CN105986688A - AGV car carrier - Google Patents

AGV car carrier Download PDF

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Publication number
CN105986688A
CN105986688A CN201510069228.0A CN201510069228A CN105986688A CN 105986688 A CN105986688 A CN 105986688A CN 201510069228 A CN201510069228 A CN 201510069228A CN 105986688 A CN105986688 A CN 105986688A
Authority
CN
China
Prior art keywords
support
dolly
automobile carrier
arm
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510069228.0A
Other languages
Chinese (zh)
Inventor
徐卫军
吴越
詹楷纯
王谦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Science And Technology Ltd Of Yi Feng Robot
Original Assignee
Shenzhen Science And Technology Ltd Of Yi Feng Robot
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Science And Technology Ltd Of Yi Feng Robot filed Critical Shenzhen Science And Technology Ltd Of Yi Feng Robot
Priority to CN201510069228.0A priority Critical patent/CN105986688A/en
Publication of CN105986688A publication Critical patent/CN105986688A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/24Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by the use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices

Abstract

The invention relates to an AGV car carrier which comprises two trolleys same in the structure and a connecting mechanism for connecting the two trolleys, wherein each of the trolleys comprises a frame and a walking mechanism, a universal wheel set, an arm clamping mechanism and an electric control system which are arranged on the frame; one end, close to the walking mechanism, of each trolley is arranged as a front end of the trolley while the other end, close to the universal wheel set, of each trolley is arranged as a rear end of each trolley; the rear ends of the two trolleys are oppositely arranged; each of the trolleys further comprises a battery and an automatic charging device which are arranged on the frame; the battery and the automatic charging device are both connected with the electric control system. Compared with the prior art, the AGV car carrier provided by the invention has the advantages that the AGV car carrier can realize the self-guiding for freely walking path under the guidance of the parking control system, the parking space is saved, the car can be safely and quickly parked and taken and the maintenance is simple and convenient.

Description

A kind of AGV automobile carrier
Technical field
The present invention relates to a kind of AGV automobile carrier, particularly relate to a kind of wireless and energy is autonomous Guiding, the AGV automobile carrier of any route of conduct.
Background technology
Along with parking comfort level requirement is improved constantly by people, fully automatic stereo-parking garage is because stopping The features such as conveniently, Transport Vehicle speed is fast, safety is high, fault is few are increasingly used by market. In fully automatic stereo-parking garage, automobile carrier is one of the critical piece in this kind of garage parking, belongs to Most crucial parts.Use which type of carrier version direct relation fully automatic stereo-parking garage Performance.
The carrier form of the access automobile released in fully automatic stereo-parking garage in the market is main Having these several forms of sweep formula, comb-tooth-type, folder rubber-tyred, sweep formula carrier to take because involving Empty wagons plate or deposit the situation of empty wagons plate, belongs to a kind of form that Transport Vehicle is the slowest;Comb-tooth-type carrier Requiring that the floor height of every layer is higher, space availability ratio is not the most economical;Folder rubber-tyred carrier is this Space-efficient one form in a little carrier forms.
As the patent No. 201010622917.7 discloses: " a kind of Intelligent carrier for mechanical car garage, It includes control system, wheelspan detent mechanism, and the identical front-wheel carrier of structure and trailing wheel are removed Fortune device;Described front-wheel carrier and trailing wheel carrier all include support body, bidirectional walking mechanism, jig arm Mechanism and four rotatable jig arm, bidirectional walking mechanism is arranged at bottom support body, and arm mechanism fills Being located at described support body, each two jig arm is one group and is respectively arranged at support body both sides, described arm mechanism Four jig arm described in drive connection;Described wheelspan detent mechanism connects described front-wheel carrier and trailing wheel Carrier.”
With upper type, in addition to sweep formula, the carrier of other several forms is all to use wired connection , and can only linear running, owing to being limited by winder cable length, so carrier is Multipotency linear running distance away from about 2 vehicle commander's degree of initial condition.This stops to intensity, far Stop and bring puzzlement in distance carrying vehicle and arbitrarily space, therefore, a kind of wireless, can be autonomous Guide and free walker footpath route, save space, Transport Vehicle quickly, performance safety, easy maintenance Carrier urgently propose.
Summary of the invention
Present invention aims to the deficiencies in the prior art and a kind of parking systems is provided AGV automobile carrier, this carrier can independently guide, free walker footpath route, saves space, access Car is fast, performance safety, easy maintenance.
The main technical schemes that the AGV automobile carrier provided according to the present invention uses is: include two The dolly that structure is identical, and connect two described dollies bindiny mechanism, described dolly include support body, It is arranged on the walking mechanism on described support body, universal wheels, arm mechanism and electric control system, Near the front end that one end is described dolly of described walking mechanism on described dolly, near described ten thousand To the rear end that one end of wheels is described dolly, the rear end of two described dollies is oppositely arranged, and also wraps Include the battery and automatic charge device being located on described support body, described battery and described automatic charging dress Put and be all connected with described electric control system.
The AGV automobile carrier that the present invention provides also uses following attached technical scheme:
Described walking mechanism include installing rack, the motor being located on described installing rack, by described motor The drive sprocket that drives, be provided with the running wheel of driven sprocket, and connect described drive sprocket and The chain of described driven sprocket.
Described motor is two and is respectively provided at both sides before and after described installing rack, described hoofing part Wheel is two and is respectively provided at the left and right sides of described installing rack, and one of them motor drives a row Walking driving wheel, another motor drives another running wheel, and two described motors are center pair Claim both sides before and after described installing rack respectively.
By turning to, support wheel is rotating to be arranged on described support body described installing rack.
The described axle center turning to support wheel is positioned at two described running wheel fulcrum lines as base Isosceles triangle apex.
Each described dolly is provided with arm mechanism described in two groups, and described in two groups, arm mechanism symmetry sets In described support body both sides, described battery is described in two groups between arm mechanism.
Described arm mechanism include two jig arm being hinged on described support body, motor, reductor and Worm-and-wheel gear;Described motor drives described reductor, described reductor to interlock described worm gear snail Linkage, described worm-and-wheel gear interlocks described jig arm.
It is equipped with the two described walking mechanisms of set on each described dolly, and two overlaps described universal wheels, Two overlap described walking mechanism is located at the front lower portion of described support body side by side, and two overlap described universal wheels also Row are located at the rear end lower of described support body.
The wheel position detecting device that also includes being located on described support body, automobile chassis height detection with Crashproof detection safety device, obstacle detector.
Described crashproof detection safety device includes hollow rubber case, pneumatic detector and the company sealed Connect the PVC hose of described hollow rubber case and described pneumatic detector;Described hollow rubber case is positioned at institute State support body front end.
Described automobile chassis height detection is arranged on the front end of described support body.
Described obstacle detector is positioned at the front center of described support body.
Described electric control system includes driving control system for electric machine and safety device, described peace Full protection device includes sound, light alarming device and emergency braking apparatus.
The AGV automobile carrier provided according to the present invention compared with prior art has the advantage that head First, the present invention can realize autonomous guiding, free walker footpath route under the guiding of parking ground control system, Both saved parking lot space, again can Transport Vehicle safe, quick, easy maintenance;Secondly, OK Walking mechanism has differential can reach the function turned to by controlling left and right sides running wheel, it is achieved Omnibearing ambulation, make equipment dolly under automatic running status can do advance, retreat traveling and can hang down Straight turning, mobility is good;Again, crashproof detection safety apparatus structure is simple, and parts are few, sensitive Degree height, by hollow rubber case as extraneous contact part, on the premise of not colliding, it is possible to Make dolly more in-plant near external object, with infrared detector of the prior art, radar Detector is compared, and is not easily susceptible to external environmental interference so that the present invention can be compacter by automobile Arrangement, save space, improve garage area utilization rate.
Accompanying drawing explanation
View when Fig. 1 is that in AGV automobile carrier of the present invention, arm mechanism is opened.
Fig. 2 is the enlarged drawing of A in Fig. 1.
Fig. 3 is the enlarged drawing of B in Fig. 1.
Fig. 4 is the enlarged drawing of C in Fig. 1.
View when Fig. 5 is that in AGV automobile carrier of the present invention, arm mechanism shrinks.
Fig. 6 is the structural representation of dolly in the present invention.
Fig. 7 is the side-looking structural representation of dolly in the present invention.
Fig. 8 is the front schematic view after AGV automobile carrier of the present invention gripping automobile.
Fig. 9 is the side schematic view after AGV automobile carrier of the present invention gripping automobile.
Figure 10 is that AGV automobile carrier of the present invention applies pattern schematic diagram in engineering.
Detailed description of the invention
See Fig. 1 to Figure 10, the AGV automobile carrier embodiment provided according to the present invention, including The dolly 1 that two structures are identical, and connect the bindiny mechanism 3 of two described dollies 1, described dolly 1 includes support body 9, the walking mechanism 5 being arranged on described support body 9, universal wheels 7, jig arm machine Structure and electric control system 10, on described dolly 1, the one end near described walking mechanism 5 is institute State the front end of dolly 1, near the rear end that one end is described dolly 1 of described universal wheels 7, two The rear end of individual described dolly 1 is oppositely arranged, and described dolly 1 is slidably matched with described bindiny mechanism 3, Also include being located at the battery 2 on described support body 9 and automatic charge device 4, described battery 2 and described Automatic charge device 4 is all connected with described electric control system 10.The present invention is by dolly 1 On battery 2 and automatic charge device 4 are set, the most not by winder cable length Limit, substantially prolongs transport distance, can carry out turning round, the action such as rotation, for stereoscopic vehicle During storehouse, can independently be guided by intelligence control system and free walker footpath route, saving space, improve Transport Vehicle speed, and performance safety, easy maintenance.AGV is (Automated Guided Vehicle) abbreviation, implies that " automatical pilot transportation vehicle ".
Seeing Fig. 1 to Fig. 9, according to the above embodiments of the present invention, each described dolly is provided with two Organizing described arm mechanism 6, arm mechanism 6 described in two groups is symmetrically arranged at described support body 9 both sides, described Battery 2 is described in two groups between arm mechanism 6.It is provided with battery 2 between two groups of arm mechanisms 6 Fixed bit, described battery 2 is arranged on described battery 2 fixed bit.Dolly 1 compact conformation, will Battery 2 is arranged between two arm mechanisms 6, and center of gravity is positioned in dolly 1, more steady during operation.
See Fig. 1 and Fig. 5 to Fig. 7, according to the above embodiments of the present invention, on each described dolly 1 Being equipped with the two described walking mechanisms of set 5, and two overlap described universal wheels 7, two overlap described walking mechanism 5 Being located at the front lower portion of described support body 9 side by side, two overlap described universal wheels 7 is located at described support body 9 side by side Rear end lower.Two dollies 1 linked together by bindiny mechanism 3, the rear end of two dollies 1 Relatively.Walking mechanism 5 is positioned at the two ends of AGV automobile carrier, it is simple to the rotation of AGV automobile carrier, Turn round convenient, sensitive.
Seeing Fig. 1 and Fig. 2, according to the above embodiments of the present invention, described walking mechanism 5 includes installing Frame 51, the motor 52 being located on described installing rack 51, the drive sprocket 53 driven by described motor 52, It is provided with the running wheel 55 of driven sprocket 54, and connects described drive sprocket 53 and described driven chain The chain 56 of wheel 54.This walking mechanism 5 simple in construction, easy to assembly.Described motor 52 be two also Being respectively provided at both sides before and after described installing rack 51, described running wheel 55 is two and sets respectively In the left and right sides of described installing rack 51, one of them motor 52 drives a running wheel 55, Another motor 52 drives another running wheel 55, and two described motors 52 are centrosymmetric point Not both sides before and after described installing rack 51.This kind of structure is arranged simple, and compact conformation specifically makes Used time has differential can reach the function turned to by controlling left and right sides running wheel 55, it is achieved Omnibearing ambulation, make equipment dolly 1 under automatic running status can do advance, retreat traveling and can hang down Straight turning, mobility is good.
Seeing Fig. 2, according to the above embodiments of the present invention, described installing rack 51 is by turning to support wheel 57 rotating are arranged on described support body 9.The described axle center turning to support wheel 57 is positioned at two institutes State the isosceles triangle apex that running wheel 55 fulcrum line is base.Turn to and support wheel 57 Setting makes walking mechanism 5 angle of turn more accurate, and is easy to the adjustment of turn direction, reply During complicated detour, reply is freely.
Seeing Fig. 1 and Fig. 4 to Fig. 6, according to the above embodiments of the present invention, described arm mechanism 6 wraps Include two jig arm 61 being hinged on described support body 9, motor 64, reductor 62 and worm-and-wheel gear 63;Described motor 64 drives described reductor 62, described reductor 62 to interlock described worm and gear machine Structure 63, described worm-and-wheel gear 63 interlocks described jig arm 61.Described worm-and-wheel gear 63 includes Worm screw on support body 9 and the worm gear being located in jig arm 61 are set.This arm mechanism 6 simple in construction, dress Just, each jig arm 61 is directly driven formula by worm-and-wheel gear 63, is active in one's movements, and uses peace Complete reliable.When gripping wheel, motor 64 is by driving reductor 62, thus drives worm screw to rotate, Worm screw engages drive jig arm 61 and rotates with the worm gear in jig arm 61, the fortune in the same direction of two jig arm 61 in left and right Dynamic, reach to clamp the function raising tire.Arm mechanism 6 is opened when preparing clamping automobile tire, Now jig arm 61 is shown by support body 9, and when terminating bicycle parking, arm mechanism 6 swings back in support body 9.
See Fig. 2 to Fig. 4, according to the above embodiments of the present invention, also include being located at described support body 9 On wheel position detecting device, automobile chassis height detection and crashproof detection safety device 8, obstacle Analyte detection device 11.The present invention is under the auxiliary of above-mentioned various detection devices, safer during use Reliably.
See Fig. 1 and Fig. 5 to Fig. 9, according to the above embodiments of the present invention, described crashproof detection safety Device 8 includes the hollow rubber case 81, the pneumatic detector 82 that seal and connects described hollow rubber case 81 with the PVC hose 83 of described pneumatic detector 82;Described hollow rubber case 81 is positioned at described support body 9 Front end.This crashproof detection safety device 8 simple in construction, parts are few, highly sensitive, by hollow rubber Leather sheath 81 is as extraneous contact part, on the premise of not colliding, it is possible to make dolly 1 closer to distance Close external object, compared with infrared detector of the prior art, radar detedtor, no It is vulnerable to external environmental interference so that overall compact for automobile arrangement can be saved sky by the present invention Between, improve the area utilization rate in garage.In traveling process of the present invention, encounter barrier or entering When encountering object below chassis during automobile chassis, initially strike in crashproof detection safety device 8 Empty rubber case 81, the hollow rubber case 81 of sealing compresses under external force, in will being sealed by connection 83 compressed gas of PVC hose of empty rubber case 81 and pneumatic detector 82 deliver to pneumatic detector 82 On, after pneumatic detector 82 detects pneumatic change, output signal to control system at once, control System controls carrier the most immediately and stops advancing.
See Fig. 1 and Fig. 5 to Fig. 9, according to the above embodiments of the present invention, described automobile chassis height Detection is arranged on the front end of described support body 9.Described obstacle detector 11 is positioned at described support body 9 Front center.Easy for installation, detect sensitive.
Seeing Fig. 1, according to the above embodiments of the present invention, described electric control system 10 includes electricity Machine driving control system and safety device, described safety device includes sound, light warning dress Put and emergency braking apparatus.It is effectively increased the security performance of the present invention.
Below in conjunction with Fig. 8 to Figure 10, the running of AGV automobile carrier is carried out specifically Bright.
The walking situation of AGV automobile carrier: the two ends of AGV automobile carrier are altogether equipped with four set walkings Mechanism 5, this four sets walking mechanism 5 is controlled by software, it is possible to achieve synchronize to advance, asynchronous traveling, Speed discrepancy also by two running wheels 55 often overlapping walking mechanism 5 realizes vertical turn, Garage AGV automobile carrier is from can only advancing and become and can walk with any direction, particularly to not by straight line The parking in rule place, effect of this type of AGV automobile carrier is more prominent, because this type of AGV vapour Car carrier directly walks in ground, and automobile is also directly to be stopped at ground simultaneously, as long as there being elevator With gateway, just full-automatic parking stall can be made in plane parking stall, different number can be set simultaneously The AGV automobile carrier of amount meets different client's demand to the Transport Vehicle time.This type of automatically stops Garage configuration is very flexible, and the detection to barrier that additionally AGV automobile carrier is installed fills with collision avoidance Put, it can be ensured that the AGV automobile carrier in same course can be dodged each other, does not touches Hit.
Storage/access car process: automobile gateway stop good after, master control system can according to car gage and Actual Parking situation, distributes parking stall, and issues a command to elevator and allow it be elevated to designated floor, Elevator accepts action after instruction, and master control system can issue instructions to certain of place floor simultaneously AGV automobile carrier, notifies its bicycle parking, after AGV automobile carrier accepts instruction, moves from charge point Go out, drive to the marquis such as the aircraft lifts specified according to oneself's guiding function.Elevator transports to automobile After designated floor, AGV automobile carrier sails into below the automobile chassis in elevator from the outside, when it In a dolly 11 detect and stop after front wheel positions, another dolly 12 then moves on, until Stopping after rear wheel position being detected, two dollies 1 carry out gripping action simultaneously subsequently, and automobile is lifted, After completing Deng gripping, connect and lock front dolly 1 and the retaining mechanism in the connection member 3 of rear dolly 1 Action locks front dolly 1 with rear dolly 1, and then AGV automobile carrier just sails out of elevator, AGV Automobile carrier is according to instruction, it is achieved autonomous management and autonomous guiding are moved automobile on appointment parking stall to. If AGV automobile carrier does not receive follow-up Transport Vehicle instruction, then AGV automobile after bicycle parking completes Carrier can carry out recharging to nearest charge point by autonomous operation.Pick up the car process in contrast.
AGV automobile carrier recharging situation: when not having task, AGV automobile carrier is to receive Being parked on charge position after shortening minimum dimension into, be charged operation voluntarily, this position can also set Put on travelling platform, on piler or in warehouse compartment, do not tire out at this and state, real according to AGV automobile carrier Border needs to arrange, and an AGV automobile carrier can have multiple charge point position.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is the most concrete In detail, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.Should be understood that It is, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, Can also make some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, originally The protection domain of patent of invention should be as the criterion with claims.

Claims (10)

1. an AGV automobile carrier, including the dolly that two structures are identical, and connects two institutes State the bindiny mechanism of dolly, described dolly include support body, the walking mechanism being arranged on described support body, Universal wheels, arm mechanism and electric control system, near described walking mechanism on described dolly The front end that one end is described dolly, near the rear end that one end is described dolly of described universal wheels, The rear end of two described dollies is oppositely arranged, it is characterised in that: also include being located on described support body Battery and automatic charge device, described battery and described automatic charge device all with described electrical control System connects.
2. AGV automobile carrier as claimed in claim 1, it is characterised in that: described walking mechanism The motor that including installing rack, is located on described installing rack, by described motor-driven drive sprocket, It is provided with the running wheel of driven sprocket, and connects described drive sprocket and the chain of described driven sprocket Bar.
3. AGV automobile carrier as claimed in claim 2, it is characterised in that: described motor is two Individual and be respectively provided at both sides before and after described installing rack, described running wheel is two and sets respectively In the left and right sides of described installing rack, one of them motor drives a running wheel, another Motor drives another running wheel.
4. AGV automobile carrier as claimed in claim 3, it is characterised in that: described installing rack leads to Cross and turn to support to take turns rotating being arranged on described support body.
5. AGV automobile carrier as claimed in claim 4, it is characterised in that turn to support described in: The axle center of wheel is positioned at the isosceles triangle summit with two described running wheel fulcrum lines as base Place.
6. the AGV automobile carrier as described in claim 1-5 any one, it is characterised in that: every Individual described dolly is provided with arm mechanism described in two groups, and arm mechanism described in two groups is symmetrically arranged at described Support body both sides, described battery is described in two groups between arm mechanism.
7. AGV automobile carrier as claimed in claim 6, it is characterised in that: described arm mechanism Including two jig arm being hinged on described support body, motor, reductor and worm-and-wheel gear;Institute Stating motor drives described reductor, described reductor to interlock described worm-and-wheel gear, described worm gear Worm mechanism interlocks described jig arm.
8. the AGV automobile carrier as described in claim 1-5 any one, it is characterised in that: every It is equipped with the two described walking mechanisms of set on individual described dolly, and two overlap described universal wheels, two set institutes Stating walking mechanism and be located at the front lower portion of described support body side by side, two overlap described universal wheels is located at side by side The rear end lower of described support body.
9. the AGV automobile carrier as described in claim 1-5 any one, it is characterised in that: also Including the wheel position detecting device being located on described support body, automobile chassis height detection and crashproof inspection Survey safety device, obstacle detector.
10. AGV automobile carrier as claimed in claim 9, it is characterised in that: described crashproof inspection Survey safety device include the hollow rubber case, the pneumatic detector that seal and connect described hollow rubber Set and the PVC hose of described pneumatic detector;Described hollow rubber case is positioned at described support body front end.
CN201510069228.0A 2015-02-09 2015-02-09 AGV car carrier Pending CN105986688A (en)

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CN201510069228.0A CN105986688A (en) 2015-02-09 2015-02-09 AGV car carrier
PCT/CN2016/071389 WO2016127764A1 (en) 2015-02-09 2016-01-19 Agv automobile carrier

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CN107878138A (en) * 2017-10-31 2018-04-06 杭州极木科技有限公司 A kind of heavy haul transport platform
CN108699852A (en) * 2018-04-03 2018-10-23 松灵机器人(东莞)有限公司 Automated guided vehicle robot and its clamping device
CN110512929A (en) * 2019-08-27 2019-11-29 北京航空航天大学 A kind of car carrier that achievable cooperation is carried
CN111576969A (en) * 2020-06-01 2020-08-25 江苏小白兔智造科技有限公司 Automobile carrying robot with telescopic chassis

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CN106245958A (en) * 2016-09-19 2016-12-21 沈阳通用机器人技术股份有限公司 A kind of automatic parking device
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106703490A (en) * 2017-01-25 2017-05-24 沈阳通用机器人技术股份有限公司 Automobile tyre clamping and conveying device
CN107878138A (en) * 2017-10-31 2018-04-06 杭州极木科技有限公司 A kind of heavy haul transport platform
CN108699852A (en) * 2018-04-03 2018-10-23 松灵机器人(东莞)有限公司 Automated guided vehicle robot and its clamping device
CN110512929A (en) * 2019-08-27 2019-11-29 北京航空航天大学 A kind of car carrier that achievable cooperation is carried
CN111576969A (en) * 2020-06-01 2020-08-25 江苏小白兔智造科技有限公司 Automobile carrying robot with telescopic chassis

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