CN206368570U - A kind of AGV transfer robots - Google Patents

A kind of AGV transfer robots Download PDF

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Publication number
CN206368570U
CN206368570U CN201621446472.0U CN201621446472U CN206368570U CN 206368570 U CN206368570 U CN 206368570U CN 201621446472 U CN201621446472 U CN 201621446472U CN 206368570 U CN206368570 U CN 206368570U
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CN
China
Prior art keywords
chassis
transfer robots
manipulator
panoramic table
agv transfer
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CN201621446472.0U
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Chinese (zh)
Inventor
戴岳芳
施晓玲
许宏峰
周洋
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Hangzhou Xizi Intelligent Parking Ltd By Share Ltd
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Hangzhou Xizi Intelligent Parking Ltd By Share Ltd
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Abstract

The utility model discloses a kind of AGV transfer robots, chassis including automatically walk, panoramic table is provided with by rotating shaft on the chassis, top surface on chassis is provided with the rotary rail arranged around the rotating shaft, the bottom surface of panoramic table is provided with the back-up roller wheel walked along rotary rail, and the panoramic table is provided with manipulator and drive mechanism corresponding with manipulator.The drive gear that the chassis is linked provided with rotary drive motor and with rotary drive motor, the external toothing arranged around panoramic table rotating shaft, the drive gear and external toothing engaged transmission are provided with the bottom surface of panoramic table.The AGV transfer robots that the utility model is provided, the crawl of vehicle is completed by manipulator, and realizes the motion of vehicle planar a variety of dimensions simultaneously, can solve the problem that the problem of Transport Vehicle is difficult in irregular form multi-storied garage.

Description

A kind of AGV transfer robots
Technical field
The utility model is related to multi-storied garage technical field, and in particular to a kind of AGV transfer robots.
Background technology
With increasing year by year for vehicle, supply falls short of demand for city parking position, and parking difficulty of going out has become a disaster of life Topic, the common multi-storied garage of in the market mainly includes horizontal mobile, and vertical lift type, nine major classes such as Simple lifting are compared For before traditional ground parking and civil engineering parking building, with significantly improving, but in face of past old residential area, to set up New parking lot, it is limited to face space, the factor such as place is irregular, and it is still a problem to cause to increase parking stall quantity.
The working method of multi-storied garage AGV transfer robots is:Automobile parking passes through lifting on the vehicle-carrying plate of gateway Vehicle-carrying plate is docked to AGV parking tiers by machine, then the vehicle-carrying plate for being loaded with vehicle is transported into specified location by the AGV dollies of this layer, Complete the bicycle parking process of vehicle.Compared to adopt before want railway transport vehicle multi-storied garage for, due to using wireless signal pass Pass, it is to avoid the use of track and cable, improve security performance, reduce power consumption, improve the work effect of multi-storied garage Rate.
In the prior art, the access of vehicle is completed using AGV transfer robots, the landform of complexity is can adapt to, but AGV is removed The mode for transporting robot transport vehicle is more single, it is impossible to meet the transhipment demand in complex space.
Utility model content
The utility model provides a kind of AGV transfer robots, and the crawl of vehicle is completed by manipulator, and realizes simultaneously The motion of vehicle planar a variety of dimensions, can solve the problem that the problem of Transport Vehicle is difficult in irregular form multi-storied garage.
A kind of AGV transfer robots, include being provided with panoramic table by rotating shaft on the chassis of automatically walk, the chassis, Top surface on chassis is provided with the rotary rail arranged around the rotating shaft, and the bottom surface of panoramic table is provided with the support walked along rotary rail Roller, the panoramic table is provided with manipulator and drive mechanism corresponding with manipulator.
Described AGV transfer robots complete the crawl of vehicle using manipulator, are revolved by back-up roller wheel around rotary rail Turn, complete the rotation process of vehicle, vehicle is entered panoramic table from multiple directions, then by the rotation of panoramic table, make Vehicle moves to the top on chassis.
The manipulator and chassis are two independent mechanisms, in maintenance and maintenance, can be quickly found out problem, are improved Operating efficiency.
The power supply mode of AGV transfer robots can use battery or rechargeable battery, and rechargeable battery can be carried Automatic charging pattern, when electricity is reduced to critical value, AGV transfer robots can voluntarily complete charging, extend endurance.Electricity Tankage need to select larger, be advisable with least completing 6~7 continuous throughout the twenty-four hour24s, to meet the normal work of multi-storied garage.
The AGV transfer robots that the utility model is provided are simple in construction, disclosure satisfy that the carrying of complex condition vehicle is appointed Business, operating efficiency is high, and Transport Vehicle is convenient.
Preferably, the drive gear that the chassis is linked provided with rotary drive motor and with rotary drive motor, The external toothing arranged around panoramic table rotating shaft, the drive gear and external toothing engaged transmission are provided with the bottom surface of panoramic table.
Rotary drive motor rotates drive gear, and driving gear drives external toothing is rotated, and is driven and turned round by external toothing Platform is rotated.Vehicle can be sailed to panoramic table by multiple directions, and then by the rotation of panoramic table, vehicle is transferred to the bottom of positioned at Above disk.
In order to ensure the even running on chassis, it is preferable that the chassis is provided with being engaged on the inside of the external toothing Bearing.
Preferably, the manipulator is two, two coaxial wheels of each manipulator correspondence automobile.
Each manipulator correspondence front-wheel or trailing wheel, when needing access vehicle, two sets of manipulators are used cooperatively, and realize car The movement of position.
Preferably, each manipulator includes two pairs of jig arm, the drive mechanism of each manipulator includes:
The leading screw being rotatably assorted with chassis;
Be arranged on chassis and with the motor of the lead screw linkage;
The guide holder coordinated with the threads of lead screw;
It is connected to the draw bar between guide holder and each jig arm.
The scanning means of wheelbase detecting function and wheelbase memory function can be realized by being carried in multi-storied garage, when vehicle enters During multi-storied garage, the wheelbase of vehicle is measured by scanning means, and the wheelbase information transmission of vehicle is made and front-wheel to manipulator The wheelbase of the distance between corresponding manipulator and manipulator corresponding with trailing wheel and vehicle is adapted.
After the position adjustment of two manipulators is finished, manipulator enters below vehicle chassis, and manipulator movement front-wheel is with after The mode of wheel is identical, by taking manipulator movement front-wheel as an example, and motor driving leading screw is rotated, and makes guide holder along guide screw movement, is being oriented to During seat is mobile, drive jig arm to overturn by draw bar, when jig arm is run to it is vertical with initial position when, each pair jig arm pair A front-wheel should be picked up, is then moved as needed, when position needed for vehicle is moved to, guide holder is along leading screw towards opposite Direction is moved, and drives jig arm to overturn to initial position by draw bar simultaneously, and front-wheel departs from jig arm, is placed on panoramic table.
Preferably, the leading screw is horizontally disposed and moving direction of with chassis is vertical, it is opposite that leading screw includes hand of spiral Two sections, the guide holder has two and is respectively fitting into that position is corresponding one section, belongs to a pair of jig arm connection corresponding one together Individual guide holder.
In the rotary course of leading screw, two guide holders are close to each other or are located remotely from each other, and in original state, i.e., do not press from both sides Rise in the state of wheel, two guide holders are closest, when picking up wheel, two guide holder distances are farthest.
The leading screw can be with opposite externally threaded one, or, two sections of the leading screw are detachably connected.Leading screw Junction be provided with shaft coupling, pass through shaft coupling and transmission mechanism and realized with motor and linked.For example, the leading screw and motor Pass through chain drive.
Preferably, the jig arm includes the swing seat being connected by rotating shaft with chassis, and it is relatively fixed with swing seat Wheel niproll, the two ends of the draw bar rotate with guide holder and swing seat is connected respectively.
Draw bar realizes the upset of wheel niproll by driving the swing of swing seat.During in original state, two cars The axis direction for taking turns niproll is parallel with vehicle lengthwise direction, after wheel is picked up, the axis direction of two wheel niprolls It is vertical with vehicle lengthwise direction.
Preferably, the swing seat is L-shaped, the wheel niproll is connected with a wherein support arm for L-shaped swing seat, institute State another support arm that draw bar is connected to L-shaped swing seat.
The AGV transfer robots that the utility model is provided complete the crawl of vehicle by manipulator, it is adaptable to complicated landform The carrying of lower vehicle, good reliability, space limitation is small.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model AGV transfer robots;
Fig. 2 a are the side view (C directions visual angle in Fig. 1) of the utility model AGV transfer robots;
Fig. 2 b are the A portions enlarged drawing in Fig. 2 a;
Fig. 3 is the partial sectional view of the utility model AGV transfer robots;
Fig. 4 is the side view (D directions visual angle in Fig. 1) of the utility model AGV transfer robots;;
The schematic diagram that Fig. 5 is rotated by 90 ° for panoramic table in the utility model AGV transfer robots;
Fig. 6 is the schematic diagram that the utility model is used to access four arm coordinated type manipulators of vehicle;
Partial enlarged drawing when Fig. 7 a are jig arm original state;
Fig. 7 b are partial enlarged drawing when jig arm picks up wheel;
Fig. 8 be in Fig. 6 A-A to sectional view;
Fig. 9 is B-B direction sectional view in Fig. 6.
In figure:1st, wheel niproll;2nd, mounting bracket;3rd, guide rod;4th, crossbeam;5th, transverse reinforced bar;6th, cover plate;7th, longitudinal direction Bracing piece;8th, towing chain device;9th, motor;10th, leading screw;11st, jig arm;12nd, jig arm;13rd, draw bar;14th, guide holder;15th, rotate Motor;16th, external toothing;17th, drive gear;18th, swing arm motor;19th, walking roller;20th, back-up roller wheel;21st, bearing; 22nd, directive wheel;23rd, panoramic table;24th, chassis;25th, rotary rail.
Embodiment
Below in conjunction with the accompanying drawings, the utility model AGV transfer robots are described in detail.
As shown in Figure 1, shown in Figure 5, a kind of AGV transfer robots, include passing through rotating shaft on the chassis 24 of automatically walk, chassis 24 Panoramic table 23 is installed, the top surface on chassis 24 is provided with the rotary rail 25 arranged around the shaft, as shown in Figure 2 a, panoramic table 23 Bottom surface is provided with the back-up roller wheel 20 walked along rotary rail 25, panoramic table 23 and is provided with manipulator and corresponding to manipulator Drive mechanism.
As shown in Figure 2 a, rotary drive motor 15 and the driving linked with rotary drive motor 15 are installed on chassis 24 Gear 17, the external toothing 16 (annular and periphery carries the gear teeth) arranged around the rotating shaft of panoramic table 23 is provided with the bottom surface of panoramic table 23, Drive gear 17 and the engaged transmission of external toothing 16.As shown in Figure 2 b, chassis 24 is provided with what is be engaged with the inner side of external toothing 16 Bearing 21.
Rotary drive motor 15 rotates drive gear 17, and the external toothing 16 engaged with drive gear 17 is rotated, by outer The rotation of gear ring 16 drives panoramic table 23 to rotate.
As shown in figure 1, chassis 24 is generally rectangular shaped, as shown in figure 4, the two ends on chassis 24 set two walking rollers respectively 19, each walking roller 19 uses universal wheel, chassis 24 is moved towards different motion direction.
The different rotary state of panoramic table 23 respectively as shown in Figure 1, shown in Figure 5, in Fig. 1, locate completely by the vehicle on panoramic table 23 In the top of chassis 24, moved to chassis 24 in target location, Fig. 5, panoramic table 23 is rotated by 90 °, with adapt to vehicle from perpendicular to The direction on chassis 24 is driven into, and panoramic table 23 can also be rotated to other any angles, and panoramic table 23 is rotated to a certain angle, can be with Positioned by rotary drive motor 15, it would however also be possible to employ other modes are positioned.
In order to ensure stability that chassis 24 is walked and turned, as shown in Figure 1, Figure 3, the middle part on chassis 24 is provided with Guiding machine Structure, guiding mechanism includes two directive wheels 22, and each directive wheel 22 matches the swing arm motor for having adjustment directive wheel 22 position 18。
The rotating shaft of directive wheel 22 is arranged vertically, when chassis 24 is not moved, and directive wheel 22 is retracted to the lower section of chassis 24, works as chassis During 24 movement, the stretching chassis 24 of directive wheel 22 is adjusted by swing arm motor 18 and accordingly rotated, to adapt to the operation on chassis 24, is carried The stability and reliability of operation of high vehicle.
Surrounding on chassis 24 installs anticollision and touches the hard protection devices such as side, can in the case where mistake occurs in signal data To touch the safety that side ensures AGV transfer robots and carrying vehicle using anticollision, the reliable of AGV transfer robots is improved Property.
As shown in Fig. 1, Fig. 6, manipulator is two, two coaxial wheels of each manipulator correspondence automobile, each machinery Hand picks up the front-wheel or trailing wheel of vehicle, and two manipulator interoperations complete the movement of vehicle.
As shown in Fig. 6, Fig. 7 a, Fig. 7 b, guide rod 3 is provided with along the length direction on chassis, the top of guide rod 3 is provided with cover plate 6, each manipulator is including the mounting bracket 2 being slidably matched with guide rod 3, the jig arm being hinged on mounting bracket 2 and is arranged on peace Shelve the drive mechanism that jig arm upset is driven on 2.Jig arm has two pairs, is symmetrically arranged at the both sides of mounting bracket 2, and vapour is corresponded to respectively Two coaxial wheels of car.
Guide rod 3 has two and is arranged side by side, mounting bracket 2 be frame structure, and with one it is perpendicular with guide rod 3 The pilot hole passed through for two guide rods 3 is opened up on crossbeam 4, crossbeam 4.
Such as Fig. 6, as shown in figure 9, being fixed with the transverse reinforced bar 5 arranged along vehicle lengthwise direction and edge on guide rod 3 The longitudinally reinforced bar 7 of vehicle-width direction arrangement, cover plate 6 is fixed on transverse reinforced bar 5 and longitudinally reinforced bar 7.Laterally strengthen The structural strength of bar 5 and longitudinally reinforced bar 7 except ensureing cover plate 6, can simultaneously serve as the arrangement passage of cable, laterally strengthens The towing chain device 8 for arranging cable is further fixed on bar 5.
As shown in fig. 6, guide rod 3, transverse reinforced bar 5 and longitudinally reinforced bar 7 is completely covered in cover plate 6.The lower section of cover plate 6 has There is accommodation space, accommodation space contains the drive mechanism of manipulator completely, and manipulator is moved under the guiding function of guide rod 3, The drive mechanism of manipulator can be retracted in the accommodation space of the lower section of cover plate 6.
When manipulator does not work, mounting bracket 2 is slid into positioned at the lower section of cover plate 6 along guide rod 3, i.e., hide mounting bracket 2 To cover plate below 6, when manipulator needs holding-wheel with mobile vehicle, mounting bracket 2 is removed by the both sides of cover plate 6, until two The spacing of mounting bracket 2 is adapted with vehicle wheelbase.
Drive mechanism includes:The leading screw 10 that is rotatably assorted with mounting bracket 2, it is fixed on mounting bracket 2 and leading screw 10 links Motor 9 and the screw thread of leading screw 10 guide holder 14 coordinated and the draw bar 13 being connected between guide holder 14 and each jig arm.
As shown in Fig. 6, Fig. 7 a, Fig. 7 b, leading screw 10 is horizontally disposed along the width of vehicle, and leading screw 10 includes hand of spiral Opposite two sections, guide holder 14 has two, and it is corresponding one section that two guide holders 14 are respectively fitting into position, each jig arm connection pair The guide holder 14 answered.
The two ends of leading screw 10 are detachably connected, and middle part is connected by shaft coupling, and realize linkage by chain and motor 9.
As shown in Fig. 6, Fig. 7 a, Fig. 7 b, jig arm includes the swing seat being connected with mounting bracket 2 by rotating shaft, and with swing The wheel niproll 1 that seat is mutually fixed.Swing seat is L-shaped, and wheel niproll 1 is connected with the support arm 11 of L-shaped swing seat, draw bar 13 The support arm 12 of one end and L-shaped swing seat rotate and be connected, the other end of draw bar 13 is connected with the rotation of guide holder 14.
As shown in figure 8, the drive mechanism of manipulator is partly hidden in below parking face, expose the part in parking face only 85mm, reduces the total height of manipulator, adds the adaptability to vehicle.
The process of the utility model carrying vehicle is generally comprised:Signal is received, position, manipulator crawl vehicle, fortune is judged It is defeated, and place, the specific course of work is as follows:
AGV transfer robots, which are received, carries signal, by Laser navigation system, runs to carrying and starts ground, during this period, Safe laser on AGV transfer robots persistently scans the barrier run in journey, when barrier occurs in work-yard, Urgent-stop alarm is sent obstacle signal and gives garage operator by AGV transfer robots.
Run to carrying to start behind ground, vehicle is captured using manipulator, first, the scanning means carried by garage is surveyed The wheelbase of vehicle is obtained, the mounting bracket 2 of two manipulators skids off cover plate 6 along guide rod 3, respectively with the front wheels and rear wheels position of vehicle Corresponding, jig arm does not pick up the original state of wheel as shown in Figure 7a, when manipulator along the length direction of vehicle enters vehicle Below chassis, the driving leading screw 10 of motor 9 is rotated, and two guide holders 14 on same leading screw 10 are located remotely from each other, as shown in Figure 7b, when When the upset of wheel niproll 1 is extremely vertical with vehicle lengthwise direction, picks up vehicle and move, behind position needed for being moved to, motor 9 Driving leading screw 10 is inverted, and two guide holders 14 are close to each other, and the upset of wheel niproll 1 is parallel with vehicle lengthwise direction, returns back to Original state as shown in Figure 7a, vehicle is placed on parking face, and the mounting bracket 2 of manipulator is retracted to the lower section of cover plate 6.
Under narrow space, back-up roller wheel 20 can be driven along rotary rail 25 by being fixed on rotary drive motor 15 Motion, rotates panoramic table 23, vehicle is driven into panoramic table 23 along required direction, then pass through panoramic table 23 Rotation, makes vehicle be moved to the top of chassis 24, as shown in Figure 1.
Manipulator is completed after the crawl process of vehicle, carries out the transport courses of next step, and the laser of dolly is led during this period Boat and safe laser system continuous firing, it is found that when no enough row walks condition, stop at once, protects the safety of vehicle.
When jerk or dead state occurs in vehicle, operator can be manually operated AGV dollies and complete Transport Vehicle mistake Journey, facilitates the maintenance of equipment and fixes a breakdown.
Only just a most preferred embodiment of the present utility model is described in detail the utility model, but it is not intended that right The limitation for the other modes that the utility model is implemented, it is every further to be improved and similar or identical on the basis of the utility model Scheme, it is the claimed scope of the utility model to be accordingly to be regarded as.
The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned reality The mode of applying carries out appropriate change and modification.Therefore, the utility model is not limited to specific implementation disclosed and described above Some modifications and changes of the present utility model should also be as falling into scope of the claims of the present utility model by mode. Although in addition, used some specific terms in this specification, these terms merely for convenience of description, not to this reality With any limitation of new composition.

Claims (9)

1. a kind of AGV transfer robots, include the chassis of automatically walk, it is characterised in that installed on the chassis by rotating shaft There is panoramic table, the top surface on chassis is provided with the rotary rail arranged around the rotating shaft, the bottom surface of panoramic table is provided with along rotary rail The back-up roller wheel of walking, the panoramic table is provided with manipulator and drive mechanism corresponding with manipulator.
2. AGV transfer robots as claimed in claim 1, it is characterised in that the chassis provided with rotary drive motor with And the drive gear linked with rotary drive motor, the external toothing arranged around panoramic table rotating shaft, institute are provided with the bottom surface of panoramic table State drive gear and external toothing engaged transmission.
3. AGV transfer robots as claimed in claim 2, it is characterised in that the chassis is provided with and the external toothing The bearing that inner side is engaged.
4. AGV transfer robots as claimed in claim 1, it is characterised in that the manipulator is two, each manipulator pair Two wheels for answering automobile coaxial.
5. AGV transfer robots as claimed in claim 4, it is characterised in that each manipulator includes two pairs of jig arm, Mei Geji The drive mechanism of tool hand includes:
The leading screw being rotatably assorted with chassis;
Be arranged on chassis and with the motor of the lead screw linkage;
The guide holder coordinated with the threads of lead screw;
It is connected to the draw bar between guide holder and each jig arm.
6. AGV transfer robots as claimed in claim 5, it is characterised in that the leading screw is horizontally disposed and shifting with chassis Dynamic direction is vertical, and leading screw includes opposite two sections of hand of spiral, and the guide holder has two and to be respectively fitting into position corresponding One section, the jig arm for belonging to a pair together connects a corresponding guide holder.
7. AGV transfer robots as claimed in claim 5, it is characterised in that two sections of the leading screw are detachably connected.
8. AGV transfer robots as claimed in claim 5, it is characterised in that the jig arm includes passing through rotating shaft and chassis phase Swing seat even, and with the relatively-stationary wheel niproll of swing seat, the two ends of the draw bar respectively with guide holder and pendulum Dynamic seat rotates connection.
9. AGV transfer robots as claimed in claim 8, it is characterised in that the swing seat is L-shaped, the wheel clamping Roller is connected with a wherein support arm for L-shaped swing seat, and the draw bar is connected to another support arm of L-shaped swing seat.
CN201621446472.0U 2016-12-27 2016-12-27 A kind of AGV transfer robots Active CN206368570U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621446472.0U CN206368570U (en) 2016-12-27 2016-12-27 A kind of AGV transfer robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621446472.0U CN206368570U (en) 2016-12-27 2016-12-27 A kind of AGV transfer robots

Publications (1)

Publication Number Publication Date
CN206368570U true CN206368570U (en) 2017-08-01

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Country Status (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109610910A (en) * 2018-12-27 2019-04-12 沈再阳 Planer-type parking auxiliary AGV
CN110526170A (en) * 2019-09-09 2019-12-03 广东博智林机器人有限公司 A kind of transfer robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109610910A (en) * 2018-12-27 2019-04-12 沈再阳 Planer-type parking auxiliary AGV
CN110526170A (en) * 2019-09-09 2019-12-03 广东博智林机器人有限公司 A kind of transfer robot

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