Control system and method of double-tooth type parking robot with blocking arms

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

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 double-tooth parking robot with a stopper arm and its control system and method

Method used

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  • Control system and method of double-tooth type parking robot with blocking arms
  • Control system and method of double-tooth type parking robot with blocking arms
  • Control system and method of double-tooth type parking robot with blocking arms

Examples

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Embodiment 1

[0095]This embodiment relates to a double-tooth parking robot, such asfigure 1 As shown, the robot includes:

[0096]A frame 100, which has a straight-line structure;

[0097]Active walking device 140, which is installed on the frame 100 and used to drive the frame 100 to move;

[0098]The left wishbone 200 and the right wishbone 300 with the same symmetrical structure are installed on the same side of the frame 100 respectively, and the distance between the two is adjustable;

[0099]Universal wheels 340, which are installed on the left wishbone 200 and the right wishbone 300 to meet the driving requirements of the parking robot and serve as a supporting structure;

[0100]The left and right stop arms 500 and 600 with the same symmetrical structure, the left stop arm 500 and the right stop arm 600 are mounted on the frame 100, and are used in combination with the left wishbone 200 and the right wishbone 300, respectively, for use on the left wishbone 200 and the right fork arm 300 restrict the fr...

Embodiment 2

[0110]This embodiment relates to a double-tooth parking robot. The parking robot has a similar structure to the parking robot in Embodiment 1, except that the structures of the left fork arm 200 and the right fork arm 300 are different. The fork arm of the parking robot is likeFigure 2-4Shown.

[0111]Such asfigure 2 ,3As shown in and 4, the left and right wishbones 200 and 300 are provided with a wheel hub limit seat 330 at positions corresponding to the tires, and a tire bracket 331 is installed in the wheel hub limit seat 330.

[0112]The tire carrier 331 includes a rolling assembly 332, a fixed block 334 and a spring 335. The rolling assembly 332 includes a rolling shaft sleeve 336, a roller shaft 337 and a shaft bracket 338. The rolling shaft sleeve 336 is sleeved on the roller shaft 337, and the roller shafts 337 are arranged in two rows or more than two rows and installed on the shaft frame 338. The axle bracket 338 includes a horizontal bracket 3381, two first longitudinal bracket...

Embodiment 3

[0116]In this embodiment, it relates to a double-tooth parking robot, such asFigure 7 Shown. The parking robot has a similar structure to the parking robot in Embodiment 1, except that the lengths of the left gear arm 500 and the right gear arm 600 are different.

[0117]Among them, 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.

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Abstract

The invention belongs to the technical field of parking robots, and discloses a control system and method of a double-tooth type parking robot with blocking arms. 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 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 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 main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking arms make contact with a tire, whether the tire is lifted or not is judged through resistance borne by movement of the blocking arms, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situation thatthe 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 transporting vehicles to or from parking spaces for parking lots, in particular to a double-tooth 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 a necessary means of transportation for all households. The problem of difficult parking in various cities has also followed. Parking queues and long time for finding parking spaces are traditional The method of finding a parking space by the driver himself can no longer meet the current parking needs of various cities. In order to reduce the time to find 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 it into the bottom of the veh...

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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