CN104612444B - A kind of multi-functional parking robot - Google Patents
A kind of multi-functional parking robot Download PDFInfo
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- CN104612444B CN104612444B CN201510072536.9A CN201510072536A CN104612444B CN 104612444 B CN104612444 B CN 104612444B CN 201510072536 A CN201510072536 A CN 201510072536A CN 104612444 B CN104612444 B CN 104612444B
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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 present invention relates to a kind of multi-functional parking robot, including robot base, robot body is connected the U-shaped chamber to be formed and accommodate car body with robot lateral body, and driving wheel is provided with the bottom of robot base；Two elevating mechanisms being parallel to each other are provided with robot body, the wheel load carrier being parallel to each other is respectively equipped with two elevating mechanisms, wheel load carrier is being capable of the horizontal and vertical multi-functional load carrier for carrying wheel.Due to wheel load carrier be capable of it is horizontal and vertical carry wheel multi-functional load carrier, be placed on the wheel of car body on wheel load carrier by mode that can be laterally or longitudinally, then wheel load carrier is lifted up by elevating mechanism, so wheel and car body will together be lifted up with wheel load carrier, and leave ground, then parking robot vehicle is transported to the parking position specified by driving wheel, to reach the purpose laterally or longitudinally parked, it is very convenient suitable for the requirement of parking of different parking lot structures.
Description
【Technical field】
The present invention relates to a kind of automatic robot, particularly a kind of multi-functional parking robot.
【Background technology】
The car ownership of existing big and medium-sized cities is more and more, and it is a very big problem, particularly central city to park
Area parking lot is limited, is parked to driving personnel and causes very big difficulty, in order to effectively using limited parking lot, it is necessary to use
The robot of automatic parking realizes automatic parking, different parks type to carry, it is necessary to set due to different parking lot structures
The berth capacity in parking lot high.
【The content of the invention】
The present invention provides a kind of multi-functional parking robot, with the requirement of parking suitable for different parking lot structures, can
There is horizontal and vertical function of parking simultaneously.
In order to solve the above-mentioned technical problem, the present invention provides a kind of multi-functional parking robot, including robot base, institute
Stating robot base includes two robot lateral bodys be arrangeding in parallel, and two robot lateral body connects shape by robot body
Into the U-shaped chamber for accommodating car body, in the bottom of the robot base, it is provided with the position of corner and moves robot base
Driving wheel；Two elevating mechanisms being parallel to each other are provided with the robot body, are stated on elevating mechanism described two
The wheel load carrier in zigzag being parallel to each other is respectively equipped with, transversal stretching machine is provided between the two wheels load carrier
Structure, the inside for being predominantly located in the U-shaped chamber of described two wheel load carriers, and near the side of the robot body
Face, the wheel load carrier is being capable of the horizontal and vertical multi-functional load carrier for carrying wheel.
The beneficial effects of the invention are as follows：Because wheel load carrier is that horizontal and vertical can carry the multi-functional of wheel to hold
Be placed on the wheel of car body on wheel load carrier by mounted mechanism, mode that can be laterally or longitudinally, then by elevating mechanism
Wheel load carrier is lifted up, such wheel and car body will together be lifted up with wheel load carrier, and leave ground
Then face, parking robot vehicle is transported to the parking position specified by driving wheel, to reach the purpose laterally or longitudinally parked,
Serve many purposes, it is adaptable to the requirement of parking of different parking lot structures, it is very convenient.
Further, described each multi-functional load carrier includes the wheel bearing end parallel with the robot lateral body, institute
State each wheel bearing end and be set to the U-shaped transverse direction wheel supporting portion consistent with the length bearing of trend of the wheel bearing end
Part, each U-shaped transverse direction wheel supporting part side relative with the robot lateral body or described two U-shapeds transverse direction wheel
Perpendicular the first U-shaped wheel supporting part and the second U-shaped wheel branch is respectively equipped between support member on relative side
Support part part, the center of line between the center of the first U-shaped wheel supporting part and the second U-shaped wheel supporting part
Between line it is parallel.
Beneficial effect using above-mentioned further scheme is：The U-shaped transverse direction of the wheel bearing end on multi-functional load carrier
Wheel supporting part is used to carry the car body of demand of laterally parking；U-shaped transverse direction wheel supporting part is relative with robot lateral body
There are perpendicular the first U-shaped wheel supporting part and the second U-shaped wheel supporting part, or two U-shaped transverse direction wheel branch in side
Perpendicular the first U-shaped wheel supporting part and the second U-shaped wheel supporting is respectively equipped between the part of support part on relative side
Part；The setting of the wheel supporting part that both longitudinal directions are parked, directly carries longitudinal direction using U-shaped transverse direction wheel supporting part
The car body parked, easy to operate, efficiency of parking is higher.
Further, described each multi-functional load carrier includes the wheel bearing end parallel with the robot lateral body, institute
State each wheel bearing end and be respectively equipped with two wheel supporting beams being parallel to each other, driving two is provided between described two support beams
The support beam drive device of individual wheel supporting beam relative motion, described two support beams constitute U-shaped transverse direction wheel supporting part；Institute
Perpendicular the first U-shaped wheel supporting part and the 2nd U is respectively equipped between two support beams for stating each wheel bearing end
Shape wheel supporting part, line and the second U-shaped wheel supporting portion between the center of the first U-shaped wheel supporting part
Line between the center of part is parallel.
Beneficial effect using above-mentioned further scheme is：When two wheel supporting beams of each wheel bearing end are close to
When, wheel bearing end is used to carry the car body of demand of laterally parking；When the support beam drive device of each wheel bearing end makes two
Individual wheel supporting beam is separated, and first and second U-shaped wheel supporting part is used to carry the car body that longitudinal direction is parked, entirely multi-functional to hold
The structure of mounted mechanism is compact.
Further, the second U-shaped wheel supporting part is provided with bearing end telescoping mechanism with the wheel bearing end.
Beneficial effect using above-mentioned further scheme is：Second U-shaped wheel supporting is changed by bearing end telescoping mechanism
The distance between part and the first U-shaped wheel supporting part, are parked requirement with adapting to the longitudinal direction of vehicle of different wheel wheelbase.
Further, the bearing end telescoping mechanism includes the linear roller guide rail being arranged on the wheel bearing end, institute
State linear roller guide rail and be provided with bearing end sliding block, the second U-shaped wheel supporting part is arranged on the bearing end sliding block,
The center of the bearing end sliding block is combined with screw rod, the screw rod and the linear roller guide rail parallel；Also include carrying
End servomotor, the rotary shaft of the bearing end servomotor is connected with the screw rod.
Beneficial effect using above-mentioned further scheme is：The moving medium of linear roller guide rail is in rolling contact with line face,
Improve the bearing capacity and rigidity of guide rail.
Further, the bearing end sliding block is two, is arranged in parallel to each other on the linear roller guide rail.
Beneficial effect using above-mentioned further scheme is：Two bearing end sliding blocks increase linear roller guide rail and carrying
Hold the load-bearing torque of sliding block.
Further, the top of described two elevating mechanisms is connected by support base, and the transversal stretching mechanism includes setting
Guide rail on the support base, the guide rail is provided with two sliding blocks, described two sliding blocks respectively by wheel load bearing seat with
The wheel load carrier is connected, and described two sliding blocks are slided by drive mechanism on the guide rail.
Beneficial effect using above-mentioned further scheme is：By sliding block and the transversal stretching mechanism of guide rail, two cars are realized
The distance between wheel load carrier changes.
Further, the robot body is Split type structure, including the first robot body and the second robot body, institute
Two elevating mechanisms are stated to be separately positioned on first robot body and second robot body；The transversal stretching machine
Structure is arranged between first robot body and second robot body.
Beneficial effect using above-mentioned further scheme is：Because robot body is Split type structure, also, two split knots
This has transversal stretching mechanism between structure, changed by transversal stretching mechanism between the two split parts of robot body away from
From hereby, it is achieved that the distance between two wheel load carriers of adjustment.
Further, the drive mechanism is to be respectively set to tooth in gear-rack drive mechanism, including described two sliding blocks
Bar structure, is engaged with gear respectively on described two rack structures, described two gears are driven by servomotor respectively.
Beneficial effect using above-mentioned further scheme is：Rack pinion mode, bearing capacity is larger, and precision is higher,
It is easy to the pool of vehicle to put；Servomotor rotates smooth, torque stabilization, is easy to drive control.
Further, the drive mechanism is the double outlet-rod hydraulic cylinders of dual Piston, two piston rods difference of the hydraulic cylinder
It is connected with described two wheel load bearing seats.
Beneficial effect using above-mentioned further scheme is：The double outlet-rod hydraulic cylinder driving structures of dual Piston have higher
Activation point precision and bearing capacity.
【Brief description of the drawings】
Fig. 1 is the three-dimensional structure diagram of multi-functional parking robot implementation method one,
Fig. 2 is the top view of implementation method one,
Fig. 3 is top view when the second U-shaped wheel supporting part of implementation method one stretches out,
Fig. 4 is the top view of multi-functional parking robot implementation method two,
Fig. 5 is the top view of multi-functional parking robot implementation method three,
Fig. 6 is the three-dimensional structure diagram of multi-functional parking robot implementation method four,
Fig. 7 is the lateral partial structurtes sectional view of bearing end telescoping mechanism,
Fig. 8 is lateral partial structurtes sectional view when the second U-shaped wheel supporting part stretches out,
Fig. 9 is transverse sectional view at linear roller guide rail 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 double outlet-rod hydraulic cylinder drive mechanisms of dual Piston,
Figure 13 is the lateral partial structurtes sectional view of the double outlet-rod hydraulic cylinders of dual Piston.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, driving wheel, 2, robot base, 21, robot lateral body, 22, robot body, 3, elevating mechanism, 4, support
Seat, 5, transversal stretching mechanism, 51, guide rail, 52, rack structure, 53, gear, 54, wheel load bearing seat, 55, shell, 56, cavity,
57th, 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, the 62, first U-shaped wheel supporting part, the 63, second U-shaped wheel supporting part, 64, U
Shape transverse direction wheel supporting part, 71, linear roller guide rail, 72, bearing end sliding block, 73, screw rod, 74, bearing end servomotor,
75th, roller
【Specific embodiment】
The present invention is further illustrated with reference to the accompanying drawings and examples.
The three-dimensional structure diagram of multi-functional parking robot implementation method one is referring to Fig. 1-Fig. 3, including robot base 2, machine
Device people base 2 includes two robot lateral bodys 21 be arrangeding in parallel, and two robot lateral bodys 21 connect shape by robot body 22
Into the U-shaped chamber for accommodating car body, in the bottom of robot base 2, it is provided with the position of corner and makes what robot base 2 was moved
Driving wheel 1, the driving wheel 1 is six, and two are respectively equipped with away from the end of robot body 22 in each bottom of robot lateral body 21, portion
Individual driving wheel 1；22 are provided with two elevating mechanisms 3 being parallel to each other on robot body, and the upper end of two elevating mechanisms 3 passes through
Support base 4 links together, and two wheel load carriers 6 in zigzag are arranged in fulcrum bearing 4 and are parallel to each other, in branch
Transversal stretching mechanism 5 is provided between support seat 4 and wheel load carrier 6；Two wheel load carriers 6 are predominantly located in U-shaped chamber
Inside, and near robot body 2 side, wheel load carrier 6 for be capable of it is horizontal and vertical carry wheel it is multi-functional
Load carrier.
Each multi-functional load carrier 6 includes the wheel bearing end 61 parallel with robot lateral body 21, and each wheel is carried
End 61 is set to the U-shaped transverse direction wheel supporting part 64 consistent with the length bearing of trend of wheel bearing end 61, each U-shaped transverse direction
Wheel supporting part 64 is respectively equipped with the first perpendicular U-shaped wheel supporting part on the side relative with robot lateral body 21
62 and the second U-shaped wheel supporting part 63, line and the second U-shaped wheel between the center of the first U-shaped wheel supporting part 62
Line between the center of support member 63 is parallel；Set between second U-shaped wheel supporting part 63 and the wheel bearing end 61
There is bearing end telescoping mechanism.
Due to wheel load carrier be capable of it is horizontal and vertical carry wheel multi-functional load carrier, can be horizontal or vertical
To mode the wheel of car body is placed on wheel load carrier, then by elevating mechanism be lifted up wheel carry machine
Structure, such wheel and car body will together be lifted up with wheel load carrier, and leave ground, and parking robot is then logical
Vehicle is transported to wheel of overdriving the parking position specified, and to reach the purpose laterally or longitudinally parked, is served many purposes, it is adaptable to
The requirement of parking of different parking lot structures, it is very convenient；The U-shaped transverse direction wheel branch of the wheel bearing end on multi-functional load carrier
Support part part is used to carry the car body of demand of laterally parking；The U-shaped transverse direction wheel supporting part side relative with robot lateral body has
Perpendicular the first U-shaped wheel supporting part and the second U-shaped wheel supporting part, the wheel supporting portion that both longitudinal directions are parked
The setting of part, directly carries the car body that longitudinal direction is parked, easy to operate, effect of parking using U-shaped transverse direction wheel supporting part
Rate is higher.
Fig. 3 is top view when the second U-shaped wheel supporting part of implementation method one stretches out, by bearing end telescoping mechanism
Change the distance between the second U-shaped wheel supporting part and the first U-shaped wheel supporting part, to adapt to the car of different wheel wheelbase
Longitudinal direction park requirement.
The top view of multi-functional parking robot implementation method two of the invention is referring to Fig. 4, the present embodiment and embodiment one
Compare, its difference is that the first U-shaped wheel supporting part 62 and the second U-shaped wheel supporting part 63 are arranged on two U-shapeds
Between horizontal wheel supporting part 64 on relative side.When longitudinally parking, wheel bearing end is first stretched into the bottom of car body
Centre position, makes U-shaped wheel supporting part and the aligner wheel on wheel bearing end, then starts transversal stretching mechanism, it is ensured that
Wheel is placed on U-shaped wheel supporting part, by the lifting of elevating mechanism and is transported, to reach the purpose of automatic parking.
The top view of multi-functional parking robot implementation method three of the invention is referring to Fig. 5, the present embodiment and embodiment one
Compare, its difference is, each multi-functional load carrier 6 includes the wheel bearing end 61 parallel with robot lateral body 21,
Each wheel bearing end 61 is respectively equipped with two wheel supporting beams being parallel to each other, and two cars of driving are provided between two support beams
The support beam drive device of support beam relative motion is taken turns, two support beams constitute U-shaped transverse direction wheel supporting part 64；Each wheel
Perpendicular the first U-shaped wheel supporting part 62 and the second U-shaped wheel branch is respectively equipped between two support beams of bearing end
Support part part 63, the center of line and the second U-shaped wheel supporting part 63 between the center of the first U-shaped wheel supporting part 62 it
Between line it is parallel.
When two wheel supporting beams of each wheel bearing end are close to, wheel bearing end is used to carry demand of laterally parking
Car body；When the support beam drive device of each wheel bearing end separates two wheel supporting beams, first and second U-shaped wheel branch
Support part part is used to carry the car body that longitudinal direction is parked, and the structure of whole multi-functional load carrier is compact.
Referring to Fig. 6, robot body 22 is the three-dimensional structure diagram of multi-functional parking robot implementation method four of the invention
Split type structure, including the first robot body 221 and the second robot body 222, two elevating mechanisms 3 are separately positioned on described
On one robot body 221 and second robot body 222；Transversal stretching mechanism 5 is arranged on the first robot master
Between body 221 and second robot body 222.
Changed by transversal stretching mechanism between upper first robot body of robot body and the second robot body
Distance, so as to realize adjusting the distance between the wheel bearing end on two elevating mechanisms, to reach the different wheelspan automobiles that berth
Purpose.
Referring to Fig. 7-Fig. 9, bearing end telescoping mechanism includes being arranged on wheel carrying the partial structurtes of bearing end telescoping mechanism
Linear roller guide rail 71 on end 61, is arranged with two bearing end sliding blocks 72 being parallel to each other, straight line on linear roller guide rail 71
Roller guide 71 and bearing end sliding block 72 are mutually slided by roller 75, and the second U-shaped wheel supporting part 63 is arranged on bearing end
On sliding block 72, the center of bearing end sliding block 72 is combined with screw rod 73, and screw rod 73 is parallel with linear roller guide rail 71；Also include
Bearing end servomotor 74, the rotary shaft of bearing end servomotor 74 is connected with screw rod 73.
The moving medium of linear roller guide rail is in rolling contact with line face, improves the bearing capacity and rigidity of guide rail；Two
Bearing end sliding block increases the load-bearing torque of linear roller guide rail and bearing end sliding block.
Three-dimensional structure diagram after the elevating mechanism lifting of multi-functional parking robot, can be with by elevating mechanism referring to Fig. 7
The terrain clearance of wheel load carrier is lifted, facilitates parking robot to move, to reach the purpose smoothly parked.
The gear-rack drive mechanism of transversal stretching mechanism is referring to Figure 10-Figure 11, including is arranged on the guide rail on support base 4
51, guide rail 51 is provided with two sliding blocks, and two sliding blocks are rack structure 52, and gear is engaged with respectively on two rack structures 52
53, two gears 53 are driven by servomotor 57 respectively, and two rack structures 52 pass through wheel load bearing seat 54 and wheel respectively
Load carrier 6 is connected；Whole gear driven mechanism is coated by shell 55, and receiving wheel load bearing seat 54 is provided with the top of shell 55
Mobile cavity 56.
When the distance between adjustment wheel load carrier is needed, start servomotor, servomotor drives pinion rotation,
The rack structure that gear driven is engaged with is moved horizontally along guide rail, so as to drive the wheel being connected with wheel load bearing seat to carry
The movement of mechanism adjusts the distance between two wheel load carriers to reach, to adapt to the vehicle parking of different widths of the carbody.
The double outlet-rod hydraulic cylinder drive mechanisms of the dual Piston of transversal stretching mechanism are referring to Figure 12-Figure 13, including are arranged on branch
Guide rail 51 on support seat 4, guide rail 51 is provided with two sliding blocks, and two sliding blocks are connected with wheel load bearing seat 54 respectively, dual Piston
Double outlet-rod hydraulic cylinders include the piston rod 59 at hydraulic cylinder 58 and two ends, two piston rods 59 respectively with two wheel load bearing seats 54
Connection, wheel load bearing seat 54 is connected with wheel load carrier 6；The whole double outlet-rod hydraulic cylinder drive mechanisms of dual Piston are by shell 55
Cladding, the cavity 56 for accommodating the movement of wheel load bearing seat 54 is provided with the top of shell 55；Two piston rods 59 pass through piston respectively
591 are arranged in cylinder body 581, and piston rod 59 passes cylinder barrel 58 by cylinder cap 592, is provided with cylinder barrel 58 and is connected with cylinder body 581
Enter oil outlet 582.
When the double outlet-rod hydraulic cylinder drive mechanisms of dual Piston work, by entering oil outlet input or output hydraulic pressure oil, come
Piston rod movement is promoted, so as to drive the movement of the wheel load carrier being connected with wheel load bearing seat to adjust two wheels to reach
The distance between load carrier, to adapt to the vehicle parking of different widths of the carbody.
Multi-functional parking robot provided by the present invention is described in detail above, it is used herein specifically individual
Example is set forth to principle of the invention and implementation method, and the explanation of above example is only intended to help and understands of the invention
Core concept；Simultaneously for those of ordinary skill in the art, according to thought of the invention, in specific embodiment and application
Be will change in scope, in sum, this specification content should not be construed as limiting the invention.
Claims (8)
1. a kind of multi-functional parking robot, including robot base, the robot base includes two machines be arrangeding in parallel
Device people's lateral body, two robot lateral body connects the U-shaped chamber to be formed and accommodate car body by robot body, at the robot bottom
Seat bottom, be provided near the position of corner make robot base move driving wheel；Characterized in that, in the robot
Main body is provided with two elevating mechanisms being parallel to each other, be respectively equipped with described two elevating mechanisms be parallel to each other in Z-shaped
The wheel load carrier of shape, is provided with transversal stretching mechanism, described two wheel load carriers between the two wheels load carrier
The inside for being predominantly located in the U-shaped chamber, and near the side of the robot body, the wheel load carrier is for can
The horizontal and vertical multi-functional load carrier for carrying wheel；
Described each multi-functional load carrier includes the wheel bearing end parallel with the robot lateral body, and described each wheel holds
Carry end and be set to the U-shaped transverse direction wheel supporting part consistent with the length bearing of trend of the wheel bearing end, described each U-shaped
Phase between the horizontal wheel supporting part side relative with the robot lateral body or described two U-shapeds transverse direction wheel supporting part
To side on be respectively equipped with perpendicular the first U-shaped wheel supporting part and the second U-shaped wheel supporting part, described first
Line between the center of U-shaped wheel supporting part is parallel with the line between the center of the second U-shaped wheel supporting part；
Described each multi-functional load carrier includes the wheel bearing end parallel with the robot lateral body, and described each wheel holds
Carry end and be respectively equipped with two wheel supporting beams being parallel to each other, two wheel supporting beams of driving are provided between described two support beams
The support beam drive device of relative motion, described two support beams constitute U-shaped transverse direction wheel supporting part；Described each wheel holds
Perpendicular the first U-shaped wheel supporting part and the second U-shaped wheel supporting portion is respectively equipped between two support beams for carrying end
Part, line between the center of the first U-shaped wheel supporting part and between the center of the second U-shaped wheel supporting part
Line it is parallel.
2. multi-functional parking robot according to claim 1, it is characterised in that the second U-shaped wheel supporting part
Bearing end telescoping mechanism is provided with the wheel bearing end.
3. multi-functional parking robot according to claim 2, it is characterised in that the bearing end telescoping mechanism includes setting
The linear roller guide rail on the wheel bearing end is put, the linear roller guide rail is provided with bearing end sliding block, the 2nd U
Shape wheel supporting part is arranged on the bearing end sliding block, and the center of the bearing end sliding block is combined with screw rod, described
Screw rod and the linear roller guide rail parallel；Also include bearing end servomotor, the rotary shaft of the bearing end servomotor with
The screw rod connection.
4. multi-functional parking robot according to claim 3, it is characterised in that the bearing end sliding block is two, phase
Mutually abreast it is arranged on the linear roller guide rail.
5. the multi-functional parking robot according to claim 3 or 4, it is characterised in that the top of described two elevating mechanisms
End is connected by support base, and the transversal stretching mechanism includes the guide rail being arranged on the support base, and the guide rail is provided with
Two sliding blocks, described two sliding blocks are connected by wheel load bearing seat with the wheel load carrier respectively, and described two sliding blocks lead to
Mechanism of overdriving is slided on the guide rail.
6. the multi-functional parking robot according to claim 3 or 4, it is characterised in that the robot body is split
Structure, including the first robot body and the second robot body, two elevating mechanism are separately positioned on first machine
On human agent and second robot body；The transversal stretching mechanism is arranged on first robot body and described
Between two robot bodies.
7. multi-functional parking robot according to claim 5, it is characterised in that the drive mechanism is that rack-and-pinion is driven
Rack structure is respectively set on motivation structure, including described two sliding blocks, gear is engaged with respectively on described two rack structures,
Described two gears are driven by servomotor respectively.
8. multi-functional parking robot according to claim 5, it is characterised in that the drive mechanism is double dual Piston
Outlet-rod hydraulic cylinder, two piston rods of the hydraulic cylinder are connected with described two wheel load bearing seats respectively.
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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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| 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 CN104612444A (en) | 2015-05-13 |
| CN104612444B true CN104612444B (en) | 2017-07-07 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106760773B (en) * | 2016-12-21 | 2022-06-10 | 陆建雄 | Parking transport device, parking device 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 |
| CN112459582B (en) * | 2020-12-30 | 2024-09-20 | 河南工学院 | Parking device for parking lot capable of saving space and use method of parking device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07127299A (en) * | 1993-11-06 | 1995-05-16 | Kaoru Yasuda | Two-stage rising parking lot |
| CN2560703Y (en) * | 2002-08-23 | 2003-07-16 | 缪慰时 | Industrial robot for horizontal transport truck |
| DE102010052850B3 (en) * | 2010-11-29 | 2012-06-06 | Serva Transport Systems Gmbh | Device and method for the automatic transverse storage of a motor vehicle in a storage facility |
| CN201962990U (en) * | 2011-03-14 | 2011-09-07 | 帅石文 | Rail-type universal crab moving robot parking equipment |
| CN202520024U (en) * | 2012-03-14 | 2012-11-07 | 李荣生 | Parking robot for parking garage |
| CN202810277U (en) * | 2012-07-31 | 2013-03-20 | 姜德文 | Hand-pushed straddle forklift with vehicle carrying pallet for parking lot |
| 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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