CN208220313U - One kind holding formula parking robot - Google Patents

Abstract

The utility model relates to a kind of parking robot, specifically one kind holds formula parking robot, belongs to parking robot technical field.It includes preceding carrying car body, rear carrying car body and flexible slide block mechanism, and car body is carried in slide block mechanism front end of stretching before connecting, car body is carried in rear end after connecting, preceding carrying car body and carrying vehicle bottom are equipped with omnidirectional's traveling wheel group；Preceding carrying car body front end or so corner is respectively equipped with band radar vectoring wheel assembly and guide wheel assemblies, and rear body rear end or so corner of carrying is respectively equipped with band radar vectoring wheel assembly and guide wheel assemblies；Preceding carrying car body and rear carrying car body are each side equipped with one and hold component.The utility model can satisfy the demand of different wheelbase car carryings, and omnidirectional's traveling wheel group overall height is lower than the automobile chassis road clearance, and " put down remove flat " submersible car carrying can be realized in big plane, can adapt to the carrying of a variety of models automobile.

Description

One kind holding formula parking robot

Technical field

The utility model relates to a kind of parking robot, specifically one kind holds formula parking robot, belongs to and park Robotic technology field.

Background technique

In the prior art, many automatic parking garages use vehicle-carrying plate when carrying vehicle, when specific operation vehicle It is parked on vehicle-carrying plate first, then parking robot removes vehicle-carrying plate together with vehicle.This mode is non-firstly the need of manufacturing Often more vehicle-carrying plate (each parking stall one), and each vehicle-carrying plate requires to design by dead weight, while Apparatus for parking vehicles The load that device people carries also greatly increases, and parking robot itself is also required to be designed than cumbersome.Additionally, due to carrier vehicle The size of plate limits, also relatively high for status requirement of the vehicle parking on vehicle-carrying plate, increases parking difficulty.

Summary of the invention

In place of the purpose of this utility model is to overcome above-mentioned deficiency, so that providing one kind holds formula parking robot, adopt With four groups of clamping arms, and the intermediate connecting component that can be stretched, it is equipped with omni-directional wheel group, meets and carries different wheelbase car carryings Needs.

According to technical solution provided by the utility model, one kind hold formula parking robot include preceding carrying car body, after remove Car body and flexible slide block mechanism are transported, it is characterized in that: carrying car body, carrier after the connection of rear end before flexible slide block mechanism front end connection Body, preceding carrying car body and carrying vehicle bottom are equipped with omnidirectional's traveling wheel group；Preceding carrying car body front end or so corner is respectively equipped with Band radar vectoring wheel assembly and guide wheel assemblies, rear body rear end or so corner of carrying are respectively equipped with band radar vectoring wheel assembly And guide wheel assemblies；Preceding carrying car body and rear carrying car body are each side equipped with one and hold component.

Further, flexible slide block mechanism includes interior balladeur train, intermediate balladeur train, outer balladeur train, the first support shaft, the second support Axis, third support shaft, the 4th support shaft and control line, the interior balladeur train left and right sides are equipped with internal trolley, and interior balladeur train passes through the left and right sides Internal trolley be slidably connected on the inside of intermediate balladeur train, outer idler wheel is equipped at left and right sides of intermediate balladeur train, intermediate balladeur train passes through left and right two The outer roller-coaster of side is connected on the inside of outer balladeur train；First support shaft, the second support shaft and third support shaft along interior balladeur train from It is set gradually after going to, the 4th support shaft is located at outer balladeur train rear end, the first support shaft, the second support shaft, third support shaft and Four support shafts are respectively positioned on the middle position of flexible slide block mechanism, and control line is turned left from the right side sequentially passes through the first support shaft and third branch Axis is supportted, third support shaft and the second support shaft is then sequentially passed through from left to right, finally turns left from the right side and sequentially pass through the second support Axis, third support shaft and the 4th support shaft, control line front and back end, which is each passed through, is arranged in the preceding preceding tensioning dress for carrying vehicle bottom Set and be arranged in the rear post-tensioning device for carrying vehicle bottom.

Further, universal wheel component is equipped at left and right sides of intermediate balladeur train.

Further, omnidirectional's traveling wheel group includes main traveling wheel, walker, live axle, central axis, worm screw, turns to electricity Machine, worm gear and movable motor, main traveling wheel are connected on live axle by flat key, and live axle is rotatably connected on by bearing In walker, central axis is connected on walker, passes through bearing connection worm gear, worm gear and worm screw engagement connection, worm screw on central axis It is rotatably connected on steering motor frame, worm screw one end is fastened on the electricity of the steering on steering motor frame by sprocket wheel chain mechanism Machine；Live axle connects the movable motor that main traveling wheel one end is fastened on movable motor frame by sprocket wheel chain mechanism.

Further, live axle one end connects secondary row travelling wheels by bearing, secondary row travelling wheels and main traveling wheel along Live axle is symmetrical set.

Further, band radar vectoring wheel assembly includes directive wheel, hollow shaft and scanning radar, and hollow shaft side is set with axis It holds, bearing side is set with directive wheel, and lower cover plate is bolted in hollow shaft lower end surface, and hollow shaft upper surface is bolted Radar supports are bolted in upper cover plate, lower cover plate lower end surface, scanning constant radar on radar supports, scanning radar top from Hollow shaft internal cavity stretches out, and scanning radar lower part and middle part are located in hollow shaft；The scanning radar top is equipped with scanning window, Scanning window is higher than hollow shaft upper surface position；The scanning radar is two-dimensional laser radar；It is set with spacer in the hollow shaft, Spacer is close to bearing side.

Further, hold component include the first clamping arm, first hold worm gear shaft, first hold worm gear, driving motor, First worm screw, shaft coupling, holds support, the second clamping arm, second holds wheel, second holds worm gear shaft and second the second worm screw Worm gear is held, holds and is symmetrical set the first worm screw and the second worm screw in support, the first worm screw and the second worm screw pass through shaft coupling Device connection transmission, hold and fix driving motor on support, driving motor output end by transmission mechanism connection the first worm screw, first Worm screw holds worm gear with first and engages connection, and first, which holds worm gear, is rotatably connected on first by bearing and holds on worm gear shaft, and One, which holds worm gear shaft, is fixed on and holds on support, and the second worm screw holds worm gear with second and engages connection, and second, which holds worm gear, passes through Bearing is rotatably connected on second and holds on worm gear shaft, and second, which holds worm gear shaft, is fixed on and holds on support, and the first clamping arm is affixed It is held on worm gear first, is equipped with multiple first in the first clamping arm along its length and holds wheel, the second clamping arm is fixed in the Two hold on worm gear, are equipped with multiple second in the second clamping arm along its length and hold wheel.

Further, the thread rotary orientation on the first worm screw and the second worm screw is on the contrary, hold the first clamping arm and second Arm is towards or away from movement.

Compared with the prior art the utility model has the advantage that

The utility model structure is simple, compact, reasonable, and flexible slide block mechanism stretches as needed, meets different wheelbase vapour The demand that vehicle is carried；Omnidirectional's traveling wheel group overall height is lower than the automobile chassis road clearance, can realize in big plane " flat to remove It is flat " submersible car carrying, it can adapt to the carrying of a variety of models automobile；Meanwhile it in the handling process being capable of forward-reverse, cross Shifting and divertical motion, and can be according to the posture of the pose adjustment parking robot of automobile, to improve the work of parking robot Make adaptability；It is supported using two-wheel, with certain obstacle climbing ability crossing ditch and crossing a ridge；Band radar vectoring wheel assembly is by two-dimensional laser thunder It is built in directive wheel up to according to a certain angle, and being diagonally respectively arranged in parking robot, efficiently uses two-dimensional laser thunder The 270 ° of scanning areas reached, only needing two two-dimensional laser radars can be realized has scanning to the surrounding of parking robot, guarantees The safety of the omnidirectional moving of parking robot increases the effective scanning region of two-dimensional laser radar, reduces two-dimensional laser thunder The quantity reached；Parking robot is only in carrier vehicle and tire interface, and when automobile is when docking to parking stall, tire is directly contacted Ground is avoided to tire injury.

Detailed description of the invention

Fig. 1 is the utility model perspective view.

Fig. 2 is the utility model top view.

Fig. 3 is the utility model bottom view.

Fig. 4 is omnidirectional's traveling wheel group perspective view.

Fig. 5 is omnidirectional's traveling wheel group cross-sectional view.

Fig. 6 is band radar vectoring wheel assembly semi-cutaway.

Fig. 7 is flexible slide block mechanism perspective view.

Fig. 8 is flexible slide block mechanism side view.

Fig. 9 is to hold component main view.

Figure 10 is to hold assembly plan view.

Figure 11 is B-B cross-sectional view in Fig. 9.

Figure 12 is A-A cross-sectional view in Figure 10.

Description of symbols: carried before 1- car body, 2- hold component, the first clamping arm of 2.1-, 2.2- first hold wheel, 2.3- first hold worm gear shaft, 2.4- first hold worm gear, 2.5- driving motor, the first worm screw of 2.6-, the second worm screw of 2.7-, 2.8- shaft coupling, 2.9- hold support, the second clamping arm of 2.10-, 2.11- second hold wheel, 2.12- second hold worm gear shaft, Balladeur train in 2.13- second holds and carries car body after worm gear, 3-, 4- stretches slide block mechanism, 4.1-, balladeur train among 4.2-, outside 4.3- Balladeur train, 4.4- internal trolley, 4.5- outer idler wheel, 4.6- universal wheel component, the first support shaft of 4.7-, the second support shaft of 4.8-, 4.9- Tensioning apparatus, 4.12- post-tensioning device, 4.13- control line, 5- omnidirectional before third support shaft, the 4th support shaft of 4.10-, 4.11- The main traveling wheel of traveling wheel group, 5.1-, 5.2- walker, 5.3- live axle, 5.4- secondary row travelling wheels, 5.5- central axis, 5.6- Worm screw, 5.7- steering motor, 5.8- steering motor frame, 5.9- worm gear, 5.10- movable motor, 5.11- movable motor frame, 6- band Radar vectoring wheel assembly, 6.1- directive wheel, 6.2- bearing, 6.3- spacer, 6.4- hollow shaft, 6.5- upper cover plate, 6.6- lower cover plate, 6.7- radar supports, 6.8- scanning radar, 6.9- scanning window, 7- guide wheel assemblies.

Specific embodiment

The utility model will be further described in conjunction with the embodiment in attached drawing below:

As shown in Fig. 1 ~ 3, the utility model carries car body 1, rear carrying car body 3 and flexible slide block mechanism 4 before mainly including. Car body 1 is carried before flexible 4 front end of slide block mechanism connection, carries car body 3 after the connection of rear end.

As shown in Fig. 7 ~ 8, the flexible slide block mechanism 4 includes interior balladeur train 4.1, intermediate balladeur train 4.2, outer balladeur train 4.3, first Support shaft 4.7, the second support shaft 4.8, third support shaft 4.9, the 4th support shaft 4.10 and control line, interior balladeur train 4.1 or so two Side is equipped with internal trolley 4.4, and interior balladeur train 4.1 is slidably connected at intermediate 4.2 inside of balladeur train by the internal trolley 4.4 of the left and right sides.In Between outer idler wheel 4.5 is equipped at left and right sides of balladeur train 4.2, intermediate balladeur train 4.2 is slidably connected outside by the outer idler wheel 4.5 of the left and right sides 4.3 inside of balladeur train.Universal wheel component 4.6 is equipped at left and right sides of the intermediate balladeur train 4.2, universal wheel component 4.6 can be realized whole The movement of a stretching structure.

First support shaft 4.7, the second support shaft 4.8 and third support shaft 4.9 are successively set from front to back along interior balladeur train 4.1 It sets, the 4th support shaft 4.10 is located at outer 4.3 rear end of balladeur train.First support shaft 4.7, the second support shaft 4.8, third support shaft 4.9 The middle position of flexible slide block mechanism 4 is respectively positioned on the 4th support shaft 4.10.Control line 4.13 is turned left from the right side sequentially passes through first Then support shaft 4.7 and third support shaft 4.9 sequentially pass through third support shaft 4.9 and the second support shaft 4.8, most from left to right It turns left afterwards from the right side and sequentially passes through the second support shaft 4.8, third support shaft 4.9 and the 4th support shaft 4.10.4.13 front and back of control line End is each passed through the post-tensioning that the preceding preceding tensioning apparatus 4.11 for carrying 1 bottom of car body is arranged in and rear carrying 3 bottom of car body is arranged in Tight device 4.12.

Intermediate balladeur train stretches out the flexible slide block mechanism 4 along outer balladeur train as needed, and interior balladeur train is stretched along intermediate balladeur train Out, to reach maximum length, meets the needs of maximum axle spacing car carrying.When not in use, balladeur train among interior balladeur train retraction In, in the outer balladeur train of intermediate balladeur train retraction, shorten entire length.

Preceding carrying car body 1 and carrying 3 bottom of car body are equipped with omnidirectional's traveling wheel group 5, and omnidirectional's traveling wheel group 5 is able to drive entirely Device forward-reverse, traversing and divertical motion.

As shown in Fig. 4 ~ 5, omnidirectional's traveling wheel group 5 includes main traveling wheel 5.1, walker 5.2, live axle 5.3, auxiliary Traveling wheel 5.4, central axis 5.5, worm screw 5.6, steering motor 5.7, worm gear 5.9 and movable motor 5.10 are helped, main traveling wheel 5.1 is logical It crosses flat key to be connected on live axle 5.3, live axle 5.3 is rotatably connected in walker 5.2 by bearing.Walker 5.2 Upper connection central axis 5.5 passes through bearing on central axis 5.5 and connects worm gear 5.9, worm gear 5.9 and the engagement connection of worm screw 5.6.Worm screw 5.6 are rotatably connected on steering motor frame 5.8, and 5.6 one end of worm screw is fastened on steering motor frame by sprocket wheel chain mechanism Steering motor 5.7 on 5.8.Live axle 5.3, which connects main 5.1 one end of traveling wheel and is connected and fixed by sprocket wheel chain mechanism, is expert at Walk the movable motor 5.10 on motor rack 5.11.Described 5.3 one end of live axle connects secondary row travelling wheels 5.4 by bearing, auxiliary Traveling wheel 5.4 and main traveling wheel 5.1 is helped to be symmetrical set along live axle 5.3.

5 whole height of omnidirectional's traveling wheel group is lower than 92mm, and overall height is lower than the automobile chassis road clearance, can be " flat remove flat " submersible car carrying is realized in big plane, can adapt to the carrying of a variety of models automobile；Meanwhile in handling process In can forward-reverse, traversing and divertical motion, and can be according to the posture of the pose adjustment parking robot of automobile, to mention The labor aptitude of high parking robot；It is supported using two-wheel, with certain obstacle climbing ability crossing ditch and crossing a ridge.

Preceding 1 front end of carrying car body or so corner be respectively equipped with band radar vectoring wheel assembly 6 and guide wheel assemblies 7, after remove Fortune 3 rear end of car body or so corner is respectively equipped with band radar vectoring wheel assembly 6 and guide wheel assemblies 7.

As shown in fig. 6, the band radar vectoring wheel assembly 6 includes directive wheel 6.1, hollow shaft 6.4 and scanning radar 6.8, 6.4 side bearing set 6.2 of hollow shaft, 6.2 side of bearing are set with directive wheel 6.1.6.4 lower end surface of hollow shaft is bolted Upper cover plate 6.5 is bolted in lower cover plate 6.6,6.4 upper surface of hollow shaft.Thunder is bolted in 6.6 lower end surface of lower cover plate Up to bracket 6.7, scanning constant radar 6.8 on radar supports 6.7.6.8 top of scanning radar is stretched out from 6.4 internal cavity of hollow shaft, 6.8 lower part of scanning radar and middle part are located in hollow shaft 6.4.

6.8 top of scanning radar is equipped with scanning window 6.9, and scanning window 6.9 is higher than 6.4 upper surface of hollow shaft position It sets.The scanning radar 6.8 is two-dimensional laser radar.Spacer 6.3 is set in the hollow shaft 6.4, spacer 6.3 is close to bearing The setting of 6.2 sides, spacer 6.3 avoids bearing from moving.

Two-dimensional laser radar is built in directive wheel by the band radar vectoring wheel assembly 6 according to a certain angle, and on the berth Vehicle robot is diagonally respectively arranged, and is efficiently used 270 ° of scanning areas of two-dimensional laser radar, is only needed two two-dimensional laser thunders There is scanning up to the surrounding that can be realized to parking robot, guarantees the safety of the omnidirectional moving of parking robot, increase two The effective scanning region for tieing up laser radar, reduces the quantity of two-dimensional laser radar.

One, which is respectively provided with, at left and right sides of preceding carrying car body 1 and rear carrying car body 3 holds component 2, preceding carrying car body 1 or so two The component 2 that holds of side is used to hold vapour for holding two front-wheels of automobile, the rear component 2 that holds for carrying 3 left and right sides of car body Two rear-wheels of vehicle.

As shown in Fig. 9 ~ 12, it is described hold component 2 include the first clamping arm 2.1, first hold worm gear shaft 2.3, first folder Worm gear 2.4 is embraced, driving motor 2.5, the first worm screw 2.6, the second worm screw 2.7, shaft coupling 2.8, support 2.9 is held, second holds Arm 2.10, second hold wheel 2.11, second hold worm gear shaft 2.12 and second and hold worm gear 2.13, hold left and right in support 2.9 It is symmetrical arranged the first worm screw 2.6 and the second worm screw 2.7, the first worm screw 2.6 and the second worm screw 2.7 are passed by the connection of shaft coupling 2.8 It is dynamic.It holding and fixes driving motor 2.5 on support 2.9,2.5 output end of driving motor connects the first worm screw 2.6 by transmission mechanism, First worm screw 2.6 holds worm gear 2.4 with first and engages connection, and first, which holds worm gear 2.4, is rotatably connected on the first folder by bearing It embraces on worm gear shaft 2.3, first, which holds worm gear shaft 2.3, is fixed on and holds on support 2.9.Second worm screw 2.7 and second holds worm gear 2.13 engagement connections, second, which holds worm gear 2.13, is rotatably connected on second by bearing and holds on worm gear shaft 2.12, and second holds Worm gear shaft 2.12, which is fixed on, to be held on support 2.9.First clamping arm 2.1 is fixed in first and holds on worm gear 2.4, the first clamping arm Multiple first are equipped on 2.1 along its length and holds wheel 2.2.Second clamping arm 2.10 is fixed in second and holds on worm gear 2.13, Multiple second are equipped in second clamping arm 2.10 along its length and holds wheel 2.11.

Thread rotary orientation on first worm screw 2.6 and the second worm screw 2.7 is on the contrary, make the first clamping arm 2.1 and second Clamping arm 2.10 is towards or away from movement.

The working principle of the utility model is: the utility model, in carrying vehicle, vehicle enters parking position first, survey It measures vehicle wheelbase (other equipment completion).Parking robot receives vehicle-related information, and according to the information, omnidirectional's traveling wheel group turns It is dynamic, parking robot direction is adjusted, to automobile underface, side holds component rows and goes in front-wheel the walking of driving parking robot Heart position, the rear drive sprocket driving other side hold component to the movement of rear-wheel direction, and intermediate warp part is stretched out at this time, after walking is arrived After taking turns centre bit, the clamping arm that front and back holds component two sides is opened simultaneously, and holds automobile tire, lifts automobile, parking robot To designated position, all clamping arms of parking robot are withdrawn carrier vehicle, are unclamped the automobile tire of clamping, are landed vehicle.Pool Vehicle robot is recalled from vehicle bottom, completes entire handling work.

The utility model structure is simple, compact, reasonable, and flexible slide block mechanism stretches as needed, meets different wheelbase vapour The demand that vehicle is carried；Omnidirectional's traveling wheel group overall height is lower than the automobile chassis road clearance, can realize in big plane " flat to remove It is flat " submersible car carrying, it can adapt to the carrying of a variety of models automobile；Meanwhile it in the handling process being capable of forward-reverse, cross Shifting and divertical motion, and can be according to the posture of the pose adjustment parking robot of automobile, to improve the work of parking robot Make adaptability；It is supported using two-wheel, with certain obstacle climbing ability crossing ditch and crossing a ridge；Band radar vectoring wheel assembly is by two-dimensional laser thunder It is built in directive wheel up to according to a certain angle, and being diagonally respectively arranged in parking robot, efficiently uses two-dimensional laser thunder The 270 ° of scanning areas reached, only needing two two-dimensional laser radars can be realized has scanning to the surrounding of parking robot, guarantees The safety of the omnidirectional moving of parking robot increases the effective scanning region of two-dimensional laser radar, reduces two-dimensional laser thunder The quantity reached；Parking robot is only in carrier vehicle and tire interface, and when automobile is when docking to parking stall, tire is directly contacted Ground is avoided to tire injury.

Claims (8)

1. one kind holds formula parking robot, including preceding carrying car body (1), car body (3) and flexible slide block mechanism (4) are carried afterwards, It is characterized in that: carrying car body (1) before flexible slide block mechanism (4) front end connection, car body (3) are carried after the connection of rear end, preceding carrier Body (1) and carrying car body (3) bottom are equipped with omnidirectional's traveling wheel group (5)；Preceding carrying car body (1) front end or so corner is respectively equipped with Band radar vectoring wheel assembly (6) and guide wheel assemblies (7) carry car body (3) rear end or so corner afterwards and are respectively equipped with band radar Guide wheel assemblies (6) and guide wheel assemblies (7)；Preceding carrying car body (1) and rear carry are respectively provided with a folder at left and right sides of car body (3) It embraces component (2).

2. one kind as described in claim 1 holds formula parking robot, it is characterized in that: the flexible slide block mechanism (4) includes Interior balladeur train (4.1), intermediate balladeur train (4.2), outer balladeur train (4.3), the first support shaft (4.7), the second support shaft (4.8), third branch Axis (4.9), the 4th support shaft (4.10) and control line (4.13) are supportted, is equipped with internal trolley (4.4) at left and right sides of interior balladeur train (4.1), Interior balladeur train (4.1) is slidably connected on the inside of intermediate balladeur train (4.2) by the internal trolley (4.4) of the left and right sides, intermediate balladeur train (4.2) The left and right sides is equipped with outer idler wheel (4.5), and intermediate balladeur train (4.2) is slidably connected by the outer idler wheel (4.5) of the left and right sides and is slided outside On the inside of frame (4.3)；First support shaft (4.7), the second support shaft (4.8) and third support shaft (4.9) along interior balladeur train (4.1) from It is set gradually after going to, the 4th support shaft (4.10) is located at outer balladeur train (4.3) rear end, the first support shaft (4.7), the second support shaft (4.8), third support shaft (4.9) and the 4th support shaft (4.10) are respectively positioned on the middle position of flexible slide block mechanism (4), control line (4.13) it turns left from the right side and sequentially passes through the first support shaft (4.7) and third support shaft (4.9), then sequentially pass through from left to right Three support shafts (4.9) and the second support shaft (4.8), finally turn left from the right side and sequentially pass through the second support shaft (4.8), third support shaft (4.9) and the 4th support shaft (4.10), control line (4.13) front and back end are each passed through setting before preceding carrying car body (1) bottom Tensioning apparatus (4.11) and setting are in the rear post-tensioning device (4.12) for carrying car body (3) bottom.

3. one kind as claimed in claim 2 holds formula parking robot, it is characterized in that: the intermediate balladeur train (4.2) left and right two Side is equipped with universal wheel component (4.6).

4. one kind as described in claim 1 holds formula parking robot, it is characterized in that: omnidirectional's traveling wheel group (5) includes Main traveling wheel (5.1), walker (5.2), live axle (5.3), central axis (5.5), worm screw (5.6), steering motor (5.7), Worm gear (5.9) and movable motor (5.10), main traveling wheel (5.1) are connected on live axle (5.3) by flat key, live axle (5.3) it is rotatably connected in walker (5.2) by bearing, connects central axis (5.5) on walker (5.2), central axis (5.5) Upper to connect worm gear (5.9) by bearing, worm gear (5.9) and worm screw (5.6) engagement connection, worm screw (5.6) are rotatably connected on steering On motor rack (5.8), worm screw (5.6) one end is fastened on the steering on steering motor frame (5.8) by sprocket wheel chain mechanism Motor (5.7)；Live axle (5.3) connects main traveling wheel (5.1) one end and is fastened on walking electricity by sprocket wheel chain mechanism Movable motor (5.10) in rack (5.11).

5. one kind as claimed in claim 4 holds formula parking robot, it is characterized in that: the live axle (5.3) one end is logical Bearing connection secondary row travelling wheels (5.4), secondary row travelling wheels (5.4) and main traveling wheel (5.1) are crossed along live axle (5.3) left and right It is symmetrical arranged.

6. one kind as described in claim 1 holds formula parking robot, it is characterized in that: the band radar vectoring wheel assembly (6) Including directive wheel (6.1), hollow shaft (6.4) and scanning radar (6.8), hollow shaft (6.4) side bearing set (6.2), bearing (6.2) side suit directive wheel (6.1), hollow shaft (6.4) lower end surface are bolted lower cover plate (6.6), hollow shaft (6.4) Upper surface is bolted upper cover plate (6.5), and radar supports (6.7), radar is bolted in lower cover plate (6.6) lower end surface Scanning constant radar (6.8) on bracket (6.7), scanning radar (6.8) top are stretched out from hollow shaft (6.4) internal cavity, scan thunder It is located in hollow shaft (6.4) up to (6.8) lower part and middle part；Scanning radar (6.8) top is equipped with scanning window (6.9), sweeps Window (6.9) are retouched higher than hollow shaft (6.4) upper surface position；The scanning radar (6.8) is two-dimensional laser radar；It is described hollow Spacer (6.3) are set on axis (6.4), spacer (6.3) is close to bearing (6.2) side.

7. one kind as described in claim 1 holds formula parking robot, it is characterized in that: described hold component (2) include first Clamping arm (2.1), first hold worm gear shaft (2.3), first hold worm gear (2.4), driving motor (2.5), the first worm screw (2.6), the second worm screw (2.7), shaft coupling (2.8), hold support (2.9), the second clamping arm (2.10), second hold wheel (2.11), it second holds worm gear shaft (2.12) and second and holds worm gear (2.13), hold and be symmetrical set the in support (2.9) One worm screw (2.6) and the second worm screw (2.7), the first worm screw (2.6) and the second worm screw (2.7) are passed by shaft coupling (2.8) connection It is dynamic, it holds and fixes driving motor (2.5) on support (2.9), driving motor (2.5) output end connects the first snail by transmission mechanism Bar (2.6), the first worm screw (2.6) hold worm gear (2.4) with first and engage connection, and first holds worm gear (2.4) is turned by bearing Dynamic to be connected to first and hold on worm gear shaft (2.3), first, which holds worm gear shaft (2.3), is fixed on and holds on support (2.9), the second snail Bar (2.7) holds worm gear (2.13) with second and engages connection, and second, which holds worm gear (2.13), is rotatably connected on second by bearing It holds on worm gear shaft (2.12), second, which holds worm gear shaft (2.12), is fixed on and holds on support (2.9), the first clamping arm (2.1) It is fixed in first to hold on worm gear (2.4), is equipped with multiple first in the first clamping arm (2.1) along its length and holds wheel (2.2), Second clamping arm (2.10) is fixed in second and holds on worm gear (2.13), is equipped with along its length in the second clamping arm (2.10) more A second holds wheel (2.11).

8. one kind as claimed in claim 7 holds formula parking robot, it is characterized in that: first worm screw (2.6) and second Thread rotary orientation on worm screw (2.7) is on the contrary, make the first clamping arm (2.1) and the second clamping arm (2.10) towards or away from fortune It is dynamic.