Omnidirectional moving clamping type parking robot

Abstract

The invention relates to an omni-directional moving clamping type parking robot which comprises two moving seats and four clamping assemblies, omni-directional driving assemblies are installed at the four corners of each moving seat, and the omni-directional moving clamping type parking robot further comprises the four clamping assemblies. Eight overturning positioning assemblies; and eight locking assemblies. In the process of clamping the wheels of the vehicle, the supporting rollers can make contact with the surfaces of the wheels to form rolling friction, in the lifting process, friction damage to the wheels can be reduced, after the wheels are clamped and lifted, the elastic supporting frame is driven by the driving shaft to turn over to the designated angle, and therefore the wheels can be conveniently lifted. When the wheel is lifted, the limiting pieces at the ends of the elastic supporting frames can make contact with the surface of the lifted wheel to form further limiting, the number of limiting points is increased, the limiting span of the two clamping jaws at the position of the same wheel is increased, the device adapts to large hubs, and the supporting stability of the vehicle can be further improved.

Description

Technical Field

[0001] The invention relates to an omnidirectional mobile clamping parking robot, in particular to an omnidirectional mobile clamping parking robot. Background Art

[0002] The omnidirectional mobile clamping parking robot technology has 8 clamping arms that can rotate and retract. The clamping surface of the clamping wall is equipped with support rollers to reduce the friction generated during the clamping process. In the initial state, the clamping arm is in a retracted state and can drill into the bottom of the car; in the state of lifting the car, after the robot drills into the position of the bottom of the car, the clamping arm begins to open and lift the car off the ground; in the transporting state, after the car is clamped off the ground by the clamping arm, the car is transported through the walking mechanism.

[0003] However, after the wheel is clamped, since the support roller is in a rotationally connected state, the support roller plays a supporting and limiting role on the wheel. When the wheel hub is too large, the support point will be close to the bottom end of the wheel. The span of the support point is limited, which is not conducive to stable limiting support for the wheel. Summary of the invention

[0004] Based on this, it is necessary to provide an omnidirectional mobile clamping parking robot to address the problem that after the wheel is clamped, the support roller is in a rotating connected state, and the support roller plays a supporting and limiting role on the wheel. When the wheel hub is too large, the support point will be close to the bottom end of the wheel, and the span of the support point is limited, which is not conducive to stable limiting support for the wheel.

[0005] The present invention provides an omnidirectional mobile clamping parking robot, an omnidirectional mobile clamping parking robot, comprising two mobile seats, each of which is equipped with an omnidirectional driving assembly at four corners, and further comprising: four clamping assemblies, the four clamping assemblies are respectively installed on both sides of the two mobile seats, the clamping assembly comprises two clamping claws rotatably connected to the mobile seat, the two clamping claws are used to clamp and limit the wheel, the clamping surface of each clamping claw is rotatably connected to a connecting shaft, and the surface of the connecting shaft is fixedly connected to a plurality of supporting rollers; eight flipping positioning assemblies, the eight flipping positioning assemblies are respectively arranged on the top of the eight clamping claws, the flipping positioning assemblies comprise a driving shaft, the driving shaft is rotatably connected to the top of the clamping claw, the surface of the driving shaft is fixedly connected to a plurality of elastic support frames, and the top ends of the plurality of elastic support frames located on the same driving shaft are fixedly connected to a limiting member; eight locking assemblies, the eight locking assemblies are used to limit the rotation of the eight connecting shafts and limit the telescopic state of the elastic support frames on the eight clamping claws in the process of the driving shaft driving the elastic support frame and the limiting member to flip as a whole to position the wheel.

[0006] Specifically, two storage grooves are provided on both sides of the two movable seats, and a sliding seat is slidably arranged in the storage groove. A connecting rod is rotatably connected between the sliding seat and the clamping claws at the corresponding position. A cylinder is fixedly installed inside the storage groove, and the piston rod end of the cylinder is fixedly connected to the sliding seat. The sliding seat is moved by the cylinder, and the sliding seat is linked to the clamping claw through the connecting rod, thereby realizing the flipping adjustment of the clamping claw. When not working, the clamping claw is folded into the storage groove. When working, the two clamping claws are flipped out of the storage groove to clamp and position the wheel.

[0007] It should be understood that when the car needs to be moved, the moving seat is moved to the bottom of the car, the clamping claw is turned over, and the two clamping claws on the same side will clamp and lift the wheels of the car, so that the car is lifted off the ground;

[0008] In the process of clamping the wheel of the car, the support roller will contact with the surface of the wheel to form rolling friction. In the process of lifting, the friction damage to the wheel can be reduced. After the wheel is clamped and lifted, the elastic support frame is driven by the drive shaft to flip to a specified angle. The limiter at the end of the elastic support frame will contact with the surface of the lifted wheel to form further limit, that is, the limit point is increased, and the limit span of the two clamps at the same wheel is increased to adapt to the larger wheel hub, which is conducive to further improving the stability of the support for the car.

[0009] It should be further explained that, in the process of the driving shaft driving the elastic support frame to flip, the eight locking components limit the rotation of the eight connecting shafts and the support rollers, while limiting the retractability of the elastic support frame on the eight clamps, so that the elastic support frame forms a stable support body, and both the limiter and the support roller support points are locked, thereby achieving the stability of the contact point between the clamp and the wheel, which is beneficial to the stable limited support of the wheel.

[0010] The above-mentioned omnidirectional mobile clamping parking robot, in the process of clamping the wheel of the car, the support roller will contact with the surface of the wheel to form rolling friction, and in the process of lifting, the friction damage to the wheel can be reduced. After the wheel is clamped and lifted, the elastic support frame is driven by the drive shaft to flip to a specified angle, and the limit piece at the end of the elastic support frame will contact with the surface of the lifted wheel to form further limit, that is, increase the limit point, and increase the limit span of the two clamping claws at the same wheel, adapt to the larger wheel hub, which is conducive to further improving the stability of the support for the car;

[0011] When the driving shaft drives the elastic support frame to flip, the eight locking components limit the rotation of the eight connecting shafts and the support rollers, and at the same time limit the telescopic properties of the elastic support frame on the eight clamps, so that the elastic support frame forms a stable support body, and both the limiter and the support roller are locked, thereby achieving the stability of the contact point between the clamp and the wheel, which is beneficial to the stable limited support of the wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a first overall structural schematic diagram of the present invention;

[0014] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0015] Figure 3 It is a structural schematic diagram of the clamping jaws of the present invention;

[0016] Figure 4 for Figure 3 Enlarged view of part B;

[0017] Figure 5 It is a structural cross-sectional view of the elastic support frame of the present invention after being exploded;

[0018] Figure 6 It is a structural schematic diagram of the convex plate of the present invention;

[0019] Figure 7 It is a second overall structural schematic diagram of the present invention;

[0020] Figure 8 for Figure 7 Enlarged view of part C in the middle;

[0021] Fig. 9 It is a third overall structural schematic diagram of the present invention;

[0022] Fig.10 It is a schematic structural diagram of the omnidirectional drive assembly of the present invention.

[0023] Reference numerals:

[0024] Moving seat 1, clamping claw 2, connecting shaft 3, supporting roller 4, driving shaft 5, limiting member 6, storing groove 7, sliding seat 8, connecting rod 9, cylinder 10, first motor 11, supporting seat 12, supporting rod 13, connecting seat 1301, supporting spring 14, turning frame 15, damping head 16, linkage frame 17, linkage pin 18, matching groove 19, convex plate 20, positioning plate 21, connecting plate 22, first connecting groove 23, first supporting slider 24, return spring 25, second connecting groove 26, second supporting slider 27, snap-in groove 28, mounting groove 29, snap-in pin 30, electromagnet 31, magnetic suction sheet 32, mounting cavity 33, supporting plate 34, rotating frame 35, driving wheel 36, second motor 37, third motor 38, diamond telescopic frame 39, movable end 40, positioning end 41, electric cylinder 42, wheel 43. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0029] Unless otherwise defined, all technical and scientific terms used in the specification of the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the specification of the present invention includes any and all combinations of one or more related listed items.

[0030] Combine the following Figure 1-Figure 10 The omnidirectional mobile clamping parking robot of the present invention is described.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, in one embodiment, an omnidirectional mobile clamping parking robot includes two mobile seats 1, and each mobile seat 1 has four corners equipped with omnidirectional drive components, and also includes: four clamping components, which are respectively installed on both sides of the two mobile seats 1, and the clamping components include two clamping claws 2 rotatably connected to the mobile seat 1, and the two clamping claws 2 are used to clamp and limit the wheel 43, and the clamping surface of each clamping claw 2 is rotatably connected to a connecting shaft 3, and a plurality of support rollers 4 are fixedly connected to the surface of the connecting shaft 3; eight flip positioning components, the eight flip positioning components are respectively arranged on the top of the eight clamping claws 2, and the flip positioning components include a driving shaft 5, which is rotatably connected to the top of the clamping claw 2, and a plurality of elastic support frames are fixedly connected to the surface of the driving shaft 5, and the top ends of the plurality of elastic support frames located on the same driving shaft 5 are fixedly connected to the limiting member 6; eight locking components, the eight locking components are used to limit the rotation of the eight connecting shafts 3 and the telescopic state of the elastic support frames on the eight clamping claws 2 in the process of the driving shaft 5 driving the elastic support frame and the limiting member 6 to flip as a whole to position the wheel 43.

[0032] Specifically, two receiving grooves 7 are provided on both sides of the two movable seats 1, and a sliding seat 8 is slidably arranged in the storage groove 7. A connecting rod 9 is rotatably connected between the sliding seat 8 and the clamping jaws 2 at the corresponding position. A cylinder 10 is fixedly installed inside the storage groove 7, and the piston rod end of the cylinder 10 is fixedly connected to the sliding seat 8. The sliding seat 8 is moved by the cylinder 10, and the sliding seat 8 is linked to the clamping jaws 2 through the connecting rod 9, thereby realizing the flipping adjustment of the clamping jaws 2. When not working, the clamping jaws 2 are folded into the storage groove 7. When working, the two clamping jaws 2 are flipped out of the storage groove 7 to clamp and position the wheel 43.

[0033] It should be understood that when the vehicle needs to be moved, the moving seat 1 is moved to the bottom of the vehicle, the clamping claw 2 is turned over, and the two clamping claws 2 on the same side will clamp and lift the wheels 43 of the vehicle, so that the vehicle is lifted off the ground;

[0034] In the process of clamping the wheel 43 of the vehicle, the support roller 4 will contact with the surface of the wheel 43 to form rolling friction. In the process of lifting, the friction damage to the wheel 43 can be reduced. After the wheel 43 is clamped and lifted, the elastic support frame is driven by the drive shaft 5 to flip to a specified angle. The limiter 6 at the end of the elastic support frame will contact with the surface of the lifted wheel 43 to form further limit, that is, the limit point is increased, and the limit span of the two clamping claws 2 at the same wheel 43 is increased to adapt to the larger wheel hub, which is conducive to further improving the stability of the support for the vehicle;

[0035] It should be further explained that, in the process of the driving shaft 5 driving the elastic support frame to flip, the eight locking components limit the rotation of the eight connecting shafts 3 and the support rollers 4, while limiting the telescopicity of the elastic support frame on the eight clamps 2, so that the elastic support frame forms a stable support body, and the two supporting points of the limit member 6 and the support roller 4 are both locked, thereby achieving the stability of the contact point between the clamp 2 and the wheel 43, which is beneficial to the stable limiting support of the wheel 43.

[0036] like Figure 3 and Figure 4 As shown, in one embodiment, each clamping jaw 2 further includes:

[0037] The first motor 11 is fixedly connected to the surface of the clamping jaw 2, and the output end is fixedly connected to the driving shaft 5. It should be understood that by providing the first motor 11, the driving shaft 5 is provided with a turning power.

[0038] Specifically, a clearance groove is provided on the surface of the clamping jaw 2 to provide clearance space for the elastic support frame.

[0039] like Figure 3 , Figure 4 and Figure 5As shown, in one embodiment, the elastic support frame includes: a support seat 12, the support seat 12 is fixedly sleeved on the surface of the connecting shaft 3, and two plug-in slots are opened on the top; two support rods 13, the two support rods 13 are slidably inserted in the two plug-in slots and the ends are fixedly connected with the connecting seat 1301, and the connecting seat 1301 is fixedly sleeved on the limiting member 6; two support springs 14, the two support springs 14 are sleeved on the surfaces of the two support rods 13, and the two ends are respectively fixedly connected to the connecting seat 1301 and the support seat 12. It should be understood that when the elastic support frame contacts the wheel 43 and presses against it, the limiting member 6 will act on the connecting seat 1301, and the connecting seat 1301 will push the support rod 13, compressing the support spring 14, so as to realize the automatic adjustment of the length of the elastic support frame according to the size of the wheel 43 hub.

[0040] like Figure 3 , Figure 4 and Figure 5 As shown, in one embodiment, the locking assembly includes: a flip frame 15, which is rotatably connected to the end of the clamping jaw 2 and is fixedly connected to a damping head 16; a linkage frame 17, which is slidably arranged at the end of the clamping jaw 2 and is fixedly connected to a linkage pin 18; a matching groove 19, which is opened on the surface of the flip frame 15 and is slidably connected to the linkage pin 18; a convex plate 20, which is fixedly connected to the end of the driving shaft 5 and has an inclined surface at the end, and the convex plate The bottom surface of 20 contacts the top surface of the linkage frame 17; multiple positioning plates 21, multiple positioning plates 21 are respectively slidably inserted on the surfaces of multiple support seats 12 on the same clamp 2, and all penetrate the support seats 12 and contact the surface of the support rod 13. A convex groove is provided at the end of the positioning plate 21 close to the side of the convex plate 20, and the convex groove has an inclined surface. The inclined surface of the convex plate 20 is contacted with the inclined surface of the convex groove, and the multiple positioning plates 21 on the same clamp 2 are fixedly connected by a connecting plate 22.

[0041] Specifically, a rubber damping pad is pasted on the damping surface of the damping head 16 . During the pressing process, the rubber damping pad is deformed and pressed to achieve pressing against the connecting shaft 3 .

[0042] It should be understood that in the process of the driving shaft 5 driving the elastic support frame to flip, the convex plate 20 will convexly move the linkage frame 17 driven by the driving shaft 5. While the linkage frame 17 moves downward, it drives the linkage pin 18 to move in the matching groove 19. The matching groove 19 will cause the flip frame 15 to flip, and the damping head 16 at the end of the flip frame 15 will be in close contact with the end surface of the connecting shaft 3 to achieve the positioning of the connecting shaft 3, thereby limiting the rotation of the support roller 4. While the convex plate 20 convexes the linkage frame 17, it will always act on the positioning plate 21 close to the linkage frame 17. Through the contact between the inclined surface of the convex plate 20 and the inclined surface of the convex groove, the positioning plate 21 presses and limits the support rod 13, thereby limiting the telescopic state of the elastic support frame in the support limit state, and maintaining a stable support state.

[0043] like Figure 3 , Figure 4 and Figure 5 As shown, in one embodiment, a first connection groove 23 is provided on the surface of the linkage frame 17, and a first support slider 24 is slidably arranged in the first connection groove 23, and the first support slider 24 is fixedly connected to the surface of the clamping jaw 2. It should be understood that the sliding connection between the first support slider 24 and the first connection groove 23 plays a role in slidingly connecting the linkage frame 17 to the surface of the clamping jaw 2; it should be further explained that a reset spring 25 is fixedly connected between the inner bottom surface of the first connection groove 23 and the first support slider 24, so that after the linkage frame 17 cancels the protrusion of the protruding plate 20, under the action of the reset spring 25, the linkage frame 17 automatically rises, and driven by the linkage pin 18, the flip frame 15 is driven to flip and reset, and the damping of the damping head 16 on the connecting shaft 3 is cancelled.

[0044] like Figure 3 , Figure 4 and Figure 5 As shown, in one embodiment, a second connecting groove 26 is provided on the surface of the protruding plate 20, a second supporting slider 27 is slidably provided in the second connecting groove 26, and the second supporting slider 27 is fixedly connected to the surface of the supporting seat 12 near the linkage frame 17. It should be understood that by providing the second connecting groove 26 and the second supporting slider 27, the protruding plate 20 is slidably connected to the surface of the supporting seat 12 near the linkage frame 17.

[0045] like Figure 3 and Figure 4As shown, in one embodiment, a clamping assembly is further connected between the protruding plate 20 and the linkage frame 17, and the clamping assembly includes: a clamping groove 28, which is opened at the top of the linkage frame 17; and a mounting groove 29, which is opened at the bottom of the protruding plate 20, and a clamping pin 30 is slidably inserted in the inner wall, and the end of the clamping pin 30 is inserted in the inside of the clamping groove 28. It should be understood that when the protruding plate 20 is completed, the mounting groove 29 is opposite to the clamping groove 28, and the clamping pin 30 can be inserted into the clamping groove 28 under the action of gravity to form a clamping connection, which limits the flipping state of the elastic support frame and further supports the support and limit of the elastic support frame to the wheel 43.

[0046] like Figure 3 , Figure 4 and Figure 6 As shown, in one embodiment, the snap-on assembly further includes: an electromagnet 31 , which is fixedly connected to the top of the interior of the mounting slot 29 ; and a magnetic sheet 32 ​​, which is fixedly connected to the top of the snap-on pin 30 .

[0047] It should be understood that by providing the electromagnet 31 and the magnetic sheet 32, when the protruding linkage frame 17 is completed, the electromagnet 31 is energized, and the electromagnet 31 and the magnetic sheet 32 ​​generate a repulsive force to accelerate the engagement pin 30 to enter the engagement groove 28;

[0048] When the car is moved to the designated position and unloaded, the electromagnet 31 is energized, so that the electromagnet 31 generates an opposite magnetic attraction force for the magnetic suction plates 32 to attract each other, so as to attract the clamping pin 30 and disengage from the clamping groove 28, cancel the clamping, and then start the first motor 11 to drive the drive shaft 5 to rotate, and the drive shaft 5 drives the elastic support frame to flip and reset, and then flip the clamping claw 2 into the storage groove 7 for storage;

[0049] It should be further explained that the magnetic pole direction of the electromagnet 31 can be changed by the direction of the current passed through it.

[0050] like Figure 1 , Fig. 9 and Fig.10As shown, in one embodiment, the omnidirectional drive assembly includes: an installation cavity 33, the installation cavity 33 is opened through the mobile seat 1; a support plate 34, the support plate 34 is fixedly connected in the installation cavity 33; a rotating frame 35, the rotating frame 35 is rotatably connected to the bottom of the support plate 34; a driving wheel 36, the driving wheel 36 is rotatably connected to the bottom end of the rotating frame 35; a second motor 37, the second motor 37 is fixedly installed on the top of the support plate 34, and the output end is fixedly connected to the rotating frame 35; a third motor 38, the third motor 38 is fixedly installed on the rotating frame 35, and the output end is fixedly connected to the driving wheel 36. It should be understood that when it is necessary to move forward or backward, the third motor 38 is started, and the third motor 38 drives the driving wheel 36 to rotate, thereby driving the moving seat 1 to move, thereby realizing forward and backward movement. When it is necessary to change direction, the second motor 37 is started first, and the second motor 37 drives the rotating frame 35 to rotate, and the rotating frame 35 synchronously drives the driving wheel 36 to change direction. After the adjustment is completed, the third motor 38 is started again to drive the driving wheel 36 to rotate after the change of direction, thereby realizing the driving of the moving seat 1 to change direction and realize the omnidirectional movement of the parking robot.

[0051] like Figure 7 and Figure 8 As shown, in one embodiment, two diamond-shaped telescopic frames 39 are arranged between the two moving seats 1, and both ends of the diamond-shaped telescopic frames 39 include a movable end 40 and a positioning end 41. The four movable ends 40 are respectively slidably arranged at the ends of the two moving seats 1, and the four movable ends 40 are respectively rotatably connected to the movable positions of the diamond-shaped telescopic frames 39, and the four positioning ends 41 are rotatably connected to the ends of the two moving seats 1, and an electric cylinder 42 is fixedly connected between the two movable ends 40 on the same moving seat 1. It should be understood that by starting the electric cylinder 42, the electric cylinder 42 drives the movable end 40 of the diamond-shaped telescopic frame 39 to move, thereby adjusting the telescopic length of the diamond-shaped telescopic frame 39, and thereby adjusting the spacing between the two moving seats 1 to meet the requirements of the position of the wheels 43 corresponding to the vehicle bodies of different lengths.

[0052] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An omnidirectional mobile clamping parking robot, comprising two mobile seats (1), each of the mobile seats (1) having four corners equipped with omnidirectional drive components, characterized in that: Also includes: Four clamping assemblies, the four clamping assemblies are respectively installed on both sides of two movable seats (1), the clamping assemblies include two clamping jaws (2) rotatably connected to the movable seats (1), the two clamping jaws (2) are used to clamp and limit the wheel (43), the clamping surface of each clamping jaw (2) is rotatably connected to a connecting shaft (3), and a plurality of supporting rollers (4) are fixedly connected to the surface of the connecting shaft (3); Eight flip positioning assemblies, the eight flip positioning assemblies are respectively arranged on the top of eight clamping jaws (2), the flip positioning assemblies include a drive shaft (5), the drive shaft (5) is rotatably connected to the top of the clamping jaw (2), a plurality of elastic support frames are fixedly connected to the surface of the drive shaft (5), and the top ends of the plurality of elastic support frames located on the same drive shaft (5) are fixedly connected to a limiting member (6); Eight locking assemblies are used to limit the rotation of the eight connecting shafts (3) and the telescopic state of the elastic support frames on the eight clamps (2) when the driving shaft (5) drives the elastic support frame and the limiting member (6) to flip as a whole to position the wheel (43).

2. The omnidirectional mobile clamping parking robot according to claim 1, characterized in that: Each of the clamping jaws (2) further comprises: A first motor (11), wherein the first motor (11) is fixedly connected to the surface of the clamping jaw (2), and an output end thereof is fixedly connected to the driving shaft (5).

3. The omnidirectional mobile clamping parking robot according to claim 2, characterized in that: The elastic support frame comprises: A support seat (12), the support seat (12) is fixedly sleeved on the surface of the connecting shaft (3), and has two plug-in slots on the top; Two support rods (13), the two support rods (13) are slidably inserted into the two insertion grooves and the ends are fixedly connected with a connecting seat (1301), and the connecting seat (1301) is fixedly sleeved on the limiting member (6); Two support springs (14), the two support springs (14) are sleeved on the surfaces of the two support rods (13), and the two ends are respectively fixedly connected to the connecting seat (1301) and the support seat (12).

4. The omnidirectional mobile clamping parking robot according to claim 3, characterized in that: The locking assembly comprises: A turning frame (15), the turning frame (15) is rotatably connected to the end of the clamping jaw (2), and the end is fixedly connected to a damping head (16); A linkage frame (17), wherein the linkage frame (17) is slidably arranged at the end of the clamping jaw (2), and a linkage pin (18) is fixedly connected to the end; A matching groove (19), the matching groove (19) is provided on the surface of the flip frame (15) and is slidably connected to the linkage pin (18); A convex plate (20), the convex plate (20) is fixedly connected to the end of the driving shaft (5) and has an inclined surface at the end, and the bottom surface of the convex plate (20) contacts the top surface of the linkage frame (17); A plurality of positioning plates (21) are respectively slidably inserted on the surfaces of a plurality of support seats (12) on the same clamp (2), and all of them are in contact with the surface of the support rod (13) after passing through the support seat (12). A convex groove is provided at the end of the positioning plate (21) close to the convex plate (20). The convex groove has an inclined surface. The inclined surface of the convex plate (20) is in contact with the inclined surface of the convex groove. The plurality of positioning plates (21) on the same clamp (2) are fixedly connected by a connecting plate (22).

5. The omnidirectional mobile clamping parking robot according to claim 4, characterized in that: A first connecting groove (23) is provided on the surface of the linkage frame (17), a first supporting slider (24) is slidably arranged in the first connecting groove (23), and the first supporting slider (24) is fixedly connected to the surface of the clamping jaw (2).

6. The omnidirectional mobile clamping parking robot according to claim 5, characterized in that: A second connecting groove (26) is provided on the surface of the convex plate (20), a second supporting slider (27) is slidably arranged in the second connecting groove (26), and the second supporting slider (27) is fixedly connected to the surface of the supporting seat (12) near the linkage frame (17).

7. The omnidirectional mobile clamping parking robot according to any one of claim 6, characterized in that: A clamping assembly is also connected between the protruding plate (20) and the linkage frame (17), and the clamping assembly comprises: A clamping groove (28), wherein the clamping groove (28) is provided on the top of the linkage frame (17); The mounting groove (29) is provided at the bottom end of the convex plate (20), and a snap-in pin (30) is slidably inserted into the inner wall, and the end of the snap-in pin (30) is inserted into the interior of the snap-in groove (28).

8. The omnidirectional mobile clamping parking robot according to claim 7, characterized in that: The clamping assembly further comprises: An electromagnet (31), the electromagnet (31) being fixedly connected to the top end inside the mounting groove (29); A magnetic attraction sheet (32), wherein the magnetic attraction sheet (32) is fixedly connected to the top end of the locking pin (30).

9. The omnidirectional mobile clamping parking robot according to claim 8, characterized in that: The omnidirectional drive assembly comprises: An installation cavity (33), the installation cavity (33) being formed through the movable seat (1); A support plate (34), the support plate (34) being fixedly connected in the mounting cavity (33); A rotating frame (35), the rotating frame (35) is rotatably connected to the bottom of the supporting plate (34); A driving wheel (36), the driving wheel (36) being rotatably connected to the bottom end of the rotating frame (35); A second motor (37), the second motor (37) is fixedly mounted on the top of the support plate (34), and an output end of the second motor (37) is fixedly connected to the rotating frame (35); A third motor (38), wherein the third motor (38) is fixedly mounted on the rotating frame (35), and an output end thereof is fixedly connected to the driving wheel (36).

10. The omnidirectional mobile clamping parking robot according to any one of claims 1 to 9, characterized in that: Two rhombus-shaped telescopic frames (39) are arranged between the two movable seats (1), and both ends of the rhombus-shaped telescopic frames (39) include a movable end (40) and a positioning end (41). The four movable ends (40) are respectively slidably arranged at the ends of the two movable seats (1), and the four movable ends (40) are respectively rotatably connected to the movable positions of the rhombus-shaped telescopic frames (39). The four positioning ends (41) are rotatably connected to the ends of the two movable seats (1), and an electric cylinder (42) is fixedly connected between the two movable ends (40) on the same movable seat (1).

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