A parking robot for assisting parking

Abstract

The utility model discloses a parking robot of auxiliary parking, including bottom frame, still include fixedly connected in hydraulic telescopic rod body of bottom frame, fixedly connected in the telescopic end of hydraulic telescopic rod body's top frame, fixedly connected in the first buffer pad of top frame top. Through the first drive assembly drive bearing frame ascending, can with four groups semicircle seat and rotating roller are accomodated to the accomodating groove of bottom frame, make bottom frame and ground be opposite, again through the second drive assembly drive corresponding semicircle seat adjustment horizontal angle, can nimblely adapt the vehicle of different parking angle or non - standard angle parking space, subsequently through the first drive assembly drive bearing frame descending again, will rotating roller from bottom frame accomodating groove stretch out, cooperate one side third motor drive rotating roller rotation, can conveniently drive bottom frame moves, reduce robot body angle rotation limited influence, need not many times of adjusting bottom frame direction of travel, improve the efficiency of alignment greatly, shorten parking time -consuming, further improve the convenience of parking operation.

Description

Technical Field

[0001] This utility model relates to the field of parking assistance technology, specifically a parking robot that assists in parking. Background Technology

[0002] Parking robots that assist in parking are intelligent equipment that integrates functions such as environmental perception, path planning, motion control, and positioning and navigation. They can replace humans in the automated transfer and precise parking of vehicles from the "waiting area" (such as the parking lot entrance or temporary drop-off point) to the "target parking space," or assist drivers in parking operations in narrow spaces and complex scenarios. Their core value lies in improving the utilization rate of parking lot space, reducing parking time, and reducing the rate of scratches and accidents. They are one of the core execution units of smart parking lots.

[0003] In existing technologies, most parking robots lift cars and then transfer them to the target parking space via a mobile chassis. However, the robot's rotation range is limited. When facing non-standard angled parking spaces (such as angled or corner parking spaces), the chassis direction needs to be adjusted multiple times to align the vehicle. This not only prolongs the total time for a single parking session but also reduces the overall turnover efficiency of the parking lot. Furthermore, the lifting mechanisms of existing robots are mostly rigid frames of fixed dimensions, which are difficult to adapt flexibly to vehicles with different wheelbases. This can easily lead to problems such as misalignment of the lifting point or failure to fully fit, making some vehicle models unusable and reducing adaptability. At the same time, after the vehicle is lifted, it relies solely on its own weight and the friction of the lifting mechanism surface to maintain balance. When the robot moves violently due to uneven ground or emergency obstacle avoidance, the vehicle is prone to lateral or longitudinal swaying. This can not only cause the vehicle chassis to collide with the lifting mechanism but also pose safety hazards such as vehicle displacement or even tilting, seriously affecting the stability of use. Utility Model Content

[0004] The purpose of this utility model is to provide a parking robot that assists in parking, in order to solve the problems mentioned in the background art, such as the limited range of rotation angle of parking robots, the need for multiple adjustments of direction when facing non-standard angle parking spaces, which prolongs parking time and reduces the turnover efficiency of parking lots; the fact that the lifting mechanism is mostly a fixed-size rigid frame, which is difficult to adapt to different wheelbase models, and is prone to misalignment of the lifting point, resulting in some models being unusable and having poor adaptability; and the fact that after the vehicle is lifted, it relies only on its own weight and the friction of the lifting mechanism to balance, and the vehicle is prone to shaking when the robot moves violently, which may cause collisions, displacement or even tilting, affecting the stability of use.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a parking robot for assisting parking, comprising a base frame, a hydraulic telescopic rod body fixedly connected to the base frame, a top frame fixedly connected to the telescopic end of the hydraulic telescopic rod body, a first buffer pad fixedly connected to the top of the top frame, an adjustment component mounted on the top frame, a third drive component mounted on the adjustment component, stabilizing components mounted on both sides of the adjustment component, a fourth drive component mounted on the stabilizing component, a fixed frame fixedly connected to the base frame, a toothed rod slidably connected to the fixed frame, a first drive component mounted on the base frame, a support frame fixedly connected to one end of the toothed rod, a semi-circular seat rotatably connected to the support frame, a second drive component mounted on the support frame, a rotating roller rotatably connected to the semi-circular seat, and a third motor fixedly connected to one side of the semi-circular seat. The rotating roller is fixedly connected to the output end of the third motor. The first drive component is used to drive the support frame to move up and down, the second drive component is used to drive the semi-circular seat to rotate horizontally, the third motor is used to drive the rotating roller on one side to rotate, the adjustment component is used to support different wheelbase vehicle models, and the stabilizing component is used to limit the movement of the vehicle tires.

[0006] In the preferred embodiment of this technical solution, the bottom frame has a storage slot at the corresponding position of the support frame, and the support frame is set at the storage slot of the bottom frame.

[0007] In a preferred embodiment of this technical solution, the first drive assembly includes a long rod rotatably connected to the base frame, circular gears fixedly connected to both ends of the long rod, a second bevel gear fixedly connected to the center of the long rod, a first motor fixedly connected to the base frame, and a first bevel gear fixedly connected to the output end of the first motor. The first bevel gear meshes with the second bevel gear, the circular gear meshes with the rack, and the first motor is used to drive the first bevel gear to rotate.

[0008] According to the preferred embodiment of this technical solution, the second drive assembly includes a worm body rotatably connected to the support frame, a second motor fixedly connected to the side of the support frame near the semi-circular seat, and a worm wheel body fixedly connected to the semi-circular seat. The worm body is fixedly connected to the output end of the second motor, and the worm wheel body meshes with the worm body.

[0009] According to the preferred embodiment of this technical solution, the adjustment component includes a telescopic frame slidably connected to the top frame, a bearing frame fixedly connected to the outside of the telescopic frame, and a second buffer pad fixedly connected to the top of the bearing frame. The third drive component is used to drive the telescopic frames on both sides to perform synchronous and opposite linear movements.

[0010] In a preferred embodiment of this technical solution, the third drive assembly includes a fourth motor fixedly connected inside the top frame, a second bevel gear fixedly connected to the output end of the fourth motor, a first bidirectional threaded rod rotatably connected to the top frame, and a first bevel gear fixedly connected to the center position of the first bidirectional threaded rod. The first bevel gear meshes with the second bevel gear, and the telescopic frame is threadedly connected to the first bidirectional threaded rod. The fourth motor is used to drive the second bevel gear to rotate.

[0011] Based on the preferred embodiment of this technical solution, the stabilizing component includes a sliding frame slidably connected to the load-bearing frame, a square frame fixedly connected to the outside of the sliding frame, a flexible pin slidably connected to the square frame, a sliding disk fixedly connected to one end of the flexible pin, and a spring fixedly connected between the sliding disk and the square frame. The sliding disk is slidably connected to the square frame. The fourth driving component is used to drive the sliding frames on both sides to perform synchronous and opposite linear movements.

[0012] In a preferred embodiment of this technical solution, the fourth drive component includes a fifth motor fixedly connected to the support frame, a first bevel gear fixedly connected to the output end of the fifth motor, a second bidirectional threaded rod rotatably connected to the support frame, and a second bevel gear fixedly connected to the center position of the second bidirectional threaded rod. The first bevel gear meshes with the second bevel gear, and the sliding frame is threadedly connected to the second bidirectional threaded rod. The fifth motor is used to drive the first bevel gear to rotate.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. The first drive component drives the carrier frame to rise, which can store the four sets of semi-circular seats and rotating rollers into the storage slots of the bottom frame, so that the bottom frame is in contact with the ground. Then, the second drive component drives the corresponding semi-circular seats to adjust their horizontal angle, which can flexibly adapt to vehicles with different parking angles or non-standard parking spaces. Subsequently, the first drive component drives the carrier frame to fall, which extends the rotating rollers from the storage slots of the bottom frame. With the help of the third motor on one side, the rotating rollers are driven to rotate, which can easily move the bottom frame, reduce the impact of the robot body's angle rotation limitation, eliminate the need to adjust the bottom frame's travel direction multiple times, greatly improve alignment efficiency, shorten parking time, and further improve the convenience of parking operations.

[0014] 2. The third drive component drives the telescopic frames on both sides to move synchronously in opposite directions on the top frame, which in turn moves the load-bearing frames on both sides with the telescopic frames, thereby adjusting the distance between the load-bearing frames on both sides to achieve support adaptation for different wheelbase models; at the same time, the second buffer pad on the top of the load-bearing frame can buffer the impact force between the vehicle and the load-bearing frame when supporting the vehicle, avoiding direct hard contact between the vehicle chassis and the load-bearing frame and causing scratch damage. This not only expands the robot's applicability to different vehicle models, but also protects the vehicle chassis and improves safety and adaptability.

[0015] 3. The fourth drive component drives the two sliding frames to move synchronously in opposite directions on the carrier frame, which can move the square frame with the sliding frame and adjust the distance between the two square frames to accommodate vehicle tires of different widths. When the tire enters between the square frames, the flexible pin will fit against the tire sidewall with the cooperation of the spring and the sliding plate. The elastic force of the spring forms a flexible limit on the tire, which can prevent the vehicle from swaying laterally or longitudinally during the robot's movement, and avoid the rigid limit from squeezing and damaging the tire. At the same time, the sliding design of the flexible pin can adapt to the slight curvature of the tire surface, improve the fit and stability of the limit, and further ensure the safety of the vehicle during the transfer process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one embodiment of a parking robot that assists in parking according to the present invention; Figure 2 This is a schematic diagram of the structure of the first drive component of this utility model; Figure 3 This is a schematic diagram of the structure of the second drive component of this utility model; Figure 4 This is a schematic diagram of the adjustment component structure of this utility model; Figure 5 This is a schematic diagram of the third drive component structure of this utility model; Figure 6 This is a schematic diagram of the fourth drive component structure of this utility model; Figure 7 This is a schematic diagram of the stabilizing component structure of this utility model.

[0017] In the diagram: 1. Base frame; 21. First motor; 22. First bevel gear; 23. Long rod; 24. Second bevel gear; 25. Circular gear; 26. Fixed frame; 27. Gear rack; 28. Bearing frame; 29. ​​Semicircular seat; 210. Worm gear body; 211. Worm body; 212. Second motor; 213. Rotating roller; 214. Third motor; 31. Telescopic frame; 32. Bearing frame; 33. First bidirectional threaded rod; 34. First bevel gear; 35. Fourth motor; 36. Second bevel gear; 37. Second buffer pad; 41. Second bidirectional threaded rod; 42. Fifth motor; 43. First bevel helical gear; 44. Second bevel helical gear; 45. Sliding frame; 46. Square frame; 47. Flexible pin; 48. Sliding disc; 49. Spring; 5. Hydraulic telescopic rod body; 6. Top frame; 7. First buffer pad. Detailed Implementation

[0018] 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.

[0019] Please see Figure 1-7 This utility model provides an embodiment of a parking robot for assisting parking, including a base frame 1, a hydraulic telescopic rod body 5 fixedly connected to the base frame 1, a top frame 6 fixedly connected to the telescopic end of the hydraulic telescopic rod body 5, a first buffer pad 7 fixedly connected to the top of the top frame 6, an adjustment assembly mounted on the top frame 6, a third drive assembly mounted on the adjustment assembly, stabilizing assemblies mounted on both sides of the adjustment assembly, a fourth drive assembly mounted on the stabilizing assembly, a fixed frame 26 fixedly connected to the base frame 1, a toothed rod 27 slidably connected to the fixed frame 26, a first drive assembly mounted on the base frame 1, a support frame 28 fixedly connected to one end of the toothed rod 27, a semi-circular seat 29 rotatably connected to the support frame 28, a second drive assembly mounted on the support frame 28, a rotating roller 213 rotatably connected to the semi-circular seat 29, and a third motor 214 fixedly connected to one side of the semi-circular seat 29. The rotating roller 213 is fixedly connected to the output end of the third motor 214. The first drive assembly is used to drive the support frame 28. The carrier frame 28 moves up and down. The second drive component drives the semicircular seats 29 to rotate horizontally. The third motor 214 drives the rotating roller 213 on one side to rotate. The adjustment component supports different wheelbase models. The stabilizing component limits the position of the car tires. The carrier frame 28 is driven to rise by the first drive component, which can store the four semicircular seats 29 and the rotating roller 213 into the storage slot of the bottom frame 1, so that the bottom frame 1 is against the ground. Then, the second drive component drives the corresponding semicircular seats 29 to adjust the horizontal angle, which can flexibly adapt to vehicles with different parking angles or non-standard angle parking spaces. Then, the carrier frame 28 is driven to fall by the first drive component, which extends the rotating roller 213 from the storage slot of the bottom frame 1. With the third motor 214 on one side driving the rotating roller 213 to rotate, the bottom frame 1 can be moved easily, reducing the influence of the robot body's angle rotation limitation. There is no need to adjust the travel direction of the bottom frame 1 multiple times, which greatly improves the alignment efficiency, shortens the parking time, and further improves the convenience of parking operations.

[0020] Please see Figure 2A further solution based on this embodiment is as follows: The bottom frame 1 has a storage slot at the corresponding position of the support frame 28, and the support frame 28 is set in the storage slot of the bottom frame 1. By opening the storage slot at the position of the bottom frame 1 corresponding to the support frame 28 and placing the support frame 28 therein, when the robot does not need to move or is idle, the support frame 28 and the semi-circular seat 29 and the rotating roller 213 connected to it can be stored together inside the bottom frame 1. On the one hand, this can reduce the impact and dust corrosion on the support frame 28, the rotating roller 213 and other components exposed to the outside, and extend the service life of the components. On the other hand, it can reduce the overall height of the robot and the space occupied, making it convenient to store or transfer the robot in parking lot passages and narrow areas, and improving space utilization.

[0021] Please see Figure 2 A further solution based on this embodiment is as follows: The first driving assembly includes a long rod 23 rotatably connected to the base frame 1, circular gears 25 fixedly connected to both ends of the long rod 23, a second bevel gear 24 fixedly connected to the center position of the long rod 23, a first motor 21 fixedly connected to the base frame 1, and a first bevel gear 22 fixedly connected to the output end of the first motor 21. The first bevel gear 22 meshes with the second bevel gear 24, and the circular gear 25 meshes with the rack 27. The first motor 21 is used to drive the first bevel gear 22 to rotate. By driving the first bevel gear 22 to rotate through the first motor 21, the first bevel gear 22 meshes with the second bevel gear 24. The meshing transmission of the bevel gear 24 drives the long rod 23 to rotate. Then, through the meshing of the circular gears 25 at both ends of the long rod 23 with the rack 27, the rotational motion of the motor is converted into the linear motion of the rack 27, which in turn drives the support frame 28 to move up and down. This gear transmission structure has high transmission efficiency and low power loss, which can ensure that the lifting process of the support frame 28 is smooth and avoid the support frame 28 from jamming or tilting due to unstable transmission. At the same time, by setting the second bevel gear 24 in the middle, the forces at both ends of the long rod 23 are balanced, which further improves the synchronicity and stability of the lifting of the support frame 28, and ensures the reliable storage and extension operation of the subsequent semi-circular seat 29 and rotating roller 213.

[0022] Please see Figure 3A further embodiment of this solution is as follows: The second drive assembly includes a worm body 211 rotatably connected to the support frame 28, a second motor 212 fixedly connected to the side of the support frame 28 near the semi-circular seat 29, and a worm wheel body 210 fixedly connected to the semi-circular seat 29. The worm body 211 is fixedly connected to the output end of the second motor 212, and the worm wheel body 210 meshes with the worm body 211. The second motor 212 drives the worm body 211 to rotate, and the worm body 211 rotates with the worm wheel body 210 on the semi-circular seat 29. The meshing transmission of 0 drives the semicircular seat 29 to rotate horizontally. The worm gear body 211 and worm wheel body 210 transmission have self-locking characteristics. After the semicircular seat 29 is adjusted to the target angle, no additional locking structure is needed to maintain the angle stability, avoiding the semicircular seat 29 from shifting due to vibration during robot movement. At the same time, this transmission method has a large reduction ratio and runs smoothly, enabling fine adjustment of the angle of the semicircular seat 29. It is suitable for vehicles with different parking angles or non-standard parking spaces, reducing the alignment time caused by inaccurate angle adjustment and improving parking efficiency.

[0023] Please see Figure 4 A further solution based on this embodiment is as follows: the adjustment component includes a telescopic frame 31 slidably connected to the top frame 6, a support frame 32 fixedly connected to the outside of the telescopic frame 31, and a second buffer pad 37 fixedly connected to the top of the support frame 32. The third drive component is used to drive the telescopic frames 31 on both sides to move synchronously in opposite directions in a straight line. By driving the telescopic frames 31 on both sides to move synchronously in opposite directions in a straight line on the top frame 6, the support frames 32 on both sides can be moved with the telescopic frame 31, thereby adjusting the distance between the support frames 32 on both sides to achieve support adaptation for different wheelbase models. At the same time, the second buffer pad 37 on the top of the support frame 32 can buffer the impact force between the vehicle and the support frame 32 when supporting the vehicle, avoiding direct hard contact between the vehicle chassis and the support frame 32 and causing scratch damage. This not only expands the robot's applicability to different models, but also protects the vehicle chassis and improves safety and adaptability.

[0024] Please see Figure 5A further solution based on this embodiment is as follows: The third drive component includes a fourth motor 35 fixedly connected inside the top frame 6, a second bevel gear 36 fixedly connected to the output end of the fourth motor 35, a first bidirectional threaded rod 33 rotatably connected to the top frame 6, and a first bevel gear 34 fixedly connected to the center position of the first bidirectional threaded rod 33. The first bevel gear 34 meshes with the second bevel gear 36. The telescopic frame 31 is threadedly connected to the first bidirectional threaded rod 33. The fourth motor 35 is used to drive the second bevel gear 36 to rotate. By driving the second bevel gear 36 to rotate through the fourth motor 35, the meshing of the first bevel gear 34 and the second bevel gear 36 drives the first bidirectional threaded rod 33 to rotate. Since the telescopic frame 31 is threadedly connected to the first bidirectional threaded rod 33, and the thread directions at both ends of the first bidirectional threaded rod 33 are opposite, the telescopic frames 31 on both sides can move synchronously and in opposite directions in a straight line. This bidirectional threaded rod transmission structure can ensure that the telescopic frames 31 on both sides move the same distance and move at the same speed, avoiding the offset of the support position of the bearing frame 32 due to the asynchronous movement of the telescopic frames 31 on both sides, thereby ensuring the symmetry and stability of the vehicle support.

[0025] Please see Figure 6-7 A further solution based on this embodiment is as follows: the stabilizing component includes a sliding frame 45 slidably connected to the support frame 32, a square frame 46 fixedly connected to the outside of the sliding frame 45, a flexible pin 47 slidably connected to the square frame 46, a sliding disk 48 fixedly connected to one end of the flexible pin 47, and a spring 49 fixedly connected between the sliding disk 48 and the square frame 46. The sliding disk 48 is slidably connected to the square frame 46. The fourth driving component is used to drive the sliding frames 45 on both sides to perform synchronous and opposite linear movements. By driving the sliding frames 45 on both sides to perform synchronous and opposite linear movements on the support frame 32 through the fourth driving component, it is possible to... The square frame 46 moves with the sliding frame 45, adjusting the distance between the two square frames 46 to accommodate vehicle tires of different widths. When the tire enters between the square frames 46, the flexible pin 47, in cooperation with the spring 49 and the sliding plate 48, will fit against the side of the tire. The elastic force of the spring 49 forms a flexible limit on the tire, which can prevent the vehicle from swaying laterally or longitudinally during the robot's movement, and avoid the rigid limit from squeezing and damaging the tire. At the same time, the sliding design of the flexible pin 47 can adapt to the slight curvature of the tire surface, improving the fit and stability of the limit, and further ensuring the safety of the vehicle during the transfer process.

[0026] Please see Figure 6A further solution based on this embodiment is as follows: The fourth drive assembly includes a fifth motor 42 fixedly connected to the support frame 32, a first bevel gear 43 fixedly connected to the output end of the fifth motor 42, a second bidirectional threaded rod 41 rotatably connected to the support frame 32, and a second bevel gear 44 fixedly connected to the center position of the second bidirectional threaded rod 41. The first bevel gear 43 meshes with the second bevel gear 44. A sliding frame 45 is threadedly connected to the second bidirectional threaded rod 41. The fifth motor 42 is used to drive the first bevel gear 43 to rotate. By driving the first bevel gear 43 to rotate through the fifth motor 42, the first bevel gear 43 rotates, and the first bevel gear 44 rotates. The meshing transmission between the helical gear 43 and the second bevel helical gear 44 drives the second bidirectional threaded rod 41 to rotate. Since the sliding frame 45 is threadedly connected to the second bidirectional threaded rod 41 and the threads at both ends of the second bidirectional threaded rod 41 are in opposite directions, the sliding frames 45 on both sides can move synchronously and in opposite directions in a straight line. The bevel helical gear transmission can withstand greater radial and axial loads and adapt to the force generated when the stabilizing component limits the tire. At the same time, the bidirectional threaded rod ensures that the sliding frames 45 on both sides move synchronously, avoiding asymmetry in the tire limiting of the square frame 46 due to the deviation in the movement of the sliding frame 45, thereby ensuring the reliability of the stabilizing component in limiting the tire and reducing the risk of vehicle swaying.

[0027] The first drive assembly, the third drive assembly, and the fourth drive assembly can also adopt other structures in the prior art, replacing the first bevel gear 22, the second bevel gear 24, the first bevel gear 34, the second bevel gear 36, and the first bevel helical gear 43 with worm gears. The advantage is that the worm gear has reliable self-locking characteristics, which can effectively prevent reverse transmission of the assembly under load, and improve the safety and stability of parking operation.

[0028] The first drive assembly can also adopt other structures in the prior art, with a hydraulic telescopic rod replacing the circular gear 25 and rack 27. The advantage is that hydraulic transmission can provide greater driving force, stably support the weight of the support frame 28 and the vehicle, improve reliability in heavy-load scenarios, and improve the adaptability and stability of the first drive assembly.

[0029] Working principle: When assisted parking is required, the first motor 21 in the first drive assembly first drives the first bevel gear 22 to rotate. The meshing of the first bevel gear 22 and the second bevel gear 24 drives the long rod 23 to rotate. The circular gears 25 at both ends of the long rod 23 then mesh with the rack 27, converting the rotational motion into the linear motion of the rack 27. This drives the support frame 28 to descend from the storage slot of the bottom frame 1, causing the rotating roller 213 to extend and contact the ground. Subsequently, the second motor 212 in the second drive assembly drives the worm gear body 211 to rotate. The worm gear body 211 and the semi-circular seat 29... The worm gear body 210 on the upper part engages, adjusting the horizontal angle of the semi-circular seat 29 so that the rotating roller 213 adapts to the parking angle of the vehicle to be parked or the angle of the target parking space; then, the third motor 214 on one side of the semi-circular seat 29 is started, driving the rotating roller 213 to rotate, causing the bottom frame 1 to move as a whole to the underside of the vehicle to be parked, completing the initial alignment between the robot and the vehicle; then, the hydraulic telescopic rod body 5 on the bottom frame 1 is controlled to extend, pushing the top frame 6 to rise, so that the load-bearing frame 32 of the adjustment component on the top frame 6 is close to the vehicle chassis, and at the same time, the fourth motor 35 of the third drive component drives the second bevel gear 36 to rotate, the second bevel gear 36... The first bevel gear 34 meshes with the first bidirectional threaded rod 33, causing it to rotate. Since the telescopic frame 31 is threaded to both ends of the first bidirectional threaded rod 33, the two telescopic frames 31 move synchronously in opposite directions in a straight line, adjusting the distance between the support frames 32 to match the vehicle's wheelbase, until the second buffer pad 37 at the top of the support frame 32 is in contact with the vehicle chassis, thus supporting the vehicle. Subsequently, the fifth motor 42 of the fourth drive assembly drives the first bevel gear 43 to rotate. The first bevel gear 43 meshes with the second bevel gear 44, driving the second bidirectional threaded rod 41 to rotate. The sliding frame 45 moves synchronously in opposite directions with the second bidirectional threaded rod 41. The movement causes the square frame 46 to approach the vehicle tire. When the tire enters between the square frames 46, the flexible pin 47, in cooperation with the spring 49 and the sliding plate 48, adheres to the side of the tire, forming a flexible limit to prevent the vehicle from shaking. After the vehicle is stably supported and limited, the rotating roller 213 is driven to rotate again by the third motor 214, which moves the bottom frame 1 and the vehicle to the target parking space. Upon arrival, the first drive assembly drives the support frame 28 to rise, which retracts the rotating roller 213 back into the storage slot of the bottom frame 1. Then, the hydraulic telescopic rod body 5 is shortened, the top frame 6 is lowered, and the vehicle is smoothly lowered into the parking space, completing the entire assisted parking process.

[0030] 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 for assisting parking, comprising a base frame (1), characterized in that: It also includes a hydraulic telescopic rod body (5) fixedly connected to the base frame (1), a top frame (6) fixedly connected to the telescopic end of the hydraulic telescopic rod body (5), a first buffer pad (7) fixedly connected to the top of the top frame (6), an adjustment assembly mounted on the top frame (6), a third drive assembly mounted on the adjustment assembly, stabilizing assemblies mounted on both sides of the adjustment assembly, a fourth drive assembly mounted on the stabilizing assembly, a fixed frame (26) fixedly connected to the base frame (1), a toothed rod (27) slidably connected to the fixed frame (26), a first drive assembly mounted on the base frame (1), a bearing frame (28) fixedly connected to one end of the toothed rod (27), and a rotating connection to the bearing frame. The frame (28) has a semi-circular seat (29), a second drive assembly mounted on the support frame (28), a rotating roller (213) rotatably connected to the semi-circular seat (29), and a third motor (214) fixedly connected to one side of the semi-circular seat (29). The rotating roller (213) is fixedly connected to the output end of the third motor (214). The first drive assembly is used to drive the support frame (28) to move up and down. The second drive assembly is used to drive the semi-circular seat (29) to rotate horizontally. The third motor (214) is used to drive the rotating roller (213) on one side to rotate. The adjustment assembly is used to support different wheelbase models. The stabilizing assembly is used to limit the position of the car tires.

2. The parking robot for assisting parking according to claim 1, characterized in that: The bottom frame (1) has a storage slot at the corresponding position of the support frame (28), and the support frame (28) is set at the storage slot of the bottom frame (1).

3. The parking robot for assisting parking according to claim 1, characterized in that: The first drive assembly includes a long rod (23) rotatably connected to the base frame (1), a circular gear (25) fixedly connected to both ends of the long rod (23), a second bevel gear (24) fixedly connected to the center of the long rod (23), a first motor (21) fixedly connected to the base frame (1), and a first bevel gear (22) fixedly connected to the output end of the first motor (21). The first bevel gear (22) meshes with the second bevel gear (24), the circular gear (25) meshes with the rack (27), and the first motor (21) is used to drive the first bevel gear (22) to rotate.

4. The parking robot for assisting parking according to claim 1, characterized in that: The second drive assembly includes a worm body (211) rotatably connected to the support frame (28), a second motor (212) fixedly connected to the side of the support frame (28) near the semicircular seat (29), and a worm wheel body (210) fixedly connected to the semicircular seat (29). The worm body (211) is fixedly connected to the output end of the second motor (212), and the worm wheel body (210) meshes with the worm body (211).

5. A parking robot for assisting parking according to claim 1, characterized in that: The adjustment assembly includes a telescopic frame (31) slidably connected to the top frame (6), a support frame (32) fixedly connected to the outside of the telescopic frame (31), and a second buffer pad (37) fixedly connected to the top of the support frame (32). The third drive assembly is used to drive the telescopic frames (31) on both sides to perform synchronous and opposite linear movements.

6. A parking robot for assisting parking according to claim 1, characterized in that: The third drive assembly includes a fourth motor (35) fixedly connected inside the top frame (6), a second bevel gear (36) fixedly connected to the output end of the fourth motor (35), a first bidirectional threaded rod (33) rotatably connected to the top frame (6), and a first bevel gear (34) fixedly connected to the center of the first bidirectional threaded rod (33). The first bevel gear (34) meshes with the second bevel gear (36). The telescopic frame (31) is threadedly connected to the first bidirectional threaded rod (33). The fourth motor (35) is used to drive the second bevel gear (36) to rotate.

7. A parking robot for assisting parking according to claim 1, characterized in that: The stabilizing component includes a sliding frame (45) slidably connected to the support frame (32), a square frame (46) fixedly connected to the outside of the sliding frame (45), a flexible pin (47) slidably connected to the square frame (46), a sliding disk (48) fixedly connected to one end of the flexible pin (47), and a spring (49) fixedly connected between the sliding disk (48) and the square frame (46). The sliding disk (48) is slidably connected to the square frame (46). The fourth driving component is used to drive the sliding frames (45) on both sides to perform synchronous and opposite linear motion.

8. A parking robot for assisting parking according to claim 1, characterized in that: The fourth drive assembly includes a fifth motor (42) fixedly connected to the support frame (32), a first bevel gear (43) fixedly connected to the output end of the fifth motor (42), a second bidirectional threaded rod (41) rotatably connected to the support frame (32), and a second bevel gear (44) fixedly connected to the middle position of the second bidirectional threaded rod (41). The first bevel gear (43) meshes with the second bevel gear (44), and the sliding frame (45) is threadedly connected to the second bidirectional threaded rod (41). The fifth motor (42) is used to drive the first bevel gear (43) to rotate.

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