Clamping type parking robot and control method thereof

Abstract

The invention discloses a clamping type parking robot and a control method thereof. The clamping type parking robot comprises a front tire clamping device and a rear tire clamping device. The front tire clamping device comprises a chassis unit and two tire clamping mechanisms, and each tire clamping mechanism is composed of two tire clamping units. Each tire clamping unit comprises a slope type clamping arm, a sector panel and a motor lead screw transmission pair, the motor lead screw transmission pair is fixed on the chassis unit, and the output end of the motor lead screw transmission pair is hinged to the sector panel to drive the sector panel to rotate; the sector panel and the slope type clamping arm are of an integrated structure, and the mounting end of the slope type clamping arm is rotationally connected to the chassis unit through a rotating shaft; the chassis unit comprises a bottom plate and an axial driving mechanism installed at the bottom of the bottom plate. According to the invention, slope bearing can be realized, and the efficiency and the transportation safety are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle operation and transportation, and relates to a parking robot, in particular to a clamping parking robot and a control method thereof. Background Art

[0002] With the growth of trade demand for new energy vehicles, the upgrading and transformation of ports and terminals to be intelligent, automated, and green has become an inevitable trend. As a special ship specially designed for carrying wheeled goods such as cars, the intelligent loading and unloading process of RoRo ships has become the focus of attention. The traditional manual operation mode has many problems: the working environment is harsh, which endangers the health of workers; the space for vehicle stacking is small, and the spacing requirements are strict; manual operation is difficult and the efficiency is limited.

[0003] To solve these problems, automated handling robots came into being. Common types of handling robots on the market include vehicle-carrying plate type, comb type and clamp type. Among them, clamp type handling robots are widely recognized for their simple structure, good stability and less damage to tires. As the key actuator of the robot, the design of the clamping mechanism directly affects the performance and applicability of the robot.

[0004] The existing clamping mechanism has many inherent defects: First, the force design of the clamping mechanism mainly relies on the center pin, and all bending moments are borne by the center pin. The center pin roller bearing is subjected to excessive stress, which can easily lead to structural fatigue deformation and damage. Secondly, the clamping arm of the existing clamping mechanism was not fully considered in the design of complex transportation environments such as slopes, lacks adaptability to slope changes, and cannot meet the load-bearing requirements of slopes, limiting the application scenarios. Summary of the invention

[0005] In order to solve the problem that the existing clamping type handling robots cannot meet the complex transportation conditions of docks and roll-on / roll-off ships due to the limitations of the clamping mechanism structural design and force characteristics, the present invention provides a clamping type parking robot and a control method thereof, optimizes the structural design of the tire clamping mechanism of the parking robot, achieves force balance through the end fan-shaped design, effectively disperses the radial load of the bearing, and designs a sloped clamping arm to achieve slope load-bearing, thereby improving efficiency and transportation safety.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] As a first aspect of the present invention, there is provided a clamping parking robot, comprising a front tire clamping device and a rear tire clamping device, the front tire clamping device and the rear tire clamping device having the same structure and being coaxially fixedly connected along the front-to-back direction, and respectively used for clamping the front wheel and the rear wheel of a vehicle;

[0008] The front tire clamping device comprises a chassis unit and two sets of tire clamping mechanisms fixed on the chassis unit, the two sets of tire clamping mechanisms have the same structure and are arranged symmetrically on the chassis unit; the left and right front wheels of the vehicle are clamped by the two sets of tire clamping mechanisms;

[0009] Each set of the tire clamping mechanism is composed of two tire clamping units, the two tire clamping units have the same structure and are symmetrically arranged on the chassis unit, and the two tire clamping units work together to clamp a single front wheel of the vehicle;

[0010] Each tire clamping unit includes a sloped clamping arm, a fan panel, and a motor screw transmission pair; the motor screw transmission pair is fixed to the chassis unit, and its output end is hinged with the fan panel to drive the fan panel to rotate; the fan panel and the sloped clamping arm are an integrated structure, and the mounting end of the sloped clamping arm is rotatably connected to the chassis unit through a rotating shaft;

[0011] The chassis unit comprises a bottom plate and an axial driving mechanism installed at the bottom of the bottom plate. The front and rear positions of the bottom plate are adjusted by the axial driving mechanism. The tire clamping mechanism is installed on the bottom plate.

[0012] Furthermore, the motor-screw transmission pair includes a hollow shaft motor, a screw nut and a trapezoidal screw. The hollow shaft motor is fixed to the chassis unit through a motor seat, the screw nut is fixed in the central shaft hole of the hollow shaft motor, the trapezoidal screw is threadedly connected to the screw nut, the output end of the hollow shaft motor is connected to the trapezoidal screw, and one end of the trapezoidal screw is hinged to the fan panel through a pin shaft; the hollow shaft motor drives the trapezoidal screw to move, driving the fan panel to rotate, and the fan panel drives the sloped clamping arm to rotate around the rotating axis, and the clamping or loosening of the automobile tire is achieved through the relative opening or tightening of the sloped clamping arms of the two tire clamping units.

[0013] Furthermore, the sloped clamping arm is provided with a slope inclined at 45° toward the tire direction.

[0014] Furthermore, the sloped clamping arm is made of titanium alloy.

[0015] 5. A clamping parking robot as described in claim 1, characterized in that a cavity is provided inside the fan panel, and a universal ball bearing is provided in the cavity.

[0016] Furthermore, the axial drive mechanism of the chassis unit includes a slide rail, a slider, a drive motor and a lead screw nut pair, the slider is slidably connected to the slide rail, the base plate is fixed to the slider and the lead screw nut at the same time, and the motor shaft of the drive motor is connected to the lead screw.

[0017] Furthermore, a miniature camera is installed on the side of the chassis unit for detecting the position of the vehicle tires.

[0018] Furthermore, the chassis unit of the front tire clamping device is connected to the chassis unit of the rear tire clamping device by die-casting.

[0019] As a second aspect of the present invention, a control method for a clamping parking robot is also provided, comprising:

[0020] Step 1: determine and calibrate the tire clamping mechanism center of the front tire clamping device to match the center position of the front tire of the vehicle;

[0021] Step 2: determine the position deviation between the center of the tire clamping mechanism of the rear tire clamping device and the center of the rear tire of the vehicle, and ensure that the center of the tire clamping mechanism of the rear tire clamping device matches the center of the rear tire of the vehicle;

[0022] Step 3: Open the sloped clamping arms of the front tire clamping device and the rear tire clamping device to clamp the wheels.

[0023] Furthermore, the step 1 comprises:

[0024] S1. The clamping parking robot enters the bottom of the vehicle when the ramp-type clamping arms of the front and rear tire clamping devices are in a tightened state;

[0025] S2. Determine and calibrate the center of the tire clamping mechanism of the front tire clamping device and the center position of the front wheel tire of the vehicle to ensure that the center of the tire clamping mechanism of the front tire clamping device matches the center position of the front wheel tire of the vehicle.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention provides a clamping parking robot, whose tire clamping mechanism effectively disperses the load and improves the structural reliability through the 45° slope design of the ramp-type clamping arm, and meets the safety requirements under ramp conditions. At the same time, the use of titanium alloy materials and optimized transmission mechanism design reduces weight and saves space, thereby improving overall operating efficiency and reliability. The foldable design greatly improves space utilization efficiency and adapts to narrow working environments. The present invention is applicable to a variety of parking environments and is conducive to the intelligent and green upgrade of port terminals. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural schematic diagram of a tire clamping mechanism of a clamping type parking robot described in Example 1 of the present invention.

[0029] Figure 2 This is a schematic diagram of a tire clamping mechanism of a clamping parking robot in an open state according to Example 1 of the present invention.

[0030] Figure 3This is a schematic diagram of a tire clamping mechanism of a clamping parking robot in Example 1 of the present invention in a tightened state.

[0031] In the figure:

[0032] 1- ramp type clamping arm; 2- fan panel; 3- hollow shaft motor; 4- trapezoidal lead screw; 5- roller bearing; 6- rotating shaft; 7- universal ball bearing; 8- miniature camera; 9- front chassis unit, 10- rear chassis unit. DETAILED DESCRIPTION

[0033] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0034] Embodiment 1:

[0035] like Figures 1 to 3 As shown, this embodiment is a clamping parking robot, comprising a front tire clamping device and a rear tire clamping device, the front tire clamping device and the rear tire clamping device have the same structure and are coaxially fixedly connected along the front-to-back direction, respectively clamping the front wheel and the rear wheel of the vehicle;

[0036] The front tire clamping device comprises a front chassis unit 9 and two sets of tire clamping mechanisms fixed on the front chassis unit 9. The two sets of tire clamping mechanisms have the same structure and are arranged symmetrically on the front chassis unit 9. The left and right front wheels of the vehicle are clamped by the two sets of tire clamping mechanisms.

[0037] Each set of the tire clamping mechanism is composed of two tire clamping units, the two tire clamping units have the same structure and are symmetrically arranged on the front chassis unit 9, and the two tire clamping units work together to clamp a single front wheel of the vehicle;

[0038] Each tire clamping unit includes a sloped clamping arm 1, a fan panel 2, and a motor screw transmission pair; the motor screw transmission pair is fixed on the front chassis unit 9, and its output end is hinged with the fan panel 2 to drive the fan panel to rotate; the fan panel 2 and the sloped clamping arm 1 are an integrated structure, and the mounting end of the sloped clamping arm 1 is rotatably connected to the chassis unit 9 through a rotating shaft 6 and a roller bearing 6, and the free end of the sloped clamping arm 1 can extend out of the front chassis unit 9 to limit the tire;

[0039] The front chassis unit 9 includes a bottom plate and an axial drive mechanism installed at the bottom of the bottom plate. The front and rear positions of the bottom plate are adjusted by the axial drive mechanism. The tire clamping mechanism is installed on the bottom plate.

[0040] Furthermore, the motor-screw transmission pair includes a hollow shaft motor 3 and a trapezoidal screw 4. The trapezoidal screw 4 cooperates with the axial hole of the hollow shaft motor 3, and one end of the trapezoidal screw 4 is hinged to the fan panel 2 through a pin shaft. The hollow shaft motor 3 drives the trapezoidal screw 4 to achieve axial movement, thereby driving the fan panel 2 to rotate. The fan panel 2 drives the sloped clamping arm 1 to rotate around the rotating axis 6. The relative opening or tightening of the sloped clamping arms 1 of the two tire clamping units can achieve clamping or loosening of the automobile tire.

[0041] Furthermore, the sloped clamping arm 1 is provided with a slope inclined at 45° toward the tire direction. The clamping parking robot has emergency braking conditions and 8° ramp conditions. The 45° slope is designed to prevent the vehicle from flying out and ensure safety during operation. At the same time, the 45° slope is designed to disperse the load bearing pressure.

[0042] Furthermore, the sloped clamping arm 1 has a length of 500 mm, which meets the width of common passenger car tires and satisfies the space requirement on the bottom plate when tightening.

[0043] Furthermore, the sloped clamping arm 1 is made of titanium alloy, which ensures the strength requirement and is light in weight.

[0044] Furthermore, the fan panel 2 is a fan structure, which reduces stress concentration and improves the reliability of robot operation.

[0045] Furthermore, a cavity is provided inside the fan panel 2, and a universal ball bearing 7 is provided in the cavity. When the ramp-type clamping arm 1 is subjected to radial load, the universal ball of the universal ball bearing 7 will fit upwardly against the upper wall of the inner cavity of the fan plate to bear the load.

[0046] Furthermore, the hollow shaft motor and the trapezoidal lead screw can be used in conjunction with the shaft hole, the hollow shaft motor is fixed to the chassis unit through the motor seat, the lead screw nut is fixed in the central shaft hole of the hollow shaft motor 3, the trapezoidal lead screw 4 is threadedly connected with the lead screw nut, and the hollow shaft motor 3 drives the trapezoidal lead screw 4 to achieve axial movement, without the need for a reducer, thus saving layout space. The hollow shaft motor meets its torque output requirements.

[0047] Furthermore, the front chassis unit 9 includes a bottom plate and an axial drive mechanism installed at the bottom of the bottom plate, the axial drive mechanism includes a slide rail, a slider, a drive motor and a lead screw nut pair, the slider is slidably connected to the slide rail, the bottom plate is fixed to the slider and the lead screw nut at the same time, and the motor shaft of the drive motor is connected to the lead screw. The drive motor drives the lead screw nut pair to drive the slider to move linearly forward and backward along the slide rail, thereby adjusting the front and rear position of the bottom plate.

[0048] Furthermore, a miniature camera 8 is installed on the side of the front chassis unit 9 for detecting the position of the vehicle tires.

[0049] In this embodiment, the front chassis unit 9 and the rear chassis unit 10 are connected by die-casting technology.

[0050] Embodiment 2:

[0051] like Figure 2 , Figure 3 As shown, this embodiment is a control method of a clamping parking robot, comprising:

[0052] Step 1: Determine and calibrate the center of the tire clamping mechanism in the front tire clamping device to match the center position of the vehicle's front tire:

[0053] S1. Figure 3 As shown, the clamping parking robot drills into the bottom of the car when the sloped clamping arms 1 of the front and rear tire clamping devices are in a tightened state, and determines the position of the front tire through the micro camera 8;

[0054] S2. Determine and calibrate the center of the tire clamping mechanism in the front tire clamping device and the center position of the front wheel tire of the vehicle to ensure that the center of the tire clamping mechanism in the front tire clamping device matches the center position of the front wheel tire of the vehicle.

[0055] Step 2: Determine the position deviation between the center of the tire clamping mechanism in the rear tire clamping device and the center of the rear tire of the vehicle, and ensure that the center of the tire clamping mechanism in the rear tire clamping device matches the center of the rear tire of the vehicle.

[0056] Since the wheelbases of different vehicle models are different, the method adjusts the positions of the front and rear tire clamping mechanisms through the axial drive mechanism of the chassis unit.

[0057] Step 3: Figure 2 As shown, the sloped clamping arms 1 of the front and rear tire clamping devices are opened to clamp the wheels.

Claims

1. A clamping parking robot, characterized in that: It includes a front tire clamping device and a rear tire clamping device, the front tire clamping device and the rear tire clamping device have the same structure and are coaxially fixedly connected along the front-to-back direction, and are used to clamp the front wheel and rear wheel of the vehicle respectively; The front tire clamping device comprises a chassis unit and two sets of tire clamping mechanisms fixed on the chassis unit, the two sets of tire clamping mechanisms have the same structure and are arranged symmetrically on the chassis unit; the left and right front wheels of the vehicle are clamped by the two sets of tire clamping mechanisms; Each set of the tire clamping mechanism is composed of two tire clamping units, the two tire clamping units have the same structure and are symmetrically arranged on the chassis unit, and the two tire clamping units work together to clamp a single front wheel of the vehicle; Each tire clamping unit includes a sloped clamping arm, a fan panel, and a motor screw transmission pair; the motor screw transmission pair is fixed to the chassis unit, and its output end is hinged with the fan panel to drive the fan panel to rotate; the fan panel and the sloped clamping arm are an integrated structure, and the mounting end of the sloped clamping arm is rotatably connected to the chassis unit through a rotating shaft; The chassis unit comprises a bottom plate and an axial driving mechanism installed at the bottom of the bottom plate. The front and rear positions of the bottom plate are adjusted by the axial driving mechanism. The tire clamping mechanism is installed on the bottom plate.

2. A clamping parking robot as claimed in claim 1, characterized in that: The motor-screw transmission pair includes a hollow shaft motor, a screw nut and a trapezoidal screw. The hollow shaft motor is fixed to the chassis unit through a motor seat, the screw nut is fixed in the central shaft hole of the hollow shaft motor, the trapezoidal screw is threadedly connected to the screw nut, the output end of the hollow shaft motor is connected to the trapezoidal screw, and one end of the trapezoidal screw is hinged to the fan panel through a pin shaft; the hollow shaft motor drives the trapezoidal screw to move, driving the fan panel to rotate, and the fan panel drives the sloped clamping arm to rotate around the rotating axis, and the clamping or loosening of the automobile tire is achieved by the relative opening or tightening of the sloped clamping arms of the two tire clamping units.

3. A clamping parking robot as claimed in claim 1, characterized in that: The sloped clamping arm is provided with a slope inclined at 45 degrees toward the tire direction.

4. A clamping parking robot as claimed in claim 1, characterized in that: The sloped clamping arm is made of titanium alloy.

5. The clamping parking robot according to claim 1, characterized in that: A cavity is arranged inside the fan panel, and a universal ball bearing is arranged in the cavity.

6. The clamping parking robot according to claim 1, characterized in that: The axial driving mechanism of the chassis unit includes a slide rail, a slider, a driving motor and a lead screw nut pair. The slider is slidably connected to the slide rail, the base plate is fixed to the slider and the lead screw nut at the same time, and the motor shaft of the driving motor is connected to the lead screw.

7. The clamping parking robot according to claim 1, characterized in that: A miniature camera is installed on the side of the chassis unit to detect the position of the vehicle tires.

8. The clamping parking robot according to claim 1, characterized in that: The chassis unit of the front tire clamping device is connected to the chassis unit of the rear tire clamping device by die casting.

9. A control method for a clamping parking robot according to any one of claims 1 to 8, characterized in that: include: Step 1: determine and calibrate the tire clamping mechanism center of the front tire clamping device to match the center position of the front tire of the vehicle; Step 2: determine the position deviation between the center of the tire clamping mechanism of the rear tire clamping device and the center of the rear tire of the vehicle, and ensure that the center of the tire clamping mechanism of the rear tire clamping device matches the center of the rear tire of the vehicle; Step 3: Open the sloped clamping arms of the front tire clamping device and the rear tire clamping device to clamp the wheels.

10. The control method of a clamping parking robot according to claim 9, characterized in that: The step one comprises: S1. The clamping parking robot enters the bottom of the vehicle when the ramp-type clamping arms of the front and rear tire clamping devices are in a tightened state; S2. Determine and calibrate the center of the tire clamping mechanism of the front tire clamping device and the center position of the front wheel tire of the vehicle to ensure that the center of the tire clamping mechanism of the front tire clamping device matches the center position of the front wheel tire of the vehicle.

Images