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Internal forklift parking robot control system with blocking teeth and method

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: 2021-03-09
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 internal forklift parking robot with gear teeth and its control system and method

Method used

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  • Internal forklift parking robot control system with blocking teeth and method
  • Internal forklift parking robot control system with blocking teeth and method
  • Internal forklift parking robot control system with blocking teeth and method

Examples

Experimental program
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Effect test

Embodiment 1

[0073] This embodiment relates to a parking robot with gear teeth, such as figure 1 As shown, the robot includes:

[0074] Vehicle frame 100, the vehicle frame 100 is a straight structure, and its length is fixed;

[0075] 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;

[0076] 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 on the same side of the vehicle frame 100, and the distance between them is adjustable;

[0077] 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 as a supporting structure;

[0078] The left gear tooth 500 and the right gear tooth 600 with the same symmetrical structure, the left gear tooth 500 and the right gear tooth 600 a...

Embodiment 2

[0093] This embodiment relates to a control system and a control method for the inner forklift parking robot with gear teeth applicable to the first embodiment.

[0094] Such as Figure 7 As shown, the control system of the parking robot with gear teeth includes a traveling module, a fork arm moving module, a gear tooth moving module, a measurement module, a navigation module and a general controller.

[0095] 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 instruction issued by the general controller;

[0096] The yoke moving module includes a yoke moving device 310 for driving the yoke to move;

[0097] The gear moving module includes a gear moving device 510 for driving the gear to move;

[0098] A measurement module, including a photoelectric sensor 400, for detecting the wheelbase of the vehicle;

[0099] The navigation module is used to calculat...

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Abstract

The invention belongs to the technical field of parking robots, and discloses a control system of an internal forklift parking robot with blocking teeth and a control method of the control system. Thecontrol 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 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 a fork arm 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 the vehicle; the navigation module is used for calculating an advancing route ofthe 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 teeth make contact with the 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.

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 internal forklift parking robot with gear teeth. 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 difficult parking in every city 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 tires has a w...

Claims

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Application Information

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IPC IPC(8): E04H6/18E04H6/24E04H6/30E04H6/36E04H6/42
CPCE04H6/182E04H6/24E04H6/305E04H6/36E04H6/42E04H6/422
Inventor 贾宝华
Owner JIANGSU LITTLE WHITE RABBIT INTELLIGENT MFG SCI INC
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