Low-height heavy-load vehicle moving robot and control method thereof

Abstract

The invention discloses a low-height heavy-load vehicle moving robot and a control method thereof. The vehicle moving robot comprises a base, a horizontal moving assembly, a steering adjusting assembly, a clamping arm assembly and a jacking assembly, wherein the horizontal moving assembly, the steering adjusting assembly, the clamping arm assembly and the jacking assembly are arranged on the base; the horizontal moving assembly is used for driving the vehicle moving robot to move on the horizontal plane; the steering adjusting assembly is used for adjusting the horizontal moving direction of the vehicle moving robot; the two sets of clamping arm assemblies are arranged and used for clamping front wheels or rear wheels of a target automobile; and the jacking assembly is used for jacking and lifting the clamped and fixed target automobile, and horizontal height adjustment of the target automobile is achieved. By arranging the vehicle moving robot with the clamping arm assembly, front wheels or rear wheels of the target vehicle are clamped, and accurate clamping and moving of the target vehicle are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent parking, and in particular to a low-height heavy-load vehicle moving robot and a control method thereof. Background Art

[0002] The current automatic parking robot, through a mobile trolley and a lifting mechanism, acts on the chassis of the target car to lift the target car and drive the target vehicle to move. Therefore, the overall size of the automatic parking robot is large to meet the support needs of the car. However, the chassis height of current sedan models is relatively low, and the automatic parking robot is difficult to meet the parking needs of this type of car.

[0003] Secondly, the current parking robot needs to analyze the parking status of the target vehicle and adjust the vehicle's posture during the parking process. This parking method is prone to vehicle posture adjustment errors and vehicle position adjustment errors, affecting the accuracy of automatic parking. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a low-height heavy-load vehicle moving robot and a control method thereof. By providing a vehicle moving robot with a clamping arm assembly, the front wheels or rear wheels of a target vehicle are clamped by means of the clamping arm, thereby reducing the overall size of the vehicle moving robot, and based on the clamping method of the front and rear wheels, precise clamping and movement of the target vehicle are achieved.

[0005] The present invention provides a low-height heavy-load vehicle moving robot, which comprises: a base, a horizontal moving component arranged on the base, a steering adjustment component, a clamping arm component and a jacking component;

[0006] Horizontal moving component: used to drive the vehicle moving robot to move on a horizontal plane;

[0007] Steering adjustment component: used to adjust the horizontal moving direction of the car moving robot;

[0008] Clamp arm assembly: two sets of clamp arm assemblies are configured to clamp the front wheel or rear wheel of the target car;

[0009] Lifting assembly: used to lift the clamped target vehicle to adjust the horizontal height of the target vehicle.

[0010] Further, the horizontal moving assembly includes: a first driving motor, a first worm gear transmission assembly and a moving wheel;

[0011] The first driving motor is driven and connected to the moving wheel based on a first worm gear transmission assembly.

[0012] Further, the first worm gear transmission assembly includes a first worm and an annular horizontal gear, and the first worm is meshed with the external teeth of the annular horizontal gear;

[0013] The moving wheel is provided with a first transmission shaft, and a transmission gear is arranged on the first transmission shaft. The transmission gear is meshed with the internal teeth of the annular horizontal gear.

[0014] Further, the steering adjustment assembly is arranged between the two horizontal moving assemblies, and the steering adjustment assembly includes a second driving motor, a screw rod and a steering connecting rod;

[0015] The steering connecting rod is used to connect two moving wheels, and the steering connecting rod is connected to the screw nut on the screw rod.

[0016] Furthermore, the clamping arm assembly includes a clamping arm, a Y-axis worm, an X-axis horizontal turbine, a Z-axis worm vertical shaft and a clamping arm servo motor;

[0017] The X-direction horizontal turbine and the Z-direction worm shaft are symmetrically provided with two groups, and the two groups of the X-direction horizontal turbine and the Z-direction worm shaft are synchronously meshed and driven in the opposite direction through the Y-direction worm;

[0018] The Y-axis worm is driven to rotate by a servo motor of a clamping arm, and the clamping arm is vertically fastened to a vertical shaft of the Z-axis worm and rotates synchronously with the vertical shaft of the Z-axis worm.

[0019] Furthermore, the jacking assembly includes an oil pump and an oil jack, and the oil jack performs a jacking operation in a vertical direction based on the drive of the oil pump.

[0020] Furthermore, the clamping arm is provided with a plurality of clamping rollers.

[0021] The present invention also provides a control method for a low-height heavy-load vehicle moving robot, the control method being applicable to the low-height heavy-load vehicle moving robot, the control method comprising:

[0022] Receive a vehicle moving instruction, and drive the vehicle moving robot to move to the bottom of the target vehicle according to the vehicle moving instruction;

[0023] Based on the sensor to identify the front and rear wheel positions of the target vehicle, two groups of vehicle moving robots clamp the front and rear wheels of the target vehicle respectively;

[0024] The working position of the vehicle moving robot is adjusted according to the positions of the front wheels and rear wheels of the target vehicle, and the front wheels and rear wheels of the target vehicle are clamped by the clamping arm;

[0025] Move the target vehicle to the specified location and adjust the position and posture of the target vehicle based on the moving robot.

[0026] Further, the method of identifying the positions of the front wheels and rear wheels of the target vehicle based on sensors and clamping the front wheels and rear wheels of the target vehicle respectively based on two groups of vehicle moving robots includes:

[0027] The wheel position of the target vehicle is identified by the lidar sensor, and the two groups of car-moving robots are driven independently of each other and move to the working position according to the identified wheel position.

[0028] Further, the adjusting the working position of the vehicle moving robot according to the positions of the front wheels and rear wheels of the target vehicle, and clamping the front wheels and rear wheels of the target vehicle based on the clamping arm includes:

[0029] When the two groups of vehicle moving robots move to corresponding working positions, the two groups of vehicle moving robots establish communication and synchronously perform wheel clamping operations on the target vehicle.

[0030] The present invention provides a low-height heavy-load vehicle moving robot and a control method thereof. The vehicle moving robot is provided with a clamping arm assembly, and the front wheels or rear wheels of a target vehicle are clamped by means of the clamping arm, thereby reducing the overall size of the vehicle moving robot, and based on the clamping method of the front and rear wheels, accurate clamping and movement of the target vehicle are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 2 is a top view of the structure of the vehicle moving robot in an embodiment of the present invention;

[0033] Figure 2 is a structural cross-sectional view of a horizontal moving assembly in an embodiment of the present invention;

[0034] Figure 3 is a schematic structural diagram of a horizontal moving component in an embodiment of the present invention;

[0035] Figure 4 It is a flow chart of the control method of the vehicle moving robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0037] Embodiment 1:

[0038] Please refer to Figures 1 to 3 An embodiment of the present invention provides a low-height heavy-load car moving robot, which includes: a base, a horizontal moving component 1 arranged on the base, a steering adjustment component 2, a clamping arm component 3 and a lifting component 4. The overall thickness of the car moving robot is set between 120mm and 150mm, so that the minimum thickness of the whole machine of the car moving robot can reach 120mm, which can be adapted to car models with lower chassis and achieve good clamping and moving operations.

[0039] Horizontal moving component 1: used to drive the vehicle moving robot to move on a horizontal plane;

[0040] Steering adjustment component 2: used to adjust the horizontal moving direction of the car moving robot;

[0041] Clamp arm assembly 3: two sets of clamp arm assemblies 3 are configured to clamp the front wheel or rear wheel of the target vehicle;

[0042] Lifting assembly 4: used to lift the clamped target vehicle to adjust the horizontal height of the target vehicle.

[0043] Based on the horizontal moving component 1, the steering adjustment component 2, the clamping arm component 3 and the lifting component 4, the vehicle moving robot can perform clamping and transport operations on the target vehicle.

[0044] Specifically, the horizontal moving component 1 includes: a first driving motor 11, a first worm gear transmission component and a moving wheel 14. The first driving motor 11 is driven and connected to the moving wheel 14 based on the first worm gear transmission component. The first worm gear transmission component includes a first worm 12 and an annular horizontal gear 13. The first worm 12 is meshed with the external teeth of the annular horizontal gear 13. When the first worm 12 rotates, the annular horizontal gear 13 rotates.

[0045] The moving wheel 14 is provided with a first transmission shaft 15, and a transmission gear is arranged on the first transmission shaft 15. The transmission gear is meshed with the internal teeth of the annular horizontal gear 13. The first driving motor 11 drives the first worm 12 to rotate, so that the first worm 12 drives the annular horizontal gear 13 to rotate. The transmission gear based on the annular horizontal gear 13 drives the first transmission shaft 15 to rotate, thereby cooperating with the first transmission shaft 15 to drive the moving wheel 14 to rotate, thereby driving the moving wheel 14.

[0046] Specifically, a first transmission shaft 15 with a transmission gear at the end is installed on both sides of the moving wheel 14, and an annular horizontal gear 13 is installed on the two transmission gears. The outer side of the transmission annular horizontal gear 13 is connected to the first worm 12, and the transmission annular horizontal gear 13 is a turbine, so that the annular horizontal gear 13 and the first worm 12 form a worm gear transmission mechanism, and ball grooves are arranged on the upper and lower parts of the annular horizontal gear 13. The ball grooves are used to install upper and lower annular fixed cover plates, and the sides of the upper and lower annular cover plates are connected with semi-annular sealing bolts, so that the moving wheel 14, the steering link 23, and the turbine transmission horizontal transmission gear are connected as a whole, thereby improving the structural stability and reliability of the vehicle moving robot.

[0047] Furthermore, the worm gear transmission structure drives the moving wheel 14 to rotate, so that the output torque driven by the moving wheel 14 can be increased, so that the vehicle moving robot can meet the use requirements of the load moving drive of the target vehicle.

[0048] Specifically, the steering adjustment assembly 2 is arranged between the two horizontal moving assemblies 1, and the steering adjustment assembly 2 includes a second drive motor 21, a screw rod 22 and a steering link 23, and the steering link 23 is used to connect the two moving wheels 14, and the steering link 23 is connected to the screw rod 22 nut on the screw rod 22.

[0049] Based on the steering adjustment component 2, the driving direction of the moving wheels 14 of the two horizontal moving components 1 can be adjusted. The second driving motor 21 drives the screw rod 22 to rotate, and the screw rod 22 nut of the screw rod 22 drives the steering link 23 to deflect, thereby adjusting the driving direction of the moving wheels 14, so that the vehicle moving robot can adjust the driving direction and meet the operational requirements of the vehicle moving robot for clamping the target vehicle wheel position.

[0050] Specifically, the clamping arm assembly 3 includes a clamping arm 35, a Y-direction worm 32, an X-direction horizontal turbine 33, a Z-direction worm vertical shaft 34 and a servo motor 31 for the clamping arm 35;

[0051] The X-direction horizontal turbine 33 and the Z-direction worm shaft 34 are symmetrically provided with two groups, and the two groups of the X-direction horizontal turbine 33 and the Z-direction worm shaft 34 are synchronously meshed and driven in the opposite direction through the Y-direction worm 32;

[0052] The Y-axis worm 32 is driven to rotate by the servo motor 31 of the clamping arm 35. The clamping arm 35 is vertically fastened to the Z-axis worm shaft 34 and rotates synchronously with the Z-axis worm shaft 34. The servo motor 31 of the clamping arm 35 drives the Y-axis worm 32 to rotate, and cooperates with the X-axis horizontal turbine 33 to drive the Z-axis worm shaft 34 to rotate, thereby driving the clamping arm 35 to rotate with the Z-axis worm shaft 34. Since the X-axis horizontal turbines 33 of the two groups of clamping arm assemblies 3 are meshed with each other, the clamping arms 35 driven by the two Z-axis worm shafts 34 can rotate towards each other, thereby approaching each other to form a clamping arm operation. When the clamping arm assembly 3 moves to the wheel position of the target vehicle, based on the drive of the clamping arm assembly 3, the two clamping arms 35 can cooperate with each other to clamp the wheel.

[0053] Furthermore, the clamping arm assembly 3 is arranged at the middle position of the base of the vehicle moving robot, and the vehicle moving robot is equipped with two groups of symmetrically distributed clamping arm assemblies 3, so that the vehicle moving robot can clamp the two front wheels of the target vehicle at the same time, or the vehicle moving robot can clamp the two rear wheels of the target vehicle at the same time.

[0054] Specifically, the jacking assembly 4 includes a jacking drive motor 41, an oil pump 43, an oil tank 42 and an oil top 44. The oil top 44 is driven by the oil pump 43 to perform a jacking operation in a vertical direction. The jacking drive motor 41 is driven and connected to the oil pump 43. The input end of the oil pump 43 is connected to the oil tank 42, and the output end of the oil pump 43 is connected to the oil top 44. The jacking drive motor 41 drives the oil pump 43 to work, so that the oil pump 43 extracts the hydraulic oil inside the oil tank 42 to drive the oil top 44 to perform a jacking operation, thereby driving the base to rise; when the jacking drive motor 41 drives the oil pump 43 to operate in the reverse direction, the oil pump 43 can extract the hydraulic oil in the oil top 44 and return it to the oil tank 42, thereby realizing the lowering operation of the base.

[0055] Furthermore, when the clamping arm assembly 3 of the vehicle moving robot clamps the wheels of the target vehicle, the base is lifted based on the lifting assembly 4, and the target vehicle is lifted, so that the vehicle moving robot drives the target vehicle to move to a suitable placement position.

[0056] Specifically, the clamping arm 35 is provided with a plurality of clamping rollers 36, and the clamping rollers 36 are used to make soft contact with the wheel surface of the target vehicle, thereby reducing the contact rigidity of the clamping arm 35 clamping the wheel of the target vehicle, and avoiding the clamping damage of the clamping arm 35 of the target vehicle caused by the vehicle moving robot.

[0057] An embodiment of the present invention provides an application scenario of the car moving robot. Based on the layout of a vertical parking building, a pick-and-place lifting platform is configured in the middle of the vertical parking building, and the car moving robot is configured on the pick-and-place lifting platform. When a start command is received, the pick-and-place lifting platform drives the car moving robot to move under the chassis of a target vehicle based on a motor, and adjusts the distance between the two car moving robots based on the wheelbase motor, so that the two car moving robots meet the wheelbase requirements of the target vehicle and run to the command position.

[0058] The motor of the clamping arm of the car moving robot starts the clamping arm to hold the wheel at the same time, and drives the target vehicle off the ground based on the lifting component 4, and then drives the car moving robot to reset to the pick-up and placement lifting platform. Through such an instruction cycle, the car clamping device completes the work, the lifting equipment starts, and the rotating track servo motor starts at the same time to make the trolley reach the corresponding direction of the storage garage. The elevator makes the vehicle quickly reach the storage and retrieval floor, completing the above-mentioned reverse instruction work and completing the vehicle storage and retrieval operation process.

[0059] Through two groups of car-moving robots with front and rear wheels separated, they can enter the bottom of the vehicle from the side and front and rear directions. They are flexible in moving, can automatically identify the vehicle position and tire position and realize the vehicle's storage. There is no need for a driver to enter and exit the warehouse. It only needs to be parked anywhere in the aisle. It is highly efficient and has broad application prospects.

[0060] Embodiment 2:

[0061] Please refer to Figure 4 , the control method is applicable to the low-height heavy-load vehicle moving robot, and the control method includes:

[0062] S100: receiving a vehicle moving instruction, and driving the vehicle moving robot to move to the bottom of the target vehicle according to the vehicle moving instruction.

[0063] The moving robot moves to the parking position of the target vehicle according to the moving instruction issued by the parking system, obtains the position of the target vehicle, and moves to the bottom of the target vehicle.

[0064] According to the relative relationship between the moving robot and the parking lot, the motion trajectory of the moving robot from the parking lot to the corresponding wheel positions at the bottom of the target vehicle is recorded, so as to obtain the parking posture state of the target vehicle according to the motion trajectory of the moving robot.

[0065] S200: Identify the positions of the front wheels and rear wheels of the target vehicle based on sensors, and clamp the front wheels and rear wheels of the target vehicle respectively based on two groups of vehicle moving robots.

[0066] The wheel position of the target vehicle is identified by a laser radar sensor, and the two groups of car moving robots are driven independently of each other and move to the working position according to the identified wheel position. The two groups of car moving robots drive to the bottom of the target vehicle and identify the wheel position of the target vehicle by a laser radar, so that one group of car moving robots moves to the front wheel position of the target vehicle and clamps the two front wheels of the target vehicle based on two groups of clamp arm assemblies 3; the other group of car moving robots moves to the rear wheel position of the target vehicle and clamps the two rear wheels of the target vehicle based on two groups of clamp arm assemblies 3.

[0067] S300: adjusting the working position of the vehicle moving robot according to the positions of the front wheels and rear wheels of the target vehicle, and clamping the front wheels and rear wheels of the target vehicle based on the clamping arms 35 .

[0068] When the two groups of vehicle moving robots move to corresponding working positions, the two groups of vehicle moving robots establish communication and synchronously perform wheel clamping operations on the target vehicle.

[0069] When the car moving robot identifies the front wheel position and the rear wheel position of the target vehicle based on the laser radar, the two groups of car moving robots realize signal connection based on wireless components, so that the two groups of car moving robots can operate synchronously, thereby synchronously clamping the front wheel and the rear wheel of the target vehicle.

[0070] S400: Move the target vehicle to a specified position, and adjust the position and posture of the target vehicle based on the vehicle moving robot.

[0071] The position and posture state of the target vehicle is obtained according to the movement of the two groups of car moving robots from the parking lot position to the corresponding wheel position, and the target vehicle is lifted and moved based on the two groups of car moving robots, and the position and posture of the target vehicle is adjusted so that the target vehicle can be accurately parked in the parking area divided by the parking lot.

[0072] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0073] In addition, a low-height heavy-load car moving robot and a control method thereof provided in an embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a general technician in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A low-height heavy-load vehicle moving robot, characterized in that: The vehicle moving robot comprises: a base, a horizontal moving component arranged on the base, a steering adjustment component, a clamping arm component and a lifting component; Horizontal moving component: used to drive the vehicle moving robot to move on a horizontal plane; Steering adjustment component: used to adjust the horizontal moving direction of the car moving robot; Clamp arm assembly: two sets of clamp arm assemblies are configured to clamp the front wheel or rear wheel of the target car; Lifting assembly: used to lift the clamped target vehicle to adjust the horizontal height of the target vehicle.

2. The low-height heavy-load vehicle moving robot according to claim 1, characterized in that: The horizontal moving assembly comprises: a first driving motor, a first worm gear transmission assembly and a moving wheel; The first driving motor is driven and connected to the moving wheel based on a first worm gear transmission assembly.

3. The low-height heavy-load vehicle moving robot according to claim 2, characterized in that: The first worm gear transmission assembly includes a first worm and an annular horizontal gear, wherein the first worm is meshed with external teeth of the annular horizontal gear; The moving wheel is provided with a first transmission shaft, and a transmission gear is arranged on the first transmission shaft. The transmission gear is meshed with the internal teeth of the annular horizontal gear.

4. The low-height heavy-load vehicle moving robot according to claim 1, characterized in that: The steering adjustment assembly is arranged between the two horizontal moving assemblies, and the steering adjustment assembly comprises a second driving motor, a screw rod and a steering connecting rod; The steering connecting rod is used to connect two moving wheels, and the steering connecting rod is connected to the screw nut on the screw rod.

5. The low-height heavy-load vehicle moving robot according to claim 1, characterized in that: The clamp arm assembly includes a clamp arm, a Y-axis worm, an X-axis horizontal turbine, a Z-axis worm vertical shaft and a clamp arm servo motor; The X-direction horizontal turbine and the Z-direction worm shaft are symmetrically provided with two groups, and the two groups of the X-direction horizontal turbine and the Z-direction worm shaft are synchronously meshed and driven in the opposite direction through the Y-direction worm; The Y-axis worm is driven to rotate by a servo motor of a clamping arm, and the clamping arm is vertically fastened to a vertical shaft of the Z-axis worm and rotates synchronously with the vertical shaft of the Z-axis worm.

6. The low-height heavy-load vehicle moving robot according to claim 1, characterized in that: The jacking assembly includes an oil pump and an oil jack, and the oil jack performs a jacking operation in a vertical direction based on the driving of the oil pump.

7. The low-height heavy-load vehicle moving robot according to claim 1, characterized in that: The clamping arm is provided with a plurality of clamping rollers.

8. A control method for a low-height heavy-load vehicle moving robot, characterized in that: The control method is applicable to the low-height heavy-load vehicle moving robot according to any one of claims 1 to 7, and the control method comprises: Receive a vehicle moving instruction, and drive the vehicle moving robot to move to the bottom of the target vehicle according to the vehicle moving instruction; Based on the sensor to identify the front and rear wheel positions of the target vehicle, two groups of vehicle moving robots clamp the front and rear wheels of the target vehicle respectively; The working position of the vehicle moving robot is adjusted according to the positions of the front wheels and rear wheels of the target vehicle, and the front wheels and rear wheels of the target vehicle are clamped by the clamping arm; Move the target vehicle to the specified location and adjust the position and posture of the target vehicle based on the moving robot.

9. The control method of the low-height heavy-load vehicle moving robot according to claim 8, characterized in that: The method of identifying the positions of the front wheels and the rear wheels of the target vehicle based on the sensor and clamping the front wheels and the rear wheels of the target vehicle respectively based on two groups of vehicle moving robots comprises: The wheel position of the target vehicle is identified by the lidar sensor, and the two groups of car-moving robots are driven independently of each other and move to the working position according to the identified wheel position.

10. The control method of the low-height heavy-load vehicle moving robot according to claim 8, characterized in that: The method of adjusting the working position of the vehicle moving robot according to the positions of the front wheels and the rear wheels of the target vehicle and clamping the front wheels and the rear wheels of the target vehicle based on the clamping arm comprises: When the two groups of vehicle moving robots move to corresponding working positions, the two groups of vehicle moving robots establish communication and synchronously perform wheel clamping operations on the target vehicle.

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