Car moving robot

Abstract

The invention relates to the technical field of automobile carrying, and discloses an automobile moving robot which comprises at least two bases detachably installed in the first direction. A lifting assembly is arranged on the upper surface of the base and used for jacking an automobile. A moving assembly is arranged at the bottom of the base and used for driving the base to move. The hub supporting assemblies are installed on the two sides of the base, each hub supporting assembly comprises a main supporting part, each main supporting part comprises two first supporting rods extending in the second direction and a first driving part, and the power output end of each first driving part is in transmission connection with the two corresponding first supporting rods; the first supporting rod is driven to move on the horizontal plane; a visual sensing assembly is arranged on the base; the first direction is perpendicular to the second direction. The invention provides a vehicle moving robot which can flexibly adapt to vehicles with different wheelbases, different wheel treads and different hub sizes, so that the universality of different vehicles and the safety of vehicle moving operation are improved, and unnecessary damage to vehicle chassis and tires is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle handling, and particularly to a vehicle moving robot. Background Art

[0002] With the continuous growth of the vehicle ownership, there are increasingly high requirements for the precise, efficient, and safe relocation of vehicles in scenarios such as parking lots, vehicle exhibition halls, repair workshops, as well as vehicle manufacturing and logistics. Traditional vehicle relocation methods have many limitations in terms of efficiency and requirements for the operating space, especially in scenarios of precise vehicle moving or space - restricted areas, where it is difficult to meet the demands. Although large trailers or forklifts and other equipment can achieve vehicle movement, they usually require a large operating space, have poor flexibility, and may pose a risk of scratching when interacting with the vehicle, and are not suitable for all precise vehicle moving scenarios.

[0003] To solve the above problems, some automatic or semi - automatic vehicle moving robots or devices are provided in the prior art. Specifically, some vehicle moving equipment adopts an integral platform structure, which moves the entire platform under the vehicle and then lifts the vehicle as a whole for movement. Although such equipment can achieve vehicle relocation, its own size is usually large and fixed. When the vehicle encounters bumps during relocation, it is easy to cause wear to the vehicle chassis, which is not conducive to medium - and long - distance relocation; other vehicle moving equipment uses the method of clamping the tires. Such equipment usually has clamping arms to clamp the tires of the vehicle, and then drives the vehicle to move through its own moving mechanism. However, if this clamping method is not properly designed or controlled, it is easy to cause unnecessary extrusion or surface wear to the tires during the clamping process. Long - term or frequent use may damage the tire structure, affect the tire service life, and even pose a safety hazard. Moreover, both of the above are less adaptable to vehicles with different wheelbases or track widths and are difficult to be flexibly applied to a variety of vehicle models. Summary of the Invention

[0004] The object of the present invention is to provide a vehicle moving robot, which can flexibly adapt to vehicles with different wheelbases, track widths, and wheel hub sizes through a detachable base and a support structure that can be movably adjusted on a plane. After jacking up the vehicle, the vehicle wheels are placed on the support structure for support to safely move the vehicle, thereby improving the versatility and safety of the vehicle moving operation and avoiding unnecessary damage to the vehicle chassis and tires.

[0005] To achieve the above object, the present invention provides a vehicle moving robot, including: At least two bases, the bases are arranged along a first direction, the bases have a first end and a second end in the first direction. When two adjacent bases are connected to each other, the first end of one base is detachably connected to the second end of the other base; Lifting assembly, which is arranged on the upper surface of the base and is used for jacking up an automobile; Moving assembly, which is arranged at the bottom of the base and is used for driving the base to move; At least two wheel hub support assemblies, at least one of which is installed on each side of the base in the first direction. The wheel hub support assembly includes a main support part, which includes two first support rods extending in the second direction and a first driving part. The two first support rods are spaced apart in the first direction. The first driving part is arranged at the bottom of the base, and the power output end of the first driving part is in transmission connection with the two first support rods to drive the first support rods to move on the plane defined by the first direction and the second direction; Visual sensing assembly, which is installed on the base; Wherein, the first direction and the second direction are perpendicular to each other.

[0006] Further, the wheel hub support assembly further includes an auxiliary support part, which includes a first connecting rod, a second support rod and a second driving part. A first accommodating groove for accommodating the auxiliary support part is formed on the upper surface of the base. The first accommodating groove includes a first groove body extending in the first direction and a second groove body extending in the second direction. The end of the first groove body is communicated with the second groove body. The second support rod extends in the second direction and can be accommodated in the second groove body. The first connecting rod can be accommodated in the first groove body. One end of the first connecting rod is hinged to the first groove body, and the other end is connected to the second support rod. The power output end of the second driving part is connected to the first connecting rod and is used for driving the first connecting rod to rotate.

[0007] Furthermore, the auxiliary support part further includes a first return spring. The first connecting rod includes a sleeve rod and a sliding rod slidably inserted on the sleeve rod. The sleeve rod is hinged in the first groove body, the sliding rod is connected to the second support rod, the first return spring is sleeved on the outer periphery of the first connecting rod, and one end of the first return spring is connected to the sleeve rod and the other end is connected to the sliding rod.

[0008] Furthermore, the auxiliary support part further includes a sleeve, which is detachably and rotatably sleeved on the outer periphery of the second support rod, and an anti-wear layer is arranged on the outer periphery of the sleeve.

[0009] Furthermore, the wheel hub support assembly includes two such auxiliary support parts, and the two auxiliary support parts are spaced from the main support part in the first direction.

[0010] Further, the wheel hub support assembly further includes an anti-steering part disposed on the base. The anti-steering part includes a suction cup, a transmission rod group, and a third driving part. The third driving part drives the suction cup to move to a receiving position or an abutting position through the transmission rod group; When the suction cup is in the receiving position, the suction cup is located below the base; When the suction cup is in the abutting position, the suction cup abuts against the outer wall of the vehicle wheel hub.

[0011] Further, the base includes two bodies that can move towards or away from each other in the second direction, and at least one wheel hub support assembly is disposed on the bodies.

[0012] Further, the visual sensing assembly includes a fifth driving part, a rotating bracket, and a first visual sensor rotatably disposed on the rotating bracket. The rotating bracket is mounted on the first end of the base, the fifth driving part is mounted on the rotating bracket, and the power output end of the fifth driving part is connected to the first visual sensor.

[0013] Furthermore, the rotating bracket has a plugging part, and the second end of the base is provided with a slot that cooperates with the plugging part for plugging.

[0014] Further, the vehicle moving robot further includes a braking assembly, which includes a brake block and a fifth driving part. The fifth driving part is disposed at the bottom of the base, and the power output end of the fifth driving part is connected to the brake block for driving the brake block to move in the vertical direction. A receiving groove corresponding to the position of the brake block is provided on the upper surface of the base.

[0015] Compared with the prior art, the vehicle moving robot according to the embodiment of the present invention has the following beneficial effects: By providing at least two detachably mounted bases, the chassis position, wheel hub position, and wheel hub size of the vehicle can be obtained through the visual sensing assembly, and the distance between the bases can be adjusted through the moving assembly. The first support rod of the main support part of the wheel hub support assembly can move on the plane jointly defined by the first direction and the second direction, accurately adapting to vehicles with different wheelbases and different wheel hub sizes, and effectively supporting the wheel hubs. The vehicle moving robot can flexibly adapt to vehicles of different sizes (wheelbase, wheel track, wheel hub size). By lifting the vehicle and placing each wheel hub of the vehicle on the two first support rods for support and moving, damage to the tires or chassis that may be caused by the traditional method is avoided, and the versatility, accuracy, and safety of the vehicle moving operation are improved. Description of the Drawings

[0016] Figure 1 is the overall structural schematic diagram of the vehicle moving robot according to the embodiment of the present invention; Figure 2 is Figure 1 the partial enlarged view at position A in Figure 3 is Figure 1 the partial enlarged view at position B in Figure 4 is Figure 1 the partial enlarged view at position C in Figure 5 is Figure 1 the partial enlarged view at position D in Figure 6 is Figure 1 the partial enlarged view at position E in Figure 7 is Figure 1 the partial enlarged view at position F in Figure 8 the overall structural schematic diagram of the parking robot according to an embodiment of the present invention from another angle; Figure 9 is Figure 8 the partial enlarged view at position G in Figure 10 is Figure 8 the partial enlarged view at position H in Figure 11 the structural schematic diagram of the vision sensing component of the parking robot according to an embodiment of the present invention; In the figure, 1. Base: 11. First end; 12. Second end; 13. Main body; 131. First accommodation groove; 1311. First groove body; 1312. Second groove body; 1313. Third groove body; 1314. Fourth groove body; 132. Second accommodation groove; 133. Third slider; 134. Storage groove; 135. Through groove; 14. Hinge; 141. Hinge joint; 1411. Hinge plate; 14111. First hinge hole; 14112. Second hinge hole; 15. Fourth driving part; 151. Fifth driving cylinder; 2. Lifting component; 21. Lifting driving cylinder; 22. Lifting platform; 3. Moving component; 31. Roller; 4. Wheel hub support component; 41. Main support part; 411. First support rod; 4111. Rack; 412. First driving part; 4121. Third driving motor; 4122. First slider; 41221. First driving groove; 41222. First guide hole; 4123. Second slider; 41231. Second driving groove; 41232. Second guide hole; 4124. First driving gear; 4125. Second driving gear; 4126. Lead screw; 4127. Bearing seat; 42. Auxiliary support part; 421. First connecting rod; 4211. Sleeve rod; 4212. Slide rod; 422. Second support rod; 423. Second driving part; 4231. Sixth driving motor; 4232. First driving cylinder; 424. First return spring; 425. Sleeve; 43. Anti-steering part; 431. Suction cup; 432. Transmission rod group; 4321. Second connecting rod; 4322. Telescopic rod; 433. Third driving part; 4331. Second driving cylinder; 4332. Third driving cylinder; 4333. Seventh driving motor; 5. Visual sensing component; 51. Fifth driving part; 511. Eighth driving motor; 52. Rotating bracket; 521. Connecting block; 5211. Chute; 5212. Second return spring; 522. Connecting column; 53. First visual sensor; 6. Brake component; 61. Brake block; 7. Crossing component; 71. Speed bump crossing piece; 711. Crossing rod; 712. Contact head; 72. Ninth driving motor; X. First direction; Y. Second direction. Detailed implementation manners

[0017] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0018] In the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", "lateral", "longitudinal", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and is not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation of the present invention. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0019] In the description of the present invention, the terms "provided with", "set", "connected", "placed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In addition, terms such as "first", "second", etc. are mainly used to distinguish different devices, components or parts (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, components or parts. Unless otherwise specified, the meaning of "a plurality" is two or more.

[0021] The technical solution of the present invention will be further described below in conjunction with embodiments and drawings.

[0022] As Figure 1-11 shown, a car-parking robot according to an embodiment of the present invention includes: At least two bases 1, the bases 1 are arranged along the first direction X, the base 1 has a first end 11 and a second end 12 in the first direction X. When two adjacent bases 1 are connected to each other, the first end 11 of the base 1 is detachably connected to the second end 12 of another base 1; A lifting assembly 2, the lifting assembly 2 is arranged on the upper surface of the base 1, and the lifting assembly 2 is used for jacking up the car; A moving assembly 3, the moving assembly 3 is arranged at the bottom of the base 1 and is used to drive the base 1 to move; At least two wheel hub support assemblies 4, at least one wheel hub support assembly 4 is installed on each side of the base 1 in the first direction X. The wheel hub support assembly 4 includes a main support portion 41, and the main support portion 41 includes two first support rods 411 extending along the second direction Y and a first driving portion 412. The two first support rods 411 are spaced apart along the first direction X, and the first driving portion 412 is arranged at the bottom of the base 1. The power output end of the first driving portion 412 is connected to the two first support rods 411 to drive the first support rods 411 to move on the plane defined by the first direction X and the second direction Y; A vision sensing assembly 5, the vision sensing assembly 5 is installed on the base 1; Wherein, the first direction X is perpendicular to the second direction Y.

[0023] In a specific embodiment, the lifting assembly 2 includes a lifting drive cylinder 21 and a lifting platform 22. The lifting drive cylinder 21 is installed on the upper surface of the base 1, and the power output end of the lifting drive cylinder 21 is connected to the lifting platform 22 to drive the lifting platform 22 to move in the vertical direction.

[0024] Specifically, the lifting drive cylinder 21 is a pneumatic cylinder or a hydraulic cylinder.

[0025] In a specific embodiment, the moving component 3 includes a first driving motor, a second driving motor, and a roller 31. The first driving motor is installed at the bottom of the base 1. The power output end of the first driving motor is connected to the second driving motor, and the power output end of the second driving motor is connected to the roller 31. The first driving motor is used to drive the second driving motor to rotate to achieve the steering of the roller 31, and the second driving motor is used to drive the roller 31 to rotate so that the roller 31 can move (the first driving motor and the second driving motor are not shown in the drawings).

[0026] In a specific embodiment, the first driving part 412 includes a third driving motor 4121, a fourth driving motor, a fifth driving motor, a first slider 4122, a second slider 4123, a first driving gear 4124, a second driving gear 4125, a lead screw 4126, and a bearing block 4127. The third driving motor 4121 and the bearing block 4127 are installed at intervals along the first direction X at the bottom of the base 1. The power output end of the third driving motor 4121 is connected to one end of the lead screw 4126, and the other end of the lead screw 4126 is rotatably connected to the bearing block 4127. The lead screw 4126 has a first external thread and a second external thread with opposite thread directions. The first slider 4122 is provided with a first threaded hole extending along the first direction X, and the first slider 4122 is engaged with the first external thread of the lead screw 4126 through the first threaded hole. The second slider 4123 is provided with a second threaded hole extending along the first direction X, and the second slider 4123 is engaged with the second external thread of the lead screw 4126 through the second threaded hole; A first driving groove 41221 is formed in the first slider 4122. The fourth driving motor is installed in the first driving groove 41221. The power output end of the fourth driving motor is connected to the first driving gear 4124. A first guiding hole 41222 extending along the second direction Y is further formed in the first slider 4122. The first guiding hole 41222 communicates with the first driving groove 41221. A rack 4111 is provided on the first support rod 411. A first support rod 411 is slidably inserted into the first guiding hole 41222, and the rack 4111 of the first support rod 411 is engaged with the first driving gear 4124; A second driving groove 41231 is formed in the second slider 4123. The fifth driving motor is installed in the second driving groove 41231. The power output end of the fifth driving motor is connected to the second driving gear 4125. A second guiding hole 41232 extending along the second direction Y is further provided in the second slider 4123. The second guiding hole 41232 communicates with the second driving groove 41231. Another first support rod 411 is slidably inserted into the second guiding hole 41232, and the rack 4111 of the first support rod 411 is engaged with the second driving gear 4125; When the third driving motor 4121 rotates, the first slider 4122 and the second slider 4123 move towards or away from each other in the first direction X, adjusting the distance between the two first support rods 411 to adapt to different wheel hub sizes. The first support rods 411 slide in the second direction Y through a rack and pinion structure, adjusting the extension amount of the first support rods 411 to adapt to different wheel hub thicknesses (the fourth driving motor and the fifth driving motor are not shown in the attached drawings of the specification).

[0027] Based on the above technical solution, the vehicle position is obtained through the vision sensing component 5, and the moving component 3 drives the vehicle moving robot to move to the bottom of the vehicle. Then, the chassis position of the vehicle and the positions of the jacking points (generally the positions of the vehicle skirts or chassis crossbeams) are obtained through the vision sensing component 5. The base 1 is separated, and each base 1 moves until each wheel hub support component 4 is aligned with the positions of the respective wheel hubs of the vehicle. The lifting drive cylinder 21 drives the lifting platform 22 to rise. After the lifting platform 22 abuts against the jacking point, it continues to rise to lift the vehicle. Subsequently, the vision sensing component 5 obtains the wheel hub position, wheel hub size, and wheel hub thickness of the vehicle. According to the wheel hub size, the third driving motor 4121 drives the two first support rods 411 to move in the first direction X, adjusting the distance between the two first support rods 411. According to the wheelbase and wheel hub thickness, the fourth driving motor and the fifth driving motor drive the first support rods 411 to slide in the second direction Y. When the first support rods 411 move to a position suitable for supporting the wheel hubs, the first support rods 411 stop sliding, and the lifting drive cylinder 21 drives the lifting platform 22 to descend until each wheel hub is completely placed on the two first support rods 411.

[0028] By providing at least two detachably mounted bases 1, the chassis position, wheel hub position, wheel hub size, and wheel hub thickness of the vehicle can be obtained through the vision sensing component 5, and the distance between the bases 1 can be flexibly adjusted through the moving component 3. By providing that the first support rods 411 of the main support portion 41 of the wheel hub support component 4 can move on a plane jointly defined by the first direction X and the second direction Y, vehicles with different wheelbases and different wheel hub sizes can be accurately adapted, and the wheel hubs can be effectively supported. The vehicle moving robot can flexibly adapt to vehicles of different sizes (wheelbase, wheelbase, wheel hub size). By lifting the vehicle and then placing each wheel hub of the vehicle on the two first support rods 411 for support and relocation, damage to the tires or chassis that may be caused by traditional methods is avoided, and the versatility, accuracy, and safety of the vehicle moving operation are improved.

[0029] Preferably, the hub support assembly 4 also includes an auxiliary support part 42, the auxiliary support part 42 includes a first connecting rod 421, a second supporting rod 422, and a second driving part 423. The upper surface of the base 1 is provided with a first accommodating groove 131 for accommodating the auxiliary supporting part 42. The first accommodating groove 131 includes a first groove body 1311 extending along the first direction X and a second groove body 1312 extending along the second direction Y. The end of the first groove body 1311 is connected to the second groove body 1312, the second support rod 422 extends along the second direction Y, the second support rod 422 can be accommodated in the second groove body 1312, the first connecting rod 421 can be accommodated in the first groove body 1311, one end of the first connecting rod 421 is hinged to the first groove body 1311, and the other end is connected to the second support rod 422. The power output end of the second driving part 423 is connected to the first connecting rod 421 for driving the first connecting rod 421 to rotate.

[0030] In a specific embodiment, the second driving part 423 includes a sixth driving motor 4231 and a first driving cylinder 4232. The first accommodating groove 131 also includes a third groove body 1313 extending along the second direction Y and a fourth groove body 1314 extending along the first direction X. One end of the third groove body 1313 is connected to one end of the first groove body 1311 away from the second groove body 1312. The sixth driving motor 4231 is accommodated in the third groove body 1313. The power output end of the sixth driving motor 4231 is connected to the first connecting rod 421 for driving the first connecting rod 421 to rotate. One end of the fourth groove body 1314 is connected to the second groove body 1312. The first driving cylinder 4232 is hinged in the fourth groove body 1314. The power output end of the first driving cylinder 4232 is rotatably connected to the second support rod 422.

[0031] Based on the above technical solution, after the automobile wheel hub is completely placed on the first support rod 411, the sixth drive motor 4231 drives the first connecting rod 421 to rotate, the first connecting rod 421 rotates out of the first slot body 1311, and the second support rod 422 escapes from the second slot body 1312. At the same time, the first drive cylinder 4232 rotates out of the fourth slot body 1314, and the second support rod 422 abuts against the wheel hub. The first drive cylinder 4232 provides a more stable force point for the second support rod 422, which can better provide lateral support for the wheel hub.

[0032] The second support rod 422 provides an additional support point for the wheel hub, and supports the wheel hub of the car together with the first support rod 411, so that the original small bottom support is expanded into a polygonal support including lateral support points, thereby enhancing the overall stability of the car on the car moving robot; When moving the car, you may encounter uneven ground, specifically: When going uphill (the car has a tendency to tilt backward), if the second support rod 422 is located at the rear side or below the side of the wheel hub, when the car tends to tilt backward, the second support rod 422 will provide a supporting force to prevent the car from tilting backward; When going downhill (the car has a tendency to tilt forward), if the second support rod 422 is located in front of or below the wheel hub, when the car tends to tilt forward, the second support rod 422 will provide a supporting force to prevent the car from tilting forward; Even if the vertical projection line of the center of gravity of the car is offset due to the slope, since the effective support base composed of the second support rod 422 and the first support rod 411 has a large bearing surface, the projection line can still be maintained within the bearing surface of the effective support base, thereby preventing the car from overturning.

[0033] The auxiliary support part 42 is usually accommodated in the first receiving groove 131 on the surface of the base 1, does not occupy additional space, does not affect the car-moving robot entering the bottom space of the car, and is extended to work only when additional reinforcement is needed, thereby realizing on-demand deployment of functions, optimizing space utilization, and increasing structural flexibility.

[0034] More preferably, the auxiliary support portion 42 also includes a first return spring 424, the first connecting rod 421 includes a sleeve rod 4211 and a slide rod 4212 slidably inserted on the sleeve rod 4211, the end of the sleeve rod 4211 away from the slide rod 4212 is hinged in the first groove body 1311, the end of the slide rod 4212 away from the sleeve rod 4211 is connected to the second support rod 422, the first return spring 424 is sleeved on the outer periphery of the first connecting rod 421, one end of the first return spring 424 is connected to the sleeve rod 4211, and the other end is connected to the slide rod 4212.

[0035] Specifically, when the auxiliary support part 42 supports the wheel hub, when the sixth drive motor 4231 drives the first connecting rod 421 to rotate forwardly, the second supporting rod 422 abuts against the wheel hub. At this time, the sixth drive motor 4231 continues to drive the first connecting rod 421 to rotate, and the second supporting rod 422 slides in a small range along the tire. Under the action of the tire, the first return spring 424 is elongated, and the sliding rod 4212 overcomes the elastic force of the first return spring 424 and extends out of the sleeve rod 4211; when the auxiliary support part 42 is separated from the support of the wheel hub, the sixth drive motor 4231 drives the first connecting rod 421 to rotate in the opposite direction, and the second supporting rod 422 slides along the tire. The action force of the tire decreases until it disappears, the first return spring 424 is shortened, and the elastic force of the first return spring 424 drives the sliding rod 4212 to be gradually recovered into the sleeve rod 4211, and the second supporting rod 422 is separated from the abutment with the tire until the first connecting rod 421, the second supporting rod 422, and the first driving cylinder 4232 are accommodated in the accommodating groove.

[0036] The telescopic structure of the first reset spring 424 and the first connecting rod 421 realizes better adaptability of the auxiliary support part 42 to wheels with different shapes and sizes. The telescopic structure of the first reset spring 424 and the first connecting rod 421 allows the second support rod 422 to find a stable support position on the wheel and ensure a large bearing surface for effective support, which provides operability for the support and limit of wheels that require specific support angles. During the process of the second support rod 422 abutting and sliding on the tire, the first reset spring 424 is stretched, and the first driving cylinder 4232 supports the second support rod 422 to continuously provide stable support to the tire, avoiding the phenomenon of force application point offset between the second support rod 422 and the wheel that may exist in multi-point support, and making the force on the wheel more uniform.

[0037] More preferably, the auxiliary support part 42 further includes a sleeve 425, and the sleeve 425 is detachably and rotatably sleeved on the outer periphery of the second support rod 422, and an anti-wear layer is provided on the outer periphery of the sleeve 425.

[0038] Specifically, the anti-wear layer can be made of high-wear-resistant plastic, rubber, or polyurethane material.

[0039] When the second support rod 422 abuts against the tire and relatively slides, the rotatable sleeve 425 converts the sliding friction between the contact surfaces into rolling friction, significantly reducing the scratching and wear of the second support rod 422 on the tire; the second support rod 422 itself does not directly undergo friction, extending the service life of the second support rod 422; reducing the frictional force makes the resistance that the sixth driving motor 4231 needs to overcome smaller when adjusting the position of the second support rod 422, reducing energy consumption; the movement of the second support rod 422 when contacting and adjusting the position with the tire is smoother and more fluent, which helps to more accurately locate to a suitable support point; the sleeve 425 is detachably connected, and when the sleeve 425 or its anti-wear layer is worn to a certain extent, it can be conveniently and quickly replaced without replacing the entire second support rod 422, reducing the maintenance cost and repair difficulty for long-term use.

[0040] More preferably, the wheel support assembly 4 includes two auxiliary support parts 42, and the two auxiliary support parts 42 are arranged at intervals along the first direction X with respect to the main support part 41.

[0041] In a specific embodiment, in the auxiliary support part 42 close to the first end 11, the end of the first groove 1311 close to the first end 11 communicates with the second groove 1312, the end of the first groove 1311 close to the second end 12 communicates with the third groove 1313, and the end of the fourth groove 1314 close to the second end 12 communicates with the second groove 1312; In the auxiliary support portion 42 near the second end 12, the end of the first groove 1311 near the second end 12 communicates with the second groove 1312, the end of the first groove 1311 near the first end 11 communicates with the third groove 1313, and the end of the fourth groove 1314 near the first end 11 communicates with the second groove 1312, that is, the two auxiliary support portions 42 are symmetrically arranged.

[0042] When the vehicle has a tendency to tilt backward when going uphill, the auxiliary support portion 42 near the second end 12 provides a supporting force in a timely manner; When the vehicle has a tendency to tilt forward when going downhill, the auxiliary support portion 42 near the first end 11 provides a supporting force in a timely manner; The effective support base formed by the first support rod 411 and the second support rod 422 greatly increases the allowable offset range of the vehicle's center of gravity. Even if the vertical projection line of the vehicle's center of gravity is greatly offset due to the slope, it is very difficult to exceed the bearing surface range of the effective support base.

[0043] The two auxiliary support portions 42 can cooperate to adjust the supporting force on the wheel hub. During the dynamic uphill and downhill processes, the structure can automatically adjust the strength of the front and rear auxiliary supports to smoothly and gently offset the overturning tendency.

[0044] Preferably, the wheel hub support assembly 4 further includes an anti-steering portion 43. The anti-steering portion 43 is arranged on the base 1. The anti-steering portion 43 includes a suction cup 431, a transmission rod group 432, and a third driving portion 433. The third driving portion 433 drives the suction cup 431 to move to a receiving position or an abutting position through the transmission rod group 432; When the suction cup 431 is in the receiving position, the suction cup 431 is located below the base 1; When the suction cup 431 is in the abutting position, the suction cup 431 abuts against the outer wall of the vehicle wheel hub.

[0045] In a specific embodiment, the transmission rod group 432 is arranged between the two first support rods 411. The transmission rod group 432 includes a second connecting rod 4321 and a telescopic rod 4322. The third driving portion 433 includes a second driving cylinder 4331, a third driving cylinder 4332, a fourth driving cylinder, and a seventh driving motor 4333; The second driving cylinder 4331 is installed at the bottom of the base 1, and the power output end of the second driving cylinder 4331 is connected to the third driving cylinder 4332 to drive the third driving cylinder 4332 to move in the vertical direction. The power output end of the third driving cylinder 4332 is connected to the second connecting rod 4321 to drive the second connecting rod 4321 to move in the second direction Y. The second connecting rod 4321 extends along the second direction Y. The outer end of the second connecting rod 4321 is hinged to the end of the telescopic rod 4322. The rotating shaft of the telescopic rod 4322 extends along the first direction X. The seventh driving motor 4333 is installed on the second connecting rod 4321. The power output end of the seventh driving motor 4333 is connected to the telescopic rod 4322. The power output end of the fourth driving cylinder is connected to the telescopic rod 4322 for driving the telescopic rod 4322 to extend and retract. The suction cup 431 is arranged at the end of the telescopic rod 4322 away from the second connecting rod 4321.

[0046] Based on the above technical solution, after the main support part 41 and the auxiliary support part 42 both support the automobile wheel hub, when the suction cup 431 is initially located at the receiving position, the suction cup 431 is located on the bottom surface of the base 1 and abuts against it, and the suction cup 431 is switched from the receiving position to the abutting position, and the second drive cylinder 4331 drives the third drive cylinder 4332 to move downward until the suction cup 431 and the second connecting rod 4321 are both lower than the lowest point of the wheel hub, and the third drive cylinder 4332 drives the second connecting rod 4321 to move until the hinge between the second connecting rod 4321 and the telescopic rod 4322 is located on the outside of the wheel hub, the seventh drive motor 4333 drives the telescopic rod 4322 to rotate, and the fourth drive cylinder drives the telescopic rod 4322 to extend until the suction cup 431 is facing the outer wall of the wheel hub, and the third drive cylinder 4332 drives the second connecting rod 4321 to move inward until the suction cup 431 is in contact with the outer wall of the wheel hub. At this time, the suction cup 431 is located at the abutting position (the fourth drive cylinder is not shown in the drawings of the specification).

[0047] Specifically, the second driving cylinder 4331, the third driving cylinder 4332, and the fourth driving cylinder are air cylinders or hydraulic cylinders.

[0048] When the wheel hub is supported only by the first support rod 411 and the second support rod 422, the wheel hub may still turn to a certain extent, because the turning of the vehicle wheel is a rotational motion with the vertical direction as the rotation axis. The first support rod 411 and the second support rod 422 mainly constrain the freedom of the wheel hub in three translation directions, but the constraint force for the rotational freedom with the vertical direction as the rotation axis is relatively weak.

[0049] After the suction cup 431 abuts against the wheel hub, at this time, it is fixed relative to the base 1 itself. If the wheel hub rotates, it is actually trying to rotate the fixed suction cup 431, but this is difficult to achieve structurally. The anti-rotation part 43 restricts the rotational freedom of the wheel hub specifically through the abutment of the suction cup 431 against the outer wall of the wheel hub, and it is necessary to ensure the all-round stability of the vehicle during movement.

[0050] Preferably, the base 1 includes two main bodies 13, and the two main bodies 13 can move towards or away from each other in the second direction Y, and at least one wheel hub support assembly 4 is arranged on the main body 13.

[0051] It should be noted that when more than one wheel hub support assembly 4 is arranged on the main body 13, the wheel hub support assemblies 4 are arranged at intervals along the first direction X.

[0052] Each main body 13 is provided with a lifting assembly 2, a moving assembly 3, and a wheel hub support assembly 4, and each main body 13 is provided with a first accommodation groove 131.

[0053] In a specific embodiment, the base 1 further includes a plurality of hinges 14 arranged at intervals along the first direction X and a fourth driving part 15. Second accommodation grooves 132 are formed on the opposite end faces of the two main bodies 13 of the same base 1. The two ends of the hinge 14 are respectively connected to the bottom of the opposite second accommodation grooves 132, and the fourth driving part 15 is installed in one of the second accommodation grooves 132. The power output end of the fourth driving part 15 is connected to the bottom of the other second accommodation groove 132 to drive the two main bodies 13 of the same base 1 to move towards or away from each other.

[0054] Specifically, the fourth driving part 15 includes a fifth driving cylinder 151, and the fifth driving cylinder 151 uses an air cylinder or a hydraulic cylinder.

[0055] More specifically, the hinge 14 includes a plurality of hinge joints 141 arranged along the second direction Y. The hinge joint 141 includes two staggered hinge plates 1411. The middle parts of the two hinge plates 1411 have a first hinge hole 14111. The first hinge holes 14111 of the two hinge plates 1411 are connected by a pin. The two hinge plates 1411 can rotate relative to each other. Second hinge holes 14112 are provided at both ends of the hinge plate 1411, and the second hinge holes 14112 of the hinge plates 1411 of adjacent hinge joints 141 are connected by a pin.

[0056] Preferably, the visual sensing assembly 5 includes a fifth driving part 51, a rotating bracket 52, and a first visual sensor 53 rotatably arranged on the rotating bracket 52. The rotating bracket 52 is installed near the first end 11 of the base 1, the fifth driving part 51 is installed on the rotating bracket 52, and the power output end of the fifth driving part 51 is connected to the first visual sensor 53.

[0057] Specifically, the fifth driving part 51 is the eighth driving motor 511.

[0058] In a specific embodiment, the vision sensing component 5 further includes a plurality of second vision sensors, and the plurality of second vision sensors are respectively arranged at the end of the first support rod 411 away from the base 1.

[0059] Based on the above technical solution, the position of the vehicle is obtained through the first vision sensor 53, the moving component 3 drives the vehicle parking robot to move to the bottom of the vehicle, the eighth driving motor 511 drives the first vision sensor 53 to rotate to identify the position of the vehicle chassis, and the vehicle parking robot is adjusted according to the vehicle chassis information obtained by the first vision sensor 53, so that the central axis of the vehicle parking robot is aligned with the central axis of the vehicle. At this time, the base 1 is separated, and the vehicle parking robot moves along the central axis direction of the vehicle. Each base 1 obtains the position and size of its corresponding vehicle wheel through the second vision sensor located on the first support rod 411. The wheel support components 4 correspond to the vehicle wheels one by one. When each base 1 moves to the position where the power output end of the third driving cylinder 4332 and the rotating shaft of the wheel are in the same vertical direction, the fifth driving cylinder 151, the first driving motor, and the second driving motor drive the two main bodies 13 of the same base 1 to move away from each other, so that the main bodies 13 approach their respective corresponding wheels, that is, the wheel support components 4 on each main body 1 approach their respective corresponding wheels. The lifting driving cylinder 21 drives the lifting platform 22 to lift the lifting point of the vehicle. After the vehicle is lifted, the first driving part 412 drives the first support rod 411 to move to correspond to the vehicle wheel. During the process of the first support rod 411 extending outwards, the second vision sensor can obtain the wheel thickness. After the end of the first support rod 411 away from the base 1 protrudes a certain distance from the outer wall of the vehicle wheel, the first driving part 412 stops driving, and the lifting driving cylinder 21 drives the lifting platform 22 to descend, and the vehicle is placed on the first support rod 411.

[0060] The design of the two main bodies 13 moving away from each other can reduce the length of the first support rod 411 during support to a certain extent, and avoid the phenomenon that the first support rod 411 is easily damaged due to too long a moment when bearing the weight of the vehicle.

[0061] The first vision sensor 53 performs wide-area search, rough positioning and navigation. After the second vision sensor approaches the vehicle wheel on the first support rod 411, it performs fine guidance, precise alignment and local feature recognition, forming a complete sensing chain from far distance to near distance, and improving the intelligent level of the autonomous operation of the vehicle parking robot.

[0062] More preferably, the rotating bracket 52 has a plug-in part, and the second end 12 of the base 1 is provided with a slot that cooperates with the plug-in part for plugging.

[0063] In a specific embodiment, the rotating bracket 52 includes a connecting block 521 and two connecting columns 522 arranged on the upper end surface of the connecting block 521. The two connecting columns 522 are spaced along the second direction Y. The first vision sensor 53 is hinged between the two connecting columns 522. The eighth driving motor 511 is arranged on one of the connecting columns 522. The power output end of the eighth driving motor 511 passes through the connecting column 522 and is connected to the first vision sensor 53 to drive the first vision sensor 53 to rotate. The main body 13 is provided with a third slider 133 at the first end 11. The projection surface of the third slider 133 in the second direction Y is "T"-shaped. A sliding groove 5211 extending along the second direction Y is formed on the end surface of the connecting block 521 close to the base 1. The projection surface of the sliding groove 5211 in the second direction Y is "T"-shaped. The third slider 133 is slidably arranged in the sliding groove 5211. A second return spring 5212 is connected between the third slider 133 and the end of the sliding groove 5211 close to it. The insertion part is arranged on the connecting block 521, and the connecting block 521 is inserted and matched with the slot.

[0064] When the two main bodies 13 of the same base 1 move away from each other, the two third sliders 133 slide away from each other in the sliding groove 5211, and the two second return springs 5212 are compressed simultaneously. The connecting block 521 is in force balance in the second direction Y, which can ensure that the connecting block 521 is centered, so as to ensure that the first vision sensor 53 is centered, so as to avoid the deviation between the first vision sensor 53 and the central axis of the base 1 caused by the two main bodies 13 moving away from each other, thus causing difficulties in the linkage between visual acquisition and the control of the base 1. The sliding groove 5211 of the connecting block 521 limits the distance of the back-and-forth movement of the two main bodies 13; during the transportation of the car-parking robot, the first end 11 and the second end 12 of adjacent bases 1 are detachably connected through the insertion part and the slot.

[0065] Preferably, the car-parking robot further includes a braking assembly 6. The braking assembly 6 includes a brake block 61 and a sixth driving part. The sixth driving part is arranged at the bottom of the base 1. The power output end of the sixth driving part is connected to the brake block 61 for driving the brake block 61 to move in the vertical direction. A storage groove 134 corresponding to the position of the brake block 61 is provided on the upper surface of the base 1 (the sixth driving part is not shown in the drawings of the specification).

[0066] In a specific embodiment, the sixth driving part includes a sixth driving cylinder.

[0067] Specifically, the sixth driving cylinder adopts an air cylinder or a hydraulic cylinder.

[0068] When the car-parking robot is in transit, it can be stably stacked in the vertical direction by inserting the brake block 61 into the receiving groove 134. The brake block 61 of the upper car-parking robot is inserted into the receiving groove 134 of the lower car-parking robot. It can be detachably connected in the horizontal direction through the insertion block and the insertion slot.

[0069] The mating and inserting structure between the first end 11 and the second end 12 of the base 1 of the car-parking robot, and the vertical stacking structure between the brake block 61 and the receiving groove 134 provide a standardized and reliable arrangement method for the car-parking robot during transportation, significantly enhancing the stability of the car-parking robot during transportation and simplifying the loading and fixing operations.

[0070] In another embodiment, the car-parking robot further includes a crossing component 7. Through grooves 135 corresponding to the rollers 31 one by one are formed on the base 1. The through grooves 135 extend in the vertical direction. The crossing component 7 includes a speed bump crossing member 71 and a ninth driving motor 72. The speed bump crossing member 71 includes a crossing rod 711 and abutting heads 712 arranged at both ends of the crossing rod 711. The crossing rod 711 is hinged in the through groove 135. The rotating shaft of the crossing rod 711 extends along the second direction Y. The power output end of the ninth driving motor 72 is connected to the crossing rod 711 for driving the crossing rod 711 to rotate. The rotation radius of the speed bump crossing member 71 is larger than the diameter of the roller 31.

[0071] Specifically, when the first vision sensor 53 detects that there is a speed bump in front of the base 1 and it needs to cross the speed bump, the ninth driving motor 72 drives the crossing rod 711 to rotate. At this time, the abutting head 712 abuts against the ground in front of the speed bump. The ninth driving motor 72 continues to rotate, the roller 31 leaves the ground and crosses the speed bump, the abutting head 712 disengages from the abutment with the ground, and the ninth driving motor 72 stops rotating, and the roller 31 contacts the ground again.

[0072] Speed bumps are common obstacles on the driving road. For car-parking robots with a lower chassis or smaller wheel diameter, directly passing through them may cause impacts, jams or even damage. The crossing component 7 improves the ability to pass speed bumps, enhances the smoothness of the operation of the car-parking robot, protects itself and the vehicle load, and improves the environmental adaptability of the car-parking.

[0073] In summary, the embodiment of the present invention provides a parking robot. By setting at least two detachably connected bases 1, it can obtain the chassis position, wheel hub position, wheel hub size and wheel hub thickness of the vehicle through the visual sensing component 5, and flexibly adjust the distance between the bases 1 through the moving component 3. By setting a plurality of wheel hub support components 4, the first support rod 411 of the main support part 41 can move on the plane jointly defined by the first direction X and the second direction Y, and can accurately adapt to vehicles with different wheelbases and different wheel hub sizes, effectively support the wheel hubs, so that the parking robot can flexibly adapt to vehicles with different sizes (wheelbase, wheelbase, wheel hub size), and perform the parking operation by means of wheel hub support, avoiding the damage to the tires or chassis that may be caused by the traditional method, and improving the versatility, accuracy and safety of the parking operation.

[0074] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and replacements can be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A car moving robot, characterized in that, Comprising: At least two bases (1), the bases (1) are arranged along a first direction (X), the bases (1) have a first end (11) and a second end (12) in the first direction (X), when two adjacent bases (1) are connected to each other, the first end (11) of one base (1) is detachably connected to the second end (12) of the other base (1); A lifting assembly (2), the lifting assembly (2) is arranged on the upper surface of the base (1), and the lifting assembly (2) is used for jacking up an automobile; A moving assembly (3), the moving assembly (3) is arranged at the bottom of the base (1) and is used for driving the base (1) to move; At least two wheel hub support assemblies (4), at least one of the wheel hub support assemblies (4) is installed on each side of the base (1) in the first direction (X), the wheel hub support assembly (4) includes a main support portion (41), the main support portion (41) includes two first support rods (411) extending along a second direction (Y) and a first driving portion (412), the two first support rods (411) are spaced apart along the first direction (X), the first driving portion (412) is arranged at the bottom of the base (1), and a power output end of the first driving portion (412) is in transmission connection with the two first support rods (411) to drive the first support rods (411) to move on a plane defined by the first direction (X) and the second direction (Y); A vision sensing assembly (5), the vision sensing assembly (5) is installed on the base (1); Wherein, the first direction (X) and the second direction (Y) are perpendicular to each other.

2. The car-parking robot according to claim 1, characterized in that, The wheel hub support assembly (4) further includes an auxiliary support portion (42), the auxiliary support portion (42) includes a first connecting rod (421), a second support rod (422), and a second driving portion (423), a first accommodation groove (131) for accommodating the auxiliary support portion (42) is formed on the upper surface of the base (1), the first accommodation groove (131) includes a first groove body (1311) extending along the first direction (X) and a second groove body (1312) extending along the second direction (Y), an end of the first groove body (1311) is communicated with the second groove body (1312), the second support rod (422) extends along the second direction (Y), the second support rod (422) can be accommodated in the second groove body (1312), the first connecting rod (421) can be accommodated in the first groove body (1311), one end of the first connecting rod (421) is hinged to the first groove body (1311), the other end is connected to the second support rod (422), and a power output end of the second driving portion (423) is connected to the first connecting rod (421) for driving the first connecting rod (421) to rotate.

3. The car-parking robot according to claim 2, wherein, The auxiliary support part (42) further includes a first return spring (424). The first connecting rod (421) includes a sleeve rod (4211) and a sliding rod (4212) slidably inserted into the sleeve rod (4211). The sleeve rod (4211) is hinged in the first groove body (1311). The sliding rod (4212) is connected to the second support rod (422). The first return spring (424) is sleeved on the outer periphery of the first connecting rod (421). One end of the first return spring (424) is connected to the sleeve rod (4211), and the other end is connected to the sliding rod (4212).

4. The car-parking robot according to claim 2, wherein, The auxiliary support part (42) further includes a sleeve (425). The sleeve (425) is detachably and rotatably sleeved on the outer periphery of the second support rod (422). An anti-wear layer is provided on the outer periphery of the sleeve (425).

5. The car-parking robot according to claim 2, wherein, The hub support assembly (4) includes two of the auxiliary support parts (42). The two auxiliary support parts (42) are spaced apart from the main support part (41) along the first direction (X).

6. The parking robot according to claim 1, wherein The hub support assembly (4) further includes an anti-steering part (43). The anti-steering part (43) is arranged on the base (1). The anti-steering part (43) includes a suction cup (431), a transmission rod group (432) and a third driving part (433). The third driving part (433) drives the suction cup (431) to move to a receiving position or an abutting position through the transmission rod group (432). When the suction cup (431) is in the receiving position, the suction cup (431) is located below the base (1). When the suction cup (431) is in the abutting position, the suction cup (431) abuts against the outer wall of the vehicle hub.

7. The parking robot according to claim 1, characterized in that, The base (1) includes two main bodies (13). The two main bodies (13) can move towards or away from each other along the second direction (Y). At least one hub support assembly (4) is arranged on the main body (13).

8. The car-parking robot according to claim 1, wherein The visual sensing assembly (5) includes a fifth driving part (51), a rotating bracket (52) and a first visual sensor (53) rotatably arranged on the rotating bracket (52). The rotating bracket (52) is installed at the first end (11) of the base (1). The fifth driving part (51) is installed on the rotating bracket (52). The power output end of the fifth driving part (51) is connected to the first visual sensor (53).

9. The parking robot according to claim 8, wherein, The rotating bracket (52) has a plugging part. The second end (12) of the base (1) is provided with a slot matching and plugging with the plugging part.

10. The car-moving robot according to claim 1, characterized in that, It further includes a brake assembly (6). The brake assembly (6) includes a brake block (61) and a fifth driving part (51). The fifth driving part (51) is arranged at the bottom of the base (1). The power output end of the fifth driving part (51) is connected to the brake block (61) and is used to drive the brake block (61) to move in the vertical direction. A receiving groove (134) corresponding to the position of the brake block (61) is provided on the upper surface of the base (1).

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