WO2022052503A1

WO2022052503A1 - Inner forklift vehicle carrying robot capable of moving fork teeth simultaneously

Info

Publication number: WO2022052503A1
Application number: PCT/CN2021/094504
Authority: WO
Inventors: 贾宝华; 陈新建
Original assignee: 江苏小白兔智造科技有限公司
Priority date: 2020-09-11
Filing date: 2021-05-19
Publication date: 2022-03-17
Also published as: CN112079293A; CN112079293B

Abstract

An inner forklift vehicle carrying robot capable of moving fork teeth simultaneously and a parking method. Said robot comprises: a frame (100), the frame (100) being of an linear structure; an active walking device (140), the active walking device (140) being mounted on two ends of the frame (100) and being used for driving the frame (100) to move; a left fork tooth (200) and a right fork tooth (300) which have the same structure and are symmetrical, the left fork tooth (200) and the right fork tooth (300) being respectively mounted on the same side of the frame (100), and the distance between the two being adjustable; universal wheels (340), the universal wheels (340) being respectively mounted on the left fork tooth (200) and the right fork tooth (300), the universal wheel (340) comprising a wheel (341), a rotating body (344), a bevel gear set (345) and a motor (348), the bevel gear set (345) comprising an annular gear (3451) horizontally placed and a pinion (3452) driven by the motor (348), the wheel (341) being located in a central hole of the rotating body (344), an inner ring of the rotating body (344) and an inner side of the annular gear (3451) being fixedly connected to a wheel hub (342) respectively, so as to drive the motor (348) to drive bevel gear set (345) to drive the wheel (341) to actively steer. This robot occupies a small space, the fork teeth are provided with the universal wheels which are driven actively, the structure is simple, the load-bearing capacity is high, and the operation is stable.

Description

An inner fork vehicle handling robot that simultaneously moves the fork tines

technical field

The invention belongs to the technical field of vehicle handling robots, and relates to an automatic device used in parking lots for shipping vehicles to or from parking spaces, in particular to an inner fork vehicle handling robot that simultaneously moves forks.

Background technique

At present, the single-layer shipping robots in the parking lot basically adopt a four-grip structure, with one walking arm on the left and one on the right and two gripping arms in the middle. The movement of the arm realizes the transportation of the vehicle. This kind of mechanism needs to design a set of moving mechanism for each of the two clamping arms in the middle, which not only increases the complexity of the structure, but also increases the weight and manufacturing cost, and it is necessary to improve it.

At present, a two-claw vehicle handling robot has appeared, but the two fork tines of the robot are located at both ends of the frame, which still occupies a large space, and the motor on the frame is used to drive the steering wheel on the fork tines. The steering device has a complex structure, small load-bearing, and is easily damaged, resulting in unstable operation. At the same time, the structure of the fork teeth is simple, and it is not easy for the tire to climb on the fork teeth through the squeezing force, thereby lifting the vehicle.

SUMMARY OF THE INVENTION

In view of the above-mentioned technical problems in the prior art, the purpose of the present invention is to solve the problems of structural redundancy and high manufacturing cost in the existing four-grip vehicle handling robot, and the existing two-claw vehicle handling robot occupies a large space, which is The motor on the frame drives the fork tine steering wheel to be easily damaged, and the tires are difficult to climb to the fork tine through the squeezing force. Design an inner fork vehicle handling robot that moves the fork tine at the same time.

The technical scheme of the present invention is as follows:

The present invention provides an inner fork vehicle handling robot capable of simultaneously moving fork tines, the robot comprising:

a vehicle frame 100, the vehicle frame 100 has an inline structure;

an active traveling device 140, the active traveling device 140 is installed on both ends of the vehicle frame 100, and is used for driving the vehicle frame 100 to move;

A left fork 200 and a right fork 300 with the same symmetrical structure, the left fork 200 and the right fork 300 are respectively installed on the same side of the frame 100, and the distance between them is adjustable, so that the Lift the wheels off the ground in a disengaging motion;

A universal wheel 340, the universal wheel 340 is mounted on the left fork 200 and the right fork 300;

A vehicle wheelbase detection device 400, located on the side facing the vehicle, is used for detecting the position of the vehicle and the wheelbase of the vehicle, including a binocular camera 401 with a ranging function arranged vertically, and the binocular camera 401 is installed on the On the rotating shaft 402 perpendicular to the ground; the rotating shaft 402 can be driven by the servo motor 403 to rotate with the axis as the center of the circle.

Further, the universal wheel 340 includes a wheel 341, a rotating body 344, a bevel gear set 345 and a motor 348; the bevel gear set 345 includes a horizontally placed ring gear 3451 and a pinion 3452 driven by the motor 348; The wheel 341 is located in the central hole of the rotating body 344, and the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively fixedly connected with the hub 342 of the wheel 341, and the driving motor 348 drives the wheel 341 by driving the bevel gear set 345. Active steering to meet the driving requirements of vehicle handling robots;

The wheel 341 of the universal wheel 340 is installed on the wheel shaft 343, and the wheel shaft 343 is fixedly installed in the wheel hub 342 through the fixing member 349, the rotating body 344 is a crossed roller bearing, and the outer ring of the crossed roller bearing is Fixed on the left fork 200 or the right fork 300, the motor 348 drives the pinion 3452 through the reducer 7, and is installed on the motor fixing frame 346, and the motor fixing frame 346 is installed on the left fork 200 or the right fork On the tooth 300, the bevel spur gear set is a spiral bevel gear, and the angle between the central axis of the pinion gear 3452 and the central axis of the ring gear 3451 is 90°.

When the above-mentioned universal wheel 340 is in use, the outer ring of the rotating body 344 is fixedly installed on the base of the device. When the motor 348 is not started, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is started, and the motor 348 drives the pinion 3452 to rotate, and the pinion 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, and the rotating body 344 rotates by the angle α. Because the outer ring is fixed on the base of the device, it does not rotate. The range of the angle α is 0°≤α≤360°. Moreover, by adjusting the speed and running time of the motor 348, the size of α can be controlled at will, so as to achieve the purpose of rotating the rolling direction of the wheel in any direction.

Further, the position of the left fork 200 and the right fork 300 corresponding to the tires is provided with a hub limit seat 330, the wheel hub limit seat 330 is installed with a tire bracket 331; the roller hub of the left fork 200 is limited The seat 330 is located on its left side, and the roller hub limit seat 330 of the right fork 300 is located on its right side. When the vehicle is lifted off the ground, the left fork 200 and the right fork 300 move away from each other;

The tire carrier 331 includes a rolling assembly 332 , a fixed block 334 and a spring 335 . The rolling assembly 332 includes a rolling shaft sleeve 336, a roller shaft 337 and a shaft frame 338; the rolling shaft sleeve 336 is sleeved on the roller shaft 337, and the roller shafts 337 are arranged in two or more rows and are installed on the roller shaft. On the axle frame 338 ; the axle frame 338 includes a transverse support 3381 , two first longitudinal supports 3382 and one or more second longitudinal supports 3383 . The transverse support 3381 is located at the rear side of the rolling assembly 332; all the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other; the first longitudinal supports 3382 are two rotationally connected sheet-like structures, which are the first Side brackets 3384 and front brackets 3385, the second longitudinal brackets 3383 are two rotatably connected sheet structures, respectively a second rear bracket 3386 and a front bracket 3385; the first rear bracket 3384 is located in the rolling assembly 332 On the left and right sides, the second rear bracket 3386 is located in the middle of the rolling assembly 332 and is fixedly connected with the lateral bracket 3381 . The roller shaft 337 is installed between the two longitudinal brackets; the outer side of the first rear side bracket 3384 end of the first longitudinal bracket 3382 is fixedly installed with a first fixing block 3341, and the outer side of the front side bracket 3385 end is fixedly installed with the first fixing block 3341. Three fixing blocks 3343, a second fixing block 3342 is fixedly installed on the outer side of the front bracket 3385 close to the position of the rotating connection structure; one end of the sheet-like spring 335 is fixed on the first fixing block 3341 and passes through the second fixed block 3342 and third fixed block 3343;

The tire bracket 331 is fixedly connected to the wheel hub stopper 330 through the first rear bracket 3384. There is a height of ≥10mm between the upper surface of the tire bracket 331 and the upper surface of the left tine 200 or the right tine 300 Poor; the outermost row of rolling bushings 336 is a triangular spacer block 339 ; the lateral support 3382 is a block-like structure, and one or more of the bottoms of the first rear support 3384 and the second rear support 3386 are provided Lateral fixing brackets 333 .

Further, the roller hub stopper 330 of the left fork 200 is located on its left side, and the roller hub stopper 330 of the right fork 300 is located on its right side. When the vehicle is lifted off the ground, the left fork 200 and the right fork The teeth 300 move away from each other. When the vehicle is lifted off the ground, the left fork 200 and the right fork 300 are inserted between the two rows of wheels of the vehicle, and the left and

right fork

200 and 300 move away from each other to lift both rows of tires off the ground.

Further, the frame 100 is composed of a front plate 110 , a rear plate 120 and an intermediate connecting piece 130 . The intermediate connecting piece 130 is located in the middle of the frame 110 , and two sides of the intermediate connecting piece 130 are respectively fixed to the middle of the front plate 110 and the middle of the rear plate 120 . connect.

The present invention also provides a parking method for the inner fork vehicle handling robot based on the above-mentioned simultaneous movement of the fork tines, and the method includes the following contents:

After receiving the signal from the user that the vehicle is stored, the vehicle handling robot approaches the side of the vehicle;

Detect the distance between the vehicle handling robot and the vehicle, and adjust the position and posture of the vehicle handling robot until the vehicle handling robot is parallel to the vehicle and the distance from the vehicle is slightly larger than the lengths of the left and right fork tines;

Drive the vehicle handling robot to move in the direction of the vehicle until the distance between the vehicle handling robot and the vehicle is less than or equal to the predetermined handling distance;

Detecting the wheelbase of the vehicle, and moving the left and right fork tines toward the middle of the vehicle handling robot, until the difference between the wheelbase of the vehicle and the distance between the outer edges of the two fork tines is greater than or equal to a predetermined difference;

At the same time, move the left and right fork tines to the two ends of the vehicle handling robot respectively until the tire climbs onto the left and right fork tines under the action of the squeezing force;

Drive the vehicle handling robot to the parking space where the vehicle will be parked;

At the same time, move the left and right fork tines to the middle of the vehicle handling robot until the tire climbs down from the left and right fork tines;

Control the vehicle handling robot to leave the vehicle.

Further, the detection of the wheelbase of the vehicle includes:

S1: control the rotation of the rotating shaft 402, the binocular camera 401 respectively acquires the image with the center point of the front wheel or the rear wheel located at the horizontal center of the image, and obtains the distance l ₁ between the center point of the front wheel and the first camera lens when acquiring the front wheel image, The distance l ₂ between the center point of the rear wheel and the lens of the first camera when the rear wheel image is acquired, and the rotation angle α between the acquisition of the front wheel image and the acquisition of the rear wheel image; wherein, the camera above the binocular camera is the first camera, The camera below is the second camera;

S2: According to the law of cosines, the wheelbase L of the vehicle is calculated by the following formula:

Wherein, l ₀ is the distance between the first camera lens and the axis of the rotating shaft.

The present invention has the following beneficial effects:

1. The method is simple to operate, easy to control, and has a short handling time;

2. On the premise of ensuring the power and mechanical performance of the handling robot, the present invention saves the existing two forks used to clamp the tire, which not only simplifies the structure of the whole machine, but also improves its flexibility and greatly reduces the Cost of production.

3. The vehicle is lifted off the ground by inserting the fork tines into the inner side of the two rows of tires, which can shorten the length of the frame and further reduce the space occupied by the vehicle handling robot.

4. The drop-proof fork used for the vehicle handling robot utilizes the height difference between the wheel hub limit seat and the tire bracket installed in the wheel hub limit seat to hinder the possible sliding of the tire on the fork teeth. In order to achieve the purpose of preventing the vehicle from falling;

5. The four-wheel drive motion structure is adopted, especially the separate active drive universal wheel is used on the fork teeth. The universal wheel does not adopt the structure of chain, worm gear and worm, and has a simple structure, strong weighing and stable operation.

6. The tire carrier of the present invention can deflect to the ground to a certain extent after contacting the tire, reducing the force required for the tire to climb on the tire carrier, and can easily lift a heavier vehicle or a vehicle with a large difference in front and rear counterweights ;

7. The tire carrier designed by the present invention is an adaptive structure, and there is no need to design additional driving devices, saving energy and reducing costs;

8. Use a triangular pad with sharp corners to replace the outermost rolling bushing, which can be plugged into the gap between the tire and the ground, so that the tire can easily climb onto the tire bracket with the aid of the gentle slope formed by the sharp corner surface.

Description of drawings

1 is a three-dimensional structural diagram of a vehicle handling robot according to an embodiment of the present invention;

2 is a three-dimensional structural diagram of a vehicle handling robot fork tines according to an embodiment of the present invention;

3 is a perspective structural view of a tire bracket of a vehicle handling robot fork according to an embodiment of the present invention;

4 is a bottom view of another tire bracket of the vehicle handling robot fork according to an embodiment of the present invention;

5 is a schematic structural diagram of a universal wheel of a fork tine of a vehicle handling robot according to an embodiment of the present invention;

6 is a cross-sectional view of a universal wheel of a fork tine of a vehicle handling robot according to an embodiment of the present invention;

7 is a schematic structural diagram of a vehicle wheelbase detection device according to an embodiment of the present invention;

Among them, 100 is the frame, 110 is the front plate, 120 is the rear plate, 130 is the intermediate connecting piece, 140 is the active traveling device, 200 is the left fork, 300 is the right fork, 310 is the fork moving device, 311 is Moving motor, 312 is the L-shaped mounting plate, 313 is the first rail slider mechanism, 314 is the second rail slider mechanism, 315 is the rack, 330 is the hub limit seat, 331 is the tire bracket, 332 is the rolling assembly , 333 is a fixed bracket, 334 is a fixed block, 3341 is a first fixed block, 3342 is a second fixed block, 3343 is a third fixed block, 335 is a spring, 336 is a rolling bushing, 337 is a roller shaft, and 338 is a Axle bracket, 3381 is a transverse bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear bracket, 3385 is a front bracket, 3386 is a second rear bracket, 339 is a spacer, 340 It is a universal wheel, 341 is a wheel, 342 is a hub, 343 is an axle, 344 is a rotating body, 345 is a bevel gear set, 3451 is a ring gear, 3452 is a pinion, 346 is a motor fixing frame, 347 is a reducer, 348 is the motor, 349 is the fixed part, 400 is the vehicle wheelbase detection device, 401-bit binocular camera, 402-bit rotating shaft, 403-bit servo motor.

detailed description

In order to illustrate the technical solutions of the present invention more clearly, the following description will be made with reference to specific embodiments and accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention. For those of ordinary skill in the art, On the premise of no creative effort, other examples can also be obtained according to these embodiments.

Example 1

As shown in FIGS. 1-7 , this embodiment relates to an inner fork vehicle handling robot that simultaneously moves fork tines. As shown in FIG. 1 , the robot includes: a vehicle frame 100 , and the vehicle frame 100 has an inline structure; An active traveling device 140, the active traveling device 140 is installed on both ends of the frame 100, and is used to drive the frame 100 to move; a left fork 200 and a right fork 300 with the same structure, the left fork 200 and the right The fork tines 300 are respectively installed on the same side of the frame 100, and the distance between them is adjustable, so that after inserting the wheels, the wheels can be moved toward each other or moved away from each other to lift the wheels off the ground; a universal wheel 340, the universal The wheel 340 is installed on the left fork 200 and the right fork 300 to meet the driving requirements of the vehicle handling robot; a vehicle wheelbase detection device 400, located on the side facing the vehicle, is used to detect the position of the vehicle and the wheelbase of the vehicle, It includes a vertically arranged binocular camera 401 with ranging function, the binocular camera 401 is installed on a rotating shaft 402 perpendicular to the ground; the rotating shaft 402 can be driven by the servo motor 403 to rotate around the axis center.

A photoelectric sensor 400 is provided in the middle of the frame 100 on the same side as the left fork 200 and the right fork 300 for detecting parameters such as the position of the vehicle and the distance between the tires of the vehicle.

The left fork 200 and the right fork 300 are respectively provided with a wheel hub limit seat 330 at the position relative to the wheel. As shown in FIG. 2 , a tire bracket 331 is installed in the hub seat 330 .

As shown in FIGS. 3 and 4 , the tire carrier 331 includes a rolling assembly 332 , a fixed block 334 and a spring 335 . The rolling assembly 332 includes a rolling bushing 336 , a roller shaft 337 and a shaft bracket 338 . The rolling bushings 336 are sleeved on the roller shafts 337 , and the roller shafts 337 are arranged in two or more rows and are mounted on the axle frame 338 . The axle bracket 338 includes a transverse bracket 3381 , two first longitudinal brackets 3382 and one or more second longitudinal brackets 3383 . The lateral support 3381 is located on the rear side of the rolling assembly 332 . All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal supports 3382 are two rotatably connected sheet structures, which are a first rear support 3384 and a front support 3385, respectively, and the second longitudinal supports 3383 are two rotationally connected sheet structures, which are Second rear side bracket 3386 and front side bracket 3385. The first rear brackets 3384 are located on the left and right sides of the rolling assembly 332 , and the second rear brackets 3386 are located in the middle of the rolling assembly 332 , and are fixedly connected to the lateral brackets 3381 . The roller shaft 337 is mounted between the two longitudinal supports. A first fixing block 3341 is fixedly installed on the outer side of the first rear side support 3384 end of the first longitudinal support 3382, and a third fixing block 3343 is fixedly installed on the outer side of the front side support 3385 end, and the front side support 3385 is close to the rotating connection structure. A second fixing block 3342 is fixedly installed on the outer side of the position. One end of the plate-shaped spring 335 is fixed on the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343 . The tire carrier 331 is fixedly connected to the hub limiting seat 330 through the first rear bracket 3384 . The diameters of the rolling bushes 336 in all or two or more rows away from the transverse support 3381 gradually decrease as the distance from the transverse support 3381 increases. There is a height difference of ≥10 mm between the upper surface of the tire carrier 331 and the upper surface of the left tine 200 or the right tine 300 . The outermost row of rolling bushes 336 is a triangular spacer 339 . The lateral support 3382 is a block structure, and one or more lateral fixing supports 333 are provided at the bottoms of the first rear support 3384 and the second rear support 3386 . When the shown tire bracket 331 is in use, under the action of the squeezing force, the part of the tire bracket 331 close to the tire deflects to the ground direction to a certain extent (because the front side bracket and the rear side bracket are rotatably connected, the part close to the tire is rotatably connected. The front side bracket will be subjected to downward pressure, so that the front side bracket part is rotated downward by a certain angle); the tire climbs onto the tire bracket 331 under the action of the pressing force, and the deflection of the tire bracket 331 occurs under the action of the spring The lower part also recovers a part, so that the tire is off the ground and the vehicle is lifted.

The roller hub limit seat 330 of the left fork 200 is located on its left side, and the roller hub limit seat 330 of the right fork 300 is located on its right side. When the vehicle is lifted off the ground, the left fork 200 and the right fork 300 act together. separation movement. When the vehicle is lifted off the ground, the left fork 200 and the right fork 300 are inserted into the inner sides of the two rows of wheels of the vehicle, and the left and

right fork

The left fork 200 and the right fork 300 are connected with a fork moving device 310, and the distance between the left fork 200 and the right fork 300 can be adjusted through the fork moving device 310. The fork The tooth moving device 310 includes a moving motor 311 , an L-shaped mounting plate 312 , a first rail slider mechanism 313 , a second rail slider mechanism 314 and a rack 315 . The L-shaped mounting plate 312 is connected to the left fork 200 or the right fork 300 While connected, it is connected with the first rail slider mechanism 313 and the second rail slider mechanism 314. The first rail slider mechanism 313 and the second rail slider mechanism 314 are fixed on the frame 100; the moving motor 311 is installed on the L-shaped On the mounting plate 312, a driving gear is installed on the output shaft of the mobile motor 311. The driving gear meshes with the rack fixed on the frame 110. The mobile motor 311 drives the driving gear to rotate, and the driving gear meshes with the rack to drive the L-shaped Mounting plate 312 moves on frame 110 .

The frame 100 is composed of a front plate 110 , a rear plate 120 and a middle connecting piece 130 . The middle connecting piece 130 is located in the middle of the frame 110 , and two sides of the middle connecting piece 130 are fixedly connected to the middle of the front plate 110 and the middle of the rear plate 120 respectively.

As shown in FIG. 3 , the universal wheel 340 in this embodiment includes a wheel 341 , a wheel hub 342 , an axle 343 , a rotating body 344 , a bevel gear set 345 and a motor 348 . The wheel 341 is installed on the wheel shaft 343 , and the wheel shaft 343 is fixedly installed in the wheel hub 342 through the fixing member 349 . The bevel gear set 345 includes a horizontally positioned ring gear 3451 and a pinion gear 3452 driven by a motor 348 . The hub 342 is located in the central hole of the rotating body 344 , and the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively fixedly connected with the hub 342 of the wheel 341 . The rotating body 344 is a crossed roller bearing, and the outer ring of the crossed roller bearing is fixed on the left fork 200 or the right fork 300 . The motor 348 drives the pinion 3452 through the reducer 347 and is mounted on the motor fixing frame 346 . The motor fixing frame 346 is mounted on the left fork 200 or the right fork 300 . The bevel spur gear set is a spiral bevel gear. The included angle between the central axis of the pinion gear 3452 and the central axis of the ring gear 3451 is 90°.

When the above-mentioned universal wheel is used, the outer ring of the rotating body 4 is fixedly installed on the base of the equipment. When the motor 8 is not started, the inner ring and the outer ring of the rotating body 4 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 8 is started, and the motor 8 drives the pinion 3452 to rotate, and the pinion 3452 drives the ring gear 3451 to rotate by an angle α, the ring gear 3451 drives the inner ring of the rotating body 4 and the hub 2 to rotate by an angle α, and the rotating body 4 rotates by an angle α. Because the outer ring is fixed on the base of the device, it does not rotate. The range of the angle α is 0°≤α≤360°. Moreover, by adjusting the speed and running time of the motor 8, the size of α can be controlled at will, so as to achieve the purpose of rotating the rolling direction of the wheel in any direction.

The use method of this embodiment is as follows: when the vehicle handling robot receives the dispatching instruction from the control center, that is, arrives at the waiting parking area according to the navigation path, firstly adjusts the distance between the two forklift arms, and then slowly moves toward the vehicle until it is transported The vehicle completely enters the robot handling area. After that, the two forklift arms move relative to each other until the hub stopper on the forklift arm contacts the tire. The two forklift arms continue to work and gradually lift the tire. The two forklift arms stop moving. The vehicle can be towed.

The parking method of the vehicle handling robot specifically includes:

S1: After receiving the signal from the user that the vehicle is stored, the vehicle handling robot approaches the side of the vehicle;

S2: Detect the distance between the vehicle handling robot and the vehicle, and adjust the position and posture of the vehicle handling robot until the vehicle handling robot is parallel to the vehicle and the distance from the vehicle is slightly greater than the lengths of the left and right fork teeth;

S3: Drive the vehicle handling robot to move toward the vehicle until the distance between the vehicle handling robot and the vehicle is less than or equal to the predetermined handling distance;

S4: Detect the wheelbase of the vehicle, move the left fork and the right fork to the middle of the vehicle handling robot, and the difference between the wheelbase of the vehicle and the distance between the outer edges of the two forks is greater than or equal to a predetermined difference value;

S5: Move the left fork and the right fork to the two ends of the vehicle handling robot at the same time, until the tire climbs onto the left and right fork under the action of the squeezing force;

S6: Drive the vehicle handling robot to the parking space where the vehicle will be parked;

S7: Move the left and right prongs to the middle of the vehicle handling robot at the same time until the tire climbs down from the left and right prongs;

S8: Control the vehicle handling robot to leave the vehicle.

Wherein, in step S4, the detection of the wheelbase of the vehicle includes:

S4.1: Control the rotation of the rotating shaft 402, and the binocular camera 401 respectively obtains the image with the center point of the front wheel or the rear wheel at the horizontal center of the image, and obtains the distance l between the center point of the front wheel and the first camera lens when the image of the front wheel is obtained ₁ , the distance _l between the center point of the rear wheel and the first camera lens when the rear wheel image is obtained; Camera, the camera below is the second camera;

S4.2: According to the cosine law, the wheelbase L of the vehicle is calculated by the following formula:

The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.

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

Claims

An internal forklift vehicle handling robot capable of simultaneously moving fork tines, characterized in that the robot comprises:

a frame, the frame is in-line structure;

an active traveling device, which is installed on both ends of the frame to drive the frame to move;

A left fork tooth and a right fork tooth with the same symmetrical structure, the left fork tooth and the right fork tooth are respectively installed on the same side of the frame, and the distance between them is adjustable;

a swivel wheel mounted on the left and right fork tines;

A vehicle wheelbase detection device, located on the side facing the vehicle, used to detect the vehicle position and the wheelbase of the vehicle, including a binocular camera with a ranging function arranged vertically, the binocular camera is installed perpendicular to the ground on the rotating shaft; the rotating shaft can be rotated with the axis as the center of the circle under the drive of the servo motor.
The inner forklift vehicle handling robot that simultaneously moves the fork teeth according to claim 1, wherein the universal wheel comprises a wheel, a rotating body, a bevel gear set and a motor; the bevel gear set comprises a horizontally placed ring The wheel is located in the central hole of the rotating body, and the inner ring of the rotating body and the inner side of the ring gear are respectively fixedly connected to the wheel hub, and the drive motor drives the wheel to drive the wheel by driving the bevel gear set. Steering; the wheel of the universal wheel is mounted on the axle, and the axle is fixedly mounted in the hub through the fixing piece; the rotating body is a crossed roller bearing, and the outer ring of the crossed roller bearing is fixed on the left fork tooth Or on the right fork tooth, the motor drives the pinion through the reducer, and is installed on the motor fixing frame, the motor fixing frame is installed on the left fork tooth or the right fork tooth, and the bevel spur gear set is an arc tooth helix For the bevel gear, the included angle between the central axis of the pinion gear and the central axis of the ring gear is 90°.
The inner forklift vehicle handling robot capable of simultaneously moving the tines according to claim 1, wherein the left tines and the right tines are respectively installed with a hub limit seat at the relative positions of the wheels, and the hub limit seat is inside the fork limit seat. A tire bracket is installed; the roller hub limit seat of the left fork is located on its left side, and the roller hub limit seat of the right fork is located on its right side. When the vehicle is lifted off the ground, the left and right fork teeth act as separation movement

the tire carrier includes a rolling assembly, a fixed block and a spring;

The rolling assembly includes a rolling bushing, a roller shaft and a shaft frame, the rolling shaft bushing is sleeved on the roller shaft, and the roller shafts are arranged in two or more rows and are mounted on the shaft frame;

The axle bracket includes a transverse bracket, two first longitudinal brackets and one or more second longitudinal brackets; the transverse brackets are located on the rear side of the rolling assembly; all the first longitudinal brackets and the second longitudinal brackets are parallel to each other; The first longitudinal support is two rotatably connected sheet structures, which are a first rear support and a front support respectively, and the second longitudinal support is two rotating connected sheet structures, respectively a second rear support and front side brackets; the first rear side brackets are located on the left and right sides of the rolling assembly, and the second rear side brackets are located in the middle of the rolling assembly, and both are fixedly connected with the transverse brackets; the roller shaft is installed between the two longitudinal brackets ;

The outer side of the first rear side bracket end of the first longitudinal bracket is fixedly installed with a first fixing block, the outer side of the front side bracket end is fixedly installed with a third fixing block, and the outer side of the front side bracket near the position of the rotating connection structure is fixedly installed with a a second fixing block; one end of the sheet-like spring is fixed on the first fixing block and passes through the second fixing block and the third fixing block;

The tire bracket is fixedly connected to the hub limit seat through the first rear bracket; there is a height difference of ≥10mm between the upper surface of the tire bracket and the upper surface of the left or right fork; the outermost The row of rolling bushings is a triangular spacer block; the transverse support is a block structure, and one or more transverse fixed supports are arranged at the bottoms of the first rear support and the second rear support.
The inner forklift vehicle handling robot that simultaneously moves the forks according to claim 1, wherein the frame is composed of a front plate, a rear plate and an intermediate connecting piece, and the intermediate connecting piece is located in the middle of the frame, and its The two sides are respectively fixedly connected with the front panel and the middle of the rear panel.
A parking method for an inner forklift vehicle handling robot based on the simultaneous movement of the fork tines according to any one of claims 1 to 4, characterized in that:

The method includes the following:

After receiving the signal from the user that the vehicle is stored, the vehicle handling robot approaches the side of the vehicle;

Detect the distance between the vehicle handling robot and the vehicle, and adjust the position and posture of the vehicle handling robot until the vehicle handling robot is parallel to the vehicle and the distance from the vehicle is slightly larger than the lengths of the left and right fork tines;

Drive the vehicle handling robot to move in the direction of the vehicle until the distance between the vehicle handling robot and the vehicle is less than or equal to the predetermined handling distance;

Detecting the wheelbase of the vehicle, and moving the left and right fork tines toward the middle of the vehicle handling robot, until the difference between the wheelbase of the vehicle and the distance between the outer edges of the two fork tines is greater than or equal to a predetermined difference;

At the same time, move the left and right fork tines to the two ends of the vehicle handling robot respectively until the tire climbs onto the left and right fork tines under the action of the squeezing force;

Drive the vehicle handling robot to the parking space where the vehicle will be parked;

At the same time, move the left and right fork tines to the middle of the vehicle handling robot until the tire climbs down from the left and right fork tines;

Control the vehicle handling robot to leave the vehicle.
The parking method according to claim 5, wherein the detecting the wheelbase of the vehicle comprises:

S1: control the rotation of the rotating shaft 402, the binocular camera 401 respectively acquires the image with the center point of the front wheel or the rear wheel located at the horizontal center of the image, and obtains the distance l 1 between the center point of the front wheel and the first camera lens when acquiring the front wheel image, The distance l 2 between the center point of the rear wheel and the lens of the first camera when the rear wheel image is acquired, and the rotation angle α between the acquisition of the front wheel image and the acquisition of the rear wheel image; wherein, the camera above the binocular camera is the first camera, The camera below is the second camera;

S2: According to the law of cosines, the wheelbase L of the vehicle is calculated by the following formula:

Wherein, l 0 is the distance between the first camera lens and the axis of the rotating shaft.