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.