CN110778182A - Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw - Google Patents
Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw Download PDFInfo
- Publication number
- CN110778182A CN110778182A CN201911279338.4A CN201911279338A CN110778182A CN 110778182 A CN110778182 A CN 110778182A CN 201911279338 A CN201911279338 A CN 201911279338A CN 110778182 A CN110778182 A CN 110778182A
- Authority
- CN
- China
- Prior art keywords
- fork arm
- frame
- yoke
- transfer robot
- plate
- 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.)
- Withdrawn
Links
Images
Classifications
-
- 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
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A two-jaw vehicle transfer robot without a middle jaw is characterized by comprising: a frame (100) having a generally in-line configuration; an active running gear (140), the active running gear is installed on both ends of the frame; the left fork arm (200) and the right fork arm (300) are symmetrically identical in structure, the left fork arm and the right fork arm are respectively arranged at the left end and the right end of the frame, and the distance between the left fork arm and the right fork arm is adjustable, so that the wheels can be moved in opposite directions to lift the wheels off the ground after being inserted; and the steering wheel (345) is steered by a driven wheel walking steering device (340) arranged on the left fork arm and the right fork arm so as to meet the driving requirement of the vehicle transfer robot. On the premise of ensuring the power and mechanical properties of the transfer robot, the invention saves two fork arms in the middle of the tire clamping in the prior art, thereby not only simplifying the structure of the whole machine, but also improving the flexibility and greatly reducing the production cost.
Description
Technical Field
The invention relates to a parking technology, in particular to an automatic device for shipping and transporting vehicles to and from a parking space in a parking lot, and specifically relates to a two-jaw vehicle transporting robot without a middle clamping jaw and with an auxiliary clamping device.
Background
At present, a single-layer shipping robot of a parking lot basically adopts a four-grab structure, a walking arm and two clamping arms are arranged in the middle of the walking arm and the right walking arm respectively, tires of a vehicle are clamped by the movement of the walking arm and the clamping arm, and the vehicle is transported by the movement of the walking arm. The mechanism needs to separately design a set of moving mechanism for each of the two middle clamping arms, which not only increases the complexity of the structure, but also increases the weight and the manufacturing cost, and needs to be improved.
Disclosure of Invention
The invention aims to solve the problems of redundant structure and high manufacturing cost of the existing four-grab type vehicle aid robot, and designs a two-jaw type vehicle transfer robot without a middle clamping jaw, which can realize vehicle transfer by only two walking legs and is provided with an auxiliary clamping device.
The technical scheme of the invention is as follows:
the utility model provides a two claw formula vehicle transfer robot of middle clamping jaw does not have of supplementary clamping device in area which characterized by includes:
a frame 100, the frame 100 is a straight-line structure, and the length of the frame is fixed or adjustable;
the active walking device 140 is installed on two ends of the frame 100, and is used for driving the frame 100 to move;
the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged at the left end and the right end of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable, so that the wheels can be lifted off the ground by moving in opposite directions after being inserted;
a steering wheel 345, wherein the steering wheel 345 is steered by a driven wheel walking steering device 340 arranged on the left fork arm 200 and the right fork arm 300 so as to meet the driving requirements of the vehicle transfer robot;
an auxiliary clamping device (320), the auxiliary clamping device (320) is arranged on the left fork arm (200) and the right fork arm (300) and is used for extending out after the left fork arm (200) and the right fork arm (300) clamp the vehicle so as to prevent shaking in the wheel carrying process
The frame 100 and the length adjustable position are in the middle of the straight frame.
The auxiliary clamping device 320 comprises a clamping motor 321, a speed reducer 322, a clamping roller 323 and a rubber pad 324, wherein the clamping motor 321 is used in combination with the speed reducer 322, the clamping roller 323 is connected with an output shaft of the speed reducer 322, the rotation of the clamping roller 323 in the horizontal plane direction is realized through the back-and-forth rotation of the clamping motor 321, and the rubber pad 324 is wrapped on the clamping roller 323.
The left fork arm 200 and the right fork arm 300 are respectively provided with a hub limiting seat 330 at the positions corresponding to the wheels, the hub limiting seats 330 mainly comprise a retainer 331 and a rotating shaft 332, the rotating shaft 332 is arranged on the retainer 331 and can rotate respectively, the retainer 331 is pivoted in a mounting groove of the hub limiting seat 330 on the left fork arm 200 or the right fork arm 300, the lower end of the retainer 331 is low and the upper end of the retainer 331 is high in a natural state, when the rotating shaft 332 contacts with a tire, the rotating shaft 332 and the tire are subjected to the thrust action of the left fork arm 200 or the right fork arm 300, the relative rotation is generated between the rotating shaft 332 and the tire, the tire moves to the high of the retainer 331 until the tire moves to exceed the pivot center of the retainer 331, the tire is held after the rotation of the retainer, the left fork arm 200.
The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310 and the distance between the left yoke 200 and the right yoke 300 is adjustable through the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110.
The driven wheel walking steering device 340 comprises a steering motor 341, a driving gear 342, a driven gear 343 and a chain 344; the steering motor 341 and the driven gear 343 are respectively installed at both ends of the lower portion of the left yoke 200 or the right yoke 300, the driving gear 342 is installed on the rotation shaft of the steering motor 341, the chain 344 is wound around the driving gear 342 and the driven gear 343, and the steering wheel 345 is installed on the driven gear 343.
The lower portion of the left yoke 200 or the right yoke 300 is further provided with a tension pulley 346, and the tension pulley 346 is installed at a side close to the driven gear 343 to change the tension of the chain.
The driven wheel walking steering device 340 can also comprise a steering motor and a worm gear mechanism, the steering motor and the worm gear are respectively arranged at two ends of the lower part of the left fork arm or the right fork arm, the steering motor drives the worm to rotate, the worm drives the worm gear to rotate, and the steering wheel is arranged on the worm gear.
The frame 100 is composed of a left frame 110, a right frame 120 and a middle connecting member 130, and two ends of the middle connecting member 130 are inserted and positioned in the corresponding left frame 110 and right frame 120.
The left frame 110 and the right frame 120 have the same structure, and are respectively composed of a first box-type structure 111, a second box-type structure 112 and a third box-type structure 113, wherein the first box-type structure 111 comprises an upper plate 1112, a lower plate 1113, a front plate 1114 and a second back plate 1115, and the upper plate 1112, the lower plate 1113, the front plate 1114 and the second back plate 1115 are connected with each other and the back plate 1111 at the same time; the second box-type structure comprises an upper transition plate 1121, a lower transition plate 1122, a reinforcing rib 1123 and a second reinforcing rib 1133, the upper transition plate 1121, the lower transition plate 1122, the reinforcing rib 1123 and the second reinforcing rib 1133 are connected with a back plate 1111 at the same time of connection, the third box-type structure comprises an upper backing plate 1131, a lower backing plate 1132 and the second reinforcing rib 1133, and the upper backing plate 1131, the lower backing plate 1132 and the second reinforcing rib 1133 are connected with the back plate 1111 at the same time of connection; the box-type structure has better mechanical property, and the stability of the frame is improved.
The invention has the beneficial effects that:
on the premise of ensuring the power and mechanical properties of the transfer robot, the invention saves two fork arms in the middle of the tire clamping in the prior art, thereby not only simplifying the structure of the whole machine, but also improving the flexibility and greatly reducing the production cost.
Drawings
Fig. 1 is a perspective view of a vehicle transfer robot according to the present invention.
Fig. 2 is a schematic perspective view of a linear frame of the vehicle transfer robot according to the present invention.
Fig. 3 is a perspective view illustrating a first box structure of a linear frame of the vehicle transfer robot according to the present invention.
Fig. 4 is a schematic perspective view of a second box-type structure of the in-line frame of the vehicle transfer robot of the present invention.
Fig. 5 is a schematic perspective view of a third box-type structure of the in-line frame of the vehicle transfer robot of the present invention.
Fig. 6 is a schematic perspective view of a forklift arm of a vehicle transfer robot according to the present invention.
Fig. 7 is a schematic perspective view of the driven wheel traveling device of the forklift arm of the vehicle transfer robot according to the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-7.
A two-jaw vehicle transfer robot without middle jaws with an auxiliary gripping device, as shown in fig. 1, which comprises a frame 100, a driving traveling device 140, a left yoke 200, a right yoke 300 and a steering wheel 345; the left yoke 200 and the right yoke 300 are symmetrically identical in structure. The frame 100 is a straight-line structure, and the length of the frame is fixed or adjustable; fig. 2-5 show a combined box structure with the best performance, that is, the frame 100 of this embodiment is composed of a left frame 110, a right frame 120 and a middle connecting member 130, two ends of the middle connecting member 130 are inserted and positioned in the corresponding left frame 110 and right frame 120, and when the middle connecting member 130 is connected with the left frame 110 and right frame 120 in an adjustable manner, a corresponding length-adjustable mechanism should be added, which can be realized by using hydraulic pressure, lead screw nut, and other structures. The left frame 110 and the right frame 120 have the same structure, and are respectively composed of a first box-type structure 111, a second box-type structure 112 and a third box-type structure 113, wherein the first box-type structure 111 comprises an upper plate 1112, a lower plate 1113, a front plate 1114 and a second back plate 1115, and the upper plate 1112, the lower plate 1113, the front plate 1114 and the second back plate 1115 are connected with each other and the back plate 1111 at the same time; the second box-type structure comprises an upper transition plate 1121, a lower transition plate 1122, a reinforcing rib 1123 and a second reinforcing rib 1133, the upper transition plate 1121, the lower transition plate 1122, the reinforcing rib 1123 and the second reinforcing rib 1133 are connected with a back plate 1111 at the same time of connection, the third box-type structure comprises an upper backing plate 1131, a lower backing plate 1132 and the second reinforcing rib 1133, and the upper backing plate 1131, the lower backing plate 1132 and the second reinforcing rib 1133 are connected with the back plate 1111 at the same time of connection; the box-type structure has better mechanical property, and the stability of the frame is improved. As shown in fig. 1, the active walking device 140 of the present invention is installed on both ends of the carriage 100 for driving the carriage 100 to move; the active walking device 140 can be directly purchased from the market, the walking wheels are driven by a motor, or the active walking device 140 used by the existing transfer robot can be adopted to realize the active walking device 140, and the active walking device 140 is a common standard product at present. The left fork arm 200 and the right fork arm 300 are respectively arranged at the left end and the right end of the frame 100, the distance between the left fork arm and the right fork arm is adjustable, and the distance adjusting mode can adopt a gear and rack structure shown in fig. 6, so that the wheels can be lifted off the ground by moving in opposite directions after being inserted; at present, a more ideal distance adjustment mode is shown in fig. 6, a wheel hub limiting seat 330 is respectively installed at the positions of the left fork arm 200 and the right fork arm 300 opposite to the wheel, the wheel hub limiting seat 330 mainly comprises a retainer 331 and a rotating shaft 332, the rotating shaft 332 is installed on the retainer 331 and can rotate respectively, the retainer 331 is pivoted in the installation groove of the wheel hub limiting seat 330 on the left fork arm 200 or the right fork arm 300, in a natural state, the lower end of the retainer 331 is low, the upper end of the retainer 331 is high, when the rotating shaft 332 contacts the tire, under the thrust action of the left fork arm 200 or the right fork arm 300, the rotating shaft 332 and the tire rotate relatively, the tire moves to the high position of the retainer 331 until the tire moves to exceed the pivot center of the retainer 331, the retainer holds the tire after rotating, the left fork arm 200 or the right fork arm 300 stops moving. The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310 and the distance between the left yoke 200 and the right yoke 300 is adjustable through the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. The steering wheel 345 performs steering by the driven wheel travel steering device 340 installed on the left fork arm 200 and the right fork arm 300 to meet the traveling requirements of the vehicle transfer robot. The driven wheel walking steering device 340 comprises a steering motor 341, a driving gear 342, a driven gear 343 and a chain 344, as shown in fig. 7; the steering motor 341 and the driven gear 343 are respectively installed at both ends of the lower portion of the left yoke 200 or the right yoke 300, the driving gear 342 is installed on the rotation shaft of the steering motor 341, the chain 344 is wound around the driving gear 342 and the driven gear 343, and the steering wheel 345 is installed on the driven gear 343. Preferably, a tension pulley 346 is further installed at a lower portion of the left yoke 200 or the right yoke 300, and the tension pulley 346 is installed at a side close to the driven gear 343 to vary the tension of the chain. In specific implementation, the driven wheel walking steering device 340 may further adopt a structural form including a steering motor and a worm gear mechanism, the steering motor and the worm gear are respectively installed on two ends of the lower portion of the left yoke or the right yoke, the steering motor drives the worm to rotate, the worm drives the worm gear to rotate, and the steering wheel is installed on the worm gear. As shown in fig. 1 and 6, the auxiliary clamping device 320 includes a clamping motor 321, a speed reducer 322, a clamping roller 323 and a rubber pad 324, the clamping motor 321 and the speed reducer 322 are used in combination, the clamping roller 323 is connected with an output shaft of the speed reducer 322, the rotation of the clamping roller 323 in the horizontal plane direction is realized by the back-and-forth rotation of the clamping motor 321, and the rubber pad 324 is wrapped on the clamping roller 323.
The using method of the invention is as follows: when the vehicle transfer robot receives a dispatching instruction of a control center, namely, the vehicle transfer robot reaches a waiting parking area according to a navigation path, the distance between the two forklift arms is adjusted at first, then the vehicle is moved to the vehicle at a low speed until the transferred vehicle completely enters the robot transfer area, the two forklift arms move relatively until the wheel hub limiting seats on the forklift arms are contacted with the tire, the two forklift arms continue to work to gradually lift the tire, the two forklift arms stop moving, the auxiliary clamping device swings for 90 degrees in the process, and the vehicle can be dragged after the clamping action is completed.
The above embodiments are merely illustrative of the technical concept and structural features of the present invention, and are intended to be implemented by those skilled in the art, but the present invention is not limited thereto, and any equivalent changes or modifications made according to the spirit of the present invention should fall within the scope of the present invention.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (10)
1. The utility model provides a two claw formula vehicle transfer robot of middle clamping jaw does not have of supplementary clamping device in area which characterized by includes:
the bicycle frame (100) is of a straight-line structure, and the length of the bicycle frame (100) is fixed or adjustable;
the driving walking device (140) is arranged on two ends of the frame (100) and used for driving the frame (100) to move;
the left fork arm (200) and the right fork arm (300) are symmetrically and identically structured, the left fork arm (200) and the right fork arm (300) are respectively installed at the left end and the right end of the frame (100), and the distance between the left fork arm and the right fork arm is adjustable, so that the wheels can move in opposite directions after being inserted to lift the wheels off the ground;
the steering wheel (345) is steered by a driven wheel walking steering device (340) arranged on the left fork arm (200) and the right fork arm (300) so as to meet the driving requirement of the vehicle transfer robot;
and the auxiliary clamping device (320) is arranged on the left fork arm (200) and the right fork arm (300) and is used for extending after the left fork arm (200) and the right fork arm (300) clamp the vehicle so as to prevent the vehicle from shaking in the wheel carrying process.
2. The center-gripper-less two-jaw vehicle transfer robot with auxiliary gripping device according to claim 1, wherein said carriage (100) and the length adjustable position are at the center of the in-line carriage.
3. The two-jaw vehicle transfer robot without middle grip according to claim 14, wherein said auxiliary grip device (320) comprises a grip motor (321), a reducer (322), a grip bar (323), and a rubber pad (324), said grip motor (321) is used in combination with said reducer (322), said grip bar (323) is connected to an output shaft of said reducer (322), the rotation of said grip bar (323) in the horizontal plane direction is realized by the back-and-forth rotation of said grip motor (321), and said rubber pad (324) is wrapped on said grip bar (323).
4. The two-jaw vehicle transfer robot without middle grip pawl with the auxiliary grip device according to claim 1, wherein the left yoke (200) and the right yoke (300) are respectively provided with a hub stopper (330) at positions opposite to the wheel, the hub stopper (330) mainly comprises a holder (331) and a shaft (332), the shaft (332) is mounted on the holder (331) and can rotate respectively, the holder (331) is pivoted in the mounting groove of the hub stopper (330) on the left yoke (200) or the right yoke (300), the lower end of the holder (331) is lower and the upper end is higher in a natural state, when the shaft (332) contacts the tire and is pushed by the left yoke (200) or the right yoke (300), the shaft (332) and the tire rotate relatively, the tire moves to the higher position of the holder (331) until the tire moves beyond the pivot center of the holder (331), after the retainer rotates, the tire is clasped, the left fork arm (200) or the right fork arm (300) stops moving, and the whole vehicle body is lifted.
5. The two-jaw vehicle transfer robot without middle jaws with auxiliary gripping device of claim 1, is characterized in that the left yoke (200) and the right yoke (300) are connected with a yoke moving device (310) and the distance between the left yoke (200) and the right yoke (300) can be adjusted through the yoke moving device (310), the fork arm moving device (310) comprises a moving motor (311), an L-shaped mounting plate (312), a first guide rail sliding block mechanism (313), a second guide rail sliding block mechanism (314) and a rack (315), wherein the L-shaped mounting plate (312) is connected with the left fork arm (200) or the right fork arm (300) and is simultaneously connected with the first guide rail sliding block mechanism (313) and the second guide rail sliding block mechanism (314), and the first guide rail sliding block mechanism (313) and the second guide rail sliding block mechanism (314) are fixed on the frame (100); the movable motor (311) is arranged on the L-shaped mounting plate (312), a driving gear is arranged on an output shaft of the movable motor (311), the driving gear is meshed with a rack fixed on the frame (110), the movable motor (311) drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate (312) to move on the frame (110).
6. A two jaw vehicle transfer robot without middle grip jaw with auxiliary grip device as claimed in claim 1, wherein said driven wheel traveling steering means (340) comprises a steering motor (341), a driving gear (342), a driven gear (343) and a chain (344); the steering motor (341) and the driven gear (343) are respectively installed on two ends of the lower part of the left fork arm (200) or the right fork arm (300), the driving gear (342) is installed on a rotating shaft of the steering motor (341), the chain (344) is wound on the driving gear (342) and the driven gear (343), and the steering wheel (345) is installed on the driven gear (343).
7. The two-jaw vehicle transfer robot without middle grip according to claim 6, wherein the lower portion of said left fork arm (200) or said right fork arm (300) is further installed with a tension pulley (346), and the tension pulley (346) is installed at a side close to the driven gear (343) to change the tension of the chain.
8. The two-jaw vehicle transfer robot without middle grip according to claim 1, wherein the driven wheel traveling steering unit (340) comprises a steering motor and a worm gear mechanism, the steering motor and the worm gear are respectively mounted on both ends of the lower portion of the left yoke or the right yoke, the steering motor drives the worm , the worm drives the worm gear to rotate, and the steering wheel is mounted on the worm gear.
9. The double-jaw vehicle transfer robot without middle jaw having the auxiliary clamping device as claimed in claim 1, wherein the frame (100) is composed of a left frame (110), a right frame (120) and a middle connecting member (130), and both ends of the middle connecting member (130) are inserted and positioned in the corresponding left frame (110) and right frame (120).
10. The center-gripper-free two-jaw vehicle transfer robot with an auxiliary clamp device according to claim 9, wherein the left frame (110) and the right frame (120) are identical in structure and are each composed of a first box-type structure (111), a second box-type structure (112), and a third box-type structure (113), the first box-type structure (111) comprises an upper plate (1112), a lower plate (1113), a front plate (1114), and a second back plate (1115), and the upper plate (1112), the lower plate (1113), the front plate (1114), and the second back plate (1115) are connected to each other and to the back plate (1111); the second box-type structure comprises an upper transition plate (1121), a lower transition plate (1122), reinforcing ribs (1123) and second reinforcing ribs (1133), the upper transition plate (1121), the lower transition plate (1122), the reinforcing ribs (1123) and the second reinforcing ribs (1133) are connected with the back plate (1111) at the same time, the third box-type structure comprises an upper cushion plate (1131), a lower cushion plate (1132) and the second reinforcing ribs (1133), and the upper cushion plate (1131), the lower cushion plate (1132) and the second reinforcing ribs (1133) are connected with the back plate (1111) at the same time; the box-type structure has better mechanical property, and the stability of the frame is improved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911279338.4A CN110778182A (en) | 2019-12-13 | 2019-12-13 | Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911279338.4A CN110778182A (en) | 2019-12-13 | 2019-12-13 | Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110778182A true CN110778182A (en) | 2020-02-11 |
Family
ID=69394574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911279338.4A Withdrawn CN110778182A (en) | 2019-12-13 | 2019-12-13 | Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110778182A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605960A (en) * | 2020-05-13 | 2020-09-01 | 盐城佳华塑料制品有限公司 | A intelligent haulage equipment for plastic products production |
-
2019
- 2019-12-13 CN CN201911279338.4A patent/CN110778182A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605960A (en) * | 2020-05-13 | 2020-09-01 | 盐城佳华塑料制品有限公司 | A intelligent haulage equipment for plastic products production |
| CN113233382A (en) * | 2020-05-13 | 2021-08-10 | 盐城佳华塑料制品有限公司 | A intelligent haulage equipment for plastic products production |
| CN113233382B (en) * | 2020-05-13 | 2023-01-24 | 盐城佳华塑料制品有限公司 | A intelligent haulage equipment for plastic products production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211447968U (en) | Two-jaw type vehicle transfer robot without middle clamping jaw | |
| CN103143865B (en) | Flexible switching system for vehicle welding production line | |
| CN109750883B (en) | Omnidirectional vehicle carrying mechanism | |
| CN200977848Y (en) | Electric vehicle chassis | |
| CN215848161U (en) | Reliable robot handling equipment | |
| CN110778182A (en) | Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw | |
| CN108222602A (en) | A kind of automobile carrying device | |
| CN202200957U (en) | Automobile positioning device | |
| CN205400198U (en) | Intelligent vehicle carrier among stereo garage | |
| CN211447970U (en) | Two-jaw vehicle transfer robot with auxiliary clamping device and without middle clamping jaw | |
| CN110778183A (en) | Two-jaw type vehicle transfer robot without middle clamping jaw | |
| CN209568765U (en) | A kind of omnidirectional's vehicle conveying device | |
| CN117207009A (en) | Welding processing device for welding sleeve of automobile part | |
| CN113931503A (en) | Multilayer lifting type parking robot | |
| CN208179569U (en) | A kind of wheel detection clamp and the manipulator with it | |
| CN213115717U (en) | Vehicle transfer robot with fork teeth clamped outwards | |
| CN211447977U (en) | Clamping arm for two-jaw type vehicle transfer robot without middle clamping jaw | |
| CN211369713U (en) | AGV car transfer robot | |
| CN212507620U (en) | Multilayer lifting type parking robot | |
| CN210049658U (en) | Cut fork disjunctor car transfer robot | |
| CN208202733U (en) | A kind of automobile carrying device | |
| CN110805341A (en) | AGV car transfer robot | |
| CN213115719U (en) | Vehicle transfer robot | |
| CN214996471U (en) | Multi-split vehicle transfer robot | |
| CN214059762U (en) | Two claw formula vehicle transfer robots of driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 202, block a, No.19, Yecheng Road, Jianye District, Nanjing City, Jiangsu Province Applicant after: Jiangsu xiaobaitu Intelligent Manufacturing Technology Co., Ltd Address before: Room 202, block a, No.19, Yecheng Road, Jianye District, Nanjing City, Jiangsu Province Applicant before: JIANGSU XIAOBAITU NETWORK TECHNOLOGY Co.,Ltd. |
|
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200211 |