CN204754370U - Novel robot vertically parks - Google Patents
Novel robot vertically parks Download PDFInfo
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- CN204754370U CN204754370U CN201520099061.8U CN201520099061U CN204754370U CN 204754370 U CN204754370 U CN 204754370U CN 201520099061 U CN201520099061 U CN 201520099061U CN 204754370 U CN204754370 U CN 204754370U
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Abstract
The utility model relates to a novel robot vertically parks, including the robot base, the U -shaped chamber that the automobile body is held in formation is connected with the robot lateral body to the robot main part, is equipped with the drive wheel in the bottom of robot base, being equipped with two elevating system that are parallel to each other in the robot main part, being equipped with the wheel that is parallel to each other respectively and bearing the mechanism on two elevating system, the wheel bears and is equipped with the wheel in the mechanism and bears the end, and every wheel bears the end and is equipped with respectively rather than the first U -shaped wheel support component of vertically and second U -shaped wheel support component and be parallel to each other, the below that every wheel bore the end is equipped with two and can receive and releases the automobile body drive wheel. When transporting when parking, the receive and release automobile body drive wheel that bears the wheel below the end stretches out, reduces the wheel through elevating system and bears the end, makes automobile body drive wheel and ground contact, reduces to park the robot in the bearing requirement of transit vehicle in -process to the drive wheel of robot base.
Description
[technical field]
The present invention relates to a kind of automatic parking robot, particularly a kind of novel longitudinal parking robot.
[background technology]
The automobile pollution of existing big and medium-sized cities gets more and more, parking is a very large difficult problem, particularly parking lot, inner city is limited, park to driving personnel and cause very large difficulty, in order to effectively utilize limited parking lot, need to use the robot of automatic parking to realize automatic parking, existing automatic parking robot is moved by the driving wheel be arranged on robot base, the parking position of specifying is transported to by being parked, in vehicle transport process, the weight of whole vehicle is carried on the driving wheel of robot base completely, driving wheel is made to need to have larger weight capacity.
[summary of the invention]
The invention provides a kind of novel longitudinal parking robot, reduce parking robot in transit vehicle process to the load-bearing requirements of the driving wheel of robot base.
In order to solve the problems of the technologies described above, the invention provides a kind of novel longitudinal parking robot, comprise robot base, described robot base comprises two robot lateral bodys be arranged in parallel, described two robot lateral bodys are connected to form the U-shaped chamber holding car body by robot body, be provided with in the bottom of described robot base, on the position of corner the driving wheel making robot base movement, described robot body is provided with two elevating mechanisms be parallel to each other, described two elevating mechanisms are respectively equipped with the wheel load carrier in zigzag be parallel to each other, the major part of described two wheel load carriers is positioned at the inside in described U-shaped chamber, and near the side of described robot body, described two wheel load carriers are respectively equipped with the wheel bearing end parallel with described robot lateral body, one side of described each wheel bearing end is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, line between the center of described two the first U-shaped wheel supporting parts and the line between the center of described two the second U-shaped wheel supporting parts parallel, described robot also comprises the transversal stretching mechanism driving described two wheel load carrier transverse shiftings, being provided with two in the below of described each wheel bearing end can folding and unfolding car body driving wheel.
The invention has the beneficial effects as follows: when parking the vehicle, parking robot is positioned at the front or below of car body, two wheel bearing ends are stretched into the bottom of car body, U-shaped wheel supporting parts on wheel bearing end are aimed at the tire of car body, then transversal stretching mechanism mobile wheel bearing end is started, four wheels are made all to be on first and second U-shaped wheel supporting parts, then wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground; By can stretch out by folding and unfolding car body driving wheel below wheel bearing end, wheel bearing end is reduced by elevating mechanism, make car body driving wheel and earth surface, then continue to decline, make robot base leave ground, then control car body driving wheel and vehicle is transported to the parking position of specifying, when arriving appointment parking position, elevating mechanism upwards promotes, and makes the driving wheel kiss the earth on robot base, car body driving wheel leaves ground, packs up, and then pool puts vehicle.Novel longitudinal parking robot of the present invention, by transporting car body by folding and unfolding car body driving wheel below wheel bearing end, reduces parking robot in transit vehicle process to the load-bearing requirements of the driving wheel of robot base.
Further, describedly can comprise deflecting roller by folding and unfolding driving wheel, described deflecting roller is provided with main shaft, the top of described main shaft and described wheel bearing end chain connection, also comprise folding and unfolding cylinder, the two ends of described folding and unfolding cylinder respectively with middle part and the described wheel bearing end chain connection of described main shaft.
The beneficial effect of above-mentioned further scheme is adopted to be: by the work of folding and unfolding cylinder, to make the deflecting roller be connected with folding and unfolding cylinder pack up and stretch out.
Further, describedly can comprise deflecting roller by folding and unfolding driving wheel, described deflecting roller is provided with main shaft, also comprises head rod and the second connecting rod, the two ends of described head rod respectively with top and the described wheel bearing end chain connection of described main shaft; The two ends of described second connecting rod respectively with middle part and the described wheel bearing end chain connection of described main shaft.
Adopt the beneficial effect of above-mentioned further scheme to be: to be rotated by head rod, drive the second connecting rod and deflecting roller motion, reach the object of the folding and unfolding of driving wheel.
Further, described second U-shaped wheel supporting parts and described wheel bearing end are provided with bearing end telescoping mechanism.
The beneficial effect of above-mentioned further scheme is adopted to be: to change the distance between the second U-shaped wheel supporting parts and the first U-shaped wheel supporting parts by bearing end telescoping mechanism, put requirement with the pool adapting to different wheel wheelbase vehicle.
Further, described bearing end telescoping mechanism comprises the linear roller guide rail be arranged on described wheel bearing end, described linear roller guide rail is provided with bearing end slide block, described second U-shaped wheel supporting parts are arranged on the slide block of described bearing end, the center of described bearing end slide block is combined with screw rod, described screw rod and described linear roller guide rail parallel; Also comprise bearing end servomotor, the turning cylinder of described bearing end servomotor is connected with described screw rod.
The beneficial effect of above-mentioned further scheme is adopted to be: the moving medium of linear roller guide rail, with line face Structure deformation, improves supporting capacity and the rigidity of guide rail.
Further, described bearing end slide block is two, is arranged in parallel to each other on described linear roller guide rail.
The beneficial effect of above-mentioned further scheme is adopted to be: two bearing end slide blocks increase the load-bearing moment of linear roller guide rail and bearing end slide block.
Further, the top of described two elevating mechanisms is connected by supporting seat, described transversal stretching mechanism comprises the guide rail be arranged on described supporting seat, described guide rail is provided with two slide blocks, described two slide blocks are connected with described wheel load carrier respectively by wheel load bearing seat, described two slide blocks by driving mechanism at described slide on rails.
The beneficial effect of above-mentioned further scheme is adopted to be: by the transversal stretching mechanism of slide block and guide rail, the distance realized between two wheel load carriers changes.
Further, described robot body is Split type structure, comprises the first robot body and the second robot body, and described two elevating mechanisms are separately positioned on described first robot body and described second robot body; Described transversal stretching organization establishes is between described first robot body and described second robot body.
The beneficial effect of above-mentioned further scheme is adopted to be: because robot body is Split type structure, and, between two Split type structures, this has transversal stretching mechanism, distance between the two split parts being changed robot body by transversal stretching mechanism, thus the distance between adjustment two wheel load carriers.
Further, described driving mechanism is gear-rack drive mechanism, and comprise on described two slide blocks and be set to rack structure respectively, described two rack structures are engaged with gear respectively, described two gears are respectively by driven by servomotor.
Adopt the beneficial effect of above-mentioned further scheme to be: rack pinion mode, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Further, described driving mechanism is the two outlet-rod hydraulic cylinder of dual Piston, and two piston rods of described hydraulic cylinder are connected with described two wheel load bearing seats respectively.
The beneficial effect of above-mentioned further scheme is adopted to be: the two outlet-rod hydraulic cylinder drives structure of dual Piston has higher activation point precision and supporting capacity.
[accompanying drawing explanation]
Fig. 1 is the three-dimensional structure diagram of novel longitudinal parking robot embodiment one,
Fig. 2 is the top view of embodiment one,
Fig. 3 is the top views of the robot second U-shaped wheel supporting parts in embodiment one when stretching out,
Fig. 4 be embodiment one can folding and unfolding driving wheel structural representation when packing up,
Fig. 5 is the top view of embodiment two,
Fig. 6 is the three-dimensional structure diagram of embodiment three,
Fig. 7 is the three-dimensional structure diagram after the elevating mechanism of embodiment one promotes,
Fig. 8 is the partial structurtes sectional view of bearing end telescoping mechanism,
Fig. 9 is the partial structurtes sectional views of the second U-shaped wheel supporting parts when stretching out,
Figure 10 is the linear roller guide rail place transverse sectional view in the telescoping mechanism of bearing end,
Figure 11 is can the side schematic view of folding and unfolding driving wheel embodiment one,
Figure 12 be in Figure 11 can folding and unfolding driving wheel pack up after structural representation,
Figure 13 is can the side schematic view of folding and unfolding driving wheel embodiment two,
Figure 14 be in Figure 13 can folding and unfolding driving wheel pack up after structural representation,
Figure 15 is the side sectional view of gear-rack drive mechanism,
Figure 16 is the vertical view cutaway drawing of gear-rack drive mechanism,
Figure 17 is the side sectional view of the two outlet-rod hydraulic cylinder driving mechanism of dual Piston,
Figure 18 is the partial structurtes sectional view of the two outlet-rod hydraulic cylinder of dual Piston.
In accompanying drawing, the list of parts representated by each label is as follows:
1, driving wheel, 2, robot base, 21, robot lateral body, 22, robot body, the 221, first robot body.222, second robot body, 3, elevating mechanism, 4, supporting seat, 5, transversal stretching mechanism, 51, guide rail, 52, rack structure, 53, gear, 54, wheel load bearing seat, 55, shell, 56, cavity, 57, servomotor, 58, hydraulic cylinder, 59, piston rod, 581, cylinder body, 582, oil inlet and outlet, 591, piston, 592, cylinder cap, 6, wheel load carrier, 61, wheel bearing end, 62, first U-shaped wheel supporting parts, 63, second U-shaped wheel supporting parts, 71, linear roller guide rail, 72, bearing end slide block, 73, screw rod, 74, bearing end servomotor, 75, roller, 8, can folding and unfolding car body driving wheel, 81, deflecting roller, 82, main shaft, 83, folding and unfolding cylinder, 84, head rod, 85, second connecting rod
[detailed description of the invention]
Below in conjunction with drawings and Examples, the present invention is further illustrated.
The structure chart of novel longitudinal parking robot embodiment one is see Fig. 1-Fig. 4, comprise robot base 2, robot base 2 comprises two robot lateral bodys 21 be arranged in parallel, two robot lateral bodys 21 are connected to form the U-shaped chamber holding car body by robot body 22, the driving wheel 1 making robot base 2 movement is provided with in the bottom of robot base 2, on the position of corner, described driving wheel 1 is six, and at each robot lateral body 21 end, portion is respectively equipped with two driving wheels 1 away from robot body 22 end, on robot body, 22 are provided with two elevating mechanisms be parallel to each other 3, the top of two elevating mechanisms 3 is linked together by supporting seat 4, two wheel load carriers 6 in zigzag to be arranged on supporting base 4 and to be parallel to each other, and are provided with transversal stretching mechanism 5 between supporting seat 4 and wheel load carrier 6, the major part of two wheel load carriers 6 is positioned at the inside in U-shaped chamber, and near the side of robot body 2, two wheel load carriers 6 are provided with the wheel bearing end 61 parallel with robot lateral body 21, a side adjacent with robot lateral body 21, each wheel bearing end 61 is respectively equipped with the first perpendicular U-shaped wheel supporting parts 62 and the second U-shaped wheel supporting parts 63, line between the center of two the first U-shaped wheel supporting parts 62 and the line between the center of two the second U-shaped wheel supporting parts 63 parallel, bearing end telescoping mechanism is provided with between first U-shaped wheel supporting parts 62 and the second U-shaped wheel supporting parts 63, being provided with two in the below of each wheel bearing end 61 can folding and unfolding car body driving wheel 8, can stretch out, for the weight of bearing body in transport process by folding and unfolding car body driving wheel 8.
When parking the vehicle, parking robot is positioned at the front or below of car body, two wheel bearing ends are stretched into the bottom of car body, start bearing end telescoping mechanism, adjust the distance between two the second U-shaped wheel supporting parts and two the first U-shaped wheel supporting parts, make first on wheel bearing end, two U-shaped wheel supporting parts are aimed at the tire of car body, then transversal stretching mechanism mobile wheel bearing end is started, four wheels are made all to be in first, on two U-shaped wheel supporting parts, wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground, by can stretch out by folding and unfolding car body driving wheel below wheel bearing end, reduce wheel bearing end by elevating mechanism, make car body driving wheel and earth surface, then continue to decline, robot base is made to leave ground, then control car body driving wheel and vehicle is transported to the parking position of specifying, when arriving appointment parking position, elevating mechanism upwards promotes, make the driving wheel kiss the earth on robot base, car body driving wheel leaves ground, then packs up, then pool puts vehicle.Novel transverse of the present invention by transporting car body by folding and unfolding car body driving wheel below wheel bearing end, reduces parking robot in transit vehicle process to the load-bearing requirements of the driving wheel of robot base to parking robot.
Fig. 5 is the top view of embodiment two, and compared with embodiment one, the first U-shaped wheel supporting parts 62 are arranged on a relative side, two wheel bearing ends 61 with the second U-shaped wheel supporting parts 63.When parking, by wheel bearing end from the direction of the both sides external of car body, to the aligner wheel of car body, then start transversal stretching mechanism and telescoping mechanism mobile wheel bearing end, bearing end, four wheels are all on first and second U-shaped wheel supporting parts, moor and put vehicle.
The three-dimensional structure diagram of novel longitudinal parking robot embodiment three is see Fig. 6, robot body 22 is Split type structure, comprise the first robot body 221 and the second robot body 222, two elevating mechanism 3 is separately positioned on described first robot body 221 and described second robot body 222; Transversal stretching mechanism 5 is arranged between described first robot body 221 and described second robot body 222.
Change the distance between upper first robot body of robot body and the second robot body by transversal stretching mechanism, thus realize the distance between the wheel bearing end on adjustment two elevating mechanism, to reach the object of the automobile of the different wheelspan that berths.
Three-dimensional structure diagram after the elevating mechanism lifting of embodiment one is see Fig. 7, vehicle is transported to the parking position of specifying by parking robot, and then promote car body by three grades of hydraulicefficiency elevation structures 3, make car body arrive the height and position of specifying, reach the object of multi-storied parking.
The partial structurtes of bearing end telescoping mechanism are see Fig. 8-Figure 10, bearing end telescoping mechanism comprises the linear roller guide rail 71 be arranged on wheel bearing end 61, linear roller guide rail 71 is arranged with two bearing end slide blocks 72 be parallel to each other, second U-shaped wheel supporting parts 63 are arranged on bearing end slide block 72, the center of bearing end slide block 72 is combined with screw rod 73, and screw rod 73 is parallel with linear roller guide rail 71; Also comprise bearing end servomotor 74, the turning cylinder of bearing end servomotor 74 is connected with screw rod 73.
The moving medium of linear roller guide rail, with line face Structure deformation, improves supporting capacity and the rigidity of guide rail; Two bearing end slide blocks increase the load-bearing moment of linear roller guide rail and bearing end slide block.
Can the structural representation of folding and unfolding driving wheel embodiment one see Figure 11 and Figure 12, deflecting roller 81 can be comprised by folding and unfolding driving wheel 8, deflecting roller 81 is provided with main shaft 82, the top of main shaft 82 and wheel bearing end 61 chain connection, also be provided with folding and unfolding cylinder 83, the two ends of folding and unfolding cylinder 83 respectively with middle part and wheel bearing end 61 chain connection of main shaft 82.
Direction as shown in arrow in Figure 11, when folding and unfolding cylinder main direction from piston rod to cylinder motion time, the piston rod of cylinder drives main axle moving, due to top and the wheel bearing end chain connection of main shaft, deflecting roller and main shaft will tilt, finally make deflecting roller and main axis parallel be contracted in the bottom of wheel bearing end, do not affect the process of parking robot by wheel bearing end carrying wheel; When needs stretch out deflecting roller, the piston rod of cylinder moves to the direction of deflecting roller, and deflecting roller is stretched out, final deflecting roller perpendicular to wheel bearing end, for the weight for bearing body in transport process.
Can the structural representation of folding and unfolding driving wheel embodiment two see Figure 13 and Figure 14, deflecting roller 81 can be comprised by folding and unfolding driving wheel 8, deflecting roller 81 is provided with main shaft 82, comprise head rod 84 and the second connecting rod 85, the two ends of head rod 84 respectively with top and described wheel bearing end 61 chain connection of main shaft 82; The two ends of the second connecting rod 85 respectively with middle part and wheel bearing end 61 chain connection of main shaft 82.
Direction as shown in arrow in Figure 13, when head rod is rotated counterclockwise along the chain connection point with wheel bearing end, head rod drives the top of main shaft to move, due to middle part and the second connecting rod chain connection of main shaft, deflecting roller and main shaft will tilt, the second connecting rod also can to rotate counterclockwise with the chain connection point of wheel bearing end simultaneously, finally make deflecting roller and main axis parallel be contracted in the bottom of wheel bearing end, do not affect the process of parking robot by wheel bearing end carrying wheel; When needs stretch out deflecting roller, when head rod turns clockwise along the chain connection point with wheel bearing end, deflecting roller is stretched out, final deflecting roller perpendicular to wheel bearing end, for the weight for bearing body in transport process.
The gear-rack drive mechanism of transversal stretching mechanism is see Figure 15-Figure 16, comprise the guide rail 51 be arranged on supporting seat 4, guide rail 51 is provided with two slide blocks, two slide blocks are rack structure 52, two rack structures 52 are engaged with gear 53 respectively, two gears 53 drive respectively by servomotor 57, and two rack structures 52 are connected with wheel load carrier 6 respectively by wheel load bearing seat 54; Whole gear driven mechanism is coated by shell 55, is provided with the cavity 56 holding the movement of wheel load bearing seat 54 at the top of shell 55.
When needing to adjust the distance between wheel load carrier, start servomotor, servomotor driven gear rotates, the rack structure that gear driven is engaged with moves horizontally along guide rail, thus drive the movement of the wheel load carrier be connected with wheel load bearing seat, reach the distance between adjustment two wheel load carrier, to adapt to the vehicle parking of different width of the carbody.
The two outlet-rod hydraulic cylinder driving mechanism of dual Piston of transversal stretching mechanism is see Figure 17-Figure 18, comprise the guide rail 51 be arranged on supporting seat 4, guide rail 51 is provided with two slide blocks, two slide blocks are connected with wheel load bearing seat 54 respectively, the two outlet-rod hydraulic cylinder of dual Piston comprises the piston rod 59 at hydraulic cylinder 58 and two ends, two piston rods 59 are connected with two wheel load bearing seats 54 respectively, and wheel load bearing seat 54 is connected with wheel load carrier 6; The two outlet-rod hydraulic cylinder driving mechanism of whole dual Piston is coated by shell 55, is provided with the cavity 56 holding the movement of wheel load bearing seat 54 at the top of shell 55; Two piston rods 59 are arranged on cylinder body 581 li respectively by piston 591, and piston rod 59 passes cylinder barrel 58 by cylinder cap 592, and cylinder barrel 58 is provided with the turnover oilhole 582 be communicated with cylinder body 581.
When the two outlet-rod hydraulic cylinder driving mechanism of dual Piston works, by inputing or outputing hydraulic oil at turnover oilhole, promote piston rod movement, thus drive the movement of the wheel load carrier be connected with wheel load bearing seat, reach the distance between adjustment two wheel load carrier, to adapt to the vehicle parking of different width of the carbody.
Be described in detail novel longitudinal parking robot provided by the present invention above, apply specific case herein and set forth principle of the present invention and embodiment, the explanation of above embodiment just understands core concept of the present invention for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a novel longitudinal parking robot, comprise robot base, described robot base comprises two robot lateral bodys be arranged in parallel, described two robot lateral bodys are connected to form the U-shaped chamber holding car body by robot body, be provided with in the bottom of described robot base, on the position of corner the driving wheel making robot base movement, described robot body is provided with two elevating mechanisms be parallel to each other, described two elevating mechanisms are respectively equipped with the wheel load carrier in zigzag be parallel to each other, the major part of described two wheel load carriers is positioned at the inside in described U-shaped chamber, and near the side of described robot body, described two wheel load carriers are respectively equipped with the wheel bearing end parallel with described robot lateral body, one side of described each wheel bearing end is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, line between the center of described two the first U-shaped wheel supporting parts and the line between the center of described two the second U-shaped wheel supporting parts parallel, described robot also comprises the transversal stretching mechanism driving described two wheel load carrier transverse shiftings, it is characterized in that, being provided with two in the below of described each wheel bearing end can folding and unfolding car body driving wheel.
2. novel longitudinal parking robot according to claim 1, it is characterized in that, describedly can comprise deflecting roller by folding and unfolding driving wheel, described deflecting roller is provided with main shaft, the top of described main shaft and described wheel bearing end chain connection, also comprise folding and unfolding cylinder, the two ends of described folding and unfolding cylinder respectively with middle part and the described wheel bearing end chain connection of described main shaft.
3. novel longitudinal parking robot according to claim 1, it is characterized in that, describedly can comprise deflecting roller by folding and unfolding driving wheel, described deflecting roller is provided with main shaft, also comprise head rod and the second connecting rod, the two ends of described head rod respectively with top and the described wheel bearing end chain connection of described main shaft; The two ends of described second connecting rod respectively with middle part and the described wheel bearing end chain connection of described main shaft.
4. the novel longitudinal parking robot according to the arbitrary claim of claims 1 to 3, is characterized in that, described second U-shaped wheel supporting parts and described wheel bearing end are provided with bearing end telescoping mechanism.
5. novel longitudinal parking robot according to claim 4, it is characterized in that, described bearing end telescoping mechanism comprises the linear roller guide rail be arranged on described wheel bearing end, described linear roller guide rail is provided with bearing end slide block, described second U-shaped wheel supporting parts are arranged on the slide block of described bearing end, the center of described bearing end slide block is combined with screw rod, described screw rod and described linear roller guide rail parallel; Also comprise bearing end servomotor, the turning cylinder of described bearing end servomotor is connected with described screw rod.
6. the novel longitudinal parking robot according to claim 5 claim, is characterized in that, described bearing end slide block is two, is arranged in parallel to each other on described linear roller guide rail.
7. the novel longitudinal parking robot according to the arbitrary claim of claims 1 to 3, it is characterized in that, the top of described two elevating mechanisms is connected by supporting seat, described transversal stretching mechanism comprises the guide rail be arranged on described supporting seat, described guide rail is provided with two slide blocks, described two slide blocks are connected with described wheel load carrier respectively by wheel load bearing seat, described two slide blocks by driving mechanism at described slide on rails.
8. the novel longitudinal parking robot according to the arbitrary claim of claims 1 to 3, it is characterized in that, described robot body is Split type structure, comprise the first robot body and the second robot body, described two elevating mechanisms are separately positioned on described first robot body and described second robot body; Described transversal stretching organization establishes is between described first robot body and described second robot body.
9. novel longitudinal parking robot according to claim 7, it is characterized in that, described driving mechanism is gear-rack drive mechanism, comprise on described two slide blocks and be set to rack structure respectively, described two rack structures are engaged with gear respectively, and described two gears are respectively by driven by servomotor.
10. novel longitudinal parking robot according to claim 7, is characterized in that, described driving mechanism is the two outlet-rod hydraulic cylinder of dual Piston, and two piston rods of described hydraulic cylinder are connected with described two wheel load bearing seats respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520099061.8U CN204754370U (en) | 2015-02-10 | 2015-02-10 | Novel robot vertically parks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520099061.8U CN204754370U (en) | 2015-02-10 | 2015-02-10 | Novel robot vertically parks |
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| Publication Number | Publication Date |
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| CN204754370U true CN204754370U (en) | 2015-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520099061.8U Withdrawn - After Issue CN204754370U (en) | 2015-02-10 | 2015-02-10 | Novel robot vertically parks |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104631887A (en) * | 2015-02-10 | 2015-05-20 | 广州信邦汽车装备制造有限公司 | Novel vertical parking robot |
| JP2019031853A (en) * | 2017-08-09 | 2019-02-28 | 新明工業株式会社 | Vehicle lift device, parallel unmanned traveling vehicle, transport vehicle, vehicle parallel parking system, and vehicle parallel parking method |
| CN109797999A (en) * | 2019-03-19 | 2019-05-24 | 程呈 | A kind of parallel armful of folder handling device of quickly taking down the exhibits |
| CN110029849A (en) * | 2019-04-23 | 2019-07-19 | 深圳前海紫金科技有限公司 | Vehicle intelligence haulage equipment |
| CN110056231A (en) * | 2019-06-04 | 2019-07-26 | 广东交通职业技术学院 | A kind of wheel gripping mechanism |
-
2015
- 2015-02-10 CN CN201520099061.8U patent/CN204754370U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104631887A (en) * | 2015-02-10 | 2015-05-20 | 广州信邦汽车装备制造有限公司 | Novel vertical parking robot |
| JP2019031853A (en) * | 2017-08-09 | 2019-02-28 | 新明工業株式会社 | Vehicle lift device, parallel unmanned traveling vehicle, transport vehicle, vehicle parallel parking system, and vehicle parallel parking method |
| CN109797999A (en) * | 2019-03-19 | 2019-05-24 | 程呈 | A kind of parallel armful of folder handling device of quickly taking down the exhibits |
| CN109797999B (en) * | 2019-03-19 | 2024-03-12 | 程呈 | Quick folding and unfolding parallel holding clamp carrying device |
| CN110029849A (en) * | 2019-04-23 | 2019-07-19 | 深圳前海紫金科技有限公司 | Vehicle intelligence haulage equipment |
| CN110029849B (en) * | 2019-04-23 | 2021-02-23 | 深圳前海紫金科技有限公司 | Intelligent carrying equipment for whole vehicle |
| CN110056231A (en) * | 2019-06-04 | 2019-07-26 | 广东交通职业技术学院 | A kind of wheel gripping mechanism |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 510800 Guangdong province Guangzhou Huadu Auto City Road on the north side of city Patentee after: Guangzhou Xinbang intelligent equipment Limited by Share Ltd Address before: 510620 Guangdong province Guangzhou Huadu Auto City Road on the north side of city Patentee before: Guangzhou Xinbang Automobile Equipment Manufacturing Co., Ltd. |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20151111 Effective date of abandoning: 20180330 |
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| AV01 | Patent right actively abandoned |