CN109339541A - Omnidirectional-movement automobile carrying robot and control method thereof - Google Patents
Omnidirectional-movement automobile carrying robot and control method thereof Download PDFInfo
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- CN109339541A CN109339541A CN201811396254.4A CN201811396254A CN109339541A CN 109339541 A CN109339541 A CN 109339541A CN 201811396254 A CN201811396254 A CN 201811396254A CN 109339541 A CN109339541 A CN 109339541A
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- mechanical arm
- mainframe
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- bearing
- car carrying
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an omnidirectional moving automobile transfer robot and a control method thereof, wherein the automobile transfer robot comprises a main frame, clamping units are symmetrically arranged on two sides of the main frame, and each clamping unit comprises a front clamping arm and a rear clamping arm; the front clamping arm comprises a front mechanical arm body, a rotating shaft seat, a steering push rod, a screw rod nut seat assembly, a power-off brake, a reduction gear set, a mechanical arm closing inductive switch and a mechanical arm opening inductive switch; the rear clamping arm comprises a planetary reducer, a coupler, a lead screw nut, a guide rail slide block assembly, a driving seat, a driving push rod, a rear mechanical arm body, a mechanical arm rotary shaft seat and a mechanical arm rotary locking mechanism; the automobile transfer robot can complete the lifting and moving of the vehicle without building special platform structures in the cross-connection area and the parking area, thereby achieving the highest space utilization rate; when two robots work in coordination to clamp the vehicle, different clamping modes can be adopted, and the robot can adapt to different occasions.
Description
Technical field
The invention belongs to the car carrying robots and its control of robotic technology field more particularly to a kind of omnidirectional moving
Method.
Background technique
With social high speed development, automobile is more more and more universal, but the following parking problem has become major, middle city
Problem.In order to solve the problem of existing storage parking lot and car parking area parking difficulty low efficiency, intelligent parking robot
Using more and more common.Transport Vehicle intelligent robot mainly has with vehicle-carrying plate at present, comb teeth, several forms of track.It is existing
Have in technology, the board-like robot of carrier vehicle will head on always vehicle-carrying plate, be minimum in space utilization rate and conevying efficiency.Comb teeth
Formula robot needs to build special landing, and vehicle is lifted, then carries out lifting delivery, thereby results in space utilization rate less
It is economical.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of omnidirectional moving car carrying robot and
Its control method, cancels and builds special landing, and robot can be directly entered vehicle bottom and carry out vehicle conveying.
The purpose of the present invention is achieved through the following technical solutions: a kind of car carrying robot of omnidirectional moving,
Including mainframe, the two sides of mainframe are arranged symmetrically catching unit, and each catching unit includes preceding gripping arm and rear gripping arm；
The preceding gripping arm includes front mechanical arm ontology, rotating shaft base, turns to push rod, feed screw nut seat assembly, power loss system
Dynamic device, train of reduction gears, mechanical arm closure inductive switch, mechanical arm open inductive switch and the first driving motor；Described first
The output shaft of driving motor and the input terminal axis hole key of train of reduction gears are cooperatively connected；The output end axis hole of the train of reduction gears
It is cooperatively connected with screw rod one end key of feed screw nut seat assembly；The lead screw other end and power loss of the feed screw nut seat assembly are braked
The axis hole key of device is cooperatively connected；Described steering push rod one end is connect with the nut seat of feed screw nut seat assembly, the other end and preceding machine
The connection of tool arm body；The front mechanical arm ontology is fixed on rotating shaft base；Mechanical arm is closed inductive switch and mechanical arm is opened
Inductive switch is assemblied on mainframe；
Gripping arm includes that the second driving motor, planetary reducer, shaft coupling, feed screw nut and guide rail slide block are total after described
At, drive seat, driving push rod, rear mechanical arm body, robot axis seat and mechanical arm rotary locking mechanism；Described second drives
Dynamic motor is fixed on mainframe after connecting with planetary reducer；Described shaft coupling one end connects planetary reducer, and the other end connects
Connect the lead screw of feed screw nut and guide rail slide block assembly；The lead screw of the feed screw nut and guide rail slide block assembly is fixed on by bearing
On mainframe；The guide rail of the feed screw nut and guide rail slide block assembly is fixed on mainframe；The feed screw nut and guide rail slide block
The nut seat of assembly is connect with drive seat；The drive seat and driving push rod pass through rotation pin connection；Driving push rod and rear machinery
Shaft connection on arm body；Mechanical arm body is fixed on robot axis seat after described；Mechanical arm rotary locking mechanism
It is fixed on mainframe；
Drive system is set on the mainframe, and the drive system includes Mecanum wheel, third driving motor, slows down
The output axis connection Mike of device and draft hitch, the output axis connection retarder of the third driving motor, the retarder receives
Nurse wheel, the retarder are connected on mainframe by draft hitch.
Further, it is mounted on groups of heavy-duty universal wheel in the preceding gripping arm and rear gripping arm, in carrier vehicle process
In only by mechanical arm bearing automobile weight, mechanical arm and mainframe are flexibly connected, to protect driving wheel pressure not by carrier vehicle shadow
It rings, extends the driving wheel service life.
Further, the preceding gripping arm further includes limit switch sensor block, and the limit switch sensor block is mounted on silk
On the nut seat of thick stick nut seat assembly, when front mechanical arm ontology fully opens, limit switch sensor block position and mechanical arm are opened
Inductive switch position is corresponding, opens inductive switch, when front mechanical arm ontology is closed completely, limit switch for Crush trigger arm
Sensor block position is corresponding with mechanical arm closure inductive switch position, is closed inductive switch for Crush trigger arm.
Further, after the rear mechanical arm body is deployed into set angle, the lock of the mechanical arm rotary locking mechanism
Pin can push back mainframe by rear mechanical arm body, so that mechanical arm body unlocks after realizing, mechanical arm body exists after realizing afterwards
It is clamped under opening state.
Further, there is stop post in the rear mechanical arm body, being provided with stop post on the mainframe can pass through
Groove, it is described after mechanical arm body when fully opening, the stop post is entered inside mainframe by the groove on mainframe.
Further, the front mechanical arm ontology and rear mechanical arm body include rack link block, bearing-type mechanical arm,
Carrying axle, slider roller；The rack link block includes installation block main body and two sliding bearings with flange face, the installation
Block main body has the first fixing piece with axis hole, and tool is fixed there are two second with axis hole on the end face of the bearing-type mechanical arm
Part, the first fixing piece both ends installation the sliding bearing with flange face after respectively with two the second fixing piece nested encryptions；Pin shaft
Across the first fixing piece, the second fixing piece, with the sliding bearing of flange face, rack link block and bearing-type mechanical arm are connected as
One；The bearing-type mechanical arm has several reinforcing ribs, installs slider roller between adjacent reinforcing rib；The slider roller
Two sides inside be sequentially loaded into sliding bearing and damping spring；The carrying axle passes through sliding bearing and reinforcing rib, is fixed on and holds
On load formula mechanical arm；Buffer cell is arranged on the end face connecting with rack link block in the bearing-type mechanical arm.
Further, which further includes sension unit, computing system and electrical control system, the sense
Know cell distribution around complete machine, including ultrasonic module, vision module, laser module, TOF, IMU, UWB, GPS, the calculating
System is used to handle the data of sension unit acquisition, obtains surrounding enviroment information and the location information of itself, identifies and perceives
Object content, does path planning and navigation, sends control instruction to electrical control system；The electrical control system includes motor
Control system and power-supply management system；The control instruction that the electric machine control system is sent according to computing system drives gripping arm
It is moved with complete machine.
A kind of control method of car carrying robot, using two car carrying machine person cooperative works, each automobile
Transfer robot is by being unfolded and locking preceding gripping arm, and rear gripping arm is mobile to preceding gripping arm after being unfolded and locking, and clamping develops simultaneously
Wheel is risen, Liang Ge car carrying robot clamps the front wheels and rear wheels of vehicle respectively, by changing Liang Ge car carrying robot
Distance and front and back posture, realize the automobile for clamping different wheelbases.
The beneficial effects of the present invention are: car carrying robot of the present invention be not necessarily to build in cross-connecting area and parking area it is special
Platform structure can complete lifting and moving for vehicle, to reach highest space utilization rate；Work is cooperateed in Liang Ge robot
When making clamping vehicle, different clamping modes can be used, be adapted to different occasions.The folder of car carrying robot of the present invention
Take arm locking structure intensity high, the simple reliable operation of structure.
Detailed description of the invention
Fig. 1 is car carrying robot of the present invention overall structure diagram；
Fig. 2 is that car carrying robot of the present invention gripping arm opens schematic diagram；
Fig. 3 is preceding clamping arm configuration schematic diagram；
Fig. 4 is rear gripping arm structural schematic diagram；
Fig. 5 is driving system structure schematic diagram；
Fig. 6 is mounting blocks main body schematic diagram；
Fig. 7 is bearing-type mechanical arm schematic diagram；
Fig. 8 is bearing-type mechanical arm local section A-A；
In figure, mainframe 1, front mechanical arm ontology 21, rotating shaft base 22, turns to push rod 23, feed screw nut at preceding gripping arm 2
Seat assembly 24, electricity loss brake 25, train of reduction gears 26, mechanical arm are closed inductive switch 27, mechanical arm opens inductive switch 28,
First driving motor 29, rear gripping arm 3, the second driving motor 31, planetary reducer 32, shaft coupling 33, feed screw nut and guide rail
Sliding block assembly 34, drive seat 35, driving push rod 36, rear mechanical arm body 37, robot axis seat 38, mechanical arm spin locking
Mechanism 39, heavy-duty universal wheel 4, vision module 5, drive system 6, Mecanum wheel 61, third driving motor 62, retarder 63,
Draft hitch 64, laser module 7, battery pack 8, bearing-type mechanical arm 10, carrying axle 11, slider roller 12, sliding bearing 13, resistance
Buddhist nun's spring 14, buffer cell 15.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figs 1-4, the car carrying robot of a kind of omnidirectional moving provided by the invention, including mainframe 1, host
The two sides of frame 1 are arranged symmetrically catching unit, and each catching unit includes preceding gripping arm 2 and rear gripping arm 3；
The preceding gripping arm 2 includes front mechanical arm ontology 21, rotating shaft base 22, turns to push rod 23, feed screw nut seat assembly
24, electricity loss brake 25, train of reduction gears 26, mechanical arm closure inductive switch 27, mechanical arm are opened inductive switch 28, first and are driven
Dynamic motor 29；The output shaft of first driving motor 29 and the input terminal axis hole key of train of reduction gears 26 are cooperatively connected；It is described
The output end axis hole of train of reduction gears 26 and screw rod one end key of feed screw nut seat assembly 24 are cooperatively connected；The feed screw nut seat
The lead screw other end of assembly 24 and the axis hole key of electricity loss brake 25 are cooperatively connected；Described 23 one end of steering push rod and feed screw nut
The nut seat of seat assembly 24 connects, and the other end is connect with front mechanical arm ontology 21；The front mechanical arm ontology 21 is fixed on rotation
On axle bed 22；Mechanical arm closure inductive switch 27 and mechanical arm are opened inductive switch 28 and are assemblied on mainframe 1；
Gripping arm 3 includes the second driving motor 31, planetary reducer 32, shaft coupling 33, feed screw nut and guide rail after described
Sliding block assembly 34, drive seat 35, driving push rod 36, rear mechanical arm body 37, robot axis seat 38, mechanical arm spin locking
Mechanism 39；Second driving motor 31 is fixed on mainframe 1 after being spirally connected with 32 bolt of planetary reducer；The shaft coupling
33 one end connect planetary reducer 32, and the other end connects the lead screw of feed screw nut and guide rail slide block assembly 34；The feed screw nut
And the lead screw of guide rail slide block assembly 34 is fixed on mainframe 1 by bearing；The feed screw nut and guide rail slide block assembly 34
Guide rail is bolted on mainframe 1；The nut seat of the feed screw nut and guide rail slide block assembly 34 and 35 bolt of drive seat
Connection；The drive seat 35 passes through rotation pin connection with driving push rod 36；Turn in driving push rod 36 and rear mechanical arm body 37
Axis connection；Mechanical arm body 37 is fixed on robot axis seat 38 after described；The mechanical arm rotary locking mechanism 39 is solid
It is scheduled on mainframe 1；
Drive system 6 is set on the mainframe 1, and the drive system 6 includes Mecanum wheel 61, third driving motor
62, retarder 63 and draft hitch 64, the output axis connection retarder 63 of the third driving motor 62, the retarder 63
Axis connection Mecanum wheel 61 is exported, the retarder 63 is connected on mainframe 1 by draft hitch 64.Using Mecanum
Wheel 61 is driving unit, and the movement that single machine/two-shipper/multimachine back-and-forth motion, transverse shifting, rotates in place, turns may be implemented,
In narrow space, by vehicle shift-in, remove.
Drive system 6 is arranged on the mainframe 1, there is also other two kinds of forms: the first form is using small-sized heavy
Spider gear is carried to be driven；Another form is that the heavily loaded driving wheel of included turning function is driven.
One car carrying robot can clamp two front-wheels or two rear-wheels of vehicle, and two car carrying machines are artificial
One group, it can be achieved that clamp a vehicle, and be moved to designated position.
Further, it is mounted on groups of heavy-duty universal wheel 4 in the preceding gripping arm 2 and rear gripping arm 3, in carrier vehicle mistake
It is only flexibly connected by mechanical arm bearing automobile weight, mechanical arm and mainframe 1 in journey, to protect driving wheel pressure not by carrier vehicle
It influences, extends the driving wheel service life.
Further, the preceding gripping arm 2 further includes limit switch sensor block, and the limit switch sensor block is mounted on silk
On the nut seat of thick stick nut seat assembly 24, when front mechanical arm ontology 21 fully opens, limit switch sensor block position and mechanical arm
It is corresponding to open 28 position of inductive switch, opens inductive switch 28 for Crush trigger arm, front mechanical arm ontology 21 is closed completely
When, limit switch sensor block position is corresponding with mechanical arm closure 27 position of inductive switch, for the closure induction of Crush trigger arm
Switch 27
Further, after the rear mechanical arm body 37 is deployed into set angle, the lock of mechanical arm rotary locking mechanism 39
Pin can be pushed back by the structure in rear mechanical arm body 37, so that mechanical arm body 37 unlocks after realizing, mechanical arm after realizing afterwards
Ontology 37 is clamped in the on-state.
Further, there is stop post in the rear mechanical arm body 37, being provided with stop post on the mainframe 1 can wear
The groove crossed, when the rear mechanical arm body 37 fully opens, the stop post enters mainframe by the groove on mainframe 1
Inside 1.
Further, as shown in figs 6-8, the front mechanical arm ontology 21 includes that rack connects with rear mechanical arm body 37
Block, bearing-type mechanical arm 10, carrying axle 11, slider roller 12；The rack link block includes installation block main body 9 and two band methods
The sliding bearing in blue face, the installation block main body 9 have the first fixing piece with axis hole, the end face of the bearing-type mechanical arm 10
Upper tool is there are two the second fixing piece with axis hole, respectively with two after sliding bearing of the both ends installation with flange face of the first fixing piece
A second fixing piece nested encryptions；Pin shaft passes through the first fixing piece, the second fixing piece, the sliding bearing with flange face, by rack
Link block and bearing-type mechanical arm 10 are connected as one；The bearing-type mechanical arm 10 has several reinforcing ribs, adjacent reinforcement
Slider roller 12 is installed between muscle；Sliding bearing 13 and damping spring 14 are sequentially loaded into inside the two sides of the slider roller 12；
The carrying axle 11 passes through sliding bearing 13 and reinforcing rib, is fixed on bearing-type mechanical arm 10；The bearing-type mechanical arm 10
Buffer cell 15 is set on the end face connecting with rack link block.Sliding bearing is packed into inside slider roller two sides, so that folder
Tire and idler wheel are rolling friction when taking tire, and frictional resistance is small, increase service life and reduce clamping power.Slider roller two
Damping spring is housed inside side so that in slider roller rotation process will not with bearing-type mechanical arm friction, to enhance sliding
Idler wheel service life；In the motion process of mechanical arm carrier vehicle, damping spring can be absorbed vehicle right and left vibration and transport to robot
Dynamic influence.Bearing-type mechanical arm is connected by pivot pin with rack link block；Bearing-type mechanical arm and rack link block match
The face of conjunction is equipped with buffer cell, so that bearing-type mechanical arm and robot body are to be flexibly connected, in vertical direction
Gravity is independently undertaken by mechanical arm.
Further, which further includes sension unit, computing system and electrical control system, the sense
Know cell distribution around complete machine, including ultrasonic module, vision module 5, laser module 7, TOF, IMU, UWB, GPS, the meter
Calculation system is used to handle the data of sension unit acquisition, obtains surrounding enviroment information and the location information of itself, identification perceive
Object content, do path planning and navigation, to electrical control system send control instruction；The electrical control system includes electricity
Machine control system and power-supply management system；The control instruction that the electric machine control system is sent according to computing system, driving clamping
Arm and complete machine movement；The power-supply management system is powered by battery pack 8.
The control method of car carrying robot of the present invention includes: using two car carrying machine person cooperative works, often
A car carrying robot is by being unfolded and locking preceding gripping arm, and rear gripping arm is mobile to preceding gripping arm after being unfolded and locking, folder
Tightly and wheel is lifted, Liang Ge car carrying robot clamps the front wheels and rear wheels of vehicle respectively, passes through and changes two car carryings
The distance and front and back posture of robot realize the automobile for clamping different wheelbases.
The present invention is not only limited to above-mentioned specific embodiment, and persons skilled in the art are disclosed interior according to the present invention
Hold, the present invention can be implemented using other a variety of specific embodiments.Therefore, all using design structure and think of of the invention
Road does the design of some simple variations or change, both falls within the scope of the present invention.
Claims (8)
1. a kind of car carrying robot of omnidirectional moving, which is characterized in that including mainframe (1), the two sides pair of mainframe (1)
Claim arrangement catching unit, each catching unit includes preceding gripping arm (2) and rear gripping arm (3)；
The preceding gripping arm (2) includes front mechanical arm ontology (21), rotating shaft base (22), turns to push rod (23), feed screw nut seat
Assembly (24), electricity loss brake (25), train of reduction gears (26), mechanical arm closure inductive switch (27), mechanical arm open induction
Switch (28) and the first driving motor (29)；The output shaft of first driving motor (29) and the input of train of reduction gears (26)
Axis hole key is held to be cooperatively connected；The output end axis hole of the train of reduction gears (26) and the screw rod one end of feed screw nut seat assembly (24)
Key is cooperatively connected；The lead screw other end of the feed screw nut seat assembly (24) and the axis hole key of electricity loss brake (25), which cooperate, to be connected
It connects；Described steering push rod (23) one end is connect with the nut seat of feed screw nut seat assembly (24), the other end and front mechanical arm ontology
(21) it connects；The front mechanical arm ontology (21) is fixed on rotating shaft base (22)；Mechanical arm is closed inductive switch (27) and machine
Tool arm is opened inductive switch (28) and is assemblied on mainframe (1)；
It is described after gripping arm (3) include the second driving motor (31), planetary reducer (32), shaft coupling (33), feed screw nut and
Guide rail slide block assembly (34), drive seat (35), driving push rod (36), rear mechanical arm body (37), robot axis seat (38)
With mechanical arm rotary locking mechanism (39)；Second driving motor (31) is fixed on host after connecting with planetary reducer (32)
On frame (1)；Described shaft coupling (33) one end connects planetary reducer (32), and the other end connects feed screw nut and guide rail slide block assembly
(34) lead screw；The lead screw of the feed screw nut and guide rail slide block assembly (34) is fixed on mainframe (1) by bearing；It is described
The guide rail of feed screw nut and guide rail slide block assembly (34) is fixed on mainframe (1)；The feed screw nut and guide rail slide block assembly
(34) nut seat is connect with drive seat (35)；The drive seat (35) and driving push rod (36) pass through rotation pin connection；Driving
Push rod (36) is connect with the shaft on rear mechanical arm body (37)；Mechanical arm body (37) is fixed on robot axis after described
On seat (38)；The mechanical arm rotary locking mechanism (39) is fixed on mainframe (1)；
Drive system (6) are set on the mainframe (1), the drive system (6) includes Mecanum wheel (61), third driving
Motor (62), retarder (63) and draft hitch (64), the output axis connection retarder (63) of the third driving motor (62),
The output axis connection Mecanum wheel (61) of the retarder (63), the retarder (63) are connected to by draft hitch (64)
On mainframe (1).
2. a kind of car carrying robot of omnidirectional moving according to claim 1, which is characterized in that the preceding gripping arm
(2) and in rear gripping arm (3) it is mounted on groups of heavy-duty universal wheel (4), only by mechanical arm bearing automobile during carrier vehicle
Weight, mechanical arm and mainframe (1) are flexibly connected, so that driving wheel pressure be protected not influenced by carrier vehicle, extend the driving wheel service life.
3. a kind of car carrying robot of omnidirectional moving according to claim 1, which is characterized in that the preceding gripping arm
It (2) further include limit switch sensor block, the limit switch sensor block is mounted on the nut seat of feed screw nut seat assembly (24),
When front mechanical arm ontology (21) fully opens, limit switch sensor block position is opposite with mechanical arm opening inductive switch (28) position
It answers, opens inductive switch (28) for Crush trigger arm, when front mechanical arm ontology (21) is closed completely, limit switch sensor block position
Set with mechanical arm closure inductive switch (27) position it is corresponding, for Crush trigger arm closure inductive switch (27).
4. a kind of car carrying robot of omnidirectional moving according to claim 1, which is characterized in that mechanical arm after described
After ontology (37) is deployed into set angle, the lock pin of the mechanical arm rotary locking mechanism (39) can be by rear mechanical arm body (37)
Mainframe (1) is pushed back, so that mechanical arm body (37) unlocks after realizing, mechanical arm body (37) is in opening state after realizing afterwards
Under clamped.
5. a kind of car carrying robot of omnidirectional moving according to claim 1, which is characterized in that mechanical arm after described
There is stop post on ontology (37), the groove that stop post can pass through, the rear mechanical arm body are provided on the mainframe (1)
(37) when fully opening, the stop post enters mainframe (1) inside by the groove on mainframe (1).
6. a kind of car carrying robot of omnidirectional moving according to claim 1, which is characterized in that the front mechanical arm
Ontology (21) and rear mechanical arm body (37) include rack link block, bearing-type mechanical arm (10), carrying axle (11), sliding rolling
It takes turns (12)；The rack link block includes installation block main body (9) and two sliding bearings with flange face, the installation block main body
(9) there is the first fixing piece with axis hole, tool is solid there are two second with axis hole on the end face of the bearing-type mechanical arm (10)
Determine part, after sliding bearing of the both ends installation with flange face of the first fixing piece respectively with two the second fixing piece nested encryptions；Pin
Axis passes through the first fixing piece, the second fixing piece, the sliding bearing with flange face, by rack link block and bearing-type mechanical arm (10)
It is connected as one；The bearing-type mechanical arm (10) has several reinforcing ribs, installs slider roller between adjacent reinforcing rib
(12)；Sliding bearing (13) and damping spring (14) are sequentially loaded into inside the two sides of the slider roller (12)；The carrying axle
(11) sliding bearing (13) and reinforcing rib are passed through, is fixed on bearing-type mechanical arm (10)；The bearing-type mechanical arm (10) exists
Buffer cell (15) are set on the end face connecting with rack link block.
7. a kind of car carrying robot of omnidirectional moving according to claim 1, which is characterized in that the car carrying machine
Device people further includes sension unit, computing system and electrical control system, and the sension unit is distributed in around complete machine, including ultrasound
Module, vision module (5), laser module (7), TOF, IMU, UWB, GPS, the computing system is for handling sension unit acquisition
Data, obtain surrounding enviroment information and the location information of itself, identify the object content perceived, do and path planning and lead
Boat sends control instruction to electrical control system；The electrical control system includes electric machine control system and power-supply management system；
The control instruction that the electric machine control system is sent according to computing system drives gripping arm and complete machine movement.
8. a kind of control method of any one of claim 1-7 car carrying robot characterized by comprising use
Two car carrying machine person cooperative works, each car carrying robot is by being unfolded and locking preceding gripping arm, rear gripping arm
It is mobile to preceding gripping arm after being unfolded and locking, wheel is clamped and lifts, before Liang Ge car carrying robot clamps vehicle respectively
Wheel and rear-wheel realize the automobile for clamping different wheelbases by changing the distance and front and back posture of Liang Ge car carrying robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811396254.4A CN109339541A (en) | 2018-11-22 | 2018-11-22 | Omnidirectional-movement automobile carrying robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811396254.4A CN109339541A (en) | 2018-11-22 | 2018-11-22 | Omnidirectional-movement automobile carrying robot and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN110497892A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Submersible automobile carrying robot and control method thereof |
| CN112324207A (en) * | 2020-10-23 | 2021-02-05 | 吴红光 | Novel clamping and taking vehicle carrying robot |
| CN112627610A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
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