering motors; the wheel is arranged on a wheel shaft, the wheel shaft is fixedly arranged in a wheel hub through a fixing block, and the wheel hub is positioned in a central hole of the inner ring of the crossed roller bearing; the outer ring of the crossed roller bearing is fixedly arranged on the rack; the bevel gear set is a spiral bevel gear with spiral teeth and comprises a ring gear and a pinion, wherein the ring gear is horizontally arranged, the pinion is driven by a steering motor, the ring gear is matched with the pinion, and the included angle between the central axes of the ring gear and the pinion is 90 degrees; the inner ring of the crossed roller bearing and the inner side of the annular gear are fixedly connected with the hub respectively.

9. The towed gripper parking robot of claim 8, wherein said steering motor drives a pinion through a steering reducer; the steering motor is arranged on the steering motor fixing frame.

10. The towed gripper parking robot of claim 1, further comprising:

the laser obstacle avoidance navigation device is positioned at the forefront of the front frame and is used for obstacle avoidance and navigation of the parking robot;

and the power supply is used for supplying power to each structure of the parking robot.

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