A parking robot

Abstract

The utility model belongs to the AGV technical field, and disclose a parking robot, include: frame, clamping arm subassembly, drive walking component, drive walking component setting in the frame bottom and ground contact, the clamping arm subassembly symmetry sets up in the frame both sides telescopic clamping tire, the utility model drive subassembly's swing bridge structure realizes drive unit movement by the swing of connecting rod no.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to an AGV parking robot. Background Technology

[0002] Car moving trucks on the market require the car's wheels to be secured first using wheel clamping devices before moving the car to the parking position.

[0003] The prior art disclosure (announcement) number: CN116101231B, discloses an AGV parking robot, which includes: a chassis, a differential drive device, a tire-clamping mechanism, swivel casters, a control system, a power supply system, a navigation system, and a safety system. It can enter the bottom of a car and lift the entire vehicle through the tire-clamping mechanism. It has strong controllability and transports the entire vehicle to the designated work position according to the scheduling system and navigation system, reducing the uncertainty of human factors and avoiding accidents between people and vehicles. Using a parking robot can greatly reduce the input of drivers and save labor costs. The parking robot can enter the bottom of a car and lift the entire vehicle through the tire-clamping mechanism to transport the car to the parking position by using the differential drive device and swivel casters. However, a single differential drive device may have insufficient horsepower and may be unstable when driving on uneven ground, resulting in uneven force and the swivel casters in one direction being airborne.

[0004] A parking robot is proposed to solve the above problems. Utility Model Content

[0005] To address the problems mentioned in the background section, this invention provides a parking robot that solves the problems in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a parking robot, comprising: a frame, a clamping arm assembly, and a driving and walking assembly, wherein the driving and walking assembly is disposed at the bottom of the frame and in contact with the ground, and the clamping arm assembly is symmetrically disposed on both sides of the frame to extend and retract to clamp the tires.

[0007] Preferably, the driving and walking assembly includes a driving unit, a fixed frame, and a swing bridge. The driving unit is fixed on the fixed frame, and the fixed frame is hinged to the vehicle frame through the swing bridge.

[0008] Preferably, the swing bridge includes a first link, a second link, and a link bracket, with the upper end of the link bracket fixed to the vehicle frame; one side of the link bracket is hinged to the fixed frame through the first link and the second link, so that the first link and the second link form two sides of a parallelogram.

[0009] Preferably, the connecting rod support includes an upper connecting rod support and a lower connecting rod support, the upper connecting rod support and the lower connecting rod support being fixedly connected; a first connecting rod is movably disposed between the upper connecting rod support and the lower connecting rod support, and both sides of the first connecting rod are hinged to the fixed frame; one side of the second connecting rod is hinged to the upper connecting rod support and the other side is hinged to the fixed frame.

[0010] Preferably, the upper bracket of the connecting rod has an installation through hole, and one side of the fixing frame has an installation through hole. The first connecting rod includes a connecting rod frame, a support rod, and a secondary support rod. The support rod is located in the middle of the connecting rod frame and is hinged to the installation through hole of the upper bracket of the connecting rod. The secondary support rod is located on both sides of the support rod and is hinged to the installation through holes of the fixing frame. The second connecting rod is hinged to the installation through hole of the upper bracket of the connecting rod on one side and to the installation through hole of the fixing frame on the other side.

[0011] Preferably, there are at least two sets of drive and travel components containing the swing bridge, which are arranged on the same side of the vehicle frame.

[0012] Preferably, the clamping arm assembly includes a motor, a lead screw, a push block, a guide rail, a connecting rod, and a clamping arm. The motor is installed inside the frame and drives the lead screw at one end. The lead screw has a push block sleeved on it, and the push block moves back and forth linearly on the guide rail. One end of the connecting rod is connected to the push block, and the other end is connected to the clamping arm.

[0013] Preferably, there are at least two sets of lead screws connected by a coupling; the motor is one set, driving the lead screws to rotate in both forward and reverse directions.

[0014] Preferably, the clamping arm is movably connected to the frame via a rotating shaft, and the motor chain drive transmits power to the lead screw. When the lead screw rotates, it pushes the block to move linearly along the guide rail, which in turn drives the connecting rod to move, thus pulling the clamping arm to open and close around the rotating shaft.

[0015] Preferably, there are at least two sets of clamping arm assemblies, which are respectively arranged on different sides of the vehicle frame.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] The swing bridge structure of the drive assembly of this utility model enables the drive unit to make solid contact with the ground when moving on uneven ground by the swing of the second connecting rod, so that the drive unit will not be suspended in the air; the opening and closing of the clamping arm is achieved by a set of motors driving two sets of lead screws through the clamping arm assembly; the overall structure is simple, practical and easy to maintain, and realizes the functions of lifting, lowering and transporting cars. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the retraction of the gripper arm of the parking robot of this utility model;

[0019] Figure 2 This is a schematic diagram of the unfolded gripper arm of the parking robot of this utility model;

[0020] Figure 3 This is a partial exploded structural diagram of the parking robot of this utility model;

[0021] Figure 4 This is an exploded structural diagram of the drive and walking component of the parking robot of this utility model;

[0022] Figure 5 This is an enlarged schematic diagram of the gripper arm assembly of the parking robot of this utility model.

[0023] In the diagram: 100, frame; 200, clamping arm assembly; 300, drive and travel assembly; 201, motor; 202, coupling; 203, connecting rod three; 204, push block; 205, clamping arm; 206, lead screw; 207, guide rail; 208, rotating shaft; 2051, roller; 301, drive unit; 302, fixed frame; 303, upper bracket of connecting rod; 304, lower bracket of connecting rod; 305, connecting rod one; 306, connecting rod two; 3021, mounting through hole; 3031, mounting through hole; 3051, support rod; 3052, auxiliary support rod; 3053, connecting rod frame. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figure 1-5 As shown in Embodiment 1, this utility model provides a parking robot, including: a frame 100, a clamping arm assembly 200, and a driving and walking assembly 300. The driving and walking assembly 300 is disposed at the bottom of the frame 100 and contacts the ground. The clamping arm assembly 200 is symmetrically disposed on both sides of the frame 100 and extends to clamp the tires.

[0026] The drive and walking assembly 300 includes a drive unit 301, a fixed frame 302, and a swing bridge. The drive unit 301 is fixed on the fixed frame 302, and the fixed frame 302 is hinged to the vehicle frame 100 through the swing bridge.

[0027] The swing bridge includes a first connecting rod 305, a second connecting rod 306, and a connecting rod bracket. The upper end of the connecting rod bracket is fixed to the vehicle frame 100. One side of the connecting rod bracket is hinged to the fixed frame 302 through the first connecting rod 305 and the second connecting rod 306, so that the first connecting rod 305 and the second connecting rod 306 form two sides of a parallelogram. The swing bridge function is mainly achieved by the swinging of the second connecting rod 306 and the up-and-down movement of the two sides of the first connecting rod 305, which helps the drive unit 301 to make actual contact with the ground.

[0028] The connecting rod support includes an upper connecting rod support 303 and a lower connecting rod support 304, with the upper connecting rod support 303 and the lower connecting rod support 304 fixedly connected; a first connecting rod 305 is movably disposed between the upper connecting rod support 303 and the lower connecting rod support 304, with both sides of the first connecting rod 305 hinged to a fixed frame 302; a second connecting rod 306 has one side hinged to the upper connecting rod support 303 and one side hinged to the fixed frame 302.

[0029] The upper support 303 of the connecting rod has an installation through hole 3031, and the fixing frame 302 has an installation through hole 3021 on one side. The first connecting rod 305 includes a connecting rod frame 3053, a support rod 3051, and a secondary support rod 3052. The support rod 3051 is not movable in space, while the secondary support rod 3052 moves up and down to realize the swing bridge function. The support rod 3051 is located in the middle of the connecting rod frame 3053 and is hinged to the installation through hole 3031 of the upper support 303. The secondary support rod 3052 is located on both sides of the support rod 3051 and is hinged to the installation through hole 3021 of the fixing frame 301. The second connecting rod 306 is hinged to the installation through hole 3031 of the upper support 303 on one side and to the installation through hole 3021 of the fixing frame 302 on the other side.

[0030] At least two sets of the drive and travel assembly 300 containing the swing bridge are arranged on the same side of the frame 100, or at a symmetrical angle of the frame 100.

[0031] The clamping arm assembly 200 includes a motor 201, a lead screw 206, a push block 204, a guide rail 208, a connecting rod 203, and a clamping arm 205. The motor 201 is installed inside the frame 100 and drives the lead screw 206 at one end. The push block 204 is sleeved on the lead screw 206 and moves back and forth linearly on the guide rail 208. One end of the connecting rod 203 is connected to the push block 204 and the other end is connected to the clamping arm 205.

[0032] There are at least two sets of lead screws 206 connected by a coupling 202; the motors 201 are one set, driving the lead screws 206 to rotate in both forward and reverse directions.

[0033] The clamping arm 205 is movably connected to the frame 100 via a rotating shaft 208. The motor 201 transmits power to the lead screw 206 via chain drive. The lead screw 206 rotates, pushing the block 204 to move linearly along the guide rail 208, which in turn drives the connecting rod 203 to move, thus pulling the clamping arm 205 to open and close around the rotating shaft 208.

[0034] At least two sets of clamping arm assemblies 200 are respectively disposed on different sides of the frame 100.

[0035] like Figure 1-5 As shown in Embodiment 2, this utility model provides: a parking robot, on which two sets of drive walking components 100, two sets of drive units 301, and two sets of clamping arm components 200 are mounted on the frame 100. The two sets of drive units 301 are directly mounted on the frame 100, and the other two sets of drive walking components 100 are mounted on the frame 100 through a swing bridge.

[0036] The drive unit 301 is mounted on the fixed plate 302, and the fixed plate 302 is hinged to the frame 100 via a swing bridge, forming a double parallelogram linkage mechanism. When the drive unit 301 moves on uneven ground, the swing of the second link 306 achieves solid contact between the drive unit 301 and the ground, preventing it from being suspended in the air.

[0037] The roller 2051 is installed on the clamping arm 205. The root of the clamping arm 205 is installed on the frame 100 by the rotating shaft 208. The middle part of the clamping arm 205 is connected to the push block 204 by the connecting rod 203. The push block 204 is powered by the lead screw 206. The lead screw 206 is divided into a right-hand lead screw and a left-hand lead screw, which are connected by the coupling 202 and can rotate simultaneously. The push block 204 is guided by the linear guide rail 207. The drive motor 201 transmits power to the lead screw 206 through chain drive or other transmission methods. The rotation of the lead screw 206 realizes the opening and closing of the clamping arm 205.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A parking robot, characterized in that, include: The vehicle includes a frame, a clamping arm assembly, and a drive and travel assembly. The drive and travel assembly is located at the bottom of the frame and contacts the ground. The clamping arm assembly is symmetrically arranged on both sides of the frame to telescopically clamp the tires. The drive and travel assembly includes a drive unit, a fixed frame, and a swing bridge. The drive unit is fixed to the fixed frame, and the fixed frame is hinged to the frame via the swing bridge. The swing bridge includes a first link, a second link, and a link bracket. The upper end of the link bracket is fixed to the frame. One side of the link bracket is hinged to the fixed frame via the first link and the second link, so that the first link and the second link form two sides of a parallelogram.

2. The parking robot according to claim 1, characterized in that: The connecting rod support includes an upper connecting rod support and a lower connecting rod support, which are fixedly connected. A first connecting rod is movably disposed between the upper connecting rod support and the lower connecting rod support, and both sides of the first connecting rod are hinged to the fixed frame. A second connecting rod is hinged to the upper connecting rod support on one side and to the fixed frame on the other side.

3. The parking robot according to claim 2, characterized in that: The upper bracket of the connecting rod has an installation through hole, and the fixed frame has an installation through hole on one side. The first connecting rod includes a connecting rod frame, a support rod, and a secondary support rod. The support rod is located in the middle of the connecting rod frame and is hinged to the installation through hole of the upper bracket of the connecting rod. The secondary support rod is located on both sides of the support rod and is hinged to the installation through hole of the fixed frame. The second connecting rod is hinged to the installation through hole of the upper bracket of the connecting rod on one side and to the installation through hole of the fixed frame on the other side.

4. The parking robot according to claim 1, characterized in that: At least two sets of drive and travel components containing the swing bridge are arranged on the same side of the vehicle frame.

5. The parking robot according to claim 1, characterized in that: The clamping arm assembly includes a motor, a lead screw, a push block, a guide rail, a connecting rod, and a clamping arm. The motor is installed inside the frame and drives the lead screw at one end. The lead screw has a push block sleeved on it, and the push block moves back and forth linearly on the guide rail. One end of the connecting rod is connected to the push block, and the other end is connected to the clamping arm.

6. The parking robot according to claim 5, characterized in that: There are at least two sets of lead screws connected by a coupling; the motor is one set, driving the lead screws to rotate in both forward and reverse directions.

7. The parking robot according to claim 6, characterized in that: The clamping arm is movably connected to the frame via a rotating shaft. The motor chain drive transmits power to the lead screw. When the lead screw rotates, it pushes the block to move linearly along the guide rail, which in turn drives the connecting rod to move, thus pulling the clamping arm to open and close around the rotating shaft.

8. The parking robot according to claim 7, characterized in that: The clamping arm assembly consists of at least two sets, each disposed on a different side of the vehicle frame.

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