CN101761259B - Omnidirectional automobile carrying device - Google Patents
Omnidirectional automobile carrying device Download PDFInfo
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- CN101761259B CN101761259B CN2010100041018A CN201010004101A CN101761259B CN 101761259 B CN101761259 B CN 101761259B CN 2010100041018 A CN2010100041018 A CN 2010100041018A CN 201010004101 A CN201010004101 A CN 201010004101A CN 101761259 B CN101761259 B CN 101761259B
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- bogie
- jig arm
- vehicle frame
- driving wheel
- carrying device
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Abstract
The invention relates to an automobile carrying device, in particular to an omnidirectional automobile carrying device, which solves the problem that a tyre clamping carrying device of a three-dimensional garage can carry automobiles only along one direction. The automobile carrying device comprises a frame, clamping arms, a traveling mechanism and an intelligent controller, wherein the clamping arms, the traveling mechanism and the intelligent controller are arranged on the frame. The automobile carrying device is characterized in that the traveling mechanism comprises drive wheels capable which can adjust a traveling direction, and a plurality of universal driven wheels; a pedestal is fixed on the frame; the pedestal is provided with steering frames rotating relative to the pedestal; the drive wheels are fixed on the steering frames; and axes of the drive wheels are vertical to and intersect with rotating axes of the steering frames. In the invention, the omnidirectional movement of the whole carrying device is realized, and the direction of the carrying device can be changed at any angle; and telescopic connecting rods are arranged between a front frame and a rear frame so as to adjust the length of the carrying device according to differences in wheel bases of front and rear wheels of the automobiles.
Description
Technical field
The present invention relates to a kind of car carrying instrument, particularly a kind of omnidirectional automobile carrying device.
Technical background
Along with the increase of vehicle owning amount, a lot of places are all built multi-storied garage and are solved the parking difficulty problem, and the mode of transport of vehicle in multi-storied garage adopts three kinds of modes mostly, vehicle-containing carrying, the carrying of pectination Handling device, the carrying of clamping tire conveying system.Clamping tire mode of transport is that carrier gets under the automobile, adopts clamping device to embrace the folder wheel automobile is lifted, and carries.Existing clamping tire conveying system generally can only carry out the carrying of single direction, generally be enter car from headstock or the tailstock at the bottom of, automobile is lifted the back along headstock or tailstock direction and along the track carrying, and the carrying of this other direction of garage must be finished by other device.As: move by ferry bus realization automobile side angle, rotation is turned around by turntable realization automobile, the carrying action of different directions is finished by functional module separately, cause not only forming that whole stereo garage system module is many, cost increases, and it is many to cause carrying link, each link all will start and accurately locate the running time that stops, and causes the vehicle access cycle long.
Patent Office of the People's Republic of China announced the CN201241491Y patent on May 20th, 2009, and name is called multi-storied garage intelligent carrier, comprised at least two vehicle bodies that connected by a connecting rod; Walking mechanism, positioner are set at least one vehicle body, and two vehicle bodies comprise two rushing board mechanisms respectively; Rushing board mechanism comprises the push pedal main body, be arranged on the clamping bar at these push pedal main body two ends, be arranged on push pedal main body two ends is fixed in composite guideway on the vehicle body, and the power set of control push pedal main body motion; Composite guideway comprises first pilot unit, second pilot unit, and the push pedal main body is moved under the effect of power set, and then drives clamping bar and do rectilinear motion or rotatablely move along the second pilot unit seat along first pilot unit.This device can only be at the bottom of headstock or tailstock direction enter car, and after vehicle lifted, also can only carry along headstock or tailstock direction, and the carrying action of other direction need be finished by other carrying module.
Summary of the invention
The clamping tire conveying system that the objective of the invention is to solve multi-storied garage can only be along the problem of a direction carrying, provides a kind of and can carry along any direction, and omnidirectional automobile carrying device that can the original place rotation.
The technical solution adopted for the present invention to solve the technical problems is: a kind of omnidirectional automobile carrying device, comprise vehicle frame and be installed in jig arm, walking mechanism and intelligent controller on the vehicle frame, walking mechanism comprises driving wheel and the some universal driven pulleys that can regulate direction of travel, be fixed with pedestal on the vehicle frame, the bogie that rotates relative to pedestal is installed on the pedestal, driving wheel is fixed on the bogie, and the axis of driving wheel is vertical with the bogie pivot center and crossing.The handling process of this device is as follows: this device pierces earlier at the bottom of the automobile car, and jig arm is embraced wheel folder and is lifted away from ground, and walking mechanism is delivered to assigned address with automobile, and jig arm is unclamped automobile is put down, and whole motion process is controlled by intelligent controller.The driving wheel of this device is installed on the bogie, bogie can rotate by the pedestal of relative fixed on vehicle frame, so when needing the direct of travel of conversion Handling device, turn to the drive driving wheel to change direct of travel by driving bogie, universal driven pulley is in the evenly distribution installation of periphery of vehicle frame, with the common load capacity of driving wheel.Also intersect because the axis of driving wheel and the pivot center of bogie are vertical, when bogie drives driving wheel change direct of travel, driving wheel is to roll on the circumference in the center of circle with the pivot center at one, and frictional force is little, and the angle of driving wheel going direction changing is identical with the angle that bogie rotates.In the process of conversion direct of travel, bogie drives the driving wheel break-in, all driven pulleys are universal driven pulley, make Handling device can realize arbitrarily angled break-in and original place rotation, in automatic garage, use and to replace the carrying module of other group as translation, rotation, can reduce the cost in garage greatly, for example will carry direction and laterally can directly carry out the side parking, greatly facilitate parking by vertically directly changing into.This device has been realized omnidirectional moving, can be supporting with parking facilities such as the underground garage road more complicated, parking space direction shuffling, parking facilities such as underground garage are transformed into automatic garage.
As preferably, bogie is an annular, and the pivot center of bogie is the axis of annular bogie, and driving wheel is arranged on the inboard of annular bogie.Bogie is an annular, and around self axis rotation, does not need to reserve extra rotation space in the time of rotation; Driving wheel is located at the bogie inboard, makes driving wheel be difficult for interfering with other parts in the break-in process.As other scheme, also driving wheel can be arranged on the outside of annular bogie, distance is big between the driving wheel of bogie both sides, and balance is good in the carriage walking process, but this scheme occupation space is also big, is difficult for arranging.
As preferably, bogie is provided with one or more driving wheel, a plurality of driving wheel coaxial arrangement, and arrange in bogie pivot center bilateral symmetry.Select for use a plurality of driving wheels that better support effect can be provided, all driving wheel coaxial arrangement on the rotating turret guarantee the uniformity of driving wheel action, stressed symmetry when driving wheel arranges that in bogie pivot center bilateral symmetry the assurance bogie drives the driving wheel rotation is rotated thereby can not drive vehicle frame.
As preferably, vehicle frame is provided with the steer motor that the control bogie rotates, and bogie is provided with the movable motor that the control driving wheel rotates.Steer motor is fixed on the vehicle frame, and movable motor is fixed on the bogie and with bogie and rotates, and steer motor and movable motor are controlled by intelligent controller.
As preferably, cooperate by ball between bogie and the pedestal, the bogie bottom periphery has gear ring, and the output shaft of steer motor is provided with the gear that cooperates with gear ring.Bogie and steer motor cooperate the realization transmission by gear-wheel gear-ring, have the annular ball grooves that direction makes progress on the top circumference of bogie, the corresponding ball grooves that is directed downwards is arranged on the pedestal, and ball is installed in the ball grooves, and bogie can be rotated relative to pedestal.
As preferably, vehicle frame comprises symmetrical front frame with the back vehicle frame and is connected front frame and the shrinking connecting-rod of back vehicle frame, front frame and after be respectively equipped with a bogie that driving wheel is housed on the vehicle frame.Shrinking connecting-rod between front frame and the back vehicle frame, be respectively equipped with driving wheel on the bogie of front frame and back vehicle frame, it is flexible to control shrinking connecting-rod by the differential between the driving wheel of front frame and back vehicle frame, make this device can enter the automobile bottom during contraction, can launch the automobile cooperation that different length can be different with the front and back wheel wheelbase during stretching, extension from the side of automobile.Front frame and back vehicle frame are respectively equipped with bogie, can make front frame and back vehicle frame change direct of travel simultaneously, when the driving wheel axis on the bogie of front frame and back vehicle frame overlaps with two bogie pivot center lines, driving wheel on the vehicle frame of front and back can be realized the original place rotation of this device respectively to different direction motions.
As preferably, vehicle frame is provided with some jig arm drive units, and jig arm is corresponding one by one with the jig arm drive unit, and jig arm is hinged on the vehicle frame and can drives swing in the horizontal direction by the jig arm drive unit.The jig arm drive unit is controlled by intelligent controller, and the swing order by different contacts the jig arm of diverse location successively, and cooperates with driving wheel with wheel, wheel position is positioned.Jig arm adopts the swing form, and pin joint does not have the displacement of fore-and-aft direction, can guarantee that the jig arm of both sides is alignd with bogie all the time at fore-and-aft direction, and support effect is good.
As preferably, per two jig arm are one group, and one has 4 groups of jig arm, and 4 groups of jig arm are separately positioned on the both sides of front frame and back vehicle frame, and symmetric arrangement.Per two jig arm are as one group, and a wheel is lifted in cooperation, and 4 wheels with automobile are corresponding respectively for 4 groups of jig arm.
As preferably, the jig arm drive unit is an electric pushrod, and an end of electric pushrod is installed on the vehicle frame, and the other end links to each other with jig arm.Electric pushrod is a kind of telescoping mechanism commonly used, and the motor-driven push rod that is carried by itself is flexible, and the two ends of electric pushrod are hinged with two parts that relative motion relation is arranged respectively.The jig arm drive unit also can be selected the worm and gear device for use, at the jig arm motor that band worm screw on the output shaft is set on the vehicle frame, the lateral wall setting of the hinged place of jig arm and vehicle frame and the worm gear that worm screw matches, cooperate the swing that realizes jig arm by worm and gear, adopt worm and gear device jig arm amplitude of fluctuation big, the jig arm swing in the outside can be retracted to the front side and the rear side of vehicle frame, make the longitudinal length of this device shorter.But worm and gear device inconvenience sealing and damage easily.
As preferably, jig arm is cylindrical, and jig arm has shell, and shell is a cylinder.Jig arm is in the process of embracing the folder wheel, and the jig arm shell can roll at wheel surface, wheel is not produced damage.
Driving wheel of the present invention can change direct of travel by bogie, has realized the omnidirectional moving and the original place rotation of whole Handling device; All driving wheels can be realized break-in simultaneously, and used driven pulley is universal driven pulley, and this device can be realized the arbitrarily angled break-in in original place; Between front frame and the back vehicle frame shrinking connecting-rod is arranged, can regulate the length of Handling device according to the difference of automobile front and back wheel wheelbase; Jig arm adopts the swing form, and the jig arm pin joint does not have displacement at fore-and-aft direction when embracing the folder wheel, and jig arm is alignd with bogie all the time at fore-and-aft direction, and support effect is good.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is the schematic diagram that Fig. 1 construction stretch is opened.
Fig. 3 is the schematic diagram of driving wheel and bogie structure.
Fig. 4 is the sectional view of A-A among Fig. 3.
Fig. 5 is second kind of structural representation of the present invention.
Among the figure: 1. driving wheel, 2. bogie, 3. steer motor, 4. jig arm motor, 5. jig arm, 6. universal driven pulley, 7. intelligent controller, 8. worm screw, 9. worm gear, 10. front frame, 11. back vehicle frames, 12. shrinking connecting-rod, 13. automotive wheels, 14. movable motors, 15. gear, 16. pedestals, 17. balls, 18. reducer, 19. electric pushrods, 20. jig arm connecting rods.
The specific embodiment
Also the present invention is further described in conjunction with the accompanying drawings below by specific embodiment.
Embodiment 1: a kind of omnidirectional automobile carrying device (as shown in Figure 1).This device comprises front frame 10 and back vehicle frame 11, and the shrinking connecting-rod 12 by retractable between the front side of the rear side of front frame 10 and back vehicle frame 11 links to each other, and front frame 10 and back vehicle frame 11 are symmetrical structure, below the structure of front frame 10 is described.Intelligent controller 7 is installed at the rear portion of front frame 10, the front side of front frame 10 and the left and right sides are respectively equipped with universal driven pulley 6, the left and right sides of front frame 10 is hinged with two jig arm 5 respectively, jig arm 5 symmetries of the left and right sides are installed, two jig arm 5 of every side are formed one group of jig arm and are used for embracing of an automotive wheel 13 pressed from both sides, the pin joint outside of jig arm 5 is a worm gear 9, and it is corresponding with 4 jig arm 5 respectively that front frame 10 is provided with 4 jig arm motors 4, is connected with the worm screw 8 that matches with worm gear 9 on the axle of jig arm motor 4.In every group of jig arm, the jig arm 5 in the place ahead is hinged on the intersection point of the front side edge of front frame 10 and left and right sides side, can swing the front side that is retracted to front frame 10 and concordant when this jig arm 5 is shunk, can on horizontal plane, swing 180 ° during expansion and be stretched over and front frame 10 left and right sides sides vertical (as shown in Figure 2) with front side edge; The jig arm 5 at rear can be carried out 90 ° of swings, and is concordant with the left and right sides side during contraction, during expansion vertical with left and right sides side (as shown in Figure 2).The universal driven pulley 6 of left and right sides side is between two jig arm 5 of same side.The middle part of front frame 10 is provided with rotary annular bogie 2, and driving wheel 1 is housed on the bogie 2, and bogie 2 rotates by steer motor 3 controls that are fixed on the front frame 10, and driving wheel 1 rotates by movable motor 14 controls that are fixed on the bogie 2.Structure to bogie 2 and driving wheel 1 is elaborated (as shown in Figure 3, Figure 4) below, the front frame middle part is fixed with the pedestal 16 of an annular, the bogie 2 of annular is installed on the pedestal 16, have the annular ball grooves that direction makes progress on the top circumference of bogie 2, the corresponding ball grooves that is directed downwards is arranged on the pedestal 16, ball 17 is installed in the ball grooves, and bogie 2 can be rotated relative to pedestal 16.The pivot center of bogie is the axis of bogie 2, the following side periphery of bogie 2 has gear ring, 3 of steer motor that are installed on the front frame 10 are provided with the gear 15 that matches with gear ring, pedestal 16 sides have the hole of passing for gear 15, and the gear ring that gear 15 passes hole and bogie 2 downsides on the pedestal 16 meshes; The downside of bogie 2 is fixed with movable motor 14, be connected with reducer 18 on 14 of the movable motors, driving wheel 1 is enclosed within outside the reducer 18 and with the output shaft of reducer 18 and links to each other, the axis of driving wheel 1 is vertical and crossing with the pivot center of bogie 2, a bogie 2 of this device is provided with a driving wheel 1, driving wheel 1 is positioned at the axial location of bogie, and bogie 2 drives driving wheel 1 when rotating and turns to.
This device can be from the front and back of automobile or the side enter the automobile bottom and carry, this device is as follows from the course of action that the automobile front and back enter at the bottom of the car: at the bottom of entering car from the automobile rear earlier with the front frame 10 of this device is example, control this device row and sail to rear view of vehicle, rotate by steer motor control bogie, the direct of travel that makes driving wheel is a fore-and-aft direction, two jig arm at back vehicle frame 11 rears are at first outwards shown, the movable motor of front frame 10 and back vehicle frame 11 drives driving wheel and rotates synchronously, this device advances and enters the automobile bottom, when the jig arm of showing with after the automobile rear wheel contacts, two jig arm at control front frame 10 rears are shown with two jig arm in vehicle frame 11 the place aheads, back, driving wheel on the vehicle frame 11 of back stops simultaneously, driving wheel on the front frame 10 moves on shrinking connecting-rod 12 is elongated, when the jig arm at front frame 10 rears with after the automobile front vehicle wheel contacts, the jig arm in front frame 10 the place aheads is shown, and 8 jig arm are embraced folder automotive wheel 13 simultaneously automotive wheel 13 is lifted away from ground then.
This device is as follows from the course of action that the automobile side enters at the bottom of the car: control between two wheels that this device row sails to the automobile side, and the left and right sides side that guarantees this device is parallel with vehicle, the bogie of front frame 10 and back vehicle frame 11 rotates the vertical and vehicle frame left and right sides side of the direct of travel that makes driving wheel synchronously, driving wheel is advanced this device is entered at the bottom of the car, two jig arm at front frame 10 rears are shown with two jig arm in vehicle frame the place ahead, back, bogie rotates and makes the driving wheel direct of travel parallel with left and right sides side simultaneously, control front frame 10 moves ahead, back vehicle frame 11 back row, shrinking connecting-rod is stretched, behind the jig arm contact wheel of one of them vehicle frame, this vehicle frame stops to advance, another vehicle frame continues to advance until jig arm contact wheel, and folder automotive wheel 13 is all shown and embraced to all jig arm then, and automotive wheel 13 is lifted.
Bogie 2 on this device front frame 10 and the back vehicle frame 11 requires rotational angle according to break-in, can realize the break-in campaign of this device, when two bogies 2 turn to driving wheel 1 axis when overlapping with two bogie 2 lines, the driving wheel of two bogies 2 can be realized the original place rotation of this device respectively to the different directions motion.
At the bottom of this device can be arbitrarily enters car from the front and back of automobile or side, and can be according to the different length of regulating the shrinking connecting-rod stretching automatically of automobile front and back wheel wheelbase, can change direct of travel according to the situation of passage after automobile lifted, the control transportation route.
Embodiment 2: a kind of omnidirectional automobile carrying device (as shown in Figure 5).This device comprises front frame 10 and back vehicle frame 11, and the shrinking connecting-rod 12 by retractable between the front side of the rear side of front frame 10 and back vehicle frame 11 links to each other, and front frame 10 and back vehicle frame 11 are symmetrical structure, below the structure of front frame 10 is described.Intelligent controller 7 is installed at the rear portion of front frame 10, four sides of front frame 10 are equipped with universal driven pulley 6, the left and right sides of front frame 10 is hinged with two jig arm 5 respectively, jig arm 5 symmetries of the left and right sides are installed, two jig arm 5 of every side are formed one group of jig arm and are used for embracing of an automotive wheel 13 pressed from both sides, jig arm 5 is at pin joint place fixing clamp arm connecting rod 20, jig arm connecting rod 20 has angle with jig arm 5, the end of jig arm connecting rod 20 links to each other with an end of electric pushrod 19, the other end of electric pushrod 19 is installed on the front frame, and electric pushrod 19 and jig arm 5 are corresponding one by one.Jig arm 5 can be carried out 90 ° of swings, and is concordant with the left and right sides side during contraction, vertical with the left and right sides side during expansion.The universal driven pulley 6 of left and right sides side is between two jig arm 5 of same side.The middle part of front frame 10 is provided with rotary annular bogie 2, and driving wheel 1 is housed on the bogie 2, and bogie 2 rotates by steer motor 3 controls that are fixed on the front frame 10, and driving wheel 1 rotates by movable motor 14 controls that are fixed on the bogie 2.Structure to bogie 2 and driving wheel 1 is elaborated below, the front frame middle part is fixed with the pedestal 16 of an annular, the bogie 2 of annular is installed on the pedestal 16, have the annular ball grooves that direction makes progress on the top circumference of bogie 2, the corresponding ball grooves that is directed downwards is arranged on the pedestal 16, ball 17 is installed in the ball grooves, bogie 2 can be rotated relative to pedestal 16, pivot center is the axis of bogie 2, the following side periphery of bogie 2 has gear ring, 3 of steer motor that are installed on the front frame 10 are provided with the gear 15 that matches with gear ring, pedestal 16 sides have the hole of passing for gear 15, and the gear ring that gear 15 passes hole and bogie 2 downsides on the pedestal 16 meshes; The downside of each bogie 2 is fixed with two movable motors 14, be connected with reducer 18 respectively on 14 of two movable motors, driving wheel 1 is enclosed within outside the reducer 18 and with the output shaft of reducer 18 and links to each other, two driving wheel 1 coaxial installations, the axis of two driving wheels 1 is vertical and crossing with the pivot center of bogie 2, a bogie 2 of this device is provided with two driving wheels 1, two driving wheel 1 symmetries are installed in the both sides of bogie 2 axis, when bogie 2 rotates, two driving wheels 1 one with the coaxial circumference of bogie 2 on roll.
The length of this device is longer, can not enter from the side of automobile at the bottom of the car, and other course of action is identical with course of action among the embodiment 1.
Claims (9)
1. omnidirectional automobile carrying device, comprise vehicle frame and be installed in jig arm, walking mechanism and intelligent controller on the vehicle frame, it is characterized in that: walking mechanism comprises driving wheel and the some universal driven pulleys that can regulate direction of travel, be fixed with pedestal on the vehicle frame, the bogie that rotates relative to pedestal is installed on the pedestal, driving wheel is fixed on the bogie, the axis of driving wheel is vertical with the bogie pivot center and crossing, bogie is an annular, the pivot center of bogie is the axis of annular bogie, and driving wheel is arranged on the inboard or the outside of annular bogie.
2. a kind of omnidirectional automobile carrying device according to claim 1 is characterized in that: bogie is provided with one or more driving wheel, a plurality of driving wheel coaxial arrangement, and arrange in bogie pivot center bilateral symmetry.
3. a kind of omnidirectional automobile carrying device according to claim 1 is characterized in that: vehicle frame is provided with the steer motor that the control bogie rotates, and bogie is provided with the movable motor that the control driving wheel rotates.
4. a kind of omnidirectional automobile carrying device according to claim 3 is characterized in that: cooperate by ball between bogie and the pedestal, the bogie bottom periphery has gear ring, and the output shaft of steer motor is provided with the gear that cooperates with gear ring.
5. a kind of omnidirectional automobile carrying device according to claim 1, it is characterized in that: vehicle frame comprises symmetrical front frame with the back vehicle frame and is connected front frame and the shrinking connecting-rod of back vehicle frame, front frame and after be respectively equipped with a bogie that driving wheel is housed on the vehicle frame.
6. a kind of omnidirectional automobile carrying device according to claim 1, it is characterized in that: vehicle frame is provided with some jig arm drive units, jig arm is corresponding one by one with the jig arm drive unit, and jig arm is hinged on the vehicle frame and by the jig arm drive unit and drives swing in the horizontal direction.
7. according to claim 5 or 6 described a kind of omnidirectional automobile carrying devices, it is characterized in that: per two jig arm are one group, and one has 4 groups of jig arm, and 4 groups of jig arm are separately positioned on the both sides of front frame and back vehicle frame, and symmetric arrangement.
8. a kind of omnidirectional automobile carrying device according to claim 6 is characterized in that: the jig arm drive unit is an electric pushrod, and an end of electric pushrod is installed on the vehicle frame, and the other end links to each other with jig arm.
9. according to claim 1 or 5 or 6 or 8 described a kind of omnidirectional automobile carrying devices, it is characterized in that: jig arm is cylindrical, and jig arm has shell, and shell is a cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010100041018A CN101761259B (en) | 2010-01-07 | 2010-01-07 | Omnidirectional automobile carrying device |
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| CN2010100041018A CN101761259B (en) | 2010-01-07 | 2010-01-07 | Omnidirectional automobile carrying device |
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| CN101761259A CN101761259A (en) | 2010-06-30 |
| CN101761259B true CN101761259B (en) | 2011-12-28 |
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| CN111550105A (en) * | 2020-04-27 | 2020-08-18 | 同济大学 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
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| CN103147602B (en) * | 2013-03-27 | 2014-12-17 | 王忠利 | Automatic vehicle-turning device for mechanical stereoscopic garages |
| CN105937326B (en) * | 2016-06-23 | 2019-02-12 | 贵州铜仁市科创机械设备实业有限公司 | It can be used for the clipping car carrying robot of stereo garage |
| CN106760773B (en) * | 2016-12-21 | 2022-06-10 | 陆建雄 | Parking transport device, parking device and parking method |
| CN107327187B (en) * | 2017-06-09 | 2019-05-14 | 广州广日智能停车设备有限公司 | A kind of vehicle-carrying plate access device of stereo garage |
| CN107355103B (en) * | 2017-07-31 | 2022-12-23 | 江西丹巴赫机器人股份有限公司 | Parking robot |
| CN107685674A (en) * | 2017-10-10 | 2018-02-13 | 上海振华重工电气有限公司 | A kind of device and its method for carrying carried for finished automotive |
| CN107747589A (en) * | 2017-10-26 | 2018-03-02 | 青岛大学 | Any centre of gyration based on two-wheeled steering turns to and can be respectively to the method and its realization device of translation |
| CN107762210A (en) * | 2017-11-20 | 2018-03-06 | 杭州西子智能停车股份有限公司 | A kind of separate mechanical hand and the method using the separate mechanical hand carrying vehicle |
| CN108412285B (en) * | 2018-05-04 | 2023-09-01 | 西南交通大学 | Foldable general type automobile carrying device |
| CN108612373B (en) * | 2018-05-15 | 2020-10-09 | 宁波华运智能科技有限公司 | Transfer robot, method of operating the same, and vehicle transfer system |
| CN108952267B (en) * | 2018-08-07 | 2020-09-04 | 温州伊诺韦特科技有限公司 | Vehicle carrier with vehicle position adjusting function |
| CN110700663B (en) * | 2019-10-25 | 2020-12-01 | 因特帕克科技集团有限公司 | AGV trolley-based vehicle parking method |
| CN112389536A (en) * | 2020-12-10 | 2021-02-23 | 福州盛世凌云环保科技有限公司 | Automobile steering transmission mechanism |
| CN113802896A (en) * | 2021-09-18 | 2021-12-17 | 杭州大中泊奥科技股份有限公司 | Transfer robot |
| CN115230563B (en) * | 2022-07-21 | 2023-10-13 | 北京理工大学 | Multifunctional ammunition transferring unmanned vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201593325U (en) * | 2010-01-07 | 2010-09-29 | 金华法 | Omnidirectional automobile transportation tool |
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2010
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201593325U (en) * | 2010-01-07 | 2010-09-29 | 金华法 | Omnidirectional automobile transportation tool |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111550105A (en) * | 2020-04-27 | 2020-08-18 | 同济大学 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
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