阅读说明：本技术 自动停车搬运系统及方法 (Automatic parking and carrying system and method ) 是由 王佳 宋国库 于 2020-09-15 设计创作，主要内容包括：本公开提供了一种自动停车搬运系统及方法,其自动停车搬运系统包括：底座、传感单元和搬运机器人群组。汽车行驶至底座上后,传感单元检测汽车前轮和后轮在底座上的着落位置,搬运机器人群组能够提供两个夹抱搬运器分别运行至汽车下方与所述前轮及后轮着落位置对应的搬运位置,分别夹抱所述前轮和后轮以共同将汽车搬运至指定位置停放。(The present disclosure provides an automatic parking handling system and method, the automatic parking handling system includes: the robot comprises a base, a sensing unit and a carrying robot group. After the automobile runs to the base, the sensing unit detects the landing positions of the front wheel and the rear wheel of the automobile on the base, the carrying robot group can provide two clamping and holding carriers to respectively move to the carrying positions below the automobile and corresponding to the landing positions of the front wheel and the rear wheel, and the front wheel and the rear wheel are respectively clamped and held to carry the automobile to an appointed position to be parked.)

1. An automated parking handling system, comprising:

a base (100) configured to park a vehicle;

a sensing unit (200) disposed on the base (100); the sensing unit (200) is configured to detect landing positions of front and rear wheels of the automobile on the base (100);

the carrying robot group comprises a plurality of clamping and holding carriers (300), wherein the carrying robot group can provide two clamping and holding carriers (300) which respectively move to carrying positions below the automobile and corresponding to the landing positions of the front wheels and the rear wheels, and respectively clamp and hold the front wheels and the rear wheels so as to carry the automobile to an appointed position for parking.

2. The automated parking handling system of claim 1, wherein the clamp carrier (300) comprises:

at least two arm holding mechanisms (310) symmetrically arranged on two sides of the clamping and holding carrier (300) and configured to clamp and hold the front wheels and/or the rear wheels of the automobile;

at least one moving wheel mechanism (320) configured to move the clamping carrier (300).

3. The automated parking handling system according to claim 1, wherein the base (100) comprises:

the first seat body (110), the first seat body (110) is provided with one sensing unit (200); and

the second seat body (120) is arranged in parallel with the first seat body (110); the second seat body (120) is provided with the sensing unit (200).

4. The automated parking handling system according to claim 3, wherein the sensing unit (200) is disposed on a surface of the first seat (110) and the second seat (120) contacting front wheels and rear wheels of the vehicle; the sensing unit (200) comprises a plurality of sensors (210), and the plurality of sensors (210) are arranged in a linear array.

5. The automated parking handling system of claim 2, wherein the arm mechanism (310) comprises: a drive unit and at least two clasping arms (314);

at least two clasping arms (314) are capable of rotating in opposite clockwise directions from a first position to a second position under the drive of the drive mechanism;

the first position is parallel to the moving direction of the clamping and holding carrier (300), and the second position is perpendicular to the moving direction of the clamping and holding carrier (300).

6. The automated parking handling system of claim 5 wherein the drive unit comprises:

a first motor (311);

at least two turbine shafts (312) respectively connected with the output shaft of the first motor (311);

at least two turbines (313) configured as output ends of the drive unit, respectively meshed with the two turbine shafts (312);

the clamping arms (314) are coaxially connected with the two turbines (313), and the clamping arms (314) rotate around the axis of the turbines (313).

7. The automated parking handling system according to claim 5, wherein the clasping arm (314) is provided with at least one roller (3142); an inclined plane (3141) is arranged on each clamping and embracing arm (314), and the inclined planes (3141) of the two clamping and embracing arms (314) in the embracing arm mechanism (310) are oppositely arranged.

8. The automated parking handling system according to claim 2, wherein the moving wheel mechanism (320) comprises:

a second motor (321);

the first driving wheel (322) is connected with an output shaft of the second motor (321) through a transmission chain (325);

the second driving wheel (323) is connected with the first driving wheel (322) through a coupling (326); the first driving wheel (322) and the second driving wheel (323) are symmetrically arranged on two sides of the clamping carrier (300); and

a reducer (324) coupled to an output shaft of the second motor (321), the reducer (324) configured to reduce a rotational speed of the output shaft of the second motor (321);

the first driven wheel (350) and the second driven wheel (360) are symmetrically arranged on two sides of the clamping and holding carrier (300).

9. The automated parking handling system of claim 2, wherein the clamp carrier (300) further comprises:

the two arm-embracing mechanisms (310) and the at least one moving wheel mechanism (320) are arranged on the frame body (330); and

the cover plate (340), the cover plate (340) is buckled on the frame body (330).

10. A handling method using the automated parking handling system of any one of claims 1 to 9, comprising:

acquiring a landing position of a front wheel of the automobile on the base (100) and a landing position of a rear wheel of the automobile on the base (100) which are detected by a sensing unit (200);

sending two clamping carriers (300) to carrying positions corresponding to the landing positions of the front wheels and the rear wheels below the automobile respectively according to the landing positions of the front wheels and the rear wheels;

the two clamping and holding carriers (300) respectively clamp and hold the front wheels and the rear wheels so as to carry the automobile to a specified position for parking.

Technical Field

The disclosure relates to the field of warehouse logistics, and more particularly to an automatic parking and carrying system and method.

Background

With the rapid development of artificial intelligence, automatic control, communication and computer technologies, robots are increasingly used in many fields such as industrial and agricultural production, buildings, logistics, and daily life. In recent years, the mobile robot industry is rapidly developed, various AGVs and RGVs are developed in a large number, and application scenes slowly permeate into all corners of people's life.

The automatic parking and warehousing is a new application field of the mobile robot, and is currently divided into a connected type and a separated type. The integrated type floor area is large, and the self-adaption is carried out on automobiles with different levels through the self adjusting devices, so that the mechanical mechanism is complex and the cost is high. Although the separated type is smaller than the integrated type, the detection of the wheel track and the wheel base of the automobile by the separated type at present depends on a sensor, the control difficulty is increased, the identification risk is high, the design difficulty of the applied transmission mechanism is large, and the popularization and the use are difficult.

Disclosure of Invention

In view of the above, the present disclosure provides an automated parking handling system and method.

One aspect of the present disclosure provides an automated parking handling system including a base, a sensing unit, and a handling robot group. The base is configured to park the vehicle. The sensing unit is arranged on the base; the sensing unit is configured to detect landing positions of front and rear wheels of the automobile on the base. The carrying robot group comprises a plurality of clamping and holding carriers, the carrying robot group can provide two clamping and holding carriers to respectively move to carrying positions below the automobile and corresponding to the landing positions of the front wheels and the rear wheels, and the front wheels and the rear wheels are respectively clamped and held to carry the automobile to an appointed position to be parked.

According to this disclosed embodiment, press from both sides and embrace carrier includes: at least two arm-embracing mechanisms and at least one moving wheel mechanism. At least two arm mechanisms are symmetrically arranged on two sides of the clamping and holding carrier and are configured to clamp and hold the front wheels and/or the rear wheels of the automobile. At least one moving wheel mechanism is configured to drive the clamping carrier to move.

According to an embodiment of the present disclosure, the base includes: the first seat body and the second seat body. The first seat body is provided with one sensing unit. The second seat body is arranged in parallel with the first seat body; the second seat body is provided with one sensing unit.

According to the embodiment of the disclosure, the sensing unit is arranged on the surfaces of the first seat body and the second seat body, which are in contact with the front wheels and the rear wheels of the automobile; the sensing unit comprises a plurality of sensors which are arranged in a linear array.

According to this disclosed embodiment, hold arm mechanism includes: the driving unit and the at least two clamping arms;

the at least two clamping arms can rotate from a first position to a second position along opposite clockwise directions under the driving of the driving mechanism;

the first position is parallel to the moving direction of the clamping and holding carrier, and the second position is perpendicular to the moving direction of the clamping and holding carrier.

According to an embodiment of the present disclosure, the driving unit includes: a first electric machine, at least two turbine shafts and at least two turbines. At least two turbine shafts are respectively connected with the output shaft of the first motor. At least two turbines are configured as the output ends of the driving unit and are respectively meshed and connected with the two turbine shafts. The clamping arms are coaxially connected with the turbines respectively, and rotate around the axes of the turbines.

According to the embodiment of the disclosure, at least one roller is arranged on the clamping arm; the clamp arm is provided with an inclined plane, and the inclined planes of the clamp arm and the clamp arm are oppositely arranged in the arm holding mechanism.

According to an embodiment of the present disclosure, the moving wheel mechanism includes: the second motor, the first driving wheel, the second driving wheel, the speed reducer, the first driven wheel and the second driven wheel. The first driving wheel is connected with an output shaft of the second motor through a transmission chain. The second driving wheel is connected with the first driving wheel through a coupler; the first driving wheel and the second driving wheel are symmetrically arranged on two sides of the clamping carrier. A speed reducer is coupled to the output shaft of the second motor, the speed reducer configured to reduce a rotational speed of the output shaft of the second motor. The first driven wheel and the second driven wheel are symmetrically arranged on two sides of the clamping carrier.

According to this disclosed embodiment, press from both sides and embrace carrier still includes: a frame body and a cover plate. The two arm-embracing mechanisms and the at least one moving wheel mechanism are arranged on the frame body. The cover plate is buckled above the frame body.

Another aspect of the present disclosure provides a transporting method using an automated parking transporting system, including: acquiring a landing position of a front wheel of the automobile on the base and a landing position of a rear wheel of the automobile on the base, which are detected by a sensing unit; sending two clamping carriers to a carrying position corresponding to the landing positions of the front wheels and the rear wheels below the automobile respectively according to the landing positions of the front wheels and the rear wheels; the two clamping and holding carriers respectively clamp and hold the front wheel and the rear wheel so as to carry the automobile to an appointed position for parking.

According to the embodiment of the disclosure, owing to adopt the sensing unit on the base to detect the landing position of the front wheel and the rear wheel of car on the base, two press from both sides to embrace the carrier and move to the landing position and press from both sides the front wheel and the rear wheel of car and embrace the transport to predetermineeing the position, so at least part has overcome present disconnect-type and has relied on to press from both sides to embrace the carrier sensor to the detection of car wheel base and wheel base, and the control degree of difficulty increases, technical problem that discernment risk is high, and then has reached and need not to rely on vehicle self sensor, reduces the control degree of difficulty, and the technological effect that the discernment degree of accuracy is high.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

FIG. 1 schematically illustrates a schematic structural view of an automated parking handling system according to an embodiment of the present disclosure;

fig. 2 schematically illustrates a state in which two bracketing carriers bracketing a front wheel and a rear wheel of an automobile according to an embodiment of the present disclosure;

FIG. 3 schematically illustrates a base structure according to an embodiment of the disclosure;

fig. 4 schematically shows an overall structural view of a clamp carrier according to an embodiment of the present disclosure;

fig. 5 schematically shows an internal structural view of a clamp carrier according to an embodiment of the present disclosure.

Fig. 6 schematically shows a partial enlarged representation according to fig. 5.

Fig. 7 schematically shows a partial enlarged representation according to fig. 5.

Fig. 8 schematically illustrates a block diagram of an automated parking handling method according to an embodiment of the disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

An embodiment of the present disclosure provides an automated parking handling system, including: the robot comprises a base, a sensing unit and a carrying robot group. After the automobile runs to the base, the sensing unit detects the landing positions of the front wheel and the rear wheel of the automobile on the base, the carrying robot group can provide two clamping and holding carriers respectively move to the carrying positions below the automobile and corresponding to the landing positions of the front wheel and the rear wheel, and the front wheel and the rear wheel are respectively clamped and held to carry the automobile to the designated position to be parked.

Fig. 1 schematically illustrates a structural schematic of an automated parking handling system according to an embodiment of the present disclosure. As shown in fig. 1, the automated parking handling system includes a base 100, a sensing unit 200, and a handling robot group. Wherein transfer robot group includes: a plurality of grippers holds carrier 300. The plurality of clamp carriers 300 are not connected, and each clamp carrier 300 operates independently.

Taking the transfer robot group including two clamping and clasping carriers 300 as an example, fig. 2 schematically illustrates a state diagram when the two clamping and clasping carriers clamp the front wheels and the rear wheels of the automobile according to the embodiment of the present disclosure, and as shown in fig. 2, each clamping and clasping carrier 300 clamps the two front wheels or the two rear wheels of the automobile.

Fig. 3 schematically illustrates a base structure schematic according to an embodiment of the disclosure. As shown in fig. 3, the base 100 includes: a first fastening structure 110 and a second fastening structure 120. Regarding the arrangement of the first seat 110 and the second seat 120, one way is a split arrangement, and the first seat 110 and the second seat 120 are respectively disposed on the ground without a connection relationship therebetween, as shown in fig. 3.

An alternative arrangement is that the bottoms of the first housing 110 and the second housing 120 are connected by a housing, and the base 100 is a unitary structure, which will not be described herein. However, in any of the above manners, the distance between the first fastening structure 110 and the second fastening structure 120 can be adjusted as required. The specific connection mode is not limited, for example, screw connection, welding, gluing, riveting, etc. can be selected according to actual needs.

The first seat body 110 and the second seat body 120 are disposed in parallel, and the vehicle width capable of being parked in the vehicle is specifically considered between the first seat body 110 and the second seat body 120, and generally, the vehicle width capable of being parked in the vehicle is not greater than the maximum distance between the first seat body 110 and the second seat body 120.

First seat 110 and second seat 120 are generally configured as a trapezoidal or semi-trapezoidal structure, so as to facilitate a slope suitable for a vehicle to travel onto first seat 110 and second seat 120. In consideration of convenience of vehicle driving, the widths of the first seat body 110 and the second seat body 120 should be as large as possible, and generally not smaller than the width of the tire.

The first base 110 and the second base 120 are both provided with a sensing unit 200. The sensing unit 200 includes a plurality of sensors 210. The plurality of sensors 210 are respectively arranged in a linear array on the first seat body 110 and the second seat body 120 (along the traveling path direction of the automobile on the first seat body 110 and the second seat body 120). The arrangement of the sensors 210 also needs to consider the high-probability driving route of the vehicle when the vehicle drives into the first seat 110 and the second seat 120 as much as possible, so as to improve the accuracy of detection and avoid the situation that the landing position is not collected by the sensing unit 200 as much as possible.

The distance between the sensing unit 200 disposed on the first seat 110 and the sensing unit 200 disposed on the second seat 120 is preferably equal to the front track or the rear track of the vehicle.

Regarding the location where the sensing unit 200 is disposed, an embodiment is provided in fig. 3, in which the sensing unit is disposed on the surface of the first seat 110 (or the second seat 120) that contacts with the tire of the vehicle. As another embodiment, the installation positions of the sensing units are adjusted correspondingly, for example, the installation positions are arranged on the side wall surfaces of the first seat 110 and the second seat 120.

For example, the sensor 210 may be a position sensor (position sensor) that senses the position of the object and converts the sensed position into a usable output signal. It can sense the position of the measured object and convert it into a sensor capable of outputting signal. Position sensors are of both the contact and proximity type. The contact of the touch sensor is pressed by two objects to detect the contact position of the touch sensor with an object, and the touch sensor is more suitable for the situation that the sensor 210 is arranged on the surface of the contact of the automobile tire in the present disclosure. The proximity sensor is a switch that can send an "action" signal when an object approaches the proximity sensor to a set distance, and it does not need to be in direct contact with the object, and is suitable for the case where the sensor 210 is disposed on the surface in contact with the automobile tire and the sidewall surface of the seat body in the present disclosure.

Fig. 4 schematically shows an overall structural view of the clamp carrier according to the embodiment of the present disclosure. As shown in fig. 4, the clamp carrier 300 includes: two clasping arm mechanisms 310, at least one moving wheel mechanism 320, a frame body 330 and a cover plate 340. The two arm clasping mechanisms 310 and the at least one moving wheel mechanism 320 are disposed on the frame body 330, and the cover plate 340 is fastened above the frame body 330. The moving wheel mechanism 320 moves in the channel between the first seat 110 and the second seat 120; the two arm embracing mechanisms 310 are respectively erected on the first seat body 110 and the second seat body 120, and move on the first seat body 110 and the second seat body 120 along with the moving wheel mechanism 320.

The cover 340 is fastened on the frame 330, and fig. 5 schematically illustrates an internal structure of the clamp carrier according to an embodiment of the disclosure. As shown in figure 5 of the drawings,

the two arm mechanisms 310 are symmetrically disposed on two sides of the clamping carrier 300, and are configured to clamp the front wheels and the rear wheels of the automobile. Specifically, the arm embracing mechanism 310 includes: a drive unit and at least two clasping arms 314, each of which is described in detail below.

The driving unit drives the at least two clamping and embracing arms 314 to respectively open and close along the axial direction and rotate, and the rotating directions of the two clamping and embracing arms 314 are opposite or back to back.

One clamping arm 314 rotates clockwise, the other clamping arm 314 rotates counterclockwise, the two clamping arms 314 rotate relatively, and the two clamping arms 314 clamp the tire tangentially from two sides of the tire.

The two clasping arms 314 can now rotate in opposite clockwise directions from the first position to the second position; the first position is parallel to the moving direction (X axis) of the clamping and holding carrier 300, and the second position is perpendicular to the moving direction of the clamping and holding carrier 300. The critical position of the two clipping arms 314 when the two clipping arms 314 relatively rotate is that the two clipping arms 314 are parallel and perpendicular to the X-axis direction, which can refer to the position of the clipping arms 314 in fig. 5.

When the rotation directions of the two clasping arms 314 are interchanged (i.e., one clasping arm 314 rotates in the counterclockwise direction and the other clasping arm 314 rotates in the clockwise direction), and the two clasping arms 314 rotate in the opposite directions, the tire is separated from clasping of the two clasping arms 314. The critical position when the two clipping arms 314 rotate back to back is that the two clipping arms 314 are on the same straight line and parallel to the first direction (X-axis direction).

The first direction (X-axis) is a moving direction of the gripping carrier 300. The second direction (Y-axis) is the extending direction of the arms 314 (perpendicular to the moving direction of the clasping carrier 300).

It should be noted that the range of rotation of each clasping arm 314 is from the first position to the second position (0 ° to 90 °).

Fig. 6 schematically shows a partial enlarged representation according to fig. 5. As shown in fig. 6, the clasping arms 314 are provided with inclined surfaces 3141, and the inclined surfaces 3141 of the two clasping arms 314 in the clasping arm mechanism 310 are arranged oppositely. More specifically, the inclined surface 3141 is tangent to the front wheel and the rear wheel of the automobile to achieve a better clamping effect.

The clamping arm 314 is provided with at least one idler wheel 3142, so that the clamping of the front wheel and the rear wheel of the automobile is more conveniently realized.

In a preferred embodiment, rollers 3142 are disposed on angled surfaces 3141, as shown in fig. 6, to facilitate gripping of the tire by the gripper arms 314 and reduce frictional resistance therebetween.

As for the arrangement of the rollers 3142, no specific limitation is imposed, and as shown in fig. 6, a preferable mode is provided in which a plurality of rollers 3142 are coaxially arranged in the second direction (Y-axis) as a roller group, and a plurality of roller groups are arranged in an array on the inclined surface 3141.

The driving unit drives the two clasping arms 314 by a driving transmission component of the first motor 311. The drive transmission assembly may be selected from, for example: gear drive, chain drive, belt drive, worm and gear drive, etc. In one implementation of the present disclosure, a worm gear drive is selected.

Specifically, the driving unit includes: a first electric machine 311, at least two turbine shafts 312 and at least two turbines 313. At least two turbine shafts 312 are respectively connected with the output shaft of the first motor 311; at least two turbines 313 are respectively meshed with the two turbine shafts 312 and serve as output ends of the driving unit. At least two clamping arms 314 are respectively and coaxially connected with the two turbines 313, and the clamping arms 314 rotate around the axes of the turbines 313.

With respect to the other component moving wheel mechanism 320 of the clamp carrier 300, it includes: a second motor 321, a first driving wheel 322, a second driving wheel 323, a speed reducer 324, a first driven wheel 350 and a second driven wheel 360, as shown in fig. 7. The first driving wheel 322 is connected with an output shaft of the second motor 321 through a transmission chain 325, the second driving wheel 323 is connected with the first driving wheel 322 through a coupling 326, and the first driving wheel 322 and the second driving wheel 323 are symmetrically arranged on two sides of the clamping carrier 300. The first driven wheel 350 and the second driven wheel 360 are symmetrically disposed on two sides of the clamp carrier 300, and move along with the movement of the first driving wheel 322 and the second driving wheel 323.

Optionally, a speed reducer 324 is connected to the output shaft of the second motor 321, and the speed reducer 324 is configured to reduce the rotation speed of the output shaft of the second motor 321.

The number of the first driving wheel 322, the second driving wheel 323, the first driven wheel 350 and the second driven wheel 360 is at least one. For example, two of the first driving wheel 322, the second driving wheel 323, the first driven wheel 350 and the second driven wheel 360 are shown in fig. 5.

Fig. 8 schematically illustrates a block diagram of an automated parking handling method according to an embodiment of the disclosure.

As shown in fig. 8, the automatic parking handling method of the embodiment of the present disclosure may include operations S101 to S103.

In operation S101, a landing position of a front wheel of an automobile on a base 100 and a landing position of a rear wheel of the automobile on the base 100, which are detected by a sensing unit 200, are acquired.

In operation S102, two of the gripping carriers 300 are dispatched to the carrying positions under the vehicle corresponding to the landing positions of the front and rear wheels, respectively, according to the landing positions of the front and rear wheels.

In operation S103, the two clamping carriers 300 clamp the front wheels and the rear wheels, respectively, to collectively carry the vehicle to a designated position for parking.

The specific structures of the base 100, the sensing unit 200 and the clamping carrier 300 are described above, and are not described herein again.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.