CN107826087B - Intelligent parking ferry robot - Google Patents
Intelligent parking ferry robot Download PDFInfo
- Publication number
- CN107826087B CN107826087B CN201711308015.4A CN201711308015A CN107826087B CN 107826087 B CN107826087 B CN 107826087B CN 201711308015 A CN201711308015 A CN 201711308015A CN 107826087 B CN107826087 B CN 107826087B
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- swing
- arm
- steering wheel
- double
- universal wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
- B60S13/02—Turntables; Traversers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention discloses an intelligent parking ferry robot, which solves the problems that the existing parking robot needs to be matched with a large number of vehicle-carrying trays and has low stability. The four corners of the U-shaped vehicle body frame (28) are respectively provided with a universal wheel mechanism and a lifting steering wheel mechanism, the universal wheel mechanism and the lifting steering wheel mechanism are respectively provided with a lifting motor speed reducer system, and the lifting of the U-shaped vehicle body frame (28) is synchronously realized, so that parking parked in the U-shaped vehicle body frame is lifted; the driving mechanism of the whole vehicle is also arranged on the two diagonally arranged lifting steering wheel mechanisms so as to realize the mobile carrying of parking; the translation and turning functions of the device are achieved by positioning and navigating through a laser emitting receiver (52) and by driving a lift steering wheel mechanism. Under the control of computer program, the car can automatically run to the car position in cooperation with the recognition system of the car entering and exiting room. The invention can park vehicles with different sizes and lengths, has large lifting capacity and can be suitable for various intelligent parking garages.
Description
Technical Field
The invention relates to a robot, in particular to a parking ferry robot for ferrying a parked vehicle in an intelligent parking garage.
Background
The intelligent parking robot is one of the core devices of novel intelligent parking in recent years, and represents a new development direction of the intelligent stereo garage. At present, a parking robot on the market needs to be provided with a car carrying tray, a driver parks a car on the huge car carrying tray, then the robot drills into the lower part of the car carrying tray through an intelligent arm, lifts the car carrying tray and moves the car to a parking space, and the car storing and taking action is completed. According to the intelligent parking scheme, a large number of vehicle carrying trays are required to be equipped, so that the cost of the whole garage is greatly increased, in addition, the vehicle carrying trays need to occupy a certain height, the layer height of the intelligent stereo garage is increased, and the vehicle carrying trays also occupy a large amount of effective parking space. In addition, the existing vehicle moving device has a certain limitation on the size of the moved vehicle, the lifting position of the lifting arm of the vehicle cannot be flexibly adjusted according to the size of the vehicle to be moved, the lifting capacity is poor, and the stability is low.
Disclosure of Invention
The invention provides an intelligent parking ferry robot, which solves the technical problems that the existing parking robot needs to be matched with a large number of vehicle carrying trays, wastes effective vehicle storage space, has poor lifting capacity and has low stability.
The invention solves the technical problems by the following technical proposal:
the intelligent parking ferry robot comprises a U-shaped vehicle body frame, wherein a left rear universal wheel mechanism is arranged at the rear end of a left opening end of the U-shaped vehicle body frame, a left front lifting steering wheel mechanism is arranged at the front end of the left opening end of the U-shaped vehicle body frame, a right rear lifting steering wheel mechanism is arranged at the rear end of a right closed end of the U-shaped vehicle body frame, a right front universal wheel mechanism is arranged at the front end of the right closed end of the U-shaped vehicle body frame, the structure of the left rear universal wheel mechanism is identical to that of the right front universal wheel mechanism, the structure of the left front lifting steering wheel mechanism is identical to that of the right rear lifting steering wheel mechanism, a rear left double-swing arm adjusting mechanism and a rear right single-swing arm mechanism are respectively arranged on a rear cross beam of the U-shaped vehicle body frame, the structure of the rear left double-swing arm adjusting mechanism is identical to that of the front left double-swing arm adjusting mechanism, the structure of the rear single-swing arm mechanism is identical to that of the front single-swing arm mechanism, and an electric control receiver is respectively arranged on a right longitudinal beam of the U-shaped vehicle body frame; the electric controller is electrically connected with the motor on the left rear universal wheel mechanism, the motor on the left front lifting steering wheel mechanism, the motor on the right rear lifting steering wheel mechanism, the motor on the right front universal wheel mechanism, the motor on the rear left double-swing-arm adjusting mechanism, the motor on the front left double-swing-arm adjusting mechanism, the motor on the rear right single-swing-arm mechanism and the motor on the front right single-swing-arm mechanism respectively.
The middle part of a universal wheel bracket of the left rear universal wheel mechanism is provided with a universal wheel, the universal wheel bracket is in a shoulder pole shape, the left end of the universal wheel bracket is fixedly provided with a universal wheel left screw nut, the right end of the universal wheel bracket is fixedly provided with a universal wheel right screw nut, the universal wheel left screw is arranged in the universal wheel left screw nut, the universal wheel right screw is arranged in the universal wheel right screw nut, the top of the universal wheel left screw is connected with a universal wheel lifting motor reducer, and a universal wheel synchronous toothed belt is arranged between the top of the universal wheel left screw and the top of the universal wheel right screw; the top end of the universal wheel left screw rod is propped together with the rear cross beam of the U-shaped vehicle body frame through the flange plate left top plate, and the top end of the universal wheel right screw rod is propped together with the rear cross beam of the U-shaped vehicle body frame through the flange plate right top plate.
The steering wheel is arranged in the middle of a steering wheel support of the left front lifting steering wheel mechanism, the steering wheel support is in a shoulder pole shape, a steering wheel left screw nut is fixedly arranged at the left end of the steering wheel support, a steering wheel right screw nut is fixedly arranged at the right end of the steering wheel support, a steering wheel left screw is arranged in the steering wheel left screw nut, a steering wheel right screw is arranged in the steering wheel right screw nut, a steering wheel lifting motor reducer is connected to the top of the steering wheel left screw, and a steering wheel synchronous toothed belt is arranged between the top of the steering wheel left screw and the top of the steering wheel right screw; the top end of the steering wheel left lead screw is propped up with the front cross beam of the U-shaped vehicle body frame through the left top plate of the other flange plate, and the top end of the steering wheel right lead screw is propped up with the front cross beam of the U-shaped vehicle body frame through the right top plate of the other flange plate; steering wheel driving motors and steering wheel steering motors are respectively arranged on the steering wheel brackets.
The tire clamping single swing arm mechanism comprises a tire clamping single swing arm support frame, a tire clamping single swing arm inner end hinge, a single swing arm driving motor, a driving swing arm, a driven swing arm, a driving swing arm outer limit block and a driving swing arm outer limit block, wherein the tire clamping single swing arm inner end hinge and the single swing arm driving motor are respectively arranged on the single swing arm support frame of the rear right single swing arm mechanism, the single swing arm is hinged on the single swing arm inner end hinge, the driving swing arm is hinged on an output shaft of the single swing arm driving motor, the driven swing arm is hinged between a main outer end hinge seat of the driving swing arm and a single slave outer end hinge seat of the outer end of the single swing arm, and the driving swing arm outer limit block is fixedly arranged on the single swing arm support frame on the right side of the driving swing arm.
The double-swing-arm movable mounting frame is movably arranged on the inner side surface of the cross beam of the U-shaped vehicle body frame, racks are fixedly arranged on the double-swing-arm movable mounting frame, a double-swing-arm movable mounting frame movable driving motor and a double-swing-arm movable mounting frame movable driving gear are respectively fixedly arranged on the cross beam of the U-shaped vehicle body frame, and the double-swing-arm movable mounting frame movable driving gear is connected with an output shaft of the double-swing-arm movable mounting frame movable driving motor through a movable driving synchronous belt; the double-swing-arm movable mounting frame is respectively provided with a double-swing-arm driving motor speed reducer, a double-swing-arm inner end driving gear and a double-swing-arm inner end driving driven gear, a driving gear set is arranged between the double-swing-arm inner end driving gear and the double-swing-arm inner end driving driven gear, a double-swing-arm driven clamping arm is connected to a gear shaft of the double-swing-arm inner end driving driven gear, a double-swing-arm driving clamping arm is connected to a gear shaft of the double-swing-arm inner end driving gear, a double-swing-arm driving swing arm is connected to an output shaft of the double-swing-arm driving motor speed reducer, and a double-swing-arm driven swing arm is hinged between a double-swing-arm driving swing arm hinge at the outer end of the double-swing-arm driving swing arm and a double-swing-arm driving clamping arm hinge at the outer end of the double-swing-arm driving clamping arm.
The invention can carry out parking movement on vehicles with different sizes and lengths, has large lifting capacity, good vehicle body stability and strong synchronous coordination function, and can be suitable for various intelligent parking garages.
Drawings
FIG. 1 is a schematic general construction of the present invention;
FIG. 2 is a diagram of the invention in a mating relationship with a vehicle body;
FIG. 3 is a schematic view of the structure of the universal wheel mechanism of the present invention;
FIG. 4 is a schematic view of the lift steering wheel mechanism of the present invention;
FIG. 5 is a schematic view of the single swing arm mechanism of the present invention in an open state;
FIG. 6 is a schematic view of the single swing arm mechanism of the present invention in a retracted state;
FIG. 7 is a diagram of the mating relationship between the U-shaped body frame 28 and the double swing arm mobile mount 33 of the present invention;
fig. 8 is a schematic structural view of the double swing arm mechanism of the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
an intelligent parking ferry robot comprises a U-shaped vehicle body frame 28, wherein a left rear universal wheel mechanism 44 is arranged at the rear end of the left opening end of the U-shaped vehicle body frame 28, a left front lifting steering wheel mechanism 45 is arranged at the front end of the left opening end of the U-shaped vehicle body frame 28, a right rear lifting steering wheel mechanism 46 is arranged at the rear end of the right closed end of the U-shaped vehicle body frame 28, a right front universal wheel mechanism 47 is arranged at the front end of the right closed end of the U-shaped vehicle body frame 28, the structure of the left rear universal wheel mechanism 44 is identical to that of the right front universal wheel mechanism 47, the structure of the left front lifting steering wheel mechanism 45 is identical to that of the right rear lifting steering wheel mechanism 46, lifting motor reducer systems are arranged on the two universal wheel mechanisms and the two lifting steering wheel mechanisms, and the lifting motor reducer systems synchronously lift parking in the U-shaped vehicle body frame 28; the driving mechanism of the whole vehicle is also arranged on the two diagonally arranged lifting steering wheel mechanisms so as to realize the mobile carrying of parking; a rear left double-swing-arm adjusting mechanism 48 and a rear right single-swing-arm mechanism 50 are respectively arranged on the rear cross beam of the U-shaped vehicle body frame 28, a front left double-swing-arm adjusting mechanism 49 and a front right single-swing-arm mechanism 51 are respectively arranged on the front cross beam of the U-shaped vehicle body frame 28, the structure of the rear left double-swing-arm adjusting mechanism 48 is completely the same as that of the front left double-swing-arm adjusting mechanism 49, the structure of the rear right single-swing-arm mechanism 50 is completely the same as that of the front right single-swing-arm mechanism 51, the two single-swing-arm mechanisms are arranged on the inner closed end of the U-shaped vehicle body frame 28, lifting of a front parking wheel is realized, and the two double-swing-arm adjusting mechanisms can move according to the parking size so as to meet the requirements of wheelbases of vehicles with different sizes; a laser emitting receiver 52 and an electric controller 53 are respectively provided on the right side member of the U-shaped body frame 28; the electric controller 53 is electrically connected with the motor on the left rear universal wheel mechanism 44, the motor on the left front lifting steering wheel mechanism 45, the motor on the right rear lifting steering wheel mechanism 46, the motor on the right front universal wheel mechanism 47, the motor on the rear left double-swing-arm adjusting mechanism 48, the motor on the front left double-swing-arm adjusting mechanism 49, the motor on the rear right single-swing-arm mechanism 50 and the motor on the front right single-swing-arm mechanism 51 respectively, realizes synchronous lifting and moving, and performs positioning control according to the laser emission receiver 52.
The middle part of a universal wheel bracket 7 of the left rear universal wheel mechanism 44 is provided with a universal wheel 8, the universal wheel bracket 7 is in a shoulder pole shape, the left end of the universal wheel bracket 7 is fixedly provided with a universal wheel left screw nut 5, the right end of the universal wheel bracket 7 is fixedly provided with a universal wheel right screw nut 6, the universal wheel left screw nut 5 is provided with a universal wheel left screw 2, the universal wheel right screw nut 6 is provided with a universal wheel right screw 3, the top of the universal wheel left screw 2 is connected with a universal wheel lifting motor reducer 1, and a universal wheel synchronous toothed belt 4 is arranged between the top of the universal wheel left screw 2 and the top of the universal wheel right screw 3; the top end of the universal wheel left screw rod 2 is propped up with the rear cross beam of the U-shaped car body frame 28 through a flange plate left top plate, and the top end of the universal wheel right screw rod 3 is propped up with the rear cross beam of the U-shaped car body frame 28 through a flange plate right top plate.
A steering wheel 16 is arranged in the middle of a steering wheel support 15 of a left front lifting steering wheel mechanism 45, the steering wheel support 15 is in a shoulder pole shape, a steering wheel left screw nut 13 is fixedly arranged at the left end of the steering wheel support 15, a steering wheel right screw nut 14 is fixedly arranged at the right end of the steering wheel support 15, a steering wheel left screw 10 is arranged in the steering wheel left screw nut 13, a steering wheel right screw 11 is arranged in the steering wheel right screw nut 14, a steering wheel lifting motor reducer 9 is connected to the top of the steering wheel left screw 10, and a steering wheel synchronous toothed belt 12 is arranged between the top of the steering wheel left screw 10 and the top of the steering wheel right screw 11; the top end of the steering wheel left lead screw 10 is propped up with the front cross beam of the U-shaped car body frame 28 through the left top plate of the other flange plate, and the top end of the steering wheel right lead screw 11 is propped up with the front cross beam of the U-shaped car body frame 28 through the right top plate of the other flange plate; steering wheel drive motor 17 and steering wheel steering motor 18 are provided on steering wheel bracket 15, respectively.
The tire clamping single swing arm inner end hinge 21 and the single swing arm driving motor 20 are respectively arranged on the single swing arm supporting frame 19 of the rear right single swing arm mechanism 50, the single swing arm 22 is hinged on the single swing arm inner end hinge 21, the driving swing arm 25 is hinged on the output shaft of the single swing arm driving motor 20, the driven swing arm 24 is hinged between the master-slave outer end hinge seat 26 of the driving swing arm 25 and the single slave outer end hinge seat 23 of the outer end of the single swing arm 22, and the driving swing arm outer limit block 27 is fixedly arranged on the single swing arm supporting frame 19 on the right side of the driving swing arm 25.
A double-swing-arm moving mounting frame 33 is movably arranged on the inner side surface of the cross beam of the U-shaped vehicle body frame 28, a rack 32 is fixedly arranged on the double-swing-arm moving mounting frame 33, a double-swing-arm moving mounting frame moving driving motor 30 and a double-swing-arm moving mounting frame moving driving gear 29 are respectively fixedly arranged on the cross beam of the U-shaped vehicle body frame 28, and the double-swing-arm moving mounting frame moving driving gear 29 is connected with an output shaft of the double-swing-arm moving mounting frame moving driving motor 30 through a moving driving synchronous belt 31; the double-swing-arm movable mounting frame 33 is respectively provided with a double-swing-arm driving motor speed reducer 34, a double-swing-arm inner end driving gear 41 and a double-swing-arm inner end driving driven gear 43, a driving gear set 42 is arranged between the double-swing-arm inner end driving gear 41 and the double-swing-arm inner end driving driven gear 43, a double-swing-arm driven clamping arm 40 is connected to a gear shaft of the double-swing-arm inner end driving driven gear 43, a double-swing-arm driving clamping arm 38 is connected to a gear shaft of the double-swing-arm inner end driving gear 41, a double-swing-arm driving swing arm 35 is connected to an output shaft of the double-swing-arm driving motor speed reducer 34, and a double-swing-arm driven swing arm 37 is hinged between a double-swing-arm driving swing arm hinge 36 at the outer end of the double-swing-arm driving clamping arm 35 and a double-swing-arm driving clamping arm hinge 39 at the outer end of the double-swing-arm driving clamping arm.
The present invention is positioned and navigated by the laser emitting receiver 52 and driven by the left front lift steering wheel mechanism 45 and the right rear lift steering wheel mechanism 46 to effect translation and turning functions of the device. Under the control of a computer program, the automobile is automatically driven to the position of the automobile by matching with an identification system of the in-out automobile room, and the automobile is automatically identified and lifted by a rear left double-swing-arm adjusting mechanism 48, a front left double-swing-arm adjusting mechanism 49, a rear right single-swing-arm mechanism 50 and a front right single-swing-arm mechanism 51, so that the automobile storing and taking function is realized.
Claims (5)
1. An intelligent parking ferry robot comprises a U-shaped vehicle body frame (28), and is characterized in that a left rear universal wheel mechanism (44) is arranged at the rear end of the left opening end of the U-shaped vehicle body frame (28), a left front lifting steering wheel mechanism (45) is arranged at the front end of the left opening end of the U-shaped vehicle body frame (28), a right rear lifting steering wheel mechanism (46) is arranged at the rear end of the right closed end of the U-shaped vehicle body frame (28), a right front universal wheel mechanism (47) is arranged at the front end of the right closed end of the U-shaped vehicle body frame (28), the structure of the left rear universal wheel mechanism (44) is identical to that of the right front universal wheel mechanism (47), the structure of the left front lifting steering wheel mechanism (45) is identical to that of the right rear lifting steering wheel mechanism (46), a rear left double-swing arm adjusting mechanism (48) and a rear single-swing arm mechanism (50) are respectively arranged on the rear cross beam of the U-shaped vehicle body frame (28), a front left double-swing arm adjusting mechanism (49) and a front double-swing arm adjusting mechanism (51) are respectively arranged on the front cross beam of the U-shaped vehicle body frame (28), the structure of the left double-swing arm adjusting mechanism (51) is identical to that of the front swing mechanism, a laser emitting receiver (52) and an electric controller (53) are respectively arranged on the right longitudinal beam of the U-shaped vehicle body frame (28); the electric controller (53) is respectively and electrically connected with a motor on the left rear universal wheel mechanism (44), a motor on the left front lifting steering wheel mechanism (45), a motor on the right rear lifting steering wheel mechanism (46), a motor on the right front universal wheel mechanism (47), a motor on the rear left double-swing-arm adjusting mechanism (48), a motor on the front left double-swing-arm adjusting mechanism (49), a motor on the rear right single-swing-arm mechanism (50) and a motor on the front right single-swing-arm mechanism (51).
2. The intelligent parking ferry robot according to claim 1, wherein a universal wheel (8) is arranged in the middle of a universal wheel bracket (7) of a left rear universal wheel mechanism (44), the universal wheel bracket (7) is in a shoulder pole shape, a universal wheel left screw nut (5) is fixedly arranged at the left end of the universal wheel bracket (7), a universal wheel right screw nut (6) is fixedly arranged at the right end of the universal wheel bracket (7), a universal wheel left screw (2) is arranged in the universal wheel left screw nut (5), a universal wheel right screw (3) is arranged in the universal wheel right screw nut (6), a universal wheel lifting motor reducer (1) is connected to the top of the universal wheel left screw (2), and a universal wheel synchronous toothed belt (4) is arranged between the top of the universal wheel left screw (2) and the top of the universal wheel right screw (3); the top end of the universal wheel left screw rod (2) is propped together with the rear cross beam of the U-shaped vehicle body frame (28) through a flange plate left top plate, and the top end of the universal wheel right screw rod (3) is propped together with the rear cross beam of the U-shaped vehicle body frame (28) through a flange plate right top plate.
3. The intelligent parking ferry robot according to claim 2, characterized in that a steering wheel (16) is arranged in the middle of a steering wheel bracket (15) of a left front lifting steering wheel mechanism (45), the steering wheel bracket (15) is in a shoulder pole shape, a steering wheel left screw nut (13) is fixedly arranged at the left end of the steering wheel bracket (15), a steering wheel right screw nut (14) is fixedly arranged at the right end of the steering wheel bracket (15), a steering wheel left screw (10) is arranged in the steering wheel left screw nut (13), a steering wheel right screw (11) is arranged in the steering wheel right screw nut (14), a steering wheel lifting motor reducer (9) is connected at the top of the steering wheel left screw (10), and a steering wheel synchronous toothed belt (12) is arranged between the top of the steering wheel left screw (10) and the top of the steering wheel right screw (11); the top end of the steering wheel left lead screw (10) is propped up with the front cross beam of the U-shaped vehicle body frame (28) through the left top plate of the other flange plate, and the top end of the steering wheel right lead screw (11) is propped up with the front cross beam of the U-shaped vehicle body frame (28) through the right top plate of the other flange plate; a steering wheel driving motor (17) and a steering wheel steering motor (18) are respectively arranged on the steering wheel bracket (15).
4. An intelligent parking ferry robot according to claim 3, characterized in that a single swing arm support frame (19) of a rear right single swing arm mechanism (50) is respectively provided with a tire clamping single swing arm inner end hinge (21) and a single swing arm driving motor (20), the single swing arm inner end hinge (21) is hinged with a single swing arm (22), an output shaft of the single swing arm driving motor (20) is hinged with a driving swing arm (25), a driven swing arm (24) is hinged between a master-slave outer end hinge seat (26) of the driving swing arm (25) and a single slave outer end hinge seat (23) of the outer end of the single swing arm (22), and a driving swing arm outer limit block (27) is fixedly arranged on the single swing arm support frame (19) on the right side of the driving swing arm (25).
5. The intelligent parking ferry robot according to claim 4, wherein a double-swing-arm moving mounting frame (33) is movably arranged on the inner side surface of a cross beam of the U-shaped vehicle body frame (28), a rack (32) is fixedly arranged on the double-swing-arm moving mounting frame (33), a double-swing-arm moving mounting frame moving driving motor (30) and a double-swing-arm moving mounting frame moving driving gear (29) are respectively fixedly arranged on the cross beam of the U-shaped vehicle body frame (28), and the double-swing-arm moving mounting frame moving driving gear (29) is connected with an output shaft of the double-swing-arm moving mounting frame moving driving motor (30) through a moving driving synchronous belt (31); the double-swing-arm movable mounting frame (33) is respectively provided with a double-swing-arm driving motor speed reducer (34), a double-swing-arm inner end driving gear (41) and a double-swing-arm inner end driving driven gear (43), a driving gear set (42) is arranged between the double-swing-arm inner end driving gear (41) and the double-swing-arm inner end driving driven gear (43), a double-swing-arm driven clamping arm (40) is connected to a gear shaft of the double-swing-arm inner end driving driven gear (43), a double-swing-arm driving clamping arm (38) is connected to a gear shaft of the double-swing-arm inner end driving gear (41), a double-swing-arm driving swing arm (35) is connected to an output shaft of the double-swing-arm driving motor speed reducer (34), and a double-swing-arm driven swing arm (37) is hinged between a double-swing-arm driving swing-arm hinge (36) at the outer end of the double-swing-arm driving clamping arm (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308015.4A CN107826087B (en) | 2017-12-11 | 2017-12-11 | Intelligent parking ferry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308015.4A CN107826087B (en) | 2017-12-11 | 2017-12-11 | Intelligent parking ferry robot |
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| Publication Number | Publication Date |
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| CN107826087A CN107826087A (en) | 2018-03-23 |
| CN107826087B true CN107826087B (en) | 2023-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711308015.4A Active CN107826087B (en) | 2017-12-11 | 2017-12-11 | Intelligent parking ferry robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108640014A (en) * | 2018-04-28 | 2018-10-12 | 佛山市甄睿智能科技有限公司 | A kind of clamping lifting gear for parking robot platform |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN112723243B (en) * | 2020-12-04 | 2022-07-15 | 北京星航机电装备有限公司 | Automobile carrying AGV |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201261705Y (en) * | 2008-09-04 | 2009-06-24 | 杭州鼎升机械有限公司 | Platform capable of lifting and moving vehicle |
| US9534410B2 (en) * | 2008-10-06 | 2017-01-03 | Unitronics Automated Solutions Ltd | Vehicle shuttle |
| CN202000711U (en) * | 2010-12-28 | 2011-10-05 | 东莞市伟创东洋自动化设备有限公司 | Intelligent carrier for mechanical car garage |
| CN103603529B (en) * | 2013-12-03 | 2015-12-02 | 山东天辰智能停车设备有限公司 | Clamping tire type automobile carrier of three-dimensional garage |
| DE102014112269A1 (en) * | 2014-08-27 | 2016-03-03 | Nussbaum Technologies Gmbh | Automated parking system for vehicles |
| CN104912372A (en) * | 2015-06-10 | 2015-09-16 | 深圳怡丰机器人科技有限公司 | AGV comb type transfer robot |
| CN205531522U (en) * | 2016-01-22 | 2016-08-31 | 山东天辰智能停车设备有限公司 | Embrace and press from both sides and raise integral car of tire intelligence carrier |
| CN106760801A (en) * | 2017-02-23 | 2017-05-31 | 上海卡驱久祎机器人科技有限公司 | Self-adapting stretching formula is U-shaped to move car system |
| CN207644358U (en) * | 2017-12-11 | 2018-07-24 | 山西东杰智能物流装备股份有限公司 | A kind of intelligent parking ferry-boat robot |
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- 2017-12-11 CN CN201711308015.4A patent/CN107826087B/en active Active
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Address after: 030008 No.51 Xinlan Road, Jiancaoping District, Taiyuan City, Shanxi Province Applicant after: Dongjie Intelligent Technology Group Co.,Ltd. Address before: 030008 No.51 Xinlan Road, Jiancaoping District, Taiyuan City, Shanxi Province Applicant before: SHANXI ORIENTAL MATERIAL HANDLING Co.,Ltd. |
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