Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Parking robot driven by steering wheels and moving method of parking robot
The invention belongs to the technical field of parking robots, and discloses a parking robot driven by steering wheels and a moving method of the parking robot. The parking robot comprises a cross beam, a pair of left fork arm and right fork arm, a pair of fixing frames and a pair of steering wheels, and the left fork arm and the right fork arm are symmetrical and identical in structure. Two fixing frame guide rail structures are connected with the cross beam, one side of each fixing frame guide rail structure is fixedly connected with one steering wheel, and the other side of each fixing frame guide rail structure is fixedly connected with the left fork arm or the right fork arm; the left fork arm and the right fork arm are correspondingly provided with a universal wheel; and the left fork arm and the right fork arm are correspondingly provided with the universal wheel, and the projection of the central point of each universal wheel on the horizontal plane and the projection of the central point of the steering wheel on the horizontal plane are connected together to form a rectangle. The steering wheels are connected with the fork arms, the steering wheels drive the left fork arm or the right fork arm to move, the calculation process during rotation of the parking robot is simplified, the rotation angles of the four wheels can be obtained only by calculating one angle, and the rotation angles of the two steering wheels can be obtained only by calculating one calculation angle.
本发明属于泊车机器人技术领域，公开一种由舵轮驱动的泊车机器人及其移动方法。所述机器人包括：呈横梁、一对结构对称相同的左叉臂和右叉臂、一对固定架和一对舵轮；两个固定架导轨结构与横梁相连接，其一侧与一个舵轮固定连接，另一侧与左叉臂或右叉臂固定连接；左叉臂和右叉臂上分别安装一个万向轮；左叉臂和右叉臂上分别安装一个万向轮，所述万向轮的中心点在水平面上的投影与舵轮的中心点在水平面上的投影一起连成一个矩形。本发明通过将舵轮与叉臂向连接，让舵轮带动左叉臂或右叉臂移动，简化了泊车机器人旋转时的计算过程，只需要计算一个角度即可获得四个轮子应当旋转的角度，只需要计算一个计算角度即可获得两个舵轮应当旋转的角度。
Parking robot driven by steering wheels and moving method of parking robot
The invention belongs to the technical field of parking robots, and discloses a parking robot driven by steering wheels and a moving method of the parking robot. The parking robot comprises a cross beam, a pair of left fork arm and right fork arm, a pair of fixing frames and a pair of steering wheels, and the left fork arm and the right fork arm are symmetrical and identical in structure. Two fixing frame guide rail structures are connected with the cross beam, one side of each fixing frame guide rail structure is fixedly connected with one steering wheel, and the other side of each fixing frame guide rail structure is fixedly connected with the left fork arm or the right fork arm; the left fork arm and the right fork arm are correspondingly provided with a universal wheel; and the left fork arm and the right fork arm are correspondingly provided with the universal wheel, and the projection of the central point of each universal wheel on the horizontal plane and the projection of the central point of the steering wheel on the horizontal plane are connected together to form a rectangle. The steering wheels are connected with the fork arms, the steering wheels drive the left fork arm or the right fork arm to move, the calculation process during rotation of the parking robot is simplified, the rotation angles of the four wheels can be obtained only by calculating one angle, and the rotation angles of the two steering wheels can be obtained only by calculating one calculation angle.
本发明属于泊车机器人技术领域，公开一种由舵轮驱动的泊车机器人及其移动方法。所述机器人包括：呈横梁、一对结构对称相同的左叉臂和右叉臂、一对固定架和一对舵轮；两个固定架导轨结构与横梁相连接，其一侧与一个舵轮固定连接，另一侧与左叉臂或右叉臂固定连接；左叉臂和右叉臂上分别安装一个万向轮；左叉臂和右叉臂上分别安装一个万向轮，所述万向轮的中心点在水平面上的投影与舵轮的中心点在水平面上的投影一起连成一个矩形。本发明通过将舵轮与叉臂向连接，让舵轮带动左叉臂或右叉臂移动，简化了泊车机器人旋转时的计算过程，只需要计算一个角度即可获得四个轮子应当旋转的角度，只需要计算一个计算角度即可获得两个舵轮应当旋转的角度。
Parking robot driven by steering wheels and moving method of parking robot
一种由舵轮驱动的泊车机器人及其移动方法
JIA BAOHUA (Autor:in)
21.01.2022
Patent
Elektronische Ressource
Chinesisch
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