CN104612444A - Multifunctional parking robot - Google Patents
Multifunctional parking robot Download PDFInfo
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- CN104612444A CN104612444A CN201510072536.9A CN201510072536A CN104612444A CN 104612444 A CN104612444 A CN 104612444A CN 201510072536 A CN201510072536 A CN 201510072536A CN 104612444 A CN104612444 A CN 104612444A
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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
- E04H6/08—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
- E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
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Abstract
The invention relates to a multifunctional parking robot which comprises a robot base. A robot body and robot side bodies are connected to form a U-shaped cavity to accommodating a vehicle, and driving wheels are arranged at the bottom of the robot base; two lifting mechanism parallel to each other are arranged on the robot body, two wheel bearing mechanisms which are parallel to each other are respectively arranged on the lifting mechanisms, and the wheel bearing mechanisms are multifunctional bearing mechanisms capable of horizontally and longitudinally bearing the wheels. The wheel bearing mechanisms are the multifunctional bearing mechanisms capable of horizontally and longitudinally bearing the wheels, the wheels of the vehicle can be placed on the wheel bearing mechanisms in a horizontal or longitudinal manner, the wheel bearing mechanisms are lifted through the lifting mechanisms, the wheels and the vehicle can be lifted up along with the wheel bearing mechanisms to be off the ground, the vehicle is then conveyed to a designated parking lot through the driving wheels of the parking robot, the objective of horizontal or longitudinal parking is achieved, the parking robot is suitable for parking demands of different parking lot structures, and convenience is achieved.
Description
[technical field]
The present invention relates to a kind of automatic robot, particularly a kind of multi-functional parking robot.
[background technology]
The automobile pollution of existing big and medium-sized cities gets more and more, parking is a very large difficult problem, particularly parking lot, inner city is limited, park to driving personnel and cause very large difficulty, in order to effectively utilize limited parking lot, need to use the robot of automatic parking to realize automatic parking, due to different parking lot structures, need to arrange different types of parking to improve the berth capacity in parking lot.
[summary of the invention]
The invention provides a kind of multi-functional parking robot, to be applicable to the requirement of parking of different parking lot structure, horizontal and vertical function of parking can be had simultaneously.
In order to solve the problems of the technologies described above, the invention provides a kind of multi-functional parking robot, comprise robot base, described robot base comprises two robot lateral bodys be arranged in parallel, described two robot lateral bodys are connected to form the U-shaped chamber holding car body by robot body, be provided with in the bottom of described robot base, on the position of corner the driving wheel making robot base movement; Described robot body is provided with two elevating mechanisms be parallel to each other, the wheel load carrier in zigzag elevating mechanism being respectively equipped with and being parallel to each other is stated at described two, transversal stretching mechanism is provided with between described two wheel load carriers, the major part of described two wheel load carriers is positioned at the inside in described U-shaped chamber, and near the side of described robot body, described wheel load carrier is can the multi-functional load carrier of horizontal and vertical carrying wheel.
The invention has the beneficial effects as follows: because wheel load carrier is can the multi-functional load carrier of horizontal and vertical carrying wheel, the wheel of car body is placed on wheel load carrier by mode that can be horizontal or longitudinal, then wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground, then vehicle is transported to the parking position of specifying by parking robot by driving wheel, with the object reached laterally or longitudinally park, serve many purposes, be applicable to the requirement of parking of different parking lot structure, very convenient.
Further, described each multi-functional load carrier comprises the wheel bearing end parallel with described robot lateral body, described each wheel bearing end is set to the horizontal wheel supporting parts of the U-shaped consistent with the length bearing of trend of described wheel bearing end, side relative between the side that the horizontal wheel supporting parts of described each U-shaped are relative with described robot lateral body or the horizontal wheel supporting parts of described two U-shapeds is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, line between the center of described first U-shaped wheel supporting parts and the line between the center of described second U-shaped wheel supporting parts parallel.
The beneficial effect of above-mentioned further scheme is adopted to be: the horizontal wheel supporting parts of U-shaped of the wheel bearing end on multi-functional load carrier are for carrying the car body of demand of laterally parking; There are the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts in the side that U-shaped horizontal wheel supporting parts are relative with robot lateral body, or side relative between two U-shaped transverse direction wheel supporting parts is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts; The setting of the wheel supporting parts that these two kinds of longitudinal directions are parked, directly utilize the horizontal wheel supporting parts of U-shaped to carry the car body of longitudinally parking, easy to operate, efficiency of parking is higher.
Further, described each multi-functional load carrier comprises the wheel bearing end parallel with described robot lateral body, described each wheel bearing end is respectively equipped with two wheel supporting beams be parallel to each other, be provided with the brace summer drive unit of driving two wheel supporting beams relative motion between described two brace summers, described two brace summers form the horizontal wheel supporting parts of U-shaped; Be respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts between two brace summers of described each wheel bearing end, the line between the center of described first U-shaped wheel supporting parts and the line between the center of described second U-shaped wheel supporting parts parallel.
Adopt the beneficial effect of above-mentioned further scheme to be: when each wheel bearing end two wheel supporting beams near time, wheel bearing end is for carrying the car body of demand of laterally parking; Brace summer drive unit when each wheel bearing end makes two wheel supporting beams separately, and first and second U-shaped wheel supporting parts are used for carrying the car body of longitudinally parking, and the structure comparison of whole multi-functional load carrier is compact.
Further, described second U-shaped wheel supporting parts and described wheel bearing end are provided with bearing end telescoping mechanism.
Adopt the beneficial effect of above-mentioned further scheme to be: to change the distance between the second U-shaped wheel supporting parts and the first U-shaped wheel supporting parts by bearing end telescoping mechanism, to park requirement with the longitudinal direction of the vehicle adapting to different wheel wheelbase.
Further, described bearing end telescoping mechanism comprises the linear roller guide rail be arranged on described wheel bearing end, described linear roller guide rail is provided with bearing end slide block, described second U-shaped wheel supporting parts are arranged on the slide block of described bearing end, the center of described bearing end slide block is combined with screw rod, described screw rod and described linear roller guide rail parallel; Also comprise bearing end servomotor, the turning cylinder of described bearing end servomotor is connected with described screw rod.
The beneficial effect of above-mentioned further scheme is adopted to be: the moving medium of linear roller guide rail, with line face Structure deformation, improves supporting capacity and the rigidity of guide rail.
Further, described bearing end slide block is two, is arranged in parallel to each other on described linear roller guide rail.
The beneficial effect of above-mentioned further scheme is adopted to be: two bearing end slide blocks increase the load-bearing moment of linear roller guide rail and bearing end slide block.
Further, the top of described two elevating mechanisms is connected by supporting seat, described transversal stretching mechanism comprises the guide rail be arranged on described supporting seat, described guide rail is provided with two slide blocks, described two slide blocks are connected with described wheel load carrier respectively by wheel load bearing seat, described two slide blocks by driving mechanism at described slide on rails.
The beneficial effect of above-mentioned further scheme is adopted to be: by the transversal stretching mechanism of slide block and guide rail, the distance realized between two wheel load carriers changes.
Further, described robot body is Split type structure, comprises the first robot body and the second robot body, and described two elevating mechanisms are separately positioned on described first robot body and described second robot body; Described transversal stretching organization establishes is between described first robot body and described second robot body.
The beneficial effect of above-mentioned further scheme is adopted to be: because robot body is Split type structure, and, between two Split type structures, this has transversal stretching mechanism, distance between the two split parts being changed robot body by transversal stretching mechanism, thus realize, adjust the distance between two wheel load carriers.
Further, described driving mechanism is gear-rack drive mechanism, and comprise on described two slide blocks and be set to rack structure respectively, described two rack structures are engaged with gear respectively, described two gears are respectively by driven by servomotor.
Adopt the beneficial effect of above-mentioned further scheme to be: rack pinion mode, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Further, described driving mechanism is the two outlet-rod hydraulic cylinder of dual Piston, and two piston rods of described hydraulic cylinder are connected with described two wheel load bearing seats respectively.
The beneficial effect of above-mentioned further scheme is adopted to be: the two outlet-rod hydraulic cylinder drives structure of dual Piston has higher activation point precision and supporting capacity.
[accompanying drawing explanation]
Fig. 1 is the three-dimensional structure diagram of multi-functional parking robot embodiment one,
Fig. 2 is the top view of embodiment one,
Fig. 3 is the top views of the second U-shaped wheel supporting parts of embodiment one when stretching out,
Fig. 4 is the top view of multi-functional parking robot embodiment two,
Fig. 5 is the top view of multi-functional parking robot embodiment three,
Fig. 6 is the three-dimensional structure diagram of multi-functional parking robot embodiment four,
Fig. 7 is the partial structurtes sectional view of bearing end telescoping mechanism,
Fig. 8 is the partial structurtes sectional views of the second U-shaped wheel supporting parts when stretching out,
Fig. 9 is the linear roller guide rail place transverse sectional view in the telescoping mechanism of bearing end,
Figure 10 is the side sectional view of gear-rack drive mechanism,
Figure 11 is the vertical view cutaway drawing of gear-rack drive mechanism,
Figure 12 is the side sectional view of the two outlet-rod hydraulic cylinder driving mechanism of dual Piston,
Figure 13 is the partial structurtes sectional view of the two outlet-rod hydraulic cylinder of dual Piston.
In accompanying drawing, the list of parts representated by each label is as follows:
1, driving wheel, 2, robot base, 21, robot lateral body, 22, robot body, 3, elevating mechanism, 4, supporting seat, 5, transversal stretching mechanism, 51, guide rail, 52, rack structure, 53, gear, 54, wheel load bearing seat, 55, shell, 56, cavity, 57, servomotor, 58, hydraulic cylinder, 59, piston rod, 581, cylinder body, 582, oil inlet and outlet, 591, piston, 592, cylinder cap, 6, wheel load carrier, 61, wheel bearing end, 62, first U-shaped wheel supporting parts, 63, second U-shaped wheel supporting parts, 64, the horizontal wheel supporting parts of U-shaped, 71, linear roller guide rail, 72, bearing end slide block, 73, screw rod, 74, bearing end servomotor, 75, roller
[detailed description of the invention]
Below in conjunction with drawings and Examples, the present invention is further illustrated.
The three-dimensional structure diagram of multi-functional parking robot embodiment one is see Fig. 1-Fig. 3, comprise robot base 2, robot base 2 comprises two robot lateral bodys 21 be arranged in parallel, two robot lateral bodys 21 are connected to form the U-shaped chamber holding car body by robot body 22, the driving wheel 1 making robot base 2 movement is provided with in the bottom of robot base 2, on the position of corner, described driving wheel 1 is six, and at each robot lateral body 21 end, portion is respectively equipped with two driving wheels 1 away from robot body 22 end; On robot body, 22 are provided with two elevating mechanisms be parallel to each other 3, the upper end of two elevating mechanisms 3 is linked together by supporting seat 4, two wheel load carriers 6 in zigzag to be arranged on supporting base 4 and to be parallel to each other, and are provided with transversal stretching mechanism 5 between supporting seat 4 and wheel load carrier 6; The major part of two wheel load carriers 6 is positioned at the inside in U-shaped chamber, and near the side of robot body 2, and wheel load carrier 6 is can the multi-functional load carrier of horizontal and vertical carrying wheel.
Each multi-functional load carrier 6 comprises the wheel bearing end 61 parallel with robot lateral body 21, each wheel bearing end 61 is set to the horizontal wheel supporting parts 64 of the U-shaped consistent with the length bearing of trend of wheel bearing end 61, the line side that the horizontal wheel supporting parts 64 of each U-shaped are relative with robot lateral body 21 is respectively equipped with between line between the first perpendicular U-shaped wheel supporting parts 62 and the center of the second U-shaped wheel supporting parts 63, first U-shaped wheel supporting parts 62 and the center of the second U-shaped wheel supporting parts 63 is parallel; Bearing end telescoping mechanism is provided with between second U-shaped wheel supporting parts 63 and described wheel bearing end 61.
Because wheel load carrier is can the multi-functional load carrier of horizontal and vertical carrying wheel, the wheel of car body is placed on wheel load carrier by mode that can be horizontal or longitudinal, then wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground, then vehicle is transported to the parking position of specifying by parking robot by driving wheel, with the object reached laterally or longitudinally park, serve many purposes, be applicable to the requirement of parking of different parking lot structure, very convenient; The horizontal wheel supporting parts of U-shaped of the wheel bearing end on multi-functional load carrier are for carrying the car body of demand of laterally parking; There are the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts in the side that U-shaped horizontal wheel supporting parts are relative with robot lateral body, the setting of the wheel supporting parts that these two kinds of longitudinal directions are parked, the horizontal wheel supporting parts of U-shaped are directly utilized to carry the car body of longitudinally parking, easy to operate, efficiency of parking is higher.
Fig. 3 is the top views of the second U-shaped wheel supporting parts of embodiment one when stretching out, change the distance between the second U-shaped wheel supporting parts and the first U-shaped wheel supporting parts by bearing end telescoping mechanism, to park requirement with the longitudinal direction of the vehicle adapting to different wheel wheelbase.
The top view of multi-functional parking robot embodiment two of the present invention is see Fig. 4, the present embodiment is compared with embodiment one, its difference is, the first U-shaped wheel supporting parts 62 and the second U-shaped wheel supporting parts 63 are arranged on side relative between the horizontal wheel supporting parts 64 of two U-shapeds.When longitudinally parking, first wheel bearing end is stretched into the centre position, bottom of car body, make the U-shaped wheel supporting parts on wheel bearing end and aligner wheel, then transversal stretching mechanism is started, guarantee that wheel is placed on U-shaped wheel supporting parts, transported, to reach the object of automatic parking by the lifting of elevating mechanism.
The top view of multi-functional parking robot embodiment three of the present invention is see Fig. 5, the present embodiment is compared with embodiment one, its difference is, each multi-functional load carrier 6 comprises the wheel bearing end 61 parallel with robot lateral body 21, each wheel bearing end 61 is respectively equipped with two wheel supporting beams be parallel to each other, be provided with the brace summer drive unit of driving two wheel supporting beams relative motion between two brace summers, two brace summers form the horizontal wheel supporting parts 64 of U-shaped; The line be respectively equipped with between two brace summers of each wheel bearing end between line between the first perpendicular U-shaped wheel supporting parts 62 and the center of the second U-shaped wheel supporting parts 63, first U-shaped wheel supporting parts 62 and the center of the second U-shaped wheel supporting parts 63 is parallel.
When each wheel bearing end two wheel supporting beams near time, wheel bearing end is for carrying the car body of demand of laterally parking; Brace summer drive unit when each wheel bearing end makes two wheel supporting beams separately, and first and second U-shaped wheel supporting parts are used for carrying the car body of longitudinally parking, and the structure comparison of whole multi-functional load carrier is compact.
The three-dimensional structure diagram of multi-functional parking robot embodiment four of the present invention is see Fig. 6, robot body 22 is Split type structure, comprise the first robot body 221 and the second robot body 222, two elevating mechanism 3 is separately positioned on described first robot body 221 and described second robot body 222; Transversal stretching mechanism 5 is arranged between described first robot body 221 and described second robot body 222.
Change the distance between upper first robot body of robot body and the second robot body by transversal stretching mechanism, thus realize the distance between the wheel bearing end on adjustment two elevating mechanism, to reach the object of the different wheelspan automobiles that berth.
The partial structurtes of bearing end telescoping mechanism are see Fig. 7-Fig. 9, bearing end telescoping mechanism comprises the linear roller guide rail 71 be arranged on wheel bearing end 61, linear roller guide rail 71 is arranged with two bearing end slide blocks 72 be parallel to each other, linear roller guide rail 71 and bearing end slide block 72 are slided mutually by roller 75, second U-shaped wheel supporting parts 63 are arranged on bearing end slide block 72, the center of bearing end slide block 72 is combined with screw rod 73, and screw rod 73 is parallel with linear roller guide rail 71; Also comprise bearing end servomotor 74, the turning cylinder of bearing end servomotor 74 is connected with screw rod 73.
The moving medium of linear roller guide rail, with line face Structure deformation, improves supporting capacity and the rigidity of guide rail; Two bearing end slide blocks increase the load-bearing moment of linear roller guide rail and bearing end slide block.
Three-dimensional structure diagram after the elevating mechanism lifting of longitudinal parking robot, see Fig. 7, can be promoted the terrain clearance of wheel load carrier, facilitate parking robot to move, to reach the object of parking smoothly by elevating mechanism.
The gear-rack drive mechanism of transversal stretching mechanism is see Figure 10-Figure 11, comprise the guide rail 51 be arranged on supporting seat 4, guide rail 51 is provided with two slide blocks, two slide blocks are rack structure 52, two rack structures 52 are engaged with gear 53 respectively, two gears 53 drive respectively by servomotor 57, and two rack structures 52 are connected with wheel load carrier 6 respectively by wheel load bearing seat 54; Whole gear driven mechanism is coated by shell 55, is provided with the cavity 56 holding the movement of wheel load bearing seat 54 at the top of shell 55.
When needing to adjust the distance between wheel load carrier, start servomotor, servomotor driven gear rotates, the rack structure that gear driven is engaged with moves horizontally along guide rail, thus drive the movement of the wheel load carrier be connected with wheel load bearing seat, reach the distance between adjustment two wheel load carrier, to adapt to the vehicle parking of different width of the carbody.
The two outlet-rod hydraulic cylinder driving mechanism of dual Piston of transversal stretching mechanism is see Figure 12-Figure 13, comprise the guide rail 51 be arranged on supporting seat 4, guide rail 51 is provided with two slide blocks, two slide blocks are connected with wheel load bearing seat 54 respectively, the two outlet-rod hydraulic cylinder of dual Piston comprises the piston rod 59 at hydraulic cylinder 58 and two ends, two piston rods 59 are connected with two wheel load bearing seats 54 respectively, and wheel load bearing seat 54 is connected with wheel load carrier 6; The two outlet-rod hydraulic cylinder driving mechanism of whole dual Piston is coated by shell 55, is provided with the cavity 56 holding the movement of wheel load bearing seat 54 at the top of shell 55; Two piston rods 59 are arranged on cylinder body 581 li respectively by piston 591, and piston rod 59 passes cylinder barrel 58 by cylinder cap 592, and cylinder barrel 58 is provided with the turnover oilhole 582 be communicated with cylinder body 581.
When the two outlet-rod hydraulic cylinder driving mechanism of dual Piston works, by inputing or outputing hydraulic oil at turnover oilhole, promote piston rod movement, thus drive the movement of the wheel load carrier be connected with wheel load bearing seat, reach the distance between adjustment two wheel load carrier, to adapt to the vehicle parking of different width of the carbody.
Be described in detail multi-functional parking robot provided by the present invention above, apply specific case herein and set forth principle of the present invention and embodiment, the explanation of above embodiment just understands core concept of the present invention for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a multi-functional parking robot, comprise robot base, described robot base comprises two robot lateral bodys be arranged in parallel, described two robot lateral bodys are connected to form the U-shaped chamber holding car body by robot body, be provided with in the bottom of described robot base, on the position of corner the driving wheel making robot base movement; It is characterized in that, described robot body is provided with two elevating mechanisms be parallel to each other, described two elevating mechanisms are respectively equipped with the wheel load carrier in zigzag be parallel to each other, transversal stretching mechanism is provided with between described two wheel load carriers, the major part of described two wheel load carriers is positioned at the inside in described U-shaped chamber, and near the side of described robot body, described wheel load carrier is can the multi-functional load carrier of horizontal and vertical carrying wheel.
2. multi-functional parking robot according to claim 1, it is characterized in that, described each multi-functional load carrier comprises the wheel bearing end parallel with described robot lateral body, described each wheel bearing end is set to the horizontal wheel supporting parts of the U-shaped consistent with the length bearing of trend of described wheel bearing end, side relative between the side that the horizontal wheel supporting parts of described each U-shaped are relative with described robot lateral body or the horizontal wheel supporting parts of described two U-shapeds is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, line between the center of described first U-shaped wheel supporting parts and the line between the center of described second U-shaped wheel supporting parts parallel.
3. multi-functional parking robot according to claim 1, it is characterized in that, described each multi-functional load carrier comprises the wheel bearing end parallel with described robot lateral body, described each wheel bearing end is respectively equipped with two wheel supporting beams be parallel to each other, be provided with the brace summer drive unit of driving two wheel supporting beams relative motion between described two brace summers, described two brace summers form the horizontal wheel supporting parts of U-shaped; Be respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts between two brace summers of described each wheel bearing end, the line between the center of described first U-shaped wheel supporting parts and the line between the center of described second U-shaped wheel supporting parts parallel.
4. the multi-functional parking robot according to Claims 2 or 3, is characterized in that, described second U-shaped wheel supporting parts and described wheel bearing end are provided with bearing end telescoping mechanism.
5. multi-functional parking robot according to claim 4, it is characterized in that, described bearing end telescoping mechanism comprises the linear roller guide rail be arranged on described wheel bearing end, described linear roller guide rail is provided with bearing end slide block, described second U-shaped wheel supporting parts are arranged on the slide block of described bearing end, the center of described bearing end slide block is combined with screw rod, described screw rod and described linear roller guide rail parallel; Also comprise bearing end servomotor, the turning cylinder of described bearing end servomotor is connected with described screw rod.
6. multi-functional parking robot according to claim 5, is characterized in that, described bearing end slide block is two, is arranged in parallel to each other on described linear roller guide rail.
7. the longitudinal parking robot according to claim 5 or 6, it is characterized in that, the top of described two elevating mechanisms is connected by supporting seat, described transversal stretching mechanism comprises the guide rail be arranged on described supporting seat, described guide rail is provided with two slide blocks, described two slide blocks are connected with described wheel load carrier respectively by wheel load bearing seat, described two slide blocks by driving mechanism at described slide on rails.
8. the longitudinal parking robot according to claim 5 or 6, it is characterized in that, described robot body is Split type structure, comprises the first robot body and the second robot body, and described two elevating mechanisms are separately positioned on described first robot body and described second robot body; Described transversal stretching organization establishes is between described first robot body and described second robot body.
9. longitudinal parking robot according to claim 7, it is characterized in that, described driving mechanism is gear-rack drive mechanism, comprise on described two slide blocks and be set to rack structure respectively, described two rack structures are engaged with gear respectively, and described two gears are respectively by driven by servomotor.
10. longitudinal parking robot according to claim 7, is characterized in that, described driving mechanism is the two outlet-rod hydraulic cylinder of dual Piston, and two piston rods of described hydraulic cylinder are connected with described two wheel load bearing seats respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510072536.9A CN104612444B (en) | 2015-02-10 | 2015-02-10 | A kind of multi-functional parking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510072536.9A CN104612444B (en) | 2015-02-10 | 2015-02-10 | A kind of multi-functional parking robot |
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| CN104612444A true CN104612444A (en) | 2015-05-13 |
| CN104612444B CN104612444B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510072536.9A Active CN104612444B (en) | 2015-02-10 | 2015-02-10 | A kind of multi-functional parking robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106760773A (en) * | 2016-12-21 | 2017-05-31 | 陆建雄 | Parking conveying arrangement and lugs and parking method |
| CN106760778A (en) * | 2016-12-27 | 2017-05-31 | 沈阳通用机器人技术股份有限公司 | Automobile automatic transporting agv |
| CN108166811A (en) * | 2018-02-24 | 2018-06-15 | 国信机器人无锡股份有限公司 | The telescopic Wiring structure of parking robot |
| CN108571220A (en) * | 2018-04-28 | 2018-09-25 | 佛山市甄睿智能科技有限公司 | A kind of loading for automatic stopping robot balances self-checking unit |
| CN112459582A (en) * | 2020-12-30 | 2021-03-09 | 河南工学院 | Space-saving parking device for parking lot and using method thereof |
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| CN204782157U (en) * | 2015-02-10 | 2015-11-18 | 广州信邦汽车装备制造有限公司 | Multi -functional robot that parks |
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| JPH07127299A (en) * | 1993-11-06 | 1995-05-16 | Kaoru Yasuda | Two-stage rising parking lot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106760773A (en) * | 2016-12-21 | 2017-05-31 | 陆建雄 | Parking conveying arrangement and lugs and parking method |
| CN106760778A (en) * | 2016-12-27 | 2017-05-31 | 沈阳通用机器人技术股份有限公司 | Automobile automatic transporting agv |
| CN108166811A (en) * | 2018-02-24 | 2018-06-15 | 国信机器人无锡股份有限公司 | The telescopic Wiring structure of parking robot |
| CN108571220A (en) * | 2018-04-28 | 2018-09-25 | 佛山市甄睿智能科技有限公司 | A kind of loading for automatic stopping robot balances self-checking unit |
| CN112459582A (en) * | 2020-12-30 | 2021-03-09 | 河南工学院 | Space-saving parking device for parking lot and using method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104612444B (en) | 2017-07-07 |
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