1. A parking robot is used for vehicles, lifting and consignment and comprises a vehicle body (1) and two groups of anti-collision blocks (2) fixedly arranged on the vehicle body (1);

characterized in that the parking robot further comprises:

the power module (3) and the control module (4) are fixedly arranged at the bottom of the vehicle body (1);

the driving structures (5) are arranged at the positions of the two corresponding sides of the vehicle body (1) and are used for controlling the omnibearing movement of the parking robot;

each group of driving structures (5) comprises two groups of omnidirectional wheels (51) fixedly arranged at the bottom of the vehicle body (1) and a steering wheel mechanism (52) fixedly arranged on the vehicle body (1);

an automatic charging device (6) provided at a position on one side of the vehicle body (1);

the automatic charging device (6) comprises a rack (61), four groups of linear module modules (64) fixedly mounted on the rack (61), a butt-joint charging module (63) arranged at a position corresponding to the linear module modules (64) and facing the vehicle body (1), and a visual identification module (62) fixedly mounted at the top of the butt-joint charging module (63); and

and the lifting structures (7) are arranged at the positions of two corresponding sides in the vehicle body (1) and are used for lifting and adjusting the vehicle.

2. A parking robot as claimed in claim 1, characterized in that two sets of said crash blocks (2) are distributed at the outer wall positions of the corresponding sides of said car body (1);

the vehicle body (1) comprises a vehicle frame (11), an operation screen (12) fixedly installed at two corresponding side positions of the top of the vehicle frame (11), a charging interface (13) and an alarm assembly (14); the operation screen (12) and the alarm component (14) are arranged on the same side.

3. A parking robot as claimed in claim 1, characterized in that four sets of said omni wheels (51) are evenly distributed around said power module (3) and control module (4); the automatic charging device (6) is close to the control module (4).

4. A parking robot as claimed in claim 1, characterized in that a steering wheel mechanism (52) is provided at a middle position of two adjacent sets of said omni wheels (51) for steering of the parking robot;

the steering wheel mechanism (52) comprises a base plate (521), an installation plate (523), a meshing transmission structure (524) arranged between the base plate (521) and the installation plate (523), a bearing structure (525) fixedly installed between the base plate (521) and the installation plate (523), and a steering driving structure (526) fixedly installed on the bearing structure (525) and corresponding to the meshing transmission structure (524).

5. A parking robot as claimed in claim 4, characterized in that the load-bearing structure (525) is adapted to bear the weight of gravity; the bearing structure (525) comprises two groups of support plates (525 a), a rudder wheel plate (525 b) fixedly arranged at the position of the base plate (521) facing the mounting plate (523), and two groups of support transmission blocks (525 c) fixedly arranged on the rudder wheel plate (525 b);

the two groups of support plates (525 a) are distributed at the corresponding two sides of the meshing transmission structure (524), and the support plates (525 a) are vertically welded between the mounting plate (523) and the base plate (521).

6. A parking robot as claimed in claim 4, characterized in that said steering wheel mechanism (52) further comprises a drive wheel (522) fixed to said base plate (521); the mounting plate (523) is located above the substrate (521).

7. A parking robot as claimed in claim 1, characterized in that the docking and charging module (63) is adapted to the charging interface (13);

two adjacent groups of linear module modules (64) are vertically arranged, and three adjacent groups of linear module modules (64) are combined into an H-shaped structure;

the butt joint charging module (63) is fixedly connected with the vertically arranged group of linear module modules (64).

8. A parking robot as claimed in claim 1, characterized in that each set of said lifting structures (7) comprises two sets of lifters (71) fixedly mounted in said vehicle body (1), a flange (72) fixedly mounted on the corresponding lifter (71) and located above said vehicle body (1), a servo motor (73) fixedly mounted on said vehicle body (1) and corresponding to said lifter (71), a transmission shaft (74) fixedly connected to said servo motor (73), a commutator (75) fixedly mounted on said vehicle body (1), and a coupling (76) fixedly connected between two sets of said transmission shafts (74).

9. A parking robot as claimed in claim 8, characterized in that four of said sets of lifts (71) are evenly distributed in circumferential positions and that a commutator (75) is arranged in the middle of two adjacent sets of said lifts (71).

10. Use of a parking robot according to claim 1 in a conventional parking garage, a stereo parking garage.

Background

The parking robot belongs to an automatic driving type robot, can realize translation in any direction and rotation in 360 degrees in situ, is also suitable for narrow space, can be directly matched with the upgrading and the transformation of an old parking garage, reduces the transformation cost and expands the application range. The parking robot is convenient and simple to operate and saves time, a vehicle owner only needs to park the vehicle on the parking platform, and the parking robot is positioned at the lower part of the automobile chassis to work so as to automatically complete the lifting and consignment of the vehicle.

However, the existing automatic charging device for a parking robot is installed on a parking robot body, and usually only involves one degree of freedom, and the docking of a charging interface is completed through simple expansion and contraction, so that a set of charging module with the degree of freedom needs to be installed on each parking robot to meet the charging requirement, the cost of the parking robot is increased, the requirement on a work ground and a positioning system of the parking robot is high, the application range is small, and when a steering wheel mechanism in the parking robot structure is used, a wheel cannot bear large weight due to the fact that a shaft directly supports the wheel, and the stability of the whole structure of the steering wheel is poor.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, the automatic charging of a parking robot relates to one degree of freedom, the butt joint of a charging interface is completed through simple expansion, so that each parking robot needs to be provided with a set of charging module with the degree of freedom to meet the charging requirement, the cost of the parking robot is increased, the requirement on a working ground and a positioning system of the parking robot is high, the application range is small, and a steering wheel mechanism in the parking robot structure cannot bear large weight due to the fact that a shaft directly supports wheels when the steering wheel mechanism is used, and the stability of the whole structure of the steering wheel is poor.

In order to achieve the purpose, the invention adopts the following technical scheme:

a parking robot is used for vehicle lifting and consignment and comprises a vehicle body and two groups of anti-collision blocks fixedly arranged on the vehicle body;

the parking robot further includes:

the power module and the control module are fixedly arranged at the bottom of the vehicle body;

the driving structures are arranged at the positions of two corresponding sides of the vehicle body and are used for controlling the omnibearing movement of the parking robot;

each group of driving structures comprises two groups of omnidirectional wheels fixedly arranged at the bottom of the vehicle body and a steering wheel mechanism fixedly arranged on the vehicle body;

an automatic charging device provided at a position on one side of the vehicle body;

the automatic charging device comprises a rack, four groups of linear module modules fixedly mounted on the rack, a butt-joint charging module arranged at a position corresponding to the linear module modules and facing the vehicle body, and a visual identification module fixedly mounted at the top of the butt-joint charging module; and

and the lifting structures are arranged at the positions of two corresponding sides in the vehicle body and are used for lifting and adjusting the vehicle.

As a further improvement of the above scheme, two groups of the anti-collision blocks are distributed at the outer wall positions of two corresponding sides of the vehicle body;

the vehicle body comprises a vehicle frame, an operation screen, a charging interface and an alarm assembly, wherein the operation screen, the charging interface and the alarm assembly are fixedly arranged at the positions of two corresponding sides of the top of the vehicle frame; the operation screen and the alarm component are arranged on the same side.

As a further improvement of the scheme, the four groups of omnidirectional wheels are uniformly distributed at the periphery of the power supply module and the control module.

As a further improvement of the above scheme, a steering wheel mechanism is arranged in the middle position of two adjacent groups of omnidirectional wheels and is used for steering the parking robot;

the steering wheel mechanism comprises a substrate, mounting plates, a meshing transmission structure and a fixed mounting structure, wherein the meshing transmission structure and the fixed mounting structure are arranged between the substrate and the mounting plates, and the load-bearing structure and the fixed mounting structure are arranged on the load-bearing structure and correspond to the meshing transmission structure in a steering driving structure.

Further, the load bearing structure is used for bearing gravity; the bearing structure comprises two groups of supporting plates, a steering wheel plate fixedly arranged at the position of the base plate facing the mounting plate, and two groups of supporting transmission blocks fixedly arranged on the steering wheel plate;

the two groups of supporting plates are distributed at the corresponding two sides of the meshing transmission structure, and the supporting plates are vertically welded between the mounting plate and the base plate.

Further, the steering wheel mechanism also comprises a driving wheel fixed on the base plate; the mounting plate is located above the substrate.

As a further improvement of the above scheme, the butt joint charging module is matched with the charging interface;

two adjacent groups of linear module modules are vertically arranged, and three adjacent groups of linear module modules are combined into an H-shaped structure;

the butt joint charging module is fixedly connected with the vertically arranged group of linear module modules.

As a further improvement of the above scheme, each group the lifting structure comprises a fixed mounting two sets of lifters in the car body, a fixed mounting corresponding to the lifters and located on the lifter, a flange plate above the car body, a fixed mounting on the car body and a servo motor, a fixed connection corresponding to the lifter, a transmission shaft on the servo motor, a fixed mounting a commutator on the car body and a coupler between the transmission shafts, wherein the commutator and the fixed connection are two sets of couplers.

Furthermore, the four groups of elevators are uniformly distributed at the peripheral positions, and the commutator is arranged at the middle position of the two adjacent groups of elevators.

As a further improvement of the scheme, the parking robot is applied to a traditional parking garage and a three-dimensional parking garage.

Compared with the prior art, the invention has the beneficial effects that:

1. compared with the traditional charging device in which the degree of freedom module of the charging interface is placed on the parking robot main body, the automatic charging device provided by the invention is independently arranged, so that one charging device can charge a plurality of parking robots, and the cost is reduced.

2. According to the invention, the parking robot is charged through the automatic charging device consisting of the rack, the vision recognition module, the butt-joint charging module and the linear module modules, the four groups of linear module modules are matched to drive the butt-joint charging module to linearly move along the front and back, the left and right, and the up and down directions, so that the automatic charging device has three degrees of freedom, the application range of the parking robot is enlarged by increasing the degree of freedom of charging, and the positioning cost of the self equipment of the parking robot is reduced.

3. According to the invention, the gravity is borne by the bearing structure formed by the support plate, the steering wheel plate and the support transmission block, the base plate and the mounting plate are fixed by the support plate, the meshing transmission structure is fixedly assembled on the steering wheel frame by the support transmission block and the steering wheel plate, the steering wheel components are firmly matched, and the steering wheel frame can bear larger weight while realizing steering. The supporting transmission blocks share gravity on two sides, so that a structure that one shaft directly supports the wheel is avoided, the stability of the overall structure of the steering wheel is improved, and in actual application, the bearing capacity is changed by changing the distance or the size between the two groups of supporting transmission blocks, so that the applicability of the steering wheel mechanism is good.

In conclusion, the parking robot provided by the invention provides an independent automatic charging device with three charging degrees of freedom, can charge a plurality of parking robots by one charging device, reduces the cost and enlarges the application range of the parking robot, and meanwhile, the overall structure has good stability and high bearing capacity.

Drawings

Fig. 1 is a schematic structural diagram of a parking robot according to the present invention.

Fig. 2 is a partial top view of fig. 1 of the present invention.

Fig. 3 is a side view of fig. 1 of the present invention.

Fig. 4 is a schematic structural diagram of the rudder wheel mechanism in fig. 1 according to the present invention.

FIG. 5 is a longitudinal sectional view of FIG. 4 of the present invention.

FIG. 6 is a schematic structural diagram of the lifting structure of FIG. 1 according to the present invention.

Fig. 7 is a top view of fig. 6 in accordance with the present invention.

Fig. 8 is a schematic structural diagram of the automatic charging device in fig. 1 according to the present invention.

Fig. 9 is a side view of fig. 8 of the present invention.

Fig. 10 is a top view of fig. 8 in accordance with the present invention.

Description of the symbols:

1. a vehicle body; 11. a frame; 12. an operation screen; 13. a charging interface; 14. an alarm component; 2. an anti-collision block; 3. a power supply module; 4. a control module; 5. a drive structure; 51. an omni wheel; 52. a steering wheel mechanism; 521. a substrate; 522. a drive wheel; 523. mounting a plate; 524. a meshing transmission structure; 525. a load bearing structure; 525a, a support plate; 525b, a rudder wheel plate; 525c, supporting the transmission block; 526. a steering drive structure; 6. an automatic charging device; 61. a frame; 62. a visual recognition module; 63. a butt joint charging module; 64. a linear module; 7. a lifting structure; 71. an elevator; 72. a flange plate; 73. a servo motor; 74. a drive shaft; 75. a commutator; 76. a coupling is provided.

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.

The automatic charging of the current parking robot relates to a degree of freedom, the butt joint of a charging interface is completed through simple expansion, so that a set of charging module with the degree of freedom is required to be installed on each parking robot to meet the charging requirement, the cost of the parking robot is increased, the requirement on a working ground and a positioning system of the parking robot is high, the application range is small, and in addition, when a steering wheel mechanism in the parking robot structure is used, a wheel cannot bear large weight due to the fact that a shaft directly supports the wheel, and the stability of the whole structure of the steering wheel is poor. Therefore, the present inventors provide the following embodiments to solve the above problems.

Referring to fig. 1-10, the present embodiment provides a parking robot for vehicles and lifting and consignment. The parking robot comprises a vehicle body 1, two groups of anti-collision blocks 2 fixedly mounted on the vehicle body 1, a power module 3 and a control module 4 fixedly mounted at the bottom position of the vehicle body 1, driving structures 5 arranged at the positions of two corresponding sides of the vehicle body 1, an automatic charging device 6 arranged at one side position of the vehicle body 1 and close to the control module 4, and lifting structures 7 arranged at the positions of two corresponding sides in the vehicle body 1.

The vehicle body 1 comprises a vehicle frame 11, an operation screen 12 fixedly installed at the position of two corresponding sides of the top of the vehicle frame 11, a charging interface 13 and an alarm assembly 14. The operation screen 12 and the alarm assembly 14 are arranged on the same side. The alarm assembly 14 is used for obstacle alarms, low battery alarms and malfunction alarms. The two groups of anti-collision blocks 2 are distributed on the outer walls of the two corresponding sides of the vehicle body 1, and buffer when the vehicle parking robot is impacted by danger.

The power module 3 provides energy power required by the parking robot system, and the control module 4 controls the driving and stopping of the mechanical mechanism, so that the parking robot can complete the movement of various mechanisms such as omnibearing movement control, lifting mechanism control, automatic charging module control, automatic route planning, automatic obstacle avoidance and the like.

The drive structure 5 is used for the omnidirectional movement control of the parking robot. Each set of driving structure 5 includes two sets of omni wheels 51 fixedly mounted on the bottom of the vehicle body 1 and a steering wheel mechanism 52 fixedly mounted on the vehicle body 1. Four sets of omni wheels 51 are evenly distributed around the power module 3 and the control module 4. A steering wheel mechanism 52 is provided at a middle position of the adjacent two sets of omni wheels 51, which is used for steering of the parking robot. The steering wheel mechanism 52 provides power for the parking robot to move in all directions and plays a role in supporting, so that the parking robot can walk forwards and backwards, move sideways and rotate in place.

The steering wheel mechanism 52 comprises a base plate 521, a driving wheel 522 fixed on the base plate 521, a mounting plate 523, a meshing transmission structure 524 arranged between the base plate 521 and the mounting plate 523, a bearing structure 525 fixedly arranged between the base plate 521 and the mounting plate 523, and a steering driving structure 526 fixedly arranged on the bearing structure 525 and corresponding to the meshing transmission structure 524. The mounting plate 523 is positioned above the substrate 521. The steering driving structure 526 provides a rotating force of the engaging transmission structure 524, and the driving wheel 522 is driven to rotate by controlling the engaging action between the steering driving structure 526 and the engaging transmission structure 524, so that the parking robot is driven to steer to change the traveling direction.

The load bearing structure 525 is for bearing gravity. The load-bearing structure 525 includes two sets of support plates 525a, a steering wheel plate 525b fixedly mounted on the base plate 521 at a position facing the mounting plate 523, and two sets of support transmission blocks 525c fixedly mounted on the steering wheel plate 525 b. Two sets of support plates 525a are distributed on two corresponding sides of the engagement driving structure 524, and the support plates 525a are vertically welded between the mounting plate 523 and the base plate 521.

In this embodiment, the load-bearing structure 525 composed of the support plate 525a, the rudder wheel plate 525b and the support transmission block 525c is used for bearing gravity, the base plate 521 and the mounting plate 523 are fixed by the support plate 525a, the engagement transmission structure 524 is fixedly assembled on the rudder wheel carrier by the support transmission block 525c and the rudder wheel plate 525b, the cooperation between the rudder wheel components is firm, and the large weight can be borne while the steering is realized. The support transmission blocks 525c share gravity on two sides, so that a structure that one shaft directly supports the wheel is avoided, the stability of the overall structure of the steering wheel is improved, and in actual application, the bearing capacity can be changed by changing the distance or the size between the two sets of support transmission blocks 525c, so that the applicability of the steering wheel mechanism 52 is good.

The automatic charging device 6 is arranged at the tail of the parking robot, and is convenient for butt joint operation during charging. The automatic charging device 6 includes a frame 61, four sets of linear module modules 64 fixedly mounted on the frame 61, a docking charging module 63 disposed at a position where the corresponding linear module 64 faces the vehicle body 1, and a vision recognition module 62 fixedly mounted on the top of the docking charging module 63. The frame 61 is used for positioning and installing each module, and plays a role in supporting and positioning. The vision recognition module 62 is used for recognition and positioning of the docking plug, providing positioning support for interface docking. The docking charging module 63 is adapted to the charging interface 13. The docking charging module 63 is used for docking and performing automatic charging. Two adjacent groups of linear module 64 are vertically arranged, and three adjacent groups of linear module 64 are combined into an H-shaped structure. The butt-joint charging module 63 is fixedly connected with a group of linear module modules 64 which are vertically arranged. The linear module 64 provides three degrees of freedom for automatic charging, facilitating docking between the automatic charging device 6 and the charging interface 13.

Compared with the conventional charging device in which the degree-of-freedom module of the charging interface 13 is placed on the main body of the parking robot, the automatic charging device 6 provided in the embodiment is independently arranged, so that one charging device can charge a plurality of parking robots, and the cost is reduced. In this embodiment, the parking robot is charged by the automatic charging device 6 formed by the rack 61, the visual recognition module 62, the docking charging module 63, and the linear module modules 64, and the four groups of linear module modules 64 cooperate to drive the docking charging module 63 to move linearly in the front-back direction, the left-right direction, and the up-down direction, so that the automatic charging device 6 has three degrees of freedom, and by increasing the degree of freedom of charging, the application range of the parking robot is increased, and the positioning cost of the self-equipment of the parking robot is reduced.

The lifting structure 7 is used for the lift adjustment of the vehicle. Each set of lifting structure 7 includes two sets of lifters 71 fixedly mounted in the vehicle body 1, a flange 72 fixedly mounted on the corresponding lifter 71 and located above the vehicle body 1, a servo motor 73 fixedly mounted on the vehicle body 1 and corresponding to the lifter 71, a transmission shaft 74 fixedly connected to the servo motor 73, a commutator 75 fixedly mounted on the vehicle body 1, and a coupling 76 fixedly connected between the two sets of transmission shafts 74. When the vehicle runs to the vehicle carrying plate in the parking area, the servo motor 73 is selected to improve the control precision. The lift 71 uses a worm gear mechanism to convert the rotational motion into linear motion for lifting the car. The flange plate 72 is used for directly contacting the vehicle carrying plate to play a role in intermediate transmission. The four sets of lifters 71 are evenly distributed at the peripheral positions, and the reverser 75 is disposed at the middle position of the adjacent two sets of lifters 71. The commutator 75 functions as a commutator and a connector. The coupling 76 is used to connect two adjacent shafts 74 for force transmission. In order to ensure that the four lifting modules are lifted simultaneously, double linkage is adopted to ensure that the four groups of lifters 71 are lifted simultaneously, so that the stable lifting and falling of the vehicle carrying plate are ensured.

Compared with the conventional parking robot, the parking robot of the embodiment has the following advantages: the automatic charging device 6 which is independent and has three degrees of freedom of charging is provided, so that the charging of a plurality of parking robots by one charging device can be realized, the cost is reduced, the application range of the parking robots is enlarged, and meanwhile, the stability of the whole structure is good and the bearing capacity is high.

The embodiment also provides application of the parking robot in a traditional parking garage and a three-dimensional parking garage. When the parking robot is applied to the traditional parking garage and the three-dimensional parking garage, the parking robot is positioned at the lower part of the automobile chassis to work, so that the automobile is carried.

The parking robot in the present embodiment has the following processes when in use:

s1 parking process:

s11, the user parks the vehicle on the docking platform and sends a docking request to the system through software;

s12, the parking robot automatically plans a route after receiving the parking request, automatically stops below the vehicle carrying plate and automatically positions the position of the gravity center;

s13 the lifting structure 7 works to lift the vehicle carrying plate and the vehicle waiting for conveying;

s14, automatically planning a route of the parking robot, and parking the consignment vehicle carrying plate and the vehicle to be transported at corresponding positions;

s15, the lifting structure 7 works at a stopping point to put down the vehicle carrying board, and then stands by until a new command is received;

s2 vehicle taking process:

s21, the user sends a vehicle taking request to the system through software, and the parking robot automatically plans a route;

s22 the parking robot automatically stops under the car carrying board and automatically positions to the position of the gravity center;

s23 the lifting structure 7 works to lift the vehicle carrying plate and the vehicle waiting for conveying, and the parking robot automatically plans a route;

s24 the parking robot carries the vehicle carrying board and the vehicle to be transported to park at the corresponding position;

s25, after the lifting structure 7 works at the car taking point and the car carrying board is put down, the parking robot stands by until a new command is received;

s3 automatic charging process:

s31, when the parking robot detection device detects that the electric quantity of the robot is too low, a charging request is sent to the system;

the S32 system automatically plans a route, and the vehicle robot drives to a corresponding position;

and S33, starting the automatic charging device 6, positioning the charging interface 13 by the vision recognition module 62, and then automatically completing docking to start charging.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.