CN109797996A - Transportation system for automatic transportation vehicle - Google Patents
Transportation system for automatic transportation vehicle Download PDFInfo
- Publication number
- CN109797996A CN109797996A CN201811375690.3A CN201811375690A CN109797996A CN 109797996 A CN109797996 A CN 109797996A CN 201811375690 A CN201811375690 A CN 201811375690A CN 109797996 A CN109797996 A CN 109797996A
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- Prior art keywords
- vehicle
- transportation
- transportation system
- robot
- wheel
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages 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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The present invention discloses a kind of transportation system for by vehicle from initial position automatic transportation to target position, the transportation system has at least one transportation robot, the transportation robot has the driving device for being lifted the lifting device of the vehicle and for making the vehicle movement, wherein, in order to be lifted the vehicle, the center of gravity of at least one transportation robot can be placed in below the vehicle to be transported, wherein, lifting force can be applied on the wheel clamp fastener that at least two can change to be lifted the vehicle by the load bearing arm being adjustable by the lifting device via at least one length.
Description
Technical field
It is described the present invention relates to a kind of transportation system for by vehicle from initial position automatic transportation to target position
Transportation system has at least one transportation robot, which has for being lifted the lifting device of vehicle and for making
The driving device for the vehicle movement being lifted.
Background technique
Full-automatic parking building and parking facility have been known, wherein robot is lifted vehicle in original position, connects down
Carry out haulage vehicle and is parked at target location.Here, these transportation robots can be lifted vehicle respectively and will
It is automatically transported from region is extracted to parking area.Alternatively, exist with the carrier that transports as parking area
Transportation robot, vehicle can be parked on the carrier, and transportation robot is transported vehicle together with carrier
To parking area.This transportation robot usually can only be used in the parking building or parking facility specially implemented for this purpose
In, because in order to be lifted vehicle, parking robot may stretch out far more than the size of vehicle and therefore be lifted and parking vehicle
When may need additional space.Therefore, compared with size necessary for actual vehicle, the size for parking face is necessarily designed
It obtains bigger.
Furthermore it is known that parking robot usually have by large scale design counterweight, to prevent the hair when being lifted vehicle
Life is tumbled.This parking robot needs big area for being scheduled, as a result, especially in case of a fault to multiple parallel
The security consideration of the transportation robot of operation and other traffic participants may be problematic.
Summary of the invention
The task on which the invention is based may lie in propose a kind of transportation system, which can reduce autonomous pool
The size of vehicle system and make to become smaller for the face of parking needed for vehicle.
The task is by of the invention for the transportation system by vehicle from initial position automatic transportation to target position
To solve.Advantageous configuration of the invention is preferred embodiment.
According to an aspect of the present invention, a kind of be used for vehicle from initial position automatic transportation to target position is provided
Transportation system.The transportation system has at least one transportation robot, and the transportation robot has for being lifted vehicle
Lifting device and driving device for making the vehicle movement being lifted.According to the present invention, in order to be lifted vehicle, at least one
The center of gravity of transportation robot can be placed in below vehicle to be transported, wherein can via at least one length by lifting device
Lifting force can be applied at least two changeable wheel clamp fasteners (Radgreifer) to be lifted vehicle by the load bearing arm of adjusting
?.
Therefore, at least one transportation robot can be arranged in below the vehicle for being parked in original position and be used for
It is lifted the vehicle.Vehicle can be lifted at its wheel by one or two transportation robot according to the principle of lifting platform.
Here, at least one transportation robot can be arranged in below vehicle, the tire of vehicle is caught from inside and be set by lifting
Standby lifting vehicle.Wheel clamp fastener for example can with fork-shaped be implemented and be placed at the wheel along the axial direction of wheel
To below the wheel of vehicle.Lifting device for example can be the hydraulic device at least one transportation robot.Here, hydraulic dress
It sets in an optimized fashion by motorized adjustment and control.Thus, it is possible to arrange at least one transporter very close to vehicle tyre
Device people.There is the optimization angle for being lifted process as a result, allows to save additional counterweight, because vehicle can not incline
?.At least one transportation robot can have size more smaller than known transportation robot so far and lower heavy as a result,
Amount.
By lifting, vehicle is placed in travel position by least one transportation robot.It therefore, can be by transportation robot
Make vehicle movement and is transported to target position.In particular, at least one transportation robot can use the scheduling energy of optimization
Power is with haulage vehicle.
The transportation system proposed can be used in already existing parking building, and thus special reconstructional measures or
The additional component of supplement is unnecessary.Equally, can be realized with for example other transportation robots of other traffic participants or hand
Use in the mixed running of the dynamic vehicle driven, without further measure, because at least one described transportation robot is not
It is more than or is stretched out only slightly more than the size of vehicle to be transported.Therefore it can cancel some components, such as transport carrier and in side
The counterweight that face or front and convoy spacing are opened.In addition, can significantly improve and be used for by saving the component stretched out far more than vehicle
The safety of the method for haulage vehicle on such as ramp of non-level face.In addition, the face for parked vehicle can choose
Slightly larger than the practical occupied area to parked vehicleBecause at least one transportation robot can pacify completely
The occupied area below vehicle or only slightly more than vehicle is set to stretch out.Equally, for travelling in parking building or on parking lot
With area needed for scheduling can have than moor in known parking robot or manually into the case where the area that may be significantly smaller.
In an optimized fashion, can with electricity operation and drive at least one transportation robot and when needed the transportation robot can from
Charging station is driven towards dynamicly and initiates the charging process to energy storage.
At the target location lifting, transport and park and reduce vehicle in other words after, transportation system can be parked in mesh
Convoy spacing at mark place is opened.Therefore, transportation system can sail out of from meeting regulation parked vehicle and need not stop
It is rested at vehicle during putting.In particular, transportation system can be used to transport next vehicle.
According to one embodiment of transportation system, wheel clamp fastener can be matched with the tire size of vehicle.Here, wheel presss from both sides
Holder can with fork-shaped be implemented and can be matched in terms of its size.Wheel clamp fastener for example can be opened or be closed.
Thus, it is possible to simplify the wheel that disposes and can make wheel clamp fastener be matched with vehicle of the wheel clamp fastener at the wheel of vehicle
Tire width and tire size.Therefore, vehicle reliably can be lifted and be transported by least one transportation robot, because of vehicle
Wheel clamper can be clamped with wheel precise match.
According to another embodiment of transportation system, at least two wheel clamp fastener can pass through the carrying of adjustable in length
Arm is matched with the wheelspan of vehicle.Therefore, two wheel clamp fasteners being directed toward away from each other can be neatly spaced each other respectively
It opens, it is possible thereby to which wheel clamp fastener to be adjusted to the wheelspan of the spacing of wheel vehicle in other words.At least one transportation machines as a result,
People can be adjusted in terms of its size according to many different vehicles and these vehicles are lifted to transport.
According to another embodiment of transportation system, the transportation system has between the load bearing arm of two adjustable in length
The cross-connecting apparatus of at least one adjustable in length is so that wheel clamp fastener is matched with the wheelbase of vehicle.Transportation system can have
Have for being lifted and the transportation robot of haulage vehicle.In the individual event of transportation system is implemented, transportation robot can have two
A region, the two regions are respectively provided with two wheel clamp fasteners.It is preferred that can pacify close to the front axle and back axle of vehicle
Set these regions.By enabling wheel clamp fastener to be matched with the wheelbase of the spacing of axle vehicle in other words, transportation robot has
The cross-connecting apparatus of adjustable in length, the cross-connecting apparatus can make wheel clamp fastener preferably along the longitudinal direction phase of vehicle
Mutually it is variably spaced apart.At least one transportation robot can change its size and can be across vehicle according to vehicle as a result,
The different location of wheel adjusts wheel clamp fastener.
According to another embodiment of transportation system, at least one transportation robot can be along relative to the vertical of vertical axis
It is placed in below vehicle to direction.Therefore, at least one transportation robot can travel in vehicle front lower place and pass through lifting
The vehicle is placed in travel position by wheel.At least one transportation robot of transportation system preferably can have multiple drivings
Wheel, allows to improve the dispatching of at least one transportation robot.In an optimized fashion, at least one transportation robot can
It is rotated in other words with pivot stud.
According to another embodiment of transportation system, initial position and/or target position are parking faces.Transportation system is especially suitable
It closes using on narrow parking face or narrow parking building.Transportation system has on small face due to its small occupied area
Big steering capability (Wendigkeit).It is preferred that the such configuration of at least one transportation robot, so that it needs small steering half
Diameter.Alternatively, at least one transportation robot can be made to turn in situ.
According to another embodiment, transportation system can be by external management system control of parking.In a preferred implementation
In, at least one transportation robot can remotely be controlled by external management system of parking.In this case, sensor, meter
Calculating component etc. can integrate in the infrastructure of parking lot or parking building.It is possible thereby to weaken or prevent so-called deadlock and answer
Polygamy, such as positioned at the subsequent unexpected traffic participant in turning.
According to another embodiment, transportation system can be by the sensing device being integrated at least one transportation robot and control
System processed automatically controls.Here, at least one described parking robot is such as lifted vehicle, haulage vehicle side in each instruction
Face automatically executes the task of berthing of vehicle to be transported.Only frame data (Rahmendaten), for example, target position or arrive target
The route of position, can be predetermined by external management system of parking.It is independently executed by least one transportation robot pair
The sensing of environment or such as the reaction to barrier.For this purpose, at least one transportation robot have sensor, video camera and its
Its positioning element.Alternatively, not only management system but also at least one transportation robot are parked all in infrastructure or outside
It can have positioning element and can be realized the co- controlling to transportation system.
According to another embodiment, have the transportation system of integrated sensing device and integrated control system can be with outside
Controlled with parking management system collective effect.Thus it for example may be implemented by so-called " intelligence " infrastructure and " intelligence "
The combination that transportation robot is constituted.
According to another embodiment of transportation system, in case of a fault or when recognizing unsafe condition, the vehicle that is lifted
It can be reduced by least one transportation robot.At least one transportation robot can be when recognizing unsafe condition as a result,
Or determining that there are the vehicle transported is put on ground immediately when fault condition.If the vehicle transported has been put into gear
Or setting of parking has been selected in the case of a vehicle having an automatic transmission, then the vehicle being placed on ground can oneself
Braking.Alternatively or additionally, vehicle can have the parking brake of activation or the parking brake of pull-up, pass through the parking brake
Or parking brake, vehicle can be braked when being put on ground.Thus it is particularly possible to prevent transportation robot not restricted with vehicle
The uncontrolled situation or the possible damage of reduction rolled dynamicly.It is in this hair especially when traveling is on ramp to convert parking floor
Safety approach can prevent the transportation robot with vehicle from travelling uncontrolledly to the malfunction approach of bright method form in other words
Or at least weaken its consequence.The speed that unsafe condition can be transportation robot is excessively high, so-called deadlock situation, transportation robot
Wrong way, the unexpected behavior of adjacent traffic participant etc..At least one transportation robot or managing system of car parking
Possible breakdown for example can be that sensor is defective or imbalance, software fault etc..Unsafe condition can also be due at least one fortune
The failure of defeated robot generates.Here, this failure can be managed by the self diagnosis of at least one transportation robot or parking lot
The self diagnosis of the central control unit of reason system is detected.Managing system of car parking can for example monitor at least one transporter
Device people and for example by it is observed and planning transit route deviation be construed to failure.
According to one embodiment of transportation system, at least one transportation robot at least temporarily can be with the vehicle coupling that is lowered
It closes.Therefore, at least one transportation robot at least temporarily with the vehicle shape that is parked is sealed or force closure keep it is mechanical even
It connects.For example, at least one transportation robot only can reduce vehicle to such degree, allow the transportation robot in vehicle
The wedging between ground.It thus it can be prevented that at least one transportation robot may continue uncontrolledly to travel or continue to roll.
Therefore, it is particularly possible to prevent or reduce as at least one with damage caused by faulty transportation robot.Therefore, it is transported
The braking equipment of vehicle can be effectively used for preventing or weakening unsafe condition during transportation.
According to another embodiment of transportation system, at least two transportation robots can be synchronized.As long as using more than one
Transportation robot, then synchronizing some movements for different task, such as lifting or mobile at least two transportation robots.?
In one implementation, synchronous task is implemented by the transportation robot selected.In another implementation, synchronizing can be by multiple transportation machines
People executes and credibility is mutually authenticated.Alternatively, synchronizing can be executed by external management system of parking.
According to another embodiment of transportation system, the position of wheel and the tire size of vehicle can be automatically by least one
At least one sensor of a transportation robot is sought.Therefore, the position necessary for wheel clamp fastener of the wheel on vehicle
It can automatically be sought with the size of wheel.For this purpose, video camera, laser radar sensor, radar sensing can be used for example
Device etc..In addition it is also possible to using detection system machinery or based on ultrasound to seek necessary parameter.
Detailed description of the invention
The preferred embodiment of the present invention is elaborated below according to very simplified schematic diagram.Here it is shown that:
Fig. 1 according to the present invention first embodiment, the schematic, bottom view of transportation system that is arranged in below vehicle,
Fig. 2 according to the present invention second embodiment, the schematic, bottom view of transportation system that is arranged in below vehicle, and
Fig. 3 a to 3c is the transportation system of first embodiment, lifting process for illustrating vehicle according to the present invention to be shown
It is intended to.
In the accompanying drawings, structural elements are respectively provided with identical figure numbers.
Specific embodiment
Fig. 1 shows first embodiment according to the present invention, schematically facing upward of being arranged in the transportation system 1 of 2 lower section of vehicle
View.Here, transportation system 1 is made of transportation robot 4, the transportation robot is arranged in 2 lower section of vehicle.
Here, the tool of transportation robot 4 is there are four wheel clamp fastener 6, these wheel clamp fasteners are placed in the wheel of vehicle 2
Place.Wheel clamp fastener 6 is not matched with the tire size of vehicle 2 also.For this purpose, wheel clamp fastener 6 is made to become smaller in a further step, make
The wheel of vehicle 2 can be clamped in locking manner with shape and hold by obtaining wheel clamp fastener 6.
Every two wheel clamp fastener 6 is connect with the load bearing arm 8 of an adjustable in length respectively.In order to by 1 cloth of transportation system
It sets below vehicle 2, load bearing arm 8 can make the width of transportation robot 4 by reducing the spacing between two wheel clamp fasteners 6
Become smaller.Transportation robot 4 can be placed in 2 lower section of vehicle along the longitudinal direction relative to vertical axis F as a result,.Pass through carrying
Arm 8, wheel clamp fastener 6 can be matched with the wheelspan of different vehicle 2.Lifting force can be applied to and hold by unshowned lifting device
Simultaneously therefore vehicle 2 is opened at its wheel with ground separation on load arm 8, and transportation robot 4 is allowed to make vehicle 2 from start bit
It sets and moves to target position.For this purpose, transportation robot 4 has driving device 10, which fills with unshowned sensing
It sets and for the automation or partial automation traveling on the transit route from initial position to target position.
In order to make wheel clamp fastener 6 be matched with the wheelbase of vehicle 2, these load bearing arms 8 lateral connection variable by length
Device 12 is connected with each other.The spacing of these wheel clamp fasteners 6 can change along the direction of vertical axis F as a result,.
Arrow shows the movement possibility of the different components of transportation system 1.
Fig. 2 shows second embodiments according to the present invention, schematically facing upward of being arranged in the transportation system 1 of the lower section of vehicle 2
View.It is different from the first embodiment, there are two transportation robots 4 for the tool of transportation system 1.Transportation robot 4 is herein transverse to vehicle
Axis F arrangement.
There are two changeable wheel clamp fastener 6, the wheel clamp fasteners in terms of its size for each tool of transportation robot 4
It connect and can will be transmitted to by the lifting force that lifting device generates with the load bearing arm 8 that a length can be changed respectively in end side
On the wheel of vehicle 2.Wheel clamp fastener 6 is oppositely arranged in each side of elongated load bearing arm 8.Wheel clamp fastener 6 can be with as a result,
Wheel from vehicle center around vehicle 2 is placed.
Therefore, wheel clamp fastener 6 can be matched with the wheelspan of vehicle 2 by load bearing arm 8.Here, the matching can be by
It is for example realized by video camera, pressure sensor or proximity sensor on sensor control ground.Two transportation machines can be passed through
People 4 respective driving device 10 makes wheel clamp fastener 6 be matched with the wheelbase of vehicle 2.Each transport is carried out it is preferred that can synchronize
The following steps of robot 4: it is placed in 2 lower section of vehicle；The wheel of the alignment vehicle 2 of wheel clamp fastener 6；Make wheel clamp fastener 6
Tire size and following lifting and haulage vehicle 2 assigned in vehicle 2.Therefore, lifting process for example can be by transportation machines
People 4 is performed simultaneously, wherein when parking park a vehicle 2 in other words, transportation robot 4 can move with being staggered in time.
Fig. 3 a, 3b and 3c show the schematic diagram of the transportation system 1 of first embodiment according to the present invention for illustrating vehicle 2
Lifting process.Arrow shows that the motion process of the component during executing method and step matches possibility in other words.
As described in Fig. 1, transportation system 1 according to first embodiment has transportation robot 4.In Fig. 3 a
In, transportation robot 4 has been placed in 2 lower section of vehicle.Wheel clamp fastener 6 has matched and has been aligned the position of the wheel of vehicle 2.
In fig 3b, the size of wheel clamp fastener 6 is matched with the tire size of vehicle 2 wheel diameter in other words in this way, makes
Wheel and vehicle 2 can be lifted when being lifted wheel clamp fastener 6 by obtaining.For this purpose, wheel clamp fastener 6 is made to become smaller in terms of its size directly
Material contact is realized to wheel.
In another step illustrated in figure 3 c, lifting force is generated by lifting device, which is clamped by wheel
Device 6 is transmitted on the wheel of vehicle 2.Vehicle 2 can be opened with ground separation and is lifted in other words as a result,.In lifting state, fortune
Defeated robot 4 can unrestrictedly dispatch buses and 2 and so that vehicle 2 is moved to target position
It sets.If vehicle 2 has been transported to target location, vehicle 2 can be made to be reduced on ground.Next, transportation system 1
It can leave from vehicle 2 and towards the next vehicle movement for being parked in original position, appoint to undertake other transport
Business.
Claims (13)
1. one kind has at least one for the transportation system (1) by vehicle (2) from initial position automatic transportation to target position
A transportation robot (4), the transportation robot have for being lifted the lifting device of the vehicle (2) and for making the vehicle
The driving device (10) of (2) movement, which is characterized in that in order to be lifted the vehicle (2), at least one described transportation robot
(4) center of gravity can be placed in below the vehicle (2) to be transported, wherein by the lifting device via at least one length
Lifting force can be applied on the wheel clamp fastener (6) that at least two can change described in lifting by spending the load bearing arm (8) being adjustable
Vehicle (2).
2. transportation system according to claim 1, wherein the wheel clamp fastener (6) can be matched with the vehicle (2)
Tire size.
3. transportation system according to claim 1 or 2, wherein at least two wheel clamp fasteners (6) can be adjusted by length
The load bearing arm (8) of section is matched with the wheelspan of the vehicle (2).
4. transportation system according to any one of claim 1 to 3, wherein the transportation system (1) is in two length
The cross-connecting apparatus (12) being adjustable between the load bearing arm (8) being adjustable at least one length is spent so that the wheel presss from both sides
Holder (6) is matched with the wheelbase of the vehicle.
5. transportation system according to any one of claim 1 to 4, wherein at least one described transportation robot (4) energy
It is placed in below the vehicle (2) along the longitudinal direction relative to vertical axis (F).
6. transportation system according to any one of claim 1 to 5, wherein the initial position and/or the target position
Setting is parking face.
7. transportation system according to any one of claim 1 to 6, wherein the transportation system (1) can be by external pool
The control of vehicle management system.
8. transportation system according to any one of claim 1 to 7, wherein the transportation system (1) can be by being integrated into
The sensing device and control system stated at least one transportation robot (4) automatically control.
9. transportation system according to claim 7 or 8, wherein have integrated sensing device and integrated control system
The transportation system (1) can be controlled with parking management system collective effect with external.
10. transportation system according to any one of claim 1 to 9, wherein in case of a fault or recognizing danger
When situation, the vehicle (2) being lifted can be reduced by least one described transportation robot (4).
11. transportation system according to claim 10, wherein at least one described at least temporary energy of transportation robot (4)
It is coupled with the vehicle (2) being lowered.
12. transportation system according to any one of claim 1 to 11, wherein at least two transportation robots (4) can
It is synchronous.
13. transportation system according to any one of claim 1 to 12, wherein the position of wheel and the vehicle (2)
Tire size can automatically be sought by least one sensor of at least one transportation robot (4).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017220576.8A DE102017220576B4 (en) | 2017-11-17 | 2017-11-17 | Transport system for the automated transport of a vehicle with at least one transport robot |
| DE102017220576.8 | 2017-11-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109797996A true CN109797996A (en) | 2019-05-24 |
Family
ID=66336495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811375690.3A Pending CN109797996A (en) | 2017-11-17 | 2018-11-19 | Transportation system for automatic transportation vehicle |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109797996A (en) |
| DE (1) | DE102017220576B4 (en) |
| FR (1) | FR3073768B1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111017807A (en) * | 2019-12-19 | 2020-04-17 | 安徽华星智能停车设备有限公司 | Automatic positioner of carrying trolley |
| CN111550109A (en) * | 2020-05-21 | 2020-08-18 | 安徽充景电子科技有限公司 | Wheel track automatic adaptation light support plate for storage type mechanical garage |
| CN111874510A (en) * | 2020-08-31 | 2020-11-03 | 深圳市步科电气有限公司 | Transport vehicle |
| CN114430817A (en) * | 2019-10-25 | 2022-05-03 | 莫比奥工业机器人有限公司 | Autonomous mobile robotic system for transporting a payload |
| CN117284808A (en) * | 2023-09-14 | 2023-12-26 | 北京特种机械研究所 | Target fixing subsystem and fixing method |
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| CN110805341A (en) * | 2019-11-01 | 2020-02-18 | 安徽普华灵动机器人科技有限公司 | AGV car transfer robot |
| CN110863682A (en) * | 2019-11-06 | 2020-03-06 | 河北高西宅智能车库工程有限公司 | Ultra-thin centre gripping formula carrier |
| EP3865355A1 (en) * | 2020-02-14 | 2021-08-18 | Wheel.me AS | Transportation arrangement for transportation of an object on a surface |
| CN112828859B (en) * | 2020-12-28 | 2022-08-05 | 福尔达(天津)智能科技有限公司 | Six-freedom-degree differential manipulator for automobile wind control assembly |
| CN114179092B (en) * | 2021-12-30 | 2023-12-26 | 杭州海康机器人股份有限公司 | Vehicle carrying control method, device, equipment and system |
| US11639609B1 (en) * | 2022-07-14 | 2023-05-02 | Park It Here, Llc | Management system for managing the storage, parking, or delivery of recreational vehicles |
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- 2018-11-19 CN CN201811375690.3A patent/CN109797996A/en active Pending
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| CN111550109A (en) * | 2020-05-21 | 2020-08-18 | 安徽充景电子科技有限公司 | Wheel track automatic adaptation light support plate for storage type mechanical garage |
| CN111550109B (en) * | 2020-05-21 | 2021-06-22 | 安徽充景电子科技有限公司 | Wheel track automatic adaptation light support plate for storage type mechanical garage |
| CN111874510A (en) * | 2020-08-31 | 2020-11-03 | 深圳市步科电气有限公司 | Transport vehicle |
| CN117284808A (en) * | 2023-09-14 | 2023-12-26 | 北京特种机械研究所 | Target fixing subsystem and fixing method |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3073768A1 (en) | 2019-05-24 |
| DE102017220576B4 (en) | 2021-12-16 |
| FR3073768B1 (en) | 2022-02-04 |
| DE102017220576A1 (en) | 2019-05-23 |
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Application publication date: 20190524 |