CN112227795A - Intelligent vehicle moving robot - Google Patents
Intelligent vehicle moving robot Download PDFInfo
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- CN112227795A CN112227795A CN202011313489.XA CN202011313489A CN112227795A CN 112227795 A CN112227795 A CN 112227795A CN 202011313489 A CN202011313489 A CN 202011313489A CN 112227795 A CN112227795 A CN 112227795A
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- 230000007246 mechanism Effects 0.000 claims abstract description 94
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- 230000001681 protective effect Effects 0.000 claims description 10
- 230000004907 flux Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
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- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
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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
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
- B60S13/02—Turntables; Traversers
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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
- E04H6/422—Automatically operated car-parks
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Abstract
The invention discloses an intelligent car moving robot, which comprises a telescopic car body, a travelling mechanism, a supporting mechanism, an anti-collision mechanism, a control system and a power supply module, wherein the travelling mechanism, the supporting mechanism, the anti-collision mechanism, the control system and the power supply module are all arranged on the telescopic car body; the number of the supporting mechanisms is four, and the supporting mechanisms are fixed on the telescopic vehicle body; the supporting mechanism is used as a hoisting bracket of the moved vehicle and provides longitudinal support for the moved vehicle; the anti-collision mechanisms are arranged on the outer sides of four corners of the telescopic vehicle body and used for protecting the vehicle moving robot; the power supply module provides electric power support for the car moving robot; the control system is used for controlling the telescopic vehicle body, the travelling mechanism, the supporting mechanism and the anti-collision mechanism to perform corresponding actions. The intelligent vehicle moving robot can replace manual work to complete the function of transferring the position of the vehicle and the automation and the intellectualization of property and parking lot operation, can fundamentally reduce the labor intensity of workers, and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle moving, in particular to an intelligent vehicle moving robot.
Background
With the economic development of China, the living standard of people and the traffic trip are greatly developed, an airplane is used for carrying long-distance personnel transportation, a high-speed rail is mainly used for carrying medium-distance personnel transportation, and an automobile is used for carrying short-distance personnel transportation, so that the automobile which is carried by the short-distance personnel has the largest required quantity in terms of the trip habits of the people, the reserved quantity of private cars of China is close to 2 billion by statistics at the end of 2019, and the quantity of the future private cars can also be increased at a high speed with the continuous development of the economy of China.
Before intelligent vehicle moving robots are not introduced into parking lots and residential property, vehicles which are randomly parked and placed are moved to successively go through two stages: by towing and using a portable trailer; although the vehicles which are randomly parked and randomly placed can be handled through the trailer, the cost is high, the cost of the trailer is investigated about ten yuan per kilometer according to the market, so that a plurality of vehicle owners of the trailer refuse to pay the cost of the trailer, the high cost of the trailer can be paid only by community property and parking lot managers, along with the progress of the society and the development of scientific technology, the portable trailer device is born, although the tool is low in cost, the defects are obvious, more personnel are needed to move the vehicle, the vehicle is easy to be out of control in a place with a certain gradient to cause the scraping and the collision of the vehicle, and the use place is also greatly limited
Nowadays, the newly developed technology of the internet of things enables the society to enter a new era, artificial intelligence is one of the core technologies of the internet of things, and the development is more rapid. Therefore, the adoption of a more intelligent technology which is simple and easy to operate is an epoch development trend and is also an inevitable demand for the self development of the society.
Robotics is one of the most active research fields in the world today, and the development of robots represents the scientific and technological level of a country as a subject integrating multiple subjects such as machinery, electronics and control. The highly automated technology of robots enables it to replace humans to accomplish many work tasks. With the development of science and technology and society, the application of robots is not only applied to industrial fields such as industrial production and manufacturing, aerospace exploration and the like, but also gradually deepens into national economy and people's life, and brings great convenience to human life. The automatic intelligent technology of the robot is further improved, and many researches in the aspect are already carried out nowadays, for example, a positioning robot developed abroad can send the actions of children to mobile phones of parents through a radio frequency identification technology when the parents are not at the children, so that the parents can know the activities of the children in time, and the safety of the children is ensured. Related scientific researchers in the united states have newly developed a robot capable of helping the blind to guide shopping, wherein the robot is provided with a radio frequency identification device, information of related goods can be obtained through a reader-writer in an RFID system, and meanwhile, the robot is also provided with a laser range finder to help the blind to avoid obstacles, so that the blind can smoothly reach a destination of the needed goods to complete the shopping. Japanese scientists developed a shopping guide robot that can help customers to make purchases. In the shopping mall, the customer selects a desired shop in the shopping mall from the screen of the robot, and the robot reads the information in the ground path tag by using the card reader to guide the customer to the road and take the customer to the shop. Then the labels of the commodities in the store are read, and the information of the commodities in the store is provided for the customers. Therefore, the intelligent robot technology and the car moving technology are combined, the intelligent car moving robot is designed, a single person can move a car, parking lots and community properties are more intelligent, and people can be flexibly and conveniently served.
Disclosure of Invention
The invention aims to provide an intelligent vehicle moving robot which can replace manual work to complete the function of vehicle position transfer and the automation and intellectualization of property and parking lot operation, fundamentally reduce the labor intensity of workers and improve the working efficiency.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent vehicle moving robot comprises a telescopic vehicle body, a travelling mechanism, a supporting mechanism, an anti-collision mechanism, a control system and a power module, wherein the telescopic vehicle body is a chassis of the whole robot, and the travelling mechanism, the supporting mechanism, the anti-collision mechanism, the control system and the power module are all arranged on the telescopic vehicle body; the walking mechanism comprises four Mecanum wheels and four walking motors; wherein four Mecanum wheels are positioned at four corners of the telescopic vehicle body; the Mecanum wheels are connected to the tool frame of the telescopic vehicle body through rotating shafts and couplings; the walking motor is fixed on the I-shaped frame of the telescopic vehicle body; the walking motor is in transmission with a rotating shaft of the Mecanum wheel through a chain; the number of the supporting mechanisms is four, and the four supporting mechanisms are respectively fixed on the telescopic vehicle body; the supporting mechanism is used as a hoisting bracket of the moved vehicle and provides longitudinal support for the moved vehicle; the anti-collision mechanisms are arranged on the outer sides of four corners of the telescopic vehicle body and used for protecting the vehicle moving robot; the power supply module provides electric power support for the telescopic vehicle body, the travelling mechanism, the supporting mechanism, the anti-collision mechanism and the control system; the control system is used for controlling the telescopic vehicle body, the travelling mechanism, the supporting mechanism and the anti-collision mechanism to perform corresponding actions.
Further, the supporting mechanism comprises a supporting motor, a lead screw and an I-shaped supporting frame; the supporting motor is in transmission connection with one end of the lead screw through a coupler; the screw cap is arranged on the screw rod; the screw cap is in threaded connection with the screw rod; a push-pull rod is arranged on the screw cap; one end of the push-pull rod is fixed above the screw cap through a support; the other end of the push-pull rod is rotatably connected with the middle part of the I-shaped support frame.
Furthermore, one end of the I-shaped support frame is rotatably arranged on the fixed seat; the other end of the screw rod is rotatably connected with the middle part of the fixed seat; a protective bracket is further arranged below the I-shaped support frame and used for protecting the I-shaped support frame; the supporting motor and the fixing seat are respectively fixed on the telescopic vehicle body, so that the stability of the supporting mechanism is ensured.
Further, the telescopic vehicle body comprises two left and right telescopic frames and two front and rear telescopic frames; the left and right telescopic frames comprise two I-shaped frames, a push rod motor and a first connecting plate; the I-shaped frame is connected to the left end and the right end of the first connecting plate in a sliding mode through sliding plates; the push rod motor is positioned on the outer side of the first connecting plate; two ends of the push rod motor are respectively fixed on the two I-shaped frames; the front telescopic frame and the rear telescopic frame comprise a stepping motor, a screw rod, a second connecting plate and two frames, wherein the two frames are respectively connected to the left side and the right side of the second connecting plate in a sliding manner through sliding blocks; an output shaft of the stepping motor is connected with one end of the screw rod; the stepping motor and the screw are respectively fixed on the two frames through mounting seats; the frame is fixedly connected with the I-shaped frame.
Further, the anti-collision mechanism comprises four acoustic wave sensors and eight photoelectric switches; the acoustic wave sensor is mounted on one side of the telescopic vehicle body; two photoelectric switches are in one group, and every group is 90 contained angles and fixes four corner outsides of flexible automobile body.
Further, the anti-collision mechanism further comprises a magnetic conductance sensor, and when the vehicle moving robot walks on the magnetic track belt, the magnetic conductance sensor is used for sensing magnetic flux so as to guide the vehicle moving robot to travel according to a planned route.
Furthermore, a protective shell is arranged outside the anti-collision mechanism, and chamfering is carried out on the protective shell so as to reduce destructive force on an object caused by collision; a travel switch and a spring are arranged in the anti-collision mechanism; the travel switch is used for transmitting the collision signal to the control system; the spring is used for resetting the travel switch.
Furthermore, the power module is a storage battery, and the storage battery is arranged on the telescopic vehicle body through a storage battery bin; a shock absorption structure is arranged at the joint of the storage battery bin and the telescopic vehicle body; the damping mechanism is a bolt with a spring.
Furthermore, the outer side of the telescopic vehicle body is also provided with a GPS external device which is in signal connection with a GPS positioner in the control system.
Further, the control system comprises an Arduino single chip microcomputer, an L298N motor driving board, a sensor control module, a wireless communication module and an MCGS touch screen; the control system is used for controlling the intelligent car moving robot to perform corresponding operation.
The invention has the beneficial effects that:
(1) according to the intelligent vehicle moving robot provided by the invention, the telescopic vehicle body is used as the chassis of the whole robot, and a four-wheel supporting and four-wheel driving structure is adopted, so that the intelligent vehicle moving robot can enter the lower part of the chassis of a household automobile according to an instruction sent by an operator. The vehicle body can stretch back and forth and stretch left and right to adapt to vehicle types with different sizes;
(2) according to the intelligent vehicle moving robot, the walking mechanism adopts Mecanum wheels, steering and walking are realized by controlling the rotating speed difference of the walking motor, and meanwhile, after the vehicle body is reduced, the vehicle body can be ensured not to be rubbed and bumped even in a gap with crowded parking, and can be safely moved to a specified place;
(3) the intelligent car moving robot provided by the invention is provided with an anti-collision mechanism, the interior of the intelligent car moving robot is provided with the travel switch and the spring, when a car collides with an object, the travel switch in the interior acts, a low-level signal is transmitted to be detected by a singlechip, the manual mode is switched, and the spring in the anti-collision device automatically resets after the car is retracted by using the manual mode.
(4) The intelligent car moving robot provided by the invention is provided with the magnetic conduction sensor, when the trolley runs on the magnetic conduction belt, the magnetic conduction sensor at the front part of the trolley detects magnetic flux, and when the direction of the magnetic conduction belt is changed, the magnetic conduction sensor can detect the reduction of the magnetic flux and automatically continue to correct the route, so that the automatic guiding effect is realized.
(5) The intelligent vehicle moving robot provided by the invention is intelligently controlled by a microcomputer and adopts full mechanical transmission, the automation degree is high, the stability is good, the safety is strong, and the operation of lifting the vehicle body to safely move to a specified place can be completed by a single person.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which:
fig. 1 is a schematic view of the overall structure of the transfer robot of the present invention.
Fig. 2 is a schematic structural view of the telescopic vehicle body.
Fig. 3 is a schematic view of a traveling mechanism.
Fig. 4 is a schematic structural view of the support mechanism.
Fig. 5 is an electrical control schematic diagram of the transfer robot of the present invention.
In the figure: 1-telescopic vehicle body, 2-walking mechanism, 3-supporting mechanism, 4-anti-collision mechanism, 5-control system, 6-power module, 1-1-push rod motor, 1-2-I-shaped frame, 1-3-connecting plate I, 1-4-stepping motor, 1-5-screw, 1-6-mounting seat, 1-7-connecting plate II, 1-8-vehicle frame, 2-1 wheel, 2-2-walking motor, 2-3-rotating shaft, 2-4-chain, 3-1-supporting motor, 3-2-lead screw, 3-3-lead screw cap, 3-4-support seat, 3-5-push-pull rod and 3-6-supporting frame, 3-7-a protective bracket, 3-8-a fixed seat, 4-1-an acoustic wave sensor and 4-2-a photoelectric switch.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The structure of the intelligent vehicle moving robot in embodiment 1 is shown in fig. 1, and the intelligent vehicle moving robot comprises a telescopic vehicle body 1, a traveling mechanism 2, a supporting mechanism 3, an anti-collision mechanism 4, a control system 5 and a power module 6, wherein the telescopic vehicle body 1 is a chassis of the whole robot, and the traveling mechanism 2, the supporting mechanism 3, the anti-collision mechanism 4, the control system 5 and the power module 6 are all installed on the telescopic vehicle body 1;
referring to fig. 2, the telescopic vehicle body 1 includes two left and right telescopic frames and two front and rear telescopic frames; the left and right telescopic frames comprise two I-shaped frames 1-2, a push rod motor 1-1 and a connecting plate I1-3; the I-shaped frame 1-2 is connected to the left end and the right end of the connecting plate I1-3 in a sliding mode through sliding plates; the push rod motor 1-1 is positioned on the outer side of the connecting plate I1-3; two ends of the push rod motor 1-1 are respectively fixed on the two I-shaped frames 1-2; the front telescopic frame and the rear telescopic frame comprise stepping motors 1-4, screws 1-5, a connecting plate II 1-7 and two vehicle frames 1-8, wherein the two vehicle frames 1-8 are respectively connected to the left side and the right side of the connecting plate II 1-7 in a sliding manner through sliding blocks; an output shaft of the stepping motor 1-4 is connected with one end of the screw rod 1-5; the stepping motors 1-4 and the screw rods are respectively fixed on the two frames 1-8 through mounting seats 1-6; the frame 1-8 is fixedly connected with the I-shaped frame 1-2.
In addition, a GPS external device is also arranged on the outer side of the telescopic vehicle body 1 and is in signal connection with a GPS positioner in a control system; through setting up the GPS locator, can fix a position the position of robot at the in-process that moves the car robot walking, the operator of also being convenient for masters the position of moving car robot in real time.
As shown in fig. 3, the traveling mechanism 2 includes four mecanum wheels 2-1 and four traveling motors 2-2; four Mecanum wheels 2-1 are positioned at four corners of the telescopic vehicle body 1; the Mecanum wheels 2-1 are connected to the I-shaped frame 1-2 of the telescopic vehicle body 1 through rotating shafts 2-3 and couplings; the walking motor 2-2 is fixed on an I-shaped frame 1-2 of the telescopic vehicle body 1; the walking motor 2-2 is in transmission with a rotating shaft 2-3 of the Mecanum wheel 2-1 through a chain;
referring to fig. 4, four support mechanisms 3 are respectively fixed to the telescopic vehicle body 1; the supporting mechanism is used as a hoisting bracket of the moved vehicle and provides longitudinal support for the moved vehicle;
specifically, the supporting mechanism 3 comprises a supporting motor 3-1, a lead screw 3-2 and an I-shaped supporting frame 3-6; the supporting motor 3-1 is in transmission connection with one end of the screw rod 3-2 through a coupler; the screw cap 3-3 is arranged on the screw rod 3-2; the screw cap 3-3 is in threaded connection with the screw rod 3-2; a push-pull rod 3-5 is arranged on the screw cap 3-3; one end of the push-pull rod 3-5 is fixed above the screw cap 3-3 through a support 3-4; the other end of the push-pull rod 3-5 is rotatably connected with the middle part of the I-shaped support frame 3-6.
One end of the I-shaped support frame 3-6 is rotatably arranged on the fixed seat 3-8; the other end of the screw rod 3-2 is rotatably connected with the middle part of the fixed seat 3-8; a protective bracket 3-7 is further arranged below the I-shaped support frame 3-6 and used for protecting the I-shaped support frame; the supporting motor 3-1 and the fixed seat 3-8 are respectively fixed on the telescopic vehicle body 1, so that the stability of the supporting mechanism 3 is ensured.
The anti-collision mechanism 4 is arranged on the outer side of the telescopic vehicle body and used for protecting the vehicle moving robot; the anti-collision mechanism 4 comprises four sound wave sensors 4-1 and eight photoelectric switches 4-2; the acoustic wave sensor 4-1 is arranged on one side of the telescopic vehicle body 1; two photoelectric switches 4-2 are in a group, and each group is fixed outside four corners of the telescopic vehicle body 1 at 90-degree included angles. A protective shell is arranged outside the anti-collision mechanism 4, and chamfering is carried out on the protective shell so as to reduce destructive force on an object caused by collision;
in this embodiment, the anti-collision mechanism is a protection device for the vehicle-moving robot when the sensor fails, and when the sensor at the front fails to recognize that the front obstacle collides with the object, the anti-collision mechanism will act, and the vehicle-moving robot will stop.
The anti-collision mechanism is internally provided with a travel switch and a spring. When the car moving robot collides with an object, the internal travel switch acts, a low-level signal is transmitted, so that the low-level signal is detected by the singlechip, the manual mode is switched, and the spring in the anti-collision mechanism can automatically reset after the car moving robot backs the car in the manual mode.
In addition, the collision avoidance mechanism 4 further comprises a magnetic conductance sensor, the vehicle moving robot travels on a pre-laid magnetic track belt, and the magnetic conductance sensor is used for inducing magnetic flux so as to guide the vehicle moving robot to travel according to a planned route. When the direction of the magnetic conduction band changes, the magnetic conduction sensor detects the reduction of the magnetic flux and automatically continues to correct the route.
Specifically, the ultrasonic sensor is provided with a sound wave sending port and a sound wave receiving port, the distance is judged according to the time of returning sound waves, the distance is converted into a current value of 0-20 mA of an analog quantity, and the current value is converted into a numerical value through an A/D conversion module of the single chip microcomputer. And the magnetic conductance sensor is that when the car moving robot moves to the magnetic track area, the magnetic conductance sensor can sense the increase of magnetic flux and convert the magnetic flux into analog quantity: 0-5V, when the magnetic flux is detected to be more, the voltage is increased, and the voltage is converted into digital quantity through an A/D conversion module of the singlechip.
The power module 6 provides electric power support for the telescopic vehicle body 1, the travelling mechanism 2, the supporting mechanism 3, the anti-collision mechanism 4 and the control system 5; specifically, the power module is a storage battery, and the storage battery is mounted on the telescopic vehicle body 1 through a storage battery bin; a shock absorption structure is arranged at the joint of the storage battery bin and the telescopic vehicle body 1; the damping mechanism is a bolt with a spring; the shock absorption mechanism can avoid the vibration or scratch generated in the moving process of the vehicle moving robot to influence the storage battery.
The control system 4 comprises an Arduino single chip microcomputer, an L298N motor driving board, a sensor control module, a wireless communication module and an MCGS touch screen; and the control system 4 is used for controlling the intelligent car moving robot to perform corresponding operation. The electrical control principle of the intelligent car moving robot is shown in fig. 5.
The MCGS touch screen is used as an upper computer to give PLC data through a 485-BD communication board;
L298N motor drive plate: the direct current motor driving module with double H bridges is adopted, two direct current motors can be driven simultaneously, signals can be connected with PWM externally, the speed regulation of the motors is realized, the size is small, a large part of space is saved, the direct current motor driving module can work for a long time, the service life is long, and the direct current motor driving module is not easy to damage.
A single chip microcomputer: and signals transmitted by each module, sensor and the like are efficiently processed, and an instruction is issued to the execution mechanism to perform corresponding action.
A wireless communication module: by adopting the HC-05 master-slave integrated Bluetooth module, the module can be directly communicated with digital products with Bluetooth functions, such as mobile phones, computers, tablets and the like, and has the advantages of simple operation and convenient use.
The intelligent car moving robot provided by the invention is provided with an Arduino single chip microcomputer, can provide a piece of data for a controller according to the size of a car body bottom plate before entering the car bottom, so that the controller can determine whether the operation is feasible, after the operation is feasible, an operator sends a system instruction to enable a walking motor 2-2 to act, the walking motor enters the lower part of a chassis of a household car under the guide of a magnetic conductivity sensor, a supporting mechanism on the car body is aligned to a main bearing point of the car body by adjusting the extending lengths of a push rod motor 1-1 and a stepping motor 1-4, the supporting motor 3-1 acts by remote control to drive a supporting frame 3-6 to lift the car body, then, each wheel drives the car body to turn and walk by controlling the rotating speed difference of four walking motors 2-2, and after the car body walks to a proper position, opposite current is supplied to the support motor 3-1, the support frame 3-6 descends and returns to the initial position; under the drive of the walking motor 2-2, the car moving robot is controlled to come out from the bottom of the car.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes or modifications without departing from the spirit and scope of the present invention. Those skilled in the art, having the benefit of this disclosure and the benefit of this written description, will appreciate that other embodiments can be devised which do not depart from the specific details disclosed herein.
Claims (10)
1. An intelligent vehicle moving robot comprises a telescopic vehicle body (1), a travelling mechanism (2), a supporting mechanism (3), an anti-collision mechanism (4), a control system (5) and a power supply module (6), and is characterized in that the telescopic vehicle body (1) is a chassis of the whole robot, and the travelling mechanism (2), the supporting mechanism (3), the anti-collision mechanism (4), the control system (5) and the power supply module (6) are all arranged on the telescopic vehicle body; the walking mechanism (2) comprises four Mecanum wheels (2-1) and four walking motors (2-2); wherein four Mecanum wheels (2-1) are positioned at four corners of the telescopic vehicle body (1); the Mecanum wheels (2-1) are connected to a tool frame (1-2) of the telescopic vehicle body (1) through rotating shafts (2-3) and a coupling; the walking motor (2-2) is fixed on the I-shaped frame (1-2) of the telescopic vehicle body (1); the walking motor (2-2) is in transmission with a rotating shaft (2-3) of the Mecanum wheel (2-1) through a chain; the number of the supporting mechanisms (3) is four, and the supporting mechanisms are respectively fixed on the telescopic vehicle body (1); the supporting mechanism is used as a hoisting bracket of the moved vehicle and provides longitudinal support for the moved vehicle; the anti-collision mechanisms (4) are mounted on the outer sides of four corners of the telescopic vehicle body and used for protecting the vehicle moving robot; the power supply module (6) provides electric power support for the telescopic vehicle body (1), the travelling mechanism (2), the supporting mechanism (3), the anti-collision mechanism (4) and the control system (5); the control system is used for controlling the telescopic vehicle body (1), the travelling mechanism (2), the supporting mechanism (3) and the anti-collision mechanism (4) to perform corresponding actions.
2. The intelligent car moving robot as claimed in claim 1, wherein the supporting mechanism (3) comprises a supporting motor (3-1), a lead screw (3-2) and an I-shaped supporting frame (3-6); the supporting motor (3-1) is in transmission connection with one end of the lead screw (3-2) through a coupler; the screw cap (3-3) is arranged on the screw rod (3-2); the screw cap (3-3) is in threaded connection with the screw rod (3-2); a push-pull rod (3-5) is arranged on the screw cap (3-3); one end of the push-pull rod (3-5) is fixed above the screw cap (3-3) through a support (3-4); the other end of the push-pull rod (3-5) is rotatably connected with the middle part of the I-shaped support frame (3-6).
3. The intelligent car mover robot as claimed in claim 2, wherein one end of the i-shaped support frame (3-6) is rotatably mounted on the fixing seat (3-8); the other end of the screw rod (3-2) is rotatably connected with the middle part of the fixed seat (3-8); a protective bracket (3-7) is further arranged below the I-shaped support frame (3-6) and used for protecting the I-shaped support frame; the supporting motor (3-1) and the fixed seat (3-8) are respectively fixed on the telescopic vehicle body (1), so that the stability of the supporting mechanism (3) is ensured.
4. The intelligent vehicle moving robot as claimed in claim 1, wherein the telescopic vehicle body (1) comprises two left and right telescopic frames and two front and rear telescopic frames; the left and right telescopic frames comprise two I-shaped frames (1-2), a push rod motor (1-1) and a first connecting plate (1-3); the I-shaped frame (1-2) is connected to the left end and the right end of the connecting plate I (1-3) in a sliding mode through sliding plates; the push rod motor (1-1) is positioned on the outer side of the first connecting plate (1-3); two ends of the push rod motor (1-1) are respectively fixed on the two I-shaped frames (1-2); the front telescopic frame and the rear telescopic frame comprise stepping motors (1-4), screw rods (1-5), a second connecting plate (1-7) and two frames (1-8), wherein the number of the frames (1-8) is two, and the frames are respectively connected to the left side and the right side of the second connecting plate (1-7) in a sliding manner through sliding blocks; an output shaft of the stepping motor (1-4) is connected with one end of the screw rod (1-5); the stepping motors (1-4) and the screw rods are respectively fixed on the two vehicle frames (1-8) through mounting seats (1-6); the frame (1-8) is fixedly connected with the I-shaped frame (1-2).
5. The intelligent car mover robot as claimed in claim 1, wherein the collision avoidance mechanism (4) comprises four acoustic sensors (4-1) and eight photoelectric switches (4-2); the acoustic wave sensor (4-1) is arranged on one side of the telescopic vehicle body (1); two photoelectric switches (4-2) are in a group, and each group is fixed at the outer sides of four corners of the telescopic vehicle body (1) at an included angle of 90 degrees.
6. An intelligent vehicle mover robot as claimed in claim 5, characterized in that the collision avoidance mechanism (4) further comprises a magnetic conductance sensor for sensing a magnetic flux when the vehicle mover robot walks on the magnetic track strip, thereby guiding the vehicle mover robot to follow the planned route.
7. The intelligent vehicle moving robot as claimed in claim 5, wherein a protective shell is arranged outside the anti-collision mechanism (4), and the protective shell is chamfered to reduce destructive force on an object due to collision; the anti-collision mechanism (4) is internally provided with a travel switch and a spring; the travel switch is used for transmitting the collision signal to the control system; the spring is used for resetting the travel switch.
8. The intelligent car moving robot as claimed in claim 1, wherein the power module is a storage battery, and the storage battery is mounted on the telescopic car body (1) through a storage battery bin; a shock absorption structure is arranged at the joint of the storage battery bin and the telescopic vehicle body (1); the damping mechanism is a bolt with a spring.
9. The intelligent vehicle moving robot as claimed in claim 1, wherein a GPS external device is further disposed outside the telescopic vehicle body (1), and the GPS external device is in signal connection with a GPS locator in the control system.
10. The intelligent car moving robot as claimed in claim 1, wherein the control system (4) comprises an Arduino single chip microcomputer, an L298N motor driving board, a sensor control module, a wireless communication module and an MCGS touch screen; and the control system (4) is used for controlling the intelligent car moving robot to perform corresponding operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011313489.XA CN112227795A (en) | 2020-11-20 | 2020-11-20 | Intelligent vehicle moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011313489.XA CN112227795A (en) | 2020-11-20 | 2020-11-20 | Intelligent vehicle moving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112227795A true CN112227795A (en) | 2021-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011313489.XA Withdrawn CN112227795A (en) | 2020-11-20 | 2020-11-20 | Intelligent vehicle moving robot |
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| CN (1) | CN112227795A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118061961A (en) * | 2024-04-18 | 2024-05-24 | 潍坊埃锐制动系统有限公司 | Car as a house ware control system that moves step of integrated multiple wireless communication technique |
-
2020
- 2020-11-20 CN CN202011313489.XA patent/CN112227795A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118061961A (en) * | 2024-04-18 | 2024-05-24 | 潍坊埃锐制动系统有限公司 | Car as a house ware control system that moves step of integrated multiple wireless communication technique |
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