32results about How to "Climb easily" patented technology

The invention belongs to the technical field of parking robots, and discloses a two-prong parking robot capable of forklifting from the outside of the side face and a parking method. The robot comprises a frame, a driving walking device, a left fork arm, a right fork arm and universal wheels, wherein the frame is of a linear structure; the driving walking device is installed at the two ends of theframe and used for driving the frame to move; the left fork arm and the right fork arm are the same in structure and are installed on the same side of the 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 fork arm and comprise wheels, rotating bodies, bevel gear sets and motors; each bevelgear set comprises a horizontally-placed annular gear and a pinion driven by the corresponding motor; and the wheels are located in center holes of the rotating bodies, the inner rings of the rotatingbodies and the inner sides of the annular gears are fixedly connected with hubs, and the driving motors drive the bevel gear sets to drive the wheels to actively steer. The robot is small in occupiedspace, the fork arms are provided with the actively-driven universal wheels, the structure is simple, weighing is high, and operation is stable.

The invention discloses a sound insulation and heat preservation quick escape window, relates to the technical field of escape windows, and aims to solve existing problems. A fixed frame is arranged in a wall and fixedly connected with the wall, a window frame is arranged in the fixed frame, an anti-theft fixed window is fixedly installed outside the wall, two sides of the inner walls of the anti-theft fixed window are provided with guide rails, an anti-theft movable window is arranged in the anti-theft fixed window, and the two sides of the anti-theft movable window are slidingly connected with the guide rails at the two sides of the inner wall of the anti-theft fixed window, the lower ends of the guide rails are fixedly installed with limiting blocks, and an escape box is fixedly installed on one side in the anti-theft fixed window.

The invention belongs to the technical field of vehicle carrying robots, and discloses an inner forklift vehicle carrying robot capable of moving fork teeth simultaneously and a parking method. The robot comprises a vehicle frame, a driving walking device, a left fork tooth, a right fork tooth and universal wheels, wherein the vehicle frame is of a linear structure; the driving walking device is arranged at the two ends of the vehicle frame and is used for driving the vehicle frame to move; the left fork tooth and the right fork tooth are symmetrical and identical in structure, the left fork tooth and the right fork tooth are arranged on the same side of the vehicle frame respectively, and the distance between the left fork tooth and the right fork tooth is adjustable; the universal wheelsare arranged on the left fork tooth and the right fork tooth, and each universal wheel comprises 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 the wheel bodies are located in center holes of the rotating bodies, the inner rings of the rotating bodies and the inner sides of the annular gears are fixedly connected with hubs respectively, and the driving motors drive the bevel gear sets to drive the wheel bodies to steer actively. The robot is small in occupied space, the fork teeth are provided with the universal wheels which are driven actively, the structure is simple, the weighing is high, and the operation is stable.

The invention belongs to the technical field of vehicle carrying robots, and discloses a four-wheel-drive two-claw type vehicle carrying robot. The robot comprises a vehicle frame, driving walking device, a left fork arm, a right fork arm and universal wheels, wherein the vehicle frame is of a linear structure; the driving walking devices are arranged at the two ends of the vehicle frame and usedfor 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 respectively arranged on the same side of the vehicle frame, and a distance between the left fork arm and the right fork arm is adjustable; the universal wheels are arranged on the left fork arm and the right fork arm and each universal wheel comprises 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 pinion driven by the corresponding motor; each wheel is arranged in a center hole of the corresponding rotating body; an inner ring of each rotating body and the inner side of the corresponding annular gear are fixedly connected to a hub; and each driving motor drives the corresponding bevel gear set in order to drive the corresponding wheel to actively steer. The robot is small in occupied space, the fork arms are provided with the activedriving universal wheels, the structure is simple, the weighing capability is high, and the operation is stable.

The invention belongs to the technical field of parking robots, and discloses an internal forklift parking robot control system with blocking teeth and a control method of the internal forklift parking robot control system. The internal forklift parking robot control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving a parking robot to move according to an advancing control instruction sent by the master controller; the fork arm moving module isused for driving fork arms to move; the blocking tooth moving module is used for driving the blocking teeth to move; the measuring module is used for detecting the wheelbase of vehicles; the navigation module is used for calculating an advancing route of the parking robot; and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. The blocking tooth structure can help the fork arms of the parking robot to be centered when the fork arms lift the vehicle, so that the fork arms are controlled to stop moving in time, and the situation that the light end directly crosses the fork arms and the vehicle lifting fails due to the large front-back balance weight difference of the vehicle is avoided.

The invention belongs to the technical field of parking robots, and discloses an outer forklift parking robot with a blocking arm structure and a parking implementation method of the outer forklift parking robot. The robot comprises a frame of a linear structure, an active traveling device, a left fork arm, a right fork arm, universal wheels, a left blocking arm and a right blocking arm, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, the left blocking arm and the rightblocking arm are symmetrical and identical in structure, and the left blocking arm and the right blocking arm are movably installed on the frame, located between the left fork arm and the right fork arm, used in cooperation with the left fork arm and the right fork arm respectively and used for limiting front-back movement of the vehicle and confirming whether wheels are lifted or not in the process in which the vehicle is clamped by the left fork arm and the right fork arm. According to the blocking arm structure, when the parking robot lifts the vehicle, front-back movement of the vehicle can be limited, the positions where the fork arms are required to stop are determined, and therefore, the situation that the light end directly crosses the fork arms due to the large front-back balanceweight difference of the vehicle, and consequently vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses a control system of an outer forklift parking robot with a gear tooth structure and a control method of the control system. The control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and a main controller, wherein the advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller, the fork arm moving module is used for driving fork arms to move, the blocking tooth moving module is used for driving blocking teeth to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route of the parking robot, and the main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking teeth make contact with a tire, the stopping positions of the fork arms are judged according to the positions of the blocking teeth, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.

The invention belongs to the technical field of parking robots, and discloses an inner forklift parking robot with blocking arms and a parking implementation method of the inner forklift parking robot. The inner forklift parking robot comprises a frame of a linear structure, an active walking device, a left fork arm, a right fork arm, universal wheels installed on the left fork arm and the right fork arm, a left blocking arm and a right blocking arm, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, and the left blocking arm and the right blocking armare symmetrical and identical in structure. The left blocking arm and the right blocking arm are movably installed on the frame, correspondingly located on the two sides of the left fork arm and theright fork arm, correspondingly used in cooperation with the left fork arm and the right fork arm, and used for limiting front-back movement of the vehicle and confirming whether wheels are lifted ornot in the process that the vehicle is clamped by the left fork arm and the right fork arm. According to the blocking arm structure, when the parking robot lifts the vehicle, front-back movement of the vehicle can be limited, whether the wheels are lifted or not is confirmed, and the situation that the vehicle lifting fails caused by the light end directly crossing the fork arm due to the fact that the front-back balance weight difference of the vehicle is large is avoided.

The invention belongs to the technical field of parking robots, and discloses an internal forklift parking robot control system with a stop arm structure and a method. The internal forklift parking robot control system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller. The advancing module is usedfor driving a parking robot to move according to an advancing control instruction sent by the master controller; the fork arm moving module is used for driving fork arms to move; the stop arm moving module is used for driving stop arms to move; the measuring module is used for detecting the wheelbase of vehicles; the navigation module is used for calculating an advancing route of the parking robot; and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the stop arms make contact with a tire, the stop positions of the fork arms are judged according to the positions of the stop arms, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situationthat the tire falls off again due to excessive movement of the fork arms is avoided.

The invention belongs to the technical field of intelligent parking, and discloses a telescopic fork arm and a parking robot with the telescopic fork arm. The fork arm comprises a fork arm front part and a fork arm rear part, and the fork arm front part and the fork arm rear part are connected through a telescopic structure; the fork arm front part comprises a fork arm front plate and a universal wheel, the fork arm rear part comprises a fork arm rear plate and a fork arm fixing plate perpendicular to the fork arm rear plate, and the fork arm is fixedly connected with a cross beam of the parking robot through the fork arm fixing plate; the telescopic structure comprises an electric telescopic push rod and a crossed roller guide rail, one end of the electric telescopic push rod is connected with the fork arm front plate, and the other end of the electric telescopic push rod is connected with the fork arm rear plate; and a crossed roller guide rail is arranged between the fork arm front plate and the fork arm rear plate. The fork arm is telescopic, the occupied space during no-load is greatly reduced, when vehicles need to be placed side by side, the parking robot can enter only with a small space to complete vehicle carrying work, and the space utilization rate of a parking lot is increased.

The invention belongs to the technical field of parking robots, and discloses an internal forklift parking robot control system with a gear tooth structure and a control method of the internal forklift parking robot control system. The internal forklift parking robot control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving a parking robot to move according to an advancing control instruction sent by the master controller; the fork arm moving module is used for driving fork arms to move; the blocking tooth moving module is used for driving blocking teeth to move; the measuring module is used for detecting the wheelbase of vehicles; the navigation module is used for calculating an advancing route of the parking robot; and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and aresistance judgment unit. After the blocking teeth make contact with a tire, the stopping positions of the fork arms are judged according to the positions of the blocking teeth, the states of the tireand the corresponding fork arms are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.

The invention belongs to the technical field of parking robots, and discloses a control system of an internal forklift parking robot with blocking arms and a control method of the control system. Thecontrol system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a main controller, wherein the advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller, the fork arm moving module is used for driving fork arms to move, the blocking arm moving module is used for driving the blocking arms to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route of the parking robot, and the main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking arms make contact with a tire, whether the tire is lifted or not is judged through resistance borne by movement of the blocking arms, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.

The invention belongs to the technical field of parking robots, and discloses a control system of an outer forklift parking robot with blocking teeth and a control method of the control system. The control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and a main controller, wherein the advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller, the fork arm moving module is used for driving fork arms to move, the blocking toothmoving module is used for driving the blocking teeth to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route ofthe parking robot, and the main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking teeth make contact with a tire, whether the tire is lifted or not is judged through resistance borne by movement of the blocking teeth, the state of the tire and the state of the corresponding fork arm are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arm is avoided.

The invention belongs to the technical field of parking robots, and discloses an internal forklift parking robot with blocking teeth and a parking implementation method of the internal forklift parking robot. The internal forklift parking robot comprises a frame of a linear structure, an active walking device, a left fork arm, a right fork arm, universal wheels, a left blocking tooth and a right blocking tooth, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, and the leftblocking tooth and the right blocking tooth are symmetrical and identical in structure. The left blocking tooth and the right blocking tooth are movably installed on the frame, correspondingly located on the two sides of the left fork arm and the right fork arm, correspondingly used in cooperation with the left fork arm and the right fork arm, and used for limiting front-back movement of the vehicle and confirming whether wheels are lifted or not in the process that the vehicle is clamped by the left fork arm and the right fork arm. According to the blocking tooth structure, front-back movement of the vehicle can be limited and whether the wheels are lifted or not is confirmed when the parking robot lifts the vehicle, and the situation that the vehicle lifting fails caused by the light end directly crossing the fork arm due to the fact that the front-back balance weight difference of the vehicle is large is avoided.

The invention belongs to the technical field of parking robots, and discloses an inner forklift parking robot with blocking arms and a parking implementation method thereof. The robot comprises a frame of a linear structure, an active traveling device, a left fork arm, a right fork arm, universal wheels, the left blocking arm and the right blocking arm, wherein the left fork arm and the right forkarm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, the left blocking arm and the right blocking arm are symmetrical and identical in structure, and the left blocking arm and the right blocking arm are movably installed on the frame, located on the two sides of the left fork arm and the right fork arm respectively, used in cooperation with the left fork arm and the right fork arm respectively and used for limiting front-back movement of a vehicle and confirming whether wheels are lifted or not in the process in whichthe vehicle is clamped by the left fork arm and the right fork arm. The blocking arm structure can help the fork arms of the parking robot to be centered when the fork arms lift the vehicle, so that the fork arms are controlled to stop moving in time, and the situation that the light end directly crosses the fork arms due to the large front-back balance weight difference of the vehicle, and consequently vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses an outer forklift parking robot control system with blocking teeth and a control method of the outer forklift parking robot control system. The outer forklift parking robot control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and amain controller. The advancing module is used for driving a parking robot to move according to an advancing control instruction sent by the main controller; the fork arm moving module is used for driving fork arms to move; the blocking tooth moving module is used for driving the blocking teeth to move; the measuring module is used for detecting the wheelbase of vehicles; the navigation module isused for calculating an advancing route of the parking robot; and the main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgmentunit. The blocking tooth structure can help the fork arms of the parking robot to be centered when the fork arms lift the vehicle, so that the fork arms are controlled to stop moving in time, and thesituation that the light end directly crosses the fork arms and the vehicle lifting fails due to the large front-back balance weight difference of the vehicle is avoided.

The invention belongs to the technical field of intelligent parking, and discloses a parking robot fork arm protection device and method as well as a parking robot. The parking robot fork arm protection device comprises a distance sensor I, anti-collision adhesive tape I, a distance sensor II and anti-collision adhesive tape II, wherein the distance sensor I and the anti-collision adhesive tape Iare arranged at the tail end of a fork arm; and the distance sensor II and the anti-collision adhesive tape II are arranged on the side where the fork arm is in contact with a tire. The parking robotfork arm protection method comprises the following steps: the distance sensor II and the anti-collision adhesive tape II are arranged on the side where the fork arm is in contact with the tire; when sensing that the distance to a nearby object is less than or equal to the preset emergency stop distance, the distance sensor II sends an emergency stop signal to a parking robot controller; and the parking robot controller controls the parking robot to stop moving till the distance sensor II senses that the distance to the nearby object is greater than the preset emergency stop distance. Through the parking robot fork arm protection device and method, the circumstance that the parking robot is damaged and people are injured due to collisions can be avoided.

The invention belongs to the technical field of parking robots, and discloses an outer forklift parking robot with blocking arms and a parking implementation method of the outer forklift parking robot. The robot comprises a frame of a linear structure, an active walking device, a left fork arm and a right fork arm which are symmetrical and identical in structure, universal wheels arranged on the left fork arm and the right fork arm, and a left blocking arm and a right blocking arm which are symmetrical and identical in structure; and the left blocking arm and the right blocking arm are movablyarranged on the frame, located between the left fork arm and the right fork arm, used in cooperation with the left fork arm and the right fork arm respectively, and used for limiting front-back movement of a vehicle and confirming whether wheels are lifted or not in the process that the vehicle is clamped by the left fork arm and the right fork arm. According to the blocking arm structures, whenthe parking robot lifts the vehicle, the front-back movement of the vehicle can be limited, whether wheels are lifted or not is determined, and the situation that due to the fact that the front-back balance weight difference of the vehicle is large, the light end directly crosses the fork arms, and vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses a two-fork parking robot capable of forking truck from side outside. The robot comprises the following parts of a frame ofan in-line structure; an active walking device installed on both ends of the frame for driving the frame to move; a left wishbone and a right wishbone with the same symmetrical structure, wherein theleft wishbone and right wishbone are respectively installed on the same side of the frame, the distance between the two is adjustable; and a universal wheel mounted on the left and right wishbones and comprising a wheel, a rotating body, a bevel gear set and a motor, wherein the bevel gear set comprises a horizontally placed ring gear and a pinion gear driven by the motor; the wheel is located inthe center hole of the rotating body, the inner ring of the rotating body and the inner side of the ring gear are respectively fixedly connected to hubs, and the driving motor drives the wheel to actively steer through the bevel gear set. The robot occupies a small space, and the fork arm is equipped with an active driving universal wheel, which has a simple structure, strong weighing, and stableoperation.

The invention belongs to the technical field of parking robots, and discloses an internal forklift parking robot with blocking teeth and a parking implementation method of the internal forklift parking robot. The robot comprises a frame of a linear structure, an active traveling device, a left fork arm, a right fork arm, universal wheels, the left blocking tooth and the right blocking tooth, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, the left blocking tooth and theright blocking tooth are symmetrical and identical in structure, and the left blocking tooth and the right blocking tooth are movably installed on the frame, located on the two sides of the left forkarm and the right fork arm respectively, used in cooperation with the left fork arm and the right fork arm respectively and used for limiting front-back movement of a vehicle and confirming whether wheels are lifted or not in the process in which the vehicle is clamped by the left fork arm and the right fork arm. The blocking tooth structure can help the fork arms of the parking robot to be centered when the fork arms lift the vehicle, so that the fork arms are controlled to stop moving in time, and the situation that the light end directly crosses the fork arms due to the large front-back balance weight difference of the vehicle, and consequently vehicle lifting fails is avoided.

The invention relates to a double-side driving motor and two-gear automatic gearbox integrated independent driving system. The system comprises a driving motor, a gearbox, a brake, a side speed reducer and a driving wheel connected in sequence; the gearbox comprises a planet gear set and a synchronizer; an input shaft of the gearbox is connected with a sun gear of the planet gear set; the synchronizer is connected with a gear ring of the planet gear set; an output shaft of the gearbox is connected with a planet gear of the planet gear set; the synchronizer can axially move along the gear ringof the planet gear set; and gears are arranged at two axial ends, and can be respectively engaged with a high-speed gear fixed on the gearbox and a low-speed gear fixed on the output shaft. The systemguarantees the output characteristics of low speed, high torque, high speed and constant power of an electric transmission system, meets the platform requirements of high speed and high passing property, is compact in overall structure, and can fully use the torque and the power of the motor under different gears.

The invention belongs to the technical field of parking robots, and discloses a control system and method for a lateral clamping parking robot with a blocking arm. The control system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving the parking robot to move according to the advancing control instruction sent by the master controller; the fork arm moving module is used for driving the fork arm to move; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheelbase of the vehicle; the navigation module is used for calculating the advancing route of the parking robot; and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking arm makes contact with a tire firstly, whether the tire is lifted or not is judged through resistance borne by movement of the blocking arm, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.

The invention belongs to the technical field of parking robots, and discloses an outer forklift parking robot with a blocking tooth structure and a parking implementation method of the outer forkliftparking robot. The robot comprises a frame of a linear structure, an active traveling device, a left fork arm, a right fork arm, universal wheels, a left blocking tooth and a right blocking tooth, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, the left blocking tooth and the right blocking tooth are symmetrical and identical in structure, and the left blocking tooth and the right blocking tooth are movably installed on the frame, located between the left fork arm and the right fork arm, used in cooperation with the left fork arm and the right fork arm respectively and used for limiting front-back movement of a vehicle and confirming whether wheels are lifted or notin the process in which the vehicle is clamped by the left fork arm and the right fork arm. The blocking tooth structure can limit front-back movement of the vehicle and confirm the positions where the fork arms are required to stop when the parking robot lifts the vehicle, and the situation that the light end directly crosses the fork arms due to the large front-back balance weight difference ofthe vehicle, and consequently vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses a lateral clamping parking robot with blocking arms and a parking implementation method of the lateral clamping parking robot. The lateral clamping parking robot comprises a frame of a linear structure, an active walking device, a left fork arm, a right fork arm, universal wheels, a left blocking arm and a right blocking arm, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, and the left blocking arm and the right blocking arm are symmetrical and identical in structure. The left blocking arm and the right blocking arm are movably installed on the frame, correspondingly located on the two sides of the left fork arm and the two sides of the right fork arm, used in combination with the left fork arm and the right fork arm correspondingly and used for limiting front-back movement of the vehicle in the process that the left fork arm and the right fork arm clamp the vehicle and confirming whether wheels are lifted or not. According to a blocking arm structure, when the parking robot lifts the vehicle, the front-back movement of the vehicle can be limited, whether the wheels are lifted or not is confirmed, and the situation that the light end directly crosses the fork arm, and the vehicle lifting failure is caused due to the fact that the front-back balance weight difference of the vehicle is large is avoided.

The invention belongs to the technical field of parking robots, and discloses a control system of an outer forklift parking robot with blocking arms and a control method of the control system. The control system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller, wherein the advancing module is usedfor driving the parking robot to move according to an advancing control instruction sent by the master controller, the fork arm moving module is used for driving fork arms to move, the blocking arm moving module is used for driving the blocking arms to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route of the parking robot, and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. According to the control system andthe control method, the blocking arm structure can help the fork arms of the parking robot to be centered when the fork arms lift the vehicle, so that the fork arms are controlled to stop moving in time, and the situation that the light end directly crosses the fork arms due to the large front-back balance weight difference of the vehicle, and consequently vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses an internal forklift parking robot with a blocking arm structure and a parking implementation method of the internal forklift parking robot. The robot comprises a frame of a linear structure, an active travelling device, a left fork arm, a right fork arm, universal wheels, a left blocking arm and a right blocking arm, wherein the left fork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, and the left blocking arm andthe right blocking arm are symmetrical and identical in structure. The left blocking arm and the right blocking arm are movably installed on the frame, located on the two sides of the left fork arm and the right fork arm correspondingly, used in cooperation with the left fork arm and the right fork arm respectively and used for limiting front-back movement of a vehicle and confirming whether wheels are lifted or not in the process that the vehicle is clamped by the left fork arm and the right fork arm. According to the blocking arm structure, when the parking robot lifts the vehicle, front-back movement of the vehicle can be limited, the position where the fork arm should stop is determined, and the situation that due to the fact that the front-back balance weight difference of the vehicle is large, the light end directly crosses the fork arms, and vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses an outer forklift parking robot with blocking arms and a parking implementation method of the outer forklift parking robot. The robot comprises a frame of a linear structure, an active traveling device, a left fork arm, a right fork arm, universal wheels, the left blocking arm and the right blocking arm, wherein the leftfork arm and the right fork arm are symmetrical and identical in structure, the universal wheels are installed on the left fork arm and the right fork arm, the left blocking arm and the right blocking arm are symmetrical and identical in structure, and the left blocking arm and the right blocking arm are movably installed on the frame, located between the left fork arm and the right fork arm, used in cooperation with the left fork arm and the right fork arm respectively and used for limiting front-back movement of the vehicle and confirming whether wheels are lifted or not in the process in which the vehicle is clamped by the left fork arm and the right fork arm. The blocking arm structure can help the fork arms of the parking robot to be centered when the fork arms lift the vehicle, so that the fork arms are controlled to stop moving in time, and the situation that the light end directly crosses the fork arms due to the large front-back balance weight difference of the vehicle, and consequently vehicle lifting fails is avoided.

The invention belongs to the technical field of parking robots, and discloses a control system of an outer forklift parking robot with blocking arms and a control method of the control system. The control system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller, wherein the advancing module is usedfor driving the parking robot to move according to an advancing control instruction sent by the main controller, the fork arm moving module is used for driving fork arms to move, the blocking arm moving module is used for driving the blocking arms to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route of theparking robot, and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking arms make contactwith a tire, whether the tire is lifted or not is judged through resistance borne by movement of the blocking arms, the states of the tire and the corresponding fork arms are directly and effectivelyreflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.