Parking robot with cooperation of son machine and mother machine

Abstract

The invention relates to the technical field of robots, in particular to a child-mother machine cooperative parking robot which comprises a mother parking robot, the mother parking robot comprises a mother machine frame, a mother machine driving control assembly is arranged in the mother machine frame, a mother machine docking mechanism is arranged at the tail, a driving wheel assembly is arranged at the bottom, and clamping arm assemblies are arranged on the two opposite sides correspondingly; the sub-parking robot comprises a sub-machine frame, a sub-machine driving control assembly is arranged in the sub-machine frame, a sub-machine docking mechanism is arranged at the head of the sub-machine frame, the driving wheel assembly is arranged at the bottom of the sub-machine frame, and the clamping arm assemblies are arranged on the two opposite sides of the sub-machine frame correspondingly; the mother parking robot and the son parking robot are detachably connected through the mother machine docking mechanism and the son machine docking mechanism. According to the child-mother parking robot, various cooperative functions such as cooperative parking, child-mother machine hard connection, split type following and child-mother machine independent operation can be achieved, the flexibility of the child-mother machine parking robot is improved, and the child-mother machine parking robot is suitable for operation in narrow spaces such as a stereo garage.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a master-slave collaborative parking robot. Background Art

[0002] Stereo garages are used for three-dimensional vehicle parking, and the application of stereo garages alleviates the parking problems brought about by the rapid increase in the number of automobiles. Currently, common mechanical stereo garage types, including plane moving, vertical lifting, and roadway stacking, etc., all use vehicle handling robots.

[0003] For example, in a Chinese patent, an invention application with the publication number CN117432266A discloses a split handling robot and a vehicle handling system. The split handling robot includes: the first handling robot includes a first walking mechanism and a first clamping arm assembly, and two groups of first clamping arm assemblies are respectively arranged on opposite sides of the first walking mechanism; the second handling robot includes a second walking mechanism and a second clamping arm assembly, and two groups of second clamping arm assemblies are respectively arranged on opposite sides of the second walking mechanism; after the first handling robot and the second handling robot are adapted to move to a position where the first clamping arm assembly corresponds to the front wheels of the vehicle, the second handling robot moves to a position where the second clamping arm assembly corresponds to the rear wheels of the vehicle, and the first clamping arm assembly and the second clamping arm assembly respectively lift the front wheels and the rear wheels. The above-mentioned invention application can adapt to the handling of vehicles with different wheelbases, but the handling robot runs relying on tracks, and its flexibility and the collaborative function between the two handling robots are limited. Summary of the Invention

[0004] In view of the problem in the prior art that the collaboration between two handling robots relies on track operation and cannot flexibly face more application scenarios, this application proposes a master-slave collaborative parking robot that does not rely on track operation, runs completely separately, and collaborates.

[0005] To achieve the above technical effects, this application proposes: A master-slave collaborative parking robot, including a master parking robot, which includes a master machine frame, the master machine frame is internally provided with a master machine drive control component, a master machine docking mechanism is arranged at the tail, a drive wheel assembly is arranged at the bottom, and clamping arm assemblies are respectively arranged on opposite sides; a slave parking robot, which includes a slave machine frame, the slave machine frame is internally provided with a slave machine drive control component, a slave machine docking mechanism is arranged at the head, the drive wheel assembly is arranged at the bottom, and the clamping arm assemblies are respectively arranged on opposite sides; the master parking robot and the slave parking robot can be detachably connected through the master machine docking mechanism and the slave machine docking mechanism.

[0006] In this application, the mother parking robot and the child parking robot do not rely on tracks for operation, can operate independently, and complete communication between them through the mother machine drive control component and the child machine drive control component; through the mother machine docking mechanism and the child machine docking mechanism, a hard connection between the two robots can be achieved to complete the operation of the child parking robot following the mother parking robot; through the clamping arm modules of the two robots respectively, the mother parking robot can lift the two front wheels of the car, the child parking robot can lift the two rear wheels of the car, and they cooperate to carry the car to the parking space or other positions.

[0007] The mother machine docking mechanism includes two docking slots, the docking slots have guiding surfaces and arc-shaped lock blocks, the child machine docking mechanism includes two docking rods, and guiding rollers and arc-shaped lock pins are arranged on the docking rods. The two docking slots are respectively arranged on both sides of the tail of the mother parking robot, the two docking rods are respectively arranged on both sides of the head of the child parking robot, and the positions of the two docking rods are arranged corresponding to the positions of the two docking slots; during the docking process of the docking rod and the docking slot, the guiding roller rolls along the guiding surface to facilitate the docking rod to extend into the docking slot, and the arc-shaped lock pin cooperates with the arc-shaped lock block to complete the hard connection between the child machine docking mechanism and the mother machine docking mechanism.

[0008] The clamping arm assembly includes a front clamping arm assembly and a rear clamping arm assembly. The front clamping arm assembly includes a front clamping arm body, and the front clamping arm body is rotationally connected to the mother machine frame or the child machine frame through a front rotating shaft seat. The rear clamping arm assembly includes a rear clamping arm body, and the rear clamping arm body is rotationally connected to the mother machine frame or the child machine frame through a rear rotating shaft seat. The front clamping arm body is connected to both sides of the mother machine frame or the child machine frame near the head through the front rotating shaft seat, and the rear clamping arm body is connected to both sides of the mother machine frame or the child machine frame at the middle position through the rear rotating shaft seat.

[0009] The arc-shaped lock block is fixedly connected to the rear clamping arm body, a lock block through hole is arranged on the guiding surface, the arc-shaped lock block is arranged in the lock block through hole, and the arc-shaped lock pin is elastically arranged in the docking rod. The arc-shaped lock block is fixedly connected to the clamping arm body. When the mother parking robot and the child parking robot are separated after being hard-connected, the two clamping arm bodies of the mother parking robot rotate, the arc-shaped lock block is separated from the arc-shaped lock pin, and the child parking robot is separated from the mother parking robot.

[0010] The extending end of the guiding surface is arc-shaped, the arc-shaped lock block has an arc surface and a right-angle surface arranged oppositely, the arc surface of the arc-shaped lock block faces the suspended end of the rear clamping arm body, the arc-shaped lock pin has an arc surface and a right-angle surface arranged oppositely, and the arc surface of the arc-shaped lock pin faces the suspended end of the docking rod.

[0011] The front clamping arm assembly further includes a telescopic rod assembly, which is fixedly connected to the main machine frame or the sub-machine frame. The telescopic rod assembly has a telescopic rod, and the end of the telescopic rod is rotatably connected to a first steering rod, and the front rotary bearing seat is rotatably connected to the first steering rod.

[0012] The rear clamping arm assembly further includes a lead screw guide rail assembly, on which a slider is threaded. The slider is rotatably connected to a second steering rod, and the second steering rod is rotatably connected to the rear clamping arm body.

[0013] The main machine docking mechanism further includes a first docking positioning block, and the sub-machine docking mechanism further includes a second docking positioning block. The first docking positioning block and the second docking positioning block further determine the docking position.

[0014] The driving wheel assembly includes a steering wheel and a differential idler wheel, and the sub-machine driving wheel includes the steering wheel and the differential idler wheel. The differential idler wheel realizes steering, and the steering wheel is used to support and cooperate with the differential idler wheel for steering.

[0015] Both the main parking robot and the sub-parking robot are provided with a vision module and a laser sensor at the head.

[0016] The beneficial effects of this application are as follows: The main and sub-parking robots can realize various cooperative functions such as cooperative parking, hard connection between the main and sub-machines, split-type following, and independent operation of the main and sub-machines, improving the flexibility of the main and sub-parking robots; the hard connection structure between the main and sub-machines is firm, which is beneficial to the main machine to tow the sub-machine and facilitates the double-machine recovery. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the main and sub-machine cooperative parking robot.

[0018] Figure 2 For Figure 1 The partial enlarged view at A in

[0019] Figure 3 It is a schematic structural diagram of the first docking positioning block and the second docking positioning block.

[0020] Figure 4 It is a schematic structural diagram of the clamping arm module in the unfolded state.

[0021] Figure 5 It is a schematic structural diagram of the main and sub-machine cooperative parking robot in Embodiment 4 Figure 6 It is a schematic diagram of the docking state of the main and sub-machines in Embodiment 4.

[0022] Figure 7 It is a schematic diagram of the separation state of the main and sub-machines in Embodiment 4.

[0023] Figure 8 Schematic diagram of the parking state of the master-slave robots Figure 1 。

[0024] Figure 9 Schematic diagram of the parking state of the master-slave robots Figure 2 。

[0025] Reference numerals in the attached drawings: 100, master parking robot; 200, slave parking robot; 300, clamping arm assembly; 400, drive wheel assembly; 110, master machine frame; 120, master machine drive control assembly; 130, master machine docking mechanism; 131, docking groove; 132, guiding surface; 133, arc locking block; 134, first docking positioning block; 210, slave machine frame; 220, slave machine drive control assembly; 230, slave machine docking mechanism; 231, docking rod; 232, guiding roller; 233, arc locking pin; 234, second docking positioning block; 310, front clamping arm assembly; 320, rear clamping arm assembly; 311, front clamping arm body; 312, front rotating shaft seat; 313, telescopic rod assembly; 314, telescopic rod; 315, first steering rod; 321, rear clamping arm body; 322, rear rotating shaft seat; 324, lead screw guide rail assembly; 325, slider; 326, second steering rod; 410, steering wheel; 420, differential idler wheel. Specific embodiments

[0026] The following specific embodiments illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification.

[0027] The present application provides a master-slave collaborative parking robot. The preferred embodiments of the master-slave collaborative parking robot will be described below with reference to the accompanying drawings.

[0028] Embodiment 1 To further improve the space utilization rate of a multi-story garage, the requirements for an automatic parking robot are also further increased. For parking operations in a narrow space, higher flexibility of the parking robot is required. In the prior art, a split-type parking robot relies on a track to run, and its flexibility is not high. This embodiment proposes a master-slave collaborative parking robot, in which the master and slave robots run independently in a split manner and can cooperate in parking, and is applicable to automatic parking in narrow spaces such as multi-story garages.

[0029] Refer to the attached Figure 1, in this embodiment, the mother parking robot 100 includes a mother machine frame 110. The mother machine frame 110 serves as the overall frame and load-bearing component and is connected to other functional components. The mother machine frame 110 is internally provided with a mother machine drive control component 120 for driving and controlling each component. At the tail of the mother machine frame 110, there is a mother machine docking mechanism 130 for achieving a hard connection with the child parking robot 200. At the bottom of the mother machine frame 110, there is a drive wheel assembly 400, which includes two sets of steering wheels 410 near the head position of the mother machine frame 110 and differential idler wheels 420 located on both sides of the mother machine drive control component 120. The differential idler wheels 420 achieve the steering of the mother parking robot 100, and the steering wheels 410 cooperate with the differential idler wheels 420 to achieve steering. On both sides of the mother machine frame 110, there is a set of clamping arm assemblies 300 each. The two sets of clamping arm assemblies 300 achieve the clamping of the two front wheels or two rear wheels of an automobile by a single parking robot and lift and move the automobile.

[0030] The child parking robot 200 includes a child machine frame 210. The child machine frame 210 bears and connects other functional components and is internally provided with a child machine drive control component 220 for driving and controlling each component. At the head of the child machine frame 210, there is a child machine docking mechanism 230, which cooperates with the mother machine docking mechanism 130 to achieve a hard connection between the mother and child machines. At the bottom of the child machine frame 210, there are two sets of steering wheels 410 and a set of differential idler wheels 420 to achieve the steering of the child parking robot 200. On both sides of the child machine frame 210, there is a set of clamping arm assemblies 300 each, which cooperate with the mother parking robot 100 to achieve the clamping and lifting of the front and rear wheels of the automobile.

[0031] At the heads of both the child parking robot 200 and the mother parking robot 100, there are visual modules and laser sensors to achieve path finding and ranging of the mother and child machines. Through the communication between the mother machine drive control component 120 and the child machine drive control component 220, a hard connection between the mother and child machines is achieved, and the child parking robot 200 follows the mother parking robot 100.

[0032] In the separated state of the mother and child machines, a master-slave control relationship is established through wireless communication. The child machine follows the mother machine through the communication between the mother machine drive control component 120 and the child machine drive control component 220, or the child machine follows the mother machine through the visual module and laser sensor of the child machine.

[0033] In this embodiment, the mother-child cooperative parking robot can achieve the mother-child cooperative parking function and adapt to automobiles with various wheelbases. The hard connection function between the mother and child machines facilitates the synchronous operation of the two machines. The mother and child machines can complete cooperative parking through mutual communication, or the child parking robot follows the mother parking robot.

[0034] Embodiment Two This embodiment further elaborates on the mother machine docking mechanism 130 and the child machine docking mechanism 230 in detail based on Embodiment One.

[0035] Reference appendix Figure 1 、 2 and 3, in this embodiment, the mother parking robot 100 includes a mother machine frame 110, a mother machine drive control component 120 is built in the mother machine frame 110, a mother machine docking mechanism 130 is provided at the tail, a drive wheel assembly 400 is provided at the bottom, and clamping arm assemblies 300 are provided on both opposite sides; the child parking robot 200 includes a child machine frame 210, a child machine drive control component 220 is built in the child machine frame 210, a child machine docking mechanism 230 is provided at the head, a drive wheel assembly 400 is provided at the bottom, and the clamping arm assemblies 300 are provided on both opposite sides; the mother parking robot 100 and the child parking robot 200 are detachably connected through the mother machine docking mechanism 130 and the child machine docking mechanism 230.

[0036] The mother machine docking mechanism 130 includes two docking slots 131. The two docking slots 131 are located on both sides of the tail of the mother machine frame 110. Each docking slot 131 has a guiding surface 132 and an arc lock block 133. Among them, the guiding surface 132 of each docking slot 131 is closer to the side on its own side; the child machine docking mechanism 230 includes two docking rods 231. The two docking rods 231 are located on both sides of the head of the child machine frame 210, and the distance between the two docking rods 231 is arranged according to the distance between the two docking slots 131. Two guiding rollers 232 and an arc lock pin 233 are provided on each docking rod 231; when the mother machine docking mechanism 130 and the child machine docking mechanism 230 are rigidly connected, the two docking rods 231 respectively extend into the two docking slots 131.

[0037] Taking one side as an example, during the docking process, the guiding roller 232 at the end of the docking rod 231 abuts against the guiding surface 132 and rolls along the guiding surface 132. Since the two docking rods 231 are arranged according to the distance between the two docking slots 131, when the guiding rollers 232 of the two docking rods 231 are both in contact with the corresponding guiding surfaces 132, the docking position of the mother and child machines is initially determined; the two docking rods 231 continue to extend into their respective docking slots 131, and the guiding roller 232 in the middle of the docking rod 231 is in contact with the guiding surface 132. The two guiding rollers 232 on the same docking rod 231 form a straight line, and the four guiding rollers 232 are respectively in contact with the two guiding surfaces 132, and the docking position of the mother and child machines is basically determined; the arc lock block 133 and the arc lock pin 233 cooperate to lock the mother and child machines. The mother machine docking mechanism 130 further includes a first docking positioning block 134, and the child machine docking mechanism 230 further includes a second docking positioning block 234. The first docking positioning block 134 is located at the tail of the mother machine frame 110, and the second docking positioning block 234 is located at the head of the child machine frame 210. After the rigid connection of the mother and child machines is completed, the first docking positioning block 134 and the second docking positioning block 234 are connected in place, and the secondary positioning is completed, making the rigid connection more reliable.

[0038] The cooperation between the docking groove 131 and the docking rod 231 improves the fault tolerance of the hard connection between the master and slave machines. The arc lock block 133 and the arc lock pin 233 can stably lock the master and slave machines together.

[0039] Embodiment III Based on Embodiment I, this embodiment further details the mother docking mechanism 130 and the child docking mechanism 230, and connects the mother docking mechanism 230 to the rear clamping arm body 321 to synchronize the unfolding of the clamping arm assembly 300 and the separation of the master and slave machines.

[0040] Refer to the appendix Figures 1 to 4 In this embodiment, the mother parking robot 100 includes a mother machine frame 110, a mother machine drive control component 120 is built in the mother machine frame 110, a mother machine docking mechanism 130 is provided at the tail, a drive wheel assembly 400 is provided at the bottom, and clamping arm assemblies 300 are provided on opposite sides respectively; the child parking robot 200 includes a child machine frame 210, a child machine drive control component 220 is built in the child machine frame 210, a child machine docking mechanism 230 is provided at the head, a drive wheel assembly 400 is provided at the bottom, and the clamping arm assemblies 300 are provided on opposite sides respectively; the mother parking robot 100 and the child parking robot 200 are detachably connected through the mother machine docking mechanism 130 and the child machine docking mechanism 230.

[0041] The mother machine docking mechanism 130 includes two docking grooves 131, the docking grooves 131 have guiding surfaces 132 and arc lock blocks 133, the child machine docking mechanism 230 includes two docking rods 231, and guiding rollers 232 and arc lock pins 233 are provided on the docking rods 231.

[0042] The clamping arm assembly 300 includes a front clamping arm assembly 310 and a rear clamping arm assembly 320. The front clamping arm assembly 310 includes a front clamping arm body 311, and the front clamping arm body 311 is rotatably connected to the master machine frame 110 or the slave machine frame 210 through a front rotating shaft seat 312. The rear clamping arm assembly 320 includes a rear clamping arm body 321, and the rear clamping arm body 321 is rotatably connected to the master machine frame 110 or the slave machine frame 210 through a rear rotating shaft seat 322. The front clamping arm body 311 is connected to the positions near the head on both sides of the master machine frame 110 or the slave machine frame 210 through the front rotating shaft seat 312, and the rear clamping arm body 321 is connected to the middle positions on both sides of the master machine frame 110 or the slave machine frame 210 through the rear rotating shaft seat 322. The arc lock block 133 is fixedly connected to the rear clamping arm body 321. A lock block through hole is provided on the guiding surface 132, and the arc lock block 133 is inserted into the lock block through hole. The arc lock pin 233 is elastically inserted into the docking rod 231. The protruding end of the guiding surface 132 is arc-shaped. The arc lock block 133 has an arc surface and a right-angle surface arranged oppositely. The arc surface of the arc lock block 133 faces the suspended end of the rear clamping arm body 321. The arc lock pin 233 has an arc surface and a right-angle surface arranged oppositely. The arc surface of the arc lock pin 233 faces the suspended end of the docking rod 231.

[0043] Arc lock blocks 133 are connected to the ends of the rear clamping arms of the mother parking robot 100. In the state where the rear clamping arms are retracted, the arc lock blocks 133 pass through the lock block through holes of the guiding surface 132, and the arc lock blocks 133 are exposed on the guiding surface 132. The arc lock pins 233 are elastically inserted into the docking rods 231. During the docking process of the slave machine docking mechanism 230 and the master machine docking mechanism 130, the arc surface of the arc lock pin 233 on the docking rod 231 contacts the arc surface of the arc lock block 133. The arc lock pin 233 receives a partial component force in the direction perpendicular to the docking rod 231 and contracts. When the two arc lock pins 233 are completely retracted, the docking of the docking rod 231 and the docking groove 131 is completed, and the arc lock pins 233 pop out again. The right-angle surface of the arc lock pin 233 and the right-angle surface of the arc lock block 133 are clamped.

[0044] The connection structure of the arc lock block 133 and the rear clamping arm body 311 can separate the master and slave machines simultaneously during the unfolding process of the clamping arm assembly 300 of the mother parking robot when the master and slave machines are rigidly connected and running to the position of the vehicle to be transported, improving the working efficiency of the double machines.

[0045] Embodiment 4 This embodiment is to meet the requirements for the flexibility of the parking robot in a narrow space brought about by the improvement of the space utilization rate of the three-dimensional garage. In the prior art, the split-type parking robot relies on the track to run, and the flexibility is not high. This embodiment proposes a master-slave cooperative parking robot. The master and slave machines are split and operate independently and can cooperate in parking, which is suitable for automatic parking in narrow spaces such as three-dimensional garages.

[0046] Reference appendix Figures 1 to 5 Figures 1 to 5 In this embodiment, the mother parking robot 100 includes a mother machine frame 110, a mother machine drive control component 120 is built in the mother machine frame 110, a mother machine docking mechanism 130 is provided at the tail, a drive wheel assembly 400 is provided at the bottom, and clamping arm assemblies 300 are provided on opposite sides respectively; the child parking robot 200 includes a child machine frame 210, a child machine drive control component 220 is built in the child machine frame 210, a child machine docking mechanism 230 is provided at the head, a drive wheel assembly 400 is provided at the bottom, and the clamping arm assemblies 300 are provided on opposite sides respectively; the mother parking robot 100 and the child parking robot 200 are detachably connected through the mother machine docking mechanism 130 and the child machine docking mechanism 230.

[0047]

[0047] The mother machine docking mechanism 130 includes two docking slots 131. The docking slots 131 have a guiding surface 132 and an arc-shaped lock block 133. The child machine docking mechanism 230 includes two docking rods 231. The docking rods 231 are provided with guiding rollers 232 and arc-shaped lock pins 233. In this embodiment, each docking rod 231 includes two guiding rollers 232, one at the end of the docking rod 231 and one in the middle of the docking rod 231. The connection lines of the two guiding rollers 232 on the two docking rods 231 are parallel. The clamping arm assembly 300 includes a front clamping arm assembly 310 and a rear clamping arm assembly 320. The front clamping arm assembly 310 includes a front clamping arm body 311. The front clamping arm body 311 is rotatably connected to the mother machine frame 110 or the child machine frame 210 through a front rotating shaft seat 312. The rear clamping arm assembly 320 includes a rear clamping arm body 321. The rear clamping arm body 321 is rotatably connected to the mother machine frame 110 or the child machine frame 210 through a rear rotating shaft seat 322. The front clamping arm body 311 is connected to the positions near the head on both sides of the mother machine frame 110 or the child machine frame 210 through the front rotating shaft seat 312. The rear clamping arm body 321 is connected to the middle positions on both sides of the mother machine frame 110 or the child machine frame 210 through the rear rotating shaft seat 322.

[0048]

[0048] The arc-shaped lock block 133 is fixedly connected to the rear clamping arm body 321. A lock block through hole is provided on the guiding surface 132. The arc-shaped lock block 133 is inserted through the lock block through hole. The arc-shaped lock pin 233 is elastically inserted into the docking rod 231. The protruding end of the guiding surface 132 is arc-shaped. The arc-shaped lock block 133 has an arc surface and a right-angle surface arranged oppositely. The arc surface of the arc-shaped lock block 133 faces the suspended end of the rear clamping arm body 321. The arc-shaped lock pin 233 has an arc surface and a right-angle surface arranged oppositely. The arc surface of the arc-shaped lock pin 233 faces the suspended end of the docking rod 231.

[0049] The front clamping arm assembly 310 further includes a telescopic rod assembly 313. The telescopic rod assembly 313 is fixedly connected to the main machine frame 110 or the sub-machine frame 210. The telescopic rod assembly 313 has a telescopic rod 314. The end of the telescopic rod 314 is rotatably connected to a first steering rod 315, and the front rotary bearing seat is rotatably connected to the first steering rod 315. The rear clamping arm assembly 320 further includes a lead screw guide rail assembly 324. A slider 325 is threaded through the lead screw guide rail assembly 324. The slider 325 is rotatably connected to a second steering rod 326, and the second steering rod 326 is rotatably connected to the rear clamping arm body 321.

[0050] During the unfolding process of the front clamping arm assembly 310, the telescopic rod 314 in the telescopic rod assembly 313 retracts. By pulling the front rotary shaft seat 312 through the first steering rod 315, the front rotary shaft seat 312 rotates around the axis, and the front clamping arm body 311 unfolds. During the retracting process, the telescopic rod 314 extends, and by pushing the front rotary shaft seat 312 through the first steering rod 315, the front rotary shaft seat 312 rotates around the axis, and the front clamping arm body 311 retracts. During the unfolding process of the rear clamping arm assembly 320, after the front clamping arm assembly 310 unfolds, the motor in the slider 325 drives the slider 325 to slide along the lead screw of the lead screw guide rail assembly 324. The slider 325 pushes the rear clamping arm body 321 to unfold through the second steering rod 326, and the front clamping arm body 311 and the rear clamping arm body 321 generate a clamping action. During the retracting process, the slider 325 slides along the lead screw of the lead screw guide rail assembly 324 and returns to the initial position, and the second steering rod 326 pulls the rear clamping arm body 321 back. Among them, the front clamping arm assembly 310 needs to retract after the rear clamping arm body 321 retracts first.

[0051] The process of hard connection between the main machine and the sub-machine: Refer to the appendix Figure 6 The sub-machine drive control component 220 communicates with the main machine drive control component 120. The sub-parking robot 200 runs to the tail of the main parking robot 100 and aligns the sub-machine docking mechanism 230 at the head with the main machine docking mechanism 130. The sub-parking robot 200 runs towards the main parking robot 100 at a constant speed until the two docking rods 231 extend into the two docking slots 131. Among them, the guide roller 232 located at the end of the telescopic rod 314 first contacts the guide surface 132. If there is a deviation in position during the docking process, the guide roller 232 guides the docking rod 231 into the docking slot 131 by the arc-shaped surface of the guide surface 132. The arc lock pin 233 contacts the arc lock block 133, and the arc lock pin 233 is compressed and retracted. After the docking is completed, the arc lock pin 233 pops out and is clamped with the arc lock block 133. The first docking positioning block 134 is clamped with the second docking positioning block 234 for secondary positioning and fixing.

[0052] In this embodiment, the steering wheels of the sub-parking robot 100 are set to two that are respectively close to both sides of the head, and the differential idler wheel 420 is set as a fixed-travel drive wheel. After the main and sub-machines are rigidly connected, the operation mode can be that the sub-parking robot 200 releases the differential fixed-travel drive wheel, and the main parking robot 100 pulls the sub-parking robot 200 to run; or the main and sub-machines are jointly driven to run, and the main and sub-machines form an omnidirectional mobile platform. The differential idler wheel 420 of the main parking robot 100 is responsible for active steering, and the fixed-travel drive wheel of the sub-parking robot 100 is responsible for providing driving force. The torque distribution algorithm built into the main and sub-machines can dynamically adjust the torque according to the load state. For example, when detecting a ramp form, the output torque of the differential idler wheel 420 of the main parking robot 100 is automatically increased.

[0053] Process of rigid connection separation of the main and sub-machines: Refer to the appendix Figure 7 , the two front clamping arm assemblies 310 of the main parking robot 100 are unfolded, and then the rear clamping arm assembly 320 is slightly unfolded, so that the two arc lock blocks 133 are separated from the respective connected guide surfaces 132, the arc lock blocks 133 are completely separated from the arc lock pins 233, and the sub-parking robot 200 runs away from the main parking robot 100 at a constant speed until the sub-machine docking mechanism 230 is completely separated from the main-machine docking mechanism 130, and the separation is completed.

[0054] In the separated state of the main and sub-machines, a master-slave control relationship is established through wireless communication, and the sub-machine follows the main machine through the communication between the main-machine drive control component 120 and the sub-machine drive control component 220, or the sub-machine follows the main machine through the vision module and laser sensor of the sub-machine.

[0055] Process of cooperative parking of the main and sub-machines: Refer to the appendix Figure 8 and 9 , in the rigid connection state of the main and sub-machines, with the sub-machine facing the head of the car, the main and sub-machines run from the head of the car to below and enter under the car, and then the main and sub-machines are separated; the main parking robot 100 runs to the position where the two rear rotating shaft seats 322 are located at the front edges of the two front wheels of the car, and unfolds the two front clamping arm bodies 311, and runs until the two front clamping arm bodies 311 abut against the two front wheels; the sub-parking robot 200 runs to the position where the two rear rotating shaft seats 322 are located at the front edges of the two rear wheels of the car, and unfolds the two front clamping arm bodies 311, and runs until the two front clamping arm bodies 311 abut against the two front wheels; the main and sub-machines respectively unfold the rear clamping arm bodies 321, and lift the two front wheels and two rear wheels of the car respectively, and carry the car to the parking point; after the main and sub-machines carry the car to the parking point, the main and sub-machines respectively retract the rear clamping arm bodies 321, the car slides to the ground, and the main and sub-machines run forward and retract the front clamping arm bodies 311, and complete the rigid connection state.

[0056] In this embodiment, through the docking mechanism between the master and slave machines, the rapid combination and separation between the master and slave machines are realized. The cooperation between the guiding surface 132 and the guiding roller 232 improves the fault tolerance during the docking process, and the cooperation between the arc-shaped locking block 133 and the arc-shaped locking pin 233 improves the reliability after hard connection. The distributed drive after the hard connection of the master and slave machines ensures flexible movement while enhancing power redundancy. The master-slave cooperative parking robot in this embodiment is suitable for space-limited scenarios such as three-dimensional garages, and forms different lengths of transportation methods through the combination of the master and slave machines to adapt to various vehicle types.

[0057] The above content is the preferred embodiment of the present application, which is used to illustrate the specific structure and function of the present application. It should be noted that without departing from the principle of the present application, those of ordinary skill in the art can make expected improvements and modifications to the present application, and these improvements and modifications are also within the protection scope of the present application.

Claims

1. A parent-child cooperative parking robot, characterized in that: include: The mother parking robot comprises a mother machine frame, wherein the mother machine frame has a built-in mother machine drive control component, a mother machine docking mechanism at the tail, a driving wheel component at the bottom, and gripping arm components at opposite sides; The sub-parking robot comprises a sub-machine frame, the sub-machine frame has a built-in sub-machine drive control component, a sub-machine docking mechanism is provided at the head, the driving wheel component is provided at the bottom, and the gripping arm components are provided at two opposite sides; The mother parking robot and the child parking robot are detachably connected via the mother robot docking mechanism and the child robot docking mechanism.

2. The parent-child cooperative parking robot according to claim 1, characterized in that: The mother machine docking mechanism comprises two docking grooves, each of which has a guide surface and an arc locking block; the daughter machine docking mechanism comprises two docking rods, each of which is provided with a guide roller and an arc locking pin.

3. The parent-child cooperative parking robot according to claim 2, characterized in that: The clamping arm assembly includes a front clamping arm assembly and a rear clamping arm assembly, the front clamping arm assembly includes a front clamping arm body, the front clamping arm body is rotatably connected to the mother machine frame or the sub-machine frame through a front rotating shaft seat, and the rear clamping arm assembly includes a rear clamping arm body, the rear clamping arm body is rotatably connected to the mother machine frame or the sub-machine frame through a rear rotating shaft seat.

4. The parent-child cooperative parking robot according to claim 3, characterized in that: The arc locking block is fixedly connected to the rear clamping arm body, a locking block through hole is provided on the guide surface, the arc locking block is penetrated in the locking block through hole, and the arc locking pin is elastically penetrated in the docking rod.

5. The parent-child cooperative parking robot according to claim 4, characterized in that: The protruding end of the guide surface is in an arc shape, and the arc locking block has an arc surface and a right-angle surface relatively set, the arc surface of the arc locking block faces the suspended end of the rear clamping arm body, and the arc locking pin has an arc surface and a right-angle surface relatively set, and the arc surface of the arc locking pin faces the suspended end of the docking rod.

6. The parent-child cooperative parking robot according to claim 3, characterized in that: The front clamping arm assembly also includes a telescopic rod assembly, which is fixedly connected to the mother machine frame or the sub-machine frame. The telescopic rod assembly has a telescopic rod, the end of the telescopic rod is rotatably connected to the first steering rod, and the front rotating bearing seat is rotatably connected to the first steering rod.

7. The parent-child cooperative parking robot according to claim 3, characterized in that: The rear clamping arm assembly also includes a screw guide rail assembly, a slider is passed through the screw guide rail assembly, the slider is rotatably connected to a second steering rod, and the second steering rod is rotatably connected to the rear clamping arm body.

8. A parent-child cooperative parking robot according to any one of claims 2, 4 or 5, characterized in that: The mother machine docking mechanism further includes a first docking positioning block, and the daughter machine docking mechanism further includes a second docking positioning block.

9. A parent-child cooperative parking robot according to any one of claims 1 to 7, characterized in that: The driving wheel assembly includes a steering wheel and a differential idler wheel, and the slave engine driving wheel includes the steering wheel and the differential idler wheel.

10. The parent-child cooperative parking robot according to claim 9, characterized in that: The heads of the mother parking robot and the child parking robot are both provided with a vision module and a laser sensor.

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