CN209369442U - Fully electric automatic parking robot for indoor and outdoor - Google Patents

Abstract

The utility model discloses an indoor and outdoor fully electric automatic parking robot, which comprises a head, side arms and a central control module. The two side arms are respectively arranged on both sides of the head and are connected with the head. Both the side arm and the side arm are connected to the central control module; the size of the head is adapted to the body width of the target vehicle, which can be controlled and adjusted by the central control module; the side arm is provided with a lifting mechanism that matches the number of wheels of the target vehicle, and the lifting mechanism It is connected with the central control module to lift the vehicle; the distance between the lifting mechanisms is adapted to the wheelbase of the target vehicle, and can be controlled and adjusted by the central control module. The robot of the utility model can be applied to vehicles with different wheelbases and widths; all driving devices of the robot are electric devices, which have the characteristics of precise and controllable working stroke and speed, simple understanding, convenient maintenance and high efficiency; The chassis height of the robot is high, and it can also work normally under bumpy road conditions and climbing conditions, and can be applied to outdoor working conditions.

Description

Fully electric automatic parking robot for indoor and outdoor

technical field

The utility model belongs to the technical field of automatic parking, in particular to an indoor and outdoor fully electric automatic parking robot.

Background technique

With the popularization and development of automobiles, there are more and more automobiles in large and medium-sized cities, while urban parking spaces are seriously insufficient. In this case, parking has become a very big problem. In order to utilize the limited parking lot, it is necessary to use a robot for automatic parking to realize automatic parking.

Most of the parking robots in the prior art are flat-plate type and need to enter the bottom of the vehicle. Their overall height must be lower than the height of the car chassis, so their own ground clearance is small, and they have high requirements for the smoothness of the road surface. The robot cannot work at a certain slope, so it is difficult to adapt to the complex conditions of the outdoor road surface, and can only be used in a dedicated parking lot and cannot meet outdoor needs; in addition, existing automatic parking robots generally use hydraulic mechanisms to lift the car body, while hydraulic There are many problems in the system, such as complicated connection, inconvenient maintenance, and low efficiency.

Based on the above factors, there is an urgent need for an indoor and outdoor all-electric automatic parking robot to solve the problem of automatic parking outdoors and to eradicate many problems caused by the use of hydraulic systems in existing parking robots.

Utility model content

The purpose of this utility model is to provide an all-electric automatic parking robot facing indoors and outdoors, so as to solve the complexities of the existing parking robots that cannot be used for speed bumps and small pits on outdoor roads with unevenness within 80 mm due to their low chassis. The problem of automatic parking on the road.

For addressing the above problems, the solution of the present utility model is:

A fully electric automatic parking robot facing indoors and outdoors, including a head, side arms and a central control module. The two side arms are respectively arranged on both sides of the head and connected to the head. Both the head and the side arms are connected to the central control module; the size of the head is adapted to the body width of the target vehicle, and can be controlled and adjusted by the central control module; the side arm is equipped with a lifting mechanism that matches the number of wheels of the target vehicle, and the lifting mechanism is compatible with the central control module. The connection is used to lift the vehicle; the distance between the lifting mechanisms is adapted to the wheelbase of the target vehicle, and can be controlled and adjusted by the central control module.

Preferably, the all-electric automatic parking robot facing indoors and outdoors also includes an information collection device connected to the central control module for acquiring information of the target vehicle and sending the information of the target vehicle to the central control module.

Preferably, the head includes a first head section and a second head section, the two are connected through a first telescopic unit, and the first telescopic unit is connected to the central control module, and the central control module controls the expansion and contraction of the first telescopic unit Happening.

Preferably, the first telescopic unit includes an intermediate housing, a slide rail, a drive motor, a lead screw and a lead screw nut, one end of the intermediate housing is fixedly connected to the first head section, and the other end of the intermediate housing is connected to the second head section. Sliding connection, the lead screw is fixed on the middle shell, the slide rails are arranged on both sides of the lead screw and fixed on the middle shell, one end of the lead screw nut is arranged on the slide rail, the other end of the lead screw nut is connected to the second The two head sections are fixedly connected, and the driving motor drives the lead screw to rotate and make the lead screw nut do linear motion.

Preferably, the side arm includes a first side arm section and a second side arm section, the two are connected through a second telescopic unit, and the second telescopic unit is connected to the central control module, and the central control module controls the expansion and contraction of the second telescopic unit Happening. The structure of the second telescopic unit is the same as that of the first telescopic unit.

Preferably, the lifting mechanism includes a lifting platform and a lifting device, wherein the lifting platform is provided with a lifting yoke and a lifting yoke driving device, the two are connected to each other, and the lifting yoke driving device is used to drive the lifting The fork arm is opened at 90 degrees; the lifting device includes an electric cylinder, one end of the electric cylinder is connected to the first side arm section or the second side arm section, and the other end of the electric cylinder is connected to the lifting platform to drive the lifting platform up and down Move, and drive the lifting fork arm to move up and down at the same time.

Preferably, both the first side arm section and the second side arm section are provided with a square cavity for accommodating the lifting mechanism; the all-electric automatic parking robot also has a guide support mechanism located in the square cavity, the two guide support mechanisms One end of the electric cylinder is connected to the upper wall of the square cavity, and the other end of the electric cylinder is connected to the lifting platform. The platform is connected.

Preferably, the guide support mechanism is a guide rail respectively located on the two side walls of the square cavity, and the two ends of the lifting platform are respectively connected to the first side arm section or the second side arm section through the guide rails located on the two side walls of the square cavity. Connect and make the lifting table move vertically up and down along the guide rail.

Preferably, the guide support mechanism is a columnar guide rail vertically connected to the upper wall and the lower wall of the square cavity, the columnar guide rail runs through the lifting platform and is movably connected with it, so that the lifting platform moves vertically up and down along the columnar guide rail.

Preferably, the lifting device further includes a reduction mechanism, a DC motor, a flange and a push rod, and one end of the electric cylinder is vertically connected to the upper wall of the square cavity through the flange and connected to the first side arm segment or the second side arm segment, The push rod at the other end of the electric cylinder is vertically connected to the upper part of the lifting platform. The central control module controls the rotation of the DC motor to make the deceleration mechanism decelerate and increase the torque, and the torque is transmitted to the electric cylinder, which is driven by the ball screw mechanism inside the electric cylinder. The push rod moves up and down.

Preferably, the lifting fork arm is a lifting fork arm that can be opened at 90 degrees; the driving device for the lifting fork arm includes a worm gear mechanism and a drive motor, the worm gear mechanism is connected with the lift fork arm, and the drive motor drives the worm gear mechanism to control Opening and closing of the lift wishbone.

Due to the above scheme, the utility model has the following beneficial effects:

First, the all-electric automatic parking robot facing indoors and outdoors of the present utility model can enter both sides of the car body from the front when parking, and can also realize automatic parking in places where parking is relatively dense, thereby improving space utilization; in addition , the all-electric automatic parking robot does not need to enter the bottom of the vehicle, so the chassis height of the vehicle is relatively high, which can adapt to bumpy and sloped roads, and can also realize automatic parking in outdoor parking lots.

Second, the all-electric automatic parking robot facing indoors and outdoors of the present utility model has a retractable head and side parts, combined with a central control module and an information collection device, it can realize uniform parking for vehicles with different widths, wheelbases and wheelbases. Automatic parking is possible.

Third, the all-electric automatic parking robot facing indoors and outdoors of the utility model uses electric cylinders instead of traditional hydraulic mechanisms to achieve lifting, which solves many problems caused by hydraulic mechanisms such as complicated connections, constant maintenance, and low efficiency. At the same time, combined with the guide support mechanism to assist in lifting, it solves the problem that the electric cylinder cannot bear the huge turning moment when the lifting device lifts the vehicle. It has the characteristics of precise and controllable working stroke and speed, simple connection, convenient maintenance and high efficiency.

Description of drawings

FIG. 1 is a schematic diagram of a first three-dimensional structure of an all-electric automatic parking robot facing indoors and outdoors according to a specific embodiment of the present invention.

Fig. 2 is a second stereoscopic structural diagram of an indoor-outdoor facing all-electric automatic parking robot according to a specific embodiment of the present invention.

3 is a schematic diagram of the initial position of the fully electric automatic parking robot facing indoors and outdoors and the target vehicle according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a car lifted by an all-electric automatic parking robot facing indoors and outdoors according to a specific embodiment of the present invention.

Fig. 5 is a schematic diagram showing the opening of the lifting fork arm driving device of the all-electric automatic parking robot facing indoors and outdoors according to a specific embodiment of the present invention.

Fig. 6 is a closed schematic view of the driving device for the lifting fork arm of the all-electric automatic parking robot facing indoors and outdoors according to a specific embodiment of the present invention.

Fig. 7 is a schematic diagram of a lifting device for an indoor-outdoor fully electric automatic parking robot according to a specific embodiment of the present invention.

Fig. 8 is a schematic diagram of the first (or second) telescopic unit of the fully electric automatic parking robot facing indoors and outdoors according to a specific embodiment of the present invention.

9 is a top view of the first (or second) telescopic unit of the fully electric automatic parking robot facing indoors and outdoors according to a specific embodiment of the present invention.

Reference signs:

First head section 1, second head section 2, first telescopic unit 3, intermediate housing 31, slide rail 32, drive motor 33, lead screw 34, lead screw nut 35, drive wheel 4, first side arm Section 5, second side arm section 6, second telescopic unit 7, lifting device 8, electric cylinder 81, reduction mechanism 82, DC motor 83, flange 84, push rod 85, lifting platform 9, lifting fork arm 91, worm gear 92, worm screw 93, driving motor 94, worm gear support base 95, worm screw support base 96, fixing bolt 97, steering wheel 10 and universal bearing wheel 11.

Detailed ways

Below in conjunction with the embodiment shown in the accompanying drawings the utility model is further described.

The utility model proposes an indoor and outdoor fully electric automatic parking robot, which includes a head, a side arm, a central control module and an information collection device. Connection, both the head and the side arms are connected to the central control module; the size of the head is adapted to the body width of the target vehicle, which can be controlled and adjusted by the central control module; the side arm is provided with a lifting mechanism that matches the number of wheels of the target vehicle , the lifting mechanism is connected with the central control module for lifting the vehicle; the distance between the lifting mechanisms is adapted to the wheelbase of the target vehicle, and can be controlled and adjusted by the central control module; the information collection device is connected with the central control module , used to acquire the information of the target vehicle and send the information of the target vehicle to the central control module.

In a specific embodiment, as shown in FIG. 1, the head includes a first head section 1 and a second head section 2, and the first head section 1 and the second head section 2 pass through the first telescopic unit 3 connected, and the first telescopic unit 3 is connected to the central control module, and the central control module controls the expansion and contraction of the first telescopic unit 3, and the bottoms of the first head section 1 and the second head section 2 are also provided with steerable The driving wheel 4 is used to drive the fully electric automatic parking robot facing indoors and outdoors and turn around.

In a specific embodiment, the side arm includes a first side arm section 5 and a second side arm section 6, the first side arm section 5 and the second side arm section 6 are connected by a second telescopic unit 7, and the second The telescopic unit 7 is connected to the central control module, and the central control module controls the expansion and contraction of the second telescopic unit 7. The bottom of the first side arm segment 5 is also equipped with universal load-bearing wheels 11, which are used to improve the force of the entire parking robot. The bottom of the second side arm section 6 is provided with universal load-bearing wheels 11 and steering wheels 10, and the steering wheel 10 is used for steering so as to improve the passability of the robot; and the first side arm section 5 and the second side arm section 6 are both A lifting mechanism is provided and has a square cavity for accommodating the lifting mechanism.

In a specific embodiment, as shown in Figure 8 and Figure 9, the first telescopic unit 3 includes an intermediate housing 31, a slide rail 32, a drive motor 33, a lead screw 34 and a lead screw nut 35, the intermediate housing 31 One end is fixedly connected to the first head section 1, and the other end of the intermediate housing 31 is relatively slidably connected to the second head section 2. The screw 34 is fixed on the intermediate housing 31, and the slide rail 32 is arranged on the screw 34 and fixed on the middle housing 31, one end of the screw nut 35 is arranged on the slide rail 32, the other end of the screw nut 35 is fixedly connected with the second head section 2, when the distance needs to be changed, The driving motor 33 drives the lead screw 34 to rotate so that the lead screw nut 35 does a linear motion, thereby driving the second head section 2 to move to realize expansion and contraction, and the slide rail 32 arranged around the lead screw 34 provides a good guiding effect and also resists large Part of the bending moment makes the lead screw 34 itself almost bear no radial force.

The structure of the second telescopic unit 7 is consistent with the structure of the first telescopic unit 3, one end of the middle housing 31 is fixedly connected with the first side arm section 5, and the other end of the middle housing 31 and the second side arm section 6 can be connected. Relatively sliding, the lead screw nut 35 is fixedly connected with the second side arm section 6. When the distance needs to be changed, the driving motor 33 drives the lead screw 34 to rotate so that the lead screw nut 35 does a linear motion, thereby driving the second side arm section 6 to move to achieve Telescopic, further realizing the increase and decrease of the distance between the two sections of side arm sections.

The lifting mechanism includes a lifting platform 9 and a lifting device 8 .

This all-electric automatic parking robot facing indoors and outdoors also has a guiding support mechanism located in the square cavity. Mechanisms are connected and move vertically up and down along them.

In a specific embodiment of the present utility model, the guide supporting mechanism is guide rails respectively located on the two side walls of the square cavity, and the two ends of the lifting platform 9 pass through the guide rails located on the two side walls of the square cavity and the first side respectively. The arm section 5 or the second side arm section 6 is connected, and the lifting platform 9 moves up and down along the guide rail to ensure that it moves strictly along the vertical direction, so that the lifting device 8 does not have to bear radial force.

In another embodiment of the present utility model, the guiding support mechanism is a columnar guide rail vertically connected to the upper wall and the lower wall of the square cavity. The column guide moves vertically up and down.

The bottom of the lifting table 9 is provided with a lifting fork 91 and a lifting fork driving device, the two are connected to each other, the lifting fork 91 is a lifting fork that can be opened at 90 degrees, and the lifting fork driving device is used for The lift wishbone 91 is driven open at 90 degrees.

As shown in Figure 5 and Figure 6, the lifting yoke driving device includes a worm gear mechanism and a drive motor 94, and the worm gear mechanism includes a worm wheel 92, a worm screw 93, a worm gear support seat 95, a worm screw support seat 96 and a fixing bolt 97, and the worm screw 93 The worm gear 92 is fixed with the lifting platform 9 through the worm support base 96 and is engaged with the worm 93. The worm gear 92 is fixedly connected with the lifting fork arm 91 through the fixing bolt 97. When the lifting fork 91 needs to be opened, the drive motor 94 drives the worm 93 to rotate, and the worm 93 rotates and drives the worm wheel 92 to rotate, thereby driving the lifting fork 91 to move. The lifting fork arm 91 strictly rotates 90 degrees. When lifting, due to the self-locking characteristics of the worm gear mechanism, the lifting fork arm 91 can be fixed at 90 degrees. When the target vehicle is put down, the driving motor 94 drives the worm 93 to reverse Rotate, the lifting fork 91 returns to the initial position, and the state of the lifting fork 91 at the initial position is shown in FIG. 6 .

As shown in FIG. 7 , the lifting device 8 includes an electric cylinder 81 , a reduction mechanism 82 , a DC motor 83 , a flange 84 and a push rod 85 . In this embodiment, the electric cylinder 81 adopts a direct-acting electric cylinder, and one end of the direct-acting electric cylinder is vertically connected to the upper wall of the square cavity through a flange 84 and is connected to the first side arm section 5 or the second side arm section 6, and is located in the direct-acting electric cylinder. The push rod 85 at the other end of the electric cylinder is vertically connected to the upper part of the lifting platform 9. The central control module controls the rotation of the DC motor 83 to make the deceleration mechanism 82 decelerate and increase the torque, and transmit the torque to the direct-acting electric cylinder. The interior of the direct-acting electric cylinder It has a ball screw mechanism, through which the push rod 85 is driven to move up and down, thereby realizing the lifting of the lifting platform 9, and the DC motor 83 has a brake function, which can realize self-locking.

The working process of this fully electric automatic parking robot facing indoors and outdoors in the embodiment of the present utility model is:

When parking, the all-electric automatic parking robot facing indoors and outdoors is located on the front of the car body. At this time, the overall state diagram of the all-electric automatic parking robot is shown in Figure 2. Inside the parking robot, the bottom of the lifting platform 9 is flush with the vehicle chassis of the all-electric automatic parking robot. The relative positions of the all-electric automatic parking robot and the target vehicle are shown in FIG. 3 .

The central control module accurately locates the target vehicle through the information collection device, judges the width of the target vehicle according to the information collected by the information collection device, and controls the first telescopic unit 3 to make the gap between the first head section 1 and the second head section 2 The distance is lengthened or shortened so that the size of the head adapts to the body width of the target vehicle.

After the distance between the first head section 1 and the second head section 2 is adjusted, the fully electric automatic parking robot facing indoors and outdoors enters both sides of the target vehicle body from the front of the target vehicle body, The acquisition device collects the position information of the front wheels of the target vehicle, and the central control module accurately positions the vehicle according to the information collection device and obtains the position information of the front wheels of the target vehicle. When the front wheels stop, the information collection device detects the position of the rear wheels of the vehicle, and the second telescopic unit 7 drives the second side arm section 6 to move along the direction of the rear wheel axis of the target vehicle until the lifter located in the second side wall section 6 The lifting mechanism is stopped when the rear wheels of the vehicle are engaged.

After completing the adjustment of the distance between the first side arm section 5 and the second side arm section 6, the four lifting mechanisms positioned in the first side arm section 5 and the second side arm section 6 are all facing the target vehicle For the four tires, the lifting device 8 drives the lifting platform 9 to drop to about 50mm from the ground and stops. At this time, the positions of the fully electric automatic parking robot facing indoors and outdoors and the target vehicle are shown in Figure 4. Then, the lifting device 8 drives the lifting platform 9 to rise slowly and lift the wheels, thereby lifting the whole vehicle until the wheels are off the ground. Stop at about 100mm. After the information collection device collects the current location information and the central control module judges that the current location information matches the parking spot, it controls the lifting mechanism to place the lifted vehicle to the parking spot.

The all-electric automatic parking robot facing indoors and outdoors in the embodiment of the present utility model enters both sides of the car body from the front, and can also realize automatic parking in places where parking is relatively dense, thereby improving space utilization and can be used for outdoor parking field, and because it has a head and side arms that can be adjusted in size, it can realize automatic parking for vehicles with different vehicle widths and wheelbases; this fully electric automatic parking robot for indoors and outdoors does not need to enter the bottom of the vehicle, the chassis The height is relatively high, which can adapt to bumpy roads and certain slopes, and it can also realize automatic parking in outdoor parking lots. Furthermore, because the indoor and outdoor-oriented all-electric automatic parking robot uses an electric cylinder to replace the traditional hydraulic mechanism to achieve lifting, it solves many problems caused by the hydraulic mechanism, and has the advantages of precise and controllable working stroke and speed, simple connection, Easy maintenance and high efficiency. The main difficulty of replacing the hydraulic cylinder with the electric cylinder is how to avoid the bending moment when it is lifted. The utility model adopts the form of sliding guide rail to solve this problem. Furthermore, the fully electric automatic parking robot facing indoors and outdoors clamps the wheels through the worm gear mechanism, which fully utilizes the self-locking property of the worm gear, and has a small number of parts and a simple structure.

The above description of the embodiments is for those of ordinary skill in the technical field to understand and apply the utility model. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative effort. Therefore, the utility model is not limited to the embodiments here, and improvements and modifications made by those skilled in the art according to the disclosure of the utility model without departing from the scope of the utility model should be within the protection scope of the utility model.

Claims (10)

1. the all-electric automatic parking robot inside and outside a kind of faced chamber, it is characterised in that: the all-electric automatic parking machine People includes head, side arm and middle control module, and two side arms are respectively arranged at the both sides of the head, and mutual with the head Connection, the head and the side arm are connected to the middle control module；

The width of the carbody for being sized to fit into target vehicle on the head, by the middle control module control adjustment；

The lifting mechanism that the wheel count of side arm setting and the target vehicle matches, the lifting mechanism and it is described in Control module is connected, for lifting vehicle；

Spacing between the lifting mechanism adapts to the axletree of the target vehicle away from by the middle control module control tune It is whole；

The head includes the first head sections and the second head sections, and the two is connected by the first telescopic unit, and described first Telescopic unit is connected to the middle control module, and the flexible situation of first telescopic unit is controlled by the middle control module；

First telescopic unit includes middle casing, sliding rail, driving motor, lead screw and feed screw nut, the middle casing One end and first head sections are connected, and the other end of the middle casing is slidably connected with second head sections, the silk Thick stick is fixed on the middle casing, and the sliding rail is laid in the two sides of the lead screw and is fixed on the middle casing, institute The one end for stating feed screw nut is laid on the sliding rail, and the other end of the feed screw nut and second head sections are connected, institute Stating driving motor drives the lead screw to rotate and the feed screw nut is moved in a straight line.

2. all-electric automatic parking robot according to claim 1, it is characterised in that: the all-electric automatic parking machine Device people further includes information collecting device, is connected to the middle control module, for obtaining the information of target vehicle, and by the target The information of vehicle is sent to the middle control module.

3. all-electric automatic parking robot according to claim 1, it is characterised in that:

The side arm is connected including the first side arm section and the second side arm section, the two by the second telescopic unit, and described second Telescopic unit is connected to the middle control module, and the flexible situation of second telescopic unit is controlled by the middle control module；

The structure of second telescopic unit is identical with the structure of first telescopic unit.

4. all-electric automatic parking robot according to claim 3, it is characterised in that: the lifting mechanism includes lifting Platform and lifting device, wherein

The lift master is provided with lifting yoke and lifting yoke driving device, and the two is connected with each other, the lifting yoke driving Device is for driving the lifting yoke to open with 90 degree；

The lifting device includes electric cylinder, and one end of the electric cylinder is connected to the first side arm section or second side arm Section, the other end of the electric cylinder is connected with the lift master, to drive the lift master to move up and down, while described in drive Lifting yoke moves up and down.

5. all-electric automatic parking robot according to claim 4, it is characterised in that: the first side arm section and described Second side arm section is provided with the square cavity for accommodating the lifting mechanism；

The all-electric automatic parking robot also has the guiding supporting mechanism in the square cavity, the guiding branch Hold mechanism both ends it is vertical with the upper wall of the square cavity and lower wall respectively connect, the lift master and the guiding support machine Structure is connected and edge vertically moves down thereon；

One end of the electric cylinder is connected to the upper wall of the square cavity, the other end of the electric cylinder and the lift master phase Even.

6. all-electric automatic parking robot according to claim 5, it is characterised in that: the guiding supporting mechanism is point Not Wei Yu the square cavity two side walls guide rail, the both ends of the lift master respectively by be located at the square cavity two The guide rail of side wall is connected with the first side arm section or the second side arm section, and makes the lift master above and below the guide rail It vertically moves.

7. all-electric automatic parking robot according to claim 5, it is characterised in that: the guiding supporting mechanism is vertical The column-like guides of the direct-connected upper wall for being connected to the square cavity and lower wall, the column-like guides are lived through the lift master and with it Dynamic connection vertically moves the lift master up and down along the column-like guides.

8. all-electric automatic parking robot according to claim 5, it is characterised in that: the lifting device further includes subtracting One end of fast mechanism, direct current generator, flange and push rod, the electric cylinder is vertically connected at the square cavity by the flange Upper wall be connected with the first side arm section or the second side arm section, positioned at the electric cylinder the other end the push rod hang down The direct-connected top for being connected to the lift master, middle control module, which controls the direct current generator rotation, makes the deceleration mechanism deceleration torque increase, Torsion is transferred to the electric cylinder, is driven by the ball screw framework of the inside of the electric cylinder and is moved down on the push rod It is dynamic.

9. all-electric automatic parking robot according to claim 4, it is characterised in that: the lifting yoke is 90 degree and beats The lifting yoke opened.

10. all-electric automatic parking robot according to claim 4, it is characterised in that: the lifting yoke driving dress It sets including worm gear mechanism and driving motor, the worm gear mechanism is connect with the lifting yoke, the driving motor The worm gear mechanism is driven to control the folding of the lifting yoke.