CN207644358U - A kind of intelligent parking ferry-boat robot - Google Patents
A kind of intelligent parking ferry-boat robot Download PDFInfo
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- CN207644358U CN207644358U CN201721712560.5U CN201721712560U CN207644358U CN 207644358 U CN207644358 U CN 207644358U CN 201721712560 U CN201721712560 U CN 201721712560U CN 207644358 U CN207644358 U CN 207644358U
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Abstract
The utility model discloses a kind of intelligent parking ferry-boat robots, solve the problems, such as that existing parking robot needs mating a large amount of vehicle bearing pallets and stability low.In U-shaped body framework（28）Four angles on be respectively arranged with universal wheel mechanism and elevator wheel mechanism, be both provided with lifting motor retarder system in universal wheel mechanism and elevator wheel mechanism, they synchronize realization to U-shaped body framework（28）Lifting, parking into U-shaped body framework will be stopped and lifted；The driving mechanism of entire vehicle is additionally provided in two elevator wheel mechanisms being diagonally arranged, to realize the mobile delivery to parking；Pass through Laser emission receiver（52）It positions and navigates, and by the driving of elevator wheel mechanism, realize translation and the turning function of equipment.Identifying system with disengaging car room under the control of computer program coordinates automatic running to the position of automobile.The utility model can carry out movement of parking to the vehicle of different dimensions lengths, and jacking capacity is big, be suitable for various intelligent parking garages and use.
Description
Technical field
The present invention relates to a kind of robot, more particularly to it is a kind of used in intelligent parking garage parking vehicle is put
The ferry-boat robot that parks crossed.
Background technology
Intelligent parking robot is a kind of one of the core equipment for novel intelligent parking having just emerged in recent years, is represented
The new developing direction of intelligent three-dimensional garage.Currently, parking robot in the market needs to be equipped with vehicle bearing pallet, driver stops automobile
It is placed on huge vehicle bearing pallet, then, is drilled into the lower section of vehicle bearing pallet by puma arm by robot, lifted and incite somebody to action
It parks and is moved on parking stall, complete shaped automobile access action.This intelligent parking scheme needs to be equipped with a large amount of vehicle bearing pallet,
And entire garage cost is caused greatly to improve, in addition, vehicle bearing pallet needs to occupy certain height, lead to intelligent three-dimensional garage
Floor height become larger, vehicle bearing pallet alsies occupy mass efficient bicycle parking space.In addition, the existing vehicle device that moves is to the vehicle that is moved
Size have certain limitation, cannot be adjusted according to the flexible in size for wanting mobile vehicle vehicle lift arm lifting position
It sets, jacking capacity is poor, and stability is low.
Invention content
The present invention provides a kind of intelligent parking ferry-boat robots, solve existing parking robot and need mating big loading gage
Vehicle pallet, wastes effective bicycle parking space and jacking capacity is poor, the low technical problem of stability.
The present invention is to solve the above technical problem by the following technical programs：
A kind of intelligent parking ferry-boat robot, including U-shaped body framework, are provided in the left open end rear end of U-shaped body framework
Left back universal wheel mechanism is provided with left front elevator wheel mechanism, in U-shaped body framework in the left open end front end of U-shaped body framework
Right blind end rear end is provided with elevator wheel mechanism behind the right side, the universal wheel before the right blind end front end of U-shaped body framework is provided with the right side
The structure of mechanism, left back universal wheel mechanism is identical with the structure of universal wheel mechanism before the right side, the knot of left front elevator wheel mechanism
Structure is identical with the structure of elevator wheel mechanism behind the right side, and rear left double-pendulum arms are respectively arranged on the rear cross beam of U-shaped body framework
Regulating mechanism and rear right single pendulum arm mechanism, be respectively arranged on the front beam of U-shaped body framework front left double-pendulum arms regulating mechanism and
The structure of front right single pendulum arm mechanism, rear left double-pendulum arms regulating mechanism is identical with the structure of front left double-pendulum arms regulating mechanism, after
The structure of right single pendulum arm mechanism is identical with the structure of front right single pendulum arm mechanism, is set respectively on the right vertical beam of U-shaped body framework
It is equipped with Laser emission receiver and electric controller；Electric controller respectively with motor, the left front elevator turbine on left back universal wheel mechanism
Motor, rear left double-pendulum arms regulating mechanism before motor, the right side after motor, the right side on structure in elevator wheel mechanism on universal wheel mechanism
On motor, the motor on front left double-pendulum arms regulating mechanism, on the motor on rear right single pendulum arm mechanism and front right single pendulum arm mechanism
Motor be electrically connected.
Universal wheel is provided in the middle part of the caster bracket of left back universal wheel mechanism, caster bracket is shoulder pole type,
Caster bracket left end is fixedly installed the left feed screw nut of universal wheel, and the right silk of universal wheel is fixedly installed in caster bracket right end
Thick stick nut is provided with the left leading screw of universal wheel in the left feed screw nut of universal wheel, is provided in the right feed screw nut of universal wheel universal
Right leading screw is taken turns, universal wheel lifting motor retarder is connected at the top of the left leading screw of universal wheel, at the top of the left leading screw of universal wheel
It is provided with universal wheel synchronous toothed belt between the top of the right leading screw of universal wheel；Pass through ring flange on the top of the left leading screw of universal wheel
For left roof together with the rear cross beam apical grafting of U-shaped body framework, the top of the right leading screw of universal wheel passes through the right top plate of ring flange and U-shaped vehicle
The rear cross beam apical grafting of body frame is together.
Steering wheel is provided in the middle part of the steering wheel holder of left front elevator wheel mechanism, steering wheel holder is shoulder pole type, in steering wheel
Holder left end is fixedly installed the left feed screw nut of steering wheel, the right feed screw nut of steering wheel is fixedly installed in steering wheel holder right end, in rudder
It takes turns and is provided with the left leading screw of steering wheel in left feed screw nut, the right leading screw of steering wheel is provided in the right feed screw nut of steering wheel, in the left silk of steering wheel
It is connected with steering wheel lifting motor retarder at the top of thick stick, is arranged between the top of the left leading screw of steering wheel and the top of the right leading screw of steering wheel
There is steering wheel synchronous toothed belt；Pass through the front beam top of another ring flange left roof and U-shaped body framework on the top of the left leading screw of steering wheel
It is connected together, the top of the right leading screw of steering wheel is by the right top plate of another ring flange together with the front beam apical grafting of U-shaped body framework；
Steering wheel driving motor and steering wheel steering motor are respectively arranged on steering wheel holder.
Clip wheel tire simple pendulum arm inner end hinge and single pendulum are respectively arranged on the simple pendulum arm supporting rack of rear right single pendulum arm mechanism
Arm driving motor is hinged with simple pendulum arm on the hinge of simple pendulum arm inner end, master is hinged on the output shaft of simple pendulum arm driving motor
Movable pendulum arm is hinged with slave pendulum in the principal and subordinate outer end hinge seat of active swing arm and the single of simple pendulum arm outer end between the hinge seat of outer end
Arm is fixedly installed limited block on the outside of active swing arm on the simple pendulum arm supporting rack on the right side of active swing arm.
It is movably set with double-pendulum arms Mobile mounting rack on the cross rail inner face of U-shaped body framework, moves and installs in double-pendulum arms
It is fixedly installed rack on frame, is fixedly installed the movement driving of double-pendulum arms Mobile mounting rack respectively on the crossbeam of U-shaped body framework
Motor and double-pendulum arms Mobile mounting rack movement driving gear, double-pendulum arms Mobile mounting rack movement driving gear are same by mobile driving
The output shaft that step band moves driving motor with double-pendulum arms Mobile mounting rack links together；On double-pendulum arms Mobile mounting rack respectively
It is provided with double-pendulum arms driving motor speed reducer, double-pendulum arms inner end transmission gear and double-pendulum arms inner end transfer driven gear,
It is provided with driving gear set between double-pendulum arms inner end transmission gear and double-pendulum arms inner end transfer driven gear, in double-pendulum arms
It holds and is connected with the driven clamp arm of double-pendulum arms on the gear shaft of transfer driven gear, in the gear shaft of double-pendulum arms inner end transmission gear
On be connected with double-pendulum arms active clamp arm, double-pendulum arms active swing arm is connected on the output shaft of double-pendulum arms driving motor speed reducer,
In the double-pendulum arms active clamp arm of the double-pendulum arms active swing arm hinge and double-pendulum arms active clamp arm outer end of double-pendulum arms active swing arm outer end
The driven swing arm of double-pendulum arms is hinged between hinge.
The present invention can carry out movement of parking to the vehicle of different dimensions lengths, and jacking capacity is big, and car body stability is good, synchronous
Coordination function is strong, is suitable for various intelligent parking garages and uses.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the present invention and car body fiting relation figure；
Fig. 3 is the structural schematic diagram of the universal wheel mechanism of the present invention；
Fig. 4 is the structural schematic diagram of the elevator wheel mechanism of the present invention；
Fig. 5 is the structural schematic diagram of the single pendulum arm mechanism of the present invention in the on-state；
Fig. 6 is structural schematic diagram of the single pendulum arm mechanism of the present invention under retracted state；
Fig. 7 is the fiting relation figure between the U-shaped body framework 28 and double-pendulum arms Mobile mounting rack 33 of the present invention；
Fig. 8 is the structural schematic diagram of the double-swing-arm mechanism of the present invention.
Specific implementation mode
The present invention is described in detail below in conjunction with the accompanying drawings：
A kind of intelligent parking ferry-boat robot, including U-shaped body framework 28, set in the left open end rear end of U-shaped body framework 28
It is equipped with left back universal wheel mechanism 44, the left open end front end of U-shaped body framework 28 is provided with left front elevator wheel mechanism 45, in U
The right blind end rear end of shape body framework 28 is provided with elevator wheel mechanism 46 behind the right side, in the right blind end front end of U-shaped body framework 28
Be provided with universal wheel mechanism 47 before the right side, the structure of left back universal wheel mechanism 44 and it is right before universal wheel mechanism 47 the complete phase of structure
Together, the structure of left front elevator wheel mechanism 45 is identical with the structure of elevator wheel mechanism 46 behind the right side, in two universal turbines
It is both provided with lifting motor retarder system in structure and two elevator wheel mechanisms, they synchronize realization to U-shaped body framework 28
Lifting, will stop parking into U-shaped body framework 28 and lifts；It is additionally provided in two elevator wheel mechanisms being diagonally arranged entire
The driving mechanism of vehicle, to realize the mobile delivery to parking；It is double that rear left is respectively arranged on the rear cross beam of U-shaped body framework 28
Swing arm modulating mechanism 48 and rear right single pendulum arm mechanism 50, are respectively arranged with front left double-pendulum arms on the front beam of U-shaped body framework 28
Regulating mechanism 49 and front right single pendulum arm mechanism 51, structure and the front left double-pendulum arms regulating mechanism 49 of rear left double-pendulum arms regulating mechanism 48
Structure it is identical, the structure of rear right single pendulum arm mechanism 50 is identical with the structure of front right single pendulum arm mechanism 51, two single pendulums
The inside blind end in U-shaped body framework 28 is arranged in arm mechanism, and front-wheel of parking is praised in realization, and two double-pendulum arms regulating mechanisms can root
Position movement is carried out according to the size parked, to meet the requirement to the wheelbase of different size automobiles；It is vertical on the right side of U-shaped body framework 28
Laser emission receiver 52 and electric controller 53 are respectively arranged on beam；Electric controller 53 respectively with the electricity on left back universal wheel mechanism 44
Before motor, the right side behind machine, the motor in left front elevator wheel mechanism 45, the right side in elevator wheel mechanism 46 on universal wheel mechanism 47
Motor, the motor on rear left double-pendulum arms regulating mechanism 48, the motor on front left double-pendulum arms regulating mechanism 49, rear right single pendulum arm mechanism
The motor on motor and front right single pendulum arm mechanism 51 on 50 is electrically connected, and realizes synchronous lifting and movement, and according to sharp
Light emitting receiver 52 carries out location control.
The middle part of the caster bracket 7 of left back universal wheel mechanism 44 is provided with universal wheel 8, caster bracket 7 is shoulder pole
Shape is fixedly installed the left feed screw nut 5 of universal wheel in 7 left end of caster bracket, ten thousand is fixedly installed in 7 right end of caster bracket
To taking turns right feed screw nut 6, it is provided with the left leading screw 2 of universal wheel in the left feed screw nut of universal wheel 5, in the right feed screw nut of universal wheel 6
In be provided with the right leading screw 3 of universal wheel, universal wheel lifting motor retarder 1 is connected at the top of the left leading screw of universal wheel 2, universal
It takes turns and is provided with universal wheel synchronous toothed belt 4 between the top of left leading screw 2 and the top of the right leading screw of universal wheel 3；In the left silk of universal wheel
The top of thick stick 2 by ring flange left roof together with the rear cross beam apical grafting of U-shaped body framework 28, the top of the right leading screw of universal wheel 3
By the right top plate of ring flange together with the rear cross beam apical grafting of U-shaped body framework 28.
The middle part of the steering wheel holder 15 of left front elevator wheel mechanism 45 is provided with steering wheel 16, steering wheel holder 15 is shoulder pole
Shape is fixedly installed the left feed screw nut 13 of steering wheel in 15 left end of steering wheel holder, steering wheel is fixedly installed in 15 right end of steering wheel holder
Right feed screw nut 14 is provided with the left leading screw 10 of steering wheel in the left feed screw nut of steering wheel 13, is arranged in the right feed screw nut of steering wheel 14
There is the right leading screw 11 of steering wheel, steering wheel lifting motor retarder 9 is connected at the top of the left leading screw of steering wheel 10, in the left leading screw of steering wheel 10
It is provided with steering wheel synchronous toothed belt 12 between top and the top of the right leading screw of steering wheel 11；Pass through on the top of the left leading screw of steering wheel 10 another
For one ring flange left roof together with the front beam apical grafting of U-shaped body framework 28, the top of the right leading screw of steering wheel 11 passes through another flange
The right top plate of disk is together with the front beam apical grafting of U-shaped body framework 28；Steering wheel driving motor is respectively arranged on steering wheel holder 15
17 and steering wheel steering motor 18.
Clip wheel tire simple pendulum arm inner end hinge 21 is respectively arranged on the simple pendulum arm supporting rack 19 of rear right single pendulum arm mechanism 50
With simple pendulum arm driving motor 20, it is hinged with simple pendulum arm 22 on simple pendulum arm inner end hinge 21, in the defeated of simple pendulum arm driving motor 20
Active swing arm 25 is hinged on shaft, in the single from outer end of principal and subordinate outer end hinge seat 26 and 22 outer end of simple pendulum arm of active swing arm 25
It is hinged with driven swing arm 24 between hinge seat 23, master is fixedly installed on the simple pendulum arm supporting rack 19 on the right side of active swing arm 25
Limited block 27 on the outside of movable pendulum arm.
It is movably set with double-pendulum arms Mobile mounting rack 33 on the cross rail inner face of U-shaped body framework 28, is moved in double-pendulum arms
It is fixedly installed rack 32 on mounting bracket 33, is fixedly installed double-pendulum arms movement installation respectively on the crossbeam of U-shaped body framework 28
Frame moves driving motor 30 and double-pendulum arms Mobile mounting rack movement driving gear 29, double-pendulum arms Mobile mounting rack movement driving gear
29 drive synchronous belt 31 and the output shaft of double-pendulum arms Mobile mounting rack movement driving motor 30 to link together by mobile；Double
Double-pendulum arms driving motor speed reducer 34,41 and of double-pendulum arms inner end transmission gear are respectively arranged on swing arm Mobile mounting rack 33
Double-pendulum arms inner end transfer driven gear 43, transmission gear 41 and double-pendulum arms inner end transfer driven gear 43 in double-pendulum arms inner end
Between be provided with driving gear set 42, be connected with double-pendulum arms slave clip on the gear shaft of double-pendulum arms inner end transfer driven gear 43
Arm 40 is connected with double-pendulum arms active clamp arm 38 on the gear shaft of double-pendulum arms inner end transmission gear 41, is driven in double-pendulum arms
Double-pendulum arms active swing arm 35 is connected on the output shaft of motor reducer 34, the double-pendulum arms master in 35 outer end of double-pendulum arms active swing arm
It is driven it to be hinged with double-pendulum arms between the double-pendulum arms active clamp arm hinge 39 of dynamic 38 outer end of swing arm hinge 36 and double-pendulum arms active clamp arm
Swing arm 37.
The present invention is positioned and is navigated by Laser emission receiver 52, and by being lifted behind 45 right side of left front elevator wheel mechanism
Steering wheel mechanism 46 drives, and realizes translation and the turning function of equipment.Under the control of computer program with disengaging car room identification system
Conjunction automatic running under unified central planning to the position of automobile, and by rear left double-pendulum arms regulating mechanism 48, front left double-pendulum arms regulating mechanism 49, after
Right single pendulum arm mechanism 50,51 automatic identification of front right single pendulum arm mechanism alignment automobile tire are lifted, and realize the Transport Vehicle of automobile
Function.
Claims (5)
- The robot 1. a kind of intelligent parking is ferried, including U-shaped body framework（28）, which is characterized in that in U-shaped body framework（28）A left side Open end rear end is provided with left back universal wheel mechanism（44）, in U-shaped body framework（28）Left open end front end be provided with left front liter Steering wheel mechanism drops（45）, in U-shaped body framework（28）Right blind end rear end be provided with elevator wheel mechanism behind the right side（46）, in U-shaped Body framework（28）Right blind end front end be provided with universal wheel mechanism before the right side（47）, left back universal wheel mechanism（44）Structure with it is right Preceding universal wheel mechanism（47）Structure it is identical, left front elevator wheel mechanism（45）Structure with it is right after elevator wheel mechanism （46）Structure it is identical, in U-shaped body framework（28）Rear cross beam on be respectively arranged with rear left double-pendulum arms regulating mechanism（48） With rear right single pendulum arm mechanism（50）, in U-shaped body framework（28）Front beam on be respectively arranged with front left double-pendulum arms regulating mechanism （49）With front right single pendulum arm mechanism（51）, rear left double-pendulum arms regulating mechanism（48）Structure and front left double-pendulum arms regulating mechanism（49） Structure it is identical, rear right single pendulum arm mechanism（50）Structure and front right single pendulum arm mechanism（51）Structure it is identical, in U Shape body framework（28）Right vertical beam on be respectively arranged with Laser emission receiver（52）And electric controller（53）；Electric controller（53）Respectively With left back universal wheel mechanism（44）On motor, left front elevator wheel mechanism（45）On motor, it is right after elevator wheel mechanism （46）On motor, it is right before universal wheel mechanism（47）On motor, rear left double-pendulum arms regulating mechanism（48）On motor, front left it is double Swing arm modulating mechanism（49）On motor, rear right single pendulum arm mechanism（50）On motor and front right single pendulum arm mechanism（51）On electricity Mechatronics are together.
- The robot 2. a kind of intelligent parking according to claim 1 is ferried, which is characterized in that in left back universal wheel mechanism （44）Caster bracket（7）Middle part be provided with universal wheel（8）, caster bracket（7）For shoulder pole type, in caster bracket （7）Left end is fixedly installed the left feed screw nut of universal wheel（5）, in caster bracket（7）Right end is fixedly installed the right silk of universal wheel Thick stick nut（6）, in the left feed screw nut of universal wheel（5）In be provided with the left leading screw of universal wheel（2）, in the right feed screw nut of universal wheel（6） In be provided with the right leading screw of universal wheel（3）, in the left leading screw of universal wheel（2）Top be connected with universal wheel lifting motor retarder（1）, In the left leading screw of universal wheel（2）Top and the right leading screw of universal wheel（3）Top between be provided with universal wheel synchronous toothed belt（4）； In the left leading screw of universal wheel（2）Top pass through ring flange left roof and U-shaped body framework（28）Rear cross beam apical grafting together, it is universal Take turns right leading screw（3）Top pass through the right top plate of ring flange and U-shaped body framework（28）Rear cross beam apical grafting together.
- The robot 3. a kind of intelligent parking according to claim 2 is ferried, which is characterized in that in left front elevator wheel mechanism （45）Steering wheel holder（15）Middle part be provided with steering wheel（16）, steering wheel holder（15）For shoulder pole type, in steering wheel holder（15）It is left End is fixedly installed the left feed screw nut of steering wheel（13）, in steering wheel holder（15）Right end is fixedly installed the right feed screw nut of steering wheel （14）, in the left feed screw nut of steering wheel（13）In be provided with the left leading screw of steering wheel（10）, in the right feed screw nut of steering wheel（14）In be provided with The right leading screw of steering wheel（11）, in the left leading screw of steering wheel（10）Top be connected with steering wheel lifting motor retarder（9）, in the left leading screw of steering wheel （10）Top and the right leading screw of steering wheel（11）Top between be provided with steering wheel synchronous toothed belt（12）；In the left leading screw of steering wheel（10） Top pass through another ring flange left roof and U-shaped body framework（28）Front beam apical grafting together, the right leading screw of steering wheel（11）'s Top passes through the right top plate of another ring flange and U-shaped body framework（28）Front beam apical grafting together；In steering wheel holder（15）Upper point It is not provided with steering wheel driving motor（17）With steering wheel steering motor（18）.
- The robot 4. a kind of intelligent parking according to claim 3 is ferried, which is characterized in that in rear right single pendulum arm mechanism （50）Simple pendulum arm supporting rack（19）On be respectively arranged with clip wheel tire simple pendulum arm inner end hinge（21）With simple pendulum arm driving motor （20）, in simple pendulum arm inner end hinge（21）On be hinged with simple pendulum arm（22）, in simple pendulum arm driving motor（20）Output shaft on cut with scissors It is connected to active swing arm（25）, in active swing arm（25）Principal and subordinate outer end hinge seat（26）With simple pendulum arm（22）Outer end it is single from outer end Hinge seat（23）Between be hinged with driven swing arm（24）, in active swing arm（25）Right side simple pendulum arm supporting rack（19）Upper fixation It is provided with limited block on the outside of active swing arm（27）.
- The robot 5. a kind of intelligent parking according to claim 4 is ferried, which is characterized in that in U-shaped body framework（28）'s Double-pendulum arms Mobile mounting rack is movably set on cross rail inner face（33）, in double-pendulum arms Mobile mounting rack（33）On be fixedly installed Rack（32）, in U-shaped body framework（28）Crossbeam on be fixedly installed respectively double-pendulum arms Mobile mounting rack movement driving motor （30）Driving gear is moved with double-pendulum arms Mobile mounting rack（29）, double-pendulum arms Mobile mounting rack movement driving gear（29）Pass through shifting Dynamic driving synchronous belt（31）Driving motor is moved with double-pendulum arms Mobile mounting rack（30）Output shaft link together；In double-pendulum arms Mobile mounting rack（33）On be respectively arranged with double-pendulum arms driving motor speed reducer（34）, double-pendulum arms inner end transmission gear（41） With double-pendulum arms inner end transfer driven gear（43）, in double-pendulum arms inner end transmission gear（41）With double-pendulum arms inner end driven transmission Gear（43）Between be provided with driving gear set（42）, in double-pendulum arms inner end transfer driven gear（43）Gear shaft on be connected with The driven clamp arm of double-pendulum arms（40）, in double-pendulum arms inner end transmission gear（41）Gear shaft on be connected with double-pendulum arms active clamp arm （38）, in double-pendulum arms driving motor speed reducer（34）Output shaft on be connected with double-pendulum arms active swing arm（35）, in double-pendulum arms master Movable pendulum arm（35）The double-pendulum arms active swing arm hinge of outer end（36）With double-pendulum arms active clamp arm（38）The double-pendulum arms of outer end are actively pressed from both sides Arm hinge（39）Between be hinged with the driven swing arm of double-pendulum arms（37）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721712560.5U CN207644358U (en) | 2017-12-11 | 2017-12-11 | A kind of intelligent parking ferry-boat robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721712560.5U CN207644358U (en) | 2017-12-11 | 2017-12-11 | A kind of intelligent parking ferry-boat robot |
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| Publication Number | Publication Date |
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| CN207644358U true CN207644358U (en) | 2018-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721712560.5U Active CN207644358U (en) | 2017-12-11 | 2017-12-11 | A kind of intelligent parking ferry-boat robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826087A (en) * | 2017-12-11 | 2018-03-23 | 山西东杰智能物流装备股份有限公司 | A kind of intelligent parking ferry-boat robot |
-
2017
- 2017-12-11 CN CN201721712560.5U patent/CN207644358U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826087A (en) * | 2017-12-11 | 2018-03-23 | 山西东杰智能物流装备股份有限公司 | A kind of intelligent parking ferry-boat robot |
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Address after: The New Zealand Jiancaoping District, 030008 Taiyuan Road, Shanxi, No. 51 Patentee after: Dongjie Intelligent Technology Group Co.,Ltd. Address before: The New Zealand Jiancaoping District, 030008 Taiyuan Road, Shanxi, No. 51 Patentee before: SHANXI ORIENTAL MATERIAL HANDLING Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |