CN111980464A - Parking robot fork arm protection device and method and parking robot - Google Patents

Parking robot fork arm protection device and method and parking robot Download PDF

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Publication number
CN111980464A
CN111980464A CN202010950637.2A CN202010950637A CN111980464A CN 111980464 A CN111980464 A CN 111980464A CN 202010950637 A CN202010950637 A CN 202010950637A CN 111980464 A CN111980464 A CN 111980464A
Authority
CN
China
Prior art keywords
parking robot
bracket
distance
tire
fork arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202010950637.2A
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Chinese (zh)
Inventor
贾宝华
陈新建
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Original Assignee
Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd filed Critical Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Priority to CN202010950637.2A priority Critical patent/CN111980464A/en
Publication of CN111980464A publication Critical patent/CN111980464A/en
Withdrawn legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/32—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of conveyor chains or rotatable rollers
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of intelligent parking, and discloses a device and a method for protecting a fork arm of a parking robot and the parking robot. The protection device comprises a distance sensor and an anti-collision rubber strip which are arranged at the tail end of the fork arm and a distance sensor and an anti-collision rubber strip which are arranged on one side of the fork arm, which is in contact with the tire. The method comprises the following steps: a distance sensor and an anti-collision rubber strip are arranged at the tail end of the fork arm and one side of the fork arm, which is in contact with the tire; when the distance sensor senses that the distance of a nearby object is less than or equal to a preset emergency stop distance, an emergency stop signal is sent to the parking robot controller; and the parking robot controller controls the parking robot to stop moving until the distance sensor senses that the distance of the nearby object is greater than the preset emergency stop distance. The invention can avoid the damage of the parking robot and the injury of personnel caused by collision.

Description

Parking robot fork arm protection device and method and parking robot
Technical Field
The invention belongs to the technical field of intelligent parking, relates to an intelligent parking robot, and particularly relates to a protection device and method for a fork arm of a parking robot and the parking robot.
Background
The three-dimensional parking equipment has been developed for over ten years since the introduction of China, and the parking is increasingly tense due to the fact that urban land is increasingly scarce. Along with the improvement of living standard of people, the demand on the stereo garage with small floor area and high automation level is gradually increased. The most important equipment in the full-automatic three-dimensional parking garage is a parking robot. The parking robots with various structures are available in the market at present, wherein the parking robots are used for clamping vehicle tires by using fork arms to enable vehicles to be separated from the ground, and have wide application prospect due to the advantages of small size, flexible movement and no need of site transformation or large-scale equipment construction.
However, in use, the fork arms adopted on the existing parking robot find that the fork arms are hung on one side of the main body of the parking robot, and easily collide with other people or objects to cause damage.
Disclosure of Invention
In view of the above-mentioned technical problems in the prior art, an object of the present invention is to provide a parking robot and a protection device and method for a parking robot yoke, which can solve the problem that the yoke of the parking robot is likely to collide with other people or objects.
The technical scheme adopted by the invention is as follows:
the invention provides a protection device for a parking robot fork arm, which comprises a distance sensor 11 and an anti-collision rubber strip 12 which are arranged at the tail end of the fork arm 3, and the distance sensor and the anti-collision rubber strip which are arranged on one side of the fork arm 3, which is in contact with a tire.
The tail end of the fork arm 3 of the parking robot and one side contacted with the tire often collide with the tire, ground buildings or equipment or personnel, if the parking robot cannot stop in time after collision, the parking robot is damaged or personnel are injured due to the fact that a vehicle is heavy and inertia is large. Therefore, a distance sensor and a crash strip are provided at this position, respectively. When the distance sensor senses that an obstacle exists nearby (namely, the detection distance is short), an emergency stop signal is sent to the robot controller, so that the parking robot stops moving. Even if the parking robot slides a distance forwards due to inertia, the parking robot can be prevented from being damaged due to the speed reduction under the protection effect of the anti-collision rubber strip.
Furthermore, the fork arm 3 is provided with a wheel hub limiting seat 10 corresponding to the position of the tire, and the tire bracket 1 is installed in the wheel hub limiting seat 10. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 1 and the upper surface of the fork arm 3.
The tire bracket 1 comprises a rolling assembly 2, a fixed block 4 and a spring 5.
The rolling assembly 2 comprises a rolling sleeve 6, a roller shaft 7 and a shaft bracket 8. The rolling shaft sleeves 6 are sleeved on the roller shafts 7, and the roller shafts 7 are arranged in two rows or more than two rows and are arranged on the shaft bracket 8.
The axle bracket 8 comprises one transversal support 81, two first longitudinal supports 82 and one or more second longitudinal supports 83. The lateral bracket 81 is located at the rear side of the rolling assembly 2. All of the first and second longitudinal supports 82, 83 are parallel to each other. The first longitudinal support 82 is two sheet structures which are rotatably connected, namely a first rear support 84 and a front support 85, and the second longitudinal support 83 is two sheet structures which are rotatably connected, namely a second rear support 86 and a front support 85. The first rear brackets 84 are located at the left and right sides of the rolling assembly 2, and the second rear brackets 86 are located at the middle of the rolling assembly 2 and are fixedly connected to the transverse bracket 81. The roller shaft 7 is mounted between two longitudinal brackets.
The first fixing block 41 is fixedly arranged on the outer side of the first rear side bracket 84 end of the first longitudinal bracket 82, the third fixing block 43 is fixedly arranged on the outer side of the front side bracket 85 end of the first longitudinal bracket, and the second fixing block 42 is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket 85 of the first longitudinal bracket. One end of the leaf spring 5 is fixed to the first fixing block 41 and passes through the second fixing block 42 and the third fixing block 43.
The tire bracket 1 is fixedly connected with the hub limiting seat 10 of the fork arm 3 through the first rear side bracket 84. .
The diameters of all or two or more rows of the rolling bushes 6 distant from the lateral support 81 are gradually reduced as the distance from the lateral support 81 increases.
The outermost row of rolling shaft sleeves 6 are triangular cushion blocks 9.
In order to ensure the strength of the tire bracket 1, the transverse bracket 82 is a block structure, and one or more transverse fixing brackets 87 are arranged at the bottom of the first rear bracket 84 and the second rear bracket 86.
The invention also provides a protection method of the parking robot fork arm, which comprises the following steps:
a distance sensor and an anti-collision rubber strip are arranged at the tail end of the fork arm and one side of the fork arm, which is in contact with the tire;
when the distance sensor senses that the distance of a nearby object is less than or equal to a preset emergency stop distance, an emergency stop signal is sent to the parking robot controller;
and the parking robot controller controls the parking robot to stop moving until the distance sensor senses that the distance of the nearby object is greater than the preset emergency stop distance.
Further, the protection method comprises the following steps:
in the process that the parking robot lifts up and puts down the vehicle, the robot controller shields the emergency stop signals of all the distance sensors;
during the process of carrying the vehicle by the parking robot, the robot controller shields an emergency stop signal of a distance sensor arranged on one side of the fork arm contacted with the tire.
Further, the protection method comprises the following steps:
after the parking robot receives the emergency stop signal, whether an obstacle exists is confirmed through a camera arranged on the parking robot, if so, the parking robot is controlled to stop moving until the distance sensor senses that the distance between the nearby objects is larger than a preset emergency stop distance; if not, the existing operation state is maintained.
The invention also provides a parking robot, which is provided with the parking robot fork arm protection device and adopts the parking robot fork arm protection method.
The parking robot of the present invention works as follows: the parking robot extends the fork arm into the bottom of the vehicle and moves the fork arm to the part of the tire close to the ground; continuing to apply a squeezing force to the tire after the adaptive tire carrier on the yoke contacts the tire; under the action of the extrusion force, the part of the tire bracket close to the tire deflects to a certain degree towards the ground (because the front side bracket and the rear side bracket are rotationally connected, the front side bracket close to the tire can be pressed downwards, so that the front side bracket part rotates downwards by a certain angle); the tyre climbs onto the tyre bracket under the action of the extrusion force, and the deflection of the tyre bracket is partially recovered under the action of the spring, so that the tyre is separated from the ground to support the vehicle. Particularly, the outermost rolling shaft sleeve is a triangular cushion block, one fillet of the triangle can be plugged into an included angle between the tire and the ground, and compared with a circular rolling shaft sleeve, the drop between the edge of the triangle and the ground is obviously reduced. That is, the tire carrier using the triangular pad block can lift the tire off the ground more easily than the tire carrier using only the circular rolling bearing housing. Meanwhile, the diameters of the rolling shaft sleeves, which are all or far away from the transverse support, are gradually reduced along with the increase of the distance between the rolling shaft sleeves and the transverse support, so that the angle of a sharp corner extending out of the triangular cushion block is smaller, the gradient of the tire needing to climb up when the tire is lifted up is smoother, and the energy required for lifting the vehicle off the ground is further reduced.
In the working process, the tire bracket automatically deflects downwards, the height difference between the tire bracket and the ground is reduced through the deflection, the sliding friction between the tire and the tire bracket can be converted into the rolling friction through the rolling assembly, the extrusion force required by the vehicle to be separated from the ground is greatly reduced, and the risk of tire burst caused by clamping the tire is greatly reduced. When the vehicle is separated from the ground, the deflection of the tire bracket automatically restores a part under the action of the spring; when the vehicle is lowered, the deflection of the tire carrier will automatically be fully restored under the action of the spring. That is, the tire carrier of the present invention has an adaptive effect.
The invention has the following beneficial effects:
1. distance sensors and anti-collision rubber strips are arranged at the tail end of a fork arm 3 of the parking robot and one side of the fork arm contacting with a tire, so that the parking robot is prevented from being damaged and injured by personnel due to collision;
2. the anti-falling fork arm for the parking robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the tire from sliding on the fork arm so as to achieve the aim of preventing the vehicle from falling;
3. the tire bracket can deflect to the ground after contacting with the tire, so that the force required by the tire to climb onto the tire bracket is reduced, and a heavier vehicle or a vehicle with larger difference of front and rear counterweights can be easily lifted;
4. the tire bracket designed by the invention is a self-adaptive structure, and a driving device is not required to be additionally designed, so that the energy is saved, and the cost is reduced;
5. the triangular cushion block with the sharp angle is used for replacing the outermost edge rolling shaft sleeve, and the rolling shaft sleeve can be plugged into a gap between a tire and the ground, so that the tire can easily climb up a tire bracket under the assistance of a gentle slope formed by the sharp angle surface;
6 the diameters of all or a plurality of rows of the rolling shaft sleeves far away from the transverse support are gradually reduced along with the increase of the distance between the rolling shaft sleeves and the transverse support, so that the gradient on which the tire needs to climb when the tire is lifted is more gradual, and the energy required for lifting the vehicle off the ground is further reduced.
Drawings
FIG. 1 is a schematic structural diagram of a yoke and a protection device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a tire carrier in an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a gradual change in diameter of a rolling sleeve according to an embodiment of the present invention;
wherein, 1 is the tire bracket, 2 is the rolling subassembly, 3 is the yoke, 4 is the fixed block, 41 is first fixed block, 42 is the second fixed block, 43 is the third fixed block, 5 is the spring, 6 is the rolling axle sleeve, 7 is the roller shaft, 8 is the pedestal, 81 is the horizontal support, 82 is first vertical support, 83 is the vertical support of second, 84 is first rear side support, 85 is the preceding side support, 86 is the second rear side support, 87 is the fixed bolster, 9 is the cushion, 10 is the spacing seat of wheel hub, 11 is the distance inductor, 12 is crashproof adhesive tape.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained according to these embodiments without any inventive work.
Example 1
As shown in fig. 1, the present embodiment relates to a protection device for a parking robot yoke, which includes a distance sensor 11 and a crash strip 12 provided at the end of the yoke 3 and a distance sensor and a crash strip provided at the side of the yoke 3 contacting a tire.
The position that yoke 3 corresponds the tire is equipped with the spacing seat of wheel hub 10, install tire bracket 1 in the spacing seat of wheel hub 10. The height difference of more than or equal to 10mm exists between the upper surface of the tire bracket 1 and the upper surface of the fork arm 3.
As shown in fig. 2, the tire carrier 1 includes a rolling assembly 2, a fixing block 4, and a spring 5.
The rolling assembly 2 comprises a rolling sleeve 6, a roller shaft 7 and a shaft bracket 8. The rolling shaft sleeves 6 are sleeved on the roller shafts 7, and the roller shafts 7 are arranged in eight rows and are arranged on the shaft bracket 8. The outermost row of rolling shaft sleeves 6 are triangular cushion blocks 9.
The axle bracket 8 comprises one transversal support 81, two first longitudinal supports 82 and three second longitudinal supports 83. The transverse bracket 81 is located at the rear side of the rolling assembly 2 and is of a block structure, and the first longitudinal bracket 82 and the second longitudinal bracket 83 are parallel to each other. The first longitudinal support 82 is two sheet structures which are rotatably connected, namely a first rear support 84 and a front support 85, and the second longitudinal support 83 is two sheet structures which are rotatably connected, namely a second rear support 86 and a front support 85. The first rear brackets 84 are located at the left and right sides of the rolling assembly 2, and the second rear brackets 86 are located at the middle of the rolling assembly 2 and are fixedly connected to the transverse bracket 81. The roller shaft 7 is mounted between two longitudinal brackets. One or more transverse fixing brackets 87 are provided at the bottom of the first rear bracket 84 and the second rear bracket 86. As shown in fig. 3, the diameters of the six rows of the rolling bushes 6, which are away from the lateral bracket 81, gradually decrease with increasing distance from the lateral bracket 81.
The first fixing block 41 is fixedly arranged on the outer side of the first rear side bracket 84 end of the first longitudinal bracket 82, the third fixing block 43 is fixedly arranged on the outer side of the front side bracket 85 end of the first longitudinal bracket, and the second fixing block 42 is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket 85 of the first longitudinal bracket. One end of the leaf spring 5 is fixed to the first fixing block 41 and passes through the second fixing block 42 and the third fixing block 43.
The tire bracket 1 is fixedly connected with the hub limiting seat 10 of the fork arm 3 through the first rear side bracket 84.
The protection method for the parking robot fork arm in the embodiment comprises the following steps:
when the distance sensor senses that the distance of a nearby object is less than or equal to a preset emergency stop distance, an emergency stop signal is sent to the parking robot controller;
the parking robot controller controls the parking robot to stop moving until the distance sensor senses that the distance between the nearby objects is larger than a preset emergency stop distance;
in the process that the parking robot lifts up and puts down the vehicle, the robot controller shields the emergency stop signals of all the distance sensors; during the process of carrying the vehicle by the parking robot, the robot controller shields an emergency stop signal of a distance sensor arranged on one side of the fork arm contacted with the tire.
The embodiment also relates to a parking robot, which is provided with the parking robot fork arm protection device and adopts the parking robot fork arm protection method.
The working process of the parking robot in this embodiment is as follows: the parking robot extends the fork arm into the bottom of the vehicle and moves the fork arm to the part of the tire close to the ground; continuing to apply a squeezing force to the tire after the adaptive tire carrier on the yoke contacts the tire; under the action of the extrusion force, the part of the tire bracket close to the tire deflects to a certain degree towards the ground (because the front side bracket and the rear side bracket are rotationally connected, the front side bracket close to the tire can be pressed downwards, so that the front side bracket part rotates downwards by a certain angle); the tyre climbs onto the tyre bracket under the action of the extrusion force, and the deflection of the tyre bracket is partially recovered under the action of the spring, so that the tyre is separated from the ground to support the vehicle.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a protection device of parking robot yoke which characterized in that, protection device is including setting up at the terminal distance inductor and the crashproof adhesive tape of yoke and setting up at the distance inductor and the crashproof adhesive tape of one side of yoke and tire contact.
2. The parking robot yoke protection device as claimed in claim 1, wherein a hub stopper is provided at a position of the yoke corresponding to the tire, a tire bracket is installed in the hub stopper, and a height difference of not less than 10mm is provided between an upper surface of the tire bracket and an upper surface of the yoke;
the tire bracket comprises a rolling assembly, a fixed block and a spring;
the rolling assembly comprises a rolling shaft sleeve, roller shafts and a shaft bracket, the rolling shaft sleeve is sleeved on the roller shafts, and the roller shafts are arranged in two rows or more than two rows and are arranged on the shaft bracket;
the shaft bracket comprises a transverse bracket, two first longitudinal brackets and one or more second longitudinal brackets; the transverse bracket is positioned at the rear side of the rolling assembly; all the first longitudinal supports and the second longitudinal supports are parallel to each other; the first longitudinal support is two sheet structures which are in rotary connection and respectively comprises a first rear side support and a front side support, and the second longitudinal support is two sheet structures which are in rotary connection and respectively comprises a second rear side support and a second front side support; the first rear side brackets are positioned at the left side and the right side of the rolling assembly, and the second rear side brackets are positioned in the middle of the rolling assembly and are fixedly connected with the transverse bracket; the roller shaft is arranged between the two longitudinal brackets;
a first fixed block is fixedly arranged on the outer side of the first rear side bracket end of the first longitudinal bracket, a third fixed block is fixedly arranged on the outer side of the front side bracket end of the first longitudinal bracket, and a second fixed block is fixedly arranged on the outer side of the position, close to the rotary connecting structure, of the front side bracket of the first longitudinal bracket; one end of the sheet-shaped spring is fixed on the first fixing block and penetrates through the second fixing block and the third fixing block.
3. The parking robot fork arm protector as recited in claim 2, wherein the diameters of all or two or more rows of the rolling bushes distant from the lateral bracket are gradually reduced as the distance from the lateral bracket increases.
4. The parking robot fork arm protection device of claim 2, wherein the outermost row of rolling bushings is a triangular pad.
5. The parking robot fork arm protection device as claimed in claim 2, wherein the lateral bracket is a block structure, and one or more lateral fixing brackets are provided at the bottom of the first and second rear brackets.
6. The parking robot fork arm protector of claim 2, wherein the tire carrier is fixedly connected to the hub holder of the fork arm by a first rear bracket.
7. A method of protecting a parking robot fork arm protector according to any of claims 1-6, characterized in that the method comprises:
a distance sensor and an anti-collision rubber strip are arranged at the tail end of the fork arm and one side of the fork arm, which is in contact with the tire;
when the distance sensor senses that the distance of a nearby object is less than or equal to a preset emergency stop distance, an emergency stop signal is sent to the parking robot controller;
and the parking robot controller controls the parking robot to stop moving until the distance sensor senses that the distance of the nearby object is greater than the preset emergency stop distance.
8. The protection method according to claim 7, characterized in that the protection method further comprises:
in the process that the parking robot lifts up and puts down the vehicle, the robot controller shields the emergency stop signals of all the distance sensors;
during the process of carrying the vehicle by the parking robot, the robot controller shields an emergency stop signal of a distance sensor arranged on one side of the fork arm contacted with the tire.
9. The protection method according to claim 7, characterized in that it comprises:
after the parking robot receives the emergency stop signal, whether an obstacle exists is confirmed through a camera arranged on the parking robot, if so, the parking robot is controlled to stop moving until the distance sensor senses that the distance between the nearby objects is larger than a preset emergency stop distance; if not, the existing operation state is maintained.
10. A parking robot, characterized in that the parking robot is equipped with the parking robot yoke protection device as claimed in any one of claims 1 to 6 and the parking robot yoke protection method as claimed in any one of claims 7 to 9 is employed.
CN202010950637.2A 2020-09-11 2020-09-11 Parking robot fork arm protection device and method and parking robot Withdrawn CN111980464A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010950637.2A CN111980464A (en) 2020-09-11 2020-09-11 Parking robot fork arm protection device and method and parking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010950637.2A CN111980464A (en) 2020-09-11 2020-09-11 Parking robot fork arm protection device and method and parking robot

Publications (1)

Publication Number Publication Date
CN111980464A true CN111980464A (en) 2020-11-24

Family

ID=73449608

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010950637.2A Withdrawn CN111980464A (en) 2020-09-11 2020-09-11 Parking robot fork arm protection device and method and parking robot

Country Status (1)

Country Link
CN (1) CN111980464A (en)

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Application publication date: 20201124