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Control system of outer forklift parking robot with blocking arms and method

A control system and robot technology, applied in the field of parking robots, can solve the problems that the vehicle is easy to slip, and the vehicle cannot be squeezed onto the fork arm, etc.

Inactive Publication Date: 2021-02-12
JIANGSU LITTLE WHITE RABBIT INTELLIGENT MFG SCI INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above-mentioned technical problems in the prior art, one of the objectives of the present invention is to solve the problem that the existing two-jaw parking robot cannot squeeze the vehicle onto the fork arm when carrying a vehicle with a large difference between the front and rear counterweights. To solve the technical problems and the problem that the vehicle is easy to slip, design a kind of outer forklift parking robot with a stop arm and its control system and method

Method used

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  • Control system of outer forklift parking robot with blocking arms and method
  • Control system of outer forklift parking robot with blocking arms and method
  • Control system of outer forklift parking robot with blocking arms and method

Examples

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Embodiment 1

[0076] This embodiment relates to a parking robot with a blocking arm, such as figure 1 As shown, the robot includes:

[0077] A vehicle frame 100, the vehicle frame 100 is in a line-shaped structure, and its length is fixed;

[0078] an active traveling device 140, the active traveling device 140 is installed on the vehicle frame 100, and is used for driving the vehicle frame 100 to move;

[0079] The left fork arm 200 and the right fork arm 300 are symmetrical in structure. The left fork arm 200 and the right fork arm 300 are respectively installed at both ends of the same side of the frame 100, and the distance between them is adjustable;

[0080] A universal wheel 340, the universal wheel 340 is installed on the left fork arm 200 and the right fork arm 300 to meet the driving requirements of the parking robot and serve as a support structure;

[0081] The left stop arm 500 and the right stop arm 600 are symmetrical in structure. The left stop arm 500 and the right stop a...

Embodiment 2

[0096] In the embodiment, it relates to a parking robot with a blocking arm, such as Figure 8 shown. The parking robot has a similar structure to the parking robot in Embodiment 1, and only the lengths of the left arm 500 and the right arm 600 are different.

[0097] The lengths of the left blocking arm 500 and the right blocking arm 600 are similar to the lengths of the left fork arm 200 and the right fork arm 300 .

Embodiment 3

[0099] This embodiment relates to a control system and a control method thereof applicable to Embodiment 1 or 2.

[0100] like Figure 7 As shown, the control system of the parking robot with blocking arm includes a traveling module, a fork arm moving module, a blocking arm moving module, a measurement module, a navigation module and a general controller.

[0101] The traveling module includes an active traveling device 140 and a universal wheel 340, and is used to drive the parking robot to move according to the traveling control instruction issued by the general controller;

[0102] a fork arm moving module, including a fork arm moving device 310, for driving the fork arm to move;

[0103] A blocking arm moving module, including a blocking arm moving device 510, for driving the blocking arm to move;

[0104] a measurement module, including a photoelectric sensor 400, for detecting the wheelbase of the vehicle;

[0105] Navigation module, used to calculate the travel route...

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Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of parking robots, and relates to an automatic device for transporting vehicles to or from a parking space in a parking lot, in particular to an outer forklift parking robot control system and control method with a blocking arm. Background technique [0002] With the development of society and the improvement of the economy, the number of cars has increased sharply. Family cars have become an indispensable means of transportation for every household. The problem of parking difficulties in cities also follows. Parking queues and finding parking spaces take a long time. Traditional The method of drivers finding parking spaces by themselves can no longer meet the current parking needs of various cities. In order to reduce the time to find a parking space, different structures of parking robots have appeared on the market. [0003] Among them, a parking robot that lifts the vehicle by inserting into the bottom ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E04H6/42E04H6/30
CPCE04H6/36E04H6/422
Inventor 贾宝华
Owner JIANGSU LITTLE WHITE RABBIT INTELLIGENT MFG SCI INC
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