Calculation-based control system and method for forklift parking robot in free stop arm

A control system and robot technology, applied in the field of parking robots, can solve the problems that the vehicle cannot be squeezed onto the fork arm, and the vehicle is easy to slip, so as to achieve high feasibility and avoid the effect of falling off again

Inactive Publication Date: 2022-01-25
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 deal with the technical problems and the problem that the vehicle is easy to slip, design a calculation-based control system and method for a forklift parking robot in the free arm

Method used

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  • Calculation-based control system and method for forklift parking robot in free stop arm
  • Calculation-based control system and method for forklift parking robot in free stop arm
  • Calculation-based control system and method for forklift parking robot in free stop arm

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Experimental program
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Effect test

Embodiment 1

[0078] This embodiment relates to a double-tooth parking robot, such as figure 1 As shown, the robot includes:

[0079] The vehicle frame 100, the vehicle frame 100 has a straight structure;

[0080] 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;

[0081] The left fork arm 200 and the right fork arm 300 with the same symmetrical structure are installed on the same side of the vehicle frame 100 respectively, and the distance between them is adjustable;

[0082] Universal wheels, the universal wheels are installed on the left fork arm 200 and the right fork arm 300 to meet the driving requirements of the parking robot and serve as a supporting structure;

[0083]The left yoke 500 and the right yoke 600 with the same symmetrical structure, the left yoke 500 and the right yoke 600 are installed on the vehicle frame 100 and used in combination with the left yoke 200 and the right ...

Embodiment 2

[0093] This embodiment relates to a double-tooth parking robot. This parking robot has a similar structure to the parking robot in Embodiment 1, only the structures of the left fork arm 200 and the right fork arm 300 are different. The fork arm of the parking robot is as Figure 2-4 shown.

[0094] like figure 2 , 3 As shown in and 4, the position corresponding to the tire of the left fork arm 200 and the right fork arm 300 is provided with a hub limiting seat 330, and a tire bracket 331 is installed in the hub limiting seat 330.

[0095] The tire bracket 331 includes a rolling assembly 332 , a fixing block 334 and a spring 335 . The rolling assembly 332 includes a rolling sleeve 336 , a roller shaft 337 and a shaft frame 338 . The rolling bushing 336 is sleeved on the roller shaft 337, and the roller shafts 337 are arranged in two or more rows and installed on the shaft frame 338. The shaft frame 338 includes a horizontal bracket 3381 , two first vertical brackets 3382...

Embodiment 3

[0099] In this embodiment, it involves a double-toothed parking robot, such as Figure 5 shown. The parking robot has a similar structure to the parking robot in Embodiment 1, only the lengths of the left arm 500 and the right arm 600 are different.

[0100] Wherein, the lengths of the left blocking arm 500 and the right blocking arm 600 are similar to the lengths of the left yoke 200 and the right yoke 300 .

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Abstract

The invention belongs to the technical field of parking robots, and discloses a calculation-based free stop arm control system and method. The control system comprises an advancing module, a fork arm moving module, a stop arm moving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving a parking robot to move according to the advancing control instruction sent by the master controller; the fork arm moving module is used for driving a fork arm to move; the stop arm moving module is used for driving a stop arm to move; the measuring module is used for detecting the wheelbase of a vehicle; the navigation module is used for calculating the advancing route of the 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. According to the calculation-based free stop arm control system and method, after the blocking arms make contact with a tire firstly, the positions where the fork arms should stop are judged according to the positions of the blocking arms, 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 calculation-based control system and control method for a forklift parking robot in a free arm. . 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 of 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 h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E04H6/42E04H6/18E04H6/30
CPCE04H6/422E04H6/182E04H6/305
Inventor 贾宝华
Owner JIANGSU LITTLE WHITE RABBIT INTELLIGENT MFG SCI INC
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