CN104631887B - A kind of longitudinal parking robot - Google Patents
A kind of longitudinal parking robot Download PDFInfo
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- CN104631887B CN104631887B CN201510073589.2A CN201510073589A CN104631887B CN 104631887 B CN104631887 B CN 104631887B CN 201510073589 A CN201510073589 A CN 201510073589A CN 104631887 B CN104631887 B CN 104631887B
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Abstract
The present invention relates to a kind of longitudinal 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 provided with wheel bearing end, and each wheel bearing end is respectively equipped with the first perpendicular U-shaped wheel supporting part and the second U-shaped wheel supporting part and is parallel to each other；Can folding and unfolding car body driving wheel provided with two in the lower section of each wheel bearing end.When transporting when parking the vehicle, by below wheel bearing end can folding and unfolding car body driving wheel stretch out, wheel bearing end is reduced by elevating mechanism, car body driving wheel is contacted with ground, reduction parking robot is during transit vehicle to the load-bearing requirements of the driving wheel of robot base.
Description
【Technical field】
The present invention relates to a kind of automatic parking robot, particularly a kind of longitudinal 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, and existing automatic parking robot passes through the driving that is arranged on robot base
Wheel movement, by by a parking position for being transported to and specifying of parking, in vehicle transport process, the weight of whole vehicle is carried on completely
On the driving wheel of robot base so that driving wheel needs have larger weight capacity.
【The content of the invention】
The present invention provides a kind of longitudinal parking robot, reduces parking robot during transit vehicle to robot bottom
The load-bearing requirements of the driving wheel of seat.
In order to solve the above-mentioned technical problem, the present invention provides a kind of longitudinal parking robot, including robot base, described
Robot base includes two robot lateral bodys be arrangeding in parallel, and two robot lateral body connects to be formed by robot body
The U-shaped chamber of car body is accommodated, being provided with the bottom of the robot base, the position close to corner makes what robot base moved
Driving wheel；Two elevating mechanisms being parallel to each other are provided with the robot body, on described two elevating mechanisms respectively
Provided with the wheel load carrier in zigzag being parallel to each other, described two wheel load carriers are predominantly located in the U-shaped chamber
Inside and close to the side of the robot body, described two wheel load carriers are respectively equipped with and the robot side
The parallel wheel bearing end of body, the one side of each wheel bearing end are respectively equipped with the first perpendicular U-shaped wheel branch
Support part part and the second U-shaped wheel supporting part, line between the center of described two first U-shaped wheel supporting parts with it is described
Line between the center of two the second U-shaped wheel supporting parts is parallel；The robot also includes driving two wheel to hold
The transversal stretching mechanism of mounted mechanism transverse shifting；Being provided with two in the lower section of each wheel bearing end can the driving of folding and unfolding car body
Wheel.
The beneficial effects of the invention are as follows：When parking the vehicle, parking robot is located at the front and behind of car body, and two wheels are held
The bottom that car body is stretched at end is carried, the U-shaped wheel supporting part on wheel bearing end is aligned with the tire of car body, is then started horizontal
To telescoping mechanism mobile wheel bearing end, four wheels are made then to pass through liter all on first and second U-shaped wheel supporting part
Descending mechanism is lifted up wheel load carrier, and such wheel and car body will be lifted up together with wheel load carrier, and
Leave ground；By below wheel bearing end can folding and unfolding car body driving wheel stretch out, wheel bearing end is reduced by elevating mechanism, made
Car body driving wheel contacts with ground, is further continued for declining, and robot base is left ground, then controls car body driving wheel by vehicle
The parking position specified is transported to, when reaching specified parking position, elevating mechanism is lifted up, and connects the driving wheel on robot base
Tread surface, car body driving wheel leave ground, packed up, and then moor again and put vehicle.Longitudinal parking robot of the present invention passes through wheel
Below bearing end can folding and unfolding car body driving wheel transport car body, reduce parking robot during transit vehicle to robot
The load-bearing requirements of the driving wheel of base.
Further, it is described can folding and unfolding driving wheel include deflecting roller, the deflecting roller is provided with main shaft, the top of the main shaft
With wheel bearing end hinge connection, in addition to folding and unfolding cylinder, the both ends of the folding and unfolding cylinder respectively with the main shaft
Portion and wheel bearing end hinge connection.
It is using the above-mentioned further beneficial effect of scheme：Pass through the work of folding and unfolding cylinder so that be connected with folding and unfolding cylinder
Deflecting roller pack up and stretch out.
Further, it is described can folding and unfolding driving wheel include deflecting roller, the deflecting roller is provided with main shaft, in addition to the first connection
Bar and the second connecting rod, the both ends of the head rod connect with the top of the main shaft and wheel bearing end hinge respectively
Connect；The middle part with the main shaft and the wheel bearing end hinge connection respectively of the both ends of second connecting rod.
It is using the above-mentioned further beneficial effect of scheme：Rotated by head rod, drive the second connecting rod and turn
Moved to wheel, to reach the purpose of the folding and unfolding of driving wheel.
Further, the second U-shaped wheel supporting part is provided with bearing end telescoping mechanism with the wheel bearing end.
It is using the above-mentioned further beneficial effect of scheme：Second U-shaped wheel supporting is changed by bearing end telescoping mechanism
The distance between part and the first U-shaped wheel supporting part, requirement is put to adapt to the pool of different wheel wheelbase vehicle.
Further, the bearing end telescoping mechanism includes the linear roller guide rail being arranged on the wheel bearing end, institute
To 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
Servomotor is held, the rotary shaft of the bearing end servomotor is connected with the screw rod.
It is using the above-mentioned further beneficial effect of scheme：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.
It is using the above-mentioned further beneficial effect of scheme：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 are 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.
It is using the above-mentioned further beneficial effect of scheme：By the transversal stretching mechanism of sliding block and guide rail, two cars are realized
The distance between load carrier is taken turns to change.
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.
It is using the above-mentioned further beneficial effect of scheme：Because robot body is Split type structure, also, two split knots
This has transversal stretching mechanism between structure, by transversal stretching mechanism come change between the two split parts of robot body away from
From so as to adjust the distance between two wheel load carriers.
Further, the drive mechanism is to be respectively set to tooth in gear-rack drive mechanism, including described two sliding blocks
Bar structure, gear is engaged with respectively on described two rack structures, described two gears are driven by servomotor respectively.
It is using the above-mentioned further beneficial effect of scheme：Rack pinion mode, bearing capacity is larger, and precision is higher,
It is easy to the pool of vehicle to put；Servomotor rotates smoothly, and torque is stable, is easy to drive control.
Further, the drive mechanism is the double outlet-rod hydraulic cylinders of dual Piston, and two piston rods of the hydraulic cylinder are distinguished
It is connected with described two wheel load bearing seats.
It is using the above-mentioned further beneficial effect of scheme：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 longitudinal parking robot embodiment one,
Fig. 2 is the top view of embodiment one,
Fig. 3 is top view when robot the second U-shaped wheel supporting part in embodiment one stretches out,
Fig. 4 be embodiment one can folding and unfolding driving wheel structural representation when packing up,
Fig. 5 is the top view of embodiment two,
Fig. 6 is the three-dimensional structure diagram of embodiment three,
Fig. 7 is the three-dimensional structure diagram after the elevating mechanism lifting of embodiment one,
Fig. 8 is the lateral partial structurtes sectional view of bearing end telescoping mechanism,
Fig. 9 is lateral partial structurtes sectional view when the second U-shaped wheel supporting part stretches out,
Figure 10 is transverse sectional view at linear roller guide rail in the telescoping mechanism of bearing end,
Figure 11 be can folding and unfolding driving wheel embodiment one side schematic view,
Figure 12 be in Figure 11 can folding and unfolding driving wheel pack up after structural representation,
Figure 13 be can folding and unfolding driving wheel embodiment two side schematic view,
Figure 14 be in Figure 13 can folding and unfolding driving wheel pack up after structural representation,
Figure 15 is the side sectional view of gear-rack drive mechanism,
Figure 16 is the vertical view cutaway drawing of gear-rack drive mechanism,
Figure 17 is the side sectional view of the double outlet-rod hydraulic cylinder drive mechanisms of dual Piston,
Figure 18 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, the 221, first robot body.
222nd, the second robot body, 3, elevating mechanism, 4, support base, 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, the 62, first U-shaped wheel
Support member, the 63, second U-shaped wheel supporting part, 71, linear roller guide rail, 72, bearing end sliding block, 73, screw rod, 74, carrying
Hold servomotor, 75, roller, 8, can folding and unfolding car body driving wheel, 81, deflecting roller, 82, main shaft, 83, folding and unfolding cylinder, 84, first connects
Extension bar, the 85, second connecting rod
【Embodiment】
The present invention is further illustrated with reference to the accompanying drawings and examples.
The structure chart of longitudinal parking robot embodiment one is referring to Fig. 1-Fig. 4, including robot base 2, robot bottom
Seat 2 includes two robot lateral bodys 21 be arrangeding in parallel, and two robot lateral bodys 21 are connected to be formed by robot body 22 and accommodated
The U-shaped chamber of car body, the driving wheel for moving robot base 2 is provided with the bottom of robot base 2, the position close to corner
1, the driving wheel 1 is six, and two drivings are respectively equipped with away from the end of robot body 22 in each bottom of robot lateral body 21, portion
Wheel 1；22 are provided with two elevating mechanisms 3 being parallel to each other on robot body, and the top of two elevating mechanisms 3 passes through support base
4 link together, and two are arranged in fulcrum bearing 4 and are parallel to each other in the wheel load carrier 6 of zigzag, in support base 4
Transversal stretching mechanism 5 is provided between wheel load carrier 6；Two wheel load carriers 6 are predominantly located in the interior of U-shaped chamber
Portion, and close to the side of robot body 2, two wheel load carriers 6 are provided with the wheel parallel with robot lateral body 21 and carried
End 61, each wheel bearing end 61 one side adjacent with robot lateral body 21 are respectively equipped with the first perpendicular U-shaped wheel
The U-shaped wheel supporting part 63 of support member 62 and second, line between the center of two the first U-shaped wheel supporting parts 62 with
Line between the center of two the second U-shaped wheel supporting parts 63 is parallel, the first U-shaped wheel supporting part 62 and the second U-shaped
Bearing end telescoping mechanism is provided between wheel supporting part 63；Can folding and unfolding car provided with two in the lower section of each wheel bearing end 61
Body driving wheel 8, can folding and unfolding car body driving wheel 8 stretch out, in transport process be used for bearing body weight.
When parking the vehicle, parking robot is located at the front and behind of car body, and two wheel bearing ends are stretched into the bottom of car body,
Start bearing end telescoping mechanism, adjust between two the second U-shaped wheel supporting parts and two the first U-shaped wheel supporting parts
Distance, first and second U-shaped wheel supporting part on wheel bearing end is aligned with the tire of car body, then start transversal stretching
Mechanism mobile wheel bearing end, make four wheels all on first and second U-shaped wheel supporting part, it is upward by elevating mechanism
Wheel load carrier is lifted, such wheel and car body will be lifted up together with wheel load carrier, and leave ground；Will
Below wheel bearing end can folding and unfolding car body driving wheel stretch out, wheel bearing end is reduced by elevating mechanism, makes car body driving wheel
Contacted with ground, be further continued for declining, robot base is left ground, then control car body driving wheel that vehicle is transported into what is specified
Parking position, when reaching specified parking position, elevating mechanism is lifted up, and the driving wheel on robot base is contacted ground, car
Body driving wheel leaves ground, then packs up, then moors and put vehicle.The new horizontal parking robot of the present invention passes through wheel bearing end
It is following can folding and unfolding car body driving wheel transport car body, reduce parking robot during transit vehicle to robot base
The load-bearing requirements of driving wheel.
Fig. 5 is the top view of embodiment two, compared with embodiment one, the first U-shaped wheel supporting part 62 and the 2nd U
Shape wheel supporting part 63 is arranged on two relative one sides in wheel bearing end 61.When parking, by wheel bearing end from car
On the direction of the both sides external of body, to the aligner wheel of car body, then start transversal stretching mechanism and bearing end telescoping mechanism moves
Motor car wheel bearing end, four wheels are made to put vehicle all on first and second U-shaped wheel supporting part to moor.
For the three-dimensional structure diagram of longitudinal parking robot embodiment three referring to Fig. 6, robot body 22 is Split type structure, bag
The first robot body 221 and the second robot body 222 are included, two elevating mechanisms 3 are separately positioned on the first robot master
On body 221 and second robot body 222；Transversal stretching mechanism 5 is arranged on first robot body 221 and described
Between 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 the distance between wheel bearing end on two elevating mechanisms of adjustment, to reach the vapour for the different wheelspans that berth
The purpose of car.
Vehicle is transported to finger by the three-dimensional structure diagram after the elevating mechanism lifting of embodiment one referring to Fig. 7, parking robot
Fixed parking position, car body is then lifted by three-level hydraulicefficiency elevation structure 3 again, car body is reached the height and position specified, reach
The purpose of multi-storied parking.
Referring to Fig. 8-Figure 10, bearing end telescoping mechanism includes being arranged on wheel carrying the partial structurtes of bearing end telescoping mechanism
The linear roller guide rail 71 on 61 is held, two bearing end being parallel to each other sliding blocks 72, the 2nd U are arranged with linear roller guide rail 71
Shape wheel supporting part 63 is arranged on bearing end sliding block 72, and the center of bearing end sliding block 72 is combined with screw rod 73, screw rod
73 is parallel with linear roller guide rail 71；Also include bearing end servomotor 74, the rotary shaft and screw rod of bearing end servomotor 74
73 connections.
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.
Can folding and unfolding driving wheel embodiment one structural representation referring to Figure 11 and Figure 12, can folding and unfolding driving wheel 8 include turning
To wheel 81, deflecting roller 81 is provided with main shaft 82, top and the hinge connection of wheel bearing end 61 of main shaft 82, is additionally provided with folding and unfolding cylinder
83, the both ends middle part with main shaft 82 and the hinge connection of wheel bearing end 61 respectively of folding and unfolding cylinder 83.
Direction as shown in arrow in Figure 11, when the piston rod of folding and unfolding cylinder moves to the main direction of cylinder, cylinder
Piston rod drive main axle moving, due to top and the hinge connection of wheel bearing end of main shaft, deflecting roller and main shaft will tilt,
Finally so that deflecting roller and main axis parallel are contracted in the bottom of wheel bearing end, parking robot is not influenceed and passes through wheel bearing end
Carry the process of wheel；When needing to stretch out deflecting roller, the piston rod of cylinder moves to the direction of deflecting roller so that deflecting roller is stretched
Go out, wheel is ultimately steering to perpendicular to wheel bearing end, for being used for the weight of bearing body in transport process.
Can folding and unfolding driving wheel embodiment two structural representation referring to Figure 13 and Figure 14, can folding and unfolding driving wheel 8 include turning
To wheel 81, deflecting roller 81 is provided with main shaft 82, including the connecting rod 85 of head rod 84 and second, the both ends of head rod 84
Top with main shaft 82 and the hinge connection of wheel bearing end 61 respectively；The both ends of second connecting rod 85 respectively with main shaft 82
Middle part and the hinge connection of wheel bearing end 61.
Direction as shown in arrow in Figure 13, it is counterclockwise along the hinge connection point with wheel bearing end when head rod
During rotation, head rod drives the top movement of main shaft, due to middle part and the second connecting rod hinge connection of main shaft, deflecting roller
It will be tilted with main shaft while the second connecting rod can also be rotated counterclockwise with the hinge connection point with wheel bearing end, finally made
Obtain deflecting roller and main axis parallel is contracted in the bottom of wheel bearing end, do not influence parking robot and pass through wheel bearing end carrying vehicle
The process of wheel；When needing to stretch out deflecting roller, head rod turns clockwise along the hinge connection point with wheel bearing end
When so that deflecting roller stretches out, and wheel is ultimately steering to perpendicular to wheel bearing end, for being used for the weight of bearing body in transport process
Amount.
The gear-rack drive mechanism of transversal stretching mechanism is referring to Figure 15-Figure 16, including the guide rail being arranged 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, is provided with the top of shell 55 and is accommodated wheel load bearing seat 54
Mobile cavity 56.
When needing to adjust the distance between wheel load carrier, starting servomotor, servomotor drives pinion rotation,
Gear drives the rack structure being engaged with to be moved horizontally along guide rail, so as to drive the wheel being connected with wheel load bearing seat to carry
The movement of mechanism, to reach the distance between two wheel load carriers of regulation, 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 17-Figure 18, including are arranged on branch
The guide rail 51 on seat 4 is supportted, 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 both ends, two piston rods 59 respectively with two wheel load bearing seats 54
Connection, wheel load bearing seat 54 are 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, are provided with cylinder barrel 58 and are 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 for the wheel load carrier being connected with wheel load bearing seat, to reach two wheels of regulation
The distance between load carrier, to adapt to the vehicle parking of different widths of the carbody.
Longitudinal parking robot provided by the present invention is described in detail above, specific case used herein
The principle and embodiment of the present invention are set forth, the explanation of above example is only intended to help the core for understanding the present invention
Thought is thought；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, in embodiment and using model
There will be changes are placed, in summary, this specification content should not be construed as limiting the invention.
Claims (6)
1. a kind of longitudinal parking robot, including robot base, the robot base includes two machines be arrangeding in parallel
People's lateral body, two robot lateral body connects the U-shaped chamber to be formed and accommodate car body by robot body, in the robot base
Bottom, close to corner position be provided with make robot base move driving wheel；Two are provided with the robot body
The individual elevating mechanism being parallel to each other, the wheel in zigzag being parallel to each other is respectively equipped with described two elevating mechanisms and is carried
The side of mechanism, the inside for being predominantly located in the U-shaped chamber of described two wheel load carriers and the close robot body
Face, described two wheel load carriers are respectively equipped with the wheel bearing end parallel with the robot lateral body, each wheel carrying
The one side at end is respectively equipped with the first perpendicular U-shaped wheel supporting part and the second U-shaped wheel supporting part, described two
Line between the center of first U-shaped wheel supporting part and between the center of described two second U-shaped wheel supporting parts
Line is parallel；The robot also includes the transversal stretching mechanism for driving the two wheels load carrier transverse shifting；Its feature
It is, can folding and unfolding car body driving wheel provided with two in the lower section of each wheel bearing end；
It is described can folding and unfolding driving wheel include deflecting roller, the deflecting roller is provided with main shaft, the top of the main shaft and the wheel
Bearing end hinge connection, in addition to folding and unfolding cylinder, the both ends of the folding and unfolding cylinder middle part with the main shaft and the car respectively
Take turns bearing end hinge connection；Or it is described can folding and unfolding driving wheel include deflecting roller, the deflecting roller is provided with main shaft, in addition to first
Connecting rod and the second connecting rod, the both ends of the head rod are cut with scissors with the top of the main shaft and the wheel bearing end respectively
Chain link, the both ends middle part with the main shaft and the wheel bearing end hinge connection respectively of second connecting rod；
The second U-shaped wheel supporting part is provided with bearing end telescoping mechanism with the wheel bearing end；
The bearing end telescoping mechanism includes the linear roller guide rail being arranged on the wheel bearing end, and the linear roller is led
Rail is provided with bearing end sliding block, and the second U-shaped wheel supporting part is arranged on the bearing end sliding block, and the bearing end is slided
The center of block is combined with screw rod, the screw rod and the linear roller guide rail parallel；Also include bearing end servomotor, institute
The rotary shaft for stating bearing end servomotor is connected with the screw rod.
2. longitudinal parking robot according to claim 1 claim, it is characterised in that the bearing end sliding block is two
It is individual, it is arranged in parallel to each other on the linear roller guide rail.
3. longitudinal parking robot according to claim 1 to 2 any claim, it is characterised in that described two liters
The top of descending mechanism is connected by support base, and the transversal stretching mechanism includes the guide rail being arranged on the support base, described
Guide rail is provided with two sliding blocks, and described two sliding blocks are connected by wheel load bearing seat with the wheel load carrier respectively, described
Two sliding blocks are slided by drive mechanism on the guide rail.
4. longitudinal parking robot according to claim 1 to 2 any claim, it is characterised in that the robot
Main body is Split type structure, including the first robot body and the second robot body, two elevating mechanism are separately positioned on institute
State on the first robot body and second robot body；The transversal stretching mechanism is arranged on the first robot master
Between body and second robot body.
5. longitudinal parking robot according to claim 3, it is characterised in that the drive mechanism is gear-rack drive
Rack structure is respectively set in mechanism, including described two sliding blocks, is engaged with gear, institute on described two rack structures respectively
Two gears are stated to drive by servomotor respectively.
6. longitudinal parking robot according to claim 3, it is characterised in that the drive mechanism is that dual Piston pair goes out
Bar hydraulic cylinder, two piston rods of the hydraulic cylinder are connected with described two wheel load bearing seats respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073589.2A CN104631887B (en) | 2015-02-10 | 2015-02-10 | A kind of longitudinal parking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073589.2A CN104631887B (en) | 2015-02-10 | 2015-02-10 | A kind of longitudinal parking robot |
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| CN104631887A CN104631887A (en) | 2015-05-20 |
| CN104631887B true CN104631887B (en) | 2018-03-30 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106437246B (en) * | 2016-11-22 | 2019-02-19 | 贾赟 | Intelligent automobile goes up and down transfer car(buggy) |
| CN107269062B (en) * | 2017-07-26 | 2019-08-23 | 湖北亘华工科有限公司 | A kind of Simple stereo garage based on hydraulic lifting |
| DE102017119421A1 (en) * | 2017-08-24 | 2019-02-28 | Linde Material Handling Gmbh | Autonomous industrial truck, in particular order picking truck |
| CN108412281B (en) * | 2018-04-13 | 2023-09-29 | 西南交通大学 | Automobile carrying device |
| CN108868258A (en) * | 2018-04-18 | 2018-11-23 | 李威 | A kind of intelligent stereo garage |
| CN108505797A (en) * | 2018-04-27 | 2018-09-07 | 佛山市甄睿智能科技有限公司 | A kind of movable type automatic parking platform |
| CN108836004A (en) * | 2018-07-27 | 2018-11-20 | 东莞市伟宏五金塑胶制品有限公司 | headrest synchronous lifting device |
| CN108930433A (en) * | 2018-08-01 | 2018-12-04 | 安徽朗停停车科技有限公司 | A kind of mobile class stereo garage of novel planar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102022016B (en) * | 2011-01-03 | 2013-01-02 | 梁渤涛 | Non-avoiding type stereoscopic parking space |
| CN202627592U (en) * | 2012-04-25 | 2012-12-26 | 浙江镭蒙机械设备有限公司 | Intelligent trolley hydraulic lifting device of three-dimensional garage |
| CN202672815U (en) * | 2012-07-04 | 2013-01-16 | 苏州大方特种车股份有限公司 | Tyre-type flowing intelligent parking robot |
| CN203361713U (en) * | 2013-07-04 | 2013-12-25 | 阜新工大科技发展有限公司 | Avoidance-free solid parking space |
| CN103643815B (en) * | 2013-11-28 | 2016-01-20 | 江苏启良停车设备有限公司 | A kind of side cantilever type parking device |
| CN204754370U (en) * | 2015-02-10 | 2015-11-11 | 广州信邦汽车装备制造有限公司 | Novel robot vertically parks |
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