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A platform for research: civil engineering, architecture and urbanism
Four-claw parking robot and moving method thereof
The invention belongs to the technical field of parking robots, and discloses a four-claw parking robot and a moving method thereof. The robot comprises a cross beam of a linear structure, two longitudinal beams, and two pairs of fork arms. A length adjusting structure is arranged in the middle of the cross beam; steering wheels are arranged at one ends of the longitudinal beams, universal wheelsare arranged at the other ends of the longitudinal beams, and one ends of the longitudinal beams are connected with one ends of the cross beams through lifting structures; the two pairs of fork arms are symmetrical and identical in structure and are movably mounted at the left sides and the right sides of the same sides of the cross beams and the longitudinal beams respectively; and the projections of the central points of the universal wheels on a horizontal plane and the projections of the central points of the steering wheels on the horizontal plane form a rectangle. According to the four-claw parking robot and the moving method thereof, the intersection point of the diagonal lines of the rectangle serves as a motion center, so that the calculation process of the parking robot in the rotating process is simplified, the needed rotating angles of the four wheels can be obtained only by calculating one angle, and the needed rotating 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，公开一种四爪式泊车机器人及其移动方法。所述机器人包括：一字形结构的横梁，其中间设有长度调节结构；两个纵梁，其一端有舵轮，另一端有万向轮，且其一端与横梁的一端通过升降结构连接在一起；两对结构对称相同的叉臂，两分别可移动的安装在横梁的与纵梁同一侧的左右两侧；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围成一个矩形。以所述矩形的对角线交点为运动中心，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转动的角度。
Four-claw parking robot and moving method thereof
The invention belongs to the technical field of parking robots, and discloses a four-claw parking robot and a moving method thereof. The robot comprises a cross beam of a linear structure, two longitudinal beams, and two pairs of fork arms. A length adjusting structure is arranged in the middle of the cross beam; steering wheels are arranged at one ends of the longitudinal beams, universal wheelsare arranged at the other ends of the longitudinal beams, and one ends of the longitudinal beams are connected with one ends of the cross beams through lifting structures; the two pairs of fork arms are symmetrical and identical in structure and are movably mounted at the left sides and the right sides of the same sides of the cross beams and the longitudinal beams respectively; and the projections of the central points of the universal wheels on a horizontal plane and the projections of the central points of the steering wheels on the horizontal plane form a rectangle. According to the four-claw parking robot and the moving method thereof, the intersection point of the diagonal lines of the rectangle serves as a motion center, so that the calculation process of the parking robot in the rotating process is simplified, the needed rotating angles of the four wheels can be obtained only by calculating one angle, and the needed rotating 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，公开一种四爪式泊车机器人及其移动方法。所述机器人包括：一字形结构的横梁，其中间设有长度调节结构；两个纵梁，其一端有舵轮，另一端有万向轮，且其一端与横梁的一端通过升降结构连接在一起；两对结构对称相同的叉臂，两分别可移动的安装在横梁的与纵梁同一侧的左右两侧；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围成一个矩形。以所述矩形的对角线交点为运动中心，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转动的角度。
Four-claw parking robot and moving method thereof
一种四爪式泊车机器人及其移动方法
JIA BAOHUA (author)
2021-02-02
Patent
Electronic Resource
Chinese
IPC:
E04H
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