A new automatic parking robot

Abstract

The application discloses a novel automatic parking robot, which comprises a parking mobile platform and a wheel clamping device. The parking mobile platform comprises a platform frame, a driving wheel mechanism and a driven wheel mechanism. The platform frame comprises a cross beam and two longitudinal beams which are vertically connected to the front sides of the two ends of the cross beam respectively. At least one driving wheel mechanism and at least one driven wheel mechanism are arranged at the four supporting positions of the bottom of the platform frame. The wheel clamping device comprises at least two clamping fork arm assemblies which are arranged in a transverse interval between the two longitudinal beams. The clamping fork arm assembly comprises two fork arm bodies, a clamping driving member for driving the two fork arm bodies to move close to or away from each other in the transverse direction, a clamping adjusting driving member for driving the two fork arm bodies to move synchronously in the transverse direction, and a lifting driving member for driving the two fork arm bodies to move up and down. The flexibility of the parking mobile platform is improved, the stress on the fork arm bodies is uniform, and the shaking of the fork arm bodies when lifting the vehicle is avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle handling robot technology, and in particular to a novel automatic parking robot. Background Technology

[0002] With social development and economic growth, the number of cars has increased dramatically, leading to problems such as long parking queues and long waiting times for parking spaces. Automated parking robots have emerged on the market to address this. These robots can identify vehicles and lift and move them to designated parking positions, improving parking efficiency. Existing automated parking robots generally include a wheel clamping device and a parking platform. The wheel clamping device typically includes at least two sets of clamping fork arm assemblies, each consisting of two parallel clamping arms that clamp and support the wheel through the clamping of two clamping walls. Parking mobile platforms typically include a transfer frame and a pulley drive mechanism located at the bottom of the transfer frame. Existing automated parking robots have the following problems in actual use: due to recognition and positioning errors, there will be a certain degree of misalignment between the two sets of clamping fork arm assemblies when clamping and supporting the wheels, resulting in uneven force on each set of clamping fork arm assemblies; in addition, it is difficult to perform efficient and accurate positioning and control of the wheel clamping assembly for vehicles with different wheelbases, resulting in a small range of adaptability; furthermore, existing automated parking robots have poor mobility and are difficult to adapt to parking lots with narrow movement channels. Summary of the Invention

[0003] The purpose of this invention is to provide a novel automatic parking robot to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0004] The technical solution adopted to solve the above-mentioned technical problems is as follows:

[0005] This invention provides a novel automatic parking robot, comprising: a parking mobile platform and a wheel clamping device. The parking mobile platform includes a horizontally arranged platform frame, an active wheel mechanism, and a driven wheel mechanism. The platform frame includes a crossbeam and two longitudinal beams respectively vertically connected to the front sides of both ends of the crossbeam. The longitudinal beams extend forward and backward. The bottom of the left and right ends of the crossbeam and the bottom of the front ends of the two longitudinal beams form four support positions distributed in a rectangle. At least one of the active wheel mechanisms and at least one of the driven wheel mechanisms are provided at the four support positions.

[0006] The drive wheel mechanism includes a steering wheel base, a steering wheel seat, an active steering drive unit, a steering wheel body mounted on the steering wheel seat, and a steering wheel drive unit. The active steering drive unit is provided with an active steering drive end that is drivenly connected to the steering wheel seat and causes the steering wheel seat to rotate relative to the steering wheel base about a vertical axis. The steering wheel drive unit is provided with a steering wheel drive end that is drivenly connected to the steering wheel body and causes the steering wheel body to rotate about its own lateral extension axis.

[0007] The driven wheel mechanism includes a driven base, a driven steering seat, a driven steering drive unit, and a driven wheel body mounted on the driven steering seat. The driven steering drive unit is provided with a driven steering drive end that is connected to the driven steering seat and causes the driven steering seat to rotate relative to the driven base about a vertical axis. The driven wheel body can rotate freely relative to the driven steering seat about its own lateral extension axis.

[0008] The wheel clamping device includes at least two clamping fork arm assemblies mounted on the front side of the crossbeam. The at least two clamping fork arm assemblies are laterally spaced between two longitudinal beams. Each clamping fork arm assembly includes two fork arm bodies arranged parallel to each other laterally, a clamping drive member for driving the two fork arm bodies to move closer or further apart laterally, a clamping adjustment drive member for driving the two fork arm bodies to move synchronously relative to the platform frame laterally, and a lifting drive member for driving the two fork arm bodies to move synchronously up and down relative to the platform frame. The fork arm bodies extend forward and backward.

[0009] The beneficial effects of this invention are as follows: The platform frame is shaped like a "U" when viewed from above, thus forming an area in the middle for the wheel clamping device to lift the vehicle. Four-point support is formed by setting driven wheel mechanisms and driving wheel mechanisms at four support positions at the bottom of the platform frame. The driving wheel mechanism drives the steering wheel body to rotate through a steering wheel drive unit to provide power for the movement of the platform frame. For platform frame steering, the driving steering drive unit drives the steering wheel steering seat to rotate around the vertical axis, while the driven steering drive unit drives the driven steering seat to rotate around the vertical axis, so that the steering of the driven wheel body and the steering wheel body is synchronized, thereby improving the flexibility of the parking platform's movement. In use, the platform frame moves to the side of the vehicle, and the number of clamping fork arm assemblies corresponds one-to-one with the number of wheel axles, clamping... The number of fork arm assemblies is set to at least two. According to the wheelbase of the vehicle, the clamping adjustment drive component on each clamping fork arm assembly drives the two fork arms to move laterally synchronously, so that the two fork arms correspond one-to-one with the wheels. Then, the two fork arms extend into the bottom of the vehicle, and the clamping drive component drives the two fork arms to move closer to each other laterally. The two fork arms abut against the two sides of the bottom of the wheel. The lifting drive component drives the two fork arms to move upward synchronously to lift the wheel. At the same time, the clamping adjustment drive component drives the two fork arms to move laterally synchronously to adjust the identification and positioning error between the clamping fork arm assemblies, so that the force on the fork arms is uniform and to avoid shaking when lifting the vehicle. Afterwards, the platform frame moves the vehicle to the set position, the fork arms return to their original positions, and the next vehicle is moved.

[0010] As a further improvement to the above technical solution, the crossbeam is a telescopic rod structure that can be freely extended and fixed, and at least two clamping fork arm assemblies are respectively installed on different telescopic sections of the crossbeam.

[0011] The crossbeam in this design can also be telescopically adjusted to regulate the initial spacing between the clamping fork arm assemblies, thus accommodating a wider range of vehicle types.

[0012] As a further improvement to the above technical solution, the crossbeam includes two side beam tubes and a middle beam. The two side beam tubes are slidably sleeved on both ends of the middle beam. The number of clamping fork arm assemblies is two, and the two clamping fork arm assemblies are respectively installed on the two side beam tubes. An adjustment drive unit is provided between each side beam tube and the middle beam. The adjustment drive unit is used to drive the side beam tube and the middle beam to slide relative to each other.

[0013] In this design, the crossbeam is formed by two side beam tubes and a middle beam nested together. The side beam tubes can slide and adjust relative to the middle beam along the length direction. An adjustment drive unit is also provided to adjust the relative position between each side beam tube and the middle beam, realizing automatic telescopic adjustment. The adjustment drive unit mainly adopts a hydraulic cylinder. In other designs, a positioning structure can also be provided to lock and fix the relative position between the side beam tubes and the middle beam. The positioning structure can adopt a positioning pin or a locking bolt, etc.

[0014] As a further improvement to the above technical solution, the steering wheel seat is rotatably mounted on the steering wheel base, the steering wheel seat is connected to the steering wheel gear, the active steering drive unit is provided with an active steering gear that meshes and drives the steering wheel gear, the steering wheel drive unit also includes a steering wheel drive motor fixedly mounted on the steering wheel seat and a reducer embedded in the steering wheel seat, the steering wheel drive motor is connected to the steering wheel body through the reducer;

[0015] The driven steering seat is rotatably mounted on the driven base, the driven steering seat is connected to a driven steering gear, and the driven steering drive unit is provided with a driven wheel steering gear that meshes with the driven steering gear.

[0016] In this design, the active steering drive unit drives the steering wheel seat to rotate through the meshing transmission between the active steering gear and the steering wheel gear, while the driven steering drive unit drives the driven steering seat to rotate through the meshing transmission between the driven wheel gear and the driven steering gear. This improves the steering accuracy of the steering wheel seat and the driven steering seat.

[0017] As a further improvement to the above technical solution, the driven wheel mechanism includes a driven wheel angle encoder fixedly installed on the driven base, and the driven wheel angle encoder is provided with a driven wheel monitoring gear that meshes with the driven steering gear;

[0018] The drive wheel mechanism also includes a steering wheel angle encoder mounted on the steering wheel base, and the steering wheel angle encoder is provided with a steering wheel monitoring gear that meshes with the steering wheel gear.

[0019] This solution uses a steering wheel angle encoder to monitor the rotation angle of the steering wheel gear to determine the steering angle of the steering wheel body, and a driven wheel angle encoder to monitor the rotation angle of the driven steering gear to determine the steering angle of the driven wheel body, thus enabling automatic control.

[0020] As a further improvement to the above technical solution, the two ends of the fork arm body are divided into a free end and a connecting end connected to the crossbeam. The connecting end is provided with a transverse sliding seat, the transverse sliding seat is transversely slidably connected to the crossbeam, and the fork arm body is slidably connected vertically to the transverse sliding seat.

[0021] This design incorporates a lateral sliding seat to enable the fork arm to slide vertically and laterally, resulting in a simpler structure and better structural strength.

[0022] As a further improvement to the above technical solution, in each of the clamping fork arm assemblies, the clamping drive component is connected between the two transverse sliding seats, the clamping adjustment drive component is mounted on the crossbeam, the clamping adjustment drive component is connected to one of the transverse sliding seats, and the lifting drive component includes two lifting drive units, which are respectively mounted on the two transverse sliding seats and are connected to the fork arm body in a transmission connection.

[0023] In this solution, the clamping adjustment drive component only needs to be connected to one of the transverse sliding seats. While the clamping adjustment drive component drives one of the transverse sliding seats to move laterally, it can also drive the other transverse sliding seat to move laterally together. The clamping drive component drives the two transverse sliding seats to move closer and further apart from each other. In addition, the lifting drive component of this solution is divided into two lifting drive units, and each lifting drive unit drives the fork arm to move up and down relative to the transverse sliding seat.

[0024] As a further improvement to the above technical solution, the clamping drive component is a clamping cylinder that extends laterally, with both ends of the clamping cylinder connected to the two lateral sliding seats respectively; the clamping adjustment drive component is a clamping adjustment cylinder that extends laterally, with one end of the clamping adjustment cylinder connected to one of the lateral sliding seats and the other end of the clamping adjustment cylinder connected to the crossbeam; and the lifting drive unit is a vertically arranged lifting cylinder.

[0025] Clamping cylinders, clamping adjustment cylinders, and lifting cylinders can improve the stability of clamping and lifting vehicles.

[0026] As a further improvement to the above technical solution, the fork arm body includes a horizontal arm extending forward and backward and a vertical arm arranged vertically. The lower end of the vertical arm is vertically connected to the rear end of the horizontal arm. A reinforcing corner bracket is provided at the inner corner connecting the horizontal arm and the vertical arm. The vertical arm is slidably connected to the horizontal sliding seat.

[0027] This solution incorporates reinforcing angle brackets between the horizontal and vertical arms, which enhances the stability of the connection between the horizontal and vertical arms and improves the load-bearing capacity of the fork arm.

[0028] As a further improvement to the above technical solution, in each of the clamping fork arm assemblies, rolling elements with their axes extending forward and backward are provided at the front and rear edges of the two opposing cross arms.

[0029] In this design, the cross arm contacts the wheel through rolling elements, which reduces damage to the wheel. The rolling elements can be configured as multiple bearing roller structures or dry roller structures. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0031] Figure 1 This is a schematic diagram of an embodiment of the novel automatic parking robot provided by the present invention;

[0032] Figure 2 This is a front view of an embodiment of the novel automatic parking robot provided by the present invention;

[0033] Figure 3 This is a top view of an embodiment of the novel automatic parking robot provided by the present invention;

[0034] Figure 4 This is a schematic diagram of an embodiment of the drive wheel mechanism provided by the present invention;

[0035] Figure 5 This is a schematic diagram of an embodiment of the driven wheel mechanism provided by the present invention. Detailed Implementation

[0036] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0037] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0038] In the description of this invention, if there are words such as "several", they mean one or more, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0039] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0040] Reference Figures 1 to 5 , the following embodiments are made for the new automatic parking robot of the present invention:

[0041] The new automatic parking robot of this embodiment includes: a parking mobile platform and a wheel clamping device.

[0042] As Figures 1 to 3 shown, where the parking mobile platform includes a horizontally arranged platform frame 100, a driving wheel mechanism 200, and a driven wheel mechanism 300. The platform frame 100 is in an "L" shape in a top view. Specifically: the platform frame 100 includes a cross beam 110 and two longitudinal beams 120 respectively vertically connected to the front sides of both ends of the cross beam 110. The longitudinal beams 120 extend in the front and rear directions. In order to expand the adaptation range of the automatic parking robot, the cross beam 110 is a telescopic and fixed telescopic rod structure. Specifically: the cross beam 110 includes two side beam tubes 111 and an intermediate beam 112. The two side beam tubes 111 are respectively slidably sleeved at both ends of the intermediate beam 112. In some embodiments, a positioning structure may be provided to lock and fix the relative position between the side beam tube 111 and the intermediate beam 112. The positioning structure may adopt a positioning pin or a locking bolt, etc.

[0043] In this embodiment, an adjustment driving unit 113 is provided between each side beam tube 111 and the intermediate beam 112. The adjustment driving unit 113 is used to drive the relative sliding of the side beam tube 111 and the intermediate beam 112. The adjustment driving unit 113 is provided to adjust the relative position between each side beam tube 111 and the intermediate beam 112 to achieve automatic telescopic adjustment. The adjustment driving unit 113 of this embodiment mainly adopts an oil cylinder.

[0044] The drive wheel mechanism 200 in this embodiment includes a steering wheel base 210, a steering wheel seat 220, an active steering drive unit 230, a steering wheel body 240 mounted on the steering wheel seat 220, and a steering wheel drive unit. The steering wheel base 210 is fixedly disposed relative to the platform frame 100. The active steering drive unit 230 is used for the steering wheel seat 220 to rotate relative to the steering wheel base 210 about a vertical axis. Specifically, the steering wheel seat 220 is rotatably mounted on the steering wheel base 210, and the steering wheel seat 220 is connected to a steering wheel gear 221. The active steering drive unit 230 is provided with a gear that interacts with the steering wheel gear. The active steering gear 231 meshes with the steering gear 221, and the active steering drive unit 230 drives the steering wheel seat 220 to rotate through the meshing transmission of the active steering gear 231 and the steering wheel steering gear 221, which can improve the steering accuracy of the steering wheel seat 220. The steering wheel drive unit is used to drive the steering wheel body 240 to rotate around its own lateral extension axis. Specifically, the steering wheel drive unit also includes a steering wheel drive motor 250 fixedly installed in the steering wheel seat 220 and a reducer embedded in the steering wheel seat 220. The steering wheel drive motor 250 is connected to the steering wheel body 240 through the reducer.

[0045] Furthermore, the drive wheel mechanism 200 also includes a steering wheel angle encoder 260 mounted on the steering wheel base 210. The steering wheel angle encoder 260 is provided with a steering wheel monitoring gear 261 that meshes with the steering wheel gear 221, which can realize automatic control.

[0046] The driven wheel mechanism 300 of this embodiment includes a driven base 310, a driven steering seat 320, a driven steering drive unit 330, and a driven wheel body 340 mounted on the driven steering seat 320. The driven steering drive unit 330 is used to drive the driven steering seat 320 to rotate relative to the driven base 310 about a vertical axis, and the driven wheel body 340 to rotate freely relative to the driven steering seat 320 about its own lateral extension axis. Specifically, the driven steering seat 320 is rotatably mounted on the driven base 310, and the driven steering seat 320 is connected to a driven steering gear 321. The driven steering drive unit 330 is provided with a driven wheel steering gear 331 that meshes with the driven steering gear 321. The driven steering drive unit 330 drives the driven steering seat 320 to rotate through the meshing transmission between the driven wheel steering gear 331 and the driven steering gear 321, which can improve the steering accuracy of the driven steering seat 320.

[0047] Furthermore, the driven wheel mechanism 300 includes a driven wheel angle encoder 350 fixedly installed on the driven base 310. The driven wheel angle encoder 350 is provided with a driven wheel monitoring gear 351 that meshes with the driven steering gear 321 to realize automatic control.

[0048] In this embodiment, both the driven steering drive unit 330 and the active steering drive unit 230 employ servo motors.

[0049] The bottom of the left and right ends of the crossbeam 110 and the bottom of the front ends of the two longitudinal beams 120 form four support positions distributed in a rectangle. At least one drive wheel mechanism 200 and at least one driven wheel mechanism 300 are provided at the four support positions. In this embodiment, the drive wheel mechanism 200 is provided at the bottom of the left and right ends of the crossbeam 110, and the driven wheel mechanism 300 is provided at the bottom of the front ends of the two longitudinal beams 120. This is mainly to take into account the uniformity of the drag force. The two drive wheel mechanisms 200 are provided on the same side. It also takes into account that the crossbeam 110 is the main load-bearing body, so that the friction between the steering wheel body 240 and the ground is greater, and the adhesion is improved.

[0050] The wheel clamping device includes two clamping fork arm assemblies 400 installed on the front side of the crossbeam 110. The two clamping fork arm assemblies 400 are laterally spaced between the two longitudinal beams 120. Each clamping fork arm assembly 400 includes two fork arm bodies 410 arranged laterally and parallel to each other, a clamping drive member for driving the two fork arm bodies 410 to move closer or further apart laterally, a clamping adjustment drive member for driving the two fork arm bodies 410 to move synchronously relative to the platform frame 100 laterally, and a lifting drive member for driving the two fork arm bodies 410 to move up and down synchronously relative to the platform frame 100. The fork arm bodies 410 extend forward and backward.

[0051] Two clamping fork arm assemblies 400 are respectively mounted on two side beam tubes 111, which allows the initial spacing between the clamping fork arm assemblies 400 to be adjusted to accommodate more types of vehicles.

[0052] The fork arm body 410 is divided into a free end and a connecting end connected to the crossbeam 110 at both ends. The connecting end is provided with a transverse sliding seat 420. The transverse sliding seat 420 and the crossbeam 110 are transversely slidably connected by a slide rail. The fork arm body 410 and the transverse sliding seat 420 are vertically slidably connected by a slide rail.

[0053] In each clamping fork arm assembly 400, the clamping drive member is connected between two transverse sliding seats 420, the clamping adjustment drive member is mounted on the crossbeam 110, and the clamping adjustment drive member is connected to one of the transverse sliding seats 420. The lifting drive member includes two lifting drive units, which are respectively mounted on the two transverse sliding seats 420. The lifting drive units are driven to the fork arm body 410. In this embodiment, the clamping adjustment drive member only needs to be driven to one of the transverse sliding seats 420. While driving one of the transverse sliding seats 420 to move laterally, the clamping adjustment drive member can also drive the other transverse sliding seat 420 to move laterally together. The clamping drive member drives the two transverse sliding seats 420 to move closer and further away from each other. In this solution, the lifting drive member is divided into two lifting drive units, and each lifting drive unit drives the fork arm body 410 to move up and down relative to the transverse sliding seat 420.

[0054] The clamping drive component is a laterally extending clamping cylinder 430, with both ends of the clamping cylinder 430 connected to two laterally sliding seats 420 respectively. The clamping adjustment drive component is a laterally extending clamping adjustment cylinder 440, with one end of the clamping adjustment cylinder 440 connected to one of the laterally sliding seats 420 and the other end of the clamping adjustment cylinder 440 connected to the crossbeam 110. The lifting drive unit is a vertically arranged lifting cylinder 450. The clamping cylinder 430, the clamping adjustment cylinder 440, and the lifting cylinder 450 can improve the stability of clamping and lifting the vehicle.

[0055] Furthermore, the fork arm body 410 includes a horizontal arm 411 extending forward and backward and a vertically arranged vertical arm 412. The lower end of the vertical arm 412 is vertically connected to the rear end of the horizontal arm 411. A reinforcing angle bracket 413 is provided at the inner angle connecting the horizontal arm 411 and the vertical arm 412. The vertical arm 412 is slidably connected to the horizontal sliding seat 420. The reinforcing angle bracket 413 between the horizontal arm 411 and the vertical arm 412 can improve the firmness of the connection between the horizontal arm 411 and the vertical arm 412 and improve the load-bearing capacity of the fork arm body 410.

[0056] In addition, in each of the clamping fork arm assemblies 400, rolling elements 414 with their axes extending forward and backward are provided at the front and rear edges of the two cross arms 411 facing each other. The cross arms 411 contact the wheel through the rolling elements 414, which can reduce damage to the wheel. The rolling elements 414 can be configured as multiple bearing roller structures or dry roller structures.

[0057] By setting driven wheel mechanisms 300 and driving wheel mechanisms 200 at four support positions at the bottom of the platform frame 100, a four-point support is formed. The driving wheel mechanism 200 drives the steering wheel body 240 to rotate through the steering wheel drive unit to provide power for the movement of the platform frame 100. For the steering of the platform frame 100, the driving steering drive unit 230 drives the steering wheel seat 220 to rotate around the vertical axis, while the driven steering drive unit 330 drives the driven steering seat 320 to rotate around the vertical axis, so that the steering of the driven wheel body 340 and the steering wheel body 240 are synchronized to improve the flexibility of the parking mobile platform. In use, the platform frame 100 moves to the side of the vehicle, and the number of clamping fork arm assemblies 400 corresponds one-to-one with the number of wheel axles. The number of clamping fork arm assemblies 400 is set to at least two. According to the wheelbase of the vehicle, the clamping adjustment drive component on each clamping fork arm assembly 400 drives the two fork arms 410 to move laterally synchronously, so that the two fork arms 410 correspond one-to-one with the wheels. Then, the two fork arms 410 extend into the bottom of the vehicle, and the clamping drive component drives the two fork arms 410 to move closer to each other laterally. The two fork arms 410 abut against the two sides of the bottom of the wheel. The lifting drive component drives the two fork arms 410 to move upward synchronously to lift the wheel. At the same time, the clamping adjustment drive component drives the two fork arms 410 to move laterally synchronously to adjust the identification and positioning error between the clamping fork arm assemblies, so that the force on the fork arms is uniform and to avoid shaking when lifting the vehicle. Then, the platform frame 100 moves the vehicle to the set position, the fork arms 410 return to their original positions, and the next vehicle is moved.

[0058] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An automated parking robot, characterized in that: It includes: A parking mobile platform includes a horizontally arranged platform frame (100), an active wheel mechanism (200), and a driven wheel mechanism (300). The platform frame (100) includes a crossbeam (110) and two longitudinal beams (120) vertically connected to the front sides of both ends of the crossbeam (110). The longitudinal beams (120) extend forward and backward. The bottom of the left and right ends of the crossbeam (110) and the bottom of the front ends of the two longitudinal beams (120) form four support positions distributed in a rectangle. At least one active wheel mechanism (200) and at least one driven wheel mechanism (300) are provided at the four support positions. The active wheel mechanism (200) includes a steering wheel base (210), a steering wheel seat (220), an active steering drive unit (230), a steering wheel body (240) mounted on the steering wheel seat (220), and a steering wheel drive unit. The active steering drive unit (230) is provided with an active steering drive end that is connected to the steering wheel seat (220) and causes the steering wheel seat (220) to rotate relative to the steering wheel base (210) about a vertical axis. The steering wheel drive unit is provided with a steering wheel drive end that is connected to the steering wheel body (240) and causes the steering wheel body (240) to rotate about its own lateral extension axis. The driven wheel mechanism (300) includes a driven base (310), a driven steering seat (320), a driven steering drive unit (330), and a driven wheel body (340) mounted on the driven steering seat (320). The driven steering drive unit (330) is provided with a driven steering drive end that is connected to the driven steering seat (320) and causes the driven steering seat (320) to rotate relative to the driven base (310) about a vertical axis. The driven wheel body (340) can rotate freely relative to the driven steering seat (320) about its own lateral extension axis. A wheel clamping device includes at least two clamping fork arm assemblies (400) mounted on the front side of a crossbeam (110). The at least two clamping fork arm assemblies (400) are laterally spaced between two longitudinal beams (120). Each clamping fork arm assembly (400) includes two fork arms (410) arranged laterally and parallel to each other, a clamping drive member for driving the two fork arms (410) to move closer or further apart laterally, a clamping adjustment drive member for driving the two fork arms (410) to move synchronously relative to the platform frame (100) laterally, and a lifting drive member for driving the two fork arms (410) to move up and down synchronously relative to the platform frame (100). The fork arms (410) extend forward and backward. The crossbeam (110) is a telescopic rod structure that can be freely extended and fixed, and at least two clamping fork arm assemblies (400) are respectively installed on different telescopic sections of the crossbeam (110); The fork arm body (410) is divided into a free end and a connecting end connected to the crossbeam (110) at both ends. The connecting end is provided with a transverse sliding seat (420). The transverse sliding seat (420) is transversely slidably connected to the crossbeam (110), and the fork arm body (410) is slidably connected to the transverse sliding seat (420) vertically. In each of the clamping fork arm assemblies (400), the clamping drive member is connected between the two transverse sliding seats (420), the clamping adjustment drive member is mounted on the crossbeam (110), the clamping adjustment drive member is connected to one of the transverse sliding seats (420), the lifting drive member includes two lifting drive units, the two lifting drive units are respectively mounted on the two transverse sliding seats (420), and the lifting drive units are connected to the fork arm body (410) in a transmission connection; The clamping drive component is a clamping cylinder (430) extending laterally. Both ends of the clamping cylinder (430) are respectively connected to two of the transverse sliding seats (420). The clamping adjustment drive component is a clamping adjustment cylinder (440) extending laterally. One end of the clamping adjustment cylinder (440) is connected to one of the transverse sliding seats (420), and the other end of the clamping adjustment cylinder (440) is connected to the crossbeam (110). The lifting drive unit is a vertically arranged lifting cylinder (450).

2. The automatic parking robot according to claim 1, characterized in that: The crossbeam (110) includes two side beam tubes (111) and a middle beam (112). The two side beam tubes (111) are slidably sleeved on both ends of the middle beam (112). There are two clamping fork arm assemblies (400). The two clamping fork arm assemblies (400) are respectively installed on the two side beam tubes (111). An adjustment drive unit (113) is provided between each side beam tube (111) and the middle beam (112). The adjustment drive unit (113) is used to drive the side beam tube (111) and the middle beam (112) to slide relative to each other.

3. The automatic parking robot according to claim 1, characterized in that: The steering wheel base (220) is rotatably mounted on the steering wheel base (210). The steering wheel base (220) is connected to the steering wheel gear (221). The active steering drive unit (230) is provided with an active steering gear (231) that meshes and drives the steering wheel gear (221). The steering wheel drive unit also includes a steering wheel drive motor (250) fixedly mounted on the steering wheel base (220) and a reducer embedded in the steering wheel base (220). The steering wheel drive motor (250) is connected to the steering wheel body (240) through the reducer. The driven steering seat (320) is rotatably mounted on the driven base (310). The driven steering seat (320) is connected to a driven steering gear (321). The driven steering drive unit (330) is provided with a driven wheel steering gear (331) that meshes with the driven steering gear (321).

4. An automatic parking robot according to claim 3, characterized in that: The driven wheel mechanism (300) includes a driven wheel angle encoder (350) fixedly installed on the driven base (310), and the driven wheel angle encoder (350) is provided with a driven wheel monitoring gear (351) that meshes with the driven steering gear (321). The drive wheel mechanism (200) also includes a steering wheel angle encoder (260) mounted on the steering wheel base (210), and the steering wheel angle encoder (260) is provided with a steering wheel monitoring gear (261) that meshes with the steering wheel steering gear (221).

5. An automatic parking robot according to claim 1, characterized in that: The fork arm body (410) includes a horizontal arm (411) extending forward and backward and a vertical arm (412) arranged vertically. The lower end of the vertical arm (412) is vertically connected to the rear end of the horizontal arm (411). A reinforcing corner bracket (413) is provided at the inner corner connecting the horizontal arm (411) and the vertical arm (412). The vertical arm (412) is slidably connected to the horizontal sliding seat (420) in a vertical direction.

6. An automatic parking robot according to claim 5, characterized in that: In each of the clamping fork arm assemblies (400), rolling elements (414) with their axes extending forward and backward are provided at the front and rear edges of the two cross arms (411).

Images