Two-prong parking robot capable of forklifting from outside of side face and parking method

Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of parking robots, and relates to an automatic device for shipping a vehicle to or from a parking space in a parking lot, in particular to a two-fork parking robot and a parking method for a forklift from the side. Background technique [0002] At present, the single-layer shipping robots in the parking lot basically adopt a four-grab structure, with a walking arm on the left and a right and two clamping arms in the middle. The movement of the arm enables the handling of the vehicle. This mechanism needs to separately design a set of moving mechanisms for the two clamping arms in the middle, which not only increases the complexity of the structure, but also increases the weight and manufacturing cost, so it needs to be improved. [0003] Two claw type parking robots have appeared at present, but this robot utilizes the motor on the vehicle frame to drive the steering wheel on the yoke, and the steering devi...

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Problems solved by technology

[0004] In view of the above-mentioned technical problems in the prior art, the purpose of the present invention is to solve the problem of redundant structure and high manufacturing cost of the existing four-grab parking robot, and the existing motor on the frame drives the yoke steering wheel. The steering is easy to be damaged, and the tire is difficult to climb onto the wishbone through the extrusion force. Design a two-fork parking robot and its parking method for a forklift from the side

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