Full-automatic parking robot and parking method thereof
阅读说明:本技术 一种全自动泊车机器人及其泊车方法 (Full-automatic parking robot and parking method thereof ) 是由 李德华 于 2019-10-22 设计创作,主要内容包括:本发明公开了一种全自动泊车机器人,其中一种全自动泊车机器人及其泊车方法包括;车架组件和驱动装置,通过汽车停止在指定的区域,并且扫描指定区域位置二维码,进而将驱动装置带动着车体上面的载车架运动到汽车停止的区域,同时扫描车辆的体积信息,进而运动到汽车的底部,由举升组件将车辆举起,不接触到轮胎,减少了轮胎损伤,同时该机械人整个结构为一个矩形,结构紧凑牢固,同时采用双舵轮驱动,可以自由的转向,当运动到指定的停车区域,将停车区域信息发生至手机APP中,整个过程采用泊车机械人完成,节省了驾驶员停车时间,并且驾驶员能够实时监测到车辆停车的信息,提高了驾驶员的便利性。(The invention discloses a full-automatic parking robot, wherein the full-automatic parking robot and a parking method thereof comprise the following steps of; frame subassembly and drive arrangement, stop at appointed region through the car, and scan appointed regional position two-dimensional code, and then drive arrangement drives the area that the car stopped that carries the frame motion to the car above the automobile body, the volume information of vehicle is scanned simultaneously, and then move the bottom of car, lift up the vehicle by lifting up the subassembly, contactless tire, the tire damage has been reduced, this robot overall structure is a rectangle simultaneously, compact structure is firm, adopt two rudder wheel drives simultaneously, can freely turn to, when moving appointed parking region, take place parking region information to the cell-phone APP in, whole process adopts the robot of parking to accomplish, driver's parking time has been saved, and the driver can monitor the information that the vehicle parkked in real time, driver's convenience has been improved.)
1. A fully automatic parking robot, comprising:
the frame assembly comprises a vehicle body, a vehicle carrying frame arranged on the vehicle body, connecting cross beams fixedly connected to two ends of the vehicle carrying frame, a positioning system arranged on the side surfaces of the connecting cross beams, a control system arranged at the front end of the vehicle body, reinforcing arms fixedly connected to the inner side of the vehicle carrying frame, a first framework assembly and a second framework assembly which are fixedly arranged on the side surfaces of the vehicle carrying frame in a comb-tooth shape;
the lifting device comprises a driving device, a wheel balance mechanism fixedly arranged on the vehicle body, a wheel assembly fixedly arranged on the wheel balance mechanism, and a lifting assembly fixedly connected to the back of the vehicle carrying frame.
2. A fully automatic parking robot as claimed in claim 1, wherein: the vehicle carrying frame is designed to be rectangular, two groups of through holes are formed in the side face of the vehicle carrying frame, the distance between every two groups of through holes is equal, and baffles are arranged at the end portions of the first framework assembly and the second framework assembly.
3. A fully automatic parking robot as claimed in claim 1, wherein: the bottom of the vehicle carrying frame is provided with at least four lifting assemblies, each lifting assembly comprises a base fixedly mounted on the vehicle carrying frame, a trapezoidal screw fixedly mounted on the base, and a turbine speed reducer in threaded connection and matching with the trapezoidal screw, and the center of the turbine speed reducer is of an internal thread structure.
4. A fully automatic parking robot as claimed in claim 1, wherein: the wheel balance mechanism is total two sets ofly, wheel balance mechanism includes fixed mounting and is in the balanced skeleton of automobile body bottom, fixed mounting is in first mounting panel and second mounting panel above the balanced skeleton, interference fit installs bearing above the balanced skeleton passes the bearing and with the middle back shaft that bearing interference fit links together to and fixed mounting is in the strengthening rib of first mounting panel and second mounting panel bottom simultaneously.
5. A fully automatic parking robot as claimed in claim 4, wherein: the wheel assembly comprises a steering wheel fixedly welded on a first mounting plate, a universal wheel fixedly mounted on a second mounting plate, and two spring damping wheels fixedly mounted on the vehicle body and between the steering wheel and the universal wheel;
the steering wheels and the universal wheels in the front and rear directions of the vehicle body are arranged in a diagonal line.
6. A fully automatic parking robot as claimed in claim 1, wherein: the control system comprises a main control box arranged at the bottom of the vehicle carrying frame, a CPU module arranged in the control box, a laser detection sensor fixedly connected to the main control box, and a scanning sensor arranged on the side surface of the main control box, wherein the laser detection sensor is electrically connected with the scanning sensor and the CPU module in a communication manner and is arranged on anti-collision mechanisms at two ends of the main control box.
7. A fully automatic parking robot as claimed in claim 6, wherein: the main control box is formed by bending a metal plate;
the anti-collision mechanism comprises a bending piece, an infrared sensor, an ultrasonic sensor and an obstacle sensor, wherein the bending piece is fixedly arranged on the vehicle body and is positioned in the front direction and the rear direction of the vehicle body;
the infrared sensor, the ultrasonic sensor and the obstacle sensor are electrically connected with the CPU module in a communication mode.
8. A working method of a full-automatic parking robot is characterized by comprising the following steps:
s1, stopping the vehicle in the designated area, and scanning the two-dimensional codes in the parking area by the passengers;
s2, receiving the parking robot into the parking area of the vehicle, and moving the parking robot into the area where the vehicle stops;
s3, starting a scanning sensor on the robot to scan the length, width and height of the vehicle, calculating the volume of the vehicle, and transmitting the vehicle information to a control system;
s4, the jacking device is conveyed to the bottom of the vehicle, the laser detection sensor on the mobile upper surface is controlled to be started, when the parking robot moves to the middle position of the bottom of the vehicle, the lifting assembly starts to be started, the motor rotates to drive the worm to rotate, the worm drives the worm to move up and down on the trapezoidal screw rod, when the parking robot is lifted to the specified position, the vehicle is lifted, the vehicle leaves the ground, the motor stops rotating, and the lifting assembly stops lifting;
s5, the wheel assemblies are started to drive the vehicle to move to the underground parking lot, in the process of moving, when the ground is uneven, in order that the wheels can simultaneously land, the wheel balancing mechanism swings left and right to simultaneously land the wheels on two sides, and today, the stability of the parking robot in the process of moving is improved until the parking robot moves to a specified parking area;
s6, when the vehicle moves to the designated parking area, the lifting assembly is started again, and the vehicle is descended to the ground;
s7, when the vehicle descends to the ground, the control system collects the parking area information of the vehicle and feeds the parking area information back to the mobile phone end;
and S8, when the vehicle needs to be used, the vehicle can be moved to the designated parking area by the mobile phone APP and the vehicle is used by one key of the parking robot.
Technical Field
The invention relates to a full-automatic parking robot, in particular to a full-automatic parking robot and a parking method thereof.
Background
In recent years, with the sharp increase of the automobile holding quantity in China, the parking space demand is more and more large, and the problem of difficult parking is increasingly obvious. The parking robot in the prior art has been successfully applied to automatic parking at the existing airport, but the existing robot has a large volume, needs a large space in the carrying process and is not beneficial to steering, and meanwhile, most parking robots in the prior art adopt a clamping mode to carry the automobile away from the ground and directly act on the tire of the automobile, so that the tire is easily damaged.
Disclosure of Invention
The purpose of the invention is as follows: a full-automatic parking robot and a parking method thereof are provided to solve the above problems in the prior art.
The technical scheme is as follows: a fully automatic parking robot comprising:
the frame assembly comprises a vehicle body, a vehicle carrying frame arranged on the vehicle body, connecting cross beams fixedly connected to two ends of the vehicle carrying frame, a positioning system arranged on the side surfaces of the connecting cross beams, a control system arranged at the front end of the vehicle body, reinforcing arms fixedly connected to the inner side of the vehicle carrying frame, a first framework assembly and a second framework assembly which are fixedly arranged on the side surfaces of the vehicle carrying frame in a comb-tooth shape;
the vehicle-mounted device comprises a driving device, a wheel balancing mechanism fixedly mounted on the vehicle body, a wheel assembly fixedly mounted on the wheel balancing mechanism, and a lifting assembly fixedly connected to the vehicle-mounted frame.
In a further example, the vehicle carrying frame is designed to be rectangular, two groups of through holes are formed in the side face of the vehicle carrying frame, the distance between every two groups of through holes is equal, the end portions of the first framework component and the second framework component are provided with the baffle plates, assembly can be facilitated, assembly accuracy is improved, the baffle plates at the end portions can effectively prevent the parking robot from vibrating in motion to prevent the vehicle from sliding, and safety performance of the robot is improved.
In a further example, the bottom of the vehicle carrying frame is provided with at least four lifting assemblies, each lifting assembly comprises a base fixedly mounted on the upper surface of the vehicle carrying frame, a trapezoidal screw fixedly mounted on the base and a turbine speed reducer in threaded connection and matching with the trapezoidal screw, and the center of the turbine speed reducer is of an internal thread structure.
In a further example, the wheel balance mechanism is total two sets, the wheel balance mechanism includes fixed mounting in the balanced skeleton of automobile body bottom, fixed mounting in first mounting panel and second mounting panel above the balanced skeleton, interference fit installs the bearing above the balanced skeleton, pass the bearing and with the middle back shaft that the bearing interference fit links together to and simultaneously fixed mounting be in the strengthening rib of first mounting panel and second mounting panel bottom. The steering wheel and the universal wheel mounting plate are arranged on the framework of the balancing device in a welding mode, and meanwhile, in order to guarantee good stress of the device and prevent the mounting plate from generating large deformation, a plurality of reinforcing ribs are arranged to improve strength.
In a further example, the wheel assembly comprises a steering wheel fixedly welded to a first mounting plate, a universal wheel fixedly mounted to a second mounting plate, and two spring-damped wheels fixedly mounted to the body intermediate the steering wheel and the universal wheel;
the steering wheels and the universal wheels in the front and rear directions of the car body are arranged diagonally, the double steering wheels can realize advancing and retreating, left and right transverse movement and rotary movement of the parking robot, meanwhile, the parking robot can move along the curve of any position inside or outside the car body in any posture, the universal wheels in the diagonal line play a role in balancing and supporting, the spring damping wheels in the middle can play a role in bearing, and meanwhile, the wheels are effectively guaranteed to land simultaneously.
In a further example, control system, including setting up the main control box of bottom of the car body sets up the inside CPU module of control box, fixed connection is in laser detection sensor on the main control box sets up the scanning sensor of main control box side, laser detection sensor with scanning sensor with CPU module communication electric connection is in the same place, sets up the main control box comes the anticollision institution at both ends, can scan the length and width height of car and calculate the volume of car, has improved the automation level of robot.
In a further example, the main control box is formed by bending a metal plate;
the anti-collision mechanism comprises a bending piece, an infrared sensor, an ultrasonic sensor and an obstacle sensor, wherein the bending piece is fixedly arranged on the vehicle body and is positioned in the front direction and the rear direction of the vehicle body;
the infrared sensor, the ultrasonic sensor and the obstacle sensor are electrically connected with the CPU module in a communication mode.
In a further embodiment, a method for operating a fully automatic parking robot includes the steps of:
s1, stopping the vehicle in the designated area, and scanning the two-dimensional codes in the parking area by the passengers;
s2, receiving the parking robot into the parking area of the vehicle, and moving the parking robot into the area where the vehicle stops;
s3, starting a scanning sensor on the robot to scan the length, width and height of the vehicle, calculating the volume of the vehicle, and transmitting the vehicle information to a control system;
s4, the jacking device is conveyed to the bottom of the vehicle, the laser detection sensor on the mobile upper surface is controlled to be started, when the parking robot moves to the middle position of the bottom of the vehicle, the lifting assembly starts to be started, the motor rotates to drive the worm to rotate, the worm drives the worm to move up and down on the trapezoidal screw rod, when the parking robot is lifted to the specified position, the vehicle is lifted, the vehicle leaves the ground, the motor stops rotating, and the lifting assembly stops lifting;
s5, the wheel assemblies are started to drive the vehicle to move to the underground parking lot, in the process of moving, when the ground is uneven, in order that the wheels can simultaneously land, the wheel balancing mechanism swings left and right to simultaneously land the wheels on two sides, and today, the stability of the parking robot in the process of moving is improved until the parking robot moves to a specified parking area;
s5, when the vehicle moves to the designated parking area, the lifting assembly is started again, and the vehicle is descended to the ground;
s6, when the vehicle descends to the ground, the control system collects the parking area information of the vehicle and feeds the parking area information back to the mobile phone end;
and S7, when the vehicle needs to be used, the vehicle can be moved to the designated parking area by the mobile phone APP and the vehicle is used by one key of the parking robot.
Has the advantages that: the invention discloses a full-automatic parking robot, wherein a vehicle carrying frame is arranged on a vehicle body, a driving device is arranged at the bottom of the vehicle body, and a lifting assembly fixedly arranged on the back of the vehicle carrying frame, the vehicle stops in a specified area, two-dimensional codes of the position of the specified area are scanned, so that the driving device drives the vehicle carrying frame on the vehicle body to move to the area where the vehicle stops, the volume information of the vehicle is scanned, the vehicle is moved to the bottom of the vehicle, the lifting assembly lifts the vehicle without contacting with tires, the tire damage is reduced, meanwhile, the whole structure of the robot is rectangular, the structure is compact and firm, meanwhile, double-rudder wheel driving is adopted, the robot can freely steer, when the robot moves to the specified parking area, the information of the parking area is generated into a mobile phone APP, the whole process is completed by adopting a parking robot, the parking time of a driver is saved, and the driver can detect the information of the, the convenience of the driver is improved.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a left side view of the present invention.
FIG. 5 is a front view of the lift assembly of the present invention.
The reference signs are: the device comprises a vehicle body 1, a vehicle carrying frame 2, a connecting crossbeam 3, a positioning system 4, a reinforcing arm 5, a first framework assembly 6, a second framework assembly 7, a wheel balance mechanism 8, a wheel assembly 9, a
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
According to the problems, the applicant provides a full-automatic parking robot, a steering method thereof and a box opening method thereof, and the specific scheme is as follows.
As shown in fig. 1, the full-automatic parking robot comprises a vehicle body 1, a vehicle carrying frame 2, a connecting beam 3, a positioning system 4, a reinforcing arm 5, a first framework assembly 6, a second framework assembly 7, a wheel balancing mechanism 8, a wheel assembly 9, a
As shown in fig. 1, the vehicle carrying frame 2 is designed to be rectangular, the vehicle carrying frame 2 is fixed on the vehicle body 1, for structural stability and firmness, a connecting beam 3 and a reinforcing arm 5 are respectively arranged on the vehicle carrying frame 2, the connecting beam 3 is fixedly connected with two ends of the vehicle carrying frame 2, the connecting beam 3 is made of a steel material, a positioning system 4 is arranged on the side surface of the connecting beam 3, a control system 11 is fixedly arranged on the front portion of the vehicle body 1, two ends of the reinforcing arm 5 are fixedly arranged and connected inside the vehicle carrying frame 2, a first framework component 6 is fixedly arranged on the side surface of the vehicle carrying frame 2 in a comb-tooth shape, a second framework component 7 is fixedly arranged on the side surface of the vehicle carrying frame 2 in a comb-tooth shape and is positioned on the left side of the first framework component 6, and for rapidly and accurately installing the first framework component 6 and the second framework component 7, two groups of through holes 12 are arranged on the side surface of the vehicle carrying frame 2, the distance between each through hole 12 is equal, comb teeth are formed when the first framework component 6 and the second framework component 7 are installed, only the first framework component 6 and the second framework component 7 are inserted into the through holes 12, then after welding is completed, the baffle 13 is arranged at the end parts of the first framework component 6 and the second framework component 7, when the vehicle cutting frame supports the vehicle, the end part on the side surface of the vehicle carrying frame 2 prevents the vehicle carrying frame 2 from sliding left and right when the vehicle carrying frame is moved to bumpy road conditions, prevents the risk of vehicle sliding, and simultaneously adopts comb teeth arrangement on the first framework component 6 and the second framework component 7, the friction force of the car carrying frame 2 is increased, the safety performance of the car carrying frame 2 is further improved, and the practicability of the parking robot is improved.
The driving device comprises a wheel balancing component fixedly connected with a vehicle body 1, a wheel component 9 fixedly mounted with the wheel balancing component, a
As shown in fig. 5, four
When parking the robot, the road conditions that meet ground unevenness appear unavoidably, when parking the robot and when the operating mode work of road surface unevenness, the appearance of the unsettled phenomenon of wheel can appear unavoidably, it is not enough to cause drive power when unsettled phenomenon appears in the wheel, the wheel skids or automobile body 1 swings the scheduling problem and appears, because in order to avoid the emergence of this kind of phenomenon, the insurance heavy wheel lands simultaneously, has set up wheel balance mechanism 8 respectively in the front and back both sides of automobile body 1.
As shown in fig. 2, the wheel balance mechanisms 8 are divided into two groups, and each wheel balance mechanism 8 includes a
The wheel assembly 9 comprises a
The control system 11 comprises a main control box 26 fixedly connected with the vehicle body 1 and at the bottom of the vehicle body 1, wherein the main control box 26 is formed by bending sheet metal parts, a CPUCPU module 34 connected inside the CPUCPU module 34, a
The collision avoidance mechanism 29 comprises a
the
As a preferred scheme, the working method of the full-automatic parking robot comprises the following steps; the method comprises the following steps that a vehicle stops in a designated area, and passengers are parked to scan two-dimensional codes in the parking area; the parking robot receives the parking area of the vehicle, and simultaneously moves to the parking area of the vehicle; meanwhile, the scanning sensor 28 on the parking robot starts to work, the length, the width and the height of the vehicle are scanned, the volume of the vehicle is calculated, and then the vehicle information is transmitted to the control system 11; then the jacking device is transported to the bottom of the vehicle, and then the
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:基于后车驾驶模式的防追尾制动系统和方法