Dragging clamping parking robot with liftable chassis

Abstract

The utility model belongs to the field of intelligent parking, and provides a dragging and clamping parking robot with a liftable chassis. The parking robot comprises a head part, a front part and a rear part; the head part comprises a head part rack, a steering wheel and a steering wheel; one steering wheel and one steering wheel are mounted on the two sides of the bottom of the head rack respectively; the front part comprises a front rack, a roller lifting mechanism and a front clamping mechanism, the front rack is horizontally arranged, and the roller lifting mechanism and the front clamping mechanism are arranged at the bottom of the front rack; the rear part comprises a rear rack, a roller lifting mechanism and a rear clamping mechanism, the rear rack is horizontally arranged, and the roller lifting mechanism and the rear clamping mechanism are arranged at the bottom of the rear rack; wherein a sliding mechanism is arranged between the head rack and the front rack, a telescopic mechanism is arranged between the front rack and the rear rack, and the sliding mechanism and the roller lifting mechanism jointly form a chassis lifting structure. And the connectivity of the head rack and the front rack is ensured, so that the chassis can be lifted, and the trafficability is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of intelligent parking, and relates to a parking robot, in particular to a trailer clamping parking robot with liftable chassis. BACKGROUND

[0002] With the rapid popularization of household cars, the demand for urban parking spaces is increasing. On the one hand, there is a shortage of parking spaces, and on the other hand, parking lots are becoming larger and larger, resulting in people spending a lot of time looking for parking spaces in parking lots. In order to solve the parking problem, some intelligent parking lots use automated guided vehicles (AGV) to transport cars to designated locations.

[0003] The existing parking robot mainly adopts an integrated structure, that is, the support part of the parking robot for lifting the vehicle to be transported is an integrated structure. When the parking robot does not use other devices for vehicle transportation, it is generally necessary to extend into the vehicle bottom to clamp the wheels to make them leave the ground. In order to be applicable to most vehicle models, it is required that the chassis of the parking robot be extremely low. The excessively low chassis reduces the passability of the parking robot and also reduces the running speed of the parking robot. SUMMARY

[0004] In view of the above technical problems in the prior art, the purpose of the utility model is to provide a trailer clamping parking robot with liftable chassis, which is provided with a chassis lifting structure, so that the parking robot is lifted while clamping the vehicle, improving the passability of the parking robot and increasing the travel speed of the parking robot.

[0005] The specific technical solutions adopted by the utility model are as follows:

[0006] A trailer clamping parking robot with liftable chassis, the parking robot comprises three parts, in order, a head, a front part and a rear part;

[0007] The head comprises a head frame, a rudder wheel and a steering wheel; one rudder wheel and one steering wheel are respectively installed on both sides of the bottom of the head frame, providing the parking robot with travel and steering functions;

[0008] The front part comprises a front frame, a roller lifting mechanism and a front clamping mechanism, the front frame is horizontally arranged, and the bottom thereof is provided with the roller lifting mechanism and the front clamping mechanism;

[0009] The rear part comprises a rear frame, a roller lifting mechanism and a rear clamping mechanism, the rear frame is horizontally arranged, and the bottom thereof is provided with the roller lifting mechanism and the rear clamping mechanism;

[0010] The sliding mechanism is arranged between the head frame and the front frame, and the telescopic mechanism is arranged between the front frame and the rear frame, and the sliding mechanism and the roller lifting mechanism jointly constitute a chassis lifting structure.

[0011] In a further technical solution, the roller lifting mechanism comprises a rolling wheel assembly, a fixed seat, a linkage assembly and a lifting motor; the rolling wheel assembly comprises one or more rolling wheels, the rolling wheels of a rolling wheel group are arranged in a row, and the two ends of the wheel shafts of all the rolling wheels are connected together by rolling wheel connecting pieces; the linkage assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is rotatably mounted on the outside of the rolling wheel connecting piece, the other end thereof is rotatably connected together with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected together with one end of the third connecting rod, the third connecting rod is fixedly connected with a push rod of the lifting motor, and the first connecting rod is rotatably mounted on the fixed seat at a position close to the second connecting rod in the middle; the fixed seat and the lifting motor are fixedly mounted at the bottom of the front frame or the rear frame respectively.

[0012] In the above technical solution, the lifting motor is started to push the push rod to shorten the distance between the third connecting rod and the rolling wheel group, drive the second connecting rod and the third connecting rod to rotate, and because the distance between the fixed seat and the cylinder of the lifting motor is fixed, the first connecting rod can only rotate around the fixed seat, one end is raised high and the other end is lowered, the height of the first connecting rod in the vertical direction is increased, and the lifting action is completed. Conversely, the lifting motor is controlled to retract the push rod to increase the distance between the third connecting rod and the rolling wheel group, drive the second connecting rod and the third connecting rod to rotate, and because the distance between the fixed seat and the cylinder of the lifting motor is fixed, the first connecting rod can only rotate around the fixed seat, both ends are gradually lowered to the same height, the height of the first connecting rod in the vertical direction is reduced, and the height of the first connecting rod approaches the height of the rolling wheel connecting piece, and the lowering action is completed. Through the above process combined with the sliding mechanism, the chassis of the parking robot can be raised and lowered.

[0013] In a further technical solution, the sliding mechanism comprises a guide rail, a pulley and a connecting plate; two guide rails are fixed vertically at the rear end of the head frame; the connecting plate is arranged vertically, a plurality of pulleys are arranged on the front side of the connecting plate, the pulleys are matched with the two guide rails respectively, so that the connecting plate can slide back and forth along the vertical direction; and the rear side of the connecting plate is fixedly connected with the front end of the front frame. When the roller lifting mechanism is raised, the pulleys are raised along the guide rails; and when the roller lifting mechanism is lowered, the pulleys are lowered along the guide rails. The raising and lowering of the chassis will not affect the connection relationship between the front frame and the head frame.

[0014] In a further technical solution, the connecting plate comprises a front connecting plate and a rear connecting plate, the front connecting plate and the rear connecting plate are fixed together in parallel, the rear connecting plate is fixedly connected with the front end of the front frame, and the front connecting plate is connected with the head frame.

[0015] In a further technical solution, the head further comprises a battery, a navigation rod and a controller; the battery and the controller are installed in the head frame and are respectively used for providing electric energy to all required components of the parking robot and controlling the start and stop of all required components of the parking robot; the navigation rod is vertically installed at the front end center of the head frame, and a navigation sensor is installed at the top of the navigation rod to provide navigation function for the parking robot. The controller comprises a hydraulic cylinder used for controlling components of the parking robot which need to be driven by the hydraulic cylinder.

[0016] In a further technical solution, the telescopic mechanism comprises a telescopic motor, a motor fixing frame, a telescopic lead screw, a lead screw nut and a cross guide rail; the telescopic motor is fixedly installed at the bottom of the front frame through the motor fixing frame and drives the telescopic lead screw to rotate; the telescopic lead screw extends along the center line of the front frame; the rear frame is fixedly connected with the lead screw nut, and the lead screw nut cooperates with the telescopic lead screw; the part between the front frame and the rear frame which is in sliding contact is provided with the cross guide rail which is parallel to the telescopic lead screw. The telescopic motor is used for providing power, the telescopic lead screw and the lead screw nut are used for power transmission, and the cross guide rail is used for guiding and loading. When the telescopic motor is started, the telescopic lead screw is driven to rotate clockwise or counterclockwise, the lead screw nut is driven to move linearly along the telescopic lead screw, and the rear frame is driven to move linearly along the cross guide rail, so that the length of the frame is adjusted and the distance between the front clamping mechanism and the rear clamping mechanism is adjusted.

[0017] In a further technical solution, the telescopic mechanism further comprises a plurality of supporting wheels; the supporting wheels are arranged on both sides of the cross guide rail and are fixed on the front frame and are used for supporting the rear frame and facilitating the mutual sliding between the front frame and the rear frame.

[0018] In a further technical solution, the telescopic mechanism further comprises a connecting drag chain and a drag chain box; two drag chains are respectively arranged in the drag chain box on both sides of the bottom of the front frame and the rear frame in a folded manner, the drag chain box comprises a front drag chain box and a rear drag chain box, and the front drag chain box and the rear drag chain box are respectively installed at the bottom of the front frame and the bottom of the rear frame. When the telescopic mechanism is telescoped, the drag chain is dragged out or pushed back in the drag chain box, which is helpful for the stable operation of the chassis.

[0019] In a further technical solution, the front clamping mechanism comprises a first front clamping arm, a second front clamping arm and a clamping arm rotating mechanism, the rear clamping mechanism comprises a first rear clamping arm, a second rear clamping arm and a clamping arm rotating mechanism, and the first front clamping arm, the second front clamping arm, the first rear clamping arm and the second rear clamping arm are provided with downward inclined surfaces and sliding rollers at portions in contact with the tire.

[0020] In a further technical solution, the clamping arm rotating mechanism comprises a clamping arm rotating motor, a clamping arm lead screw and an incomplete gear, the clamping arm rotating motor is fixedly installed on the bottom of the front frame or the bottom of the rear frame and drives the clamping arm lead screw to rotate, the clamping arm lead screw is rotatably installed on the bottom of the front frame or the bottom of the rear frame, the second front clamping arm, the first rear clamping arm or the second rear clamping arm is fixedly connected with a toothless portion of the incomplete gear, the incomplete gear is rotatably installed on the bottom of the front frame or the bottom of the rear frame, and a toothed portion of the incomplete gear is matched with threads of the clamping arm lead screw.

[0021] The initial state of the chassis-liftable towing and clamping parking robot is that the telescopic mechanism is contracted to the shortest state, the roller lifting mechanism is at the lowest position, and the first front clamping arm, the first rear clamping arm and the second rear clamping arm are all in the retracted state.

[0022] The chassis-liftable towing and clamping parking robot has the following beneficial effects:

[0023] 1. The parking robot has a head and a low body structure, which ensures the power, passability, navigation and other functions, and has a very low chassis suitable for the forklift of the vehicle with a low chassis, and has wide applicability;

[0024] 2. The roller lifting mechanism and the sliding mechanism together constitute a chassis lifting structure, which ensures the connection relationship between the head frame and the front frame, and also makes the chassis can be raised, improves the passability of the parking robot, and can pass through some small size ditch and uneven ground;

[0025] 3. The telescopic frame and the rotatable clamping arm are adopted, which is suitable for vehicles with different wheelbase, and reduces the occupied space in non-working state. DETAILED DESCRIPTION

[0026] Figure 1 It is a perspective structural schematic view of the parking robot of the embodiment of the utility model;

[0027] Figure 2 It is a perspective structural schematic view of the parking robot of the embodiment of the utility model;

[0028] Figure 3 It is a structural schematic view of the roller lifting mechanism of the parking robot of the embodiment of the utility model;

[0029] Figure 4 It is a structural schematic view of the roller lifting mechanism of the parking robot of the embodiment of the utility model in the lowered state;

[0030] Figure 5 It is a perspective structural schematic view of the roller lifting mechanism of the parking robot of the embodiment of the utility model;

[0031] Figure 6 It is a perspective structural schematic view of the parking robot clamping arm in the retracted state of the embodiment of the utility model;

[0032] Figure 7 It is a structural schematic view of the parking robot clamping arm rotating mechanism and telescopic mechanism of the embodiment of the utility model;

[0033] Figure 8 It is a structural schematic view of the parking robot sliding mechanism of the embodiment of the utility model;

[0034] Among them, 1 is the head, 10 is the head frame, 11 is the rudder wheel, 12 is the steering wheel, 13 is the battery, 14 is the navigation rod, 15 is the controller, 16 is the hydraulic cylinder;

[0035] 2 is front part, 20 is front frame, 21 is roller lifting mechanism, 211 is rolling wheel group, 212 is fixing seat, 213 is linkage assembly, 214 is lifting motor, 215 is rolling wheel, 216 is rolling wheel connecting piece, 217 is first connecting piece, 218 is second connecting piece, 219 is third connecting piece, 22 is front clamping mechanism, 221 is first front clamping arm, 222 is second front clamping arm, 23 is clamping arm rotating mechanism, 231 is clamping arm rotating motor, 232 is clamping arm lead screw, 233 is incomplete gear;

[0036] 3 is rear part, 30 is rear frame, 31 is rear clamping mechanism, 311 is first rear clamping arm, 312 is second rear clamping arm;

[0037] 4 is sliding mechanism, 41 is guide rail, 42 is pulley, 43 is connecting plate, 431 is front connecting plate, 432 is rear connecting plate;

[0038] 5 is telescopic mechanism, 51 is telescopic motor, 52 is telescopic lead screw, 53 is lead screw nut, 54 is cross guide rail, 55 is supporting wheel, 56 is drag chain. DETAILED DESCRIPTION

[0039] In order to more clearly illustrate the technical scheme of the present application, the following will be described in conjunction with specific embodiments and drawings. Obviously, the embodiments described below are only some of the embodiments of the present application, and other examples can also be obtained by those skilled in the art without creative labor on the premise of the embodiments. EMBODIMENT

[0040] The present embodiment relates to a chassis liftable towing and clamping parking robot, as shown in Figure 1 and Figure 2 The parking robot comprises three parts, in order, head 1, front part 2 and rear part 3.

[0041] The head comprises head frame 10, rudder wheel 11 and steering wheel 12; one of the rudder wheels 11 and one of the steering wheels 12 are respectively installed on both sides of the bottom of the head frame 10, providing the parking robot with the functions of traveling and steering. The head further comprises battery 13, navigation rod 14 and controller 15; the battery 13 and the controller 15 are installed in the head frame 10, respectively used for providing electrical energy to all the needed parts of the parking robot and controlling the start and stop of all the needed parts of the parking robot; the navigation rod 14 is vertically installed at the front end center of the head frame 10, and a navigation sensor is installed at the top of the navigation rod 14, providing the parking robot with the function of navigation. The controller 15 comprises hydraulic cylinder 16, used for controlling the parts of the parking robot that need to be driven by the hydraulic cylinder 16.

[0042] The front part 2 includes a front frame 20, a roller lifting mechanism 21 and a front clamping mechanism 22. The front frame 20 is horizontally arranged, and the roller lifting mechanism 21 and the front clamping mechanism 22 are provided at its bottom.

[0043] The rear part 3 includes a rear frame 30, a roller lifting mechanism 21 and a rear clamping mechanism 31. The rear frame 30 is horizontally arranged, and the roller lifting mechanism 21 and the rear clamping mechanism 31 are provided at its bottom.

[0044] like Figures 3-5 As shown, the roller lifting mechanism 21 includes a roller assembly 211, a fixed base 212, a linkage assembly 213, and a lifting motor 214; the roller assembly 211 includes one or more rollers 215, the rollers 215 of a roller assembly 211 are arranged in a row, and the two ends of the axles of all rollers 215 are connected together by roller connectors 216; the linkage assembly 213 includes a first connecting rod 217, a second connecting rod 218, and a third connecting rod 219, one end of the first connecting rod 217 being rotatable. The first connecting rod 217 is rotatably connected to one end of the second connecting rod 218, and the other end of the second connecting rod 218 is rotatably connected to one end of the third connecting rod 219. The third connecting rod 219 is fixedly connected to the push rod of the lifting motor 214. The middle part of the first connecting rod 217 is rotatably mounted on the fixed seat 212 near the second connecting rod 218. The fixed seat 212 and the lifting motor 214 are respectively fixedly mounted on the bottom of the front frame 20 or the rear frame 30.

[0045] Activating the lifting motor pushes the push rod, shortening the distance between the third connecting rod and the rolling wheel assembly. This causes the second and third connecting rods to rotate. Since the distance between the fixed seat and the lifting motor's cylinder is fixed, the first connecting rod can only rotate around the fixed seat, with one end rising high and the other end lowering, increasing the vertical height of the first connecting rod and completing the lifting action. Conversely, controlling the lifting motor to retract the push rod increases the distance between the third connecting rod and the rolling wheel assembly, causing the second and third connecting rods to rotate. Again, since the distance between the fixed seat and the lifting motor's cylinder is fixed, the first connecting rod can only rotate around the fixed seat, with both ends gradually approaching each other's height, decreasing the vertical height of the first connecting rod to approach the height of the rolling wheel connector, completing the lowering action. By combining this process with a sliding mechanism, the chassis of the parking robot can be raised and lowered.

[0046] like Figure 6As shown, the front clamping mechanism 22 includes a first front clamping arm 221, a second front clamping arm 222 and a clamping arm rotating mechanism 23, the rear clamping mechanism 31 includes a first rear clamping arm 311, a second rear clamping arm 312 and a clamping arm rotating mechanism 23, the first front clamping arm 221, the second front clamping arm 222, the first rear clamping arm 311 and the second rear clamping arm 312 are provided with downward inclined surfaces and sliding rollers 223 at the portions in contact with the tire. Two first front clamping arms 221 are symmetrically fixedly installed at the bottom of the front frame 20, two second front clamping arms 222 are installed at the bottom of the front frame 20 at positions corresponding to the two first front clamping arms 221 through the clamping arm rotating mechanism 23; two first rear clamping arms 311 and two second rear clamping arms 312 are installed at the bottom of the rear frame through the clamping arm rotating mechanism 23, and the first rear clamping arm 311 and the second rear clamping arm 312 are symmetrically outwardly rotatably arranged, and the rotating direction of the second front clamping arm 222 is the same as that of the second rear clamping arm 312.

[0047] The clamping arm rotating mechanism 23 includes a clamping arm rotating motor 231, a clamping arm lead screw 232 and an incomplete gear 233; the clamping arm rotating motor 231 is fixedly installed at the bottom of the front frame 20 or the bottom of the rear frame 30 and drives the clamping arm lead screw 232 to rotate, the clamping arm lead screw 232 is rotatably installed at the bottom of the front frame 20 or the bottom of the rear frame 30; the second front clamping arm 222, the first rear clamping arm 311 or the second rear clamping arm 312 is fixedly connected with the toothless portion of the incomplete gear 233, and the incomplete gear 233 is rotatably installed at the bottom of the front frame 20 or the bottom of the rear frame 30; the toothed portion of the incomplete gear 233 and the thread of the clamping arm lead screw 232 are matched with each other. When the clamping arm lead screw 232 rotates under the drive of the clamping arm motor 231, the incomplete gear 233 is driven to rotate, thereby driving the second front clamping arm 222, the first rear clamping arm 311 or the second rear clamping arm 312 to rotate.

[0048] The head frame 10 and the front frame 20 are provided with a sliding mechanism 4, the front frame 20 and the rear frame 30 are provided with an extension mechanism 5, and the sliding mechanism and the roller lifting mechanism jointly constitute a chassis lifting structure.

[0049] The sliding mechanism 4 comprises guide rails 41, pulleys 42 and a connecting plate 43; two guide rails 41 are vertically fixed at the rear end of the head frame 10; the connecting plate 43 is vertically arranged and provided with a plurality of pulleys 42 on the front side, which are matched with the two guide rails 41 respectively, so that the connecting plate 43 can slide back and forth in the vertical direction; the rear side of the connecting plate 43 is fixedly connected with the front end of the front frame 20. When the roller lifting mechanism is raised, the pulleys are raised along the guide rails; when the roller lifting mechanism is lowered, the pulleys are lowered along the guide rails. The raising and lowering of the chassis will not affect the connection relationship between the front frame and the head frame. The connecting plate 43 comprises a front connecting plate 431 and a rear connecting plate 432, which are fixed together in parallel, the rear connecting plate 432 is fixedly connected with the front end of the front frame 20, and the front connecting plate 431 is connected with the head frame 10.

[0050] The telescopic mechanism 5 comprises a telescopic motor 51, a motor fixing frame, a telescopic lead screw 52, a screw nut 53 and a cross guide rail 54; the telescopic motor 51 is fixedly installed at the bottom of the front frame 20 through the motor fixing frame and drives the telescopic lead screw 52 to rotate; the telescopic lead screw 52 extends along the center line of the front frame; the rear frame 30 is fixedly connected with the screw nut 53, which is matched with the telescopic lead screw 52; the part between the front frame 20 and the rear frame 30 in sliding contact is provided with the cross guide rail 54, which is parallel to the telescopic lead screw 52. The telescopic motor 51 is used to provide power, the telescopic lead screw 52 and the screw nut 53 are used for power transmission, and the cross guide rail 54 is used for guiding and load. When the telescopic motor is started, the telescopic lead screw rotates clockwise or counterclockwise, driving the screw nut to move linearly along the telescopic lead screw, i.e. driving the rear frame to move linearly along the cross guide rail, so as to realize the adjustment of the length of the frame and the distance between the front clamping mechanism and the rear clamping mechanism.

[0051] The telescopic mechanism further comprises a plurality of supporting wheels 55, which are arranged on both sides of the cross guide rail 54 and fixed on the front frame 20, used for supporting the rear frame 30 and facilitating the mutual sliding between the front and rear frames. The telescopic mechanism further comprises a connecting drag chain 56 and a drag chain box; two drag chains 56 are respectively arranged in the drag chain box on both sides of the bottom of the front frame 20 and the rear frame 30 in a folded manner, the drag chain box comprises a front drag chain box and a rear drag chain box, which are respectively installed at the bottom of the front frame 20 and the bottom of the rear frame 30. When the telescopic mechanism is telescoped, the drag chain 56 is pulled out or pushed back in the drag chain box, which helps to stabilize the operation of the chassis.

[0052] The initial state of the chassis liftable towing and clamping parking robot is that the telescopic mechanism is contracted to the shortest state, the roller lifting mechanism is at the lowest position, the first front clamping arm, the first rear clamping arm and the second rear clamping arm are all in the retracted state. When it lifts the vehicle, the steering wheel and the steering wheel are controlled to be inserted under the vehicle from the front or the rear of the vehicle, when the first front clamping arm hits the wheel, the insertion action is no longer performed, and the telescopic mechanism is controlled to be elongated; the clamping arm rotating mechanism of the second front clamping arm, the first rear clamping arm and the second rear clamping arm is controlled to rotate and pop out to press the wheel to promote the wheel to be pressed on the clamping arm, so that the tires of the vehicle are all off the ground, then the roller lifting mechanism is started to be raised, and the action of lifting the vehicle is completed. When it lowers the vehicle, the roller lifting mechanism is first started to be lowered, then the clamping arm rotating mechanism of the second front clamping arm, the first rear clamping arm and the second rear clamping arm is controlled to rotate and retract, so that the tires of the vehicle fall on the ground; the telescopic mechanism is controlled to be contracted to the shortest state, and the idler wheel and the steering wheel are controlled to be separated from the front or the rear of the vehicle.

[0053] The above specific embodiments are only for illustrating the technical concept and structural features of the utility model, and the purpose is to enable the persons skilled in the art to implement it, but the above content does not limit the protection scope of the utility model, any equivalent changes or modifications made according to the spirit and essence of the utility model should fall within the protection scope of the utility model. The parts not involved in the utility model are the same as the prior art or can be realized by using the prior art.

Claims

1. A towing and clamping parking robot with a liftable chassis, characterized in that, The parking robot consists of three parts, namely the head, the front part, and the rear part; The head includes a head frame, a steering wheel, and a steering wheel; one steering wheel and one steering wheel are respectively installed on both sides of the bottom of the head frame to provide the parking robot with movement and steering functions; The front part includes a front frame, a roller lifting mechanism and a front clamping mechanism. The front frame is horizontally arranged, and the bottom of the front frame is provided with a roller lifting mechanism and a front clamping mechanism. The rear part includes a rear frame, a roller lifting mechanism and a rear clamping mechanism. The rear frame is horizontally arranged, and the roller lifting mechanism and the rear clamping mechanism are provided at its bottom. The head frame and the front frame are provided with a sliding mechanism, and the front frame and the rear frame are provided with a telescopic mechanism. The sliding mechanism and the roller lifting mechanism together form a chassis lifting structure.

2. The lifting-mounted, towing, clamping, and parking robot according to claim 1, characterized in that, The roller lifting mechanism includes a roller assembly, a fixed base, a linkage assembly, and a lifting motor. The roller assembly includes one or more rollers, with the rollers of a roller group arranged in a row, and the two ends of the axles of all rollers connected together by roller connectors. The linkage assembly includes a first connecting rod, a second connecting rod, and a third connecting rod. One end of the first connecting rod is rotatably mounted on the outside of the roller connector, and its other end is rotatably connected to one end of the second connecting rod. The other end of the second connecting rod is rotatably connected to one end of the third connecting rod. The third connecting rod is fixedly connected to the push rod of the lifting motor. The middle part of the first connecting rod, near the second connecting rod, is rotatably mounted on the fixed base. The fixed base and the lifting motor are respectively fixedly mounted on the bottom of the front frame or the rear frame.

3. The lifting-mounted, towing, clamping, and parking robot according to claim 1, characterized in that, The sliding mechanism includes guide rails, pulleys, and a connecting plate; two guide rails are vertically fixed to the rear end of the head frame; the connecting plate is vertically arranged, and multiple pulleys are provided on its front side, with each pulley cooperating with one of the two guide rails to allow the connecting plate to slide back and forth in the vertical direction; the rear side of the connecting plate is fixedly connected to the front end of the front frame.

4. The lifting-mounted, towing, clamping, and parking robot according to claim 3, characterized in that, The connecting plate includes a front connecting plate and a rear connecting plate. The front connecting plate and the rear connecting plate are fixed together in parallel. The rear connecting plate is fixedly connected to the front end of the front frame. The front connecting plate is connected to the head frame.

5. The lifting-mounted, towing, clamping, and parking robot according to claim 1, characterized in that, The head also includes a battery, a navigation stick, and a controller; the battery and controller are installed inside the head frame and are used to provide power to all the necessary components of the parking robot and to control the start and stop of all the necessary components of the parking robot, respectively; the navigation stick is vertically installed at the front center of the head frame, and a navigation sensor is installed on its top to provide navigation function for the parking robot; the controller includes a hydraulic cylinder for controlling the components of the parking robot that require hydraulic cylinder drive.

6. The lifting-mounted, towing, clamping, and parking robot according to claim 1, characterized in that, The telescopic mechanism includes a telescopic motor, a motor mounting bracket, a telescopic lead screw, a lead screw nut, and a cross guide rail. The telescopic motor is fixedly installed at the bottom of the front frame via the motor mounting bracket and drives the telescopic lead screw to rotate. The telescopic lead screw extends along the center line of the front frame. The rear frame is fixedly connected to the lead screw nut, and the lead screw nut cooperates with the telescopic lead screw. A cross guide rail is provided at the part where sliding contact occurs between the front frame and the rear frame, and it is parallel to the telescopic lead screw.

7. The lifting-mounted, towing, clamping, and parking robot according to claim 6, characterized in that, The telescopic mechanism also includes a roller assembly; the roller assembly includes multiple rollers, which are arranged on both sides of the cross guide rail and fixed to the front frame.

8. The lifting-mounted, towing, clamping, and parking robot according to claim 6, characterized in that, The telescopic mechanism also includes a connecting cable chain and a cable chain box; the two cable chains are respectively folded and disposed in the cable chain boxes on both sides of the bottom of the front frame and the rear frame, the cable chain boxes including a front cable chain box and a rear cable chain box, which are respectively installed at the bottom of the front frame and the bottom of the rear frame.

9. The lifting-mounted, towing, clamping, and parking robot with a height-adjustable chassis according to claim 1, characterized in that, The front clamping mechanism includes a first front clamping arm, a second front clamping arm, and a clamping arm rotation mechanism. The rear clamping mechanism includes a first rear clamping arm, a second rear clamping arm, and a clamping arm rotation mechanism. The portions of the first front clamping arm, the second front clamping arm, the first rear clamping arm, and the second rear clamping arm that contact the tire are provided with downward inclined surfaces and sliding rollers. The two first front clamping arms are symmetrically fixedly installed at the bottom of the front frame. The two second front clamping arms are installed at the bottom of the front frame corresponding to the two first front clamping arms via the clamping arm rotation mechanism. The two first rear clamping arms and the two second rear clamping arms are installed at the bottom of the rear frame via the clamping arm rotation mechanism. The first rear clamping arms and the second rear clamping arms are symmetrically rotated outwards, and the rotation direction of the second front clamping arms is the same as the rotation direction of the second rear clamping arms.

10. The lifting-mounted, towing, clamping, and parking robot according to claim 9, characterized in that, The clamping arm rotation mechanism includes a clamping arm rotation motor, a clamping arm lead screw, and an incomplete gear. The clamping arm rotation motor is fixedly installed at the bottom of the front frame or the bottom of the rear frame and drives the clamping arm lead screw to rotate. The clamping arm lead screw is rotatably installed at the bottom of the front frame or the bottom of the rear frame. The second front clamping arm, the first rear clamping arm, or the second rear clamping arm is fixedly connected to the toothless part of the incomplete gear. The incomplete gear is rotatably installed at the bottom of the front frame or the bottom of the rear frame. The toothed part of the incomplete gear engages with the thread of the clamping arm lead screw. When the clamping arm lead screw rotates under the drive of the clamping arm motor, it drives the incomplete gear to rotate, thereby driving the second front clamping arm, the first rear clamping arm, or the second rear clamping arm to rotate.

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