CN215760782U - Autonomous parking robot structure - Google Patents

Abstract

The utility model discloses an autonomous parking robot structure, which comprises a Mecanum omnidirectional wheel train chassis used for moving a vehicle body and a clamping type wheel lifting mechanism used for lifting and fixing wheels; the four sets of Mecanum wheel trains are divided into two groups and are respectively arranged at four corners of the chassis frame; centre gripping formula wheel lifting mechanism is located between two sets of four sets of mecanum trains, and centre gripping formula wheel lifting mechanism can be through the centre gripping motion, and it is fixed with auto wheel lifting to its top, then removes the automobile body to the parking stall through mecanum omnidirectional wheel train chassis.

Description

Autonomous parking robot structure

Technical Field

The utility model belongs to the field of mobile robots, and particularly relates to a structure of an autonomous parking robot.

Background

In recent years, with the development of economy in China, the income level and the consumption capacity of the nation are continuously improved, families with private cars are continuously increased, and the demand for parking spaces is greatly increased. However, the shortage of land resources in major cities results in the number of parking spaces in the cities not meeting the parking demands of residents, so that the phenomenon that private cars are parked and released randomly occurs occasionally. The shortage of parking spaces in residential areas forces car owners to park cars on the aisles, which brings difficulty to other residents in going out, and also easily causes blockage of fire fighting passages, thereby bringing potential safety hazards. The shortage of parking spaces in public places such as markets, hotels and the like easily forces private car owners to park cars on the roadside, increases road traffic pressure and easily causes traffic jam.

The parking mode in traditional parking area is mostly the driver and drives the vehicle by oneself and get into in the parking area, seeks the parking in idle parking stall, and the process of seeking the parking stall then has occupied most time of driver's parking in-process, has seriously reduced parking efficiency. The parking robot can replace a driver to move a vehicle to find a parking space, so that the parking time of the driver is greatly reduced, and the parking efficiency is improved. The existing parking robots mainly comprise comb tooth exchange type parking robots, car lifting plate type parking robots and roller type parking robots. The comb-tooth exchange type parking robot and the vehicle lifting plate type parking robot can realize the automatic parking function only by means of an auxiliary tool or transformation of a parking lot to a certain degree, so that the comb-tooth exchange type parking robot can be used only in a specific parking lot and is difficult to popularize. The drum type parking robot has a huge structure and has a limited space utilization rate for a parking lot.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of the prior art, and provides an autonomous parking robot which achieves the purposes of lifting and carrying vehicles by clamping wheels.

In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:

an autonomous parking robot structure comprises a Mecanum omnidirectional wheel train chassis used for moving a vehicle body and a clamping type wheel lifting mechanism used for lifting and fixing wheels;

the four sets of Mecanum wheel trains are divided into two groups and are respectively arranged at four corners of the chassis frame;

centre gripping formula wheel lifting mechanism is located between two sets of four sets of mecanum trains, and centre gripping formula wheel lifting mechanism can be through the centre gripping motion, and it is fixed with auto wheel lifting to its top, then removes the automobile body to the parking stall through mecanum omnidirectional wheel train chassis.

Specifically, each Mecanum wheel train comprises a driving motor, a driving motor seat, a coupling, a first transmission gear box, a wheel shaft, Mecanum wheels, a wheel train bearing seat, a wheel train bearing and a wheel train frame;

the wheel shaft is fixedly connected with the Mecanum wheel, is nested in the wheel train bearing, is arranged in the wheel train bearing block and supports the whole robot; driving motor installs on the train frame, and with adopt first coupling joint between the first transmission gear case, through first coupling joint equally between shaft and the first transmission gear case, drive power from the motor via first shaft coupling and first transmission gear case transmit for shaft and mecanum wheel, and then provide power for the removal of whole robot.

The clamping type wheel lifting mechanism comprises a lifting motor, a lifting motor seat, a second coupler, a second transmission gear box, a lead screw nut, a lead screw bearing seat, a lead screw bearing, a guide shaft seat, a linear bearing, a lifting support plate and wheel support rollers;

the lifting motor is fixedly connected with the lifting motor base, is arranged on the chassis frame and is connected with the second transmission gear box through a second coupling; the screw is nested in the screw bearing and is arranged in the screw bearing seat, and the screw bearing seat is arranged on the chassis frame; the screw rod nut is nested on the screw rod and fixedly connected with the lifting support plate; the guide shaft support is arranged on the chassis frame and is connected with the guide shaft in a clamping manner; the linear bearing is nested on the guide shaft and fixedly connected with the lifting support plate; the wheel supporting roller is arranged on the top of the lifting supporting plate; when the wheels are lifted, power provided by the lifting motor is transmitted to the screw rod through the second transmission gear box, the screw rod nut is driven to move along the screw rod direction, the linear bearing embedded on the guide shaft is driven to move, the lifting support plates on the two sides are controlled to be close to each other to clamp the wheels, and the wheels are lifted to the lifting support plates to be fixed in the wheel supporting roller effect.

Furthermore, the bottom of the lifting support plate is also provided with an auxiliary support wheel for supporting the lifting support plate when the lifting support plate moves.

Furthermore, a limiting connecting rod used for limiting the moving distance of the lifting supporting plate is connected between the end part of the lifting supporting plate and the chassis frame.

Has the advantages that:

1. the utility model adopts four robots to respectively support the vehicles to be parked and park in a cooperative working mode, and the robots adopt Mecanum wheel train chassis and have omnidirectional movement capability;

2. the parking robot adopted by the utility model can realize the parking function without an auxiliary tool, can be put into use without modifying the existing parking lot, and has wide application range.

Drawings

The foregoing and/or other advantages of the utility model will become further apparent from the following detailed description of the utility model when taken in conjunction with the accompanying drawings.

Fig. 1 is a perspective view of the parking robot.

Fig. 2 is a schematic diagram of a single mecanum train.

Fig. 3 is a plan view of the grip type wheel lifting mechanism of the parking robot.

Fig. 4 is a parking schematic diagram of the parking robot.

Wherein each reference numeral represents:

1 a chassis frame; 2 Mecanum wheel train; 3 lifting mechanism; 4 driving the motor; 5 driving a motor base; 6 a first coupling; 7 a first transmission gearbox; 8 wheel shafts; 9 Mecanum wheels; 10, bearing seats; 11 a bearing; a 12-wheel train frame; 13 lifting the motor; 14 lifting the motor base; 15 a guide shaft; 16 a second coupling; 17 a second transmission gearbox; 18 a lead screw nut; 19 lead screw bearing seats; 20 lead screw bearings; 21 a guide shaft support; 22 a lead screw; 23 linear bearings; 24 wheel support rollers; 25 lifting the support plate; 26 auxiliary support wheels; 27 position limiting connecting rod.

Detailed Description

The utility model will be better understood from the following examples.

The structures, proportions, and dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the skilled in the art. In addition, the terms "upper", "lower", "front", "rear" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical changes.

As shown in fig. 1, the autonomous parking robot structure includes a mecanum omni-directional wheel train chassis for moving a vehicle body, and a wheel-gripping lifting mechanism for lifting and fixing wheels.

The Mecanum omnidirectional wheel train chassis is composed of a chassis frame 1 and four Mecanum wheel trains 2, wherein the four Mecanum wheel trains 2 are divided into two groups and are respectively arranged at four corners of the chassis frame 1.

Centre gripping formula wheel lifting mechanism is located between two sets of four sets of mecanum gear trains 2, and centre gripping formula wheel lifting mechanism can be through the centre gripping motion, and it is fixed to its top with the auto wheel lifting, then removes the automobile body to the parking stall through mecanum omnidirectional wheel train chassis.

As shown in fig. 2, each mecanum wheel train 2 includes a drive motor 4, a drive motor base 5, a coupling 6, a first transmission gear box 7, an axle 8, a mecanum wheel 9, a wheel train bearing base 10, a wheel train bearing 11, and a wheel train frame 12.

The wheel shaft 8 is fixedly connected with the Mecanum wheel 9, nested in a wheel train bearing 11, installed in a wheel train bearing seat 10 and used for supporting the whole robot; driving motor 4 installs on train frame 12, and 7 adopt first shaft coupling 6 to be connected between with first transmission gear case, equally through first shaft coupling 6 connection between shaft 8 and the first transmission gear case 7, and drive power transmits for shaft 8 and mecanum wheel 9 from motor 4 via first shaft coupling 6 and first transmission gear case 7, and then provides power for the removal of whole robot.

As shown in fig. 3, the clamping type wheel lifting mechanism includes a lifting motor 13, a lifting motor base 14, a second coupling 16, a second transmission gear box 17, a lead screw 22, a lead screw nut 18, a lead screw bearing base 19, a lead screw bearing 20, a guide shaft 15, a guide shaft bearing base 21, a linear bearing 23, a lifting support plate 25, and a wheel support roller 24.

The lifting motor 13 is fixedly connected with a lifting motor base 14, is arranged on the chassis frame 1 and is connected with the second transmission gear box 17 through a second coupling 16; the lead screw 22 is nested in the lead screw bearing 20 and is arranged in the lead screw bearing seat 19, and the lead screw bearing seat 19 is arranged on the chassis frame 1; the screw nut 18 is nested on the screw 22 and fixedly connected with the lifting support plate 25; the guide shaft support 21 is arranged on the chassis frame 1 and is connected with the guide shaft 15 in a clamping way; the linear bearing 23 is nested on the guide shaft 15 and fixedly connected with the lifting support plate 25; the wheel supporting rollers 24 are mounted on the top of the elevation supporting plate 25; when the wheels are lifted, the power provided by the lifting motor 13 is transmitted to the lead screw 22 through the second transmission gear box 17, so that the lead screw nut 18 is driven to move along the direction of the lead screw 22, the linear bearing 23 embedded on the guide shaft 15 is driven to move, the lifting support plates 25 on the two sides are controlled to be close to each other to clamp the wheels, and the wheels are lifted to the lifting support plates 25 to be fixed under the action of the wheel support rollers 24.

As shown in fig. 3 and 1, the bottom of the lift support plate 25 is further provided with auxiliary support wheels 26 for supporting the lift support plate 25 when the lift support plate 25 moves.

As shown in fig. 1, a limit link 27 for limiting a moving distance of the lifting support plate 25 is connected between an end of the lifting support plate 25 and the chassis frame 1.

The working principle of the autonomous parking robot is shown in fig. 1, and a vehicle to be parked is cooperatively moved to a parking space in a manner that four parking robots respectively lift four wheels of the vehicle.

The working process of the robot comprises two processes of lifting a vehicle and moving the vehicle:

in the process of lifting the vehicle, four robots are required to work simultaneously, and the lifting motor 13 of each robot drives the second transmission gear box 17 to further drive the screw rod 22 to rotate. Due to the mechanical characteristics of the lead screw nut 18, the lead screw nut 18 can do linear motion along the lead screw 22 at the moment, and meanwhile, the lifting support plate 25 is driven to move, so that the purposes of clamping wheels and lifting the vehicle are achieved. In the process of moving the vehicle, the driving motor 4 drives the first transmission gear box 7 to rotate, and further drives the wheel shaft 8 and the Mecanum wheel 9 to rotate, so that the robot is driven to move.

The utility model provides a concept and a method for an autonomous parking robot structure, and a method and a way for implementing the technical scheme are many, the above description is only a preferred embodiment of the utility model, and it should be noted that, for a person skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the utility model, and these improvements and decorations should also be regarded as the protection scope of the utility model. All the components not specified in the present embodiment can be realized by the prior art.

Claims (5)

1. The autonomous parking robot structure is characterized by comprising a Mecanum omnidirectional wheel train chassis for moving a vehicle body and a clamping type wheel lifting mechanism for lifting and fixing wheels;

the Mecanum omnidirectional wheel train chassis is composed of a chassis frame (1) and four Mecanum wheel trains (2), wherein the four Mecanum wheel trains (2) are divided into two groups and are respectively arranged at four corners of the chassis frame (1);

centre gripping formula wheel lifting mechanism is located between two sets of four sets of mecanum trains (2), and centre gripping formula wheel lifting mechanism can be through the centre gripping motion, and it is fixed with auto wheel lifting to its top, then removes the automobile body to the parking stall through mecanum omnidirectional wheel train chassis.

2. The autonomous parking robot structure according to claim 1, characterized in that each mecanum wheel train (2) comprises a drive motor (4), a drive motor base (5), a coupling (6), a first transmission gear box (7), an axle (8), a mecanum wheel (9), a wheel train bearing base (10), a wheel train bearing (11), and a wheel train frame (12);

the wheel shaft (8) is fixedly connected with the Mecanum wheel (9), nested in a wheel train bearing (11), installed in a wheel train bearing seat (10) and used for supporting the whole robot; the driving motor (4) is installed on a gear train frame (12), and is connected with a first transmission gear box through a first coupler (6) (7), the wheel shaft (8) is connected with the first transmission gear box (7) through the first coupler (6), and driving force is transmitted to the wheel shaft (8) and the Mecanum wheel (9) from the motor (4) through the first coupler (6) and the first transmission gear box (7), so that power is provided for the movement of the whole robot.

3. The autonomous parking robot structure according to claim 1, characterized in that the gripping wheel lifting mechanism comprises a lifting motor (13), a lifting motor base (14), a second coupling (16), a second transmission gear box (17), a screw (22), a screw nut (18), a screw bearing base (19), a screw bearing (20), a guide shaft (15), a guide shaft base (21), a linear bearing (23), a lifting support plate (25), and wheel support rollers (24);

the lifting motor (13) is fixedly connected with a lifting motor base (14), is arranged on the chassis frame (1), and is connected with the second transmission gear box (17) through a second coupling (16); the screw rod (22) is nested in the screw rod bearing (20) and is arranged in the screw rod bearing seat (19), and the screw rod bearing seat (19) is arranged on the chassis frame (1); the screw nut (18) is nested on the screw (22) and fixedly connected with the lifting support plate (25); the guide shaft support (21) is arranged on the chassis frame (1) and is connected with the guide shaft (15) in a clamping manner; the linear bearing (23) is nested on the guide shaft (15) and fixedly connected with the lifting support plate (25); the wheel supporting roller (24) is arranged on the top of the lifting supporting plate (25); when the wheels are lifted, power provided by a lifting motor (13) is transmitted to a lead screw (22) through a second transmission gear box (17), and then a lead screw nut (18) is driven to move along the direction of the lead screw (22) to drive a linear bearing (23) embedded on a guide shaft (15) to move, lifting support plates (25) on two sides are controlled to be close to each other to clamp the wheels, and the wheels are lifted to the lifting support plates (25) to be fixed under the action of wheel support rollers (24).

4. The autonomous parking robot structure according to claim 3, characterized in that the lift support plate (25) is further provided at the bottom thereof with auxiliary support wheels (26) for supporting the lift support plate (25) when the lift support plate (25) is moved.

5. The autonomous parking robot structure according to claim 3, characterized in that a limit link (27) for limiting the moving distance of the lift support plate (25) is connected between the end of the lift support plate (25) and the chassis frame (1).

Images