CN105604361B - Embrace folder and raise tire integral automobile intelligent carrier - Google Patents
Embrace folder and raise tire integral automobile intelligent carrier Download PDFInfo
- Publication number
- CN105604361B CN105604361B CN201610042484.5A CN201610042484A CN105604361B CN 105604361 B CN105604361 B CN 105604361B CN 201610042484 A CN201610042484 A CN 201610042484A CN 105604361 B CN105604361 B CN 105604361B
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- Prior art keywords
- slide plate
- arm
- line slideway
- chassis
- chute
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Folder is embraced the invention discloses one kind and raises tire integral automobile intelligent carrier.Chassis is provided with walking mechanism, the front end on chassis sets clamping device, rear end sets and raises mechanism, clamping device includes the first slide plate and its drive mechanism for being connected with clamping limb, guide groove plate is fixed on chassis, utilize the interaction and cooperation between " L " the shape guide groove on slide plate and guide groove plate and clamping limb three, clamping limb is forced to do swing and linearly operating under the guiding of " L " shape guide groove the linear motion of slide plate, realize after clamping limb rotary expansion and gathering action, then the parallel wheel holding carrying vehicle of working arm is realized to move along a straight line；Raising mechanism includes being connected with the second slide plate and its drive mechanism that raise arm, and it is similar with clamping arm configuration to raise arm, and rear tyre gradually is raised into picking-up when being moved rearwards by.Clamping limb is without motor, and simple in construction, reliability is high；Opposite parallel promote of clamping limb clamps tire, harmless to vehicle.
Description
Technical field
The present invention relates to a kind of automobile carrier, specifically a kind of clamping wheel suitable for intelligent three-dimensional garage Transport Vehicle
Tire formula automobile carrier, belongs to three-dimensional parking device technical field.
Background technology
With the development and the raising of living standards of the people of auto industry, the popularization of automobile is more and more extensive, and city is per capita
Automobile occupancy volume is continuously increased, and is still increased with annual 20% to 30% speed, is also increasingly protruded the problem of parking of automobile, by
It is limited in the space of urban ground, multi-storied garage is built just into an important method for solving parking difficulty.For solid parking
The vehicle carrier of equipment, mainly there is carrier vehicle template, interdigitated electrode structure and clamping tyre type at present.
Clamping tyre type carrier can be pierced directly below vehicle, pick up vehicle tyre using clamping limb, vehicle is sent
Onto parking stall；Due to it also can direct carrying vehicle, be to compare reason in storage type parking equipment so efficiency high, speed are fast
The carrier thought.By designs, Patent No. such as Wang Jun, pipe tigers as disclosed in State Intellectual Property Office 6 days Mays in 2009
200820094641.8th, the utility model patent of entitled multi-storied garage intelligent carrier, the carrier includes being connected by a connecting rod
Two vehicle bodies connect, set walking mechanism, positioner on an at least vehicle body, and two vehicle bodies are respectively provided to few two ledal-pushing machines
Structure；Rushing board mechanism controls rushing board mechanism movement provided with the controlled motor for controlling its motion and in the presence of the controlled motor
Action control mechanism；Controlled motor is arranged in action control mechanism；Rushing board mechanism include be arranged on two ends rotatable clamping bar,
The motor of the clamping bar and the spinning movement mechanism of clamping bar；Rotatable clamping bar connects its spinning movement mechanism, and motor is set
It is placed in spinning movement mechanism.Because its spinning movement mechanism is made up of leading screw, nut, rack and first gear, in leading screw
One end sets the motor of clamping bar, and motor drives leading screw to rotate, nut linear motion, and leading screw, nut band carry-over bar are transported
Dynamic, rack drives first gear is rotated, and first gear drives clamping bar action.Spinning movement mechanism also includes a second gear, should
Second gear is engaged with the first gear, common to drive clamping bar action.Its shortcoming one is that complicated, transmission is more, and two are
The wider width of rack, is such as constrained, it may appear that rack is swung up and down without guide rail, causes transmission unstable, and increase guide rail then makes knot
Structure is more complicated.In addition, above-mentioned technical proposal needs two vehicle bodies, two vehicle bodies are cascaded by connecting rod, are divided on two vehicle bodies
Rushing board mechanism is not set, the folder of embracing for being each responsible for vehicle front tire and rear tyre is carried.Due to vehicle antero posterior axis to be handled
Away from difference, rear tyre need to first be found accurately by being responsible for the vehicle body of trailing wheel, then be positioned, and Cai Nengshi action controls mechanism drives folder afterwards
Bar is acted, and vehicle is implemented to embrace folder, lifting, the access time is longer, reduces Transport Vehicle efficiency.
For another example State Intellectual Property Office is in designed disclosed in 29 days January in 2014 by Tang Zhenyu, Wang Ping, Xiao Hui, application
Number for 201310450145.7, the application for a patent for invention of entitled multi-storied garage intelligent lifting transport device, the carrier includes containing
At least rebound for having the carrying frame of two longerons and being vertically moved by power set drives edge two longeron, each rebound
A guide holder is separately installed with the downside of two ends, being installed with one in each guide holder outer end away from longeron side clasps vehicle
Tire clasps bar, and the rebound clasps bar along longeron lengthwise movement by driving guide holder to vertically move to drive, described
Rebound is vertically moved with the guide holder the inner for stopping close to longeron side by driving guide holder lifting and revolves its outer end
Turn, bar rotation is clasped in the rotation drive of guide holder outer end.Its shortcoming one is that part is more, complicated；Two be to clasp bar running track
Complexity, and be distributed on multiple parts, difficulty of processing is big, and installation requirement is high；Three are clasped between bar and automobile tire as slip
Friction, can so increase tire wear, reduce Life of Tyre.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art there is provided a kind of simple in construction, easy for installation, cost for part
Low, reliability is high, good integrity, Transport Vehicle efficiency high and vehicle and nondestructive tire are done harm to embrace folder and raise tire monoblock type vapour
Car intelligent carrier.
The technical scheme that is used to achieve the above object of the present invention is：
One kind is embraced folder and raised sets vehicle with walking machine on tire integral automobile intelligent carrier, including a chassis, chassis
Structure, it is characterised in that：The front end on the chassis sets the clamping device for including clamping limb, and rear end, which sets to include, raises arm
Raise mechanism.
In the present invention, described clamping device includes the first slide plate and the first slide plate driving machine being slidably connected on chassis
Structure, described clamping limb is movably connected on the first slide plate；Described raises mechanism includes being slidably connected on chassis second
Slide plate and the second sled drive mechanism, the described arm that raises are movably connected on the second slide plate.
Further, described chassis includes bottom plate and left frame, left frame；
The first described sled drive mechanism includes：
Preceding propulsion electric machine, is installed on bottom plate, the front end positioned at chassis；
Preceding leading screw be positive and negative leading screw, be rotationally connected with bottom plate, front end is connected with preceding propulsion electric machine, the screw thread of its leading portion and
The thread rotary orientation of back segment is opposite；
Front left line slideway, front right line slideway, is installed on bottom plate, respectively positioned at the left and right sides of chassis front end；
The first described slide plate includes：
Left front slide plate, left back slide plate, can be slided along front left line slideway；
Right front slide, right tail skid, can be slided along front right line slideway；
Front slide connecting plate, left front slide plate, right front slide are interconnected, and bottom is connected with and preceding leading screw leading portion
The preceding feed screw nut being meshed；
Tail skid connecting plate, left back slide plate, right tail skid are interconnected, and bottom is connected with and preceding leading screw back segment
The rear feed screw nut being meshed；
Left front slide plate, right front slide, left back slide plate, it is movably connected with described clamping limb on right tail skid；Chassis
It is provided with clamping limb drive device；
The second described sled drive mechanism includes：
Propulsion electric machine, is installed on bottom plate afterwards, the rear end positioned at chassis；
Leading screw, is rotationally connected with bottom plate afterwards, and one end is connected with rear propulsion electric machine；
Rear left line slideway, rear right line slideway, is installed on bottom plate, respectively positioned at the left and right sides of the extreme end of chassis；
The second described slide plate includes：
Left skateboard, can be slided along rear left line slideway；
Right slide plate, can be slided along rear right line slideway；
Slide plate connecting plate, left skateboard, right slide plate is interconnected, bottom is connected with the silk being meshed with rear leading screw
Thick stick nut；
It is movably connected with left skateboard, right slide plate and described raises arm；Chassis is provided with and raises arm drive device.
Further, described clamping limb shape is in " L " square, and one of right-angle side is working arm A, another right angle
Side is leading arm A；Described left front slide plate, right front slide, left back slide plate, it is respectively equipped with hinge A on right tail skid, clamping limb exists
Its working arm A and leading arm A position of intersecting point is hinged with described hinge A；
Described clamping limb drive device includes：
Left to be oriented to short frid, the short frid of right guiding, the left short frid of guiding is fixed between the left frame on chassis and bottom plate, right
Short frid is oriented to be fixed between the left frame on chassis and bottom plate；Left front slide plate, left back slide plate, front left line slideway are led positioned at a left side
To between short frid and bottom plate；Right front slide, right tail skid, front right line slideway are located at right be oriented between short frid and bottom plate；
A pair of corresponding guide grooves are respectively provided with the left short frid of guiding, the short frid of right guiding；
Lead A, is connected to one end of the intersection point away from working arm A and leading arm A on the leading arm A, axis and institute
Hinge A diameter parallel is stated, lead A can be slided along guide groove.
Further, described guide groove is in " L " square, and one of right-angle side is and front left line slideway, preceding
Parallel the first linear chute A of right line slideway, another right-angle side is and front left line slideway, front right line slideway phase
Vertical the second linear chute A, is one section of arc-shaped curve chute A between the first chute A and the second chute A；Left front cunning
Plate, left back slide plate do fore-and-aft direction linear motion in the presence of the preceding propulsion electric machine of clamping device along front left line slideway, right
Front slide, right tail skid do fore-and-aft direction straight line fortune in the presence of the preceding propulsion electric machine of clamping device along front right line slideway
It is dynamic, and then clamping limb is driven while following left front slide plate, right front slide, left back slide plate, right tail skid to do fore-and-aft direction straight line fortune
Dynamic, edge the first chute A, the second chute A and curve chute A are slided.
In the present invention, described raises arm shape in " L " square, and one of right-angle side is working arm B, another right angle
Side is leading arm B；Hinge B is respectively equipped with described left skateboard, right slide plate, friendship of the arm in its working arm B and leading arm B is raised
Point position is hinged with described hinge B；
The described arm drive device that raises includes：
Left guiding long frid, right guiding long frid, left guiding long frid is fixed between the left frame on chassis and bottom plate, right
Long frid is oriented to be fixed between the left frame on chassis and bottom plate；Left skateboard, rear left line slideway be located at it is left guiding long frid with
Between bottom plate；Right slide plate, rear right line slideway are located between right guiding long frid and bottom plate；Left guiding long frid, right guiding are long
Guiding elongated slot is respectively equipped with frid；
Lead B, is connected to one end of the intersection point away from working arm B and leading arm B on the leading arm B, axis and institute
Hinge B diameter parallel is stated, lead B can be slided along elongated slot is oriented to.
Further, described guiding elongated slot be in " L " square, one of right-angle side be with rear left line slideway, after
Parallel the first linear chute B of right line slideway, another right-angle side is and rear left line slideway, rear right line slideway phase
Vertical the second linear chute B, is one section of arc-shaped curve chute B between the first chute B and the second chute B；Left skateboard
Fore-and-aft direction linear motion is done along rear left line slideway in the presence of the rear propulsion electric machine of mechanism is raised, right slide plate is raising machine
Fore-and-aft direction linear motion is done along rear right line slideway in the presence of the rear propulsion electric machine of structure, and then drive raises arm while following
Left skateboard, right slide plate do fore-and-aft direction linear motion, and edge the first chute B, the second chute B and curve chute B are slided.
In the present invention, the position being in contact on the working arm A of the clamping limb with being accessed vehicle is rotatably connected to single
Roller.The working arm A of two clamping limbs before and after tire clamp with unclamp tire during be parallel, and working arm A
It is rolling friction between tire, tire is not almost damaged.
In the present invention, the position being in contact on the working arm B for raising arm with being accessed vehicle tyre is rotatably connected to
Two-row roller.The working arm B of arm is raised when implementing parallel propulsion backward, gradually will wheel by the rolling of two-row roller thereon
Tire is held up, and is rolling friction between working arm B and tire, and tire is not almost damaged.
In order to reduce lead A, lead B in guide groove, the resistance to sliding being oriented in elongated slot, lead of the present invention
Rolling bearing B is respectively arranged with A, lead B.
Beneficial effects of the present invention：
1st, mechanism concentrated setting is raised in an overall intelligence by what is embraced a clamping device for folder vehicle front, raise automobile back wheel
On energy carrier, good integrity is simple in construction, compact；When accessing vehicle, folder automobile is first embraced with the working arm A of clamping device
On the basis of front tyre, at the same time, the working arm B for raising mechanism is quickly extanded rearward to close to trailing wheel, then by rear tyre
Raise liftoff, not only adapt to the vehicle of different wheelbases, be greatly reduced the early-stage preparations time, improve Transport Vehicle efficiency.
2nd, the monoblock type carrier of a vehicle body is changed to by two original vehicle body teamworks, reduce electrical equipment control into
Sheet and control difficulty.
3rd, slide plate and " L " shape guide groove and clamping limb are passed through（Or raise arm）Interaction and cooperation between three,
The linear motion of slide plate forces clamping limb under the guiding of " L " shape guide groove, raises arm and first do swing and do linearly operating again；One is
Working arm A, the rotary expansion for the working arm B for raising arm and the gathering for realizing clamping limb, two be to realize clamping limb to move along a straight line
Working arm A with raise the working arm B of arm to parallel armful of folder of automobile tire or raise；Three be due to the rotation peace of working arm
Row clamps/raised the combination of actions of tire together, not only saves corresponding special motor, and simplify system knot
Structure, reduces the trouble point of intelligent carrier, improves system reliability；
4th, during Transport Vehicle, front and rear two clamping limb or raise arm it is parallel promote embrace folder, raise tire, only have to tire radially
Power, it is harmless to vehicle without other component.
Brief description of the drawings
Fig. 1 is the present invention in clamping limb, the structural representation raised under arm rotation collapsed state.
Fig. 2 is structural representation of the invention.
Fig. 3 is structural representation of the invention（Remove the left short frid of guiding, the short frid of right guiding, left guiding long frid, the right side
It is oriented to after long frid）.
Fig. 4 is the schematic diagram on chassis in the present invention.
Fig. 5 is front slide connecting plate in the present invention and left front slide plate, the connection diagram of right front slide.
Fig. 6 is tail skid connecting plate in the present invention and left back slide plate, the connection diagram of right tail skid.
Fig. 7 is the schematic diagram of clamping limb in the present invention.
Fig. 8 is the left schematic diagram for being oriented to short frid in the present invention.
Fig. 9 is the right schematic diagram for being oriented to short frid in the present invention.
Figure 10 is middle slide plate connecting plate of the present invention and left skateboard, the connection diagram of right slide plate.
Figure 11 is raises the schematic diagram of arm in the present invention.
Figure 12 is the left schematic diagram for being oriented to long frid in the present invention.
Figure 13 is the right schematic diagram for being oriented to long frid in the present invention.
Figure 14 runs to after bottom of car the schematic diagram for being in car state to be accessed for carrier in the present invention.
Figure 15 for the present invention in clamping limb, raise arm expansion and close to automobile tire view.
Figure 16 is carrier clamping limb in the present invention, raise arm implements to embrace folder, raises the schematic diagram of state to vehicle tyre.
Figure 17 gradually spreads out the view in each stage for carrier working arm in embodiment pick-up process.
In figure：Leading screw after 1- chassis, the left guiding long frids of 2-, 3-,
4- raises arm, 41- working arms B, 42- leading arm B, 43- lead B, 44- two-row roller, 45- rolling bearing B,
5- slide plate connecting plates, 6- passive walking wheels,
7- clamping limbs, the single roller of 71- working arms A, 72- leading arm A, 73-lead A, 74-, 75- rolling bearing A,
8- guide grooves, chute A, 83- the curve chute A of the first chutes of 81- A, 82- second,
Leading screw before the left short frids of guiding of 9-, 10-, 11- front slide connecting plates, 12- movable motors, 13- positive transport wheels,
Propulsion electric machine before the right short frids of guiding of 14-, 15- tail skid connecting plates, 16-, the right guiding long frids of 17-,
18- guiding elongated slots, chute B, 183- the curve chute B of the first chutes of 181- B, 182- second,
Propulsion electric machine after 19-, 20- directive wheels, 21- rear left line slideways, 22- left skateboards, the left back slide plates of 23-, 24- front lefts
Line slideway, the left front slide plates of 25-, the right front slides of 26-, 27- front right line slideways, the right tail skids of 28-, the right cunnings of 29- hinges A, 30-
Plate, 31- hinges B, 32- rear right line slideway, 33- bottom plates, 34- frames.
Embodiment
Below by non-limiting embodiment and the present invention is described further with reference to accompanying drawing.
Fig. 1 to Fig. 3 is referred to, as illustrated, the present embodiment, which discloses a kind of embrace, presss from both sides and raise tire integral automobile intelligence
Energy carrier, the carrier includes being provided with walking mechanism and positioner on a chassis 1, chassis 1；Set in walking mechanism
There are 1 movable motor 12,2 positive transport wheels 13 and 4 passive walking wheels 6, chain and then drive 2 are driven by movable motor 12
Individual positive transport wheel 13, walking mechanism drives carrier mass motion by movable motor 12.Chassis 1 is in left frame, left frame
Four corners on chassis are symmetrically distributed in provided with 20,4 directive wheels 20 of directive wheel, rolling guiding along walking track side surfaces carries
Device is moved forward and backward, it is to avoid it is glanced off so that carrier even running.The positioner is used to complete chassis 1 and vehicle
Positioning.Said structure is prior art, is seldom repeated.
The front end on chassis 1 sets the clamping device for including clamping limb, rear end set include raise arm raise mechanism.
Clamping device includes being slidably connected to the One On The Chassis a pair of first slide plates and the first sled drive mechanism, clamping limb 7
It is movably connected on the first slide plate；Raise the second slide plate and the second slide plate driving machine that mechanism includes being slidably connected on chassis
Structure, raises arm 4 and is movably connected on the second slide plate.
Chassis 1 includes bottom plate 33 and the frame 34 of surrounding, and frame 34 is by left frame, left frame, front bezel, rear frame group
Into；
First sled drive mechanism includes：
Preceding propulsion electric machine 16, is installed on bottom plate 33, the front end positioned at chassis 1；
Preceding leading screw 10 is positive and negative leading screw, is rotationally connected with bottom plate 33, front end is connected with preceding propulsion electric machine 16, the spiral shell of leading portion
Line is opposite with the thread rotary orientation of back segment；
Front left line slideway 24, front right line slideway 27 is installed on bottom plate 33, respectively positioned at the left and right of the front end of chassis 1
Both sides；
The first described slide plate includes：
Left front slide plate 25, left back slide plate 23, can be slided along front left line slideway 24；
Right front slide 26, right tail skid 28, can be slided along front right line slideway 27；
Front slide connecting plate 11, left front slide plate 25, right front slide 26 are interconnected, and bottom is connected with and preceding silk
The preceding feed screw nut that the leading portion of thick stick 10 is meshed；
Tail skid connecting plate 15, left back slide plate 23, right tail skid 28 are interconnected, and bottom is connected with and preceding silk
The rear feed screw nut that the back segment of thick stick 10 is meshed；
Left front slide plate 25, right front slide 26, left back slide plate 23, it is movably connected with described clamping on right tail skid 28
Arm 7；Chassis 1 is provided with clamping limb drive device；
Leading screw 10 is rotated before preceding propulsion electric machine 16 drives, and the preceding feed screw nut being meshed with the front end of preceding leading screw 10 does straight line
Motion, drives left front slide plate 25, right front slide 26 to move by front slide connecting plate 11；
Meanwhile, the rear feed screw nut being meshed with the rear end of preceding leading screw 10 moves along a straight line, and passes through tail skid connecting plate 15
Drive left front slide plate 25, the movement of the opposite direction of right front slide 26.
The second described sled drive mechanism includes：
Propulsion electric machine 19, are installed on bottom plate 33 afterwards, the rear end positioned at chassis 1；
Leading screw 3, are rotationally connected with bottom plate 33 afterwards, and one end is connected with rear propulsion electric machine 19；
Rear left line slideway 21, rear right line slideway 32 is installed on bottom plate 33, respectively positioned at the left and right of the rear end of chassis 1
Both sides；
The second described slide plate includes：
Left skateboard 22, can be slided along rear left line slideway 21；
Right slide plate 30, can be slided along rear right line slideway 32；
Slide plate connecting plate 5, left skateboard 22, right slide plate 30 are interconnected, and bottom is connected with mutually nibbles with rear leading screw 3
The feed screw nut of conjunction；
It is movably connected with left skateboard 22, right slide plate 30 and described raises arm 4；Chassis 1 drives provided with arm is raised
Device.
Leading screw 3 is rotated after propulsion electric machine 19 drives afterwards, and feed screw nut does linear motion and drives left cunning by slide plate connecting plate 5
Plate 22, right slide plate 30 are moved.
The shape of clamping limb 7 is in " L " square, and one of right-angle side is working arm A71, and another right-angle side is leading arm
A72；Described left front slide plate 25, right front slide 26, left back slide plate 23, it is respectively equipped with hinge A29, clamping limb on right tail skid 28
It is hinged in its working arm A71 and leading arm A72 position of intersecting point with described hinge A29；
Clamping limb drive device includes：
Left to be oriented to short frid 9, the right short frid 14 of guiding, the left frame on chassis 1 is fixed on a left side for being oriented to short frid 9
On, another side is fixed on bottom plate 33 by support, and the left frame on chassis 1 is fixed on a right side for being oriented to short frid 14
On, another side is fixed on bottom plate 33 by support；Left front slide plate 25, left back slide plate 23, front left line slideway 24 are located at a left side
It is oriented between short frid 9 and bottom plate 33；Right front slide 26, right tail skid 28, front right line slideway 27 are located at the right short frid of guiding
Between 14 and bottom plate 33；The left short frid 9, right be oriented on short frid 14 of being oriented to is respectively equipped with guide groove 8；
Lead A73, is connected to one end of the intersection point away from working arm A71 and leading arm A72 on the leading arm A72,
The diameter parallel of axis and the hinge A29, lead A73 can be slided along guide groove 8.Rolling bearing is housed on lead A73
A75；
Described guide groove 8 is in " L " square, and one of right-angle side is to be led with front left line slideway 24, front right straight line
Parallel the first linear chute A81 of rail 27, another right-angle side is and front left line slideway 24, the phase of front right line slideway 27
Vertical the second linear chute A82, is one section of arc-shaped curve chute between the first chute A81 and the second chute A82
A83；Before left front slide plate 25, left back slide plate 23 are done in the presence of the preceding propulsion electric machine 16 of clamping device along front left line slideway 24
Rear is to linear motion, and right front slide 26, right tail skid 28 are straight along front right in the presence of the preceding propulsion electric machine 16 of clamping device
Line guide rail 27 does fore-and-aft direction linear motion, so the one side of clamping limb 7 for driving respectively thereon follow left front slide plate 25, it is right advancing slip
Plate 26, left back slide plate 23, right tail skid 28 do fore-and-aft direction linear motion, edge the first chute A81, the second chute A82 and
Curve chute A83 is slided.
The shape of arm 4 is raised in " L " square, one of right-angle side is working arm B41, another right-angle side is leading arm
B42；Hinge B31 is respectively equipped with described left skateboard 22, right slide plate 30, arm 4 is raised in its working arm B41 and leading arm B42
Position of intersecting point be hinged with described hinge B31；
The described arm drive device that raises includes：
Left guiding long frid 2, right guiding long frid 17, the left frame on chassis 1 is fixed on a left side for being oriented to long frid 2
On, another side is fixed on bottom plate 33 by support, and the left frame on chassis 1 is fixed on a right side for being oriented to long frid 17
On, another side is fixed on bottom plate 33 by support；Left skateboard 22, rear left line slideway 21 be located at it is left guiding long frid 2 with
Between bottom plate 33；Right slide plate 30, rear right line slideway 32 are located between right guiding long frid 17 and bottom plate 1；Left guiding long frid
2nd, it is respectively equipped with guiding elongated slot 18 in right guiding long frid 17；
Lead B43, is connected to one end of the intersection point away from working arm B41 and leading arm B42 on the leading arm B42,
The diameter parallel of axis and the hinge B31, lead B43 can be slided along elongated slot 18 is oriented to.Equipped with rolling on lead B 43
Bearing B45；
It is in " L " square to be oriented to elongated slot 18, and one of right-angle side is and rear left line slideway 21, rear right line slideway 32
Parallel the first linear chute B181, another right-angle side is mutually to be hung down with rear left line slideway 21, rear right line slideway 32
Straight the second linear chute B182, is one section of arc-shaped curve chute between the first chute B181 and the second chute B182
B183；Left skateboard 22 does fore-and-aft direction straight line fortune in the presence of the rear propulsion electric machine 19 of mechanism is raised along rear left line slideway 21
Dynamic, right slide plate 30 does fore-and-aft direction straight line fortune in the presence of the rear propulsion electric machine 19 of mechanism is raised along rear right line slideway 32
It is dynamic, and then drive the one side of arm 4 that raises thereon to follow left skateboard 22, right slide plate 30 to do fore-and-aft direction linear motion respectively, on one side
Slided along the first chute B181, the second chute B182 and curve chute B183.
In the present embodiment, arm 4 is raised comprising 4 clamping limbs 7,2 in chassis 1, clamping limb 7, the arrangement for raising arm 4 are
Symmetrical mode.
In addition, in order to avoid the excessive friction between clamping limb 7 and tire, with being accessed on the working arm A71 of clamping limb 7
The position that the tire of vehicle is in contact is rotatably connected to single roller 74.Make tire radial direction be squeezed rise or decline during with list
It is in relatively uniform rolling condition between row's roller 74.
Equally, in order to avoid raising the excessive friction between arm 4 and tire, raise on the working arm B41 of arm 4 with being accessed
The position that the tire of vehicle is in contact is rotatably connected to two-row roller 44.Make tire during radial direction is raised or declined and double
It is in relatively uniform rolling condition between row's roller 44.
Operation principle and flow of the invention introduced below.
Referring to Figure 15, clamping limb 7 has two superimposed motion processes during clip wheel tire is embraced：
One motion process is linear motion, and a motion process is rotary motion, and two motion processes are acted simultaneously, and
All it is to be oriented to by sled drive mechanism motion as power source, and by guide groove 8.With a pair of clampings of the upper left side of chassis 1
Exemplified by arm 7, because clamping limb 7 by hinge A29 is positioned at left front slide plate 25, on left back slide plate 23, left front slide plate 25, left back slide plate
23 drive clamping limb 7 thereon simultaneously mobile respectively when moving towards, and the guiding of the leading arm A72 ends due to clamping limb 7
Post A73 can only be slided in left be oriented in the guide groove 8 of short frid 9, when sled drive mechanism promotes clamping limb 7 to move along a straight line
When, lead A73 is slided first in the second chute A82 of guide groove 8, forces clamping limb 7 to be rotated around hinge A29, left front
Slide plate 25, left back slide plate 23 drive the working arm A71 of clamping limb 7 thereon gradually to screw out expansion respectively while moving towards.
When the lead A73 of the leading arm A72 ends of clamping limb 7 turns in the first chute A81 since the second chute A82 of guide groove 8
When interior, clamping limb 7 stops operating, and now the working arm A71 of clamping limb 7 and vehicle wheel shaft are in state arranged in parallel, and start with
The opposite linear slide of left front slide plate 25, left back slide plate 23 does linear advancement action, make clamping limb 7 working arm A71 keep with
The parallel state of vehicle wheel shaft is gradually close and gradually lift vehicle tyre to tire, above is when picking up the car clamping limb 7 fortune
Dynamic process.
During bicycle parking, left front slide plate 25, left back slide plate 23 reversely do retrogressing movement, and clamping limb 7 thereon is driven respectively simultaneously
Movement is retreated, sled drive mechanism promotes clamping limb 7 to do straight line setback, lead A73 is made first the first of guide groove 8
Straight line, which is retreated, in chute A81 slides, and retreats the clamping limb 7 before and after automobile tire, automobile tire is gradually put into ground.So
Afterwards, left front slide plate 25, left back slide plate 23 continue to retreat, when clamping limb 7 leading arm A72 ends lead A73 from guide groove 8
The first chute A81 when starting to turn in the second chute A82, because clamping limb 7 is limited by the second chute A72 and can not be after
Continuous straight line setback, the second chute A72 forces clamping limb 7 to be rotated backward around hinge A29, at the same time, with left front cunning
Plate 25, the continuation of left back slide plate 23 are retreated, and the working arm A71 of the clamping limb 7 of driving thereon is gradually withdrawn, and presses close to be hidden in chassis
On the outside of 1 frame.
The course of work of a pair of clamping limbs 7 on right side is identical with this on same chassis 1, repeats no more.
Arm 4 is raised during tire is raised also two superimposed motion processes：
One motion process is linear motion, and a motion process is rotary motion, and two motion processes are acted simultaneously, and
All it is to be oriented to by sled drive mechanism motion as power source, and by guiding elongated slot 18.Due to raising arm 4 by hinge B 31
Be positioned at left skateboard 22, on right slide plate 30, left skateboard 22, right slide plate 30 driven respectively when moving thereon raise the same time shift of arm 4
It is dynamic, and because the lead B43 for the leading arm B42 ends for raising arm 4 can only be in left guiding long frid 2, right guiding long frid 17
Guiding elongated slot 18 in slide, when sled drive mechanism, which raises arm 4, to move along a straight line, lead B43 first guiding
Slided in second chute B182 of elongated slot 18, force and raise arm 4 and rotated around hinge B 31, left skateboard 22, right slide plate 30 are moved
While drive the working arm B41 for raising arm 4 thereon gradually to screw out expansion respectively.When the leading arm B42 ends for raising arm 4
Lead B43 be oriented to elongated slot 18 the second chute B182 in turn round slip into the first chute B181 when, raise arm 4 stop turn
Dynamic, the working arm B41 and vehicle wheel shaft for now raising arm 4 are in state arranged in parallel, and are started with left skateboard 22, right slide plate 30
Linear slide does linear advancement action, makes the working arm B41 holdings for raising arm 4 state parallel with vehicle wheel shaft gradually to tire
It is close, working arm B41 is progressively extended under automobile tire, vehicle tyre is gradually held up, above is raising arm 4 when picking up the car
Motion process.
During bicycle parking, left skateboard 22, right slide plate 30 reversely do retrogressing movement, drive the arm 4 that raises thereon to retreat simultaneously respectively
Mobile, sled drive mechanism raises arm 4 and does straight line setback, lead B43 is being oriented to the first of elongated slot 18 first
Straight line, which is retreated, in chute B181 is slided, and makes to raise arm 4 and retreats, and automobile tire is gradually put into ground.Then, left skateboard 22, the right side
Slide plate 30 continue retreat, when the leading arm B42 ends for raising arm 4 lead B43 from be oriented to elongated slot 18 the first chute B181
When starting to turn in the second chute B182, straight line retrogressing can not be continued by the second chute B182 limitation due to raising arm 4
Motion, the second chute B182, which is forced, to be raised arm 4 and is rotated backward around hinge B 31, at the same time, with left skateboard 22, right slide plate
30 continuation is retreated, and the working arm B41 for raising arm 4 of driving thereon is gradually withdrawn, on the outside of the frame for pressing close to be hidden in chassis 1.
Intelligent carrier includes picking up the car and two processes of bicycle parking in the course of the work：
During pick-up, intelligent carrier runs to bottom of car by the driving of movable motor 12, and by control system control
System, the tire of intelligent carrier and vehicle to be accessed is positioned by positioner, preceding propulsion electric machine 16 drives preceding leading screw
10 rotations, drive left front slide plate 25, right front slide 26 to do opposite linear motion with left back slide plate 23, right tail skid 28, pass through
The rotation of clamping limb 7 gradually spreads out its working arm A71, to, in after state arranged in parallel, slide plate is continued to press on vehicle wheel shaft,
Hereafter, the working arm A71 of clamping limb 7 only does linear advancement, makes its working arm A71 holdings state parallel with vehicle wheel shaft gradually
It is close and gradually lift the front tyre of vehicle together with the clamping limb 7 on opposite to tire.
At the same time, under the promotion of rear propulsion electric machine 19, drive left skateboard 22, right slide plate 30 to move along a straight line, pass through
The rotation for raising arm 4 gradually spreads out its working arm B41, to, into after state arranged in parallel, slide plate is continued to press on vehicle wheel shaft,
Hereafter, the working arm B41 for raising arm 4 only does linear advancement, makes its working arm B41 holdings state parallel with vehicle wheel shaft gradually
It is close and progressively extend to automobile tire bottom and hold up the rear tyre of vehicle to tire.
As can be seen here, overall carrier takes the front-wheel of automobile in one's arms in the same time, trailing wheel can just take automobile after holding up
Walk.
During bicycle parking, intelligent carrier is driven by movable motor 12, and carrier vehicle is to specified location, and preceding propulsion electric machine 16 drives
Leading screw 10 rotates before dynamic, drives left front slide plate 25, right front slide 26 to do reverse straight line with left back slide plate 23, right tail skid 28 and transports
Dynamic, working arm A71 is retreated, and automobile tire is gradually put into ground, hereafter, left front slide plate 25, right front slide 26 and left back slide plate
23rd, right tail skid 28 working arm A71 of the clamping limb 7 of driving thereon while continuing to move backward gradually withdraws and presses close to hidden
On the outside of the frame for ensconcing chassis, the storage process of vehicle front is completed.
At the same time, mechanism is raised under the promotion of rear propulsion electric machine 19, drives left skateboard 22, right slide plate 30 to do reversely straight
Line is moved, and is raised arm 4 and is retreated, automobile back wheel tire is gradually put into ground, hereafter, continues reversely in left skateboard 22, right slide plate 30
The working arm B41 for raising arm 4 of driving thereon gradually withdraws and hidden in the both sides of frame 34 while mobile, completes to automobile
The storage process of trailing wheel.
In overall intelligence carrier while tire is placed on ground before and after by automobile（Or defined bicycle parking face）When, just calculate and complete
To the storage process of automobile.
With reference to Fig. 1 and Figure 14 to Figure 17, the workflow that carrier of the present invention is picked up the car is introduced：
The first step：As shown in figure 1, carrier is in the state of work treated, clamping limb 7, raises arm 4 and all pack up, be in
Prepare pick-up state.
Second step：As shown in figure 14, carrier runs to vehicle bottom by the way that movable motor 12 is overall first, and by controlling
System is controlled, and the tire of intelligent carrier and vehicle to be accessed is positioned by positioner, makes the front-wheel position of foetus of vehicle
Between the front and rear clamping limb 7 of carrier both sides.
3rd step：As shown in figure 15, after intelligent carrier and vehicle front tire relative position confirm, clamping limb 7 and raise
Arm 4 deploys simultaneously, and it is in parastate with vehicle wheel shaft to make working arm A71 and working arm B41, and progressively close to corresponding tire.
4th step：As shown in figure 16, the working arm A71 of the clamping limb 7 before and after front tyre first takes vehicle front tire in one's arms.So
Afterwards, deployed and close to the working arm B41 for raising arm 4 of rear tyre be moved rearwards by that rear tyre gradually is raised into picking-up, made vehicle
Tire leaves ground, and vehicle is gradually lifted.
5th step：After vehicle is gradually lifted, intelligent carrier is in the presence of movable motor 12, and drive is accessed vehicle
Original position is left, pick-up process terminates.
During bicycle parking, it is assumed that vehicle is on the intelligent carrier, and intelligent carrier and vehicle thereon are firstly moved to be intended to
Parking stall.Preceding propulsion electric machine 16, rear propulsion electric machine 19 on chassis do the clamping before and after antiport during with picking up the car, front tyre
The working arm A71 of arm 7, raise arm 4 working arm B41 respectively first it is parallel release tire again straight line retreat, tire be lowered by put to
Ground；Then, the working arm A71 of clamping limb 7, the working arm B41 for raising arm 4 gradually draw in and are hidden in the both sides of frame 34.Most
Afterwards, carrier is exited by movable motor 12 from bottom of car, completes bicycle parking action.
Illustrative embodiments listed above are only not to technical scheme described in the invention for understanding that the present invention is used
Restriction, about the those of ordinary skill in field, on the basis of technical scheme described in claim, a variety of changes can also be made
Change or deform, all equivalent changes or deformation should all be covered within the claims of the present invention.
Claims (9)
1. one kind is embraced folder and raised sets walking mechanism on tire integral automobile intelligent carrier, including a chassis, chassis,
It is characterized in that：The front end on the chassis sets the clamping device for including clamping limb, and rear end, which sets to include, raises pushing away for arm
Rise mechanism；
Described clamping device includes the first slide plate and the first sled drive mechanism being slidably connected on chassis, described clamping
Arm is movably connected on the first slide plate；Described raises the second slide plate and the second slide plate that mechanism includes being slidably connected on chassis
Drive mechanism, the described arm that raises is movably connected on the second slide plate；
Described chassis includes bottom plate and left frame, left frame；
The first described sled drive mechanism includes：
Preceding propulsion electric machine, is installed on bottom plate, the front end positioned at chassis；
Preceding leading screw is positive and negative leading screw, is rotationally connected with bottom plate, front end is connected with preceding propulsion electric machine, the screw thread and back segment of its leading portion
Thread rotary orientation it is opposite；
Front left line slideway, front right line slideway, is installed on bottom plate, respectively positioned at the left and right sides of chassis front end；
The first described slide plate includes：
Left front slide plate, left back slide plate, can be slided along front left line slideway；
Right front slide, right tail skid, can be slided along front right line slideway；
Front slide connecting plate, left front slide plate, right front slide are interconnected, and bottom is connected with mutually nibbles with preceding leading screw leading portion
The preceding feed screw nut closed；
Tail skid connecting plate, left back slide plate, right tail skid are interconnected, and bottom is connected with mutually nibbles with preceding leading screw back segment
The rear feed screw nut closed；
Left front slide plate, right front slide, left back slide plate, it is movably connected with described clamping limb on right tail skid；Set on chassis
There is clamping limb drive device；
The second described sled drive mechanism includes：
Propulsion electric machine, is installed on bottom plate afterwards, the rear end positioned at chassis；
Leading screw, is rotationally connected with bottom plate afterwards, and one end is connected with rear propulsion electric machine；
Rear left line slideway, rear right line slideway, is installed on bottom plate, respectively positioned at the left and right sides of the extreme end of chassis；
The second described slide plate includes：
Left skateboard, can be slided along rear left line slideway；
Right slide plate, can be slided along rear right line slideway；
Slide plate connecting plate, left skateboard, right slide plate are interconnected, and bottom is connected with the leading screw spiral shell being meshed with rear leading screw
It is female；
It is movably connected with left skateboard, right slide plate and described raises arm；Chassis is provided with and raises arm drive device；
Described clamping limb shape is in " L " square, and one of right-angle side is working arm A, and another right-angle side is leading arm A；
Described left front slide plate, right front slide, left back slide plate, be respectively equipped with hinge A on right tail skid, clamping limb its working arm A with
Leading arm A position of intersecting point is hinged with described hinge A；
Described raises arm shape in " L " square, and one of right-angle side is working arm B, and another right-angle side is leading arm B；
Be respectively equipped with hinge B on described left skateboard, right slide plate, raise arm its working arm B and leading arm B position of intersecting point with it is described
Hinge B be hinged.
2. according to claim 1 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterised in that：
Described clamping limb drive device includes：
Left to be oriented to short frid, the short frid of right guiding, the left short frid of guiding is fixed between the left frame on chassis and bottom plate, right to be oriented to
Short frid is fixed between the left frame on chassis and bottom plate；It is short that left front slide plate, left back slide plate, front left line slideway are located at left guiding
Between frid and bottom plate；Right front slide, right tail skid, front right line slideway are located at right be oriented between short frid and bottom plate；Lead on a left side
A pair of corresponding guide grooves are respectively provided with to short frid, the short frid of right guiding；
Lead A, is connected to one end of the intersection point away from working arm A and leading arm A on the leading arm A, axis and the hinge
Axle A diameter parallel, lead A can be slided along guide groove.
3. according to claim 2 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterised in that：Described
Guide groove is in " L " square, and one of right-angle side is parallel with front left line slideway, front right line slideway linear
First chute A, another right-angle side is the linear second chute A perpendicular with front left line slideway, front right line slideway, the
It is one section of arc-shaped curve chute A between one chute A and the second chute A；Left front slide plate, left back slide plate are pushed away before clamping device
Fore-and-aft direction linear motion is done along front left line slideway in the presence of stepper motor, right front slide, right tail skid are in clamping device
Fore-and-aft direction linear motion is done along front right line slideway in the presence of preceding propulsion electric machine, and then drives clamping limb while following left front
Slide plate, right front slide, left back slide plate, right tail skid do fore-and-aft direction linear motion, edge the first chute A, the second chute A and
Curve chute A is slided.
4. according to claim 1 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterised in that：
The described arm drive device that raises includes：
Left guiding long frid, right guiding long frid, left guiding long frid is fixed between the left frame on chassis and bottom plate, right to be oriented to
Long frid is fixed between the left frame on chassis and bottom plate；Left skateboard, rear left line slideway are located at left guiding long frid and bottom plate
Between；Right slide plate, rear right line slideway are located between right guiding long frid and bottom plate；Left guiding long frid, right guiding long frid
On be respectively equipped with guiding elongated slot；
Lead B, is connected to one end of the intersection point away from working arm B and leading arm B on the leading arm B, axis and the hinge
Axle B diameter parallel, lead B can be slided along elongated slot is oriented to.
5. according to claim 4 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterised in that：Described
It is in " L " square to be oriented to elongated slot, and one of right-angle side is parallel with rear left line slideway, rear right line slideway linear
The first chute B, another right-angle side is the linear second chute B perpendicular with rear left line slideway, rear right line slideway,
It is one section of arc-shaped curve chute B between first chute B and the second chute B；Left skateboard is raising the rear propulsion electric machine of mechanism
Under effect fore-and-aft direction linear motion, right slide plate edge in the presence of the rear propulsion electric machine of mechanism is raised are done along rear left line slideway
Rear right line slideway does fore-and-aft direction linear motion, and then drive raises arm while following left skateboard, right slide plate to do fore-and-aft direction
Linear motion, edge the first chute B, the second chute B and curve chute B are slided.
6. according to claim 1 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterised in that：The folder
The position being in contact on the working arm A of gripping arm with being accessed vehicle tyre is rotatably connected to single roller.
7. according to claim 1 armful presss from both sides and raises tire integral automobile intelligent carrier, it is characterised in that：It is described to push away
The position being in contact on the working arm B for rising arm with being accessed vehicle tyre is rotatably connected to two-row roller.
8. tire integral automobile intelligent carrier is pressed from both sides and raised to embracing according to Claims 2 or 3, it is characterised in that：Institute
State and rolling bearing A is housed on lead A.
9. tire integral automobile intelligent carrier is pressed from both sides and raised to embracing according to claim 4 or 5, it is characterised in that：Institute
State and rolling bearing B is housed on lead B.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610042484.5A CN105604361B (en) | 2016-01-22 | 2016-01-22 | Embrace folder and raise tire integral automobile intelligent carrier |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610042484.5A CN105604361B (en) | 2016-01-22 | 2016-01-22 | Embrace folder and raise tire integral automobile intelligent carrier |
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| CN105604361A CN105604361A (en) | 2016-05-25 |
| CN105604361B true CN105604361B (en) | 2017-08-29 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105971338B (en) * | 2016-07-01 | 2018-08-28 | 山东天辰智能停车设备有限公司 | Self-positioning monoblock type double embrace presss from both sides automobile tire intelligent carrier |
| CN106013905A (en) * | 2016-07-28 | 2016-10-12 | 北京鑫华源机械制造有限责任公司 | Intelligent control system of planar mobile stereoscopic garage |
| CN108266029B (en) * | 2016-12-30 | 2020-02-04 | 山东建筑大学 | Self-supporting pushing-lifting type automobile carrier |
| CN107380137B (en) * | 2017-07-31 | 2023-04-18 | 杭州世楷自动化设备有限公司 | Positioning platform for replacing battery of electric automobile |
| CN108422978B (en) * | 2018-05-04 | 2023-09-08 | 北京泊宝机器人科技有限公司 | AGV (automatic guided vehicle) for carrying vehicle |
| CN108661387B (en) * | 2018-06-13 | 2024-02-20 | 深圳怡丰自动化科技有限公司 | Vehicle carrier and stop gear thereof |
| CN114290260A (en) * | 2021-12-24 | 2022-04-08 | 重庆复融科技有限公司 | Wheel non-damage clamping system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2846619Y (en) * | 2005-12-06 | 2006-12-13 | 北京鑫华源机械制造有限责任公司 | Automobile transport device |
| US8613582B2 (en) * | 2008-10-06 | 2013-12-24 | Unitronics Parking Solutions Ltd | Shuttle cars for use in automated parking |
| JP6280433B2 (en) * | 2014-04-28 | 2018-02-14 | 新明和工業株式会社 | Tire clamping apparatus and automobile conveying apparatus equipped with the same |
| CN204212496U (en) * | 2014-10-30 | 2015-03-18 | 王洋 | A kind of automated machine garage vehicle conveying platform |
| FR3036349B1 (en) * | 2015-05-20 | 2018-03-16 | Stanley Robotics | MOBILE CONVEYORS FOR MOVING A 4 WHEELED VEHICLE. |
| CN105178666A (en) * | 2015-09-30 | 2015-12-23 | 山东天辰智能停车设备有限公司 | Comb tooth lifting type automatic carrier |
| CN205531522U (en) * | 2016-01-22 | 2016-08-31 | 山东天辰智能停车设备有限公司 | Embrace and press from both sides and raise integral car of tire intelligence carrier |
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Address after: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee after: SHANDONG TIANCHEN INTELLIGENT PARKING EQUIPMENT LTD. Address before: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee before: SHANDONG TIANCHEN INTELLIGENT PARKING Co.,Ltd. Address after: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee after: SHANDONG TIANCHEN INTELLIGENT PARKING Co.,Ltd. Address before: 251200 Yucheng City, Shandong province high tech Development Zone, the revitalization of the west side of the road Patentee before: SHANDONG TIANCHEN AUTOMATIC PARKING EQUIPMENT CO.,LTD. |
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