A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Two-prong parking robot for forking vehicle from side face and parking method
The invention belongs to the technical field of parking robots, and discloses a two-prong parking robot for forking a vehicle from the side face and a parking method. The robot comprises a vehicle frame, driving traveling devices, a left fork arm, a left fork arm and universal wheels, wherein the vehicle frame is of a linear structure; the driving traveling devices are mounted at the two ends of the vehicle frame and used for driving the vehicle frame to move; the left fork arm and the right fork arm are symmetrical and identical in structure, the left fork arm and the right fork arm are installed on the same side of the vehicle frame, and the distance between the left fork arm and the right fork arm is adjustable; the universal wheels are installed on the left fork arm and the right forkarm and each comprise a wheel body, a rotating body, a bevel gear set and a motor; each bevel gear set comprises a horizontally-arranged annular gear and a small gear driven by the corresponding motor; and each wheel is located in a center hole of the corresponding rotating body, the inner ring of each rotating body and the inner side of the corresponding annular gear are fixedly connected with ahub, and each driving motor drives the corresponding bevel gear set to drive the corresponding wheel to actively steer. The robot is small in occupied space, the fork arms are provided with the driving universal wheels, the structure is simple, weighing is high, and operation is stable.
本发明属于泊车机器人技术领域，公开一种基于从侧面内叉车的两叉齿泊车机器人及停车方法。所述机器人包括：一车架，该车架呈一字形结构；一主动行走装置，该主动行走装置安装在车架的两端上，用于驱动车架移动；一结构对称相同的左叉臂和右叉臂，左叉臂和右叉臂分别安装在车架的同一侧，二者之间的距离可调；一万向轮，该万向轮安装在左叉臂和右叉臂上，包括轮子、旋转体、锥齿轮组和电机；锥齿轮组包括水平放置的环状齿轮和由电机驱动的小齿轮；所述轮子位于旋转体的中心孔内，且旋转体的内圈和环状齿轮内侧分别与轮毂固定连接，驱动电机通过带动锥齿轮组带动轮子主动转向。该机器人占用空间小，叉臂装有采用主动驱动万向轮，结构简单，称重强，运行稳定。
Two-prong parking robot for forking vehicle from side face and parking method
The invention belongs to the technical field of parking robots, and discloses a two-prong parking robot for forking a vehicle from the side face and a parking method. The robot comprises a vehicle frame, driving traveling devices, a left fork arm, a left fork arm and universal wheels, wherein the vehicle frame is of a linear structure; the driving traveling devices are mounted at the two ends of the vehicle frame and used for driving the vehicle frame to move; the left fork arm and the right fork arm are symmetrical and identical in structure, the left fork arm and the right fork arm are installed on the same side of the vehicle frame, and the distance between the left fork arm and the right fork arm is adjustable; the universal wheels are installed on the left fork arm and the right forkarm and each comprise a wheel body, a rotating body, a bevel gear set and a motor; each bevel gear set comprises a horizontally-arranged annular gear and a small gear driven by the corresponding motor; and each wheel is located in a center hole of the corresponding rotating body, the inner ring of each rotating body and the inner side of the corresponding annular gear are fixedly connected with ahub, and each driving motor drives the corresponding bevel gear set to drive the corresponding wheel to actively steer. The robot is small in occupied space, the fork arms are provided with the driving universal wheels, the structure is simple, weighing is high, and operation is stable.
本发明属于泊车机器人技术领域，公开一种基于从侧面内叉车的两叉齿泊车机器人及停车方法。所述机器人包括：一车架，该车架呈一字形结构；一主动行走装置，该主动行走装置安装在车架的两端上，用于驱动车架移动；一结构对称相同的左叉臂和右叉臂，左叉臂和右叉臂分别安装在车架的同一侧，二者之间的距离可调；一万向轮，该万向轮安装在左叉臂和右叉臂上，包括轮子、旋转体、锥齿轮组和电机；锥齿轮组包括水平放置的环状齿轮和由电机驱动的小齿轮；所述轮子位于旋转体的中心孔内，且旋转体的内圈和环状齿轮内侧分别与轮毂固定连接，驱动电机通过带动锥齿轮组带动轮子主动转向。该机器人占用空间小，叉臂装有采用主动驱动万向轮，结构简单，称重强，运行稳定。
Two-prong parking robot for forking vehicle from side face and parking method
一种从侧面内叉车的两叉齿泊车机器人及停车方法
JIA BAOHUA (author) / CHEN XINJIAN (author)
2020-12-04
Patent
Electronic Resource
Chinese
IPC:
E04H
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