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Control system and method of outer forklift parking robot with gear tooth structure

A control system and robot technology, applied in the field of parking robots, can solve problems such as the inability of the vehicle to be squeezed onto the fork arm, and the easy slippage of the vehicle.

Inactive Publication Date: 2021-03-02
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 parking robot with gear tooth structure and its control system and method

Method used

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  • Control system and method of outer forklift parking robot with gear tooth structure
  • Control system and method of outer forklift parking robot with gear tooth structure
  • Control system and method of outer forklift parking robot with gear tooth structure

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Experimental program
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Embodiment 1

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

[0077] Vehicle frame 100, the vehicle frame 100 is a straight structure, and its length is fixed;

[0078] Active running device 140, the active running device 140 is installed on the vehicle frame 100, and is used to drive the vehicle frame 100 to move;

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

[0080] Universal wheel 340, this universal wheel 340 is installed on the left yoke 200 and the right yoke 300, to meet the driving requirements of the parking robot, and as a supporting structure;

[0081] The left gear tooth 500 and the right gear tooth 600 with the same symmetrical structure, the left gear tooth 500 and the rig...

Embodiment 2

[0096] This embodiment relates to a control system and a control method for the external forklift parking robot with gear tooth structure applicable to Embodiment 1.

[0097] Such as Figure 7 As shown, the control system of the parking robot with gear tooth structure includes a traveling module, a fork arm moving module, a gear tooth moving module, a measuring module, a navigation module and a general controller.

[0098] The traveling module includes an active traveling device 140 and a universal wheel 340, which are used to drive the parking robot to move according to the traveling control instructions issued by the master controller;

[0099] The yoke moving module includes a yoke moving device 310 for driving the yoke to move;

[0100] The gear moving module includes a gear moving device 510 for driving the gear to move;

[0101] A measuring module, including a photoelectric sensor 400, is used to detect the wheelbase and wheel diameter of the vehicle, and calculate the...

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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 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.

Description

technical field [0001] The invention belongs to the technical field of parking robots, and relates to an automatic equipment for moving vehicles to or from a parking space in a parking lot, in particular to a control system and a control method for an outer forklift parking robot with gear tooth structure. Background technique [0002] With the development of the society and the improvement of the economy, the number of cars has increased sharply. The family car has become a necessary means of transportation for every household. The problem of parking difficulties in various cities has also followed. The driver's own method of finding a parking space to park can no longer meet the parking needs of various cities now. In order to reduce the time for finding a parking space, parking robots with different structures have appeared on the market. [0003] Among them, a parking robot that lifts the vehicle by inserting into the bottom of the vehicle from the side and clamping the...

Claims

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Application Information

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IPC IPC(8): E04H6/30E04H6/32E04H6/36E04H6/42
CPCE04H6/305E04H6/32E04H6/36E04H6/42E04H6/422
Inventor 贾宝华
Owner JIANGSU LITTLE WHITE RABBIT INTELLIGENT MFG SCI INC
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