CN206346543U - A kind of vehicle tyre clamping device and automatic transporting device - Google Patents
A kind of vehicle tyre clamping device and automatic transporting device Download PDFInfo
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- CN206346543U CN206346543U CN201621463936.9U CN201621463936U CN206346543U CN 206346543 U CN206346543 U CN 206346543U CN 201621463936 U CN201621463936 U CN 201621463936U CN 206346543 U CN206346543 U CN 206346543U
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Abstract
This disclosure relates to which a kind of vehicle tyre clamping device and automatic transporting device, the clamping device include body frame (1), slideway (2), jig arm (3), push pedal (4), leading screw (5), servomotor (6)；One group of opposite side of the body frame (1) is parallel to each other, and the slideway (2) is separately positioned on the outside of the parallel opposite side；One end of the jig arm (3) is slidably connected with the slideway (2), and the other end is free end；The push pedal (4) is connected with jig arm (3)；One end of the screw mandrel (5) is connected with the push pedal (4), the other end is connected with the servomotor (6), and the push pedal (4) moves reciprocatingly under the drive of the leading screw (5) on the direction parallel with parallel opposite side.The disclosure uses motor-driven clamp structure, not only realizes that volume is ultra-thin, and ensure that jig arm clamps the intensity of tire, realizes accurate driving in place, motion is flexible, workable.
Description
Technical field
This disclosure relates to a kind of vehicle storage technical field, more particularly to a kind of vehicle tyre clamping device and automatic transporting
Device.
Background technology
It is to generally believe to solve the problems, such as parking difficulty effective way at present using mechanical carport, carrier is some intelligence
Main composition part inside property garage parking.The mode of transport of current automobile includes board-like carrier vehicle, comb-tooth-type, three kinds of masters of wheel holding formula
The form wanted, wheel holding formula is a kind of adaptability most strong mode of transport, with widest application prospect.But existing wheel holding
The carrier of formula is ultra-thin in order to realize, the solution of most of producer be using hydraulic cylinder as power unit, can compared with
The thickness of carrier is reduced under small volume, but the volume of hydraulic pump does that small difficulty is larger and cost is also higher, and protect
The sealing for demonstrate,proving hydraulic system is also relatively difficult, while the grip strength of jig arm can also be reduced a lot, how to ensure jig arm folder
It is a current difficulties that extra-thin intelligent carrier is realized on the premise of holding intensity.
The content of the invention
The purpose of the disclosure is to provide a kind of vehicle tyre clamping device, ensure that jig arm clamps the intensity of tire.
To achieve these goals, the disclosure provides a kind of vehicle tyre clamping device, including body frame, slideway, folder
Arm, push pedal, leading screw, servomotor；
One group of opposite side of the body frame is parallel to each other, and the slideway is separately positioned on the outside of the parallel opposite side,
Wherein side includes the first slideway, and opposite side includes the second slideway, and first slideway is with the second slideway on parallel opposite side
Center line is symmetrical；The jig arm includes the first jig arm and the second jig arm being connected with first slideway, and is connected with the second slideway
The 3rd jig arm and the 4th jig arm, one end of the jig arm is slidably connected with the slideway, and the other end is free end；
The push pedal includes the first push pedal and the second push pedal, the two ends of first push pedal respectively with first jig arm and
3rd jig arm is connected, and the two ends of second push pedal are connected with second jig arm and the 4th jig arm respectively；The servomotor
Including the first servomotor and the second servomotor, the screw mandrel includes the first leading screw and the second leading screw, first screw mandrel
One end is connected with first push pedal, and the other end is connected with first servomotor, one end of second screw mandrel with it is described
Second push pedal is connected, and the other end is connected with second servomotor, the push pedal under the drive of the leading screw with it is parallel
Opposite side moves reciprocatingly on parallel direction.
Optionally, two tracks are arranged with each slideway, the track is by parallel right parallel to body frame
The straight line portion on side with connect integral groove to the round and smooth excessive semi-circular portions in inner side and constitute；Wherein, two grooves
Straight line portion close to line of symmetry.
Optionally, one end of the jig arm is slidably connected by the first roller with the track on the slideway.
Optionally, the beeline between two fluted body tracks of the slideway is less than the first preset value.
Optionally, the push pedal is connected with the jig arm by the second roller.
Optionally, the jig arm is provided with disk roller, and the disk roller is touched with ground.
Optionally, end of the disk roller located at the free end of the jig arm.
Optionally, the side that the jig arm is contacted with vehicle tyre is provided with roller.
Optionally, the slideway is bolted in the body frame.
In the vehicle tyre clamping device of the disclosure, by using capacitances to supply power mode, tied using motor-driven clamping
Structure, not only realizes that volume is ultra-thin, and ensure that jig arm clamps the intensity of tire, realizes accurate driving in place, motion spirit
It is living, it is workable.
The disclosure also provides a kind of automatic transporting device, including two identical handling unit, and each handling unit is equal
Including tire clamping device, sensor, guiding mechanism, electric-control system, electric capacity, automatic charge device, radio communication device；
The tire clamping device is above-described vehicle tyre clamping device；
The radio communication device is used to receive vehicle conveying order, and the order is passed into the electric-control system,
The electric-control system controls the sensor, the servomotor, the guiding mechanism to work according to the order；
The sensor is arranged on the centre position of two track of the body frame per side, for detecting that wheel hides
The location of described handling unit information transmission when starting to block simultaneously is given the electric-control system by gear situation；
The electric-control system is connected with the sensor, starts to block described for receiving the wheel of the sensor passes
The location of described handling unit information during sensor；Meanwhile, the electric-control system is connected with the servomotor, described to watch
The operating range that motor is used to feed back the handling unit is taken, and according to the positional information and the operating range, controls institute
State jig arm clamping vehicle tyre；
The guiding mechanism is used for the vehicle conveying order for receiving the electric-control system transmission, and according in the order
The operation of the vehicle conveying position navigation handling unit；
The automatic charge device is used to give electric capacity charging；The electric capacity is used for the handling unit and provides power.
Optionally, the sensor is ultrasonic sensor.
Optionally, the upper surface of the handling unit is provided with upper cover plate.
Optionally, the electric capacity is super capacitor.
Optionally, the guiding mechanism is arranged on the bottom of the handling unit.
Optionally, the bottom of the handling unit is provided with driving wheel.
Optionally, the width of the handling unit is less than second predetermined value, highly less than third predetermined value.
Other feature and advantage of the disclosure will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute a part for specification, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute limitation of this disclosure.In the accompanying drawings：
Fig. 1 is a kind of structural representation of the vehicle tyre clamping device of embodiment according to the disclosure；
Fig. 2 is a kind of structural representation of the slideway of embodiment according to the disclosure；
Fig. 3 is a kind of structural representation of the jig arm of embodiment according to the disclosure；
Fig. 4 is to move schematic diagram according to a kind of jig arm of embodiment of the disclosure；
Fig. 5 is a kind of structured flowchart of the handling system of embodiment according to the disclosure；
Fig. 6 is a kind of structural representation of the handling system of embodiment according to the disclosure；
Fig. 7 is a kind of structural representation of the handling system of embodiment according to the disclosure；
Fig. 8 is to be oriented to schematic diagram according to a kind of handling system of embodiment of the disclosure；
Fig. 9 is a kind of vehicle conveying schematic diagram of embodiment according to the disclosure；
Figure 10 is a kind of vehicle conveying schematic diagram of embodiment according to the disclosure；
Figure 11 is a kind of vehicle conveying schematic diagram of embodiment according to the disclosure；
Figure 12 is a kind of charging schematic diagram of the handling system of embodiment according to the disclosure；
Description of reference numerals
The push pedal of 1 body frame, 2 slideway, 3 jig arm 4
The track of 5 leading screw, 6 servomotor, 7 sensor 8
The roller of 9 first 10 second roller of roller, 11 disk roller 12
The cover plate 16 of 13 sensor, 14 guiding mechanism 15 lifts contact
17 electric capacity
Embodiment
It is described in detail below in conjunction with accompanying drawing embodiment of this disclosure.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
As shown in Figures 1 to 4, according to an aspect of this disclosure, there is provided a kind of vehicle tyre clamping device, the vehicle wheel
Tire clamping device is used to clamp the tire of vehicle and is lifted away from ground.Vehicle tyre clamping device includes body frame 1, slideway
2nd, jig arm 3, push pedal 4, leading screw 5 and servomotor 6；One group of opposite side of the body frame 1 is parallel to each other, and the slideway 2 is distinguished
The outside of the parallel opposite side is arranged on, wherein side includes the first slideway, and opposite side includes the second slideway, first slideway
It is symmetrical on the center line of parallel opposite side with the second slideway；The jig arm 3 include the first jig arm for being connected with first slideway and
Second jig arm, and the 3rd jig arm and the 4th jig arm being connected with the second slideway, one end of the jig arm 3 is slided with the slideway 2
Connection, the other end is free end；
The push pedal 4 includes the first push pedal and the second push pedal, the two ends of first push pedal respectively with first jig arm
With the connection of the 3rd jig arm, the two ends of second push pedal are connected with second jig arm and the 4th jig arm respectively；The servo electricity
Machine 6 includes the first servomotor and the second servomotor, and the screw mandrel 5 includes the first leading screw and the second leading screw, described first
One end of bar is connected with first push pedal, and the other end is connected with first servomotor, one end of second screw mandrel with
Second push pedal connection, the other end is connected with second servomotor, the push pedal 4 under the drive of the leading screw 5
Moved reciprocatingly on the direction parallel with parallel opposite side, so as to drive jig arm 4 to do same movement.
It should be noted that body frame 1 can be one group of opposite side quadrangle parallel to each other, by four skirts
The space that the space come is referred to as outside inner side, quadrangle is referred to as outside；First slideway is with the second slideway on parallel right
The center line on side is symmetrical, and the center line is located between one group of parallel opposite side, hanging down parallel to the parallel opposite side and to the parallel opposite side
Directly apart from equal.
As a preferred embodiment, the slideway 2 can be bolted in the body frame 1, just
In installing/dismounting；It is fixed it is of course also possible to the mode such as such as weld with other, the present embodiment is not limited specifically.
Two tracks 8 are arranged with each slideway 2 of the disclosure, the track 8 is by parallel right parallel to body frame 1
The straight line portion on side with connect integral groove to the round and smooth excessive semi-circular portions in inner side and constitute；Wherein, two grooves
Straight line portion close to center line.
One end of the jig arm 3 of the disclosure is slidably connected by the first roller 9 with the track 8 on the slideway 2；Because
Jig arm 3 is to be used to clamp vehicle tyre and vehicle is lifted away from into ground, therefore in order to increase bonding strength, each jig arm 3 can lead to
The first two or more rollers 9 are crossed to be slidably connected with the track 8.
It is emphasized that the beeline between two fluted body tracks 8 of the slideway 2 is less than the first preset value,
It is, the distance between end points of two straight line portion grooves of close center line is less than certain preset value, otherwise, can
When can work as two jig arm 3 to intermediary movements to groove endpoints, jig arm 3 also not in contact with to vehicle tyre, also can not just be formed to it
Clamping；This preset value can integrate determination apart from the height on ground and the diameter of tire according to jig arm.
It should be noted that the center line can be understood as the line between two slideway central points, two fluted bodies
Track 8 is symmetrical arranged positioned at the both sides of center line and on center line respectively, and the straight line portion of each groove is close to center line, and half
Circular portion is away from center line；So, when four jig arm 3 respectively in respective track 8 simultaneously to middle slip when, per side
Two jig arm 3 can clamp a vehicle tyre, when four jig arm 3 are slided in respective track 8 to both sides respectively simultaneously,
Two jig arm 3 per side are first separated along the straight line portion of groove to both sides, and the semi-circular portion then along groove does circumference
Motion, until the folding and unfolding of jig arm 3 is untill the parallel opposite side parallel to body frame 1；Vice versa.
The push pedal 4 of the disclosure is connected with jig arm 3 by the second roller 10, specifically, and second roller 10 is arranged on folder
One end that arm 3 is connected with track 8.
In an embodiment of the present embodiment, disk roller 11, the disk roller 11 and ground can be provided with the jig arm 3
It is in contact；Preferably, end of the disk roller 11 located at the free end of the jig arm 3；Make a concerted effort to lift vehicle in two jig arm 3
When, disk roller 11 can carry the 8 of clamped vehicle with auxiliary slide channel 2, it is to avoid jig arm 3 is born excessive load and damaged.
In the another embodiment of the present embodiment, the side that the jig arm 3 is contacted with vehicle tyre is provided with roller 12,
Can reduce with the frictional force in vehicle tyre contact process, protect tire not to be scratched.
The vehicle tyre clamping device of the disclosure, using motor drive mode, jig arm is driven by screw mandrel and realized automatic
Flexible, grip strength is big, and control stabilization is accurate and does not deposit the Leakage of hydraulic-driven, and build is ultra-thin (to be handled upside down vehicle wheel
80mm or so above plane where tire), it can be directly entered and be handled upside down lower vehicle, it is to avoid carrier scratching vehicle chassis.
According to another aspect of the present disclosure, there is provided a kind of vehicle carrier, as illustrated in figs. 5-7, the vehicle conveying system
Including two identical handling unit, each handling unit includes tire clamping device, sensor 13, guiding mechanism
14th, electric-control system, electric capacity 17, automatic charge device, radio communication device；
The tire clamping device is above-described vehicle tyre clamping device；
The radio communication device is used to receive vehicle conveying order, and the order is passed into the electric-control system,
The electric-control system controls the sensor 13, the servomotor 6, the guiding mechanism 14 to work according to the order；
The sensor 13 is arranged on the centre position of two track 8 of the body frame 1 per side, for detecting car
Take turns circumstance of occlusion and by the location of described handling unit information transmission when starting to block to the electric-control system；
The electric-control system is connected with the sensor 13, starts to block for receiving the wheel that the sensor 13 is transmitted
The location of described handling unit information during the sensor 13；Meanwhile, the electric-control system connects with the servomotor 6
Connect, the servomotor 6 is used to feeding back the operating range of the handling unit, and according to the positional information and the traveling away from
From the control clamping of jig arm 3 vehicle tyre；
The guiding mechanism 14 is used for the vehicle conveying order for receiving the electric-control system transmission, and according in the order
Vehicle conveying position navigate the operation of the handling unit；
The automatic charge device is used to charge to the electric capacity 17；The electric capacity 17 is used for the handling unit and provides dynamic
Power, equivalent to the effect of battery；Preferably, the electric capacity is super capacitor, and charging rate is fast.
Preferably, the sensor 13 can be ultrasonic sensor, so that positioning is more accurate.
Further, the width of the handling unit is less than second predetermined value, highly less than third predetermined value；Here,
The second predetermined value can refer to the wheelspan of vehicle tyre, and the third predetermined value can refer to the height of vehicle chassis, so as to
Complete to carry to realize that carrier is pierced under car.
The operation principle of the disclosure is：After carrying command passes to electric-control system by wireless communication system, automatically controlled system
System control carrier drives into vehicle bottom, and when wheel starts to block sensor, electric-control system records the position of carrier, passes through
Servomotor position feedback function, when carrier continue to move forward half of wheel apart from when, carrier starts to accommodate wheel, from
And realize the automatic positioning function of wheel；When vehicle is lifted away from ground, and sensor is not blocked completely, electric control system controls
Carrier starts walking, and the carrying of vehicle is realized in the presence of guiding mechanism.
As a kind of embodiment, as shown in fig. 6-7, the upper surface of the handling unit is provided with upper cover plate 15,
To protect various components inside；Also, the bottom of the handling unit is provided with driving wheel, under the driving of servomotor 6
Voluntarily walk, so as to realize the automatic transporting of vehicle.
As another embodiment, as shown in figure 8, the guiding mechanism 14 may be provided at the handling unit
Bottom and less than handling unit bottom surface, specifically, can be provided with guide groove 18, guiding mechanism 14 on the walking road surface of carrier
Stretch into guide groove, fixed with the direction for ensureing carrier walking process.
It should be noted that on the shuttle in planar movement storehouse, on the piler in tunnel stacking storehouse, in vertical lift
On the lift in storehouse and on the rotating disk of circular tower storehouse, charge position is respectively arranged with, can all be passed through when carrier is carried every time
Charge position, and being resident several seconds, the charging process of super capacitor is completed in this residence time, it is ensured that carrier is held
Reforwarding row；For example, garage parking includes bicycle parking position, gateway and transfer mechanism, transfer mechanism be used for gateway and parking stall it
Between vehicle transhipment, lifting contact 16 be placed on transfer mechanism；As shown in figure 12, after carrier drives into charge position,
Lifting contact 16 rises, and is docked with the automatic charge device of handling unit, so as to realize the charging process of electric capacity 17；Charging terminates
Afterwards, lifting contact 16 is fallen, and carrier can continue to operation.
As a kind of example, the charging process in handling process specifically can be as follows：
1st, original state, carrier is parked on transfer mechanism, completes charging process；
2nd, vehicle drives into gateway；
3rd, carrier is driven under vehicle, is carried to transfer mechanism；
4th, transfer mechanism can walk along direction shown in arrow, by vehicles drive to some bicycle parking position position；
5th, automobile is sent into bicycle parking position by carrier；
6th, carrier returns to transfer mechanism；
7th, carrier charges, while transfer mechanism moves to the operating position of next bicycle parking or pick-up；
8th, after charging terminates, next handling process is started.
The vehicle carrier of the disclosure is a kind of intelligent carrier, as shown in figs. 9-11, is supplied as a result of super capacitor
Electricity, it is to avoid hydraulic pump volume is big and can not realize ultra-thin volume, and the vehicle carrier thickness of the disclosure can realize 80-90mm,
Vehicle bottom can directly be pierced and realize carrying；Meanwhile, the vehicle carrier of the disclosure carries out motion control by radio communication,
Often set carrier includes independent in two structures, the handling unit cooperateed with motion, the motion of carrier using servomotor and
Intelligence sensor is accurately controlled, it is achieved thereby that wireless type carrier, improves the vehicle scope of carrier adaptation, and can
Applied to a variety of storehouse types such as planar movement, tunnel stacking, vertical lift, circular tower storehouse, and can in the different interlayer flexible dispatching in garage,
Improve the redundancy and reliability of system architecture.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out with technical scheme of this disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of vehicle tyre clamping device, it is characterised in that the clamping device includes body frame (1), slideway (2), folder
Arm (3), push pedal (4), leading screw (5), servomotor (6)；
One group of opposite side of the body frame (1) is parallel to each other, and the slideway (2) is separately positioned on the outer of the parallel opposite side
Side, wherein side include the first slideway, and opposite side includes the second slideway, and first slideway is with the second slideway on parallel opposite side
Center line it is symmetrical；The jig arm (3) includes the first jig arm and the second jig arm that are connected with first slideway, and with the second slideway
The 3rd jig arm and the 4th jig arm of connection, one end and the slideway (2) of the jig arm (3) are slidably connected, and the other end is freely
End；
The push pedal (4) includes the first push pedal and the second push pedal, the two ends of first push pedal respectively with first jig arm and
3rd jig arm is connected, and the two ends of second push pedal are connected with second jig arm and the 4th jig arm respectively；The servomotor
(6) the first servomotor and the second servomotor are included, the leading screw (5) includes the first leading screw and the second leading screw, described first
One end of screw mandrel is connected with first push pedal, and the other end is connected with first servomotor, one end of second screw mandrel
It is connected with second push pedal, the other end is connected with second servomotor, band of the push pedal (4) in the leading screw (5)
Moved reciprocatingly under dynamic on the direction parallel with parallel opposite side.
2. vehicle tyre clamping device according to claim 1, it is characterised in that symmetrically set on each slideway (2)
There are two tracks (8), the track (8) is from the straight line portion parallel to the parallel opposite side of body frame (1) and to the round and smooth mistake in inner side
The semi-circular portions of degree connect integral groove composition；Wherein, the straight line portion of two grooves is close to line of symmetry.
3. vehicle tyre clamping device according to claim 2, it is characterised in that one end of the jig arm (3) passes through
One roller (9) is slidably connected with the track (8) on the slideway (2).
4. vehicle tyre clamping device according to claim 2, it is characterised in that two fluted bodies of the slideway (2)
Beeline between track (8) is less than the first preset value.
5. vehicle tyre clamping device according to claim 1, it is characterised in that the push pedal (4) and the jig arm (3)
Connected by the second roller (10)；The jig arm (3) is provided with disk roller (11), and the disk roller (11) is touched with ground.
6. vehicle tyre clamping device according to claim 5, it is characterised in that the disk roller (11) is located at the jig arm
(3) end of free end；The side that the jig arm (3) contacts with vehicle tyre is provided with roller (12).
7. a kind of vehicle carrier, it is characterised in that including two identical handling unit, each handling unit includes
Tire clamping device, sensor (13), guiding mechanism (14), electric-control system, electric capacity, automatic charge device, radio communication device；
The tire clamping device is the vehicle tyre clamping device described in claim any one of 1-6；
The radio communication device is used to receive vehicle conveying order, and the order is passed into the electric-control system, described
Electric-control system controls the sensor (13), the servomotor (6), the guiding mechanism (14) to work according to the order；
The sensor (13) is arranged on the centre position of two track (8) of the body frame (1) per side, for detecting wheel
The location of described handling unit information transmission when starting to block simultaneously is given the electric-control system by circumstance of occlusion；
The electric-control system is connected with the sensor (13), and the wheel for receiving the sensor (13) transmission starts to block
The location of described handling unit information during sensor (13)；Meanwhile, the electric-control system and the servomotor (6)
Connection, the servomotor (6) is used for the operating range for feeding back the handling unit, and according to the positional information and the row
Distance is sailed, jig arm (3) the clamping vehicle tyre is controlled；
The guiding mechanism (14) is used for the vehicle conveying order for receiving the electric-control system transmission, and according in the order
Vehicle conveying position navigate the operation of the handling unit；
The automatic charge device is used to give electric capacity charging；The electric capacity is used for the handling unit and provides power.
8. vehicle carrier according to claim 7, it is characterised in that the width of the handling unit is less than second and made a reservation for
Value, highly less than third predetermined value.
9. vehicle carrier according to claim 7, it is characterised in that the upper surface of the handling unit is provided with lid
Plate (15)；Bottom is provided with driving wheel；The guiding mechanism (14) is arranged on the bottom of the handling unit.
10. vehicle carrier according to claim 7, it is characterised in that the sensor (13) is ultrasonic sensor；
The electric capacity is super capacitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621463936.9U CN206346543U (en) | 2016-12-27 | 2016-12-27 | A kind of vehicle tyre clamping device and automatic transporting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621463936.9U CN206346543U (en) | 2016-12-27 | 2016-12-27 | A kind of vehicle tyre clamping device and automatic transporting device |
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| CN206346543U true CN206346543U (en) | 2017-07-21 |
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| CN201621463936.9U Active CN206346543U (en) | 2016-12-27 | 2016-12-27 | A kind of vehicle tyre clamping device and automatic transporting device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106760776A (en) * | 2016-12-27 | 2017-05-31 | 沈阳通用机器人技术股份有限公司 | Vehicle tyre clamping device and automatic transporting device |
| CN109681015A (en) * | 2019-01-16 | 2019-04-26 | 深圳怡丰机器人科技有限公司 | Control method, carrier and the device with store function of carrier |
| CN110254343A (en) * | 2019-05-16 | 2019-09-20 | 盐城品迅智能科技服务有限公司 | A kind of intelligent carrier and method for carrying with automatic charging function |
| CN110374380A (en) * | 2019-07-29 | 2019-10-25 | 佛山市诺行科技有限公司 | A kind of outside folder tire cooperation roller structure of AGV |
| CN111619525A (en) * | 2019-02-27 | 2020-09-04 | 本田技研工业株式会社 | Vehicle transport device |
| CN111762080A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Telescopic clamping device and AGV thereof |
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2016
- 2016-12-27 CN CN201621463936.9U patent/CN206346543U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106760776A (en) * | 2016-12-27 | 2017-05-31 | 沈阳通用机器人技术股份有限公司 | Vehicle tyre clamping device and automatic transporting device |
| CN109681015A (en) * | 2019-01-16 | 2019-04-26 | 深圳怡丰机器人科技有限公司 | Control method, carrier and the device with store function of carrier |
| CN111619525A (en) * | 2019-02-27 | 2020-09-04 | 本田技研工业株式会社 | Vehicle transport device |
| CN111762080A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Telescopic clamping device and AGV thereof |
| CN111762080B (en) * | 2019-04-02 | 2023-10-27 | 广东远能机器人有限公司 | Telescopic clamping device and AGV thereof |
| CN110254343A (en) * | 2019-05-16 | 2019-09-20 | 盐城品迅智能科技服务有限公司 | A kind of intelligent carrier and method for carrying with automatic charging function |
| CN110374380A (en) * | 2019-07-29 | 2019-10-25 | 佛山市诺行科技有限公司 | A kind of outside folder tire cooperation roller structure of AGV |
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