CN104060870B - A kind of manipulator Transport Vehicle handling equipment - Google Patents
A kind of manipulator Transport Vehicle handling equipment Download PDFInfo
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- CN104060870B CN104060870B CN201410255667.6A CN201410255667A CN104060870B CN 104060870 B CN104060870 B CN 104060870B CN 201410255667 A CN201410255667 A CN 201410255667A CN 104060870 B CN104060870 B CN 104060870B
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Abstract
The invention discloses a kind of manipulator Transport Vehicle handling equipment, comprise conveying trolley, walk in the access device on described conveying trolley and the floating mechanical hand be arranged on described access device have two covers be oil cylinder hydraulic drive, often overlap the front and back wheel of the corresponding automobile of floating mechanical hand difference, comprise: cylinder bracket, be arranged on the cylinder bracket both sides linearly heterodromous two passing slide plates of guide rail, be arranged on two on cylinder bracket and drive oil cylinder, two drive the piston rod of oil cylinder to connect with corresponding passing slide plate respectively, be coupling and pass four mechanical arms at slide plate two ends two.Hydraulic power unit of the present invention and cable drum are all arranged on conveying trolley, not by the restriction of access device size, can obtain enough large driving force when making access device and floating mechanical hand lift wheel.By arranging stroke compensating cylinder, increasing access device stroke, making access device shift out conveying trolley, to parking stall, access vehicle.
Description
Technical field
The invention belongs to mechanical carport technical field, particularly a kind of manipulator Transport Vehicle handling equipment carrying out Transport Vehicle for garage conveying trolley between conversion area in preparation, garage and parking space.
Background technology
Along with social high speed development, automobile is more and more universal, but thing followed parking problem has become the difficult problem in each big or middle city.In order to solve the parking difficulty problem in the garages such as warehouse style, plane cross sliding type, many mechanical parking equipments are there is at present.
As Authorization Notice No. be CN200985660Y patent document discloses a kind of holding type friction cone access device structure of manipulator, it comprise be arranged on mobile trolley used on travel mechanism, the motion that is connected with vehicle-containing, travel mechanism comprise be fixed on mobile trolley used on mobile motor, the gear driven by mobile motor, with the tooth bar of gears meshing and the connecting rod that is connected with tooth bar; The friction pulley arm assembly that the motion be connected with vehicle-containing comprises at least one traversing carriage be connected with connecting rod and is arranged on traversing carriage; This friction pulley arm assembly can enter the friction plate be arranged on bottom vehicle-containing.Access device disclosed in this patent document, be equipped with vehicle-containing and comb frame, this can make lugs complex structure and cost is higher.
For the problem of Authorization Notice No. existing for the patent document of CN200985660Y, publication number is that the patent document of CN101476402A proposes a kind of ultrathin floating mechanical hand access device, this access device comprises the dolly longitudinally run and the floating mechanical hand being arranged on longitudinal running trolley both sides, and this longitudinal running trolley comprises underframe, traveling mechanism drive motors, driving wheel, capstan drive axle, driving wheel driven wheel; Floating mechanical hand comprises mechanical arm transmission mechanism, manipulator passes slide plate, mechanical arm and be loaded on line slideway, the swing arm guide groove in outside in the long beam of little body frame respectively, and during work, the motion of slide plate driving mechanical arm passed by manipulator.The access device of this patent document is ultrathin, and two overlap independently floating mechanical hand can free floating in the scope of setting, does not need vehicle-containing and comb frame, structure is simple, cost is lower during use.Owing to have employed " ultra-thin " structure, therefore this access device directly can enter at the bottom of Car and realize Transport Vehicle operation, reduces garage and builds floor height.But also because the structure floor height that have employed " ultra-thin " reduces, motor size is by the restriction of " ultra-thin " structure, and should not adopt large size electro motivation, therefore the power of motor used also reduces accordingly; Although still can enough driving forces needed for equipment by the reductor that adapts, the speed of service promotes and is just restricted.In addition, 4 driving wheels on steel structure frame are rigidly connected, higher to the planarity requirements between the base plate of roadway handling trolley and parking space, garage base plate, if flatness error is larger, driving wheel just can not land simultaneously, and this can reduce driving force, affects dolly and passes through.
Summary of the invention
For the problems referred to above, the invention provides a kind of manipulator Transport Vehicle handling equipment, solve the problem that driving force in prior art is less, the speed of service is lower and in prior art, Transport Vehicle handling equipment is higher to planarity requirements between the base plate of conveying trolley and parking space, garage base plate.
The technical scheme that the present invention takes is as follows:
A kind of manipulator Transport Vehicle handling equipment, comprise conveying trolley, walk in the access device on described conveying trolley and be arranged on the floating mechanical hand on described access device, it is characterized in that, described floating mechanical hand is that oil cylinder hydraulic drives, described floating mechanical hand has two covers, often overlap the front and back wheel of the corresponding automobile of floating mechanical hand difference, often overlap floating mechanical hand and comprise:
Cylinder bracket, is slidably matched with the line slideway be arranged on access device;
First passes slide plate and second passes slide plate, and described two pass slide plate is arranged on cylinder bracket both sides, along described line slideway counter motion;
Being arranged on first on cylinder bracket drives oil cylinder and second to drive oil cylinder, and described first drives the piston rod and first of oil cylinder to pass slide plate is connected, and second drives the piston rod and second of oil cylinder to pass slide plate is connected;
Four mechanical arms, are coupling respectively at the first passing slide plate and the second passing slide plate two ends.
When floating mechanical hand carries out picking up the car action, first drives oil cylinder and second to drive the piston rod of oil cylinder all to do recovery movement, drive first to pass slide plate and second and pass slide plate move toward one another, when wherein one piece pass the mechanical arm of slide plate encounter wheel time, this passing slide plate stop motion, another is passed slide plate and can continue to draw close to wheel, because cylinder bracket and line slideway are slidably matched, floating, meeting automatic adjusting position, until two drive the piston rod of oil cylinder all to retract to relevant position, complete the work of lifting wheel.Now two drive the hydraulic fluid pressure of oil cylinder to raise, and the pressure switch work arranged in oil circuit, cuts off oil circuit, and two drive oil cylinder to quit work.
Described first drives oil cylinder and second to drive oil cylinder to be connected in parallel or to be connected in series.
Described manipulator Transport Vehicle handling equipment is also provided with two wire rope and is arranged on the cable drum of conveying trolley bottom surface; Article two, one end of wire rope is connected to the opposite end on access device traffic direction, and the other end is around the home on described cable drum, and two the around the home directions of wire rope on cable drum are contrary.
When cable drum rotates, article one, wire rope is around entering cable drum, another wire rope lays out cable drum, identical around the rope capacity entered with laying out, stressed around the wire rope entering cable drum, pull access device to move, controlled the direction of motion of access device by the direction of rotation changing cable drum, realize the vehicle access of both direction with this.
In order to increase the stroke of access device further, as preferably, the two ends of described access device are respectively equipped with stroke compensating cylinder, described two wire rope connect with the piston rod of corresponding stroke compensating cylinder respectively, described stroke compensating cylinder is horizontally disposed with along access device traffic direction, and the piston rod of stroke compensating cylinder dorsad access device stretches out.
As preferably, described two pass slide plate is respectively equipped with connection board and two panels being arranged on connection board two ends, described connection board is slidably matched with described line slideway and is connected with the piston rod of corresponding driving oil cylinder, and mechanical arm is coupling on corresponding passing slide plate by panel.
As preferably, described two drive the hydraulic power unit of oil cylinder and two stroke compensating cylinders to be arranged on conveying trolley, described hydraulic power unit and two is driven between oil cylinder, two stroke compensating cylinders and is connected by hydraulic hose, also comprise the hose reel be arranged on access device, hydraulic hose one end is connected with hydraulic power unit, the other end is communicated with corresponding driving oil cylinder or stroke compensating cylinder, and the mid portion of hydraulic hose is wrapped on hose reel.
When wire rope pulls access device to move, the piston rod of corresponding skidding journey compensating cylinder stretches out, when access device moves to the position exceeding roadway handling trolley and conveying trolley guide rail, on piston rod to the tie point of wire rope still in the inner side of the corresponding side roller in roadway handling trolley end, wire rope still keeps pulling force to access device, and access device continues to move on the parking stall away from conveying trolley and accesses vehicle.
As preferably, described cable drum is positioned at the middle part of conveying trolley bottom surface, also pulley is respectively equipped with at the two ends of described conveying trolley, every bar wire rope one end is connected with the piston rod of the stroke compensating cylinder of on access device, and the other end is connected to cable drum after being arranged on the pulley of the trip compensating cylinder opposite side.
Because wire rope is eccentric relative to the piston rod of stroke compensating cylinder, for offsetting eccentric force, as preferably, the position, termination of the piston rod of stroke compensating cylinder is fixed with junction plate, this junction plate is provided with the roller matched with the end face of conveying trolley, wire rope is connected with the piston rod of corresponding stroke compensating cylinder by junction plate or the wheel shaft of roller.
As preferably, matched with conveying trolley by weight bearing roller wheels in the bottom of described access device, described conveying trolley is provided with at least one guide rail, and the bottom of described access device is provided with some guide rollers matched with guide rail.
The guide roller cooperatively interacted and guide rail, can ensure the direction of motion of access device.
The invention has the beneficial effects as follows: hydraulic power unit and cable drum are all arranged on conveying trolley, not by the restriction of access device size, floating mechanical hand is that oil cylinder hydraulic drives, adopt cable drum wire rope to pull access device simultaneously, not only can obtain enough large driving force, also greatly reduce the planarity requirements between the base plate of roadway handling trolley and garage stall base plate.By arranging stroke compensating cylinder, increasing access device stroke, making access device shift out conveying trolley, to parking stall, access vehicle.Manipulator Transport Vehicle handling equipment of the present invention makes vehicle access equipment more safe and reliable, simple and practical.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the structure of multi-storied garage lifting pedal of the present invention and Advantageous Effects thereof are described in detail.
Fig. 1 is the front view of manipulator Transport Vehicle handling equipment of the present invention;
Fig. 2 is the A direction view of Fig. 1;
Fig. 3 is the B direction view of Fig. 1;
Fig. 4 is I partial enlarged drawing in Fig. 3;
Fig. 5 is manipulator access device front view;
Fig. 6 is winding of the wire rope schematic diagram;
Fig. 7 is that C-C in Fig. 6 is to sectional view;
Fig. 8 is that D-D in Fig. 6 is to sectional view;
Fig. 9 is the operating mode schematic diagram of the piston rod of right lateral journey compensating cylinder when stretching out;
Figure 10 is that E in Fig. 9 is to partial enlarged drawing;
Figure 11 is hydraulic hose and hose reel scheme of installation;
Figure 12 is schematic diagram after the mechanical arm of floating mechanical hand launches;
Figure 13 is the partial schematic diagram that mechanical arm lifts automobile;
Figure 14 is the local hydraulic diagram of two parallel drive oil cylinders.
Each Reference numeral:
1. left chain wheel, 2. conveying trolley, 3. access device, 4. cable drum, 5. hydraulic power unit, 6. right pulley, 7. hose reel, 8. guide rail, 9. left wire rope, 10. right wire rope, 11. left lateral journey compensating cylinders, 12. right lateral journey compensating cylinders, 13. line slideways, 14. guide rollers, 15. first pass slide plate, 16. first drive oil cylinder, 17. second drive oil cylinder, 18. cylinder brackets, 19. second pass slide plate, 20. mechanical arms, 21. weight bearing roller wheels, 22. mechanical arm gathering sills, 23. conveying trolley guide rails, 24. parking space, garages, 25. junction plates, 26. rollers, 27. rod chambers, 28. rodless cavities, 29. hydraulic hose directive wheels, 30. hydraulic hoses.
Detailed description of the invention
In order to make, object of the present invention, technical scheme and Advantageous Effects are more clear to be understood, below in conjunction with accompanying drawing, technology contents of the present invention and detailed description of the invention is described in further detail.Should be understood that, the detailed description of the invention described in this manual is only used to explain the present invention, is not to limit the present invention.
For convenience, according to the direction of Figure of description front view Fig. 1, in figure, part-structure title is with left and right differentiation.
As shown in figures 1-13, a kind of manipulator Transport Vehicle handling equipment, comprises conveying trolley 2, walks in the access device 3 on conveying trolley 2, be arranged on corresponding with automobile front and back wheel respectively two on access device 3 and overlap floating mechanical hand, floating mechanical hand is oil cylinder hydraulic drive unit.Matched with conveying trolley 2 by some weight bearing roller wheels 21 in the bottom of access device 3, conveying trolley 2 is provided with guide rail 8, and the bottom of access device 3 is provided with some guide rollers 14 matched with guide rail 8.
Described floating mechanical hand has two covers, the front and back wheel of the corresponding automobile of described two cover floating mechanical hands difference, because general multi-storied garage can be provided with front-wheel setting arrangement in the conversion area in preparation in garage, therefore the position of vehicle front can be relatively fixing, therefore the driving oil cylinder stroke of the floating mechanical hand of corresponding vehicle front relatively can arrange smaller; Because the wheel base of different vehicle front and back wheel has length, in order to accurately search the trailing wheel of different vehicle, therefore the driving oil cylinder stroke of the floating mechanical hand of corresponding automobile back wheel is relatively larger.Except the difference of oil cylinder stroke, two cover floating mechanical hand structures are substantially identical, hereafter elaborate for the floating mechanical hand fuel cylinder driving mechanism corresponding with trailing wheel.
Access device 3 is provided with two line slideways 13 parallel with guide rail 8, and every bar line slideway 13 is adaptive mutually with corresponding floating mechanical palmistry, and floating mechanical hand is slidably matched on line slideway.Floating mechanical hand includes cylinder bracket 18, first and passes slide plate 15, second passing slide plate 19, first driving oil cylinder 16, second driving oil cylinder 17 and four mechanical arms 20, and cylinder bracket 18 and line slideway 13 are slidably matched.Two drive oil cylinder to be two-way cylinder, first drives oil cylinder 16 and second to drive oil cylinder 17 to be oppositely fixedly mounted on cylinder bracket 18, two pass slide plate 15,19 is arranged on cylinder bracket 18 both sides, first drives the piston rod and first of oil cylinder 16 to pass slide plate 15 is connected, second drives the piston rod and second of oil cylinder 17 to pass slide plate 15 is connected, and two pass slide plate 15,19 linearly guide rail 13 counter motion under the driving of two driving oil cylinders 16,17.Two drive oil cylinder 16,17 to be arranged on cylinder bracket 18, and can linearly be slidably matched by guide rail 13, be floating structure.
First passing slide plate 15 and the second passing slide plate 19 comprise connection board and panel, connection board two ends are installed with panel respectively, connection board is slidably matched with line slideway 13 and is connected with the piston rod of corresponding driving oil cylinder, panel and corresponding mechanical arm are coupling by bearing pin, and connection board relevant position has passes through mouth for what drive cylinder block part to pass through.
Two drive between oil cylinder and can be connected in parallel, and also can be connected in series.As shown in figure 14, it is the local hydraulic diagram of two driving oil cylinder parallel connections, first drives oil cylinder 16 and second to drive oil cylinder 17 to include rodless cavity 28 and rod chamber 27, first drives the rodless cavity of oil cylinder 16 to drive the rodless cavity of oil cylinder 17 to be communicated with by pipeline and second, and first drives the rod chamber of oil cylinder 16 to drive the rod chamber of oil cylinder 17 to be communicated with by pipeline and second.
The two ends, left and right of conveying trolley 2 are equipped with pulley, and wherein, left end is provided with left chain wheel 1, and right-hand member is provided with right pulley 6; The two ends, left and right of access device 3 have been horizontally disposed with stroke compensating cylinder respectively along access device traffic direction, wherein, left end is provided with left lateral journey compensating cylinder 11, and the piston rod that right-hand member is provided with right lateral journey compensating cylinder 12, two compensating cylinders all dorsad access device stretches out.
The medium position of conveying trolley 2 bottom surface is provided with cable drum 4, article two, wire rope comprises left wire rope 9 and right wire rope 10, cable drum 4 is provided with left-handed grooving and dextrorotation grooving, left wire rope 9 is wrapped on left-handed grooving, left wire rope 9 lays out from cable drum 4, by left chain wheel 1 around the upper surface to conveying trolley 2, be connected with the piston rod of right lateral journey compensating cylinder 12; Right wire rope 10 is wrapped on dextrorotation grooving, and right wire rope 10 lays out from cable drum 4, by right pulley 6 around the upper surface to conveying trolley 2, is connected with the piston rod of left lateral journey compensating cylinder 11.In an initial condition, left and right wire rope is all in tensioning state.
The position, termination of the piston rod of every one stroke compensating cylinder is fixed with junction plate 25, and wire rope is connected with the piston rod of corresponding stroke compensating cylinder by junction plate 25.Because wire rope is eccentric relative to the piston rod of stroke compensating cylinder, is offset eccentric force, is respectively arranged with in the both sides of junction plate 25 lower end the end face that roller 26 is supported on conveying trolley 2.
Manipulator Transport Vehicle handling equipment also comprises some hydraulic hoses 30, the hydraulic power unit 5 be arranged on conveying trolley 2, be arranged on hose reel 7 on access device 3 and hydraulic hose directive wheel 29, hydraulic hose 30 one end is connected with hydraulic power unit 5, the other end is communicated with corresponding driving oil cylinder or stroke compensating cylinder, and the mid portion of hydraulic hose 30 is wrapped on hose reel 7.
Access vehicle is carried out for device left motion, further elaboration operating principle of the present invention, during the work of vehicle access equipment, drive unit drives cable drum 4 to rotate, make left wire rope 9 around entering cable drum 4, left wire rope 9 is walked around left chain wheel 1 and is pulled the piston rod of right lateral journey compensating cylinder 12 to drive access device to left movement, when access device motion exceeds conveying trolley 2 and conveying trolley guide rail 23 enters parking space 24, garage, because the piston rod of right lateral journey compensating cylinder 12 stretches out, the tie point of the upper left wire rope 9 of this piston rod is still on the right side of left chain wheel 1, left wire rope 9 continues to pull access device 3 to left movement, as shown in figure 12, until access device 3 arrives the precalculated position below automobile chassis, now hydraulic power unit 5 is by driving the rod chamber fluid injection force feed of oil cylinder to two, the piston rod of driving oil cylinder is bounced back, the first passing push pedal 15 and the second passing push pedal 19 is pulled to draw close to cylinder bracket 18, drive two pairs of manipulator motions, mechanical arm 20 leading drops down and drawing close to wheel at mechanical arm gathering sill 22, after any pair mechanical arm contacts with wheel, resistance due to wheel makes this to the temporary transient stop motion of driving oil cylinder corresponding to mechanical arm, because two drive the rodless cavity of oil cylinder to be communicated with, rod chamber is also communicated with, hydraulic oil drives oil cylinder by entering less another of the resistance that do not contact wheel, continue to pull that do not contact wheel to move to wheel mechanical arm, because cylinder bracket 18 is floating, so two drive oil cylinder can move the position of adjustment oneself on line slideway 13, until two pairs of mechanical arms all contact with wheel, by two pairs of mechanical arms with roller, wheel lift is departed from ground again, see Figure 13, now two drive the piston rod of oil cylinder all to retract to the extreme position of stroke, hydraulic fluid pressure raises, oil circuit is cut off in the pressure switch action arranged in oil circuit, fuel cylinder driving mechanism is quit work, after four wheels are all lifted, under the instruction of program, cable drum 4 rotates backward, the access device 3 being loaded with automobile under the pulling of right wire rope 10 is pulled conveying trolley 2, the piston rod retraction of right lateral journey compensating cylinder 12, complete action of picking up the car.After conveying trolley 2 runs to precalculated position, the access device 3 being loaded with automobile moves down into parking space right pulling of wire rope 10, now by driving the rodless cavity fluid injection force feed of oil cylinder to two, the first passing slide plate 15 and the second passing slide plate 19 is made to drive two pairs of mechanical arms to move to the direction away from cylinder bracket 18, wheel lands simultaneously, when mechanical arm 20 moves to mechanical arm gathering sill 22, by under the effect that is arranged on the lead curve in mechanical arm gathering sill 22, mechanical arm 20 retraction puts in place, now two drive the piston rod of oil cylinder all to reach the extreme position of stroke, hydraulic fluid pressure raises, pressure switch action makes this fuel cylinder driving mechanism quit work, access device 3 is retracted conveying trolley 2, complete bicycle parking action.
Manipulator Transport Vehicle handling equipment of the present invention drives floating mechanical hand by oil cylinder hydraulic, hydraulic power unit 5 and cable drum 4 are all arranged on conveying trolley 2, not by the restriction of access device 3 size, when making access device 3 and floating mechanical hand lift wheel, enough large driving force can be obtained.By arranging stroke compensating cylinder, increasing access device 3 stroke, making access device 3 can shift out conveying trolley 2, to parking stall, access vehicle.And access device 3 is moved by cable drum 4 and Steel rope drive access device 3, reduces the planarity requirements between conveying trolley 2 and garage stall base plate, make vehicle access equipment more safe and reliable, simple and practical.
Claims (9)
1. a manipulator Transport Vehicle handling equipment, comprise conveying trolley, walk in the access device on described conveying trolley and be arranged on the floating mechanical hand on described access device, it is characterized in that, described floating mechanical hand is that oil cylinder hydraulic drives, described floating mechanical hand has two covers, often overlap the front and back wheel of the corresponding automobile of floating mechanical hand difference, often overlap floating mechanical hand and comprise:
Cylinder bracket, is slidably matched with the line slideway be arranged on access device;
First passes slide plate and second passes slide plate, and described two pass slide plate is arranged on cylinder bracket both sides, along described line slideway counter motion;
Being arranged on first on cylinder bracket drives oil cylinder and second to drive oil cylinder, and described first drives the piston rod and first of oil cylinder to pass slide plate is connected, and second drives the piston rod and second of oil cylinder to pass slide plate is connected;
Four mechanical arms, are coupling respectively at the first passing slide plate and the second passing slide plate two ends.
2. manipulator Transport Vehicle handling equipment according to claim 1, is characterized in that, described first drives oil cylinder and second drive oil cylinder parallel connection or be connected in series.
3. manipulator Transport Vehicle handling equipment according to claim 1, is characterized in that, described manipulator Transport Vehicle handling equipment is also provided with two wire rope and is arranged on the cable drum of conveying trolley bottom surface; Article two, one end of wire rope is connected to the opposite end on access device traffic direction, and the other end is around the home on described cable drum, and two the around the home directions of wire rope on cable drum are contrary.
4. manipulator Transport Vehicle handling equipment according to claim 3, it is characterized in that, the two ends of described access device are respectively equipped with stroke compensating cylinder, described two wire rope connect with the piston rod of corresponding stroke compensating cylinder respectively, described stroke compensating cylinder is horizontally disposed with along access device traffic direction, and the piston rod of stroke compensating cylinder dorsad access device stretches out.
5. manipulator Transport Vehicle handling equipment according to claim 1, it is characterized in that, described two pass slide plate is respectively equipped with connection board and two panels being arranged on connection board two ends, described connection board is slidably matched with described line slideway and is connected with the piston rod of corresponding driving oil cylinder, and mechanical arm is coupling on corresponding passing slide plate by panel.
6. the manipulator Transport Vehicle handling equipment according to claim 1 or 4, it is characterized in that, described two drive the hydraulic power unit of oil cylinder and two stroke compensating cylinders to be arranged on conveying trolley, described hydraulic power unit and two is driven between oil cylinder, two stroke compensating cylinders and is connected by hydraulic hose, also comprise the hose reel be arranged on access device, hydraulic hose one end is connected with hydraulic power unit, the other end is communicated with corresponding driving oil cylinder or stroke compensating cylinder, and the mid portion of hydraulic hose is wrapped on hose reel.
7. manipulator Transport Vehicle handling equipment according to claim 4, it is characterized in that, described cable drum is positioned at the middle part of conveying trolley bottom surface, also pulley is respectively equipped with at the two ends of described conveying trolley, every bar wire rope one end is connected with the piston rod of the stroke compensating cylinder of on access device, and the other end is connected to cable drum after being arranged on the pulley of the trip compensating cylinder opposite side.
8. manipulator Transport Vehicle handling equipment according to claim 4, it is characterized in that, the position, termination of the piston rod of stroke compensating cylinder is fixed with junction plate, this junction plate is provided with the roller matched with the end face of conveying trolley, wire rope is connected with the piston rod of corresponding stroke compensating cylinder by junction plate or the wheel shaft of roller.
9. manipulator Transport Vehicle handling equipment according to claim 1, it is characterized in that, matched with conveying trolley by weight bearing roller wheels in the bottom of described access device, described conveying trolley is provided with at least one guide rail, and the bottom of described access device is provided with some guide rollers matched with guide rail.
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| CN201410255667.6A CN104060870B (en) | 2014-06-10 | 2014-06-10 | A kind of manipulator Transport Vehicle handling equipment |
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| CN201410255667.6A CN104060870B (en) | 2014-06-10 | 2014-06-10 | A kind of manipulator Transport Vehicle handling equipment |
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| CN104060870A CN104060870A (en) | 2014-09-24 |
| CN104060870B true CN104060870B (en) | 2016-04-13 |
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| CN104929401B (en) * | 2014-03-18 | 2017-06-16 | 常州信息职业技术学院 | A kind of method for increasing Parking position |
| CN104358453B (en) * | 2014-10-30 | 2017-02-15 | 王洋 | Wheel clamping arm for mechanical garage |
| CN107856750B (en) * | 2017-10-26 | 2020-05-01 | 中国一冶集团有限公司 | Multi-oil-cylinder-driven crawler-type low-speed heavy-load equipment travelling mechanism |
| CN108161928B (en) * | 2018-02-13 | 2022-04-12 | 北京众驰自动化设备有限公司 | Detection method and device for clamping object by mechanical arm |
| CN108609387B (en) * | 2018-05-29 | 2019-03-22 | 通彩智能科技集团有限公司 | A kind of manipulator |
| CN109139097B (en) * | 2018-10-24 | 2024-05-10 | 天地科技股份有限公司 | Automatic moving device for advanced hydraulic support |
| CN110421398A (en) * | 2019-08-05 | 2019-11-08 | 华晓精密工业(苏州)有限公司 | Push and pull clamp system |
| CN110745161B (en) * | 2019-11-05 | 2021-08-06 | 重庆华渝重工机电有限公司 | Integral switch type monorail turnout driving method |
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| JPH09291716A (en) * | 1995-03-29 | 1997-11-11 | Giken Seisakusho Co Ltd | Carrier device for vehicle |
| CN2784508Y (en) * | 2005-03-30 | 2006-05-31 | 朱燕 | Longitudinal-feeding automobile-fetching robot |
| CN101476402A (en) * | 2008-12-08 | 2009-07-08 | 杭州西子石川岛停车设备有限公司 | Ultra-thin full-floating vehicle-taking apparatus by manipulator |
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Address after: Hangzhou City, Zhejiang province 311199 HTC Yuhang Road Economic Development Zone No. 181 Patentee after: Hangzhou Xizi intelligent parking Limited by Share Ltd Address before: Hangzhou City, Zhejiang province 311199 HTC Yuhang Road Economic Development Zone No. 181 Patentee before: Hangzhou XIZI-IUK Parking System Co., Ltd. |