Parking robot

Abstract

Introduced is a parking robot comprising: a base in contact with the ground; a pair of lifting arms coupled to one surface of the base, embedded in the base when stored, and rotated in a direction away from the base when deployed; and a pair of arm links which are configured to correspond to the lifting arms, and of which ends slide in a direction closer to or away from each other on the base and of which the other ends are respectively connected to corresponding lifting arms, so that the pair of lifting arms are deployed or stored by sliding of the arm links.

Description

Parking robot

[0001] Various embodiments of the present disclosure relate to a parking robot comprising a lifting arm that lifts the wheel of a vehicle with a roller and a hinge.

[0002]

[0003] Parking robots are systems that automatically park vehicles, developed to address the shortage of parking spaces in cities and enhance driver convenience. The development of these robots enables the efficient utilization of space without human intervention by automating vehicle parking.

[0004] In particular, link-integrated parking robots utilize a technology that performs vehicle lifting operations using multiple links and arms to automatically park vehicles; this technology has been developed for application in a wider variety of vehicles and environments. However, conventional parking robot systems employ a complex mechanism in which other arms are rotated simultaneously via gear and link structures when a single arm operates. This interlocking structure leads to complexity in the assembly process and maintenance difficulties due to the need for gearbox lubrication, thereby degrading the reliability and efficiency of the system.

[0005] Due to these issues, users experience inconvenience in the operation and maintenance of parking robots, which acts as a hindering factor in the adoption of automated parking systems. Consequently, there is a growing need for simpler and more efficient structures, while simultaneously emphasizing the importance of clamping systems capable of ensuring the safe lifting of vehicles. Against this backdrop, research and development are required to improve the functionality of parking robots and provide users with a more stable and convenient parking experience.

[0006] The matters described as background technology above are intended only to enhance understanding of the background of the present disclosure and do not constitute prior art already known to those skilled in the art.

[0007]

[0008] The present disclosure is proposed to solve these problems and aims to provide a parking robot with increased stability and convenience by simultaneously operating a plurality of lifting arms equipped with rollers and stoppers through a double nut to lift a vehicle.

[0009] The technical problems to be solved in this disclosure are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this invention belongs from the description below.

[0010]

[0011] A parking robot according to the present disclosure for achieving the above objective may include: a base in contact with the ground; a pair of lifting arms coupled to one surface of the base, which are embedded in the base when stored and rotate in a direction away from the base when deployed; and an arm link configured as a pair to correspond to the lifting arms, wherein one end slides in a direction toward or away from each other on the base, and the other end is connected to the corresponding lifting arm, thereby deploying or storing the pair of lifting arms by sliding.

[0012] A parking robot according to the present disclosure has a rotation axis formed inside a base, and a pair of lifting arms are configured as a pair facing each other symmetrically so as to be able to rotate simultaneously around the rotation axis.

[0013] In the parking robot according to the present disclosure, a rotation axis is formed at one end of a pair of lifting arms, and the pair of lifting arms can rotate in a direction in which the other ends are brought closer to each other with respect to one end when deployed.

[0014] In the parking robot according to the present disclosure, the rotation axis of the lifting arm is hinge-coupled to the base, and the lifting arm can be embedded in the base by the elastic force of the hinge when stored.

[0015] The parking robot according to the present disclosure further includes a housing formed on the inner side of a base and connected to a lifting arm through an arm link, a power transmission device connected to the arm link is formed inside the housing, and a driving unit that transmits power to the power transmission device may be provided on the outer side of the housing.

[0016] A parking robot according to the present disclosure has a power transmission device that receives power from a drive unit and transmits it to a pair of arm links, and a pair of arm links can receive power from the power transmission device and slide in a direction that moves away from or closer to each other.

[0017] A parking robot according to the present disclosure is provided with a plurality of pairs of lifting arms, and the plurality of pairs of lifting arms are formed symmetrically on both sides of a base and can be deployed or retracted simultaneously by the operation of a driving unit.

[0018] In the parking robot according to the present disclosure, the power transmission device is a double nut ball screw, and a pair of arm links are each connected to the power transmission device through a nut so that power from the drive unit can be transmitted to the arm links.

[0019] In the parking robot according to the present disclosure, one side of the nut is connected to a power transmission device and the other side is connected to an arm link, and the nut can move simultaneously to get closer to or further away from each other depending on the operation of the drive unit.

[0020] In the parking robot according to the present disclosure, when a pair of nuts are moved closer to each other by the operation of a drive unit, a pair of arm links are moved closer to each other so that the lifting arm is retracted, and when a pair of nuts are moved further apart from each other, a pair of arm links are moved further apart so that the lifting arm can be deployed.

[0021] A parking robot according to the present disclosure comprises a housing that further includes a linear guide, wherein the linear guide is formed to extend in the longitudinal direction of a power transmission device, and a pair of nuts can move on the linear guide so that one end of an arm link can slide in a direction toward or toward each other on a base.

[0022] A parking robot according to the present disclosure has a housing embedded in a base, and a lifting arm coupled along the longitudinal direction to one side of the housing so that it is embedded in the base when stored and can be deployed in a direction away from the base when deployed.

[0023] In the parking robot according to the present disclosure, a plurality of housings are formed, and the plurality of housings may be formed symmetrically on both sides of a base.

[0024] A parking robot according to the present disclosure comprises a lifting arm including a roller and a stopper, and a pair of lifting arms are deployed to move closer to each other toward a wheel, the roller slides the wheel to lift it, and the stopper stands upright by the weight of the wheel to grip the wheel.

[0025] A parking robot according to the present disclosure includes a plurality of rollers in one lifting arm, and the plurality of rollers are arranged spaced apart from each other along the longitudinal direction of the lifting arm, and a stopper may be positioned between adjacent rollers.

[0026] The parking robot according to the present disclosure has a plurality of stoppers, and the stoppers are hinge-coupled to a lifting arm, and one side is horizontally coupled to the lifting arm and the other side is formed to be inclined toward the upper side of the lifting arm so that when the wheel is lifted, the other side can be erected as one side is pressed.

[0027] The parking robot according to the present disclosure has a plurality of rollers and stoppers, the stopper is positioned between adjacent rollers, and the lifting arm can be adjusted in length by adjusting the number of rollers.

[0028] A parking robot according to the present disclosure comprises a pair of lifting arms including a proximity sensor, and the proximity sensor is provided at a close end where the pair of lifting arms face each other to detect whether the pair of lifting arms are retracted or deployed.

[0029] In the parking robot according to the present disclosure, a pair of lifting arms can be joined in a direction parallel to one side of the base when the storage is complete and aligned in a direction perpendicular to one side of the base when the deployment is complete.

[0030] In the parking robot according to the present disclosure, the arm link has a radially bent shape, and a pair of arm links are bent in different radial directions so that when the lifting arm is deployed, the other ends can slide closer to each other.

[0031]

[0032] According to the parking robot of the present disclosure, by utilizing a lifting arm including a roller and a stopper, friction can be minimized and stable vehicle lifting is possible, and by operating a plurality of lifting arms in a double nut screw manner, structural stability and convenience of maintenance can be increased.

[0033] The effects obtainable from the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present disclosure belongs from the description below.

[0034]

[0035] FIG. 1 is a drawing showing a parking robot according to one embodiment of the present disclosure.

[0036] FIG. 2 is a drawing showing a housing and a lifting arm of a parking robot according to one embodiment of the present disclosure.

[0037] FIG. 3 is a drawing showing the upper surface of the parking robot illustrated in FIG. 2 according to one embodiment of the present disclosure.

[0038] FIG. 4 is a front view of the parking robot illustrated in FIG. 2 according to one embodiment of the present disclosure.

[0039] FIG. 5 is a drawing showing the state in which the lifting arm of the parking robot shown in FIG. 2 is deployed according to one embodiment of the present disclosure.

[0040] FIG. 6 is a drawing showing the state in which the lifting arm of the parking robot shown in FIG. 2, according to one embodiment of the present disclosure, lifts a wheel.

[0041]

[0042] In describing the embodiments disclosed in this specification, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions may obscure the essence of the embodiments disclosed in this specification. Furthermore, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that they include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of this disclosure. The disclosure below is not intended to limit this disclosure to the described form or specific field, and it is considered that various alternative modes and modifications to this disclosure are possible, whether explicitly stated or implied in this specification. Those skilled in the art will recognize that the form and details of this disclosure may change.

[0043] The present disclosure is described with reference to specific embodiments. However, as understood by those skilled in the art to which the present disclosure pertains, the various embodiments disclosed herein may be modified or otherwise implemented in various other ways without departing from the spirit and scope of the present disclosure. Accordingly, the following description should be considered illustrative and is intended to teach those skilled in the art to the manner in which various embodiments are made and used. It will be understood that the forms of the disclosure shown and described herein are to be taken as representative embodiments. Equivalent elements, or materials, processes, or steps may be substituted for those representatively exemplified and described in the present disclosure. Expressions used in describing the present disclosure, such as "including," "comprising," "incorporating," "consisting of," "have," "is," etc., should be interpreted as allowing items, components, or elements not explicitly described to be indicated in a non-exclusive manner, i.e., to be indicated. In addition, references to the singular should be interpreted as including those related to the plural.

[0044] Furthermore, the various embodiments disclosed herein should be accepted as illustrative and descriptive and should not be interpreted as limiting the content of the disclosure. All references to joining (e.g., attached, affixed, coupled, connected, etc.) are used solely to aid in understanding the disclosure and are not intended to limit the location, orientation, or use of the configuration or the methods disclosed herein. Accordingly, where joining references exist, they should be interpreted broadly. Moreover, in such joining references, it is not assumed that two or more elements are directly connected to each other. Additionally, all numeric terms, e.g., "first," "second," "third," "primary," "secondary," "major," or any other general or numeric terms, are to be taken solely as identifiers to aid in understanding the various components, forms, variations, or modifications of the present disclosure and are not to imply any limitation to any component, form, variation, or modification, or to any order or preference thereof. That is, while such expressions may be used to describe various components, the components are not limited by such expressions. Such expressions are used solely for the purpose of distinguishing one component from another.

[0045] The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification, and do not inherently possess distinct meanings or roles.

[0046] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0047] Any number of components or various components in any configuration described herein may be included within the disclosure described herein. Components may include any combination of features described herein and may be arranged in any configuration among the various configurations described herein. Concepts regarding the structure and arrangement of the components of the disclosure, as well as their use and operation, may be applied to any number of embodiments in any combination, as well as to specific embodiments discussed herein. Embodiments including those having various features of various arrangements are described below with reference to the drawings.

[0048]

[0049] FIG. 1 is a drawing showing a parking robot according to one embodiment of the present disclosure, FIG. 2 is a drawing showing a housing and a lifting arm of a parking robot according to one embodiment of the present disclosure, FIG. 3 is a drawing showing the top surface of the parking robot shown in FIG. 2 according to one embodiment of the present disclosure, FIG. 4 is a drawing showing the front view of the parking robot shown in FIG. 2 according to one embodiment of the present disclosure, FIG. 5 is a drawing showing the state in which the lifting arm of the parking robot shown in FIG. 2 according to one embodiment of the present disclosure is deployed, and FIG. 6 is a drawing showing the state in which the lifting arm of the parking robot shown in FIG. 2 according to one embodiment of the present disclosure is lifting a wheel.

[0050] Hereinafter, various embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components are given the same reference number regardless of the drawing symbols, and redundant descriptions thereof will be omitted.

[0051]

[0052] Parking robots are systems developed to automatically park vehicles, address the shortage of parking spaces in cities, and enhance driver convenience. In particular, parking robots incorporating links perform vehicle lifting operations using multiple links and arms; however, conventional systems utilize complex gear and link structures that rotate other arms simultaneously when one arm operates, making assembly difficult and causing inconvenience during maintenance. Consequently, this degrades the user experience and hinders the adoption of automatic parking systems, necessitating the development of a clamping system capable of ensuring a simpler and more efficient structure while guaranteeing the safe lifting of vehicles.

[0053] In this regard, the present disclosure presents a parking robot that is structurally simple and has increased efficiency by deploying a lifting arm (300) using a power transmission device (120) such as a double nut screw. In addition, the parking robot of the present disclosure can ensure safe lifting of a vehicle by including a roller (360) and a stopper (340) in the lifting arm (300).

[0054]

[0055] Specifically, the parking robot will be described with reference to Fig. 1.

[0056] In one embodiment, the parking robot of the present disclosure may be composed of a base (700) in contact with the ground, a pair of lifting arms (300), and a pair of arm links (140) each connected to the lifting arms (300). The lifting arms (300) may be composed of a pair that is coupled to one side of the base (700), is embedded in the base (700) when stored, and rotates away from the base (700) when deployed. The arm links (140) may be composed of a pair corresponding to the lifting arms (300), with one end sliding in a direction closer to or further away from each other on the base (700), and the other end connected to the corresponding lifting arms (300), thereby enabling the pair of lifting arms (300) to be deployed or stored by sliding.

[0057] In one embodiment, the parking robot is designed in a modular form and can be applied to a robot or device intended for lifting a vehicle, and can be applied to vehicles and robots of various sizes by varying the size and spacing of the lifting arm (300). This modularization allows the parking robot to operate flexibly in various environments and enables the provision of customized solutions tailored to specific requirements.

[0058] In one embodiment, the lifting arm (300) has a rotation axis (390) formed inside the base (700) so that it can be deployed or stored based on the rotation axis (390). Additionally, the lifting arm (300) is configured as a pair facing each other symmetrically so that it can rotate simultaneously around the rotation axis (390). In this case, the rotation axis (390) is formed at one end of the pair of lifting arms (300) facing each other so that when deployed, the other end can be rotated radially so that it moves closer to the other end relative to the one end. Furthermore, the rotation axis (390) of the lifting arm (300) is connected to the base (700) by a hinge (320) so that when stored, it can be embedded in the base (700) by the elastic force of the hinge (320).

[0059]

[0060] Next, the structure of the housing (100) and lifting arm (300) of the present disclosure will be described with reference to FIGS. 2 to 4.

[0061] In one embodiment, the parking robot may further include a housing (100) formed on the inner side of the base (700) and connected to the lifting arm (300) via an arm link (140). A power transmission device (120) connected to the arm link (140) may be formed inside the housing (100), and a drive unit (500) that transmits power to the power transmission device (120) may be provided on the outside of the housing (100). Such a housing (100) can perform the role of increasing the stability of the parking robot and providing structural rigidity.

[0062] In one embodiment, the drive unit (500) may include a motor (520) and a reduction gear (540) as a device for deploying and retracting the lifting arm (300) by transmitting power to the lifting arm (300) through a power transmission device (120). The drive unit (500) may be connected to the power transmission device (120) on one side of the housing (100) to transmit driving force to the power transmission device (120). The drive unit (500) is configured to increase the overall efficiency of the parking robot, and the combination of the motor (520) and the reduction gear (540) enables stable power transmission.

[0063] In one embodiment, the motor (520) is a device for transmitting driving force to the power transmission device (120), and various types of motors (520), such as DC motors, AC motors, stepper motors, and servo motors, may be used. The reduction gear (540) is a device connected to the motor (520) to reduce rotational speed and increase output torque, and various types of reduction gears (540), such as gear type, belt type, and chain type, may be applied.

[0064] In one embodiment, the power transmission device (120) receives power from the driving unit (500) and transmits it to a pair of arm links (140), thereby allowing the arm links (140) to move further apart or closer to each other. Additionally, a plurality of pairs of lifting arms (300) may be provided and formed symmetrically on both sides of the base (700), and may be deployed or retracted simultaneously by the operation of the driving unit (500). That is, a pair of lifting arms (300) may be coupled to both sides of the base (700) and operated by a single driving unit (500) to operate simultaneously, or may be operated by a driving unit (500) coupled to each housing (100) to operate simultaneously. Of course, if necessary, the driving unit (500) for driving the pair of lifting arms (300) may be operated individually so that the pair of lifting arms (300) are operated at different times on both sides of the base (700).

[0065] In one embodiment, the power transmission device (120) may be a double nut ball screw and may be connected to a pair of arm links (140) with nuts (122, 124) to transmit power from the drive unit (500) to the arm links (140). In this case, one side of the pair of nuts (122, 124) is connected to the power transmission device (120) and the other side is connected to the arm links (140), and they may move simultaneously with each other to move closer to or further apart from each other depending on the operation of the drive unit (500). This method can increase the consistency of operation during the deployment and storage process of the lifting arm (300).

[0066] In one embodiment, when a pair of nuts (122, 124) are moved closer to each other by the operation of a driving unit (500), a pair of arm links (140) are moved closer to each other so that the lifting arm (300) is stored, and when a pair of nuts (122, 124) are moved further apart from each other, a pair of arm links (140) are moved further apart so that the lifting arm (300) can be deployed.

[0067] In one embodiment, a linear guide (160) for guiding the movement of double nuts (122, 124) may be included in the housing (100). The linear guide (160) is formed to extend in the longitudinal direction of the power transmission device (120), and as a pair of nuts (122, 124) move on the linear guide (160), one end of the arm link (140) can slide in a direction that moves closer to or further away from each other on the base (700). That is, one side of the pair of double nuts (122, 124) is connected to the power transmission device (120) and moves horizontally along the linear guide (160) according to the rotation of the power transmission device (120), thereby moving closer to or further away from each other; accordingly, as the other side connected to the arm link (140) moves closer to or further away from each other, the lifting arm (300) can be deployed or retracted.

[0068] In one embodiment, the arm link (140) has a shape that is bent in a radial direction, and a pair of arm links (140) are bent in different radial directions so that they can slide so that their ends come closer together when the lifting arm (300) is deployed. In this case, the arm link (140) may have a structure in which two links are combined, and the two links are formed to be bent in the same radial direction so as to facilitate the deployment of the lifting arm (300). Of course, in addition to the two-link structure, various types of arm link (140) structures may be applied to flexibly respond to the lifting requirements of various vehicles.

[0069] In one embodiment, the housing (100) is embedded in the base (700), and the lifting arm (300) is coupled along the longitudinal direction to one side of the housing (100), so that when stored, it is embedded in the base (700), and when deployed, it can be deployed in a direction away from the base (700). Additionally, the housing (100) may be formed in multiple numbers and may be formed symmetrically on both sides of the base (700), and in various situations such as modularizing the base (700), it may be formed on both sides or various sides of the base (700) as needed.

[0070]

[0071] With reference to FIGS. 5 and 6, the lifting arm (300) of the parking robot of the present disclosure will be described.

[0072] In one embodiment, the lifting arm (300) may include a roller (360) and a stopper (340). A pair of lifting arms (300) may be deployed so as to be close to each other toward the wheel (W), and the roller (360) may slide and lift the wheel (W), while the stopper (340) may stand upright by the weight of the wheel (W) to grip the wheel (W).

[0073] In one embodiment, a lifting arm (300) may include a plurality of rollers (360), and the plurality of rollers (360) may be spaced apart from each other along the longitudinal direction of the lifting arm (300), and a stopper (340) may be positioned between adjacent rollers (360). Through this configuration, the length of the lifting arm (300) can be adjusted by controlling the number of rollers (360), so that various types of assembly can be made possible in situations such as modularization of a parking robot.

[0074] In one embodiment, a plurality of stoppers (340) may be provided and may be connected to the lifting arm (300) by a hinge (342). As the stoppers (340) are connected by the hinge (342), one side of the stopper (340) is horizontally connected to the lifting arm (300) and the other side is formed to be inclined toward the upper side of the lifting arm (300), so that when the wheel (W) is lifted, the other side can be erected as one side is pressed. More specifically, as shown in FIG. 6, the wheel (W) of the vehicle is lifted to the upper surface of the lifting arm (300) through the roller (360), and accordingly, one side of the stopper (340) formed in a horizontal direction is pressed by the wheel (W), so that the other side can be erected. As the other side of the stopper (340) is erected, the wheel (W) can be stably fixed by being gripped by the other side of the stopper (340). When the wheel (W) is lowered from the lifting arm (300) after the lifting is completed, the stopper (340) connected by the hinge (342) can be restored so that one side is connected to the horizontal direction of the lifting arm (300) and the other side is inclined toward the upper direction of the lifting arm (300).

[0075] In one embodiment, a pair of lifting arms (300) may include a proximity sensor (180). The proximity sensor (180) may be installed in the housing (100) or the lifting arm (300) together with a proximity sensor dog, etc., and may be provided at a close end where the pair of lifting arms (300) face each other to detect whether the pair of lifting arms (300) are stored or deployed.

[0076] In one embodiment, a pair of lifting arms (300) may be joined in a direction parallel to one side of the base (700) when storage is complete, and aligned in a direction perpendicular to one side of the base (700) when deployment is complete.

[0077]

[0078] Although specific embodiments of the present disclosure have been illustrated and described, it is obvious to those skilled in the art that the present disclosure may be modified and changed in various ways without departing from the technical spirit of the present disclosure as provided by the following claims.

[0079]

[0080] [Explanation of the symbol]

[0081] 100 : Housing 120 : Power transmission device

[0082] 122, 124 : Nut 140 : Arm link

[0083] 160 : Linear guide 180 : Proximity sensor

[0084] 300 : Lifting arm 320 : Arm hinge

[0085] 340 : Stopper 342 : Stopper hinge

[0086] 360 : Roller 390 : Rotating shaft

[0087] 500 : Drive unit 520 : Motor

[0088] 540 : Reducer 700 : Base

[0089] W : Wheel

Claims

1. Base in contact with the ground; A pair of lifting arms coupled to one side of the base, embedded in the base when stored, and rotated away from the base when deployed; and A parking robot comprising: an arm link configured as a pair to correspond to a lifting arm, wherein one end slides in a direction toward or toward each other on a base, and the other end is connected to the corresponding lifting arm, thereby deploying or retracting a pair of lifting arms by sliding.

2. In Claim 1, A parking robot in which a rotation axis is formed inside the base and a pair of lifting arms are configured to face each other symmetrically, rotating simultaneously around the rotation axis.

3. In Claim 2, A parking robot in which a rotation axis is formed at the near end of a pair of lifting arms, and the pair of lifting arms rotate in a direction in which the other end moves closer to each other relative to one end when deployed.

4. In Claim 2, A parking robot in which the rotation axis of the lifting arm is hinged to the base, and the lifting arm is embedded in the base by the elastic force of the hinge when stored.

5. In Claim 1, It further includes a housing formed on the inner side of the base and connected to the lifting arm through an arm link, and A parking robot having a power transmission device connected to an arm link formed inside the housing, and a drive unit that transmits power to the power transmission device provided outside the housing.

6. In Claim 5, A parking robot in which a power transmission device receives power from a drive unit and transmits it to a pair of arm links, and a pair of arm links receive power from the power transmission device and slide in a direction away from or closer to each other.

7. In Claim 5, A parking robot in which a plurality of pairs of lifting arms are provided, and a plurality of pairs of lifting arms are formed symmetrically on both sides of a base, and are simultaneously deployed or retracted by the operation of a driving unit.

8. In Claim 5, A parking robot in which the power transmission device is a double-nut ball screw, and a pair of arm links are each connected to the power transmission device via nuts, so that power from the drive unit is transmitted to the arm links.

9. In Claim 8, A parking robot in which one side of the nut is connected to a power transmission device and the other side is connected to an arm link, and moves simultaneously to get closer or further apart depending on the operation of the drive unit.

10. In Claim 8, A parking robot in which, when a pair of nuts move closer together by the operation of a drive unit, a pair of arm links move closer together so that the lifting arm is retracted, and when a pair of nuts move further apart, a pair of arm links move further apart so that the lifting arm is deployed.

11. In Claim 10, The housing further includes a linear guide, and A parking robot in which a linear guide is formed to extend along the longitudinal direction of a power transmission device, and one end of an arm link slides on a base in a direction closer to or further apart from each other as a pair of nuts move on the linear guide.

12. In Claim 5, A parking robot in which the housing is embedded in the base and the lifting arm is connected along the longitudinal direction to one side of the housing, so that it is embedded in the base when stored and unfolds away from the base when deployed.

13. In Claim 5, A parking robot in which a plurality of housings are formed, and the plurality of housings are formed symmetrically on both sides of a base.

14. In Claim 1, A parking robot comprising a lifting arm including a roller and a stopper, a pair of lifting arms deployed to move closer together toward a wheel, the roller sliding to lift the wheel and the stopper standing upright by the weight of the wheel to grip the wheel.

15. In Claim 14, A parking robot in which a single lifting arm includes a plurality of rollers, the plurality of rollers are arranged spaced apart from each other along the longitudinal direction of the lifting arm, and a stopper is positioned between adjacent rollers.

16. In Claim 14, A parking robot in which a plurality of stoppers are provided, the stoppers are hinge-connected to a lifting arm, one side is horizontally connected to the lifting arm, and the other side is formed to be inclined toward the upper side of the lifting arm, so that when the wheel is lifted, the other side stands up as one side is pressed.

17. In Claim 14, A parking robot in which multiple rollers and stoppers are provided, the stoppers are positioned between multiple adjacent rollers, and the lifting arm can be adjusted in length by adjusting the number of rollers.

18. In Claim 1, A parking robot comprising a pair of lifting arms including a proximity sensor, wherein the proximity sensor is provided at the close end where the pair of lifting arms face each other to detect whether the pair of lifting arms are stored or deployed.

19. In Claim 1, A parking robot in which a pair of lifting arms are joined in a direction parallel to one side of the base when stored and aligned in a direction perpendicular to one side of the base when deployed.

20. In Claim 1, A parking robot in which the arm link has a radially bent shape and a pair of arm links are bent in different radial directions so that when the lifting arm is deployed, the other end slides closer to each other.

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